A new rotary pipe robot structure

Abstract

The utility model discloses a novel rotary pipeline robot structure relates to robot technical field, including initiative knot, the initiative knot is provided with battery knot and control knot, the initiative knot, battery knot and control knot are connected through the connector between, initiative knot: contain initiative knot mounting bracket, first locking screw, initiative wheel frame, initiative wheel, initiative knot shell, second locking screw, rear initiative wheel frame, rear initiative wheel, third locking screw and double -output shaft drive motor, the surface of initiative knot mounting bracket is sleeved with initiative knot shell, the left and right two ends of initiative knot shell are fixed in the left and right two ends of initiative knot mounting bracket surface through the second locking screw of uniform distribution, the inside installation of mounting bracket has double -output shaft drive motor, the left and right sides of initiative knot mounting bracket inside are provided with initiative wheel frame and rear initiative wheel frame respectively, simple and reliable structure, and the two functions of equipment walking and shock attenuation are realized simultaneously to all -in -one wheel frame.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a novel rotary pipeline robot structure. Background Technology

[0002] Traditional pipeline inspection robots generally employ a motor-driven, direct-drive wheel-axle structure. Their power systems require independent damping modules and have a bulky axial layout, resulting in poor spatial adaptability in small-diameter pipe environments. Furthermore, the rigid connection structure is prone to motion interference, affecting the throughput efficiency of complex pipelines. While rotary drive solutions exist, their wheel frame structures require additional springs or torsion springs for buffering, increasing component count and reducing reliability. The radial expansion of the damping module also hinders miniaturization. In addition, traditional equipment has a fixed power section at the head end that cannot be extended, resulting in insufficient driving force when facing steeply angled or variable-diameter pipes. The use of rigid connecting components between sections limits omnidirectional adjustment and lacks integrated wiring harness design, restricting functional expandability and environmental adaptability. Of particular concern is that current improvements often rely on adding independent buffer mechanisms to enhance throughput, creating a vicious cycle of "dampening-weight increase." While passive wheel frame rotation simplifies the drive system, redundant wheel layouts reduce pipe wall contact stability, making it difficult to balance motion efficiency with structural reliability. Therefore, we propose a novel rotary pipe robot structure. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the existing defects and provide a new type of rotary pipeline robot structure. The structure is simple and reliable, and the integrated wheel frame realizes both the functions of equipment walking and shock absorption, which can effectively solve the problems in the background technology.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a novel rotary pipe robot structure, including an active section, wherein the active section is provided with a battery section and a control section, and the active section, the battery section and the control section are connected by a connector;

[0005] The active section comprises an active section mounting bracket, a first set screw, an active wheel bracket, an active wheel, an active section housing, a second set screw, a rear active wheel bracket, a rear active wheel, a third set screw, and a dual-output shaft drive motor. The active section housing is fitted onto the surface of the active section mounting bracket. The left and right ends of the active section housing are fixed to the left and right ends of the active section mounting bracket surface by evenly distributed second set screws. The dual-output shaft drive motor is installed inside the mounting bracket. The active wheel bracket and the rear active wheel bracket are respectively arranged on the left and right sides inside the active section mounting bracket. The active wheel bracket and the rear active wheel bracket are respectively connected to the two rotating shafts at the left and right ends of the dual-output shaft drive motor by three first set screws and three third set screws. Three active wheels are rotatably connected to the active wheel bracket, and three rear active wheels are rotatably connected to the rear active wheel bracket. The three active wheels and the three rear active wheels are all inclined. The active section drives the battery section and the control section to move.

[0006] Furthermore, the connector includes a first quick-connect joint, a first quick-connect cap, a first tubing, a second quick-connect cap, a second quick-connect joint, and a second tubing. The first and second quick-connect caps are fixed to the left and right ends of the surfaces of the first and second tubing, respectively. Hexagonal studs are fixed to the surfaces of both the first and second quick-connect joints. Threaded grooves are provided on the end faces of the hexagonal studs. Two first quick-connect caps and two second quick-connect caps are threaded into the interiors of the four threaded grooves, respectively. A first threaded post is provided at the right end of the drive joint mounting bracket, and the first quick-connect joint on the left side is threaded onto the surface of the first threaded post. The drive joint, battery joint, and control joint are connected by the connector.

[0007] Furthermore, the battery cell includes a first driven wheel bracket, a first driven wheel, a fourth set screw, a battery cell housing, a second driven wheel bracket, a second driven wheel, a battery pack, and a battery cell mounting bracket. The battery pack is installed inside the battery cell mounting bracket. The battery cell housing is fixed to the surface of the battery cell mounting bracket by evenly distributed fourth set screws. The first driven wheel bracket and the second driven wheel bracket are rotatably connected to the left and right ends of the battery cell mounting bracket, respectively. Three first driven wheels and three second driven wheels are rotatably connected to the first driven wheel bracket and the second driven wheel bracket, respectively. A second threaded post is fixed to the left end of the first driven wheel bracket and the right end of the second driven wheel bracket. The second connecting quick connector on the left is threaded to the surface of the second threaded post on the left, and the first connecting quick connector on the right is threaded to the surface of the second threaded post on the right. The three first driven wheels and the three second driven wheels are all arranged axially along the pipe. The battery pack provides power to the dual-output shaft drive motor.

[0008] Furthermore, the control section includes a first four-wheel driven wheel frame, a first four-wheel driven wheel, a fifth set screw, a control section housing, a second four-wheel driven wheel, a second four-wheel driven wheel frame, a countersunk screw, a camera module, a control circuit board, and a control section mounting bracket. The control section housing is fixed to the outside of the control section mounting bracket by evenly distributed fifth set screws. The first four-wheel driven wheel frame and the second four-wheel driven wheel frame are connected to the left and right ends of the control section mounting bracket. Four first four-wheel driven wheels and four second four-wheel driven wheels are rotatably connected to the surfaces of the first four-wheel driven wheel frame and the second four-wheel driven wheel frame, respectively. The control circuit board is installed inside the control section mounting bracket. A third threaded post is fixed to the left end of the first four-wheel driven wheel frame, and a second connecting quick connector on the right side is threaded onto the surface of the third threaded post. The input end of the control circuit board is electrically connected to the output end of the battery assembly, and the output end of the control circuit board is electrically connected to the input end of the dual-output shaft drive motor. The dual-output shaft drive motor is controlled by the control circuit board.

[0009] Furthermore, a camera module is fixed to the right end of the control section mounting bracket by countersunk screws. A lighting lamp is installed on the camera module. The input terminals of both the camera module and the lighting lamp are electrically connected to the output terminal of the control circuit board, so as to take pictures of the inside of the pipeline by setting the camera module.

[0010] Furthermore, an active wheel frame cover is fixed to the left side of the active wheel frame, and a rear active wheel frame cover is fixed to the right side of the rear active wheel frame. A traction ring is threaded to the left end of the active wheel frame cover. By setting the active wheel frame cover and the rear active wheel frame cover, dust is prevented from entering the active wheel frame and the rear active wheel frame.

[0011] Furthermore, wear-resistant rubber rings are fixed to the surfaces of the driving wheel, the rear driving wheel, the first driven wheel, the second driven wheel, the first fourth driven wheel, and the second fourth driven wheel. The surfaces of the wear-resistant rubber rings are provided with evenly distributed anti-slip grooves. By setting the rubber rings, the stability of the movement of the driving wheel, the rear driving wheel, the first driven wheel, the second driven wheel, the first fourth driven wheel, and the second fourth driven wheel is improved.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: This novel rotary pipeline robot structure has the following advantages:

[0013] 1. The active wheel frame and the rear active wheel frame adopt an integrated design. The active wheel and the rear active wheel are in contact with the pipe wall through the inclined arrangement of the active wheel and the rear active wheel. When rotating under the drive of the dual output shaft drive motor, the elastic deformation of the wheel frame itself provides a buffering effect. No additional shock absorption module is required, which significantly simplifies the structure and reduces the radial dimension, making it especially suitable for small diameter pipes.

[0014] 2. The drive section, battery section, and control section are connected in series via quick-connect connectors, allowing the drive section to be placed in any position or multiple drive sections to be added. Through the coordinated action of multiple drive sections, stronger driving force is provided to adapt to the complex working conditions of pipelines with large inclination angles or variable diameters.

[0015] 3. The active section adopts a three-wheel symmetrical tilting layout. The battery section is equipped with a first driven wheel and a second driven wheel, while the control section adopts a first fourth driven wheel and a second fourth driven wheel. Combined with the friction characteristics of the wheel surface rubber ring, the stability of the pipe wall contact is ensured.

[0016] 4. The control section integrates a camera module and lighting, and realizes motion control and data acquisition through the control circuit board; the quick-connect connector supports the expansion of ultrasonic and eddy current detection modules to meet the needs of pipeline inspection in multiple scenarios. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the active joint housing of this utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the first rubber tube of this utility model;

[0020] Figure 4 This is a schematic diagram of the structure of the battery cell outer shell of this utility model;

[0021] Figure 5 This is a schematic diagram of the structure of the camera module of this utility model;

[0022] Figure 6 This is a schematic diagram of the battery pack structure of this utility model;

[0023] Figure 7 This is a front view of the present utility model.

[0024] In the diagram: 1. Traction ring; 2. Drive wheel bracket cover; 3. First set screw; 4. Drive wheel bracket; 5. Drive wheel; 6. Drive section housing; 7. Second set screw; 8. Rear drive wheel bracket; 9. Rear drive wheel; 10. Rear drive wheel bracket cover; 11. Third set screw; 12. First connecting section quick connector; 13. First quick connector cover; 14. First hose; 15. Second quick connector cover; 16. Second connecting section quick connector; 17. First driven wheel bracket; 18. First driven wheel; 19. Fourth set screw; 20. Battery section housing; 21. Second driven wheel bracket; 22. Second driven wheel; 23. Second hose; 24. First four-wheel driven wheel bracket; 25. First four-wheel driven wheel; 26. Fifth set screw; 27. Control section housing; 28. Second four-wheel driven wheel; 29. ​​Second four-wheel driven wheel bracket; 30. Countersunk screw; 31. Camera module; 32. Dual output shaft drive motor; 33. Battery pack; 34. Control circuit board. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figure 1-7 This embodiment provides a technical solution: a novel rotary pipe robot structure, including an active section, which is equipped with a battery section and a control section, and the active section, battery section and control section are connected by a connector;

[0027] The drive section includes a drive section mounting bracket, a first set screw 3, a drive wheel frame 4, a drive wheel 5, a drive section housing 6, a second set screw 7, a rear drive wheel frame 8, a rear drive wheel 9, a third set screw 11, and a dual-output shaft drive motor 32. The drive section housing 6 is fitted onto the surface of the drive section mounting bracket. The left and right ends of the drive section housing 6 are fixed to the left and right ends of the drive section mounting bracket surface by evenly distributed second set screws 7. The dual-output shaft drive motor 32 is installed inside the mounting bracket 35. The drive wheel frame 4 and the rear drive wheel frame 8 are respectively arranged on the left and right sides inside the drive section mounting bracket. The drive wheel frame 4 and the rear drive wheel frame 8 are respectively connected to the two rotating shafts at the left and right ends of the dual-output shaft drive motor 32 by three first set screws 3 and three third set screws 11. Three drive wheels 5 are rotatably connected to the drive wheel frame 4, and three rear drive wheels 9 are rotatably connected to the rear drive wheel frame 8. The three drive wheels 5 and the three rear drive wheels 9 are all inclined.

[0028] The connector includes a first quick-connect joint 12, a first quick-connect cap 13, a first tubing 14, a second quick-connect cap 15, a second quick-connect joint 16, and a second tubing 23. The first quick-connect cap 13 and the second quick-connect cap 15 are fixed to the left and right ends of the surfaces of the first tubing 14 and the second tubing 23, respectively. The surfaces of the first quick-connect joint 12 and the second quick-connect joint 16 are both fixed with hexagonal studs. The end face of the hexagonal studs is provided with threaded grooves. The interiors of the four threaded grooves are threadedly connected to two first quick-connect caps 13 and two second quick-connect caps 15, respectively. The right end of the drive joint mounting bracket is provided with a first threaded post. The first quick-connect joint 12 on the left side is threadedly connected to the surface of the first threaded post. The first tubing 14 and the second tubing 23 are hollow flexible tubes, which can provide push and pull force and swing flexibly to achieve universal connection.

[0029] The battery cell includes a first driven wheel frame 17, a first driven wheel 18, a fourth set screw 19, a battery cell housing 20, a second driven wheel frame 21, a second driven wheel 22, a battery pack 33, and a battery cell mounting bracket. The battery pack 33 is installed inside the battery cell mounting bracket. The battery cell housing 20 is fixed to the surface of the battery cell mounting bracket by evenly distributed fourth set screws 19. The first driven wheel frame 17 and the second driven wheel frame 21 are rotatably connected to the left and right ends of the battery cell mounting bracket, respectively. Three first driven wheels 18 and three second driven wheels 22 are rotatably connected to the first driven wheel frame 17 and the second driven wheel frame 21, respectively. A second threaded post is fixed to the left end of the first driven wheel frame 17 and the right end of the second driven wheel frame 21. The second connecting quick connector 16 on the left side is threaded to the surface of the second threaded post on the left side, and the first connecting quick connector 12 on the right side is threaded to the surface of the second threaded post on the right side. The three first driven wheels 18 and the three second driven wheels 22 are all arranged in the positive direction along the axial direction of the pipe.

[0030] The control section includes a first four-wheel driven wheel bracket 24, a first four-wheel driven wheel 25, a fifth set screw 26, a control section housing 27, a second four-wheel driven wheel 28, a second four-wheel driven wheel bracket 29, countersunk screws 30, a camera module 31, a control circuit board 34, and a control section mounting bracket. The control section housing 27 is fixed to the outside of the control section mounting bracket by evenly distributed fifth set screws 26. The first four-wheel driven wheel bracket 24 and the second four-wheel driven wheel bracket 29 are connected to the left and right ends of the control section mounting bracket. The surfaces of the wheel frame 24 and the second and fourth wheel driven wheel frame 29 are respectively rotatably connected to four first and fourth wheel driven wheels 25 and four second and fourth wheel driven wheels 28. The control section mounting bracket houses the control circuit board 34. The left end of the first and fourth wheel driven wheel frame 24 is fixed with a third threaded post. The second connecting section quick connector 16 on the right side is threaded onto the surface of the third threaded post. The input end of the control circuit board 34 is electrically connected to the output end of the battery assembly 33, and the output end of the control circuit board 34 is electrically connected to the input end of the dual output shaft drive motor 32.

[0031] The camera module 31 is fixed to the right end of the control section mounting bracket by countersunk screws 30. A light is installed on the camera module 31. The input terminals of the camera module 31 and the light are electrically connected to the output terminal of the control circuit board 34.

[0032] Wear-resistant rubber rings are fixed on the surfaces of the driving wheel 5, the rear driving wheel 9, the first driven wheel 18, the second driven wheel 22, the first and fourth driven wheels 25, and the second and fourth driven wheels 28. The surfaces of the wear-resistant rubber rings are provided with evenly distributed anti-slip grooves.

[0033] Among them: the left side of the drive wheel frame 4 is fixed with the drive wheel frame cover 2, the right side of the rear drive wheel frame 8 is fixed with the rear drive wheel frame cover 10, and the left end of the drive wheel frame cover 2 is threaded with a traction ring 1.

[0034] The working principle of the novel rotary pipeline robot structure provided by this utility model is as follows: A dual-output shaft drive motor 32 drives the active wheel frame 4 and the rear active wheel frame 8 to rotate in opposite directions via rotating shafts at both ends. The active wheel frame 4 and the rear active wheel frame 8 adopt an integrated elastic structure, achieving shock absorption through their own deformation during rotation, eliminating the need for an additional shock absorption module. The active wheel 5 and the rear active wheel 9 contact the pipe wall at an inclined angle, generating axial force when the wheel frames rotate, propelling the robot forward or backward along the pipeline. The first driven wheel 18, the second driven wheel 22, and the first four-wheel driven wheel 25 and the second four-wheel driven wheel 28 of the control section contact the pipe wall through wear-resistant rubber rings, providing auxiliary support and stability. The active section, battery section, and control section are connected by the first connecting section quick connector 12 and the second connecting section quick connector 16. The flexible structure of the first hose 14 and the second hose 23, connected in series, allows for omnidirectional oscillation between sections, adapting to pipe bending or diameter changes. The first quick-connect cap 13 and the second quick-connect cap 15 press the hoses together to ensure a tight connection. Simultaneously, the hollow channel integrates a wiring harness, enabling power transmission from the battery pack 33 to the control circuit board 34 and the dual-shaft drive motor 32. The camera module 31 at the end of the control section is fixed with countersunk screws 30, acquiring images of the pipe's interior with the aid of lighting. The data is transmitted in real-time to external devices via the control circuit board 34. The control circuit board 34 can be expanded to connect to ultrasonic or eddy current testing modules. The block integrates detection cables through the hollow channel of the connector. The drive section can be configured at the beginning, middle, or end, and the driving force is increased by increasing the number of drive sections. The drive wheel frame cover 2 and the rear drive wheel frame cover 10 protect the internal structure through threaded connections to prevent dust intrusion. The drive section housing 6, the battery section housing 20, and the control section housing 27 are respectively sealed and fixed by the second set screw 7, the fourth set screw 19, and the fifth set screw 26 to achieve dust and water resistance. In use, the drive section is inserted into the pipe as the head, and the dual output shaft drive motor 32 is started to drive the drive wheel frame 4 and the rear drive wheel frame 8 to rotate in opposite directions and tilt. The driving wheel 5 and the rear driving wheel 9 generate propulsion force through friction with the pipe wall. The battery pack 33 supplies power to the control circuit board 34 through the hollow channels of the first rubber tube 14 and the second rubber tube 23. The control circuit board 34 adjusts the motor speed and the operation of the camera module 31. When encountering a bend in the pipe, the first rubber tube 14 and the second rubber tube 23 swing flexibly. The first driven wheel 18, the second driven wheel 22, the first four-wheel driven wheel 25 and the second four-wheel driven wheel 28 adaptively contact the pipe wall to ensure motion stability. The camera module 31 collects images of the pipe in real time and transmits data back through the wiring harness channel of the control section housing 27 to complete the detection task.

[0035] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A novel rotary pipeline robot structure, characterized in that: It includes an active section, which is provided with a battery section and a control section, and the active section, the battery section and the control section are connected by a connector; The drive section includes a drive section mounting bracket, a first set screw (3), a drive wheel bracket (4), a drive wheel (5), a drive section housing (6), a second set screw (7), a rear drive wheel bracket (8), a rear drive wheel (9), a third set screw (11), and a dual-output shaft drive motor (32). The drive section housing (6) is fitted onto the surface of the drive section mounting bracket. The left and right ends of the drive section housing (6) are fixed to the left and right ends of the drive section mounting bracket surface by evenly distributed second set screws (7). The dual-output shaft drive motor is installed inside the mounting bracket (35). The motor (32) has a drive wheel frame (4) and a rear drive wheel frame (8) respectively on the left and right sides inside the drive section mounting bracket. The drive wheel frame (4) and the rear drive wheel frame (8) are respectively connected to the two rotating shafts at the left and right ends of the dual output shaft drive motor (32) by three first set screws (3) and three third set screws (11). Three drive wheels (5) are rotatably connected on the drive wheel frame (4), and three rear drive wheels (9) are rotatably connected on the rear drive wheel frame (8). The three drive wheels (5) and the three rear drive wheels (9) are all inclined.

2. The novel rotary pipeline robot structure according to claim 1, characterized in that: The connector includes a first quick connector (12), a first quick connector cap (13), a first tubing (14), a second quick connector cap (15), a second quick connector (16), and a second tubing (23). The first quick connector cap (13) and the second quick connector cap (15) are fixed to the left and right ends of the surfaces of the first tubing (14) and the second tubing (23), respectively. The surfaces of the first quick connector (12) and the second quick connector (16) are both fixed with hexagonal studs. The end face of the hexagonal studs is provided with threaded grooves. The interiors of the four threaded grooves are threaded with two first quick connector caps (13) and two second quick connector caps (15). The right end of the drive joint mounting bracket is provided with a first threaded post, and the left side of the first quick connector (12) is threaded to the surface of the first threaded post.

3. The novel rotary pipeline robot structure according to claim 2, characterized in that: The battery cell includes a first driven wheel bracket (17), a first driven wheel (18), a fourth set screw (19), a battery cell housing (20), a second driven wheel bracket (21), a second driven wheel (22), a battery pack (33), and a battery cell mounting bracket. The battery pack (33) is installed inside the battery cell mounting bracket. The battery cell housing (20) is fixed to the surface of the battery cell mounting bracket by evenly distributed fourth set screws (19). The first driven wheel bracket (17) and the second driven wheel are rotatably connected to the left and right ends of the battery cell mounting bracket, respectively. The frame (21) has three first driven wheels (18) and three second driven wheels (22) rotatably connected to the first driven wheel frame (17) and the second driven wheel frame (21), respectively. The left end of the first driven wheel frame (17) and the right end of the second driven wheel frame (21) are both fixed with second threaded posts. The second connecting joint quick connector (16) on the left is threaded to the surface of the second threaded post on the left, and the first connecting joint quick connector (12) on the right is threaded to the surface of the second threaded post on the right. The three first driven wheels (18) and the three driven wheels (22) are all inclined.

4. The novel rotary pipeline robot structure according to claim 3, characterized in that: The control section includes a first four-wheel driven wheel frame (24), a first four-wheel driven wheel (25), a fifth set screw (26), a control section housing (27), a second four-wheel driven wheel (28), a second four-wheel driven wheel frame (29), a countersunk screw (30), a camera module (31), a control circuit board (34), and a control section mounting bracket. The control section housing (27) is fixed to the outside of the control section mounting bracket by evenly distributed fifth set screws (26). The first four-wheel driven wheel frame (24) and the second four-wheel driven wheel frame (29) are rotatably connected to the left and right ends of the control section mounting bracket. The surfaces of the four-wheel driven wheel frame (24) and the second four-wheel driven wheel frame (29) are respectively rotatably connected to four first four-wheel driven wheels (25) and four second four-wheel driven wheels (28). The control section mounting bracket is equipped with a control circuit board (34). The left end of the first four-wheel driven wheel frame (24) is fixed with a third threaded post. The second connecting section quick connector (16) on the right side is threaded to the surface of the third threaded post. The input end of the control circuit board (34) is electrically connected to the output end of the battery pack (33). The output end of the control circuit board (34) is electrically connected to the input end of the dual output shaft drive motor (32).

5. The novel rotary pipeline robot structure according to claim 4, characterized in that: The right end of the control section mounting bracket is fixed with a camera module (31) by countersunk screws (30). A lighting lamp is installed on the camera module (31). The input terminals of the camera module (31) and the lighting lamp are electrically connected to the output terminal of the control circuit board (34).

6. The novel rotary pipeline robot structure according to claim 1, characterized in that: The left side of the drive wheel frame (4) is fixed with a drive wheel frame cover (2), the right side of the rear drive wheel frame (8) is fixed with a rear drive wheel frame cover (10), and the left end of the drive wheel frame cover (2) is threaded with a traction ring (1).

7. The novel rotary pipeline robot structure according to claim 3, characterized in that: The surfaces of the driving wheel (5), the rear driving wheel (9), the first driven wheel (18), the second driven wheel (22), the first fourth driven wheel (25), and the second fourth driven wheel (28) are all fixed with wear-resistant rubber rings, and the surfaces of the wear-resistant rubber rings are provided with uniformly distributed anti-slip grooves.

Images