An adaptive pipe wall double-layer tracked pipe robot

Abstract

The adaptive double-layer track pipe robot of pipe wall comprises a central triangular frame, three walking units are uniformly distributed along the circumferential direction at an equal angle of 120 DEG with the central axis of the central triangular frame as a reference, each walking unit comprises symmetrically arranged driving wheels in front and back, a track is arranged on the two driving wheels on each side, a guide wheel is connected to the front driving wheel through a front track, a track bearing is arranged between the guide wheels on the two sides, the guide wheels are coaxially connected on the track bearing and work cooperatively, the front track is arranged outside the track, the driving wheels and the track are opposite to the tangent direction of the inner wall of the pipe, and the central triangular frame is connected with the walking unit through a variable-diameter mechanism. The adaptive pipe diameter of the whole region is realized, the super-wide pipe diameter coverage or the non-circular pipe compatibility has a revolutionary advantage, and the flexibility and the performance of passing through the curve of the robot are improved.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robot technology, and in particular to a double-layer tracked pipeline robot that adapts to the pipe wall. Background Technology

[0002] Currently, there are many types of pipeline robots both domestically and internationally. Structurally, existing pipeline robots mostly employ wheeled, tracked, legged, peristaltic, and helical drive designs. In terms of adaptability, existing pipeline robots often utilize rigid structures, variable-diameter adaptive designs, or soft robots. While wheeled robots offer high control precision, their ability to navigate bends is poor. Legged robots, while highly flexible and suitable for complex pipeline topologies, have weak anti-interference capabilities and are prone to joint failures. Tracked robots, despite their bulky structure and inability to enter small-diameter pipes, possess strong ground adhesion, excellent obstacle-crossing ability, and high stability, allowing them to operate in some special environments. However, for rigid, fixed-wheel-tracked robots, the tracks may fail to maintain proper contact when navigating bends within the pipe, reducing stability. Variable-diameter tracked robots, due to their complex mechanical structure, can solve the compatibility problem of multi-specification pipes. While peristaltic robots can operate in ultra-small diameter pipes and move omnidirectionally, their extremely weak load capacity and low movement efficiency limit their application scenarios. Utility Model Content

[0003] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a double-layer tracked pipeline robot with adaptive pipe wall. This structure has the ability to adapt to pipe diameter across the entire range, and has a revolutionary advantage in both ultra-wide pipe diameter coverage and non-circular pipe compatibility, thereby improving the robot's flexibility and curve passage performance.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] An adaptive pipe wall double-layer tracked pipeline robot includes a central triangular frame. Based on the central axis of the central triangular frame, three walking units are evenly distributed at 120° angles along the circumference. Each walking unit includes two drive wheels 6 symmetrically arranged front and rear. Tracks 4 are provided on the two drive wheels 6 on each side. The front drive wheel 6 is connected to the guide wheel 3 through the front track 2. Track bearings 12 are provided between the guide wheels 3 on both sides. The guide wheels 3 are tightly coaxially connected to the track bearings 12 and work together.

[0006] The front track 2 is arranged outside the track 4; the drive wheel 6 and the track 4 are directly facing the tangential direction of the inner wall of the pipe.

[0007] The central triangular frame is connected to the walking unit via a variable diameter mechanism.

[0008] The outer circumference of the guide wheel 3 engages with the lower track 4, thereby restricting and guiding the movement direction of the track 4; at the same time, the drive wheel 6 also engages with the track 4, transmitting power from the power system or another set of drive wheels to the track 4, or feeding back the movement of the track 4 to the transmission system.

[0009] The central triangular frame is provided with front and rear covers 1 at its front and rear ends, respectively. Multiple circular weight-reduction holes are evenly distributed on the surface of the front and rear covers 1, and a large circular hole is opened at the center for arranging the power transmission shaft or installing the sensor. The inner wall of the large circular hole at the center of the central triangular frame is machined with a keyway for installing the power transmission shaft and the detection device to realize the synchronous drive of the drive wheel set.

[0010] The three vertices of the central triangular frame include three parallel guide rods 9. Taking the three outermost guide rods 9 as a reference, two guide rods 9 are arranged in parallel inwards on each side.

[0011] A guide rod with a diameter greater than guide rod 9 is installed at the center of the central triangular frame;

[0012] Two triangular fixed structures 11 are symmetrically arranged in the middle of the central triangular frame. A sliding module 10 is provided on the guide rod 9 between the front and rear covers 1 and the fixed structure 11. The sliding module 10 is connected by a spring module 14. The spring module 14 drives the sliding module 10 to move left and right along the guide rod 9 to adjust the moving distance of the variable diameter structure 8. The spring mechanism 14 is used to buffer deformation to adapt to the wheel height adjustment requirements under different terrains.

[0013] The sliding module 10 includes a square plate with two annular cylindrical structures on the top. Two guide rods 9 are arranged parallel to each other through the annular cylindrical structures. A protrusion is provided at the bottom of the square plate. The protrusion is used to connect the connecting rod 7.

[0014] The fixing structure 11 is a triangular structure with a large circular hole at the center. Three small circular holes are arranged around the large circular hole and at the triangular part of the triangle structure. The large circular hole is used to pass through the guide rod, and the three small circular holes are used to pass through the guide rod 9. Each side of the outer side of the triangular structure is provided with a protrusion for connecting the connecting rod 7.

[0015] The sliding module 10 and the fixed structure 11 have protrusions at both ends of their surfaces, and the connecting rod 7 is installed between the protrusions on the surface of the sliding module 10 and between the protrusions at both ends of the surface of the fixed structure 11.

[0016] The variable diameter mechanism includes crank connecting rods 8 respectively installed at both ends of connecting rod 7. The crank connecting rod 8 is divided into a first connecting rod 17 installed on sliding module 10 and a second connecting rod 18 installed on fixed structure 11. The other ends of the first connecting rod 17 and the second connecting rod 18 are connected together by a crossbar 16, which is connected to the output shaft of motor 15.

[0017] The drive wheel 6, track 4, and guide wheel 3 are mounted on the walking mechanism body 5, and the crank connecting rod 8 is symmetrically arranged on the walking mechanism body 5 inside the track 4.

[0018] The inner side of the walking mechanism body 5 is hinged to the frame of the track 4 via a pin 13, and the outer side is rotatably connected to the drive wheel 6.

[0019] The pin 13 is a cylindrical stepped shaft structure with a large-diameter frustum-shaped head at one end, an interference fit between the middle rod body and the hinge holes of the support leg and the upper platform, and a radial through hole machined at the end for inserting a cotter pin for locking.

[0020] The elastic module 14 has a composite layered structure; the stepper motor 15 is a dual-output shaft motor; the outer layer of the track 4 is made of fluororubber; and the stepper motor 15 is connected to the drive wheel 6.

[0021] The front track 2 and track 4 are double-layered staggered track structures. The upper track has a guide groove added to the toothed edge, and the lower track is wrapped with a high-strength wear-resistant alloy liner.

[0022] The front track 2 and track 4 are composed of multiple track sections, each track section is connected to the adjacent section through 2 to 4 hinge points; the front track 2 includes longitudinal anti-slip patterns and transverse reinforcing ribs.

[0023] The beneficial effects of this utility model are:

[0024] This invention addresses the unique terrain of oilfield pipelines, characterized by abundant silt and gravel. It employs a double-layered, staggered track structure. The upper track features guide grooves along its toothed edges, effectively stripping away adhering silt and reducing slippage issues caused by silt accumulation in traditional single-layer tracks, thus improving drive efficiency by 25%. The lower track is wrapped with a high-strength, wear-resistant alloy liner, extending its sulfide corrosion resistance life by more than three times compared to ordinary steel, meeting the long-term operational requirements of the highly corrosive environment of sulfur-containing oil and gas fields. Simultaneously, the track's ground contact width is increased by 15% compared to traditional devices, reducing the risk of crushing damage to the fragile anti-corrosion layer above the pipeline and adapting to the stringent requirements of "zero-damage inspection" in oilfields.

[0025] By linking and folding / unfolding multiple articulated units, the overall diameter of the track can be seamlessly transitioned from the minimum to the maximum working diameter, adapting to different specifications of pipes or narrow passages. Compared with traditional rigid track diameter changes that rely on manual replacement, this method is more efficient.

[0026] Each track section is connected to adjacent sections through 2 to 4 hinge points, forming a "distributed support frame". This disperses the equipment load to multiple contact points, avoiding local stress concentration and the maximum pressure of a traditional single track section, thus significantly extending the service life of the frame.

[0027] The front track lowers the center of gravity by sharing the equipment load, and together with the rear track, forms a stable triangular support structure, significantly improving the rollover threshold angle. When operating on slopes, the longitudinal anti-slip grooves and transverse reinforcing ribs of the front track suppress vehicle slippage, ensuring operational precision. A multi-segment articulated linkage connects the track drive wheels, allowing the drive wheel assembly to swing within a range of ±30° to ±45° perpendicular to the track's direction of movement. When the front of the equipment enters a small-diameter pipe, the guide wheel assembly can fold inwards, reducing the overall radial thickness of the track from its conventional state to the pipe's dimensions. Combined with the synchronous tilt angle adjustment of the guide wheels, this ensures sufficient clearance between the outer edge of the track and the inner wall of the pipe, preventing jamming.

[0028] Each track is equipped with an independent motor, which can adjust the torque of each section in real time according to the terrain. When climbing, the rear motor outputs full power, and when on flat ground, the front motor operates in energy-saving mode, avoiding the power waste of traditional centralized drive and improving the ability to get out of trouble and pass through complex terrain. Attached Figure Description

[0029] Figure 1 This is a front view of the overall structure of an embodiment of this utility model.

[0030] Figure 2 This is a left view of the overall structure of an embodiment of this utility model.

[0031] Figure 3 This is a schematic diagram of the main structure of an embodiment of this utility model.

[0032] Figure 4 This is a schematic diagram of the front and rear covers of the main body of this utility model embodiment.

[0033] Figure 5 This is a schematic diagram of the variable diameter structure according to an embodiment of the present invention.

[0034] Figure 6 This is a schematic diagram of the sliding module according to an embodiment of the present invention.

[0035] Figure 7 This is a schematic diagram of the fixed structure of an embodiment of the present utility model.

[0036] Figure 8This is a schematic diagram of the movable structure according to an embodiment of the present utility model.

[0037] Figure 9 This is a schematic diagram of the spring structure according to an embodiment of the present invention.

[0038] Figure 10 This is a schematic diagram of the pin structure according to an embodiment of the present utility model.

[0039] Figure 11 This is a schematic diagram of the walking mechanism body of an embodiment of the present utility model.

[0040] Figure 12 This is a schematic diagram of the track frame according to an embodiment of the present utility model.

[0041] Explanation of the labels in the diagram:

[0042] 1. Front and rear covers, 2. Front track, 3. Guide wheel, 4. Track, 5. Main body of the traveling mechanism, 6. Drive wheel, 7. Connecting rod, 8. Crank connecting rod, 9. Guide rod, 10. Sliding module, 11. Fixed structure, 12. Track bearing, 13. Pin, 14. Spring module, 15. Motor, 16. Crossbar, 17. First connecting rod, 18. Second connecting rod. Detailed Implementation

[0043] The present invention will now be described in further detail with reference to the accompanying drawings.

[0044] like Figures 1-12 As shown, an adaptive pipe wall double-layer tracked pipe robot includes a central triangular frame, a walking mechanism, a diameter changing mechanism, a support mechanism and a control unit. The walking mechanism is installed at the bottom of the central triangular frame.

[0045] A diameter-changing mechanism is installed on the upper part of the traveling mechanism, and a support mechanism and a control mechanism are installed on the upper part of the diameter-changing mechanism.

[0046] The walking mechanism is used to drive the central triangular frame to achieve stable straight-line movement, turning, obstacle crossing, and adaptive movement to different pipe diameters, inner wall roughness, or obstacles inside the oil pipeline; it ensures the robot can efficiently complete target tasks by carrying inspection, dredging, and other operating equipment.

[0047] The variable diameter mechanism is used to drive the walking mechanism or support mechanism of the central triangular frame to expand radially adaptively and adjust the overall outer diameter of the robot. This allows the robot to fit tightly against or maintain reasonable contact with the inner walls of pipes of different diameters, avoiding suspension or jamming caused by pipe diameter deviation or uneven inner walls, and ensuring the stable movement and operational reliability of the robot in complex variable diameter pipes.

[0048] The support mechanism is used to contact the inner wall of the pipe through elastic or rigid support components, adapting to unevenness of the inner wall, obstacles or diameter changes, preventing the robot from shaking or getting stuck due to local suspension or center of gravity shift, and enhancing its stability and reliability during movement and operation.

[0049] The control unit is used to receive position, attitude, obstacle detection and external commands from the sensors, coordinate the actions of the walking, changing path and supporting actuators, realize path planning, obstacle avoidance strategy formulation, movement speed, direction adjustment and abnormal state protection, and ensure that the robot runs stably according to the target and accurately completes the detection, dredging and other operation tasks.

[0050] The walking mechanism consists of three identical walking units arranged in a centrally symmetrical manner. The three walking units are evenly distributed at 120° angles along the circumference, with the central axis of the central triangular frame as the reference. Each walking unit includes a drive wheel 6 and a track 4. There are four drive wheels 6, which are symmetrically arranged in pairs, one in front and one behind. Each drive wheel 6 on each side is equipped with a track 4. The front drive wheel 6 is connected to a guide wheel 3 through the front track 2. Track bearings 12 are set between the guide wheels 3, and the guide wheels 3 are tightly coaxially connected to the track bearings 12. These two components work together.

[0051] The outer circumference of the guide wheel 3 engages with the lower track 4, thereby restricting and guiding the movement direction of the track; at the same time, the drive wheel 6 also engages with the track 4, transmitting power from the power system or another set of drive wheels to the track, or feeding back the movement of the track to the transmission system.

[0052] The front track 2 is arranged outside the track 4; the drive wheel 6 and the track 4 are directly opposite the tangential direction of the inner wall of the pipe.

[0053] The walking unit is supported by three symmetrical points to ensure that the robot is subjected to balanced forces and has a stable center of gravity in straight pipe sections. When in curved pipe sections, steering is achieved by adjusting the speed difference of the drive wheels of each walking unit. At the same time, the symmetrical structure has a front track 2 that can adapt to slight changes in pipe diameter, avoiding suspension or jamming caused by uneven force on one side, and improving the reliability of movement.

[0054] A symmetrical support bracket connects the upper and lower tracks (4 sets). The symmetrical support bracket, with its longitudinal centerline as the reference, features mirror-symmetrical layouts for the left and right support legs, track 4 transmission, and connection mechanisms. This balanced mechanical transmission structure provides stable support for the upper load and coordinated drive for the tracks 4. A longitudinal adjustment mechanism in the center of the bracket ensures the tracks 4 are firmly attached to the inner wall of the pipe. Each walking unit of the drive mechanism is controlled by a stepper motor. The longitudinal adjustment mechanism, with the longitudinal centerline of the bracket as the symmetrical reference, achieves height-linked adjustment through screw assemblies built into the left and right support legs. With the buffering effect of the elastic suspension, it propels the upper platform to rise and fall smoothly in the vertical direction. This ensures balanced force on the support legs to prevent tilting and allows for precise control of the extension stroke to adapt to different terrain heights or working conditions, ensuring the tracks 4 always maintain optimal ground contact.

[0055] The central triangular frame is provided with front and rear covers 1 at its front and rear ends, respectively. Multiple circular weight-reduction holes are evenly distributed on the surface of the front and rear covers 1, and a large circular hole is opened at the center for arranging the power transmission shaft or installing the sensor. The inner wall of the large circular hole at the center of the central triangular frame is machined with a keyway for installing the power transmission shaft and the detection device to realize the synchronous drive of the drive wheel set.

[0056] The central triangular frame is connected to the walking unit via three sets of parallel links 7.

[0057] The central triangular frame has an I-shaped cross-section. Circular connecting flanges are set at the three vertices of the central triangular frame and fixed to one end of the parallel connecting rod 7 by M8 bolts. Two equidistant fixing mechanisms 11 are set in the middle, and a sliding module 10 is installed on each of the left and right sides to adjust the moving distance of the variable diameter structure 8. The spring mechanism 14 is used to buffer deformation to adapt to the wheel height adjustment requirements under different terrains.

[0058] The drive wheels 6 are connected by a rigid shaft. An intermediate support assembly is provided between the central triangular frame and the walking mechanism. The intermediate support assembly includes a crank connecting rod 8, a sliding module 10 and a fixing structure 11.

[0059] The crank connecting rod 8 is symmetrically arranged on the inner side of the double-layer track 4, the linkage connecting rod 7 connects the adjacent support bracket, the drive wheel 6 is arranged on the outer end of the support bracket and in contact with the pipe wall, and the elastic module 13 is sleeved between the support bracket and the track 4 frame.

[0060] The walking mechanism body 5 is as follows Figure 11 As shown, its inner side is connected to the track 4 frame via pin 13. Figure 12 As shown, the hinged connection is rotatably connected to the drive wheel 6 on the outer side. The two ends of the linkage 7 are respectively hinged to the variable diameter mechanism of the adjacent layer, forming a parallelogram linkage structure. Figure 5As shown, when elastic deformation occurs under the constraint of the pipe wall, the radial spacing is adjusted synchronously by driving the linkage rod 7 through the support bracket, so that the load-bearing roller always fits against the pipe wall and the track 4 is kept under tension, thereby realizing the adaptive crawling of the device in the variable diameter pipe.

[0061] The pin 13 is a cylindrical stepped shaft structure, such as... Figure 10 As shown, one end has a large-diameter frustum-shaped head to prevent axial detachment, the middle rod body is interference-fitted with the hinge holes of the support leg and the upper platform, and the end is machined with a radial through hole for inserting a cotter pin for locking. The overall surface is smooth and the transition is provided with rounded chamfers to reduce stress concentration.

[0062] The elastic module 14 is a composite layered structure used to buffer the front and rear covers 1 and the sliding module 10, thereby assisting the diameter-changing mechanism; the elastic module 14 is disposed between the front and rear covers 1 and the sliding module 10.

[0063] The stepper motor 15 is a dual-output shaft motor. The outer layer of the track 4 is made of fluororubber, and the reinforcing layer is made of aramid fiber woven layer. The stepper motor 15 is connected to the drive wheel 6.

[0064] The reinforcing layer is embedded in the core load-bearing structure inside the track body, runs through the entire track body longitudinally, and is distributed around key components such as the drive wheel 6 and guide wheel, or is concentrated in the key stress area where the track plate and the pin 13 are connected.

[0065] Example:

[0066] See Figure 1 , 2 As shown, the main body of the device consists of a central triangular frame, two side tracks 4 and connecting cranks and connecting rods 8. The components are connected by hinges, bolts and other means to form a stable mechanical structure, which has good terrain adaptability and mobility.

[0067] The device adopts a symmetrical layout, with an equilateral triangular frame in the center. The front and rear covers 1 have multiple evenly distributed circular weight-reduction holes on their surfaces, and a large circular hole is opened at the center for arranging the power transmission shaft or installing sensors. The triangular frame is connected to the drive wheels 6 and tracks 4 on both sides through three sets of parallel connecting rods 7, forming a stable "triangle-wheel group" support structure.

[0068] See Figure 3 The central triangular frame of this utility model serves as the core load-bearing structure of the device. It is made of high-strength aluminum alloy or carbon fiber composite material, and its cross-section is I-shaped to balance lightweight and torsional stiffness.

[0069] The left and right sides are front and rear covers 1. Circular connecting flanges are located at the three vertices of the central triangular frame, fixed to one end of the connecting rod with M8 bolts. Two equidistant fixing mechanisms are located in the middle, and a sliding module 10 is installed on each of the left and right sides for adjusting the movement distance of the variable diameter structure 8. A spring mechanism 14 is used to buffer deformation to adapt to the wheel set height adjustment requirements under different terrains. A keyway is machined into the inner wall of the large circular hole in the center of the central triangular frame for installing the power transmission shaft and detection device, enabling synchronous drive of the drive wheel set.

[0070] The drive wheel set formed by the drive wheel 6 is directly connected to the power source. The teeth of the drive wheel set mesh tightly with the inner meshing teeth of the track 4, converting rotational power into the circular motion of the track. The inner meshing surface of the track 4 continuously meshes with the drive wheel set to achieve power transmission, while the outer friction surface contacts the inner wall of the pipe to generate propulsion force. At the same time, its inner edge is tightly fitted with the rim of the guide wheel 3. The guide wheel 3 is rigidly connected to the diameter changing mechanism 8, diameter changing mechanism 10, and diameter changing mechanism 11 through a wheel axle or connecting rod. The latter is fixed on the triangular frame as an adjustable connecting part. One end is driven by the axial driving force of the diameter changing cylinder (or lead screw), which drives the guide wheel 3 to translate radially. When adapting to a small pipe diameter, the diameter changing mechanism pushes the guide wheel away from the drive wheel set to tighten the track and increase the meshing wrap angle. When adapting to a large pipe diameter, the reverse adjustment makes the guide wheel closer to the drive wheel set to loosen the track and avoid overload stretching.

[0071] See Figure 5 The intermediate support component is the dynamic support structure of the track 4, namely the main body of the walking mechanism 5, which is distributed between the drive wheel sets and in the middle of the track 4, including the crank connecting rod 8, the sliding module 10 and the fixed structure 11; the track wheel sets on both sides have the same structure, both including the track 4, the drive wheel set 6, the guide wheel 3 and the diameter changing mechanism. The diameter changing mechanism forms a closed-loop transmission system through the coordinated connection of "power transmission - trajectory constraint - dynamic diameter adjustment".

[0072] The variable diameter mechanism adopts a symmetrical crank connecting rod 8, including left and right symmetrical units respectively set on both sides of the central shaft. Each unit consists of an upper support, a lower support, a first connecting rod 17, a second connecting rod 18 and a connecting crossbar 16. The upper and lower supports are respectively fixed to the frame to form two sets of parallel rotating pairs. After the first connecting rod 17 and the second connecting rod 18 are cross-hinged through the middle hinge point, their upper ends are rotatably connected to the upper support and their lower ends are rotatably connected to the lower support. The two ends of the connecting crossbar 16 are respectively fixedly connected to the ends of the second connecting rods 18 of the two symmetrical units to form a synchronous linkage structure.

[0073] During operation, when the first link 17 on either side is subjected to an external force, it rotates around the upper support. Through the spatial motion constraint of the link hinge point, the second link 18 is driven to swing synchronously around the lower support in the opposite direction. This causes the end connection points of the second links 18 on both sides of the symmetrical unit to synchronously retract or expand radially, thereby achieving continuous adjustment of the effective working radius determined by the connecting crossbar 16. The second link mechanism 18 is connected to the fixed structure 11, and the first link mechanism 17 is connected to the sliding module 10, thereby driving the sliding module 10 to move and achieve the purpose of diameter change.

[0074] This mechanism converts axial driving force into radial displacement through the kinematic characteristics of a symmetrical linkage mechanism, and has the advantages of precise motion trajectory, good load balance, and large adjustable stroke.

[0075] See Figure 8 Each track wheel assembly consists of a front track 2, a guide wheel 3, a track 4, a walking mechanism body 5, a drive wheel 6, and a track bearing 12.

[0076] Both front track 2 and track 4 are double-pitch rubber composite tracks with metal hinged chain links embedded in the inner layer and a high wear-resistant rubber layer on the outer layer. The surface is processed with wavy anti-slip texture. The inner side of the track meshes with the tooth surfaces of the drive guide wheel 3 and drive wheel 6. The main body of the walking mechanism contains a motor to provide power to the walking mechanism.

[0077] The drive wheel assembly is the core of the device's power output, with three drive wheels 6 on each side, arranged in the front, middle, and rear directions along the movement direction of the track 4. The drive wheels are made of 45# steel, with eight evenly distributed drive teeth machined on the outer circumference of the hub, meshing with the inner metal chain links of the track 4. The drive wheels 6 are mounted in bearing seats of the side bracket via axles. One end of the axle is connected to a reduction gear set via a flat key. The reduction gear set is driven by a DC servo motor, realizing the reciprocating motion of the track.

[0078] The guide wheel 3 is located at the front end of the track 4, near the central frame, and is hinged to the L-shaped connecting bracket via a pin 13. It can swing within a range of ±15° to automatically adjust the track tension. The outer circumference of the guide wheel 3 is a smooth cylindrical surface, serving only a guiding function and not participating in the drive. When the pipe diameter decreases, the guide wheel 3 adjusts inward to facilitate the track overcoming obstacles.

[0079] When the device is started, the DC servo motor drives the power transmission shaft to rotate through the reduction gear set, and the two drive wheels 6 rotate synchronously, driving the track 5 to move in a cycle through gear meshing. The outer side of the track 4 contacts the ground to generate friction, propelling the device forward or backward; the middle support component 8 works in concert: the guide wheel 3 automatically adjusts the tension of the track 4, buffers vibration, and ensures that the track 4 is always in the best working condition.

[0080] The equilateral triangle structure and large circular hole design of the central triangular frame ensure overall rigidity while providing space for power transmission and sensor installation, making it suitable for mobile operations in complex terrain.

[0081] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent substitutions, and improvements made by those skilled in the art to the above embodiments without departing from the scope of the technical solution of the present invention, based on the technical essence of the present invention, shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A double-layer tracked pipeline robot with adaptive pipe wall, characterized in that, It includes a central triangular frame, with the central axis of the central triangular frame as the reference, and three walking units evenly distributed at 120° angles along the circumference. Each walking unit includes two drive wheels (6) symmetrically arranged in front and behind each other. Tracks (4) are provided on the two drive wheels (6) on each side. The front drive wheel (6) is connected to the guide wheel (3) through the front track (2). Track bearings (12) are provided between the guide wheels (3) on both sides. The guide wheels (3) are tightly coaxially connected on the track bearings (12) and work together. The front track (2) is arranged on the outside of the track (4); the drive wheel (6) and the track (4) are directly opposite the tangential direction of the inner wall of the pipe; The central triangular frame is connected to the walking unit via a variable diameter mechanism.

2. The adaptive pipe wall double-layer tracked pipeline robot according to claim 1, characterized in that, The outer circumference of the guide wheel (3) meshes with the lower track (4), thereby restricting and guiding the movement direction of the track (4); at the same time, the drive wheel (6) also meshes with the track (4).

3. The adaptive pipe wall double-layer tracked pipeline robot according to claim 1, characterized in that, The central triangular frame is provided with front and rear covers (1) at the front and rear ends respectively. Multiple circular weight-reducing holes are evenly distributed on the surface of the front and rear covers (1). A large circular hole is opened in the center for arranging the power transmission shaft or sensor installation. The inner wall of the large circular hole in the center of the central triangular frame is machined with a keyway for installing the power transmission shaft and detection device to realize the synchronous drive of the drive wheel set.

4. The adaptive pipe wall double-layer tracked pipeline robot according to claim 1, characterized in that, The three vertices of the central triangular frame include three parallel guide rods (9). Taking the three outermost guide rods (9) as a reference, two guide rods (9) are arranged in parallel inwards on each side. A guide rod with a diameter larger than that of the guide rod (9) is set at the center of the central triangular frame; Two triangular fixed structures (11) are symmetrically arranged in the middle of the central triangular frame. A sliding module (10) is provided on the guide rod (9) between the front and rear covers (1) and the fixed structure (11). The sliding module (10) is connected by a spring module (14). The spring module (14) drives the sliding module (10) to move left and right along the guide rod (9) to adjust the movement distance of the crank connecting rod (8). The spring module (14) is used to buffer deformation to adapt to the wheel height adjustment requirements under different terrains.

5. The adaptive pipe wall double-layer tracked pipeline robot according to claim 4, characterized in that, The sliding module (10) includes a square plate with two annular cylindrical structures on the top of the square plate. Two guide rods (9) are arranged parallel to each side through the annular cylindrical structures. A protrusion is provided at the bottom of the square plate. The protrusion is used to connect the connecting rod (7).

6. The adaptive pipe wall double-layer tracked pipeline robot according to claim 5, characterized in that, The fixing structure (11) is a triangular structure with a large circular hole in the center and three small circular holes around the large circular hole and located at the triangle of the triangular structure. The large circular hole is used to pass through the guide rod, and the three small circular holes pass through the guide rod (9). Each side of the outer side of the triangular structure is provided with a protrusion for connecting the connecting rod (7).

7. The adaptive pipe wall double-layer tracked pipeline robot according to claim 6, characterized in that, The variable diameter mechanism includes crank connecting rods (8) respectively installed at both ends of the connecting rod (7). The crank connecting rods (8) are divided into a first connecting rod (17) installed on the sliding module (10) and a second connecting rod (18) installed on the fixed structure (11). The other ends of the first connecting rod (17) and the second connecting rod (18) are connected together by a crossbar (16), which is connected to the output shaft of the motor (15).

8. The adaptive pipe wall double-layer tracked pipeline robot according to claim 7, characterized in that, The drive wheel (6), track (4), and guide wheel (3) are mounted on the walking mechanism body (5), and the crank connecting rod (8) is symmetrically arranged on the walking mechanism body (5) inside the track (4); The inner side of the walking mechanism body (5) is hinged to the frame of the track (4) through a pin (13), and the outer side is rotatably connected to the drive wheel (6).

9. A double-layer tracked pipeline robot with adaptive pipe wall as described in claim 8, characterized in that, The pin (13) is a cylindrical stepped shaft structure. One end is provided with a large diameter frustum-shaped head, the middle rod body is interference-fitted with the hinge holes of the support leg and the upper platform, and the end is machined with a radial through hole for inserting a cotter pin for locking. The spring module (14) has a composite layered structure; the stepper motor (15) is a dual-output shaft motor; the outer layer of the track (4) is made of fluororubber; and the stepper motor (15) is connected to the drive wheel (6).

10. The self-adaptive double-layer tracked pipeline robot according to claim 1, characterized in that, The front track (2) and track (4) are double-layer staggered track structures. The upper track has a guide groove added to the toothed edge, and the lower track is wrapped with a high-strength wear-resistant alloy liner. The front track (2) and track (4) are composed of multiple track sections, each track section is connected to the adjacent section through 2 to 4 hinge points; the front track (2) includes longitudinal anti-slip patterns and transverse reinforcing ribs.

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