CN112524394B

CN112524394B - Double V-shaped pipeline robot

Info

Publication number: CN112524394B
Application number: CN202011382269.2A
Authority: CN
Inventors: 王衍学; 李孟; 冯剑波; 李志星
Original assignee: Beijing University of Civil Engineering and Architecture
Current assignee: Beijing University of Civil Engineering and Architecture
Priority date: 2020-12-01
Filing date: 2020-12-01
Publication date: 2022-10-21
Anticipated expiration: 2040-12-01
Also published as: CN112524394A

Abstract

The invention discloses a double-V-shaped pipeline robot, which comprises a first support unit and a second support unit, wherein the first support unit comprises a first base assembly, support arm assemblies which are symmetrically arranged on the first base assembly in a V shape, and pressure springs connected with the symmetrical support arm assemblies; the support arm assembly comprises a first support arm and a second support arm connected to the axial side wall of the first support arm, and a travelling wheel is arranged at the end part of the second support arm; the second supporting unit has the same structure as the first supporting unit, and a second base assembly in the second supporting unit is axially and vertically connected with the first base assembly; according to the invention, the first supporting unit and the second supporting unit are in a cross V-shaped butt joint mode, and are supported by the pressure spring with strong force, so that the adhesion force of the walking wheel to the pipe wall is improved, the robot can tightly attach to the pipe wall in a vertical pipeline to move up or down, and the actual universality and the environmental adaptability of the pipeline robot are effectively improved.

Description

Double V-shaped pipeline robot

Technical Field

The invention relates to the technical field of pipeline maintenance robots, in particular to a double-V-shaped pipeline robot.

Background

Pipeline transportation is the most economical mode of transportation of liquid and gas of long distance, possesses the advantage that the transportation volume is big, the stability of continuation is stronger. Pipeline transportation has become an important transportation way worldwide, and in order to improve the efficiency of daily maintenance work such as pipeline cleaning, desilting, leak hunting, etc., various special pipeline robots are generally developed and applied to the daily maintenance work of pipelines aiming at different purposes and different models of pipe networks. With the popularization of pipeline transportation and the establishment of large-scale pipeline networks, research on the work of leak detection and dredging of pipelines is started to be developed by adopting small robots to replace manual work, and a series of pipeline robots are developed aiming at pipelines with different purposes and different specifications, wherein the robots can be divided into seven types according to different mechanical structures: fluid driven, wheeled, supporting wheeled, tracked, foot-type, spiral, peristaltic.

The fluid-driven pipeline robot has no driving force, can be effectively driven only by enough pressure in the pipeline and is greatly influenced by the working environment; the wheel type pipeline robot has a simple structure and self driving force, but the robot can only move in a horizontal pipeline and cannot climb and move in a vertical pipeline; the supporting wheel type pipeline robot mostly adopts three supporting wheels or a plurality of supporting wheels to support the motion of the pipeline wall, but the trafficability of the long-body type robot to the 90-degree right-angle pipeline is poor; the crawler-type robot has good passing performance on complex terrains and strong traction force, and foreign matters attached to the pipe wall have small influence on the robot but are difficult to pass through the right-angle connecting point of the pipeline; the foot type pipeline robot adopts a bionic structure design to realize the crawling motion of the robot in a pipeline, but the mechanical structure is very complex, the design requirement on a control part is high, and the size is large; the spiral pipeline robot sets the moving route of the robot as a pipe inner spiral line, is suitable for moving in a straight pipeline, and has general trafficability of a curve; the peristaltic pipeline robot adopts the bionics principle to crawl in the pipeline and designs that its structural design must include front deck, rear deck, flexible cabin under this principle, so the whole fuselage of peristaltic robot is longer, and is relatively poor to the internal diameter adaptability of pipeline.

Consequently after the contrastive analysis to seven present pipeline robots, design a new section of practical pipeline robot platform on this basis, can be applicable to the pipeline of great internal diameter size within range, pay attention to its pipeline and pass through the performance, possess the autonomous movement ability, have outstanding pipeline and detect a flaw or the application prospect of pipeline clearance.

Disclosure of Invention

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.

The present invention has been made in view of the above-mentioned problems of the conventional pipe robot.

Therefore, the technical problem to be solved by the invention is to provide a double-V-shaped pipeline robot, and the robot aims to solve the problems that the pipeline robot is poor in pipeline self-adaptability and weak in pipeline wall supporting capacity.

In order to solve the technical problems, the invention provides the following technical scheme: a double V-shaped pipeline robot comprises a first supporting unit and a second supporting unit, wherein the first supporting unit comprises a first base assembly, supporting arm assemblies symmetrically arranged on the first base assembly in a shape and pressure springs connected with the supporting arm assemblies symmetrically; the support arm assembly comprises a first support arm and a second support arm connected to the axial side wall of the first support arm, and a travelling wheel is arranged at the end part of the second support arm; and the second supporting unit has the same structure as the first supporting unit, and a second base assembly in the second supporting unit is axially and vertically connected with the first base assembly.

As a preferable embodiment of the double V-shaped pipeline robot of the present invention, wherein: an angle gear is fixed on the side wall of one end of the first support arm, and the first support arm and the angle gear are both hinged in the first base assembly; and the angle gears which are symmetrically arranged are meshed with each other to rotate.

As a preferable scheme of the double V-shaped pipeline robot of the present invention, wherein: the second support arm includes square pipe, driving piece and driving medium, the driving piece is fixed set up in the square pipe, its output with the driving medium cooperation links to each other, and the driving medium links to each other with the walking wheel.

As a preferable scheme of the double V-shaped pipeline robot of the present invention, wherein: first support arm is kept away from be provided with set screw and fixing bolt on the one end lateral wall of angle gear, and pass through the detachable cooperation of set screw and fixing bolt is connected the tip of side pipe.

As a preferable embodiment of the double V-shaped pipeline robot of the present invention, wherein: the end part of the pressure spring is connected to the outer side wall of the square pipe through a hinged seat.

As a preferable embodiment of the double V-shaped pipeline robot of the present invention, wherein: the driving piece comprises a motor and a first bevel gear arranged on an output shaft of the motor.

As a preferable embodiment of the double V-shaped pipeline robot of the present invention, wherein: the transmission part comprises a first rotating shaft, a second rotating shaft, belt wheels arranged at the end parts of the first rotating shaft and the second rotating shaft, a synchronous belt matched and connected with the belt wheels, and a second bevel gear fixed on the second rotating shaft; and the second bevel gear and the first bevel gear are matched to rotate.

As a preferable embodiment of the double V-shaped pipeline robot of the present invention, wherein: the travelling wheel comprises a mounting seat and a rotating wheel, and the rotating wheel is rotatably connected to the side wall of the edge of the mounting seat; the runner evenly distributed has the multiunit, and its central axis with the central axis of mount pad is 45 degrees contained angles.

As a preferable embodiment of the double V-shaped pipeline robot of the present invention, wherein: the first rotating shaft penetrates through the central axis of the mounting seat and is fixedly connected with the mounting seat.

As a preferable embodiment of the double V-shaped pipeline robot of the present invention, wherein: the plane on which the first supporting unit is located is perpendicular to the plane on which the second supporting unit is located.

The invention has the beneficial effects that:

according to the invention, the first supporting unit and the second supporting unit are in a cross V-shaped butt joint mode, and are supported by the pressure spring with strong force, so that the adhesion force of the walking wheel to the pipe wall is improved, the robot can tightly attach to the pipe wall in a vertical pipeline to move up or down, and the actual universality and the environmental adaptability of the pipeline robot are effectively improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:

fig. 1 is a schematic view of the overall structure of the double V-shaped pipeline robot of the present invention.

FIG. 2 is a schematic view of a base assembly connection structure of the double V-shaped pipeline robot of the present invention.

Fig. 3 is a schematic view of the overall structure of the first support unit of the double V-shaped pipeline robot of the present invention.

FIG. 4 is a schematic view of the angle gear connection structure of the double V-shaped pipeline robot of the present invention.

FIG. 5 is a schematic view of a connection structure of a support arm assembly of the double V-shaped pipeline robot of the present invention.

FIG. 6 is a radial cross-sectional view of a support arm assembly of the double V-shaped pipeline robot of the present invention.

Fig. 7 is a schematic view of a pressure spring connection structure of the double V-shaped pipeline robot of the present invention.

FIG. 8 is a schematic view of the driving member and transmission connection structure of the double V-shaped pipeline robot of the present invention.

FIG. 9 is a schematic diagram of the force applied to the traveling wheels of the double V-shaped pipeline robot according to the present invention.

FIG. 10 is a schematic view of the walking path of the double V-shaped pipeline robot of the present invention.

FIG. 11 is a schematic diagram of the analysis of the moving section of the double V-shaped pipeline robot in the pipeline.

FIG. 12 is a schematic diagram illustrating the variation of the opening and closing angles of the support arms of the dual V-shaped pipeline robot according to the present invention.

FIG. 13 is a schematic view of the double V-shaped pipeline robot walking on a vertical or horizontal pipeline.

FIG. 14 is a schematic view of the double V-shaped pipeline robot walking through a curved pipeline.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying figures of the present invention are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Furthermore, the references herein to "one embodiment" or "an embodiment" refer to a particular feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Furthermore, the present invention is described in detail with reference to the drawings, and in the detailed description of the embodiments of the present invention, the cross-sectional view illustrating the structure of the device is not enlarged partially according to the general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.

Example 1

Referring to fig. 1 to 3, for the first embodiment of the present invention, there is provided a double V-shaped pipeline robot comprising a first support unit 100 and a second support unit 200, wherein the first support unit 100 comprises a first base assembly 101, a support arm assembly 102 symmetrically disposed on the first base assembly 101 in a V-shape, and a pressure spring 103 connected to the symmetrical support arm assembly 102; the support arm assembly 102 comprises a first support arm 102a, a second support arm 102b connected to the axial side wall of the first support arm 102a, and a travelling wheel 102c arranged at the end of the second support arm 102b; and a second supporting unit 200 having the same structure as the first supporting unit 100, wherein a second base assembly 201 disposed in the second supporting unit 200 is axially and vertically connected to the first base assembly 101.

The plane on which the first supporting unit 100 is located is perpendicular to the plane on which the second supporting unit 200 is located.

The first supporting unit 100 and the second supporting unit 200 are V-shaped members with the same structure (the structure of the first supporting unit 100 is described in detail below), and the V-shaped bottoms of the two are connected, and the planes of the V-shapes of the two are perpendicular to each other. Specifically, the first support unit 100 comprises a first base assembly 101, a support arm assembly 102 and a pressure spring 103, wherein the first base assembly 101 is located at a V-bottom position, and is connected with a second base assembly 201 in the second support unit 200, and is also used for mounting the support arm assembly 102; the support arm assemblies 102 are two arms of a V shape, and are symmetrically arranged, and the two symmetrical support arm assemblies 102 are supported by a pressure spring 103 for keeping sufficient tension between the two support arm assemblies 102. Meanwhile, the extension or compression of the pressure spring 103 can change the projection length of the two side support arm assemblies 102 in the direction perpendicular to the axial direction, i.e. the pressure spring can be adaptive to pipelines with different pipe diameters.

Furthermore, the support arm assembly 102 is a two-section structure and has a first support arm 102a and a second support arm 102b, the second support arm 102b is installed on the axial side wall of the first support arm 102a, the side wall of the end portion of the second support arm 102b far away from the first base assembly 101 is provided with a walking wheel 102c, and the walking wheel 102c can be driven to rotate and further attached to the inner wall of the pipeline to move.

Example 2

Referring to fig. 3 to 7, a second embodiment of the present invention, which is different from the first embodiment, is: an angle gear 102a-1 is fixed on the side wall of one end of the first support arm 102a, and both the first support arm 102a and the angle gear 102a-1 are hinged in the first base component 101; and the symmetrically arranged angle gears 102a-1 are rotated in mesh with each other.

The second support arm 102b comprises a square tube 102b-1, a driving piece 102b-2 and a transmission piece 102b-3, the driving piece 102b-2 is fixedly arranged in the square tube 102b-1, the output end of the driving piece is connected with the transmission piece 102b-3 in a matching way, and the transmission piece 102b-3 is connected with the traveling wheel 102 c.

The side wall of one end of the first support arm 102a, which is far away from the angle gear 102a-1, is provided with a positioning screw 102a-2 and a fixing bolt 102a-3, and the first support arm is detachably connected to the end of the square pipe 102b-1 in a matching manner through the positioning screw 102a-2 and the fixing bolt 102 a-3.

The end of the pressure spring 103 is connected to the outer side wall of the square pipe 102b-1 by a hinge base T.

Compared with the embodiment 1, further, in order to keep the two sets of support arm assemblies 102 capable of synchronous and symmetrical movement, angle gears 102a-1 are fixedly mounted on the side walls of the connecting ends of the first support arms 102a, the angle gears 102a-1 mounted on the two sets of first support arms 102a can be meshed and rotated, the symmetrical movement of the first support arms 102a is realized through the matching of the gears, and the rotating shafts of the two angle gears 102a-1 are rotatably connected in the first base assembly 101.

The second support arm 102b is sleeved on the outer side wall of the first support arm 102a, and is positioned and fixed with the first support arm 102a through a positioning screw 102a-2 and a fixing bolt 102a-3, specifically, in the embodiment, the first support arm 102a is preferably of a profile structure, an angle gear 102a-1 is convenient to mount, the second support arm 102b is hinged and fixed and connected, the second support arm 102b is preferably of an aluminum alloy square tube material, a driving piece 102b-2, a transmission piece 102b-3 and a travelling wheel 102c are convenient to mount, and the connection of the profile and the square tube is adopted to avoid collision of a bolt cap with a pipeline during steering; the positioning screws 102a-2 and the fixing bolts 102a-3 are fixed in a built-in manner, as shown in fig. 5 and 6, two hexagon socket head cap positioning screws 102a-2 and two hexagon socket head cap fixing bolts 102a-3 are installed on four sides of the profile, four corresponding through holes are formed at the connection position of the square pipe, wherein the positioning screws 102a-2 and the through holes are matched to play a positioning role, the relative position of the profile and the square pipe is determined, and the length of the whole supporting arm can be adjusted (namely, the square pipe 102b-1 with different lengths is replaced according to the pipe diameter of the pipeline); the other two through holes are used for fastening the fixing bolts 102a-3, the fixing bolts 102a-3 support the square pipe to play a fixing role, the section bar and the square pipe are tightly connected to form the whole robot supporting arm by pressing the section bar from the inside through the two long fixing bolts 102a-3, and the shape of the robot body is simplified by the aid of the built-in screws and the bolts, so that the possibility of collision of the robot on the pipe wall during movement is reduced.

The pressure spring 103 is installed on the outer side wall of the square tube 102b-1 of the second support arm 102b, specifically, two ends of the pressure spring 103 are fixed on the hinge seat T, the hinge seat T is connected to the outer side wall of the square tube 102b-1 in a hinged manner, and can provide pressure for the support arm assembly 102, so that the walking wheel 102c generates pressure on the pipeline, and the robot has sufficient adhesion to the pipeline, as shown in the attached drawings. Furthermore, the hinged seat T preferably adopts a concave seat for limiting the transverse movement of the spring, and a screw positioning and fixing mode is adopted, so that the pressure spring 103 can be kept in a fixed state by the pulling force or the pressure at two ends, and the stress of the spring is always collinear or parallel with the inner diameter of the spring in a hinged mode, thereby avoiding the transverse bending phenomenon of the pressure spring 103 due to uneven stress.

The rest of the structure is the same as that of embodiment 1.

Example 3

Referring to fig. 1, 7 and 8, a third embodiment of the present invention, which differs from the second embodiment, is: the drive member 102b-2 includes a motor 102b-21 and a first bevel gear 102b-22 disposed on an output shaft of the motor 102 b-21.

The transmission member 102b-3 comprises a first rotating shaft 102b-31, a second rotating shaft 102b-32, belt pulleys 102b-33 arranged at the ends of the first rotating shaft 102b-31 and the second rotating shaft 102b-32, a synchronous belt 102b-34 connected with the belt pulleys 102b-33 in a matching way, and second bevel gears 102b-35 fixed on the second rotating shaft 102 b-32; the second beveled gears 102b-35 rotate in cooperation with the first beveled gears 102b-22.

Further, compared to embodiment 2, since the end of each second supporting arm 102b is provided with a travelling wheel 102c, each travelling wheel 102c has a separate driving system, i.e. a combination of the driving member 102b-2 and the transmission member 102 b-3. Specifically, the driving part 102b-2 comprises a motor 102b-21 and a first bevel gear 102b-22, the motor 102b-21 is a direct current motor with a gear reducer, the motor is mounted in an inner cavity of the square tube 102b-1 in a hidden mode through a motor mounting seat, an output shaft of the motor 102b-21 is parallel to the axial direction of the square tube 102b-1 and perpendicular to the axial direction of the walking wheel 102c, therefore, the bevel gear is adopted to change the power transmission direction to meet the requirement for driving, and power is transmitted to the walking wheel 102c through the transmission part 102b-3 to drive the robot to move forwards.

Referring to fig. 8, the transmission member 102b-3 has a second bevel gear 102b-35 engaged with the first bevel gear 102b-22, the second bevel gear 102b-35 is fixedly connected to the second rotating shaft 102b-32, and a pulley 102b-33 is disposed at each of the ends of the second rotating shaft 102b-32 and the first rotating shaft 102b-31, the two pulleys 102b-33 are synchronously rotated by a timing belt 102b-34, and the first rotating shaft 102b-31 is an axle of a traveling wheel 102c, i.e., the rotation of the first rotating shaft 102b-31 drives the traveling wheel 102c to move. It should be noted that the first rotating shaft 102b-31 and the second rotating shaft 102b-32 are arranged in parallel and perpendicular to the direction of the output shaft of the motor 102b-21, and the belt pulley 102b-33 is located on the outer wall of the square tube 102b-1 and protected by a protective cover.

The driving member 102b-2 and the driving member 102b-3 are installed inside the square pipe 102b-1 as much as possible, thereby ensuring that the entire motion system is not damaged by collision during the operation in the pipeline.

The rest of the structure is the same as that of embodiment 2.

Example 4

Referring to fig. 1, a fourth embodiment of the present invention is different from the third embodiment in that:

the road wheel 102c comprises a mounting seat 102c-1 and a rotating wheel 102c-2, and the rotating wheel 102c-2 is rotatably connected to the edge side wall of the mounting seat 102 c-1; the rotating wheels 102c-2 are uniformly distributed in a plurality of groups, and the central axis of each group forms an included angle of 45 degrees with the central axis of the mounting base 102 c-1.

The first rotating shaft 102b-31 penetrates through the central axis of the mounting seat 102c-1 and is fixedly connected with the same.

Compared with the embodiment 3, further, the walking wheels 102c are located at the end portions of the square pipes 102b-1, the mounting base 102c-1 is fixedly connected with the first rotating shaft 102b-31 to achieve coaxial rotation, the rotating wheels 102c-2 are arranged and distributed on the edge of the mounting base 102c-1, the distributed overall outer diameter is larger than that of the mounting base 102c-1, and therefore when the robot walks in the pipeline, the outer walls of the rotating wheels 102c-2 are always in contact with the inner wall of the pipeline.

It should be noted that, in the present embodiment, the rotating wheel 102c-2 is preferably a mecanum wheel a wheel of the same type, and the rubber wheel inclined at 45 degrees on the wheel surface provides an axial driving force and an axial rotating force, so that the robot can advance spirally, and the stress situation is shown in fig. 9, where Fm is the motor driving force received by the wheel and acts on the wheel, and since the mecanum wheel surface is designed for the arrangement of the rubber wheel at 45 degrees, the Fm driving force acts on the wheel surface and is resolved into an advancing direction force in the F1 direction and a force overcoming the friction force in the F2 direction. The forward driving force F1 forms an included angle of 45 degrees with the central line of the pipeline, acts on the pipeline wall, and finally forms a wheel, the advancing mode is spiral advancing, as shown in fig. 10, the advantage is that the walking paths of the mecanum wheels are different, so that a certain obstacle in the pipeline does not have secondary influence on the walking wheel 102c, and the environment self-adaptive capacity of the robot is greatly improved.

Before use, with reference to fig. 1 to 14, the pipeline robot is assembled according to the above structure, and a second supporting arm 102b with a suitable length is selected according to the data of the inner diameter of the pipeline, the variation range of the inner diameter of the pipeline, the variation parameters of the curve and the like; in the using process, the robot is put into a pipeline after being preset, firstly, the pressure spring 103 is compressed by the second supporting arms 102b which are symmetrically deflected at two sides, the edge of a rotating wheel 102c-2 in the walking wheel 102c is contacted with the inner wall of the pipeline, a motor 102b-21 in a driving piece 102b-2 drives a first bevel gear 102b-22 to rotate, then a first rotating shaft 102b-31 is rotated through a transmission piece 102b-3, so that the walking wheel 102c continuously rotates and walks spirally in the pipeline.

Scene one, travel in a horizontal pipeline and a vertical pipeline in an equal-diameter pipeline:

referring to fig. 13, in this scenario, a robot design experiment is performed through a 200mm pipe diameter pipe, the robot has a self weight of about 1kg, the length of the support arm assembly 102 is 170mm, the wheel diameter of the tail mecanum wheel is 60mm, the center distance of the head end angle gear 102a-1 is 32mm, the installation point of the compression spring 103 is located 140mm away from the tail end, the compression spring 103 is a stainless steel spring with a wire diameter of 1.5mm, an outer diameter of 20mm and a length of 50mm, the elastic coefficient of the spring is 1265N/m through calculation, and the compression amount of the spring is 19mm during linear motion in the 200mm pipe.

In the horizontal pipeline, as shown in fig. 11, assuming that the angle between the W1 supporting arm and the horizontal plane is α, through stress analysis, the W1 wheel and the W4 wheel receive a 4.24N pipe wall supporting force and a frictional force in a direction tangential to the pipe wall, the W2 wheel receives a (4.24 +10sin α) N supporting force and a frictional force, and the W3 wheel receives a (4.24 +10cos α) N supporting force and a frictional force. The surface of the Mecanum wheel adopts a 45-degree rubber wheel, the static friction factor of rubber and cast iron is 0.8, and the dynamic friction factor is 0.5, so that the minimum static friction force between four wheels and a pipeline of the robot is 3.4N, the maximum static friction force is 11.4N, the minimum dynamic friction force is 2.12N, and the maximum dynamic friction force is 7.12N. Under the action of the maximum static friction force, the required motor driving torque is 0.32Nm, the rotating speed of the selected direct current speed reducing motor is 165rpm when the speed of the selected direct current speed reducing motor is 0.38Nm, the starting speed of the robot in the pipeline is 14.66m/min, and the running speed of the robot in the pipeline is about 20m/min.

In the vertical pipeline, each wheel bears 4.24N supporting force when the robot vertically moves downwards, and the whole robot bears 13.6N friction force when the robot is at rest, so that the robot does not slide down in the pipeline in an uncontrolled manner when moving vertically downwards. When the robot moves vertically upwards, the friction force of the pipeline 13.6N and the gravity of the robot 10N are overcome, so that each motor is required to provide at least 0.26Nm of torque when the robot moves vertically upwards, and the torque of 0.38Nm is larger than the required torque of 0.26Nm according to the motion parameters of the motors, and the robot has the capability of moving linearly upwards along the pipeline.

Scene two, adaptive advancing in the reducing pipeline:

the variable-diameter design adopted by the pipeline robot can not only enable the included angle of the V-shaped supporting arm of the robot to be variable, but also can increase or shorten the length of the body of the whole robot by changing the length of the section bar hinged to the near end of the supporting arm (namely the length of the square tube 102b-1 in the second supporting arm 102 b) so as to adapt to pipelines in different diameter ranges. Wherein the preferred variable range of the included angle of the robot is from a maximum of 90 deg. to a minimum of 37 deg., as shown in fig. 12. A170 mm arm length tester is used for example, and can be used for passing through linear pipelines with the inner diameter ranging from 200mm to 330mm. The near-end section bar of the robot supporting arm is designed to be a quick-replaceable dismounting structure, the positioning screw 102a-2 and the fixing bolt 102a-3 are unscrewed, and the near-end section bar can be detached into two sections, as shown in figure 5, and a larger range of the inner diameter of the pipeline applicable to the robot can be obtained by replacing the design of the connecting section bar and matching the change of the included angle of the supporting arm.

The reducing design of the pipeline robot aims at better improving the universality and the trafficability of the pipeline robot, and aims at pipelines with different pipe diameters and pipelines with the same specification and size, and the robot is in obstacle caused by the change of the internal size of the pipeline caused by pipe joints or thermal welding, so that the self-adaptive variable-diameter robot is required to adapt to the complex pipeline environment.

Scene three, adaptive advancing in the bent pipeline:

the important function of the robot in the reducing function is to improve the curve passing performance of the robot, and the design can effectively prevent the robot from colliding with the pipe wall or being clamped at the curve when the robot passes a curve. When the robot bends, the included angle of the front V-shaped support arm (the first support unit 100) of the robot is reduced in the process of bending, the included angle of the front V-shaped support arm gradually recovers after the middle of the robot passes through the center line of the curve (the central axis of the pipeline), the included angle of the rear V-shaped support arm (the second support unit 200) begins to be reduced before the robot approaches the center line of the curve, and the included angle recovers after the robot bends, as shown in fig. 14. In the process of bending, the body becomes long and narrow when the included angle becomes smaller, a wheel is suspended during bending, and the other three wheels can provide sufficient driving force to drive the robot to bend. As the robot adopts the Mecanum wheels to lead the robot to advance spirally in the pipeline, the robot can be effectively prevented from directly colliding the pipe wall of the curve and being blocked when moving. The curve adaptability of the pipeline robot plays a crucial role in improving the universality and the overall performance of the pipeline robot.

Scene four, adaptive advancing of the pipeline obstacle:

the pipeline environment is limited by space, so that the pipeline robot has more operation limitation compared with the domestic and industrial robots, and the complexity of the pipeline environment operated by the pipeline robot is far higher than that of the domestic and industrial robots. The complexity of pipeline environment mainly lies in that there is the pipe diameter changeable, in same pipeline, can also have the burr that the pipeline processing produced, the inside unevenness's of pipeline that defect and mending-leakage brought because of having the size sudden change that pipeline adapter, tap or heat welding brought, therefore the design of pipeline robot need possess stronger pipeline environment self-adaptability, can pass through smoothly under the condition of the inside size sudden change of pipeline and unevenness. In addition to the internal environmental obstacles of the pipeline, it is necessary for the pipeline robot to implement a vertical movement function similar to that of the wall climbing robot because the pipeline environment also requires a vertical pipeline to raise or lower the transported object for vertical transportation in addition to the planar pipeline laying, and unlike the planar vertical movement, the pipeline robot needs to implement the vertical movement on a curved surface.

The pipeline robot in this scheme adopts the mode that independent four-wheel drive mecanum wheel realization advances at the pipeline spiral, and four wheels possess four independent routes of advancing, form four independent trajectories of advancing promptly in the pipeline, as shown in fig. 10, have avoided the robot wheel to the repeated rolling of same barrier. For the obstacles which fail to pass through once or are difficult to pass through, the robot realizes the rotation of the body by virtue of the rotation performance so as to plan a new travel track. In addition, the double V-shaped pipeline robot has good improvement on the passing performance of the curve with the help of the diameter-variable supporting arm and the rotating traveling capacity, and is far higher than the existing pipeline robot, and the diameter-variable design enables the front end and the rear end of the robot to respectively reduce the included angle when the robot passes through the curve, so that the width of the robot body is reduced, and the robot body is bent. The double V-shaped pipeline robot has excellent adaptability and bending performance, independent driving wheels with enough driving force and the adhesion force provided by the pressurizing springs for the wheels are adopted, so that the robot can realize uniform ascending and descending motion in a vertical pipeline, when the robot ascends, the springs provide enough pressure for the wheels to enable the wheels to have enough friction force without sliding, when the robot descends, the four-wheel drive provides enough driving force for the robot to move upwards, and when the robot descends, the springs provide enough pressure for the wheels to enable the wheels not to slide rapidly and fall to be damaged. In conclusion, the pipeline robot has good environmental adaptivity in complex and changeable pipeline environments.

It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims

1. A double V-shaped pipeline robot is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the first supporting unit (100) comprises a first base assembly (101), supporting arm assemblies (102) symmetrically arranged on the first base assembly (101) in a V shape, and pressure springs (103) connected with the supporting arm assemblies (102) symmetrically;

the support arm assembly (102) comprises a first support arm (102 a), a second support arm (102 b) connected to the axial side wall of the first support arm (102 a), and a travelling wheel (102 c) arranged at the end of the second support arm (102 b);

an angle gear (102 a-1) is fixed on one end side wall of the first support arm (102 a), and the first support arm (102 a) and the angle gear (102 a-1) are hinged in the first base component (101); the angle gears (102 a-1) which are symmetrically arranged are meshed with each other to rotate;

the second supporting arm (102 b) comprises a square tube (102 b-1), a driving piece (102 b-2) and a transmission piece (102 b-3), the driving piece (102 b-2) is fixedly arranged in the square tube (102 b-1), the output end of the driving piece is matched and connected with the transmission piece (102 b-3), and the transmission piece (102 b-3) is connected with a traveling wheel (102 c);

a positioning screw (102 a-2) and a fixing bolt (102 a-3) are arranged on the side wall of one end, away from the angle gear (102 a-1), of the first supporting arm (102 a), and the first supporting arm is detachably matched and connected to the end part of the square pipe (102 b-1) through the positioning screw (102 a-2) and the fixing bolt (102 a-3); and the number of the first and second groups,

and the second supporting unit (200) has the same structure as the first supporting unit (100), and a second base assembly (201) positioned in the second supporting unit (200) is axially and vertically connected with the first base assembly (101).

2. The double V-shaped pipeline robot of claim 1, wherein: the end part of the pressure spring (103) is connected to the outer side wall of the square pipe (102 b-1) through a hinge seat (T).

3. The double V-shaped pipeline robot of claim 2, wherein: the driving member (102 b-2) includes a motor (102 b-21) and a first helical gear (102 b-22) provided on an output shaft of the motor (102 b-21).

4. The double V-shaped pipeline robot of claim 3, wherein: the transmission piece (102 b-3) comprises a first rotating shaft (102 b-31), a second rotating shaft (102 b-32), a belt pulley (102 b-33) arranged at the end part of the first rotating shaft (102 b-31) and the second rotating shaft (102 b-32), a synchronous belt (102 b-34) matched and connected with the belt pulley (102 b-33), and a second bevel gear (102 b-35) fixed on the second rotating shaft (102 b-32);

the second bevel gears (102 b-35) are matched with the first bevel gears (102 b-22) for rotation.

5. The double V-shaped pipeline robot of claim 4, wherein: the road wheel (102 c) comprises a mounting seat (102 c-1) and a rotating wheel (102 c-2), and the rotating wheel (102 c-2) is rotatably connected to the edge side wall of the mounting seat (102 c-1);

the rotating wheels (102 c-2) are uniformly distributed with a plurality of groups, and the central axes of the rotating wheels and the central axis of the mounting seat (102 c-1) form an included angle of 45 degrees.

6. The double V-shaped pipeline robot of claim 5, wherein: the first rotating shaft (102 b-31) penetrates through the central axis of the mounting seat (102 c-1) and is fixedly connected with the mounting seat.

7. The double V-shaped pipeline robot of claim 1 or 6, wherein: the plane of the first supporting unit (100) is perpendicular to the plane of the second supporting unit (200).