A rope-driven posture-adjusting linkage type adaptive pipe diameter pipeline robot

Abstract

The utility model discloses a kind of rope drive attitude adjustment connecting rod type self-adapting pipe diameter pipeline robots, including the front vehicle body and rear vehicle body connected by module joint section;Module joint section includes joint section base, universal joint, similar mechanical arm bionic skeleton and rope drive steering system;Joint section base is fixedly arranged at the opposite end of front vehicle body and rear vehicle body, similar mechanical arm bionic skeleton is circumferentially arrayed between two joint section bases, and is connected with joint section base by universal joint;Rope drive steering system includes traction rope, steering drive motor and winding wheel;Front vehicle body and rear vehicle body include pipe type vehicle body, telescopic wheel frame and walking wheel group;Several walking wheel groups are circumferentially arrayed on the outside of pipe type vehicle body and are connected with pipe type vehicle body by telescopic wheel frame;The utility model's rope drive attitude adjustment connecting rod type self-adapting pipe diameter pipeline robot can adapt to pipeline of different diameters, and can also flexibly pass through curved pipe section.

Description

Technical Field

[0001] This utility model relates to the field of robot motion technology, specifically a rope-driven attitude adjustment linkage adaptive pipe diameter pipeline robot. Background Technology

[0002] Robotic motion technology significantly enhances a robot's ability to perform various tasks. By adjusting motion parameters and algorithms, robots can cope with complex terrains and obstacles, achieving flexible movement. The development of robotic motion technology is a crucial driving force for the overall advancement of robotics technology. Continuous innovation and improvement in robotic motion technology not only enhance robot performance but also open up new fields and scenarios for the application of robotics technology.

[0003] With the accelerating pace of urbanization, urban underground pipeline networks have become unprecedentedly complex. Today, underground pipelines encompass not only traditional water supply and drainage pipes, but also various other types such as gas, heating, and telecommunications pipelines, crisscrossing and forming the "lifeline" for the normal operation of cities. This complex pipeline network places extremely high demands on pipeline maintenance and inspection. Pipeline robots, as crucial tools for pipeline maintenance and inspection, directly impact the efficiency and quality of these tasks.

[0004] However, most pipeline robots currently on the market have significant technological limitations. In terms of their locomotion and steering systems, they typically employ a single design. Common locomotion mechanisms, such as wheeled, tracked, and helical types, each have their own shortcomings. While wheeled locomotion mechanisms offer advantages like simple structure and high speed, they are prone to slipping in wet or uneven pipes, resulting in poor obstacle-crossing ability. This is especially true when there is water or mud in the pipes, significantly reducing stability. Tracked locomotion mechanisms provide greater traction and better obstacle-crossing ability, but their large turning radius makes turning difficult in small-diameter pipes or pipes with sharp turns, hindering flexible adjustment of the direction of travel. Helical locomotion mechanisms require a high coefficient of friction on the pipe's inner wall and consume a lot of energy during operation, easily leading to motor overheating and affecting the robot's lifespan. Simultaneously, traditional steering systems have slow response speeds and struggle to precisely control steering angles in complex curves. This severely limits the robot's operation when facing complex environments with varying pipe diameters, bends, or obstacles, frequently resulting in deviations from the path or even jamming.

[0005] In terms of structural design, the existing pipeline robot's walking structure and steering system are often overly complex, resulting in a large size and weight. This not only increases the robot's movement resistance within the pipeline, making it difficult to operate flexibly in confined spaces, but the complex structure also leads to high manufacturing costs and maintenance difficulties. For example, in pipeline inspection and maintenance work in some old urban areas, the pipeline diameter changes frequently, and there are many bends, T-shaped or Y-shaped interfaces. Existing pipeline robots cannot adapt to these complex pipeline environments, often requiring manual intervention, which not only reduces work efficiency but also increases the safety risks for workers.

[0006] In summary, existing pipeline robots exhibit significant shortcomings in adaptability and operability in complex pipeline environments, failing to meet the ever-increasing demands for pipeline maintenance and inspection. Therefore, developing a robot with high flexibility and stability in complex pipeline environments has become an urgent need in the field of pipeline maintenance and inspection. This robot needs to be able to adapt to pipelines of different diameters, flexibly navigate winding sections, and possess a simple and compact structure to improve its operational capabilities in confined spaces, thereby effectively enhancing the efficiency and safety of pipeline maintenance and inspection work. Utility Model Content

[0007] In view of this, the purpose of this utility model is to develop a rope-driven attitude adjustment linkage type adaptive pipe diameter robot that can adapt to pipes of different diameters and flexibly pass through curved pipe sections.

[0008] This utility model discloses a rope-driven attitude-adjustable linkage-type adaptive pipe diameter robot, comprising a front body and a rear body connected by modular joint segments. Each modular joint segment includes a joint segment base, a universal joint, a bionic skeleton resembling a robotic arm, and a rope-driven steering system. The joint segment base is fixedly disposed at the opposite ends of the front and rear bodies. The bionic skeleton resembling a robotic arm is arranged in a circular array between the two joint segment bases and connected to the joint segment bases via universal joints. The rope-driven steering system includes a traction rope, a steering drive motor, and a winding reel. Four wires are arranged in a circular array on the opposite end faces of the joint segment bases. The vehicle consists of a wheel; four traction ropes are wound between corresponding guide wheels on two joint section bases; the back of the joint section base is provided with two mutually perpendicular and intersecting winding wheels and a steering drive motor for driving the winding wheels to rotate; one end of two opposing traction ropes is wound around the same winding wheel, and when the winding wheel rotates, one side of the traction rope tightens and the other side of the traction rope loosens, causing the axes of the front and rear vehicle bodies to deflect relative to each other to achieve steering; the vehicle body includes a tubular body, a retractable wheel frame and a set of running wheels; several sets of running wheels are arranged in a circular array on the outside of the tubular body and connected to the tubular body through the retractable wheel frame.

[0009] Preferably, the retractable wheel frame is a scissor-type telescopic mechanism, and the retractable wheel frame is extended and retracted under the drive of the variable diameter drive mechanism; the variable diameter drive mechanism includes a variable diameter bearing ring, a variable diameter lead screw, a support rod, and a variable diameter drive motor; the variable diameter bearing ring is sleeved on the tubular body, the variable diameter lead screw is threaded into the threaded hole of the variable diameter bearing ring, and the variable diameter drive motor is used to drive the variable diameter lead screw to rotate so that the variable diameter bearing ring slides along the support rod, thereby driving the retractable wheel frame to unfold or retract.

[0010] Preferably, the walking wheel set includes a frame, a walking motor, and walking wheels; the frame is connected to the outside of the retractable wheel frame, the walking wheels are fixed to both ends of the wheel axle, and the wheel axle is mounted on the frame through wheel axle bearings; the walking motor transmits power to the drive shaft through a primary bevel gear pair, and the drive shaft transmits power to the wheel axle through a secondary bevel gear pair.

[0011] Preferably, the joint segment base has four mounting slots arranged in a circumferential array on opposite end faces. A protective sleeve is fixedly installed in the mounting slot. The guide wheel is installed in the protective sleeve through a rotating shaft. The surface of the protective sleeve is provided with a limiting hole for the traction rope to pass through.

[0012] Preferably, the joint segment base is provided with a rope drive limiting hole, and the traction rope led out from the winding wheel passes through the limiting hole on the protective sleeve under the guidance of the rope drive limiting hole and then winds around the guide wheel.

[0013] Preferably, the winding wheel is provided with a spiral groove.

[0014] Preferably, all the wheels are anti-slip wheels.

[0015] Preferably, the opposite end of the joint segment base is provided with a cylindrical steering drive bearing seat, which has two motor seats for mounting the steering drive motor and two wheel seats for mounting the winding wheel integrally formed inside.

[0016] The beneficial effects of this invention are as follows: The retractable wheel frame makes the entire pipeline robot compact, facilitating operation in narrow pipes. The centrally symmetrical four-wheel drive wheel design ensures smooth and precise steering, meeting the stability requirements in complex pipe environments. While improving the robot's maneuverability, the combination of the cable-driven steering system, universal joints, and bionic skeleton-like robotic arm allows the multifunctional pipeline robot to flexibly adapt to pipes of different shapes, making operation simple and convenient. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0018] Figure 1 This is a schematic diagram of the overall shrinkage of this utility model.

[0019] Figure 2This is a schematic diagram of the overall extension of the present invention.

[0020] Figure 3 This is a schematic diagram of the modular joint segment of this utility model.

[0021] Figure 4 Right view of the joint segment base of this utility model

[0022] Figure 5 This is a schematic diagram of the rope-driven steering system inside the joint segment base of this utility model.

[0023] Figure 6 This is a schematic diagram of the external installation of the tubular vehicle body according to this utility model.

[0024] Figure 7 This is a schematic diagram of the overall diameter-changing drive mechanism of this utility model.

[0025] Figure 8 This is a schematic diagram of the internal structure of the walking wheel assembly of this utility model.

[0026] Reference numerals: 1. Vehicle body; 1-1. Tubular body; 1-2. Variable diameter bearing ring; 1-3. Variable diameter lead screw; 1-4. Variable diameter drive motor; 1-5. Support rod; 1-6. Telescopic wheel frame; 1-7. Slider; 1-8. Walking wheel set; 1-9. Walking wheel set cover; 1-10. Walking wheel; 1-11. Walking motor; 1-12. Frame; 1-13. Drive shaft; 1-14. Wheel axle bearing; 1-15. Secondary bevel gear pair; 2. Module joint segment; 2-1. Joint segment base; 2-2. Universal joint connecting block; 2-3. Universal joint base; 2-4. Bionic skeleton of robotic arm; 2-5. Traction rope; 2-7. Rope drive limiting hole; 2-8. Steering drive motor; 2-9. Guide wheel; 2-10. Protective sleeve; 2-11. Winding wheel; 2-12. Motor mount; 2-13. Wheel mount; 2-14. Steering drive bearing seat. Detailed Implementation

[0027] like Figure 1 , 2 As shown, this embodiment of a rope-driven attitude adjustment linkage adaptive pipe diameter robot includes a front body and a rear body connected by a module joint segment 2.

[0028] like Figure 3As shown, the modular joint segment 2 includes a joint segment base 2-1, a universal joint connecting block 2-2, a robotic arm-like bionic skeleton 2-4, and a cable-driven steering system. The joint segment base 2-1 is fixedly installed at the opposite ends of the front and rear vehicle bodies 1. Three robotic arm-like bionic skeletons 2-4 are arranged in a circular array between the two joint segment bases 2-1 and connected to the joint segment bases 2-1 via the universal joint connecting block 2-2. The robotic arm-like bionic skeletons 2-4 are made of PLA material and have connection holes at both ends. Three universal joint bases 2-3 are arranged in a circular array on the opposite end face of the joint segment base 2-1. The universal joint bases 2-3 are connected to the universal joint connecting block 2-2 via a first pin, and the universal joint connecting block 2-2 is connected to the end of the robotic arm-like bionic skeleton 2-4 via a second pin perpendicular to the first pin. The two ends of the robotic arm-like bionic skeleton 2-4 are connected to the joint segment base 2-1 via universal joints. Therefore, the two joint segment bases 2-1 can deflect relative to each other under the drive of the cable-driven steering system to achieve steering.

[0029] like Figure 3 and Figure 4 The rope-driven steering system includes four traction ropes 2-5, two steering drive motors 2-8, and two winding reels 2-11; four guide wheels 2-9 are circumferentially arranged on the opposite end faces of the two joint segment bases 2-1; the four traction ropes 2-5 are wound between the corresponding guide wheels 2-9 of the two joint segment bases 2-1; four mounting grooves are circumferentially arranged on the opposite end faces of the joint segment bases 2-1, and protective sleeves 2-10 are fixedly installed in the mounting grooves, with the guide wheels 2-9 installed in the protective sleeves 2-10 via rotating shafts; Figure 5The back of the joint base 2-1 is provided with a cylindrical steering drive support 2-14, which has two integrally formed motor seats 2-12 for mounting steering drive motors 2-8 and two wheel seats 2-13 for mounting winding wheels 2-11. Two mutually perpendicularly arranged winding wheels 2-11 are rotatably mounted on the two wheel seats 2-13. The winding wheels 2-11 are provided with spiral grooves to facilitate winding the traction rope 2-5. The two perpendicularly arranged steering drive motors 2-8 drive the two winding wheels 2-11 to rotate. Two opposing traction ropes 2-5 are wound at one end around the same winding wheel 2-11, such as the two traction ropes 2-5 on the left and right sides wound around one winding wheel 2-11, while the two traction ropes 2-5 on the top and bottom sides are wound around another winding wheel 2-11. The surface of the protective sleeve 2-10 is provided with... The traction rope 2-5 passes through a limiting hole. The joint section base 2-1 is provided with a rope drive limiting hole 2-7. The traction rope 2-5 led out from the winding wheel 2-11 passes through the limiting hole on the protective sleeve 2-10 under the guidance of the rope drive limiting hole 2-7 and then winds around the guide wheel 2-9. When the winding wheel 2-11 rotates, one side of the traction rope 2-5 tightens and the other side of the traction rope 2-5 loosens, so that the axes of the front vehicle body and the rear vehicle body 1 deflect relative to each other to achieve steering. One winding wheel 2-11 can control the left and right deflection of the vehicle body 1, and the other winding wheel 2-11 can control the up and down pitch deflection of the vehicle body 1.

[0030] like Figure 6 The front and rear vehicle bodies 1 include a tubular body 1-1, a retractable wheel frame 1-6, and a set of three wheels 1-8. The three sets of wheels 1-8 are arranged in a circular array outside the tubular body 1-1 and connected to the tubular body 1-1 through the retractable wheel frame 1-6. The retractable wheel frame 1-6 is a scissor-type telescopic mechanism. The retractable wheel frame 1-6 is telescopic under the drive of the variable diameter drive mechanism. The scissor-type telescopic mechanism generally includes two X-shaped connecting rods. The outer ends of the two connecting rods are hinged to the frame 1-12 of the walking wheel set 1-8, and the inner ends are hinged to two sliders 1-7. By controlling the sliding of the sliders 1-7, the two X-shaped connecting rods can be extended and retracted to achieve telescopic movement. The variable diameter drive mechanism includes a variable diameter bearing ring 1-2, a variable diameter lead screw 1-3, a support rod 1-5, and a variable diameter drive motor 1-4. The variable diameter bearing ring 1-2 is sleeved on the tubular body 1-1. The variable diameter lead screw 1-3 is threaded into the threaded hole of the variable diameter bearing ring 1-2. The variable diameter drive motor 1-4 is fixed to the outside of the tubular body 1-1 to drive the variable diameter lead screw 1-3 to rotate, causing the variable diameter bearing ring 1-2 to slide along the support rod 1-5, thereby driving the retractable wheel frame 1-6 to extend or retract. The support rod 1-5 is fixedly installed on the outside of the tubular body 1-1. It guides the sliding of the variable diameter bearing ring 1-2 by cooperating with the through hole on the variable diameter bearing ring 1-2. The variable diameter bearing ring 1-2 cooperates with the slider 1-7 on the telescopic wheel frame 1-6 to drive the telescopic wheel frame 1-6 to extend and retract.

[0031] like Figure 8 The walking wheel assembly 1-8 includes a frame 1-12, a walking motor 1-11, and walking wheels 1-10. The frame 1-12 is connected to the outside of the retractable wheel frame 1-6, and the walking wheels 1-10 are fixed to both ends of the axle. The axle is mounted on the frame 1-12 through the axle bearing 1-14. The walking motor 1-11 transmits power to the drive shaft 1-13 through a primary bevel gear pair. The drive shaft 1-13 transmits power to the axle through a secondary bevel gear pair 1-15. The two secondary bevel gear pairs 1-15 simultaneously drive the front and rear axles to rotate synchronously. All walking wheels 1-10 are anti-slip wheels. The retractable wheel frame 1-6 is extended to allow the walking wheels 1-10 to reliably contact the inner wall of the pipe, enabling the robot to move inside the pipe.

[0032] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model are included within the protection scope of the present utility model.

Claims

1. A cable-driven attitude-adjustable linkage-based adaptive pipe diameter pipeline robot, characterized in that: It includes a front vehicle body and a rear vehicle body connected by modular joint segments; the modular joint segments include joint segment bases, universal joints, bionic skeletons similar to robotic arms, and cable-driven steering systems. The joint segment base is fixedly installed at the opposite ends of the front and rear vehicle bodies. The bionic skeleton of the robotic arm is arranged in a circular array between the two joint segment bases and is connected to the joint segment base through a universal joint. The rope-driven steering system includes a traction rope, a steering drive motor, and a winding wheel; four guide wheels are arranged in a circumferential array on the opposite end faces of the joint section base; four traction ropes are wound between corresponding guide wheels of the two joint section bases; two winding wheels arranged perpendicularly to each other and a steering drive motor for driving the winding wheels to rotate are provided on the back of the joint section base; one end of the two opposing traction ropes is wound around the same winding wheel, and when the winding wheel rotates, one side of the traction rope tightens and the other side of the traction rope loosens, so that the axes of the front and rear vehicle bodies deflect relative to each other to achieve steering; The front and rear vehicle bodies include a tubular body, a retractable wheel frame, and a set of wheels; several sets of wheels are arranged in a circular array outside the tubular body and connected to the tubular body through the retractable wheel frame.

2. The cable-driven attitude adjustment linkage adaptive pipe diameter pipeline robot according to claim 1, characterized in that: The retractable wheel frame is a scissor-type telescopic mechanism, which extends and retracts under the drive of a diameter-changing drive mechanism. The diameter-changing drive mechanism includes a diameter-changing bearing ring, a diameter-changing lead screw, a support rod, and a diameter-changing drive motor. The diameter-changing bearing ring is sleeved on the tubular body, the diameter-changing lead screw is threaded into the threaded hole of the diameter-changing bearing ring, and the diameter-changing drive motor is used to drive the diameter-changing lead screw to rotate, causing the diameter-changing bearing ring to slide along the support rod, thereby driving the retractable wheel frame to unfold or retract.

3. The cable-driven attitude adjustment linkage adaptive pipe diameter pipeline robot according to claim 2, characterized in that: The walking wheel assembly includes a frame, a walking motor, and walking wheels; the frame is connected to the outside of the retractable wheel frame, the walking wheels are fixed to both ends of the wheel axle, and the wheel axle is mounted on the frame through wheel axle bearings; the walking motor transmits power to the drive shaft through a primary bevel gear pair, and the drive shaft transmits power to the wheel axle through a secondary bevel gear pair.

4. The cable-driven attitude adjustment linkage adaptive pipe diameter pipeline robot according to claim 3, characterized in that: The joint segment base has four mounting slots arranged in a circumferential array on opposite end faces. A protective sleeve is fixedly installed in the mounting slot. The guide wheel is installed in the protective sleeve through a rotating shaft. The surface of the protective sleeve is provided with a limiting hole for the traction rope to pass through.

5. The cable-driven attitude adjustment linkage adaptive pipe diameter pipeline robot according to claim 4, characterized in that: The joint section base is provided with a rope drive limiting hole. The traction rope led out from the winding wheel passes through the limiting hole on the protective sleeve under the guidance of the rope drive limiting hole and then wraps around the guide wheel.

6. The cable-driven attitude adjustment linkage adaptive pipe diameter pipeline robot according to claim 5, characterized in that: The winding wheel is provided with a spiral groove.

7. The cable-driven attitude adjustment linkage adaptive pipe diameter pipeline robot according to claim 6, characterized in that: All the wheels used are anti-slip wheels.

8. The cable-driven attitude adjustment linkage adaptive pipe diameter pipeline robot according to claim 7, characterized in that: The opposite end of the joint section base is provided with a cylindrical steering drive bearing seat, which has two motor seats for mounting the steering drive motor and two wheel seats for mounting the winding wheel integrally formed inside.

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