Pipe adapting robot

Abstract

The application relates to the technical field of pipeline robots, and provides a pipeline self-adaptive robot, which comprises a main body frame, a supporting and advancing assembly, a variable-diameter assembly, a walking assembly and a wall pressing assembly. The supporting and advancing assembly is arranged on the opposite sides of the main body frame along the extension direction of the main body frame. The supporting and advancing assembly comprises driving advancing pieces and driven supporting pieces which are arranged in a staggered mode around the main body frame. The variable-diameter assembly is connected with the main body frame and the driving advancing pieces respectively, and the variable-diameter assembly can drive the driving advancing pieces to be synchronously unfolded or retracted. The walking assembly is arranged on the driving advancing pieces, and the walking assembly drives the driving advancing pieces to move along the inner wall of the pipeline. The wall pressing assembly is connected with the main body frame and the driven supporting pieces respectively, and the wall pressing assembly can control each driven supporting piece to be in contact with the inner wall of the pipeline. The driving advancing pieces and the driven supporting pieces are matched, the active adaptation to different pipe diameters is realized, each supporting point can adapt to the local shape change of the pipe wall, and the posture stability of the robot is improved.

Description

Technical Field

[0001] This application relates to the field of pipeline robot technology, and more particularly to an adaptive pipeline robot. Background Technology

[0002] Pipelines are widely used in gas and liquid transportation, but their internal space is narrow and the environment is complex, making it difficult for humans to enter and operate. Therefore, pipeline robots are needed to complete tasks such as inspection and cleaning.

[0003] Existing pipeline robots mostly employ wheeled or variable-diameter structures, enabling them to perform basic movement within circular straight pipes. However, in real-world applications, pipelines often exhibit cross-sectional variations, bends, or localized unevenness. The adaptability of existing robots to such environments needs improvement. Enhancing the robot's adaptability to complex pipeline environments while maintaining sufficient driving force is a key technical challenge in this field. Utility Model Content

[0004] In view of this, this application aims to provide a pipeline adaptive robot to solve the problems of insufficient adaptability of existing pipeline robots in complex pipeline environments and difficulty in balancing drive stability and pipe wall adaptability.

[0005] This application provides a pipeline adaptive robot, including a main frame, a support and travel assembly, a diameter-changing assembly, a walking assembly, and a wall-pressing assembly. The support and travel assemblies are disposed on opposite sides of the main frame along its extension direction. Each support and travel assembly includes active traveling members and driven support members arranged alternately around the main frame. The diameter-changing assembly is connected to both the main frame and the active traveling members, and can drive the active traveling members to synchronously deploy or retract. The walking assembly is disposed on the active traveling members and drives the active traveling members to move along the inner wall of the pipeline. The wall-pressing assembly is connected to both the main frame and the driven support members, and can control the contact between each driven support member and the inner wall of the pipeline.

[0006] In some embodiments, the active traveling component includes an active arm and an active wheel. One end of the active arm is movably connected to the main frame, a traveling assembly is disposed on the active arm, and the active wheel is rotatably disposed at the other end of the active arm. The traveling assembly drives the active wheel to rotate relative to the active arm.

[0007] In some embodiments, the driven support includes a driven arm and a driven wheel. One end of the driven arm is movably connected to the main frame, and the wall-pressing assembly is connected to the driven arm. The wall-pressing assembly is used to drive the driven arm to move relative to the main frame, and the driven wheel is rotatably disposed at the other end of the driven arm.

[0008] In some implementations, each supporting travel assembly includes three active travel members and three passive support members, which are evenly spaced apart.

[0009] In some embodiments, the variable diameter assembly includes a drive member, a movable member, and a guide member, with the drive member mounted on the main frame. The movable member connects the drive member and the active traveling member. The guide member is mounted on the main frame, and the movable member is movably mounted on the guide member. The drive member can drive the movable members located on both sides of the main frame to reciprocate along the guide member.

[0010] In some embodiments, the driving component includes a variable-diameter motor and a lead screw. The variable-diameter motor is mounted on the main frame, and the lead screw is directly or indirectly connected to the variable-diameter motor and rotatably mounted on the main frame. The moving component includes a slider and a connecting rod. The slider is threadedly connected to the lead screw, and the connecting rod is movably connected to both the slider and the driving travel component. The guiding component includes a support block and a guide rod. The support block is located at the end of the lead screw away from the main frame, and the guide rod is connected to both the support block and the main frame. The slider is movably mounted on the guide rod.

[0011] In some embodiments, the lead screw includes a first lead screw and a second lead screw respectively disposed on opposite sides of the main frame. The drive unit also includes two transmission gear sets and a drive shaft. One transmission gear set is disposed between the first lead screw and the motor shaft of the variable diameter motor, and the other transmission gear set is connected to the second lead screw. The drive shaft is connected to both transmission gear sets. The variable diameter motor can drive the first and second lead screws to rotate relative to the main frame via the transmission gear sets and the drive shaft.

[0012] In some embodiments, the transmission gear set includes a drive gear and a transmission gear, the drive gear being connected to a lead screw, the transmission gear meshing with the drive gear and being connected to a drive shaft, and the number of teeth on the transmission gear being less than the number of teeth on the drive gear.

[0013] In some embodiments, the walking assembly includes a walking motor, a driving bevel gear, and a driven bevel gear. The walking motor is mounted on the driving arm, the driving bevel gear is mounted on the output shaft of the walking motor, and the driven bevel gear is mounted on the axle of the driving wheel and meshes with the driving bevel gear. The walking motor drives the driving wheel to rotate through the driving bevel gear and the driven bevel gear.

[0014] In some embodiments, the main frame includes a mounting component, which includes two spaced-apart mounting plates with a mounting space between them. Two supporting travel assemblies are respectively mounted on the two mounting plates, extending in a direction away from the mounting space, and a portion of the variable diameter assembly is located within the mounting space.

[0015] In some embodiments, the pressure assembly includes a servo motor mounted on the main frame, with the output shaft of the servo motor connected to a driven support.

[0016] Compared with the prior art, the beneficial effects of this application are: The robot provided in this application achieves active adaptation to different pipe diameters by synchronously deploying or retracting the active traveling component through a variable diameter assembly. The walking component provides active driving force, ensuring the robot's ability to travel within the pipe. The wall-pressing component independently controls the contact between each driven support and the inner wall of the pipe, allowing each support point to adapt to local shape changes in the pipe wall. The staggered arrangement of the active traveling component and driven support makes the support points more evenly distributed circumferentially, improving the robot's overall posture stability within the pipe.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A three-dimensional structural view of the robot provided in the embodiments of this application; Figure 2 One of the schematic diagrams of the robot provided in one embodiment of this application; Figure 3 for Figure 2 Sectional view along AA; Figure 4 for Figure 2 Sectional view along BB; Figure 5 This is a second schematic diagram of the structure of a robot provided as an embodiment of this application.

[0020] Explanation of reference numerals in the attached figures: 1 main rack, 11 mounting trays, 12 mounting space. 2. Support for the travel components, 21 Active traveling component, 211 Active arm, 212 Active wheel, 22 Driven support, 221 Driven arm, 222 Driven wheel, 3. Variable diameter assembly, 31 drive components, 311 variable diameter motor 312 lead screw, 313 transmission gear set, 3131 drive gear, 3132 transmission gear. 314 drive shaft, 32 moving parts, 321 slider, 322 connecting rod. 33 Guide component, 331 Support block, 332 Guide rod 4. Walking assembly, 41. Walking motor, 42. Driving bevel gear, 43. Driven bevel gear. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0023] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0024] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0025] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0026] This application provides a pipeline adaptive robot, such as Figure 1 , Figure 2 and Figure 3 As shown, it includes a main frame 1, a support and travel assembly 2, a diameter changing assembly 3, a travel assembly 4, and a wall pressing assembly.

[0027] The main frame 1 is the basic load-bearing skeleton, used to install and support various functional components.

[0028] The support and travel assembly 2 is used to support the robot against the inner wall of the pipe and provide a supporting foundation for its movement. The extension direction of the main frame 1 is the axial direction of the entire robot, which is consistent with the extension direction of the pipe. There are two support and travel assemblies 2, respectively located on opposite sides of the main frame 1 along its extension direction. This gives the robot two sets of support points along the pipe axis, improving its longitudinal stability within the pipe and preventing pitch and yaw. For example, the two support and travel assemblies 2 can be located on the front and rear sides, or on the left and right sides, respectively.

[0029] Each supporting travel component 2 includes an active traveler 21 and a driven support 22. The active traveler 21 and the driven support 22 are arranged alternately around the main frame 1, that is, the active traveler 21 and the driven support 22 are arranged alternately in the circumferential direction of the main frame 1. In other words, the adjacent position of any active traveler 21 is a driven support 22. The alternating arrangement of the active traveler 21 and the driven support 22 ensures that the active support points and the driven support points are evenly and alternately distributed in the circumferential direction, resulting in a uniform distribution of support force, avoiding stress concentration, and ensuring that the robot has a support point at any angle in the circumferential direction, thus improving its adaptability to non-circular pipes. The active traveler 21 and the driven support 22 are each distributed circumferentially around the main frame 1, and the two are intertwined to form a composite support layout.

[0030] The diameter-changing assembly 3 is connected to both the main frame 1 and the active traveling member 21. The diameter-changing assembly 3 can drive the active traveling member 21 to simultaneously extend or retract. The active traveling members 21 located on both sides of the main frame 1 can simultaneously extend outward or retract inward under the drive of the diameter-changing assembly 3. Extension means that the end of the active traveling member 21 moves away from the central axis of the main frame 1, increasing the diameter of the robot's circumscribed circle. Retraction means that the end of the active traveling member 21 moves closer to the central axis of the main frame 1, decreasing the diameter of the robot's circumscribed circle. Through the synchronous circumferential movement of the end of the active traveling member 21, the robot's circumscribed circle maintains a circular or symmetrical shape throughout the diameter-changing process, preventing robot posture deviation.

[0031] The walking component 4 is mounted on the active traveling member 21, and drives the active traveling member 21 to move along the inner wall of the pipe. When the active traveling member 21 extends or retracts, the walking component 4 moves radially synchronously with the active traveling member 21, ensuring that the walking component 4 always maintains a defined relative positional relationship with the active traveling member 21. Specifically, the walking component 4 drives the active wheel 212 at the end of the active traveling member 21 to rotate. The friction between the active wheel 212 and the inner wall of the pipe drives the active traveling member 21 to move along the inner wall of the pipe, thereby driving the robot as a whole to move along the axial direction of the pipe. The direction of movement of the active traveling member 21 along the inner wall of the pipe is consistent with the direction of pipe extension.

[0032] The wall-pressing assembly is connected to the main frame 1 and the driven support member 22 respectively. The wall-pressing assembly can control the contact between each driven support member 22 and the inner wall of the pipe. The wall-pressing assembly can control the movement of each driven support member 22 individually. When the pipe cross-section is non-circular or has local concavity and convexity, each driven support member 22 can adjust its extension amount according to the shape of the pipe wall at its location, so that the end of each driven support member 22 can maintain contact with the inner wall of the pipe at its location, thereby ensuring the effectiveness of the support.

[0033] When the robot moves inside the pipe, the variable diameter assembly 3 first drives the active traveling members 21 on both sides to deploy synchronously, so that the ends of the active traveling members 21 press against the inner wall of the pipe to form basic support. Synchronous deployment ensures that the support force on both sides of the main frame 1 is symmetrically distributed, preventing the robot from tilting due to one side contacting the pipe wall first. The walking assembly 4 drives the active wheels 212 at the ends of the active traveling members 21 to rotate. The friction between the active wheels 212 and the pipe wall provides the robot with traction force along the pipe direction. Since the active traveling members 21 are pressed against the pipe wall under the drive of the variable diameter assembly 3, the active wheels 212 can obtain sufficient friction to avoid slippage. The driven support members 22 press against the inner wall of the pipe under the control of the wall pressing assembly to form auxiliary support points. Since each driven support member 22 is independently controlled by the wall pressing assembly, when the pipe cross-section changes or there is local unevenness, each driven support member 22 can adjust its pressing position to ensure that each driven support member 22 maintains effective contact with the pipe wall. The staggered arrangement of the active traveling member 21 and the driven support member 22 makes the support points alternately distributed along the circumference, improving the uniformity of circumferential support and making the distribution of support force in all directions of the inner wall of the pipe more balanced.

[0034] The robot provided in this application uses a variable-diameter component 3 to drive the active traveling component 21 to deploy or retract synchronously, achieving active adaptation to different pipe diameters. The walking component 4 provides active driving force, ensuring the robot's ability to travel within the pipe. The wall-pressing component independently controls the contact between each driven support component 22 and the inner wall of the pipe, allowing each support point to adapt to local shape changes in the pipe wall. The active traveling component 21 and the driven support components 22 are arranged in an alternating pattern, resulting in a more uniform distribution of support points along the circumference and improving the robot's overall posture stability within the pipe.

[0035] In some implementations, such as Figure 1 As shown, the active traveling member 21 includes an active arm 211 and an active wheel 212. One end of the active arm 211 is movably connected to the main frame 1. The traveling component 4 is disposed on the active arm 211. The active wheel 212 is rotatably disposed on the other end of the active arm 211. The traveling component 4 drives the active wheel 212 to rotate relative to the active arm 211.

[0036] In some embodiments, the driven support 22 includes a driven arm 221 and a driven wheel 222. One end of the driven arm 221 is movably connected to the main frame 1, and the pressure wall assembly is connected to the driven arm 221. The pressure wall assembly is used to drive the driven arm 221 to move relative to the main frame 1. The driven wheel 222 is rotatably disposed at the other end of the driven arm 221.

[0037] This embodiment describes the specific structure of the active traveling member 21 and the driven support member 22. The active traveling member 21 includes an active arm 211 and an active wheel 212. The active arm 211 is movably connected to the main frame 1, allowing the active arm 211 to swing relative to the main frame 1, thereby adjusting the radial position of the active wheel 212. The walking assembly 4 is mounted on the active arm 211 and drives the active wheel 212 to rotate, ensuring that the active wheel 212 generates rolling friction after contacting the pipe wall, providing the robot with traction force along the pipe direction.

[0038] The driven support member 22 consists of a driven arm 221 and a driven wheel 222. The driven arm 221 is movably connected to the main frame 1, allowing it to swing relative to the main frame 1. The wall-pressing assembly drives the driven arm 221 to move, causing the driven wheel 222 to press against the inner wall of the pipe. The driven wheel 222 rotates freely relative to the driven arm 221, and when it contacts the pipe wall, it passively rolls with the robot's movement, reducing sliding frictional resistance with the pipe wall.

[0039] It should be noted that, since the driven arm 221 is movably connected to the main frame 1, and the wall-pressing assembly directly drives the driven arm 221, the driven arm 221 can swing independently relative to the main frame 1. This allows the radial position of the driven wheel 222 to be adjusted independently, unaffected by the swing of the driving arm 211. After the driven wheel 222 presses against the pipe wall under the drive of the wall-pressing assembly, the contact force between it and the pipe wall is provided independently by the wall-pressing assembly and does not depend on the driving force of the reducing assembly 3.

[0040] In this embodiment, the active arm 211 is movably connected to the main frame 1, allowing the radial position of the active wheel 212 to be adjusted, thus enabling diameter adjustment in conjunction with the diameter-changing assembly 3. The driven arm 221 is movably connected to the main frame 1 and driven by the wall-pressing assembly, allowing the radial position of the driven wheel 222 to be independently adjusted, achieving local wall-pressing adaptation. The active wheel 212 is driven to rotate by the walking assembly 4, providing active traction. The driven wheel 222 rotates passively, providing auxiliary support. The clear division of functions between the two improves the robot's reliability and posture stability in complex pipelines.

[0041] Optionally, the active arm 211 is hinged to the main frame 1 via a pin or bearing to form a rotating pair, so that the active arm 211 swings only around the hinge point without extension or retraction, thereby ensuring the accuracy and repeatability of the radial position change of the active wheel 212.

[0042] Optionally, the driven arm 221 can be hinged to the main frame 1 via a pin or bearing, and its root shaft can be directly driven by the pressure wall assembly to make the driven arm 221 swing around the hinge point.

[0043] It should be noted that both the driving wheel 212 and the driven wheel 222 can be mounted on the corresponding driving arm 211 or driven arm 221 via bearings to reduce rotational resistance and improve the rolling stability of the driving wheel 212 and the driven wheel 222 when they are in contact with the inner wall of the pipe.

[0044] It should be noted that neither the active arm 211 nor the driven arm 221 has a telescopic structure. The radial distance of their ends relative to the robot's central axis can be changed by swinging around the root hinge point, which simplifies the structure of the active arm 211 and the driven arm 221 and improves rigidity and reliability.

[0045] In some implementations, such as Figure 1 and Figure 5 As shown, each supporting travel component 2 includes three active travel members 21 and three passive support members 22, which are evenly spaced apart.

[0046] The three active traveling components 21 are arranged in an equilateral triangle in the circumferential direction. This equilateral triangle arrangement ensures that the included angle between the three active wheels 212 is 120°, and the contact points between the active wheels 212 and the inner wall of the pipe are evenly distributed in the circumferential direction. When the traveling component 4 drives the active wheels 212 to rotate, the traction force generated by the three active wheels 212 is evenly distributed in the circumferential direction, and the resultant force direction is consistent with the pipe axis, preventing the robot from yawing due to uneven traction force distribution.

[0047] The three driven support members 22 are also distributed in an equilateral triangle pattern in the circumferential direction. With the driving member 21 and the driven support members 22 arranged alternately, the three driving members 21 and the three support members are arranged alternately in the circumferential direction, forming six evenly distributed connection points, with an included angle of 60° between adjacent connection points. It should be noted that the driving member 21 and the driven support members 22 are arranged alternately at 60° intervals in the circumferential direction, forming a six-point support structure with three sets of driving wheels 212 and three sets of driven wheels 222 arranged alternately.

[0048] The six connection points are evenly distributed in the circumferential direction, and the angle between each connection point and its adjacent connection point is equal, so that the robot's support points on the inner wall of the pipe cover the entire circumference, and the support and travel component 2 is completely symmetrical in the circumferential direction.

[0049] The driving wheel 212 and driven wheel 222 are alternately distributed in the circumferential direction, ensuring that either the driving wheel 212 or the driven wheel 222 is in contact with the pipe wall at any angle in the circumferential direction. The driving force and supporting force are applied alternately in the circumferential direction, resulting in a consistent force state for the robot in all directions along the pipe circumference. When the cross-sectional shape of the pipe changes, the uniformly distributed support points can provide isotropic support stiffness, which is beneficial to improving the robot's attitude stability in non-circular cross-section pipes.

[0050] In some implementations, such as Figure 2 and Figure 3 As shown, the variable diameter assembly 3 includes a drive member 31, a movable member 32, and a guide member 33. The drive member 31 is mounted on the main frame 1. The drive member 31 is the power source in the variable diameter assembly 3, and it is used to output driving force to the movable member 32.

[0051] The movable component 32 is connected between the driving component 31 and the active traveling component 21. Driven by the driving component 31, the movable component 32 moves relative to the main frame 1 and transmits this movement to the active traveling component 21, causing the active traveling component 21 to extend or retract. The two ends of the movable component 32 are connected to the driving component 31 and the active traveling component 21 respectively, forming a force transmission path from the driving component 31 to the active traveling component 21.

[0052] The guide member 33 is mounted on the main frame 1, and the movable member 32 is movably mounted on the guide member 33. The guide member 33 is used to define the movement trajectory of the movable member 32. The guide member 33 causes the movable member 32 to move along a defined path, preventing the movable member 32 from deviating or turning during movement. It should be noted that the movement trajectory of the movable member 32 is determined by the geometry of the guide member 33.

[0053] The drive unit 31 drives the movable parts 32 located on both sides of the main frame 1 to reciprocate along the guide 33. When the drive unit 31 is working, its output driving force is transmitted to the movable parts 32. The movable parts 32 reciprocate along the guide 33 under the constraint of the guide 33. Since the movable parts 32 are connected between the drive unit 31 and the active traveling member 21, the movement of the movable parts 32 drives the active traveling member 21 to move. When the movable parts 32 move in one direction along the guide 33, the active traveling member 21 unfolds; when the movable parts 32 move in the opposite direction along the guide 33, the active traveling member 21 retracts. The drive unit 31 drives the movable parts 32 located on both sides of the main frame 1 to reciprocate along the guide 33, so that the active traveling members 21 on both sides of the main frame 1 unfold or retract simultaneously. The movable parts 32 on both sides move synchronously under the drive of the drive unit 31, ensuring the consistency of the unfolding or retracting actions of the active traveling members 21 on both sides of the main frame 1, and avoiding the robot's posture deviation due to asynchronous diameter changes on both sides.

[0054] In some implementations, such as Figure 3 As shown, the drive unit 31 includes a variable diameter motor 311 and a lead screw 312. The variable diameter motor 311 is mounted on the main frame 1 and outputs rotational motion.

[0055] The lead screw 312 is directly or indirectly connected to the variable diameter motor 311, and the lead screw 312 is rotatably mounted on the main frame 1. The lead screw 312 rotates under the drive of the variable diameter motor 311.

[0056] The movable component 32 includes a slider 321 and a connecting rod 322. The slider 321 is threadedly connected to the lead screw 312, and the connecting rod 322 is movably connected to both the slider 321 and the active traveling component 21. The guide component 33 includes a support block 331 and a guide rod 332. The support block 331 is located at the end of the lead screw 312 away from the main frame 1, and the guide rod 332 is connected to both the support block 331 and the main frame 1. The slider 321 is movably mounted on the guide rod 332.

[0057] When the variable diameter motor 311 is working, its output shaft drives the lead screw 312 to rotate. The lead screw 312 drives the slider 321 to move along its axial direction via a threaded pair. Under the constraint of the guide rod 332, the slider 321 moves linearly along the axial direction of the lead screw 312. The slider 321 drives the active traveling member 21 to swing around its connection point with the main frame 1 via the connecting rod 322. When the slider 321 moves along the axial direction of the lead screw 312 away from the center of the main frame 1, the connecting rod 322 pushes the active traveling member 21 to extend outward; when the slider 321 moves along the axial direction of the lead screw 312 towards the center of the main frame 1, the connecting rod 322 pulls the active traveling member 21 to retract inward.

[0058] The threaded engagement method can accurately convert the rotational motion of the lead screw 312 into the linear displacement of the slider 321. Each fixed angle of rotation of the lead screw 312 corresponds to a fixed displacement of the slider 321, thereby ensuring the synchronous deployment or retraction of each active travel member 21. The slider 321 is movably mounted on the guide rod 332, which constrains the movement direction of the slider 321, preventing the slider 321 from deflecting as the lead screw 312 rotates, and ensuring that the slider 321 moves only linearly along the axial direction of the lead screw 312.

[0059] In some implementations, such as Figure 3 As shown, the lead screw 312 includes a first lead screw and a second lead screw respectively disposed on opposite sides of the main frame 1. The first lead screw and the second lead screw are threadedly engaged with two sliders 321 located on both sides of the main frame 1. The first lead screw and the second lead screw respectively drive the corresponding sliders 321 to move axially.

[0060] The drive unit 31 also includes two transmission gear sets 313 and a drive shaft 314. One transmission gear set 313 is located between the first lead screw and the motor shaft of the variable diameter motor 311, and the other transmission gear set 313 is connected to the second lead screw. The drive shaft 314 is connected to both transmission gear sets 313 respectively. The drive shaft 314 extends axially along the main frame 1, spanning the middle area of ​​the main frame 1, and transmits power from one side to the other, realizing that one variable diameter motor 311 simultaneously drives the lead screws 312 on both sides to rotate synchronously. Since the drive shaft 314 is a rigid connecting component, the two transmission gear sets 313 connected to both ends of the drive shaft 314 rotate synchronously, and the rotation angles of the first lead screw and the second lead screw are always the same, ensuring the synchronous displacement of the slider 321 on the lead screws 312 on both sides.

[0061] The rotational motion of the variable-diameter motor 311 is transmitted via the motor shaft to a transmission gear set 313 located on one side of the first lead screw. This transmission gear set 313 transmits the rotational motion to the first lead screw, driving it to rotate, and also transmits the rotational motion to the transmission shaft 314. The transmission shaft 314 transmits the rotational motion to another transmission gear set 313 located on one side of the second lead screw. This transmission gear set 313 transmits the rotational motion to the second lead screw, driving it to rotate. Since the transmission shaft 314 is a single rigid component, both ends rotate simultaneously. The first and second lead screws rotate synchronously in time and maintain the same rotation angle. The displacement of the sliders 321 on both sides is consistent, ensuring symmetry and posture stability during the robot's diameter change process.

[0062] In this embodiment, a single variable-diameter motor 311 drives two lead screws 312, simplifying the power source configuration and reducing cost and control complexity. The transmission gear set 313 can adjust the rotation direction according to the arrangement direction of the lead screws 312 and the motor shaft, so that the two lead screws 312 obtain the correct rotation direction, realizing the matching of motion direction and speed.

[0063] In some implementations, such as Figure 1 As shown, the transmission gear set 313 includes a drive gear 3131 and a transmission gear 3132. The drive gear 3131 is connected to the lead screw 312, and the transmission gear 3132 meshes with the drive gear 3131 and is connected to the transmission shaft 314. The number of teeth of the transmission gear 3132 is less than the number of teeth of the drive gear 3131.

[0064] The transmission gear set 313 is used for power transmission and motion parameter conversion. The drive gear 3131 is connected to the lead screw 312 and serves as the output end of the transmission gear set 313, directly transmitting power to the lead screw 312. The transmission gear 3132 is connected to the drive shaft 314 and serves as the input end of the transmission gear set 313, receiving rotational motion from the drive shaft 314 or the motor shaft. Through the meshing of the drive gear 3131 and the transmission gear 3132, power transmission from the drive shaft 314 to the lead screw 312 is realized, as well as the matching of the motion direction and speed.

[0065] The first drive gear, serving as the connection structure between the motor shaft and the first lead screw, enables synchronous rotation between the motor shaft and the first lead screw, ensuring direct drive of the first lead screw.

[0066] The transmission gear 3132 located on one side of the first lead screw obtains power through the drive gear 3131 meshing with it and transmits the power to the transmission shaft 314, realizing the cross-transmission of power from the first lead screw side to the second lead screw side.

[0067] The transmission gear 3132 and drive gear 3131 located on one side of the second lead screw reduce the rotational motion transmitted by the transmission shaft 314 and transmit it to the second lead screw, thereby increasing the driving torque of the second lead screw and realizing the synchronous drive of the single variable diameter motor 311 to the lead screws 312 on both sides, while ensuring the efficiency of power transmission.

[0068] Among them, the two transmission gear sets 313 can have the same gear ratio so that the first lead screw and the second lead screw rotate at the same speed, ensuring the synchronous deployment or retraction of the active travel members 21 on both sides.

[0069] The transmission gear 3132 has fewer teeth than the drive gear 3131, giving the transmission gear set 313 a speed reduction and torque increase characteristic.

[0070] It should be noted that the first lead screw is connected to the motor shaft of the variable diameter motor 311 via the first drive gear, and the first drive gear meshes with the first transmission gear. The second lead screw is fixedly connected to the second drive gear, and the second drive gear meshes with the second transmission gear. The second transmission gear and the first transmission gear are connected via the transmission shaft 314.

[0071] When the first transmission gear acts as the driving gear 212 to drive the transmission shaft 314 to rotate, the gear ratio between the first driving gear and the first transmission gear causes the transmission shaft 314 to obtain a different rotational speed than the first lead screw. When the second transmission gear acts as the driving gear 212 and the second driving gear acts as the driven gear 222, the rotational speed of the second lead screw is less than the rotational speed of the transmission shaft 314, and the torque obtained by the second lead screw is greater than the torque transmitted by the transmission shaft 314, which increases the driving torque of the second lead screw and ensures that the second lead screw can overcome the load resistance during the movement of the slider 321.

[0072] In some implementations, such as Figure 3 and Figure 4 As shown, the walking assembly 4 includes a walking motor 41, a driving bevel gear 42, and a driven bevel gear 43. The walking motor 41 is mounted on the driving arm 211, the driving bevel gear 42 is mounted on the output shaft of the walking motor 41, and the driven bevel gear 43 is mounted on the axle of the driving wheel 212 and meshes with the driving bevel gear 42. The walking motor 41 drives the driving wheel 212 to rotate through the driving bevel gear 42 and the driven bevel gear 43.

[0073] The walking motor 41 is mounted on the active arm 211, transmitting driving force to the active wheel 212 via a bevel gear pair. Since the walking motor 41 is arranged along the length of the active arm 211, and the rotation axis of the active wheel 212 is perpendicular to the extension direction of the active arm 211, and the rotation axis of the output shaft of the walking motor 41 is perpendicular to the rotation axis of the axle of the active wheel 212, the bevel gear pair can convert the rotational motion around the output shaft axis of the walking motor 41 into rotational motion around the axle axis of the active wheel 212, achieving a 90° power transmission. This allows the walking motor 41 to be arranged along the direction of the active arm 211 without increasing the radial dimension of the active arm 211, which is beneficial for the robot's passage through narrow pipes.

[0074] When the walking motor 41 is working, its output shaft drives the active bevel gear 42 to rotate. The active bevel gear 42 drives the driven bevel gear 43 to rotate through meshing. The driven bevel gear 43 is fixed on the axle of the active wheel 212, driving the active wheel 212 to rotate. When the active wheel 212 rotates, its outer circumferential surface contacts the inner wall of the pipe. The friction between the two drives the active wheel 212 to roll along the inner wall of the pipe, thereby driving the robot to move along the inner wall of the pipe.

[0075] Since the active wheel 212 is driven by an independent walking motor 41, and each active traveling component 21 is equipped with an independent walking component 4, the traction force is superimposed when multiple active wheels 212 are driven at the same time, which improves the robot's traction ability and traveling stability in high-slope pipes, curved pipes and variable-diameter pipes.

[0076] Optionally, the walking motor 41 can be fixedly mounted on the active arm 211 via a motor mounting bracket to improve the connection strength between the walking motor 41 and the active arm 211.

[0077] Optionally, the drive wheel 212 can be mounted on the drive arm 211 via a bearing to reduce the frictional resistance when the drive wheel 212 rotates and improve the transmission efficiency.

[0078] The gear ratio of the driving bevel gear 42 and the driven bevel gear 43 can be selected according to the required speed and torque to match different travel speed requirements.

[0079] In some implementations, such as Figure 2 and Figure 3 As shown, the main frame 1 includes a mounting component, which includes two spaced-apart mounting plates 11, with a mounting space 12 between the two mounting plates 11. Two supporting travel components 2 are respectively mounted on the two mounting plates 11, extending in a direction away from the mounting space 12. A portion of the variable diameter component 3 is located within the mounting space 12.

[0080] Two support travel components 2 are respectively set on two mounting plates 11, so that the support travel components 2 on both sides of the main frame 1 are aligned in the axial direction, which helps to improve the longitudinal stability of the whole machine.

[0081] The supporting travel assembly 2 extends in a direction away from the installation space 12, so that the active travel member 21 and the driven support member 22 extend outward from the mounting plate 11. The active wheel 212 and the driven wheel 222 at their ends are located on the outside of the main frame 1, and can contact the inner wall of the pipe and form support. This extension direction allows the active travel member 21 and the driven support member 22 to unfold outward under the drive of the variable diameter assembly 3, pressing the active wheel 212 and the driven wheel 222 against the inner wall of the pipe.

[0082] Optionally, one end of the driving arm 211 is hinged to the mounting plate 11 via a pin or bearing, forming a revolute joint. One end of the driven arm 221 is also hinged to the mounting plate 11 via a pin or bearing, forming a revolute joint. This hinged connection ensures that the driving arm 211 and driven arm 221 only swing around the hinge point without extension or retraction, guaranteeing the accuracy and repeatability of the radial position changes of the driving wheel 212 and driven wheel 222.

[0083] A portion of the reducing assembly 3 is located within the mounting space 12 between the two mounting plates 11. This space accommodates the drive motor, transmission shaft 314, and other components of the reducing assembly 3, resulting in a compact overall structure. Simultaneously, the mounting plates 11 provide protection for the core components of the reducing assembly 3, preventing impurities and foreign objects in the pipeline from interfering with or damaging it. The portion of the reducing assembly 3 located within the mounting space 12 can cooperate with the support and travel assembly 2 mounted on the mounting plates 11, driving the active travel member 21 to extend or retract.

[0084] It should be noted that the variable diameter assembly 3 also includes a support block 331 and a guide rod 332, which together constitute the guide element 33 of the variable diameter assembly 3. The support block 331 is located at the end of the lead screw 312 furthest from the mounting plate 11, providing rotational support for the lead screw 312. The guide rod 332 is positioned along the extension direction of the main frame 1, connecting the support block 331 and the mounting plate 11, and provides guiding constraint for the slider 321. The slider 321 is movably mounted on the guide rod 332. When the slider 321 slides along the guide rod 332, it is constrained by the guide rod 332 and can only move along the extension direction of the guide rod 332, preventing the slider 321 from deflecting as the lead screw 312 rotates. Both the support block 331 and the guide rod 332 are components of the variable diameter assembly 3.

[0085] It should be noted that the active travel member 21 and the driven support member 22 in the support travel assembly 2 are respectively hinged to the mounting plate 11 and extend in the direction away from the mounting space 12, so that the active wheel 212 and the driven wheel 222 are located outside the main frame 1.

[0086] A portion of the variable diameter assembly 3 is located within the mounting space 12, while the other portion is connected to the support and travel assembly 2 via the mounting plate 11. Specifically, a lead screw 312 is rotatably mounted on the mounting plate 11, located on the side of the mounting plate 11 opposite to the mounting space 12. A slider 321 is connected to the active travel member 21 via a connecting rod 322. A transmission gear set 313 is located on the side of the mounting plate 11 opposite to the mounting space 12; a drive gear 3131 is connected to the lead screw 312, and a transmission gear 3132 is connected to a transmission shaft 314. The transmission shaft 314 passes through the mounting space 12, connecting the transmission gear sets 313 on both sides of the mounting plates 11 to achieve synchronous drive of the lead screws 312 on both sides.

[0087] Optionally, the mounting plate 11 is provided with a motor mounting position for mounting the variable diameter motor 311, so that the variable diameter motor 311 is stably fixed in the mounting space 12.

[0088] Optionally, the mounting plate 11 may be provided with hinge holes for mounting the active travel member 21 and the driven support member 22.

[0089] Optionally, the mounting plate 11 may be provided with bearing mounting holes for mounting the support bearing of the lead screw 312.

[0090] In some embodiments, the wall-pressing assembly includes a servo motor mounted on the main frame 1. The output shaft of the servo motor is connected to the driven support 22, and the servo motor can directly drive the driven support 22 to swing. The servo motor has precise angle control and angle holding capabilities, enabling the driven wheel 222 to accurately press against the inner wall of the pipe and maintain a stable wall-pressing force after contact.

[0091] Each driven support 22 is equipped with an independent servo motor, so that each driven wheel 222 can independently adjust the wall pressure state to adapt to non-circular pipe cross sections and local uneven pipe walls.

[0092] It is worth noting that servo motors are small in size, lightweight, and easy to control, making them suitable for deployment in the limited space of pipeline robots.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A pipeline adaptive robot, characterized in that, include: Main frame; Supporting travel components are disposed on opposite sides of the main frame along the extension direction of the main frame, and each supporting travel component includes active travel members and driven support members arranged alternately around the main frame; A variable diameter assembly is connected to the main frame and the active traveling member respectively. The variable diameter assembly can drive the active traveling member to deploy or retract synchronously. A traveling component is disposed on the active traveling member, and the traveling component drives the active traveling member to move along the inner wall of the pipe; The wall-pressing assembly is connected to the main frame and the driven support respectively, and the wall-pressing assembly can control the contact between each of the driven support and the inner wall of the pipe; Each of the supporting travel components includes three active travel members and three passive support members, which are evenly spaced apart.

2. The pipeline adaptive robot according to claim 1, characterized in that, The active traveling component includes: An active arm, one end of which is movably connected to the main frame, and a walking assembly is mounted on the active arm; A drive wheel is rotatably disposed at the other end of the drive arm, and the walking assembly drives the drive wheel to rotate relative to the drive arm; The driven support member includes: The driven arm, one end of which is movably connected to the main frame, and the wall-pressing assembly is connected to the driven arm, which is used to drive the driven arm to move relative to the main frame; The driven wheel is rotatably mounted at the other end of the driven arm.

3. The pipeline adaptive robot according to claim 1 or 2, characterized in that, The variable diameter assembly includes: The driving component is mounted on the main frame; A movable component, connected between the driving component and the active traveling component; A guide component is mounted on the main frame, and the movable component is movably mounted on the guide component; The driving component can drive the movable components located on both sides of the main frame to reciprocate along the guide.

4. The pipeline adaptive robot according to claim 3, characterized in that, The driving component includes: A variable diameter motor is mounted on the main frame; A lead screw is directly or indirectly connected to the variable diameter motor, and the lead screw is rotatably mounted on the main frame; The movable component includes: The slider is threadedly connected to the lead screw; The connecting rod is movably connected to both the slider and the active traveling member; The guide component includes: A support block is disposed at the end of the lead screw away from the main frame; The guide rod is connected to the support block and the main frame respectively, and the slider is movably mounted on the guide rod.

5. The pipeline adaptive robot according to claim 4, characterized in that, The lead screw includes a first lead screw and a second lead screw respectively disposed on opposite sides of the main frame; The driving component also includes: Two transmission gear sets are provided, one of which is located between the first lead screw and the motor shaft of the variable diameter motor, and the other is connected to the second lead screw. The drive shaft is connected to each of the two drive gear sets; The variable diameter motor can drive the first lead screw and the second lead screw to rotate relative to the main frame through the transmission gear set and the transmission shaft.

6. The pipeline adaptive robot according to claim 5, characterized in that, The transmission gear set includes: A drive gear is connected to the lead screw; A transmission gear meshes with the drive gear and is connected to the transmission shaft, wherein the number of teeth of the transmission gear is less than the number of teeth of the drive gear.

7. The pipeline adaptive robot according to claim 2, characterized in that, The walking component includes: A walking motor is mounted on the active arm; An active bevel gear is mounted on the output shaft of the walking motor; The driven bevel gear is disposed on the axle of the driving gear and meshes with the driving bevel gear; The walking motor drives the drive wheel to rotate through the drive bevel gear and the driven bevel gear.

8. The pipeline adaptive robot according to claim 1 or 2, characterized in that, The main frame includes: The mounting component includes two spaced-apart mounting discs, with an installation space between the two mounting discs. The two supporting travel components are respectively disposed on the two mounting plates, the supporting travel components extend in a direction away from the mounting space, and a portion of the variable diameter component is located within the mounting space.

9. The pipeline adaptive robot according to claim 2, characterized in that, The pressure wall assembly includes a servo motor, which is mounted on the main frame, and the output shaft of the servo motor is connected to the driven support.

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