A multimodal composite motion duct robot

Abstract

The utility model belongs to pipeline robot technical field discloses a kind of multimodal composite motion pipeline robots, including peristaltic motion mechanism, two rolling motion mechanisms and connecting mechanism, peristaltic motion mechanism includes peristaltic module cavity, main peristaltic module and two peristaltic support modules being set in peristaltic module cavity, main peristaltic module is located between two peristaltic support modules, two rolling motion mechanisms are respectively installed in the both sides of peristaltic module cavity by connecting mechanism, and each rolling motion mechanism includes rolling mode cavity, control module being set in rolling mode cavity and four motion modules, and four motion modules are respectively arranged in the four around of control module;The utility model can simultaneously have rolling motion ability and peristaltic motion ability in the same motion direction, effectively solve the problem that traditional pipeline robot motion mode is single and poor in adaptability.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robot technology, specifically to a multimodal composite motion pipeline robot. Background Technology

[0002] Pipeline facilities are critical infrastructure, existing in various diameters and types. During long-term operation, pipelines require continuous, periodic maintenance, inspection, and repair. This process sometimes necessitates transporting work equipment and other objects into the pipeline, often presenting challenges such as the complex internal structure of the pipeline and the accumulation of solid foreign objects or flowing media.

[0003] A pipeline robot is a robot specifically designed for operation in pipeline environments. Pipeline robots can move along the inside or outside of pipelines, carrying one or more devices or operating mechanisms. They are mechatronic systems that can perform a series of pipeline operations under remote control or pre-programmed control.

[0004] In existing technologies, pipeline robot designs can be categorized into passive and active types. Active pipeline robots typically employ a single movement mode, primarily wheeled, tracked, or peristaltic. Their advantages usually manifest in a single performance characteristic; for example, wheeled pipeline robots offer higher movement speeds, while peristaltic pipeline robots possess obstacle-crossing capabilities. However, they are only suitable for specific operating environments and lack versatility. While helical-driven and multi-legged pipeline robots can achieve flexible changes in movement speed or complex movements, they are more difficult to manufacture and control, resulting in higher costs.

[0005] In the design of peristaltic pipeline robots, a dual-support module is currently commonly used, which means that peristaltic motion is achieved by two peristaltic motion modules. The characteristic of this design is that during peristaltic motion, one peristaltic motion module supports the pipeline, while the other peristaltic motion module performs the motion.

[0006] However, existing peristaltic pipeline robots cannot simultaneously possess both rolling and peristaltic motion capabilities. In complex pipeline environments, the single peristaltic motion mode results in low robot movement efficiency, making it difficult to quickly reach the target location, extending operation time, and increasing costs. Moreover, the lack of rolling capability leads to poor adaptability when facing different pipe diameters, bends, and other conditions, making it prone to jamming and inability to pass through. This affects the comprehensive inspection and maintenance of pipelines, reduces the efficiency of pipeline fault diagnosis and handling, and may even lead to more serious pipeline accidents due to the failure to detect problems in a timely manner.

[0007] Therefore, there is an urgent need for a new technology that can solve the problem that existing pipeline robots cannot simultaneously possess rolling and peristaltic motion capabilities. Utility Model Content

[0008] The purpose of this invention is to provide a multimodal composite motion pipeline robot to overcome the problems existing in the prior art. This invention connects a robot mechanism with rolling motion capability and a robot mechanism with peristaltic motion capability in series, so that it has both rolling motion capability and peristaltic motion capability in the same motion direction. This effectively solves the problems of single motion mode and poor adaptability of traditional pipeline robots, and greatly improves the efficiency of inspection and operation.

[0009] To achieve the above objectives, the technical solution adopted by this utility model is as follows: This utility model provides a multimodal composite motion pipeline robot, comprising: The peristaltic motion mechanism includes a peristaltic module cavity, a main peristaltic module disposed within the peristaltic module cavity, and two peristaltic support modules, wherein the main peristaltic module is located between the two peristaltic support modules; Two rolling motion mechanisms are respectively installed on both sides of the peristaltic module cavity through a connecting mechanism. Each rolling motion mechanism includes a rolling mode cavity, a control module disposed in the rolling mode cavity, and four motion modules, which are respectively disposed around the control module.

[0010] In some embodiments, the main peristaltic module includes a main peristaltic lead screw motor, which is connected to a main motion slider via a main motion lead screw. The top of the main motion slider is connected to one of the peristaltic support modules, and the bottom of the main motion slider is connected to another peristaltic support module.

[0011] In some embodiments, the peristaltic support module includes a peristaltic support motor, which is connected to a peristaltic support slider via a peristaltic support screw. A support rod assembly is mounted on the top of the peristaltic support slider, and a slide rail assembly is mounted on the bottom of the support rod assembly. The slide rail assembly is connected to the main motion slider.

[0012] In some embodiments, the support rod assembly includes a first peristaltic support rod mounted on top of the peristaltic support slider, the first peristaltic support rod being connected to the peristaltic support slider via a first pivot, the first peristaltic support rod being connected to a second peristaltic support rod via a third pivot, and the second peristaltic support rod being connected to an extension support frame via a second pivot.

[0013] In some embodiments, the slide rail assembly includes a support base plate mounted on the bottom of the support frame, the support base plate being connected to the main motion slider.

[0014] In some embodiments, peristaltic module end caps are respectively installed on both sides of the peristaltic module cavity, and a sound insulation plate is also installed on the side of the peristaltic module end cap away from the rolling motion mechanism.

[0015] In some embodiments, the front and rear portions of the rolling mode cavity are respectively equipped with rolling mode cavity end caps, an isolation plate is installed on the inner side of the rolling mode cavity end caps, and the rolling mode cavity end caps are installed on the side of the peristaltic module cavity through a connecting mechanism.

[0016] In some embodiments, the control module includes an electromagnet, which is connected to the isolation plate via an electromagnet mounting bracket, and four motion modules are respectively arranged around the electromagnet.

[0017] In some embodiments, the motion module includes a rolling motor bracket, a rolling motion motor is disposed inside the rolling motor bracket, an adsorption module is disposed on the side of the rolling motor bracket near the electromagnet, a rolling chassis and a bevel gear set are sequentially connected to the side of the rolling motion motor away from the electromagnet via a transmission rod, a buffer spring is installed between the rolling mode cavity and the rolling chassis, a transmission shaft is sleeved on the bevel gear set, rolling wheels are respectively installed at both ends of the transmission shaft, a gearbox is installed between the two rolling wheels, and the bevel gear set and the transmission shaft are located inside the gearbox.

[0018] In some embodiments, the connecting mechanism includes a connecting base that is connected to the end cap of the peristaltic module and the end cap of the rolling mode cavity respectively, and a connecting gimbal assembly is installed between the two connecting bases.

[0019] The above technical solution has the following advantages or beneficial effects: This invention provides a multimodal composite motion pipeline robot. By connecting a robot mechanism with rolling motion capability and a robot mechanism with peristaltic motion capability in series, it simultaneously possesses rolling and peristaltic motion capabilities in the same direction of motion. This effectively solves the problems of single motion mode and poor adaptability of traditional pipeline robots. Its core advantages are that the peristaltic motion mechanism achieves high obstacle-crossing capability and stable adsorption and movement under complex working conditions, which is especially suitable for crossing obstacles or pipeline diameter changes; the rolling motion mechanisms on both sides enable fast and smooth movement in flat pipelines, greatly improving inspection and operation efficiency; the two modes can be switched according to the pipeline environment, combining flexibility and efficiency, significantly expanding the application range of the robot in large-diameter complex pipelines, and featuring compact structure, strong adaptability, and superior comprehensive motion performance.

[0020] In some embodiments, the main peristaltic screw motor drives the main motion screw, which in turn drives the main motion slider to perform precise linear motion. This precisely controls the clamping and releasing actions of the upper and lower peristaltic support modules, ensuring that the robot has strong driving force and precise position control in peristaltic mode. It can effectively adapt to the irregular surface of the pipe wall and achieve reliable adsorption and stable obstacle-crossing crawling. At the same time, the screw drive has good self-locking properties and can maintain the clamping state in the event of a power failure, which significantly improves the safety and reliability of the robot in the complex environment of the pipe.

[0021] In some embodiments, the peristaltic support motor drives the slider to move via a lead screw, thereby driving the support rod assembly to perform radial extension and contraction. This not only allows it to closely fit the inner wall of the pipe and provide strong support, but also ensures coordinated movement with the main peristaltic module through the effective connection between the slide rail assembly and the main motion slider. This significantly improves the overall rigidity and adaptability of the robot in peristaltic mode, enabling it to effectively cope with different pipe diameters and complex working conditions, and enhancing the stability of the obstacle-crossing process.

[0022] In some embodiments, the second peristaltic support rod forms a flexible linkage mechanism through three rotating shafts, which not only ensures that the support arm has sufficient extension stroke to adapt to different pipe diameters, but also effectively decomposes the radial and tangential stresses generated during the support process through the multi-axis structure, significantly improving the robot's terrain adaptability in peristaltic mode, enabling the support module to closely fit the irregular inner wall of the pipe, providing stable and reliable support reaction force, while enhancing the overall structure's load-bearing capacity and motion stability, effectively ensuring the robot's obstacle-crossing performance in complex pipe environments.

[0023] In some embodiments, the slide rail assembly directly connects the support frame to the main motion slider via a support base plate, forming a stable and efficient force transmission path. This ensures that the driving force generated by the main peristaltic module can be reliably transmitted to the support rod assembly through the slider and base plate, effectively enhancing the overall integrity and structural rigidity of the peristaltic support module during telescopic motion. At the same time, this compact design optimizes force flow transmission, reduces energy loss in intermediate links, and makes the robot move more accurately and respond more quickly in peristaltic mode.

[0024] In some embodiments, by setting end caps on both sides of the peristaltic module cavity and adding sound insulation plates, the vibration and noise of the robot during operation are effectively reduced, significantly improving its concealment and environmental friendliness when working inside the pipeline, while enhancing the cavity sealing and providing more complete dustproof and moisture-proof protection for the internal precision moving parts.

[0025] In some embodiments, by setting end caps and built-in isolation plates at the front and rear of the rolling mode cavity, the structural sealing and overall rigidity of the module are effectively improved. This not only prevents external dust and moisture from intruding into the internal moving parts, but also achieves stable docking with the peristaltic module through the connecting mechanism, ensuring the continuous and stable operation of the rolling motion in complex pipeline environments.

[0026] In some embodiments, by centrally arranging electromagnets and fixing them with isolation plates, a stable and reliable control core is provided for the four motion modules; the electromagnets can quickly drive the circumferentially distributed motion modules when they are powered on and off, realizing flexible start-stop and direction switching in the robot's rolling mode; this layout optimizes the magnetic force transmission efficiency, ensures synchronous movement around the four sides, and significantly improves the control accuracy and motion coordination of the robot when it rolls and moves in the pipe.

[0027] In some embodiments, the rolling motion motor transmits power stably to the rolling wheels at both ends through a transmission rod, bevel gear set and transmission shaft, ensuring smooth and powerful straight-line movement; the integrated gearbox design effectively protects the internal transmission components and improves system durability; the adsorption module on one side of the electromagnet can provide additional adhesion when needed, enhancing the grip between the wheel and rail; the buffer spring structure gives the chassis an adaptive buffer function, effectively mitigating the impact of unevenness in the pipeline.

[0028] In some embodiments, the combined design of the connecting base and the connecting gimbal group achieves a stable and flexible connection between the peristaltic and rolling motion mechanisms. This ensures the structural integrity during the transition between the two modes and, with the help of the gimbal group's degree of freedom adjustment capability, effectively absorbs the off-center load and vibration caused by unevenness in the pipeline, significantly improving the stability and reliability of the robot in multimodal motion switching in complex pipeline environments. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of a multimodal composite motion pipeline robot structure according to some embodiments of this specification; Figure 2 This is a schematic diagram of the peristaltic motion mechanism structure shown in some embodiments according to this specification; Figure 3 This is a schematic diagram of the main peristaltic module structure according to some embodiments of this specification; Figure 4 This is a schematic diagram of the peristaltic support module structure according to some embodiments of this specification; Figure 5 This is a schematic diagram of the rolling motion mechanism structure shown in some embodiments according to this specification; Figure 6 This is a schematic diagram of the isolation plate structure according to some embodiments of this specification; Figure 7This is a schematic diagram of the internal structure of the rolling motion mechanism according to some embodiments of this specification; Figure 8 This is a schematic diagram of the connection mechanism structure shown in some embodiments according to this specification; Figure 9 This is a schematic diagram illustrating the operation and peristaltic motion of a multimodal composite motion pipeline robot according to some embodiments of this specification; In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1. Peristaltic motion mechanism; 101. Main peristaltic lead screw motor; 102. Motor mounting bracket; 103. Main motion lead screw; 104. Sound insulation plate; 105. Peristaltic module cavity; 106. Peristaltic module end cap; 107. Main motion slider; 108. Support base plate; 109. Extended support frame; 110. Peristaltic support base plate; 111. Motor mounting bracket; 112. Peristaltic support motor; 113. Peristaltic support lead screw; 114. Peristaltic support end cap; 115. Peristaltic support slider; 116. First peristaltic support rod; 117. Second peristaltic support rod; 118. First 1. Rotating shaft; 119. Second rotating shaft; 120. Adhesive slide block; 121. Third rotating shaft; 2. Rolling motion mechanism; 201. Rolling motion motor; 202. Transmission rod; 203. Bevel gear set; 204. Gearbox; 205. Transmission shaft; 206. Rolling wheel; 207. Rolling motor bracket; 208. Rolling sleeve; 209. Buffer spring; 210. Mudguard; 211. Electromagnet; 212. Isolation plate; 213. Electromagnet fixing frame; 214. Rolling mode cavity; 215. Rolling mode cavity end cover; 216. Adsorption module; 217. Rolling chassis; 3. Connecting mechanism; 301. Connecting base; 302. Connecting gimbal assembly. Detailed Implementation

[0030] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0031] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0034] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0036] Example: This invention discloses a multimodal composite motion pipeline robot, primarily designed for large-diameter ground pipelines. The robot possesses both rapid, stable motion and obstacle-crossing capabilities. This multimodal composite motion pipeline robot features two motion modes: peristalsis and rolling. These modes are supported by peristalsis and rolling mechanisms, respectively. This design enables the pipeline robot to move rapidly within pipelines and effectively addresses the challenge of overcoming obstacles in large-diameter pipelines, allowing for movement within pipelines under complex conditions.

[0037] Figure 1 This is a schematic diagram of a multimodal composite motion pipeline robot structure according to some embodiments of this specification. The present invention provides a multimodal composite motion pipeline robot, including a peristaltic motion mechanism 1, a rolling motion mechanism 2, and a connecting mechanism 3; the peristaltic motion mechanism 1 includes a peristaltic module cavity 105, a main peristaltic module, and a peristaltic support module; the rolling motion mechanism 2 includes a rolling mode cavity 214, a control module, and a motion module; The peristaltic motion mechanism 1 includes a peristaltic module cavity 105, a main peristaltic module disposed within the peristaltic module cavity 105, and two peristaltic support modules. The main peristaltic module is located between the two peristaltic support modules. The structure of rolling mode at both ends and peristaltic mode in the middle effectively shortens the length of the pipeline robot while maintaining the balance of movement. Two rolling motion mechanisms 2 are respectively installed on both sides of the peristaltic module cavity 105 through a connecting mechanism 3. Each rolling motion mechanism 2 includes a rolling mode cavity 214, a control module disposed within the rolling mode cavity 214, and four motion modules. The four motion modules are respectively disposed around the control module. This utility model has both a rolling module and a peristaltic module, thus possessing the functions of rapid movement and obstacle-crossing movement. When the robot moves inside the pipeline, it can change its movement mode according to the movement environment to achieve efficient movement.

[0038] In some embodiments, the robot adopts a four-sided symmetrical design, with a set of motion modules on each side, and each set of motion modules performs motion functions.

[0039] In some embodiments, Figure 2This is a schematic diagram of the peristaltic motion mechanism structure shown in some embodiments of this specification. Figure 3 The diagram below shows the structure of the main peristaltic module according to some embodiments of this specification. The main peristaltic module includes a main peristaltic screw motor 101. The main peristaltic screw motor 101 is connected to a main motion slider 107 via a main motion screw 103, which drives the main motion slider 107 to move axially along the cavity 105 of the peristaltic module. The top of the main motion slider 107 is connected to one of the peristaltic support modules, and the bottom of the main motion slider 107 is connected to another peristaltic support module.

[0040] In some embodiments, a motor mounting bracket 102 is installed on the outside of the main peristaltic screw motor 101.

[0041] In some embodiments, Figure 4 The diagram below illustrates the structure of a peristaltic support module according to some embodiments of this specification. The peristaltic support module is responsible for realizing the overall movement of the robot in a peristaltic motion mode. It includes a peristaltic support motor 112, which is connected to a peristaltic support slider 115 via a peristaltic support screw 113. The peristaltic support motor 112 drives the peristaltic support slider 115 to move via the peristaltic support screw 113. A support rod assembly is installed on the top of the peristaltic support slider 115 for supporting or disengaging from the inner wall of the pipe. A slide rail assembly is installed on the bottom of the support rod assembly, and the slide rail assembly is connected to the main motion slider 107.

[0042] In some embodiments, the support rod assembly is responsible for engaging or disengaging from the inner wall of the pipe when the machine performs peristaltic motion. It includes a first peristaltic support rod 116 mounted on top of the peristaltic support slider 115. The first peristaltic support rod 116 is connected to the peristaltic support slider 115 via a first pivot 118. The first peristaltic support rod 116 is connected to a second peristaltic support rod 117 via a third pivot 121. The second peristaltic support rod 117 is connected to an extension support frame 109 via a second pivot 119.

[0043] In some embodiments, the slide rail assembly includes a support base plate 108 mounted on the bottom of the support frame 109, the support base plate 108 being connected to the main motion slider 107.

[0044] In some embodiments, the peristaltic support motor 112 is mounted on a motor mounting bracket 111, which is located on top of the support substrate 108.

[0045] In some embodiments, fitting slide blocks 120 are respectively installed on both sides of the support substrate 108.

[0046] In some embodiments, a peristaltic support end cap 114 is installed on the top of the peristaltic support motor 112, the motor mounting bracket 111, and the peristaltic support screw 113. A peristaltic support base plate 110 is installed on the end of the peristaltic support screw 113 away from the peristaltic support motor 112. The peristaltic support base plate 110 is located on top of the support base plate 108.

[0047] In some embodiments, peristaltic module end caps 106 are respectively installed on both sides of the peristaltic module cavity 105, and a sound insulation plate 104 is also installed on the side of the peristaltic module end cap 106 away from the rolling motion mechanism 2.

[0048] In some embodiments, the peristaltic motion mechanism 1 operates as follows: When peristaltic motion is required, firstly, the motion module supporting the entire robot and the peristaltic support rod are detached from the inner wall of the pipe. If the peristaltic support rod is not detached from the inner wall of the pipe, the peristaltic support motor 112 drives the peristaltic support screw 113 to rotate. The peristaltic support screw 113 then drives the peristaltic support slider 115 to move to the far end, causing the support rod to detach from the inner wall of the pipe, allowing the pipe robot to move freely. After confirming that the support rod has detached from the inner wall of the pipe and that the motion module has performed the support task, the main peristaltic screw motor 101 drives the main motion screw 102 to rotate, thereby causing the main motion slider to reach the farthest distance or a specified distance. Then, the main peristaltic screw motor 101 stops moving, keeping the main motion slider 107 stationary relative to the pipe. The peristaltic support motor 112 rotates, driving the peristaltic support slider 115 to move towards the motor via the peristaltic support screw 113, thereby causing the peristaltic support rod to engage with the inner wall of the pipe. At this point, the entire robot is supported by the peristaltic support module. The main peristaltic screw motor 101 reverses, driving the entire robot to move relative to the pipeline.

[0049] In some embodiments, Figure 5 This is a schematic diagram of the rolling motion mechanism structure shown in some embodiments of this specification. Figure 6 As shown in the schematic diagram of the isolation plate structure according to some embodiments of this specification, the front and rear parts of the rolling mode cavity 214 are respectively equipped with rolling mode cavity end caps 215, the inner side of the rolling mode cavity end cap 215 is equipped with an isolation plate 212, and the rolling mode cavity end cap 215 is installed on the side of the peristaltic module cavity 105 through the connecting mechanism 3.

[0050] In some embodiments, the rolling mode cavity end cap 215 has a through-hole structure, which can enable extended installation, such as installing flow guides at both ends of the robot as a whole.

[0051] In some embodiments, the basic geometry of the radial cross-section of the rolling mode cavity 214 is a square, and corresponding motion modules are installed on all four sides of the cavity. The square cavity facilitates further processing of slots or holes, providing space for various extended designs, that is, allowing extended installations outside the cavity, such as vision systems, vision detection modules, and the addition of traction modules.

[0052] In some embodiments, Figure 7 The diagram shows the internal structure of the rolling motion mechanism according to some embodiments of this specification. The control module includes an electromagnet 211, which is connected to the isolation plate 212 via an electromagnet fixing frame 213. Four motion modules are respectively arranged around the electromagnet 211. During operation, when the electromagnet 211 is energized, the motion modules retract towards the center of the rolling mode cavity 214. When the power is off, the buffer spring 209 causes the rolling wheel 206 to pop out towards the inner wall of the pipe. Because this invention uses a structure carrying the buffer spring 209, when using rolling motion, the rolling wheel 206 contacts the inner wall of the pipe. When encountering minor obstacles during movement inside the pipe, the buffer spring 209 can provide a certain displacement capacity, enabling the pipe robot to adapt to minor obstacles. At the same time, in the peristaltic motion mode, this structure allows the rolling module to perform a support function.

[0053] In some embodiments, the motion module includes a rolling motor bracket 207, inside which a rolling motion motor 201 is disposed. An adsorption module 216 is disposed on the side of the rolling motor bracket 207 near the electromagnet 211. A rolling chassis 217 and a bevel gear set 203 are sequentially connected to the side of the rolling motion motor 201 away from the electromagnet 211 via a transmission rod 202. A buffer spring 209 is installed between the rolling mode cavity 214 and the rolling chassis 217. A transmission shaft 205 is sleeved on the bevel gear set 203. Rolling wheels 206 are respectively installed at both ends of the transmission shaft 205. A gearbox 204 is installed between the two rolling wheels 206. The bevel gear set 203 and the transmission shaft 205 are located inside the gearbox 204. During operation, the rolling motion motor 201 drives the transmission shaft 205 to rotate the rolling wheels 206 via the transmission rod 202 and the bevel gear set 203.

[0054] In some embodiments, mudguards 210 are respectively provided on the four sides of the side of the rolling chassis 217 away from the rolling mode cavity 214.

[0055] In some embodiments, a rolling motor bracket 207 is mounted on the outside of the rolling motion motor 201, and rolling sleeves 208 are respectively mounted around the rolling mode cavity 214. The rolling sleeves 208 are located outside the buffer spring 209. The rolling motor bracket 207 is connected to the rolling sleeves 208. The outside of the rolling sleeves 208 is provided with protrusions corresponding to the rolling mode cavity 214, and the above parts are connected as a whole, which can slide in the same line direction at a designated position in the cavity.

[0056] In some embodiments, during the rolling motion, if the robot needs to maintain a stable, high-speed movement, the electromagnet 211 is de-energized. The motion module is supported against the inner wall of the pipe by the elasticity of the buffer spring 209. The rolling motion motor 201 drives the rolling wheel 206 to rotate through the transmission rod 202 and the bevel gear set 203. The rotation of the rolling wheel 206 drives the overall movement of the robot. Simultaneously, due to the presence of the buffer spring 209, the rolling module can automatically adapt to environmental changes within the pipe. These environmental changes include changes in the dimensions of the pipe's inner wall, changes in attachments to the pipe's inner wall, and pipe deformation. Because the working part of the rolling wheel 209 is supported by the spring, the rolling wheel 209 can also support the pipe robot. When the rolling motion mechanism is not needed, the electromagnet 211 is energized, causing the motion module to retract towards the center, avoiding obstacles attached to the inner wall of the pipe, thus achieving obstacle avoidance performance for the robot's rolling module.

[0057] In some embodiments, Figure 8 The connection mechanism 3, as shown in some embodiments of this specification, includes a connection base 301 that is connected to the peristaltic module end cap 106 and the rolling mode cavity end cap 215 respectively. A connection gimbal assembly 302 is installed between the two connection bases 301. The connection gimbal assembly 302 allows relative offset and rotation between the peristaltic motion mechanism 1 and the rolling motion mechanism 2, and can autonomously adjust the gimbal damping or lock the gimbal under the control of the electrical structure.

[0058] In some embodiments, the present invention employs a gimbal-type connecting mechanism 3, which can provide better operational stability for the robot. The connecting mechanism 3 allows relative offset and rotation between the two cavities of the robot, reduces the minimum turning radius, and enhances the robot's motion robustness.

[0059] In some embodiments, during movement, the connecting mechanism 3 can adapt to directional changes within a hemisphere centered on the sphere.

[0060] In some embodiments, these components have corresponding fixing and connection methods at corresponding positions, and corresponding slots or holes are provided at corresponding connection positions.

[0061] In some embodiments, in the rapid motion mode, the peristaltic motion mechanism 1 retracts, the rolling motion mechanism 2 opens, and the rolling wheel 206 contacts the inner wall of the pipe. The rolling motion motor 201 drives the rolling wheel 206 through the transmission rod 202 and the bevel gear set 203, thereby moving the pipe robot along the inner wall of the pipe. In the peristaltic motion mode, the peristaltic motion mechanism 1 supports the entire robot through the peristaltic support module, then the rolling wheel 206 retracts, the main peristaltic module operates, thereby changing the relative position of the robot within the pipe. After the main peristaltic module moves a certain range, the rolling wheel 206 pops out, supporting the entire robot through the motion module. The peristaltic support module retracts, the main peristaltic module moves, changing the relative position of the entire robot within the pipe. If it is necessary to further change the robot's relative position within the pipe using a peristaltic method, the above movements are repeated continuously until the desired position is reached.

[0062] The structure and working principle of this utility model will be further explained below: The purpose of this invention is to provide a multimodal composite motion pipeline robot. Taking a normal temperature, medium-pressure gas pipeline with an inner diameter of 870 mm as an example, this pipeline is characterized by an internal medium flow velocity not exceeding 20 m / s, typically maintained at 12-17 m / s, with impurities mainly originating from source infiltration and inner wall erosion. The pipeline connection typically uses flange connections. Therefore, the vertical height of obstacles inside the pipeline is usually no more than 30 mm, meaning the difference between the pipeline inner diameter and twice the vertical height of the obstacle is 810 mm. In this embodiment, the maximum support diameter of the rolling motion mechanism 2 of the pipeline robot is 918.54 mm, and the minimum contraction diameter is 798.22 mm; the maximum support diameter of the peristaltic motion mechanism 1 is 875.00 mm, and the minimum contraction diameter is 759.84 mm. Since the maximum support diameter is greater than 870 mm and the minimum contraction diameter is less than 810 mm, the pipeline robot in this embodiment meets the requirements of the operating environment in terms of technical parameters.

[0063] The assembly and operation of the peristaltic mechanism 1 of this multimodal composite motion pipeline robot are as follows: the main peristaltic lead screw motor 101 is an asonic-MATSUSHITA_MHMF012L1U3, and is connected to the main motion lead screw 103 through a single diaphragm set screw type coupling EVAN_EV27827000326; after the main motion slider 107 is placed inside the peristaltic motion cavity 105, the corresponding position of the main motion slider 107 is connected to the peristaltic support base plate 108, and then the main motion slider 107 is connected to the main motion lead screw 103 to form a main motion mechanism. The main motion motor 101 can control the sliding position of the main motion slider 107 in the peristaltic cavity 105, thereby realizing motion displacement. The peristaltic support motor 112, a Nanotec-LSA281S10-B-UGAQ-152, is housed in the support motor mounting bracket 109 and connected to the peristaltic support screw 113. It is sealed with a peristaltic support end cap 106 to prevent environmental impurities from affecting the robot's movement. The peristaltic support screw 113 is connected to the peristaltic support slider 115. A first peristaltic support rod 117 is mounted on the peristaltic support slider 115 and connected to it by a first rotating shaft 118, maintaining its fixation while allowing rotation. Simultaneously, an extension support frame 109 can be mounted on the main motion slider 107. A second peristaltic rod 117 is mounted on the extension support frame 109 and connected to it by the first rotating shaft 118. The first peristaltic support rod 116 and the second peristaltic support rod 117 are connected by a second rotating shaft 119, maintaining rotatability. Since the extended support frame 109 is stationary relative to the main motion slider 107, and the peristaltic support slider 115 is movable relative to the main motion slider 107, the entire peristaltic support mechanism can control the first peristaltic support rod 116 and the second peristaltic support rod 117 through the peristaltic support motor 112 to enable the robot to clamp the inner wall of the pipe and maintain relative stillness.

[0064] The assembly and operation of the rolling mechanism 2 of this multimodal composite motion pipeline robot are as follows: A Panasonic-MSMF012L1U1 rolling motion motor 201 is fixed to a dedicated rolling motor bracket 207. The rolling motor bracket 207 is connected to a rolling sleeve 208. The rolling sleeve 208 has a protrusion on its outside that mates with a designated position on the rolling mode cavity 214 to achieve bidirectional sliding. Simultaneously, the Panasonic-MSMF012L1U1 rolling motion motor 201 is connected to a transmission rod 202 via a single-diaphragm set-screw type coupling EV278-27000484. Both the rolling motion motor 201 and the transmission rod 202 support keyed connections. This motor is driven by a Panasonic-MATSUSHITA_MADLT05SF driver, which is not described here as it does not affect the mechanical structure design. A bevel gear set 203 is fixed to the other end of the transmission rod 202. The bevel gear set 203 is fixed to the transmission shaft 205, and the transmission shaft 205 is fixed to the rolling wheel 206. Simultaneously, the bevel gear set 203 and the transmission shaft 205 are sealed together within the gearbox 204, which protects the transmission shaft 205 and the bevel gear set 203. A buffer spring 209 is fitted over the outside of the rolling sleeve 208. The buffer spring 209 is fixed to the outside of the rolling mode cavity 214 and the rolling chassis 217. The rolling chassis 217 is equipped with a mud shield 210, which protects the buffer spring 209 and the rolling mode cavity 214 to some extent. The rolling mode cavity 214 uses the above-described assembly on all four sides. The rolling motors 201 mounted on all four sides can transmit motion to the rolling wheel 206 via couplings, transmission rods 202, bevel gear sets 203, and transmission shafts 205, thus realizing the robot's rolling motion. Meanwhile, since all parts on the motion transmission chain are fixedly connected, and the Panasonic-MSMF012L1U1 rolling motor 201 can be locked to stop, the robot as a whole is prevented from sliding when the rolling wheel stops moving. The buffer spring 209 provides elasticity, enabling the rolling module to maintain static support. A four-way electromagnet 211 is fixed to an electromagnet mounting bracket 213 connected and fixed to the isolation plate 212. An adsorption module 216 is installed in the groove above the rolling motor bracket 207. The side of the adsorption module 216 closest to the rolling motor 201 is made of a magnetically blocking material, preventing the rolling motor 201 from being affected by the magnetic field. The side of the adsorption module 216 closest to the electromagnet 211 is made of a magnetic material, allowing for better control by the electromagnet. When the electromagnet is energized, it drives the rolling motor 201 to retract the rolling wheel 206. When the electromagnet is de-energized, the elasticity of the buffer spring 209 drives the rolling chassis 217 to eject the rolling wheel 206 outwards, making it tightly contact the inner wall of the pipe 000.Furthermore, when the roller 206 contacts an obstacle, the buffer spring 209 provides a certain amount of retraction space, allowing the roller 206 to continue moving over the obstacle. In addition, the space separated by the partition plate 212 can accommodate various other devices, such as power supplies, motherboards, and central controllers.

[0065] The overall assembly and operation of this multimodal composite motion pipeline robot are as follows: The connecting mechanism 3 consists of two parts: a connecting base 301 and a connecting gimbal assembly 302. The entire connecting mechanism 3 is a controllable gimbal. When the robot is in a rolling motion state, the gimbal is in a relaxed state, allowing it to deflect arbitrarily within the allowable range. When the robot is in a peristaltic motion state, the gimbal is in a locked state, maintaining its perpendicularity to the plane of the connecting base. This allows the rolling mode cavity of the robot to be suspended during peristaltic motion, thus completing the robot's peristaltic motion. When the robot needs to bend during peristaltic motion, the gimbal can actively adjust the angle of the rolling module cavity 214 relative to the peristaltic module cavity 105, or change the damping, thereby achieving the required bend. The connecting base 301 is connected to the end cap 215 of the rolling motion mode cavity or the end cap 106 of the peristaltic motion mode cavity, realizing the overall connection of the robot and maintaining functional integrity and operational robustness.

[0066] Figure 9 The following is a schematic diagram of the operation and peristaltic motion of a multimodal composite motion pipeline robot according to some embodiments of this specification, showing that only one peristaltic module cavity 105 is needed for the overall peristaltic motion, as detailed below: Step 1: When using the rolling motion mode, the peristaltic support module retracts, and the rolling wheel in the rolling motion module of the rolling motion mechanism continues to rotate, driving the robot to perform continuous rolling motion on the inner wall of the pipe. At the same time, the gimbal of the connecting mechanism 3 remains in a relaxed state. Step 2: When obstacle crossing is required, the rolling wheel 206 stops rotating, and the robot comes to a complete stop. The peristaltic support module expands and makes tight contact with the inner wall of the pipe, while the gimbal in the connecting mechanism 3 remains locked. Step 3: The rolling wheel 206 in the rolling motion module retracts, and at this time the robot as a whole is supported outward by the peristaltic support module; Step 4: The main peristaltic screw motor 101 inside the peristaltic main motion module rotates, driving the robot to move forward. At this time, the robot is still supported outward by the peristaltic support module. Step 5: After moving a certain distance, the rolling wheel 206 of the rolling motion module pops out, and the buffer spring 209 plays a role in supporting the robot as a whole. Step 6: The peristaltic support mechanism retracts, and at this time the entire robot is supported by the rolling wheels 206 in the rolling motion modules at both ends; Step 7: The peristaltic support module returns to its original position or a specified position under the control of the peristaltic main motion module. If continuous peristalsis is required, the above steps are repeated. If it is determined or required that the robot can perform rolling mode movement, the rolling motion module commands the motor to drive the rolling wheel to work.

[0067] This invention provides a multimodal composite motion pipeline robot. By connecting a robot mechanism with rolling motion capability and a robot mechanism with peristaltic motion capability in series, it simultaneously possesses rolling and peristaltic motion capabilities in the same direction of motion, while retaining expandability, allowing the addition of other motion modules as needed. This invention is rarely applied to pipeline robots for large-diameter pipelines; existing research shows that single-motion-mode wheeled, tracked, and peristaltic pipeline robots have significant limitations in motion, while helical-driven and multi-legged pipeline robots face challenges in manufacturing, control, and cost. The pipeline robot of this invention possesses both rapid motion capability and obstacle-crossing capability, reduces control difficulty and manufacturing cost, and provides a new approach to the design of peristaltic motion pipeline robots.

[0068] Compared to pipeline robots with a single motion mode, this invention has greater versatility and the ability to move quickly and overcome obstacles. Compared to spiral-driven and multi-legged pipeline robots, it is easier to manufacture, easier to control, and cheaper. It can adapt well to the internal pipeline environment, and the rolling motion mechanism 2 can provide support when the peristaltic motion mechanism 1 is working, thus realizing the design of peristaltic motion with a single peristaltic motion mechanism. The basic square cross-sectional geometry of this pipeline robot has a certain degree of expansion space. It uses a gimbal-type connecting device to connect different robot cavities. The gimbal-type connecting device can be controlled by the electrical structure, realizing more flexible motion settings.

[0069] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0070] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only for illustrating the technical concept of this utility model and should not be used to limit the scope of protection of this utility model. Any modifications made to the technical solutions based on the technical concept proposed by this utility model shall fall within the scope of protection of the claims of this utility model.

Claims

1. A multimodal composite motion pipeline robot, characterized in that, include: The peristaltic motion mechanism (1) includes a peristaltic module cavity (105), a main peristaltic module disposed in the peristaltic module cavity (105), and two peristaltic support modules. The main peristaltic module is located between the two peristaltic support modules. The main peristaltic module includes a main peristaltic screw motor (101). The main peristaltic screw motor (101) is connected to a main motion slider (107) through a main motion screw (103). The top of the main motion slider (107) is connected to one of the peristaltic support modules, and the bottom of the main motion slider (107) is connected to the other peristaltic support module. The peristaltic support module includes a peristaltic support motor (112). The peristaltic support motor (112) is connected to a peristaltic support slider (115) through a peristaltic support screw (113). A support rod assembly is installed on the top of the peristaltic support slider (115), and a slide rail assembly is installed on the bottom of the support rod assembly. The slide rail assembly is connected to the main motion slider (107). Two rolling motion mechanisms (2) are respectively installed on both sides of the peristaltic module cavity (105) via a connecting mechanism (3). Each rolling motion mechanism (2) includes a rolling mode cavity (214), a control module disposed in the rolling mode cavity (214), and four motion modules, which are respectively disposed around the control module.

2. The multimodal composite motion pipeline robot according to claim 1, characterized in that, The support rod assembly includes a first peristaltic support rod (116) mounted on top of the peristaltic support slider (115). The first peristaltic support rod (116) is connected to the peristaltic support slider (115) via a first pivot (118). The first peristaltic support rod (116) is connected to a second peristaltic support rod (117) via a third pivot (121). The second peristaltic support rod (117) is connected to an extension support frame (109) via a second pivot (119).

3. The multimodal composite motion pipeline robot according to claim 2, characterized in that, The slide rail assembly includes a support base plate (108) mounted on the bottom of the support frame (109), and the support base plate (108) is connected to the main motion slider (107).

4. The multimodal composite motion pipeline robot according to claim 1, characterized in that, The peristaltic module cavity (105) is equipped with peristaltic module end caps (106) on both sides, and a sound insulation plate (104) is also installed on the side of the peristaltic module end cap (106) away from the rolling motion mechanism (2).

5. A multimodal composite motion pipeline robot according to claim 4, characterized in that, The front and rear parts of the rolling mode cavity (214) are respectively equipped with rolling mode cavity end caps (215), and an isolation plate (212) is installed on the inner side of the rolling mode cavity end cap (215). The rolling mode cavity end cap (215) is installed on the side of the peristaltic module cavity (105) through a connecting mechanism (3).

6. A multimodal composite motion pipeline robot according to claim 5, characterized in that, The control module includes an electromagnet (211), which is connected to the isolation plate (212) via an electromagnet mounting bracket (213). The four motion modules are respectively arranged around the electromagnet (211).

7. A multimodal composite motion pipeline robot according to claim 6, characterized in that, The motion module includes a rolling motor bracket (207), inside which a rolling motion motor (201) is installed. An adsorption module (216) is installed on the side of the rolling motor bracket (207) near the electromagnet (211). On the side of the rolling motion motor (201) away from the electromagnet (211), a rolling chassis (217) and a bevel gear set (203) are connected in sequence via a transmission rod (202). A buffer spring (209) is installed between the rolling mode cavity (214) and the rolling chassis (217). A transmission shaft (205) is sleeved on the bevel gear set (203). Rolling wheels (206) are installed at both ends of the transmission shaft (205). A gearbox (204) is installed between the two rolling wheels (206). The bevel gear set (203) and the transmission shaft (205) are located inside the gearbox (204).

8. A multimodal composite motion pipeline robot according to claim 5, characterized in that, The connecting mechanism (3) includes a connecting base (301) that is connected to the end cap (106) of the peristaltic module and the end cap (215) of the rolling mode cavity respectively, and a connecting gimbal assembly (302) is installed between the two connecting bases (301).

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