Robot for pipeline detection

Abstract

A robot for pipeline detection comprises a robot body, a first walking mechanism, a second walking mechanism, a first driving mechanism and a second driving mechanism. A detection piece is installed on the machine body. The first walking mechanism is connected with the front end of the machine body and comprises a plurality of first walking wheels. The second walking mechanism is connected with the rear end of the machine body and comprises a plurality of second walking wheels. The first driving mechanism and the second driving mechanism are both assembled on the machine body. The axis of the first walking wheel and the axis of the second walking wheel are obliquely distributed relative to the axis of the robot, and the inclination directions of the axis of the first walking wheel and the axis of the second walking wheel relative to the axis of the robot are opposite. The first walking mechanism is provided with the first driving mechanism, the second walking mechanism is provided with the second driving mechanism, the first walking mechanism and the first driving mechanism as well as the second walking mechanism and the second driving mechanism form a double-helix structure, the machine body is allowed to do variable-pitch helical motion, and the pipeline detection effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline detection, and in particular to a robot for pipeline detection. Background Art

[0002] Pipeline systems are highly efficient transport systems for liquids and gases. However, corrosion can lead to metal loss and cracks, ultimately causing leaks. Therefore, pipeline corrosion remains a significant concern. While traditional spiral-driven pipeline robots can inspect pipelines, they operate at a fixed pitch and cannot adjust to the required inspection resolution, compromising pipeline inspection effectiveness. Utility Model Content

[0003] The present application provides a robot for pipeline inspection, the main purpose of which is to improve pipeline inspection effects.

[0004] In one embodiment of the present application, a robot for pipeline inspection is provided, comprising:

[0005] A fuselage, wherein a detection member is mounted on the fuselage, the detection member is used to detect the pipeline, and the fuselage has a front end and a rear end;

[0006] a first traveling mechanism, comprising a plurality of first traveling wheels arranged on an outer periphery of the first traveling mechanism, the first traveling mechanism being connected to a front end of the fuselage;

[0007] a second traveling mechanism, comprising a plurality of second traveling wheels arranged on an outer periphery of the second traveling mechanism, the second traveling mechanism being connected to a rear end of the fuselage;

[0008] A first driving mechanism, configured to drive the first traveling mechanism to rotate; and

[0009] a second driving mechanism, configured to drive the second traveling mechanism to rotate, wherein the first driving mechanism and the second driving mechanism are both assembled on the fuselage;

[0010] The axis of the first running wheel and the axis of the second running wheel are both tilted relative to the axis of the robot, and the axis of the first running wheel and the axis of the second running wheel are distributed on both sides of the axis of the robot.

[0011] In one embodiment, the rotational speeds of the first traveling mechanism and the second traveling mechanism may be the same or different, and the directions of the first traveling mechanism and the second traveling mechanism may be the same or different;

[0012] When the first walking mechanism and the second walking mechanism have the same rotation speed and different directions, the robot is in a first state, in which the robot is used to move forward or backward in the pipeline;

[0013] When the first walking mechanism and the second walking mechanism have the same rotation speed and the same direction of rotation, the robot is in a second state, in which the body is configured to rotate around the axis of the robot;

[0014] When the rotational speeds of the first walking mechanism and the second walking mechanism are different, the robot is in the first state and the second state at the same time.

[0015] In one embodiment, it also includes a main shaft tube, a first transmission mechanism and a second transmission mechanism; the main shaft tube passes through the fuselage and is rotatably connected to the first walking mechanism and the second walking mechanism respectively, and the main shaft tube and the fuselage are fixedly connected; the first drive mechanism and the second drive mechanism are distributed on both sides of the main shaft tube, the first transmission mechanism is respectively connected to the first drive mechanism and the first walking mechanism, and the second transmission mechanism is respectively connected to the second drive mechanism and the second walking mechanism.

[0016] In one embodiment, the fuselage includes two parallel chassis, and the main shaft tube passes through the space between the two chassis and is connected to the first walking mechanism and the second walking mechanism respectively; the space between the two chassis forms an assembly space, and the detection part, the first drive mechanism and the second drive mechanism are all fixed in the assembly space.

[0017] In one embodiment, the number of the detection elements is configured to be one or two.

[0018] In one embodiment, the number of the detection members is configured to be two, the two chassis and the two detection members are symmetrically distributed about the spindle tube, and the distance between the first drive mechanism and the spindle tube is equal to the distance between the second drive mechanism and the spindle tube.

[0019] In one embodiment, a first inclination angle is formed between the axis of the first walking wheel and the axis of the robot, a second inclination angle is formed between the axis of the second walking wheel and the axis of the robot, and the first inclination angle is equal to the second inclination angle; and / or, the detection component is used to perform non-destructive testing on the pipeline.

[0020] In one embodiment, the first walking mechanism and the second walking mechanism are the same; the first walking mechanism also includes a plurality of linkage components, and the plurality of linkage components are distributed in an array around the axis of the first walking mechanism; the linkage components and the first walking wheels are arranged in a one-to-one correspondence, and the linkage components are used to radially change the position of the first walking wheel relative to the axis of the first walking mechanism.

[0021] In one embodiment, the first walking mechanism further includes a pair of first linkage disks, a pair of second linkage disks and a plurality of tension springs, wherein the pair of second linkage disks is disposed between the pair of first linkage disks;

[0022] A plurality of first connecting rods are provided between a pair of the first linkage plates, and a plurality of second connecting rods are provided between a pair of the second linkage plates. The plurality of first connecting rods and the plurality of second connecting rods are distributed in an array around the axis of the first walking mechanism, and both ends of the tension spring are connected to the first connecting rod and the second connecting rod respectively.

[0023] The linkage assembly includes a first link arm, a second link arm, and a connecting member, wherein two ends of the first link arm are rotatably connected to the first link and the connecting member respectively, two ends of the second link arm are rotatably connected to the second linkage plate and the connecting member respectively, and the first walking wheel is rotatably connected to the connecting member;

[0024] The first connecting rod, the second connecting rod, the tension spring and the linkage assembly are arranged in a one-to-one correspondence;

[0025] The first link arm and the second link arm are used to move closer to or farther away from each other along the circumferential direction to switch the position of the first traveling wheel relative to the axis of the first traveling mechanism.

[0026] In one embodiment, the first link arm and the second link arm rotatably connected to the connecting member are both provided with teeth on the sides close to each other, and the first link arm and the second link arm are meshed with each other through the teeth.

[0027] In one embodiment, the connecting member includes two connecting plates that are distributed opposite each other, and a third connecting rod is provided between the two connecting plates, which is rotatably connected to the first connecting rod arm and the second connecting rod arm respectively; the linkage assembly also includes a wheel frame, which is fixed between the two connecting plates, and an installation groove is provided on the wheel frame, and the first walking wheel is rotatably connected to the installation groove.

[0028] In one embodiment, a limiting structure is provided on the first linkage disk, and the limiting structure is used to limit the rotation angle of the second linkage disk relative to the first linkage disk.

[0029] In one embodiment, the second connecting rod arm and the second linkage disk are rotatably connected via a connecting shaft, and a limit member is provided on the side of the connecting shaft close to the first linkage disk; a first limit portion and a second limit portion are provided on the side wall of the first linkage disk, and the limit member is placed between the first limit portion and the second limit portion, and the first limit portion and the second limit portion are both used to abut against the limit member to limit the rotation angle of the second linkage disk.

[0030] In one embodiment, a clearance position is provided on the side wall of the first linkage disk between the first limiting portion and the second limiting portion, and the clearance position and the limiting member are spaced apart.

[0031] In one embodiment, the linkage components are configured as three.

[0032] In one embodiment, the second linkage disk is a triangular plate-like structure, and the second linkage disk has three corner areas equidistantly distributed in the circumferential direction. The second link arm is rotatably connected to the second linkage disk in the corner areas.

[0033] The pipeline inspection robot according to the above-described embodiment primarily comprises three main parts: a first traveling mechanism, a body, and a second traveling mechanism. The first traveling mechanism is equipped with a first drive mechanism, and the second traveling mechanism is equipped with a second drive mechanism. The first traveling mechanism, the first drive mechanism, and the second traveling mechanism and the second drive mechanism form a double helical structure. This double helical structure allows the robot body to perform variable-pitch helical motion, facilitating scanning inspections and improving pipeline inspection effectiveness. The axes of the first and second traveling wheels are both inclined relative to the robot's axis, and the axes of the first and second traveling wheels are located on either side of the robot's axis, which improves the robot's traction and enables the robot to withstand higher loads or be driven with higher torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the three-dimensional structure of a robot in one embodiment of the present application;

[0035] Figure 2 This is a schematic diagram of a partial explosion structure of a robot in one embodiment of the present application;

[0036] Figure 3 This is a schematic diagram of the cross-sectional structure of a robot in one embodiment of the present application;

[0037] Figure 4 This is a schematic diagram of the three-dimensional structure of the first walking mechanism in one embodiment of the present application;

[0038] Figure 5 This is a schematic diagram of the exploded structure of the first walking mechanism in one embodiment of the present application;

[0039] Figure 6 This is a schematic diagram of the three-dimensional structure of a partial first walking mechanism in an embodiment of the present application;

[0040] Figure 7 This is a schematic diagram of the planar structure of a partial first walking mechanism in one embodiment of the present application;

[0041] Figure 8 This is a schematic diagram of the exploded structure of the linkage assembly in one embodiment of the present application;

[0042] Figure 9 This is a schematic diagram of the planar structure of the first linkage disk in one embodiment of the present application;

[0043] Figure 10 This is a schematic diagram of the planar structure of the second linkage disk in one embodiment of the present application;

[0044] Figure 11 Schematic diagram of the scanning trajectory of two detection parts under different position distribution;

[0045] Figure 12 This is a schematic diagram of the force analysis of the robot in the vertical pipe;

[0046] Figure 13 Schematic diagram of traction force at different inclination angles;

[0047] Figure 14 The effect diagram of the first and second inclination angles when the helix angles are equal (H = 20°);

[0048] Figure 15 Comparison of normalized forward and rotational speed ranges for the first and fourth configurations;

[0049] Figure 16 Comparison of the normalized total angular velocity ranges for the first and fourth configurations;

[0050] Figure 17 This is a comparison diagram of the first walking mechanism in different states;

[0051] Figure 18 The free-body diagram of the three-point linkage radial link adaptive mechanism inside the horizontal pipe from the perspective of the pipe cross section;

[0052] Figure 19 The geometric relationship diagram of the three-point linkage radial link adaptive mechanism inside the horizontal pipe from the perspective of the pipe cross section;

[0053] Figure 20 The simplified geometric structure diagram of the linked radial link adaptive mechanism;

[0054] Figure 21 A close-up diagram of the tension spring configuration in tension.

[0055] Figure 22 Schematic diagram of the wall pressure of the linked radial link adaptive mechanism and the independent compression spring;

[0056] Figure 23 Schematic diagram of the control system module in the robot.

[0057] Explanation of reference numerals: 10. Body, 10a. Front end, 10b. Rear end, 11. Chassis, 20. First traveling mechanism, 21. First traveling wheel, 22. Linkage assembly, 221. First connecting rod arm, 222. Second connecting rod arm, 2221. Tooth portion, 223. Connecting member, 2231. Connecting plate, 2232. Third connecting rod, 2233. Fourth connecting rod, 224. Wheel frame, 2241. Mounting groove, 23. First linkage plate, 231. First connecting rod, 232. A limiting part, 233. Second limiting part, 24. Second linkage plate, 241. Second connecting rod, 25. Tension spring, 30. Second traveling mechanism, 31. Second traveling wheel, 40. First driving mechanism, 50. Second driving mechanism, 51. Power member, 52. Mounting member, 60. Main shaft tube, 70. First transmission mechanism, 80. Second transmission mechanism, 81. Main gear, 82. Sub-gear, 90. First bearing, 100. Second bearing, 110. Connecting shaft, 111. Limiting part. DETAILED DESCRIPTION

[0058] The present application will be further described in detail below through specific embodiments in conjunction with the accompanying drawings. Similar components in different embodiments are numbered with associated similar components. In the following embodiments, many detailed descriptions are provided to enable the present application to be better understood. However, those skilled in the art will readily appreciate that some of the features may be omitted under different circumstances, or may be replaced by other components, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification. This is to avoid the core portion of the present application being overwhelmed by excessive descriptions. For those skilled in the art, it is not necessary to describe these related operations in detail. They can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0059] In addition, the features, operations, or characteristics described in the specification may be combined in any appropriate manner to form various embodiments. Furthermore, the steps or actions in the method description may be reordered or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various sequences in the specification and drawings are provided solely for the purpose of clearly describing a particular embodiment and are not intended to be mandatory, unless otherwise specified.

[0060] The serial numbers assigned to components herein, such as "first," "second," etc., are used solely to distinguish the objects being described and do not convey any sequential or technical meaning. References to "connection" and "coupling" herein, unless otherwise specified, include both direct and indirect connections (couplings).

[0061] Traditional spiral-driven pipeline robots can only move in a spiral at a set pitch when inspecting pipelines, and cannot adjust the pitch appropriately according to current inspection requirements. For example, some pipelines require higher resolution during inspection. At this time, since traditional spiral-driven pipeline robots cannot reduce the pitch, pipeline inspection can only be carried out by replacing them with robots that move with a smaller pitch. Based on the various requirements of pipeline resolution, robots with multiple pitches need to be equipped, which has a higher inspection cost and the inspection process can be relatively complicated.

[0062] The robot designed in this application for pipeline inspection is a robot with variable pitch to adapt to the various resolution requirements of pipeline inspection. The specific technical solution of the robot for pipeline inspection is described as follows:

[0063] See also Figures 1-10 A robot for pipeline inspection includes: a body 10, a first walking mechanism 20, a second walking mechanism 30, a first driving mechanism 40 and a second driving mechanism 50.

[0064] A detection member (not shown) is mounted on the body 10 for detecting the pipeline. The body 10 has a front end 10 a and a rear end 10 b .

[0065] The first running mechanism 20 is connected to the front end 10a of the fuselage 10 and includes a plurality of first running wheels 21 disposed on the periphery of the first running mechanism 20. The second running mechanism 30 is connected to the rear end 10b of the fuselage 10 and includes a plurality of second running wheels 31 disposed on the periphery of the second running mechanism 30.

[0066] The first driving mechanism 40 is used to drive the first traveling mechanism 20 to rotate, and the second driving mechanism 50 is used to drive the second traveling mechanism 30 to rotate. Both the first driving mechanism 40 and the second driving mechanism 50 are assembled on the body 10 .

[0067] The axis of the first walking wheel 21 and the axis of the second walking wheel 31 are both tilted relative to the axis of the robot, and the axis of the first walking wheel 21 and the axis of the second walking wheel 31 are distributed on both sides of the axis of the robot, that is, the inclination directions of the axis of the first walking wheel 21 and the axis of the second walking wheel 31 relative to the axis of the robot are opposite.

[0068] The robot for pipeline inspection (hereinafter referred to as the robot) designed in the above-mentioned embodiment of the present application mainly includes three parts: a first walking mechanism 20, a body 10, and a second walking mechanism 30. The first walking mechanism 20 is equipped with a first drive mechanism 40, and the second walking mechanism 30 is equipped with a second drive mechanism 50. The first walking mechanism 20 and the first drive mechanism 40, as well as the second walking mechanism 30 and the second drive mechanism 50, form a double helical structure. The double helical structure allows the robot body 10 to perform variable pitch helical motion, which is beneficial for scanning inspection and improving pipeline inspection results. The axis of the first walking wheel 21 and the axis of the second walking wheel 31 are both inclined relative to the axis of the robot, and the axis of the first walking wheel 21 and the axis of the second walking wheel 31 are distributed on both sides of the axis of the robot, which is beneficial for improving the traction force of the robot, allowing the robot to withstand higher loads or be driven with higher torque.

[0069] Specifically, the inspection components are used to perform nondestructive testing on pipelines, using methods such as ultrasonic testing and magnetic leakage testing. For example, the inspection components are nondestructive testing sensors or transducers. The robot is designed to perform nondestructive testing scanning on the inner wall of pipelines, even for pipelines that cannot be pigged.

[0070] The robot designed in this application is a twin-screw drive robot that can move the inspection component along the pipe wall in any path, including variable-pitch helical motion. This helical motion can extend the inspection component's travel path, thereby reducing the number of required inspection components. For example, the number of inspection components can be configured to be one or two. The pitch can also be controlled to vary the scanning resolution and speed.

[0071] The robot has a first state and a second state. In the first state, the robot moves forward or backward within the pipe. In the second state, the body 10 rotates around the robot's axis. The first and second states can be operated independently or simultaneously. That is, the robot can be in the first state only, the second state only, or both simultaneously.

[0072] Specifically, when the robot is only in the first state, the first and second traveling mechanisms 20 and 30 rotate at the same speed and have opposite directions of rotation. For example, the first traveling mechanism 20 rotates clockwise and the second traveling mechanism 30 rotates counterclockwise, and the robot moves forward in the pipe. Alternatively, the first traveling mechanism 20 rotates counterclockwise and the second traveling mechanism 30 rotates clockwise, and the robot moves backward in the pipe. When the robot is only in the second state, the first and second traveling mechanisms 20 and 30 rotate at the same speed and have the same directions of rotation. For example, the first and second traveling mechanisms 20 and 30 both rotate clockwise and the body 10 also rotates clockwise, or the first and second traveling mechanisms 20 and 30 both rotate counterclockwise and the body 10 also rotates counterclockwise. When the robot is in both the first and second states, the first and second traveling mechanisms 20 and 30 rotate at different speeds.

[0073] The robot is designed such that the body 10 can move with two degrees of freedom, thereby being able to drive the detection component to detect or scan almost all accessible pipe wall areas in the pipeline.

[0074] See also Figure 1-Figure 3 The robot also includes a spindle tube 60, a first transmission mechanism 70, and a second transmission mechanism 80. The spindle tube 60 passes through the body 10 and is rotatably connected to the first traveling mechanism 20 and the second traveling mechanism 30 respectively. The spindle tube 60 is fixedly connected to the body 10. The first drive mechanism 40 and the second drive mechanism 50 are distributed on both sides of the spindle tube 60. The first transmission mechanism 70 is connected to the first drive mechanism 40 and the first traveling mechanism 20 respectively, and the second transmission mechanism 80 is connected to the second drive mechanism 50 and the second traveling mechanism 30 respectively. The body 10, the first traveling mechanism 20 and the second traveling mechanism 30 can be connected as a whole through a single spindle tube 60, simplifying the connection structure between the various parts of the robot. The main shaft tube 60 serves as the backbone of the robot and acts as the rotating axis of the body 10 and the double helix structure. The setting of the main shaft tube 60 does not affect the respective states of the body 10, the first walking mechanism 20 and the second walking mechanism 30, so that when using the robot, the working state of the robot (that is, the so-called first state or second state) can be selected as needed. In addition, the main shaft tube 60 is a hollow tube structure, which is convenient for lead-in or lead-out to realize the electrical connection of the drive mechanism.

[0075] To simplify the structural design of the robot, the first walking mechanism 20 and the second walking mechanism 30 are the same, the first driving mechanism 40 and the second driving mechanism 50 are the same, and the first transmission mechanism 70 and the second transmission mechanism 80 are the same. Here, the first and the second are only named and distinguished to more clearly describe the structure of the robot.

[0076] See also Figure 2The specific structure is described using the second drive mechanism 50 and the second transmission mechanism 80 as an example. The second drive mechanism 50 includes a power member 51 (e.g., a motor), and the second transmission mechanism 80 includes a main gear 81 and a sub-gear 82. The power shaft of the power member 51 is fixedly connected to the sub-gear 82, and the sub-gear 82 is meshed with the main gear 81. The main gear 81 is fixed to the second running mechanism 30. The main shaft tube 60, the main gear 81, the first running mechanism 20, and the second running mechanism 30 are all coaxially distributed. When the second running mechanism 30 needs to rotate, the power member 51 of the second drive mechanism 50 is activated, and the power shaft drives the sub-gear 82 to rotate synchronously. The sub-gear 82 drives the main gear 81 to rotate, and the main gear 81 drives the fixed second running mechanism 30 to rotate synchronously around the axis of the main shaft tube 60. The operation process of the first drive mechanism 40, the first transmission mechanism 70, and the first running mechanism 20 is similar and will not be described here. When the pitch of the robot's spiral motion needs to be adjusted, the speed of the power member in the first drive mechanism 40 and the power member 51 in the second drive mechanism 50 can be adjusted accordingly. In other embodiments, the transmission mechanism (i.e., the so-called first transmission mechanism 70 and the second transmission mechanism 80) may not be provided, and the driving mechanism (i.e., the so-called first driving mechanism 40 and the second driving mechanism 50) and the walking mechanism (i.e., the so-called first walking mechanism 20 and the second walking mechanism 30) may be directly connected. For example, the power component of the first driving mechanism 40 is directly fixed to the fuselage 10, and the power shaft of the power component is connected to the first walking mechanism 20. At this time, the main shaft tube 60 may also be omitted, and the fuselage 10 and the first walking mechanism 20 are connected through the first driving mechanism 40.

[0077] See also Figure 2 In the embodiment of the present application, the fuselage 10 includes two chassis 11 distributed in parallel, and the spindle tube 60 passes through the space between the two chassis 11 and is connected to the first walking mechanism 20 and the second walking mechanism 30 respectively. The space between the two chassis 11 forms an assembly space, and the detection part, the first drive mechanism 40 and the second drive mechanism 50 are all fixed in the assembly space. The fuselage 10 includes two chassis 11 distributed in parallel, that is, a load-bearing platform is formed by the two chassis 11 to carry the detection part, the first drive mechanism 40 and the second drive mechanism 50, etc. The designed fuselage 10 has a simple structure and light weight. The second drive mechanism 50 also includes a mounting member 52, which is, for example, an L-shaped block. The power part 51 is fixed between the two chassis 11 through the mounting member 52.

[0078] In some embodiments, the number of detection parts is configured to be two, the two chassis 11 and the two detection parts are symmetrically distributed about the spindle tube 60, and the spacing between the first drive mechanism 40 and the spindle tube 60 is equal to the spacing between the second drive mechanism 50 and the spindle tube 60. It can be understood that the spacing refers to the spacing in the direction perpendicular to the axis of the spindle tube 60.

[0079] Here, the layout of the two chassis 11, the two detection components, and the two drive mechanisms about the spindle tube 60 (axis) helps balance the robot's weight to achieve a braking balance effect. The two detection components are symmetrically distributed about the spindle tube 60, so that the scanning trajectories of the two scanning components are necessarily staggered and the spacing is consistent, facilitating scanning analysis. More preferably, the two detection components are symmetrically distributed about the axis of the spindle tube 60 and placed on both sides of the chassis 11 to maximize space utilization.

[0080] See also Figure 11 , Figure 11 From left to right:

[0081] Figure 11 a shows that the two detection parts are symmetrically distributed about the spindle tube 60, and the robot moves in a small-pitch spiral.

[0082] Figure 11 b represents that the two detection parts are staggered in distribution with respect to the axial direction of the spindle tube 60, and the pitch is less than twice the staggered spacing between the two detection parts (the spacing between the scanning tracks is inconsistent).

[0083] Figure 11 c shows that the two detection parts are symmetrically distributed about the spindle tube 60, and the robot moves in a medium-pitch spiral.

[0084] Figure 11 d is the axial staggered distribution of the two detection parts about the main shaft tube 60, and the pitch is twice the staggered distance.

[0085] Figure 11 e represents that the two detection parts are symmetrically distributed about the spindle tube 60, and the robot moves in a large-pitch spiral.

[0086] Figure 11 f represents the axial staggered distribution of the two detection components about the spindle tube 60, and the pitch is greater than twice the staggered spacing between the two detection components (the spacing between the scanning tracks is inconsistent).

[0087] according to Figure 11 The response information shows that when the two detection parts are symmetrically distributed about the spindle tube 60, the pitch is not limited. The speed of the power part 51 can be adjusted according to actual needs to adjust the pitch, making the robot more flexible and having a wider range of usage scenarios. When the two detection parts are axially staggered about the spindle tube 60, the pitch will be restricted, thereby limiting the use of the robot. Among them, small pitch, medium pitch, and large pitch are relative pitches. For example, the small pitch is 1mm, the medium pitch is 3mm, and the large pitch is 5mm.

[0088] See also Figure 12A first inclination angle α is formed between the axis of the first traveling wheel 21 and the axis of the robot, and a second inclination angle β is formed between the axis of the second traveling wheel 31 and the axis of the robot. The first inclination angle and the second inclination angle have the following combinations:

[0089] In the first type, the first inclination angle is an acute angle, and the second inclination angle is 90°, that is, the angle between the axis of the second traveling wheel 31 and the axis of the main shaft tube 60 is 90°.

[0090] In the second type, the first inclination angle is an acute angle, and the second inclination angle is also an acute angle, but the first inclination angle and the second inclination angle are different in size.

[0091] The third type is that the first inclination angle is acute, and the second inclination angle is complementary to the first inclination angle. Figure 12 It can be inferred that the axis of the first running wheel 21 and the axis of the second running wheel 31 are parallel.

[0092] The fourth type is that the first inclination angle is an acute angle, and the second inclination angle is also an acute angle, but the first inclination angle and the second inclination angle are equal in magnitude. At this time, the axis of the first traveling wheel 21 and the axis of the second traveling wheel 31 are symmetrically distributed about the pipeline axis.

[0093] First inclination angle and second inclination angle parameter configuration table

[0094] Configuration First inclination angle (α) Second inclination angle (β) The first Between 0-90° 90° The second Between 0-90° Between 0-90° The third Between 0-90° ＝180°-α The fourth Between 0-90° ＝α

[0095] The fourth configuration maximizes traction without reducing speed. The second configuration is next, followed by the first configuration. The third configuration is ineffective, with traction approaching zero. In this embodiment, the fourth configuration is selected.

[0096] The robot based on the twin-screw structure designed in this application must meet the steady-state equilibrium condition and the no-slip condition of the vertical pipeline.

[0097] The steady-state equilibrium conditions are as follows:

[0098] General formula for steady-state equilibrium conditions (1)

[0099]

[0100] Simplified formula of steady-state equilibrium condition (2)

[0101]

[0102] Robot helix angle formula (3)

[0103]

[0104] Where τ is the motor torque, r is the pipe radius, m1g is the upper half weight, m2g is the lower half weight, mg is the total weight, T is the rigid connection tension (passive force), α is the first inclination angle, β is the second inclination angle, and H is the robot helix angle (related to the mechanical gain of the screw drive mechanism and has nothing to do with the scanning pitch).

[0105] The no-slip conditions are as follows:

[0106] General formula for no-slip condition (4)

[0107]

[0108] In the first and second inclination angle parameter configuration table, under the first configuration, the general formula (4) of the no-slip condition is simplified to formula (5)

[0109]

[0110] In the first and second inclination angle parameter configuration table, under the fourth configuration, the general formula (4) for the no-slip condition is simplified to formula (6)

[0111]

[0112] Among them, μ is the friction coefficient, and N is the support force of the pipe wall on the walking wheel.

[0113] In this application, the maximum traction force is defined as the maximum load-bearing capacity (mg) of the robot. Based on the above conditions, the optimal configuration of the walking wheel inclination angle can be calculated.

[0114] See also Figure 13 , Figure 13 The vertical bar on the right is the normalized digital graph of traction. When the first and second inclination angles are the same in size and opposite in direction, that is, the fourth configuration in the first and second inclination angle parameter configuration table is the best choice, corresponding to Figure 13 The diagonal line from the lower left to the upper right in the middle can maximize the traction. When the second inclination angle is complementary to the first inclination angle, that is, the axis of the first running wheel 21 and the axis of the second running wheel 31 are parallel, the corresponding Figure 13 The diagonal line from the lower right center to the upper left is an invalid configuration, and the traction force approaches 0.

[0115] Furthermore, a fair comparison can only be achieved when the helix angles are equal. This condition maintains the overall mechanical advantage of the screw-driven pipeline robot. For example, when (α = β = 0), even though the pulling force is maximized, this is still an invalid configuration because the helix angle is 0 and no forward movement is possible.

[0116] See also Figure 14, which is the effect diagram of the first inclination angle and the second inclination angle configuration when the helix angle is equal (H=20°). When the helix angle is equal, the traction is still the largest under the fourth configuration (α=β). When the first running wheel 21 and the second running wheel 31 are in the second configuration (corresponding to the area between the two lines β=90° and α=90°), the traction will gradually decrease according to the angle difference. In the area other than α<20° and α>90°, the first running wheel 21 and the second running wheel 31 have the same inclination direction, and the traction will be worse. On the dividing line with the same and opposite inclination directions (β=90° and α=90°), the first running wheel 21 and the second running wheel 31 are vertical (α=90 or β=90), and have medium traction at this time.

[0117] The robot designed in this application adopts a double helix structure and is suitable for horizontal and vertical pipes. When the robot moves in a vertical pipe, it needs to meet the above-mentioned steady-state equilibrium condition and no-slip condition.

[0118] The relationship between motor speed and robot motion is given by (7)

[0119]

[0120] The simplified formula of motor speed and robot motion in the first configuration (8)

[0121]

[0122] The simplified formula of motor speed and robot motion in the fourth configuration (9)

[0123]

[0124] Travel direction formula (10)

[0125]

[0126] Scanning pitch formula (11)

[0127]

[0128] Among them, v is the forward speed of the fuselage 10 (and the detection part), ω is the rotational angular velocity of the fuselage 10 (and the detection part), ω1 is the angular velocity corresponding to the power part 51 in the first drive mechanism 40, ω2 is the angular velocity corresponding to the power part 51 in the second drive mechanism 50, γ is the direction of travel, and d is the scanning pitch.

[0129] See also Figure 15 , which is a comparison of the normalized forward speed and rotational speed ranges for the first and fourth configurations. In the figure, the X-axis represents the rotational speed rω, and the Y-axis represents the forward speed v.

[0130] See also Figure 16, is a comparison of the normalized total angular velocity ranges of the first and fourth configurations. The radial coordinate in the figure represents the sum of the absolute values ​​of the angular velocities of the power element ω1 in the first drive mechanism 40 and the power element 51ω2 in the second drive mechanism 50, and the angular coordinate represents the direction of travel.

[0131] See also Figure 15-16 , in the fourth configuration, the symmetrical first and second inclination angles provide the same function for the two power members of the double helix structure. This results in symmetry in the input and output speed ranges along the X and Y axes. However, the speed range of the first configuration only exhibits 2nd order rotational symmetry, indicating that the symmetry only occurs during opposite operations. The operational symmetry of the fourth configuration simplifies the control system and optimizes the path algorithm. For example, when the fourth configuration double helix structure runs at full speed (the two power members 51 run at the same speed and in opposite directions), the chassis 11 does not rotate. In addition, the first configuration has the problem of mismatch between input and output speeds. According to Figure 15-16 The figure shows that when the direction of travel is between 0 and 26.6° (arctan(0.5)), the speed of the double helix increases while the input speed from the power element 51 decreases. Assuming no additional resistance during constant speed travel, static equilibrium conditions apply. Therefore, the output torque of the power element 51 is constant. In this ideal case, this conflict only affects acceleration. Otherwise, if resistance (such as rolling resistance or air resistance) is significant, it could lead to stability issues or overload of the power element 51 during constant speed travel. This problem also occurs in the direction between 90 and 116.6° and in the opposite direction. The fourth configuration avoids these issues, maintaining a consistent output-to-input ratio in all directions of travel. This ratio is calculated by dividing the speed limits by a normalized unit. The fourth configuration has eight symmetric segments in both input and output speeds. The formula proves that the output and input ratios of the fourth configuration are equal between 0 and 45 degrees, and due to symmetry, this conclusion can be extended to all directions. The perfect matching of input and output speeds in the fourth configuration ensures stable directional transitions and minimizes peak loads on the power element 51.

[0132] The fourth configuration, with the first inclination angle corresponding to the first travel wheel 21 and the second inclination angle corresponding to the second travel wheel 31, effectively improves traction and balances power consumption. This structure can carry a greater load under the same pipe wall conditions, thereby achieving higher acceleration or applying less wall pressure to better adapt to obstacles. The tilted second travel wheel 31, combined with the double-helix structure, ensures stability when switching directions and minimizes peak loads on the actuator.

[0133] See also Figure 4The first traveling mechanism 20 further includes a plurality of linkage assemblies 22 arranged in an array around the axis of the first traveling mechanism 20. Each linkage assembly 22 corresponds to each first traveling wheel 21 and is configured to radially adjust the position of the first traveling wheel 21 relative to the axis of the first traveling mechanism 20. The radial expansion of the linkage assembly 22 occupies only a fixed length of the robot, thereby saving space for the inspection component.

[0134] See also Figure 5-Figure 7 The first traveling mechanism 20 further includes a pair of first linkage disks 23, a pair of second linkage disks 24, and a plurality of tension springs 25. The pair of second linkage disks 24 are positioned between the pair of first linkage disks 23. A plurality of first connecting rods 231 are positioned between the pair of first linkage disks 23, and a plurality of second connecting rods 241 are positioned between the pair of second linkage disks 24. The plurality of first connecting rods 231 and the plurality of second connecting rods 241 are arranged in an array around the axis of the first traveling mechanism 20. The ends of the tension spring 25 are connected to the first connecting rods 231 and the second connecting rods 241, respectively. Among them, the axis of the first walking mechanism 20 is also the axis of the main shaft tube 60, the first linkage disk 23 or the second linkage disk 24. The main shaft tube 60 is rotatably connected with the first linkage disk 23 and the second linkage disk 24 respectively. In order to reduce the resistance of the main shaft tube 60 to rotation relative to the first linkage disk 23 and the second linkage disk 24, a first bearing 90 is sleeved between the first linkage disk 23 and the main shaft tube 60, and a second bearing 100 is sleeved between the second linkage disk 24 and the main shaft tube 60. The first bearing 90 and the second bearing 100 are, for example, deep groove ball flange bearings.

[0135] See also Figure 8 The linkage assembly 22 includes a first connecting arm 221, a second connecting arm 222 and a connecting member 223. The two ends of the first connecting arm 221 are respectively rotatably connected to the first connecting rod 231 and the connecting member 223. The two ends of the second connecting arm 222 are respectively rotatably connected to the second linkage disk 24 and the connecting member 223. The first walking wheel 21 and the connecting member 223 are rotatably connected at one end away from the first linkage disk 23 or the second linkage disk 24. The first connecting arm 221 and the second connecting arm 222 are used to approach or move away from each other in the circumferential direction to switch the position of the first walking wheel 21 radially relative to the axis of the first walking mechanism 20. It can be understood that when the first connecting arm 221 and the second connecting arm 222 are used to approach each other in the circumferential direction, the angle between the first connecting arm 221 and the second connecting arm 222 becomes smaller, and the position of the first walking wheel 21 radially relative to the axis of the first walking mechanism 20 becomes farther; when the first connecting arm 221 and the second connecting arm 222 are used to move away from each other in the circumferential direction, the angle between the first connecting arm 221 and the second connecting arm 222 becomes larger, and the position of the first walking wheel 21 radially relative to the axis of the first walking mechanism 20 becomes closer.

[0136] The first connecting rod 231, the second connecting rod 241, the tension spring 25, the linkage assembly 22 and the first walking wheel 21 are arranged in a one-to-one correspondence. Taking the linkage assembly 22 as an example, the number of the first linkage assembly 22 can be 3, 4, 5, etc. Preferably, in the embodiment of the present application, the linkage assembly 22 is configured as three. Figure 6 For example, to illustrate the corresponding connection position of the tension spring 25, when there are three linkage assemblies 22, there are also three first travel wheels 21, first connecting rod 231, second connecting rod 241, and tension spring 25. Two second connecting rods 241 are spaced apart near the first connecting rod 231, and a tension spring 25 is installed between the first connecting rod 231 and the second connecting rod 241, which is relatively far away. The other two tension springs 25 are installed in the same manner.

[0137] See also Figure 17 , which is a comparison diagram of the first walking mechanism 20 in different states, wherein, Figure 17 a is a structural diagram of the first walking mechanism 20 in a tightened state, Figure 17 b is a structural diagram of the first walking mechanism 20 in a relaxed state, Figure 17 b is also a schematic diagram of the structure of the first walking mechanism 20 in the initial state, at this time, the tension spring 25 is in a compressed state. When the robot needs to be placed in the pipeline, the multiple linkage components 22 are pressed radially downward toward the center, and the first link arm 221 and the second link arm 222 in the linkage component 22 move away from each other, and the corresponding tension spring 25 will be stretched, and the first walking mechanism 20 will be Figure 17 bSwitch to Figure 17 a, Figure 17 In a, the radial dimension of the first traveling mechanism 20 is adapted to the inner diameter of the pipeline to be inspected.

[0138] The linkage assembly 22, first linkage disc 23, second linkage disc 24, and tension spring 25 on the first traveling mechanism 20 cooperate to form a linked radial link adaptive mechanism. The linked radial link adaptive mechanism has a travel range of 300mm-400mm, defined as the range between the maximum and minimum diameters of the first traveling mechanism 20. Within this range, it can effectively adapt to pipe walls. This linked radial link adaptive mechanism can be used to adapt to rough pipe surfaces and pipes of varying diameters. Compared to a simple spring slider, the linked radial link adaptive mechanism of each first traveling wheel 21 on the same spiral structure is interconnected. The three sets of linkage assemblies 22 and corresponding three tension springs 25 can operate synchronously, eliminating center offset, reducing redundant force, and improving adaptability to obstacles and pipe deformation. The linkage assembly 22 and tension spring 25 cooperate to allow a certain degree of relative radial movement of the first traveling wheel 21 to adapt to pipe conditions. This linked radial link adaptive mechanism minimizes variations in wall pressure when the robot is in pipes of varying radii and eliminates center offset issues that can lead to uneven scanning distances and unstable torque. A tension spring 25 provides wall pressure, linking the radial link adaptive mechanism. This mechanism is suitable for screw-driven or wall-pressure pipeline robots. This mechanism offers advantages such as stable wall pressure, wide pipe diameter range, small axial dimensions, and concentricity with the pipe wall. The link structure, with the link arm extending only radially, requires minimal space.

[0139] Figure 18 The free body diagram of the three-point linkage radial link adaptive mechanism inside the horizontal pipe from the perspective of the pipe cross section. The mechanical relationship of the linkage radial link adaptive mechanism is formula (12)

[0140]

[0141] Figure 19 The geometric relationship diagram of the three-point linkage radial link adaptive mechanism inside the horizontal pipe from the perspective of the pipe cross section. The geometric relationship of the linkage radial link adaptive mechanism is formula (13)

[0142]

[0143] Figure 20 Schematic diagram of the simplified geometric structure of the linked radial link adaptive mechanism.

[0144] Figure 21 It is a close-up structural diagram of the tension spring 25 in the tension state.

[0145] General formula for wall pressure (14)

[0146]

[0147] The wall pressure in the embodiment of the present application is expressed as formula (15)

[0148]

[0149] Where F is the wall pressure, h is the distance between the tube wall and the robot center, s is the offset between the robot center and the tube wall center, σ is the angle between the link arm corresponding to h1 and s, τ is the link arm torque, and T s is the tension, τ s is the spring torque, is the external angle, h is the stroke of the connecting rod arm, r1 is the distance between the end of the tension spring 25 and the center, r2 is the distance between the other end of the tension spring 25 and the center, k is the spring constant, c is the distance between points C and D, d is the length of the connecting rod arm, I is the initial length of the spring, i = 1, 2, 3, ..., n, where n is the number of connecting rod arms.

[0150] The above formula provides a basis for wall pressure calculation based on the laws of classical mechanics and geometry. The general equation form is given above, as well as the specific equation form of this design. The design concept of this application is to balance the spring force that increases due to the increase in the extension length of the tension spring 25 by reducing the mechanical advantage provided by the connecting rod arm. The force exerted on the robot by the pipe wall is not easily affected by the pipe diameter. Through the cooperation of the connecting rod arm and the tension spring 25, the magnitude of the force exerted on the robot by the pipe wall can be balanced. The connecting rod arm can compensate for the force so that the wall pressure on pipes of different diameters is similar.

[0151] Taking the reference parameters in the following table as an example, the wall pressure of the linked radial link adaptive mechanism and the independent compression spring are compared.

[0152]

[0153] Figure 22 This is a schematic diagram of the wall pressure of a linked radial link adaptive mechanism and an independent compression spring. Here, an independent compression spring refers to a spring that is sleeved onto a cylinder or column without an adaptive link structure and is equipped with a structure that restricts movement, such as a slider or pin. The above formula can be used to calculate a set of parameters to achieve a flatter wall pressure curve. Figure 22 The curvature in the upper center is shown as the wall pressure curve for a linked radial link adaptive mechanism using reference parameters (not optimal). Compared to an independent compression spring (two dashed lines), the linked radial link adaptive mechanism exhibits a flatter wall pressure curve that is closer to the ideal horizontal line (straight line) within the operating range (150mm to 200mm travel). While increasing the initial length of the independent compression spring and reducing the spring constant can reduce the slope of the curve, this is limited by the compression ratio and exacerbates the center offset problem.

[0154] See also Figure 8The first link arm 221 and the second link arm 222, which are rotatably connected to the connecting member 223, are each provided with a tooth portion 2221 on the side close to each other. The first link arm 221 and the second link arm 222 are meshed with each other through the tooth portion 2221. The meshing of the first link arm 221 and the second link arm 222 by the tooth portion 2221 ensures the effective operation of the entire linkage assembly 22. At the same time, the first link arm 221 and the second link arm 222 interact with each other through the tooth portion 2221, which facilitates the operation effect of the linkage assembly 22.

[0155] See also Figure 8 Specifically, the connecting member 223 includes two connecting plates 2231 arranged opposite each other. A third connecting rod 2232 is disposed between the two connecting plates 2231 and is rotatably connected to the first and second connecting arms 221 and 222, respectively. The linkage assembly 22 also includes a wheel frame 224, which is fixed between the two connecting plates 2231. The wheel frame 224 defines a mounting slot 2241, in which a fourth connecting rod 2233 is secured. The first running wheel 21 is rotatably connected to the fourth connecting rod 2233 within the mounting slot 2241. One or two third connecting rods 2232 may be provided as needed. When the first and second connecting arms 221 and 222 are engaged, two third connecting rods 2232 are separately provided to be rotatably connected to the first and second connecting arms 221 and 222, respectively. In other embodiments, if the tooth portion 2221 is not provided, a single third connecting rod 2232 may be provided. The wheel frame 224 is a block structure, which is filled between the two connecting plates 2231 to ensure the structural strength of the connecting piece 223. At the same time, an installation groove 2241 for assembling the first running wheel 21 is opened on the wheel frame 224 to ensure the assembly position of the first running wheel 21 on the connecting piece 223 and the inclination angle of the first running wheel 21 relative to the main shaft tube 60.

[0156] Preferably, in the embodiment of the present application, a limiting structure is provided on the first linkage disk 23, which is used to limit the rotation angle of the second linkage disk 24 relative to the first linkage disk 23. By limiting the rotation angle of the second linkage disk 24 relative to the first linkage disk 23 by the limiting structure, the deformation of the tension spring 25 is limited, thereby preventing the tension spring 25 from being excessively compressed or stretched, facilitating the use of the robot, facilitating the maintenance of the tension spring 25, and extending the service life of the tension spring 25.

[0157] Specifically, the second link arm 222 and the second linkage disk 24 are rotatably connected via the connecting shaft 110. A limiting member 111 is provided on the side of the connecting shaft 110 close to the first linkage disk 23. A first limiting portion 232 and a second limiting portion 233 are provided on the side wall of the first linkage disk 23. The limiting member 111 is placed between the first limiting portion 232 and the second limiting portion 233. Both the first limiting portion 232 and the second limiting portion 233 are used to abut against the limiting member 111 to limit the rotation angle of the second linkage disk 24. For example, Figure 9As shown, the first linkage disk 23 is a plate-like structure similar to a triangle, with three corresponding sides of the triangle being curved surfaces, with the curved surfaces having concave and convex curves relative to the axis of the first linkage disk 23. The first limiting portion 232 is a concave curved surface portion on the sidewall of the first linkage disk 23, and the second limiting portion 233 is a relatively convex or raised convex surface portion on the first linkage disk 23. A clearance portion is provided on the sidewall of the first linkage disk 23 between the first limiting portion 232 and the second limiting portion 233. The clearance portion is spaced apart from the limiting member 111, that is, the limiting member 111 does not contact the sidewall of the first linkage disk 23 when in motion, thereby reducing resistance to the rotation of the second linkage disk 24.

[0158] See also Figure 10 The second linkage disk 24 is a triangular plate structure, and has three circumferentially equally spaced corner areas ( Figure 10 The second link arm 222 is rotatably connected to the second linkage disk 24 in the corner area to reduce the radial dimension of the second linkage disk 24. The second link 241 is fixed to the second linkage disk 24 inward relative to the corner area. For example, the second linkage disk 24 has an inscribed circular area ( Figure 10 Multiple second connecting rods 241 are circumferentially and evenly spaced around the second linkage disk 24 near the inscribed circle (i.e., within, outside, or along the boundary of the inscribed circle). The three sides of the triangular plate-like second linkage disk 24 can be recessed inward. This not only helps reduce the robot's weight, but also facilitates clearing of other parts of the first traveling mechanism 20, preventing interference during rotation of the second linkage disk 24.

[0159] In other embodiments, the first linkage disk 23 and the second linkage disk 24 may also have other shapes as long as their respective movement characteristics are met. For example, the first linkage disk 23 and the second linkage disk 24 may also have circular, square, or irregular shapes. The shapes of the first linkage disk 23 and the second linkage disk 24 may be the same or different, and are not specifically limited. In other embodiments, the first limiting portion 232 and the second limiting portion 233 may also be rod-shaped or plate-shaped structures to intercept the limiting member 111, thereby limiting the range of movement of the limiting member 111.

[0160] In the embodiment of the present application, the robot also includes a control system, see Figure 23, is a schematic diagram of the control system module. The control system is fixed to the fuselage 10 (within the assembly space between the two chassis 11). The control system includes a drive circuit and a data acquisition circuit. The drive circuit includes a control board, a battery, a power element driver, and a position detection sensor. The control board is electrically connected to the battery, the power element driver, and the position detection sensor. The control board is used to drive the power element of the first drive mechanism 40 and / or the power element 51 of the second drive mechanism 50 via the power element driver. The position detection sensor obtains position information via an encoder and an inertial measurement unit. The battery is used to power the control system. The data acquisition circuit includes a detection element driver, a signal processor, and a data storage device. The detection element driver is electrically connected to the signal processor and the detection element, respectively. The signal processor is also electrically connected to the data storage device. The control board and the detection element driver are communicatively connected to activate the detection element and record the results. The detection element transmits the detection information to the signal processor via the detection element driver. The signal processor transmits the detection information to the data storage device for subsequent analysis. The battery can also be replaced with an external power supply located outside the pipe. That is, when the robot is in use, the power supply is electrically connected to the control board on the body 10 via leads passing through the spindle tube 60. Similarly, the data storage device can also be replaced with an external computer system located outside the pipe and electrically connected to the signal processor. The control system described here is only a general example. The components and installation locations of the control system can be flexibly configured according to actual conditions and are not specifically limited in this application.

[0161] The usage process of the robot designed in the embodiment of this application is as follows:

[0162] Deploy the robot at the pipe opening and manually compress the running wheels in the radial linkage adaptive mechanism to lower the robot into the pipe. Once the robot enters the pipe, the radial linkage adaptive mechanism automatically expands, allowing the running wheels to rest against the pipe wall. If the robot cannot enter the pipe after compression, or if it can enter without compression, it indicates that the robot is not suitable for the pipe.

[0163] After the robot is placed in the pipeline, turn on the built-in battery or external power supply, start the robot and start working. The robot can work in the first state and / or the second state, which can be selected according to actual needs. When the robot is working in the first state and the second state, the robot can move along the axis of the pipeline and rotate around the axis of the pipe wall. The two-dimensional movement is combined into a spiral motion. The pitch of the path can be adjusted by changing the rotation speed of the power component 51, and the change of the pitch can be completed through the control panel. Among them, the maximum forward speed of the robot and the pitch are negatively correlated. The pitch is also the resolution of the detection of the detection component. The smaller the pitch, the higher the resolution. If a spiral scanning motion is applied, the scanning resolution is reflected by the data point acquisition frequency and pitch. The user can adjust it according to the time and accuracy requirements. The robot can also perform a customized scanning mode, such as raster scanning. This can be used to perform local high-resolution scanning of known defect areas.

[0164] When the robot is working, the detection part detects the pipe wall. The information detected by the detection part and the information obtained by the position detection sensor will be stored together in the data storage device or transmitted to the external computer system in real time.

[0165] After the robot is used or has completed its inspection work in the pipeline, it can be retracted by reverse driving or by pulling it out after turning off the power. Once the robot is pulled out, the linked radial link adaptive mechanism will extend to its maximum stroke.

[0166] The above specific examples are used to illustrate the present application, which is only used to help understand the present application and is not intended to limit the present application. For those skilled in the art of the present application, based on the concept of the present application, they can also make some simple deductions, modifications or substitutions.

Claims

1. A robot for pipeline inspection, characterized in that: include: A fuselage, wherein a detection member is mounted on the fuselage, the detection member is used to detect the pipeline, and the fuselage has a front end and a rear end; a first traveling mechanism, comprising a plurality of first traveling wheels arranged on an outer periphery of the first traveling mechanism, the first traveling mechanism being connected to a front end of the fuselage; a second traveling mechanism, comprising a plurality of second traveling wheels arranged on an outer periphery of the second traveling mechanism, the second traveling mechanism being connected to a rear end of the fuselage; a first driving mechanism, configured to drive the first traveling mechanism to rotate; as well as a second driving mechanism, configured to drive the second traveling mechanism to rotate, wherein the first driving mechanism and the second driving mechanism are both assembled on the fuselage; The axis of the first running wheel and the axis of the second running wheel are both tilted relative to the axis of the robot, and the axis of the first running wheel and the axis of the second running wheel are distributed on both sides of the axis of the robot.

2. The pipeline inspection robot according to claim 1, wherein: The rotation speeds of the first traveling mechanism and the second traveling mechanism may be the same or different, and the directions of the first traveling mechanism and the second traveling mechanism may be the same or different; When the first walking mechanism and the second walking mechanism have the same rotation speed and different directions, the robot is in a first state, in which the robot is used to move forward or backward in the pipeline; When the first walking mechanism and the second walking mechanism have the same rotation speed and the same direction of rotation, the robot is in a second state, in which the body is configured to rotate around the axis of the robot; When the rotational speeds of the first walking mechanism and the second walking mechanism are different, the robot is in the first state and the second state at the same time.

3. The pipeline inspection robot according to claim 1, characterized in that: It also includes a main shaft tube, a first transmission mechanism and a second transmission mechanism; the main shaft tube passes through the fuselage and is rotatably connected to the first walking mechanism and the second walking mechanism respectively, and the main shaft tube is fixedly connected to the fuselage; the first drive mechanism and the second drive mechanism are distributed on both sides of the main shaft tube, the first transmission mechanism is respectively connected to the first drive mechanism and the first walking mechanism, and the second transmission mechanism is respectively connected to the second drive mechanism and the second walking mechanism.

4. The pipeline inspection robot according to claim 3, characterized in that: The fuselage includes two parallel chassis, and the main shaft tube passes through the space between the two chassis and is connected to the first walking mechanism and the second walking mechanism respectively; the space between the two chassis forms an assembly space, and the detection part, the first drive mechanism and the second drive mechanism are all fixed in the assembly space.

5. The pipeline inspection robot according to claim 4, characterized in that: The number of the detection elements is configured to be one or two.

6. The pipeline inspection robot according to claim 5, characterized in that: The number of the detection members is configured to be two, the two chassis and the two detection members are symmetrically distributed about the spindle tube, and the distance between the first driving mechanism and the spindle tube is equal to the distance between the second driving mechanism and the spindle tube.

7. The pipeline inspection robot according to claim 1, characterized in that: A first inclination angle is formed between the axis of the first walking wheel and the axis of the robot, a second inclination angle is formed between the axis of the second walking wheel and the axis of the robot, and the first inclination angle is equal to the second inclination angle; and / or, the detection component is used to perform non-destructive testing on the pipeline.

8. The pipeline inspection robot according to claim 1, characterized in that: The first walking mechanism is the same as the second walking mechanism; the first walking mechanism also includes a plurality of linkage components, and the plurality of linkage components are distributed in an array around the axis of the first walking mechanism; the linkage components and the first walking wheels are arranged in a one-to-one correspondence, and the linkage components are used to radially change the position of the first walking wheel relative to the axis of the first walking mechanism.

9. The pipeline inspection robot according to claim 8, characterized in that: The first walking mechanism further includes a pair of first linkage disks, a pair of second linkage disks and a plurality of tension springs, wherein the pair of second linkage disks are disposed between the pair of first linkage disks; A plurality of first connecting rods are provided between a pair of the first linkage plates, and a plurality of second connecting rods are provided between a pair of the second linkage plates. The plurality of first connecting rods and the plurality of second connecting rods are distributed in an array around the axis of the first walking mechanism, and both ends of the tension spring are connected to the first connecting rod and the second connecting rod respectively. The linkage assembly includes a first link arm, a second link arm, and a connecting member, wherein two ends of the first link arm are rotatably connected to the first link and the connecting member respectively, two ends of the second link arm are rotatably connected to the second linkage plate and the connecting member respectively, and the first walking wheel is rotatably connected to the connecting member; The first connecting rod, the second connecting rod, the tension spring and the linkage assembly are arranged in a one-to-one correspondence; The first link arm and the second link arm are used to move closer to or farther away from each other along the circumferential direction to switch the position of the first traveling wheel relative to the axis of the first traveling mechanism.

10. The pipeline inspection robot according to claim 9, characterized in that: The first connecting arm and the second connecting arm are rotatably connected to the connecting member, and are provided with teeth on one side close to each other. The first connecting arm and the second connecting arm are meshed with each other through the teeth.

11. The pipeline inspection robot according to claim 9, characterized in that: The connecting member includes two connecting plates that are distributed opposite each other, and a third connecting rod is provided between the two connecting plates, which are respectively rotatably connected to the first connecting rod arm and the second connecting rod arm; the linkage assembly also includes a wheel frame, which is fixed between the two connecting plates, and an installation groove is provided on the wheel frame, and the first walking wheel is rotatably connected to the installation groove.

12. The pipeline inspection robot according to claim 9, characterized in that: A limiting structure is provided on the first linkage disk, and the limiting structure is used to limit the rotation angle of the second linkage disk relative to the first linkage disk.

13. The pipeline inspection robot according to claim 12, characterized in that: The second connecting rod arm and the second linkage disk are rotatably connected through a connecting shaft, and a limit piece is provided on the side of the connecting shaft close to the first linkage disk; a first limit portion and a second limit portion are provided on the side wall of the first linkage disk, and the limit piece is placed between the first limit portion and the second limit portion, and the first limit portion and the second limit portion are both used to abut against the limit piece to limit the rotation angle of the second linkage disk.

14. The pipeline inspection robot according to claim 13, characterized in that: A clearance position is provided on the side wall of the first linkage disk between the first limiting portion and the second limiting portion, and the clearance position and the limiting member are spaced apart.

15. The pipeline inspection robot according to claim 9, characterized in that: The linkage components are configured in three.

16. The pipeline inspection robot according to claim 9, characterized in that: The second linkage disk is a triangular plate-like structure, and has three corner areas equidistantly distributed in the circumferential direction. The second link arm is rotatably connected to the second linkage disk in the corner areas.

Images