CN113442149A - Robot system capable of driving on crossed pipeline and use method - Google Patents

Abstract

The invention relates to the technical field of robots, in particular to a robot system capable of running on an intersecting pipeline and a use method thereof, wherein the robot system comprises a first main body, a second main body, a hinge mechanism and a corner mechanism, wherein the first main body and the second main body are identical in structure, the hinge mechanism is used for connecting the first main body and the second main body, and the corner mechanism can control the first main body to overturn relative to the second main body; the first main body and the second main body respectively comprise a travelling wheel, a mechanical arm for clamping the outer wall of the pipeline, a travelling unit, a steering unit, a rotation control unit and a bending control unit, wherein the rotation control unit and the bending control unit are in transmission connection with the mechanical arm; the mechanical arm comprises a plurality of joint bodies which are sequentially hinged; avoidance gaps are formed between the joint bodies at the lower parts of the hinged parts, and the lower parts of the joint bodies are rotatably provided with walking parts; the beneficial technical effects of the invention are as follows: the two robot main bodies are combined to perform actions such as alternation, encircling, turning and the like to realize processes such as walking, obstacle crossing, route changing and the like on the outer sides of the crossed pipelines, the robot can freely run on the staggered and complex pipelines, and the flexibility is strong.

Description

Robot system capable of driving on crossed pipeline and use method

Technical Field

The invention relates to the technical field of robots, in particular to a robot system capable of driving on an intersecting pipeline and a using method.

Background

In recent years, with the development and popularization of robotics, the use of robots has become more and more widespread in many high-risk or human-force-incompletable jobs. For example, in the working scene of oil and gas pipelines, the pipelines need to be regularly inspected, but the pipeline environment has risks of explosiveness, leakage of dangerous gas and the like, so a robot carrying various sensors is often adopted to replace manual work, and a series of pipeline operations can be performed under the remote control operation of workers or the automatic control of a computer.

The existing pipeline robot can be classified into an inner pipe type and an outer pipe type robot. The inner pipe type pipeline robot mainly adopts the internal walking operation of the pipeline, but can carry out detection only by stopping the operation area, and has the defect of inconvenient use. The existing outer pipe type pipeline robot can only walk outside a pipeline with a fixed pipe diameter and can only walk on a straight pipeline, if crossing pipelines such as T-shaped pipelines and cross pipelines are met, the existing outer pipe type pipeline robot cannot well perform routing inspection work.

In summary, the conventional outer pipeline robot has many problems.

Disclosure of Invention

The invention aims to provide a robot system capable of traveling on an intersecting pipeline and a use method thereof, which can travel on the outer walls of pipelines with various pipe diameters, can travel over the intersecting pipeline and has the obstacle crossing function.

In order to realize the purpose, the following technical scheme is provided:

a robot system capable of driving on an intersecting pipeline comprises a first main body, a second main body, a hinge mechanism and a corner mechanism, wherein the first main body and the second main body are identical in structure, the hinge mechanism is used for connecting the first main body and the second main body, and the corner mechanism can control the first main body to turn relative to the second main body; the first main body and the second main body respectively comprise a travelling wheel, a mechanical arm for clamping the outer wall of the pipeline, a travelling unit, a steering unit, a rotation control unit and a bending control unit, wherein the rotation control unit and the bending control unit are in transmission connection with the mechanical arm; the advancing unit and the steering unit are in transmission connection with the advancing wheel; the mechanical arm comprises a plurality of joint bodies which are sequentially hinged; avoidance gaps are formed between the joint bodies at the lower parts of the hinged parts, and the lower parts of the joint bodies are rotatably provided with walking parts; the advancing unit, the rotation control unit, the bending control unit and the steering unit are respectively and correspondingly provided with a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are in transmission connection with the advancing unit, the rotation control unit, the bending control unit and the steering unit.

The use principle and the working principle of the technical scheme are as follows: the mechanical arm can rotate to any direction on the up-down swinging plane, and then the operations of holding the pipeline tightly, loosening the pipeline or folding the joint body are completed. When holding tightly because robotic arm is the flexible arm that forms by a plurality of joints body is articulated in proper order, the crooked control unit can rolling robotic arm, makes the joint body rotate to dodging in the clearance around the pin joint, makes the bottom and the laminating of pipeline outer wall of the joint body, consequently can the different pipe diameter size's of adaptation pipeline. Because the lower part of the joint body is provided with the walking part, the mechanical arm can move while encircling the outer pipe. When the pipeline robot is used, a pipeline robot is placed on the outer pipeline, the mechanical arms are adjusted to be overturned to two sides of the pipeline through the rotating control unit, then the mechanical arms are tightened through the bending control unit, so that the joint bodies on the mechanical arms surround and hold the outer pipeline tightly, and then the first main body and the second main body are controlled by the advancing unit to move on the outer pipeline.

When meeting the crossed pipeline, the two hinged first main bodies and the second main bodies can utilize the corner mechanism to control the first main bodies to turn over relative to the second main bodies, and then the first main bodies and the second main bodies are controlled by the bending control unit to alternately embrace and release the crossed pipeline, so that the positions of the first main bodies and the second main bodies are transferred from the original pipeline to the pipeline crossed with the first main bodies and the second main bodies; in the process, the steering unit and the traveling unit are matched with the rotating angle and the distance, so that the effect of rapidly crossing the obstacle is achieved.

The invention also provides a using method of the system, which comprises the following steps:

step S1, placing the first main body and the second main body on the outer wall of the pipeline, when the mechanical arms of the first main body and the second main body are both in a parallel state with the axis of the pipeline, starting the main body at the lower part or at least one of the two main bodies in a straight line to work, starting the second driving mechanism, and controlling the mechanical arms of the main body at the lower part or the two main bodies in a straight line to rotate to a position vertical to the axis of the pipeline on a vertical plane; then, the step S2 is carried out, and when the mechanical arms of the first main body and the second main body are both in the vertical state, the step S2 is directly carried out;

step S2, starting a third driving mechanism by the main body positioned at the lower part or the two main bodies positioned on the same straight line, and controlling the mechanical arm to bend and hold the outer wall of the pipeline tightly;

step S3, starting the first driving mechanism by the main body at the lower part or two main bodies in a straight line, driving the advancing unit to move the first main body and the second main body;

step S4:

when encountering a pipeline which is intersected with the pipeline where the first main body and the second main body are located, and the plane where the two intersected pipelines are located is the same as the plane where the first main body and the second main body are overturned around the rotating shaft, the pipeline overturning device comprises the following steps:

step A, the corner mechanism of the main body positioned at the lower part or the rear part starts to work, the turning motor drives the transmission worm to rotate after being started, the transmission worm drives the transmission worm wheel to rotate, and the transmission worm wheel drives the rotating arm and the main body positioned at the upper part or the front part to turn upwards around the rotating shaft until the mechanical arms of the main body positioned at the upper part or the front part are positioned at two sides of the crossed pipeline;

b, starting the main body positioned at the upper part or the front part to work, starting a third driving mechanism, and controlling the mechanical arm to bend and tightly hold the outer wall of the pipeline;

c, starting a third driving mechanism by the main body positioned at the lower part or the rear part, and controlling the mechanical arm to be loosened and separated from the clamping state;

d, starting the main body corner mechanism positioned on the upper part or the front part to work, driving a transmission worm to rotate after a turnover motor is started, driving a transmission worm wheel to rotate by the transmission worm wheel, and driving a rotating arm and the main body positioned on the lower part to turn upwards around a rotating shaft on the lower part by the transmission worm wheel until the main body is separated from the original pipeline;

e, starting a first driving mechanism by the main body positioned at the upper part or the front part, and driving a traveling unit to move the first main body and the second main body;

when encountering a pipeline which is intersected with the pipeline where the first main body and the second main body are located, and the plane where the two intersected pipelines are located is different from the plane where the first main body and the second main body turn around the rotating shaft, the method comprises the following steps:

step a: the steering unit of the main body positioned at the lower part starts to work, and the fourth driving mechanism controls the rotation angle of the travelling wheel, so that the plane where the first main body and the second main body turn over around the rotation shaft is the same as the plane where the two crossed pipelines are located;

step b: and D, repeating the step A to the step E.

The beneficial technical effects of the invention are as follows:

1. the two robot main bodies are combined to perform actions such as alternation, encircling, turning and the like to realize processes such as walking, obstacle crossing, route changing and the like on the outer sides of the crossed pipelines, the robot can freely run on the staggered complex pipelines, and the flexibility is strong;

2. the flexible arms are adopted for clamping the outer pipeline, and the number of joints can be freely increased or decreased according to the diameter of the pipeline, so that the flexible arms can be adapted to pipelines with different pipe diameters;

3. when the mechanical arm is folded, the joint body can be bent inwards, the overall size of the robot is reduced, and the robot can pass through a channel with a smaller width, so that the robot can adapt to the complicated and changeable pipeline conditions and has good universality;

4. the transmission mechanism comprising the advancing unit, the steering unit, the rotation control unit, the bending control unit and the direction adjusting unit has the characteristic of compact structure, and is beneficial to reducing the whole volume and the weight of the whole machine;

5. the mechanical arms positioned at the front part and the rear part of the machine body can realize synchronous rotation and synchronous retraction; the travelling wheels can realize the synchronization of travelling and steering, and the travelling and the steering can be carried out simultaneously, so that the device has the characteristic of simple control;

6. the electrified equipment is arranged in the machine body, and the power is transmitted out of the machine body through the transmission mechanism, so that the explosion-proof function is realized, and the use safety is improved; 7. the manual work is replaced, so that not only is the manpower saved, but also the working safety is improved.

Drawings

Fig. 1 is a schematic diagram illustrating an inverted state of a first body and a second body according to the present invention.

Fig. 2 is a schematic view illustrating a transfer process of the first and second bodies according to the present invention.

Fig. 3 is a schematic view showing a state where the first body and the second body are transferred to the intersecting pipes in the present invention.

Fig. 4 is a schematic view illustrating a state in which the first body and the second body are rotated on the intersecting channel in accordance with the present invention.

Fig. 5 is a schematic view showing a state in which a first body and a second body are transferred on a collinear duct in the present invention.

Fig. 6 is a schematic view of a configuration of the mating of the first body and the second body of the present invention.

Fig. 7 is a schematic diagram of a transmission structure of the corner mechanism of the present invention.

FIG. 8 is a schematic view of an external structure of a single body according to the present invention.

Fig. 9 is a schematic view showing a driving structure of a traveling and steering unit of a single body in the present invention.

FIG. 10 is a side view angle drive configuration of the single body travel and steering unit of the present invention.

Fig. 11 is a schematic diagram of a transmission structure of the rotation control unit of the present invention.

Fig. 12 is an enlarged schematic view at a in fig. 11.

FIG. 13 is a schematic diagram of a transmission structure of the bending control unit of the present invention.

Fig. 14 is an enlarged schematic view at B in fig. 13.

Fig. 15 is an enlarged schematic view at C in fig. 13.

FIG. 16 is a schematic view of a transmission mechanism of the direction adjustment unit of the present invention.

Fig. 17 is an enlarged schematic view at D in fig. 16.

FIG. 18 is a schematic view of a top view partial transmission structure of the bending control unit of the present invention.

FIG. 19 is a sectional view showing a coaxial structure of the rotation control unit, the bending control unit, and the direction adjustment unit according to the present invention.

FIG. 20 is a schematic view of a robot arm according to the present invention.

FIG. 21 is a schematic view of a joint body according to the present invention.

Fig. 22 is an exploded view of the joint body of the present invention.

Figure 23 is a schematic diagram of a fork according to the invention.

FIG. 24 is a schematic view of a partial transmission structure of a traveling wheel according to the present invention.

FIG. 25 is a schematic view of a housing according to the present invention.

In the figure: 1. A body; 2. a travel wheel; 3. a joint body; 4. avoiding the gap; 5. a traveling section; 6. mounting a plate; 7. a fork; 8. a wheel axle; 9. a first connecting shaft; 10. a shaft hole; 11. a traveling worm; 12. a traveling worm gear; 13. a second connecting shaft; 14. a first bevel gear; 15. a second bevel gear; 16. a first drive gear; 17. a second transmission gear; 18. a third connecting shaft; 19. a first drive lever; 20. a third transmission gear; 21. a fifth transmission gear; 22. a first motor; 23. a first decelerator; 24. a steering worm gear; 25. a steering worm; 26. a second transmission rod; 27. a fourth transmission gear; 28. a sixth transmission gear; 29. a housing; 30. a wheel hole; 31. a worm mounting area; 32. mounting and rotating holes; 33. a long rod bolt; 34. a support; 35. a shaft seat; 36. a seventh transmission gear; 37. an eighth transmission gear; 38. a ninth drive gear; 39. a gear shaft preformed hole; 40. a first disc; 41. a second disc; 42. a support bar; 43. a second motor; 44. a second decelerator; 45. a first pulley; 46. a second pulley; 47. a third belt pulley; 48. a fourth belt pulley; 50. a first intermediate pulley; 51. a second intermediate pulley; 52. a belt; 53. a third bevel gear; 54. a fourth bevel gear; 55. a first intermediate gear; 56. a fixed mount; 57. a first intermediate shaft; 58. a second intermediate gear; 59. a third intermediate gear; 60. a fourth intermediate gear; 61. fifth, 62, sixth intermediate gear; 63. a second intermediate shaft; 64. a seventh intermediate gear; 65. an eighth intermediate gear; 66. a power cord; 67. a winding shaft; 68. a fifth bevel gear; 69. a sixth bevel gear; 70. a first winding gear; 71. a third intermediate shaft; 72. a second winding gear; 73. a third winding gear; 74. a fourth winding gear; 75. a fourth intermediate shaft; 76. a fifth intermediate shaft; 77. a fifth winding gear; 78. a sixth winding gear; 79. a sixth intermediate shaft; 80. a seventh intermediate shaft; 81. an eighth intermediate shaft; 82. a ninth take-up gear; 83. a tenth winding gear; 84. an eleventh wind-up gear; 85. a fourteenth winding gear; 86. a twelfth winding gear; 87. a thirteenth winding gear; 88. a third motor; 89. a third speed reducer; 90. a first rotating gear; 91. a second rotating gear; 92. a first adjustment bevel gear; 93. a second adjustment bevel gear; 94. a fourth connecting shaft; 95. a fifth connecting shaft; 96. a first connecting frame; 97. a second link frame; 98. a fifth motor; 99. a fifth decelerator; 100. a seventh bevel gear; 101. an eighth bevel gear; 102. a first adjusting gear; 103. a second adjusting gear; 104. a third adjusting gear; 105. a fourth adjusting gear; 106. a fifth adjusting gear; 107. a sixth adjusting gear; 108. a seventh adjusting gear; 109. shaping strips; 110. a first through hole; 111. a second through hole; 112. a ball bearing; 113. accommodating grooves; 114. a limiting plate; 115. a power source; 116. a fourth motor; 117. a fourth speed reducer; 118. driving the rotating shaft; 119. a circular hole; 120. a first body; 121. a second body; 122. A connecting frame; 123. a rotating arm; 124. turning over a motor; 125. a drive worm; 126. a drive worm gear; 127. and rotating the shaft.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments.

A robot system capable of driving on the crossed pipelines comprises a first body 120, a second body 121, a hinge mechanism connecting the first body 120 and the second body 121, and a corner mechanism capable of controlling the first body 120 to turn relative to the second body 121; the first body 120 and the second body 121 each include a traveling wheel 2, a robot arm for clamping the outer wall of the pipeline, a traveling unit, a steering unit, and a rotation control unit and a bending control unit in transmission connection with the robot arm; the advancing unit and the steering unit are in transmission connection with the advancing wheel 2; the mechanical arm comprises a plurality of joint bodies 3 which are sequentially hinged; avoidance gaps 4 are formed between the joint bodies 3 at the lower parts of the hinged parts, and walking parts 5 are rotatably arranged at the lower parts of the joint bodies 3; the advancing unit, the rotation control unit, the bending control unit and the steering unit are respectively and correspondingly provided with a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are in transmission connection with the advancing unit, the rotation control unit, the bending control unit and the steering unit.

As shown in fig. 1 to 7, the robot arm can rotate to any direction on the up-down swinging plane, and then complete the operations of holding the pipeline tightly, loosening the pipeline or folding the joint body 3. When holding tightly because robotic arm is the flexible arm that forms by a plurality of joint bodies 3 hinge in proper order, crooked control unit can rolling robotic arm, makes joint body 3 rotate to dodging in clearance 4 around the pin joint, makes the bottom and the laminating of pipeline outer wall of joint body 3, consequently can the different pipe diameter size's of adaptation pipeline. Because the lower part of the joint body 3 is provided with the walking part 5, the mechanical arm can move while encircling the outer tube. When the pipeline robot is used, a pipeline robot is placed on an outer pipeline, the mechanical arms are adjusted to be turned to two sides of the pipeline through the rotating control unit, then the mechanical arms are tightened through the bending control unit, so that the joint bodies 3 on the mechanical arms surround and hold the outer pipeline tightly, and then the first main body 120 and the second main body 121 are controlled to move on the outer pipeline through the advancing unit.

When meeting an intersected pipeline, the two hinged first bodies 120 and second bodies 121 can control the first body 120 to turn over relative to the second body 121 by using the corner mechanism, and then the first body 120 and the second body 121 are controlled by the bending control unit to alternately embrace and release the intersected pipeline, so that the positions of the first body 120 and the second body 121 are transferred from the original pipeline to the pipeline intersected with the original pipeline; in the process, the steering unit and the traveling unit are matched with the rotating angle and the distance, so that the effect of rapidly crossing the obstacle is achieved.

In this embodiment, the number of the joints 3 of the robot arm can be freely increased or decreased according to the diameter of the pipeline, so that the robot arm can be adapted to pipelines with different pipe diameters. The 3 structures of a plurality of joint bodies are attached to the outer wall of the pipeline, so that stress points are multiple, the clamping is more stable, the locking function is realized after power failure or during unpowered output, and the risk of falling is avoided after failure. The walking part 5 is a universal wheel or a ball 112; under the linkage of the traveling unit and the steering unit, the traveling in the front, rear, left, right, front left, front right, rear left and right directions can be realized. When the power-free brake device is unpowered, the brake device has a brake function and a power-off brake capacity, and ensures no falling risk in a vertical state.

Further, as shown in fig. 5, 6 and 7, the corner mechanism includes a connecting frame 122 located at the adjacent end portions of the first body 120 and the second body 121, a rotating arm 123, a turnover motor 124, a transmission worm 125, and a transmission worm wheel 126; the two ends of the rotating arm 123 are hinged on the connecting frames 122 of the first body 120 and the second body 121 through rotating shafts 127, respectively, and the transmission worm 125 is located at the upper part of the rotating shafts 127 and is in transmission connection with the turnover motor 124; the transmission worm wheel 126 is fixed on the rotating shaft 127, and the transmission worm 125 is in meshing transmission connection with the transmission worm wheel 126.

In this embodiment, two opposite connecting frames 122 are respectively disposed at the adjacent ends of the first body 120 and the second body 121, and two corresponding rotating arms 123 are also disposed. The driving worm 125 and the driving worm wheel 126 are respectively arranged in the diagonal connecting frame 122 as a group, and when the corner rotating mechanism works, the two groups of driving worm 125 and driving worm wheel 126 arranged diagonally can be started simultaneously or in a single group. When the turning motor 124 is started, the driving worm 125 is driven to rotate, the driving worm 125 drives the driving worm wheel 126 to rotate, and due to the fact that the driving worm wheel 126 is fixedly connected with the rotating shaft, the other main body is turned around the rotating shaft under the driving effect of the driving worm 125 and the driving worm wheel 126.

Further, the direction adjusting device further comprises a direction adjusting unit and a fifth driving mechanism which are in transmission connection with the mechanical arm.

The invention also provides a using method of the system, which comprises the following steps:

step S1, placing the first main body 120 and the second main body 121 on the outer wall of the pipeline, when the mechanical arms of the first main body 120 and the second main body 121 are both parallel to the axis of the pipeline, starting the main body at the lower part or at least one of the two main bodies in a straight line to work, starting the second driving mechanism, and controlling the mechanical arms of the main body at the lower part or the two main bodies in a straight line to rotate to the position vertical to the axis of the pipeline on the vertical plane; then, the process proceeds to step S2, and when the robot arms of the first and second bodies 120 and 121 are in the vertical position, the process proceeds directly to step S2;

step S2, starting a third driving mechanism by the main body positioned at the lower part or the two main bodies positioned on the same straight line, and controlling the mechanical arm to bend and hold the outer wall of the pipeline tightly;

step S3, the body located at the lower part or the two bodies in a straight line starts the first driving mechanism, and the driving advancing unit moves the first body 120 and the second body 121;

step S4:

when encountering a pipeline which intersects with the pipeline where the first body 120 and the second body 121 are located and the plane where the two intersected pipelines are located is the same as the plane where the first body 120 and the second body 121 are overturned around the rotating shaft, the method comprises the following steps:

step A, the corner mechanism of the main body at the lower part or the rear part starts working, the turning motor 124 is started to drive the transmission worm 125 to rotate, the transmission worm 125 drives the transmission worm wheel to rotate, and the transmission worm wheel drives the rotating arm 123 and the main body at the upper part or the front part to turn upwards around the rotating shaft until the mechanical arms of the main body at the upper part or the front part are positioned at the two sides of the crossed pipeline;

b, starting the main body positioned at the upper part or the front part to work, starting a third driving mechanism, and controlling the mechanical arm to bend and tightly hold the outer wall of the pipeline;

c, starting a third driving mechanism by the main body positioned at the lower part or the rear part, and controlling the mechanical arm to be loosened and separated from the clamping state;

step D, the main body corner mechanism positioned at the upper part or the front part starts to work, the turning motor 124 is started to drive the transmission worm 125 to rotate, the transmission worm 125 drives the transmission worm wheel to rotate, and the transmission worm wheel drives the rotating arm 123 and the main body positioned at the lower part to turn upwards around the rotating shaft at the lower part until the main body is separated from the original pipeline;

step E, the main body positioned at the upper part or the front part starts the first driving mechanism, and drives the advancing unit to move the first main body 120 and the second main body 121;

when a pipeline intersecting the pipeline where the first body 120 and the second body 121 are located is encountered, and the plane where the two intersecting pipelines are located is different from the plane where the first body 120 and the second body 121 are turned around the rotating shaft, the method comprises the following steps:

step a: the steering unit of the main body positioned at the lower part starts to work, and the fourth driving mechanism controls the rotation angle of the travelling wheel 2, so that the plane where the first main body 120 and the second main body 121 turn around the rotation axis is the same as the plane where the two crossed pipelines are located;

step b: and D, repeating the step A to the step E.

Further, the step S1 further includes: when the walking part 5 at the lower part of the mechanical arm joint body 3 does not face the pipe wall, the direction adjusting unit is started first, and the fifth driving mechanism controls the mechanical arm to rotate around the axis where the length direction of the mechanical arm is located until the walking part 5 faces the pipe wall.

For example: as shown in fig. 1 to 4, when an intersecting pipe with a 90-degree corner is encountered, the corner mechanism rotates the upper body by 90 degrees around the rotation axis as shown by the scissor head, and the traveling mechanism located at the lower body drives the whole body to move forward to approach another intersecting pipe. The main body at the upper part opens the mechanical arm and holds the pipeline tightly under the control of the bending control unit. Then, the mechanical arm of the main body positioned at the lower part is loosened, and the main body at the lower part is turned upwards by the corner mechanism to be separated from the original pipeline or folded back for recovery, so that the effect of changing the path can be realized. In addition, the steering unit can be used to control the travelling wheel 2 to rotate 90 degrees, and then the positions of the first body 120 and the second body 121 can be moved to the pipeline horizontal to the original pipeline in the same way.

When meeting the pipes which are intersected in the same straight line, the positions of the first body 120 and the second body 121 can be moved to another pipe by rotating 180 degrees directly through the corner mechanism in cooperation with the bending control unit, the traveling unit and the steering unit, as shown in fig. 5.

In order to facilitate the need of accommodating the mechanical arm and moving and changing the path, the direction of the walking part 5 on the mechanical arm may not face the pipe wall, and at this time, the fifth driving mechanism controls the mechanical arm to rotate around the axis of the self length direction until the walking part 5 faces the pipe wall.

In the present embodiment, the first body 120 and the second body 121 with the same structure are both single robot mechanisms as shown in fig. 8 to 25, and when a single structure of the first body 120 or the second body 121 is shown in the drawings, the structure of the first body 120 or the second body 121 is shown as the machine body 1. The machine bodies 1 respectively comprise a travelling wheel 2 and a mechanical arm for clamping the outer wall of the pipeline, and the travelling wheels 2 are arranged at the front part and the rear part of the machine body 1; the mechanical arms are arranged at the front part and the rear part of the two sides of the machine body 1 and comprise a plurality of joint bodies 3 which are sequentially hinged; avoidance gaps 4 are formed between the joint bodies 3 at the lower parts of the hinged parts, and walking parts 5 are rotatably arranged at the lower parts of the joint bodies 3; the device also comprises a traveling unit in transmission connection with the traveling wheel 2, a rotation control unit in transmission connection with the mechanical arm and a bending control unit; the advancing unit, the rotation control unit and the bending control unit are respectively and correspondingly provided with a first driving mechanism, a second driving mechanism and a third driving mechanism which are in transmission connection with the advancing unit, the rotation control unit and the bending control unit.

In this embodiment, as shown in fig. 8, 9, 11 and 13, the front and rear portions of the body 1 have a travel wheel 2, and the outer side of the body 1 has four robot arms.

Further, as shown in fig. 8, 9 and 10, the front and rear parts of the machine body 1 are provided with mounting plates 6, and forks 7 are provided below the mounting plates 6; the traveling wheels 2 are respectively rotatably arranged on the front fork frame 7 and the rear fork frame 7 through wheel shafts 8; the top of the fork frame 7 is vertically provided with a first connecting shaft 9, the first connecting shaft 9 is provided with a shaft hole 10 penetrating through the fork frame 7, and the first connecting shaft 9 penetrates through and is rotatably arranged on the mounting plate 6.

In this embodiment, the mounting plates 6 are welded to the front and rear of the machine body 1. The wheel shaft 8 is rotatably arranged on the fork frame 7 through a bearing, the wheel shaft 8 is a spline shaft, the travelling wheel 2 comprises a wheel hub and the travelling wheel 2, and the wheel hub is in spline connection with the wheel shaft 8; the soft traveling wheel 2 is sleeved with the wheel hub to support the robot to travel in or out of the pipeline. Be equipped with the hole on the mounting panel 6, the downthehole axle sleeve that is equipped with, first connecting shaft 9 rotates to be installed in the axle sleeve to reduce the friction that 7 rotation in-process of crotch take place, first connecting shaft 9 and 7 integrated into one piece of crotch.

Further, as shown in fig. 8, 9, 10, the traveling unit includes a traveling worm 11, a traveling worm wheel 12, a second connecting shaft 13, a first bevel gear 14, a second bevel gear 15, a first transmission gear 16, and a second transmission gear 17; the lower part of the second connecting shaft 13 is connected with a first bevel gear 14 in the fork opening of the fork frame 7, the upper part of the second connecting shaft passes through the shaft hole 10 of the first connecting shaft 9 to be connected with a traveling worm wheel 12, and the traveling worm wheel 12 is meshed with a traveling worm 11; a third connecting shaft 18 which is transversely and rotatably arranged is arranged on the fork frame 7, one end of the third connecting shaft 18 is connected with the first transmission gear 16, the other end of the third connecting shaft extends into the fork opening of the fork frame 7 to be connected with the second bevel gear 15, the first bevel gear 14 is meshed with the second bevel gear 15, and the second transmission gear 17 is arranged at one end of the wheel shaft 8 and is in transmission fit with the first transmission gear 16; the traveling worms 11 at the front and rear are connected by a first transmission rod 19, and the first transmission rod 19 is in transmission connection with a first drive mechanism.

A third transmission gear 20 is arranged on an output shaft of the first driving mechanism, and a fifth transmission gear 21 is arranged on the first transmission rod 19; the third transmission gear 20 is in meshing transmission with the fifth transmission gear 21, and two ends of the first transmission rod 19 are connected with the advancing worm 11 at the front and rear parts of the machine body 1 through a coupler.

When the robot starts to walk in an external pipeline, an output shaft of the first driving mechanism drives the first transmission rod 19 to rotate through a gear, the first transmission rod 19 drives the traveling worms 11 positioned at the front part and the rear part of the machine body 1 to synchronously rotate, the traveling worms 11 are in meshing transmission with the traveling worm wheel 12 on the upper part of the fork frame 7 to drive the second connecting shaft 13 and the first bevel gear 14 to rotate, the first bevel gear 14 is in meshing transmission with the second bevel gear 15 to drive the third connecting shaft 18 and the first transmission gear 16 to rotate, and then the second transmission gear 17 and the traveling wheel 2 are driven to rotate, so that the purpose of moving back and forth in the pipeline is achieved. In this embodiment, the first driving mechanism includes a first motor 22 and a first speed reducer 23 located at the front end of the first motor 22, and the third transmission gear 20 and the fifth transmission gear 21 are respectively mounted on the output shaft of the first speed reducer 23 and the first transmission rod 19 through key slots. After the rotation speed of the output shaft of the first motor 22 is reduced through the gear set in the first speed reducer 23, the output shaft of the first speed reducer 23 is in transmission fit with the first transmission rod 19. The first bevel gear 14 is connected to a lower key groove of the second connecting shaft 13, and the traveling worm gear 12 is connected to an upper key groove of the second connecting shaft 13, while the second connecting shaft 13 is retained on the first connecting shaft 9. The third connecting shaft 18 is rotatably mounted on the fork carriage 7 by means of a sleeve to reduce friction during rotation. One end of the third connecting shaft 18 is connected with the second bevel gear 15 through a key slot, and the other end is provided with a spline and is connected with the first transmission gear 16 through a spline. A sleeve is sleeved on the third connecting shaft 18 at the inner side of the first transmission gear 16 to reduce the friction between the first gear and the fork frame 7; a clamp is mounted on the outer side of the first drive gear for limiting the first drive gear 16. The first bevel gear 14 and the second bevel gear 15 are engaged with each other to transmit power. The output shaft of the advancing power device is in transmission connection with the advancing worm 11 through a third transmission gear 20, a first transmission rod 19 and a fifth transmission gear 21; adopt this kind of gear train transmission structure to be used for adjusting the drive ratio, also conveniently for other structures in organism 1 give way, be favorable to improving organism 1 internal mechanism compactness.

Further, as shown in fig. 8, 9 and 10, the steering device further comprises a steering unit in transmission connection with the traveling wheels 2 and a fourth driving mechanism; the steering unit comprises a steering worm wheel 24 and a steering worm 25; the steering worm wheel 24 is connected with the first connecting shaft 9 on the upper part of the mounting plate 6 and meshed with the steering worm 25; the steering worms 25 at the front and rear are connected by a second transmission rod 26, and the second transmission rod 26 is in driving connection with the fourth drive.

In the embodiment, a fourth transmission gear 27 is arranged on an output shaft of the fourth driving mechanism, a sixth transmission gear 28 is arranged on the second transmission rod 26, and the fourth transmission gear 27 is in meshing transmission with the sixth transmission gear 28. Two ends of the second transmission rod 26 are connected with the steering worms 25 at the front and rear parts of the machine body 1 through couplings. The steering worm wheel 24 is connected with the first connecting shaft 9 through a key groove on the upper part of the mounting plate 6, and simultaneously limits the first connecting shaft 9 in the shaft sleeve and has the same rotating speed with the fork frame 7. An output shaft of the fourth driving mechanism is in transmission connection with the steering worm 25 through a fourth transmission gear 27, a second transmission rod 26 and a sixth transmission gear 28; adopt this kind of gear train transmission structure to be used for adjusting the drive ratio, also conveniently for other structures in organism 1 give way, be favorable to improving organism 1 internal mechanism compactness. In the present embodiment, the fourth driving mechanism includes a fourth motor 116 and a fourth speed reducer 117 located at the front end of the fourth motor 116, and the fourth transmission gear 27 and the sixth transmission gear 28 are respectively mounted on the output shaft of the second speed reducer 44 and the second transmission rod 26 through key slots.

When the robot needs to turn on the outer wall of the pipeline, the fourth driving mechanism is started, the output shaft of the fourth speed reducer 117 drives the sixth transmission gear 28 and the second transmission rod 26 to rotate through the fourth transmission gear 27, the second transmission rod 26 drives the steering worms 25 positioned at the front part and the rear part of the machine body 1 to synchronously rotate, the steering worms 25 are in meshed transmission with the steering worm wheels 24 to drive the first connecting shaft 9 and the fork frame 7 to rotate, and the purpose of synchronously turning the front travelling wheel 2 and the rear travelling wheel 2 is achieved.

The scheme connects the steering worm 25 and the advancing worm 11 at the front and the rear parts through the transmission rod, and then drives the advancing worm wheel 12 and the steering worm wheel 24 respectively, so that the effect of synchronously advancing and steering the advancing wheels 2 at the front and the rear parts can be realized. The traveling worm wheel 12 and the steering worm wheel 24 are integrated on the same axis, the structure is compact, the size and the weight of the robot equipment are reduced, the traveling mechanism and the steering mechanism do not interfere in the respective working processes, and the robot can also realize the steering effect in the traveling process.

The first transmission rod 19 and the second transmission rod 26 are in transmission connection with the first driving mechanism and the fourth driving mechanism through gear sets respectively. Therefore, the traveling wheels 2 at the front part and the rear part can be driven to synchronously move by one motor, and the traveling wheels 2 at the front part and the rear part are driven to synchronously turn by one motor. The whole weight of the machine body 1 is reduced, and the whole volume is reduced.

Further, as shown in fig. 8 and 9, the mounting plate 6 is provided with a housing 29, the middle of the housing 29 is provided with a wheel hole 30 which is through up and down, and the upper part of one side and the lower part of the other side in the housing 29 are respectively provided with a worm mounting area 31 which is communicated with the wheel hole 30; the traveling worm 11 and the steering worm 25 are rotatably disposed in the worm mounting area 31, and the traveling worm wheel 12 and the steering worm wheel 24 are correspondingly disposed in the wheel hole 30. In this embodiment, the traveling worm 11 and the steering worm 25 are respectively located above one side and below the opposite side in the housing 29, and the traveling worm 11 and the steering worm 25 are both mounted on a side plate of the housing 29 through bearings for supporting the worms and ensuring the rotation thereof. Correspondingly, the traveling worm wheel 12 is positioned on the upper part of the steering worm wheel 24; the engagement of the traveling worm wheel 12 and the traveling worm 11, and the engagement transmission of the steering worm wheel 24 and the steering worm 25 are all performed in the wheel hole 30, so that the structure has the functions of enclosure and safety protection.

Further, as shown in fig. 8 and 9, mounting holes are respectively formed at four corners of the top of the housing 29, and the housing 29 is fixed to the mounting plate 6 at the mounting holes by long rod bolts 33. The shell 29 is conveniently installed on the mounting plate 6, the worm and gear structure is protected, and the shell 29 is also conveniently detached to overhaul and replace the worm and gear structure.

Further, as shown in fig. 9, a support 34 is disposed in the machine body 1, a shaft seat 35 is disposed on the support 34, and the first transmission rod 19 and the second transmission rod 26 are both rotatably disposed on the shaft seat 35. In this embodiment, the first driving rod 19 and the second driving rod 26 are rotatably disposed on the shaft seat 35 through shaft sleeves, so that friction generated when the first driving rod 19 and the second driving rod 26 rotate can be reduced, and the first driving rod 19 and the second driving rod 26 can be supported.

Further, as shown in fig. 9, both ends of the second transmission rod 26 are provided with seventh transmission gears 36, and both the front and rear portions in the machine body 1 are provided with eighth transmission gears 37; the seventh transmission gear 36 is in meshing transmission with the eighth transmission gear 37, and the steering worms 25 at the front part and the rear part of the machine body 1 are in transmission connection with the second transmission rod 26 through the seventh transmission gear 36 and the eighth transmission gear 37; the transmission ratio is adjusted through the gear set, and the transmission efficiency and the stability are improved.

Further, as shown in fig. 23 and 24, the middle part of the fork 7 is a space in a shape of a Chinese character 'tu'; the first bevel gear 14 and the second bevel gear 15 are positioned at the top of the convex space, and the travelling wheel 2 is arranged in a wider area at the bottom of the convex space, so that the structure is compact.

Further, as shown in fig. 9, a ninth transmission gear 38 is further provided between the first transmission gear 16 and the second transmission gear 17, and the ninth transmission gear 38 is engaged with the first transmission gear 16 and the second transmission gear 17 for transmitting power while keeping the moving direction of the travel wheel 2 consistent with the first transmission gear 16. In the present embodiment, the first transmission gear 16, the second transmission gear 17 and the ninth transmission gear 38 are engaged with each other.

Further, as shown in fig. 23 and 24, a plurality of gear shaft prepared holes 39 are symmetrically arranged on both sides of the fork carriage 7, so that the positions of the second transmission gear 17, the third transmission gear 20 and the ninth transmission gear 38 can be conveniently exchanged on both sides of the fork carriage 7, and the installation is more flexible and convenient.

Further, as shown in fig. 11 and 12, the rotation control unit includes a rotation tray frame and a connection part; the second driving mechanism is in transmission connection with the rotating disc frame, the rotating disc frame is rotatably arranged at the front and the rear of the outer side of the machine body 1, the connecting part is arranged on the rotating disc frame, and the joint body 3 at the end part of the mechanical arm is hinged to the connecting part.

The mechanical arm can keep a horizontal placing state under a non-working state, and is convenient to store and carry. When the robot needs to move on the outer wall of the pipeline, the second driving mechanism is started to synchronously drive the rotating disk frames at the front and the back of the two sides of the machine body 1 to rotate, so that the mechanical arms rotate downwards to the two sides of the outer wall of the pipeline, and then the action of bending the mechanical arms is carried out.

Through holes are formed in the two side walls of the front portion and the rear portion of the machine body 1, and a rotating plate frame, a connecting portion and a mechanical arm are arranged on the outer side of each through hole. In this embodiment, there are four vias. A driving rotating shaft 118 transversely arranged is arranged at the through hole, and the driving rotating shaft 118 is fixedly connected with the first disc 40 at the outer side of the machine body 1.

In this particular embodiment, the rotating turret comprises a first disk 40 and a second disk 41, the first disk 40 and the second disk 41 being connected by a plurality of support rods 42. Both sides of the connecting portion are fixed to the middle portions of the first and second disks 40 and 41 by screws.

The second driving mechanism includes a second motor 43 and a second reduction gear 44; the machine body 1 is further provided with a first belt pulley 45, a second belt pulley 46, a third belt pulley 47, a fourth belt pulley 48, a first intermediate belt pulley 50, a second intermediate belt pulley 51 and a belt 52. The second motor 43 is fixedly installed in the housing by screws, and the second reducer 44 is located at the front end of the second motor 43.

The outer sides of the first belt pulley 45, the second belt pulley 46, the third belt pulley 47 and the fourth belt pulley 48 are respectively rotatably provided with through holes through shaft sleeves, and the outer ends of the shaft sleeves are parallel and level with the outer side surface of the machine body 1. A third bevel gear 53 and a fourth bevel gear 54 are respectively fixed on the output shaft of the second speed reducer 44 and one end of the driving rotating shaft 118 inside the machine body 1, and the third bevel gear 53 and the fourth bevel gear 54 are in meshing transmission. Meanwhile, the fourth bevel gear 54 is fixed at the center of the first pulley 45 by a bolt, and one side of the bevel gear is exposed out of the first pulley 45. The drive rotation shaft 118 on the side is fixed to the center of the fourth bevel gear 54 by a bolt.

A first intermediate gear 55 is fixed at the inner end of the driving rotating shaft 118; the front part in the machine body 1 is respectively provided with two fixed frames 56, and a first intermediate shaft 57 is rotatably arranged between the two fixed frames 56; a second intermediate gear 58 and a third intermediate gear 59 are mounted on both ends of the first intermediate shaft 57, respectively, and the second intermediate gear 58 meshes with the first intermediate gear 55. A fourth intermediate gear 60 that meshes with the third intermediate gear 59 is provided inside the second pulley 46. The first pulley 45 and the second pulley 46 are driven by a first intermediate gear 55, a second intermediate gear 58, a first intermediate shaft 57, a third intermediate gear 59, and a fourth intermediate gear 60.

The first intermediate pulley 50 and the second intermediate pulley 51 are rotatably disposed inside the machine body 1 through bearings. Toothed discs are arranged on one side of the first intermediate pulley 50, the second intermediate pulley 51, the third pulley 47 and the fourth pulley 48. The first pulley 45 is drivingly connected to a first intermediate pulley 50 via a belt 52. The second pulley 46 is drivingly connected to a second intermediate pulley 51 via a belt 52. The first intermediate belt pulley 50 is in meshing transmission with the fourth belt pulley 48 through a fluted disc; the second intermediate pulley 51 is in mesh transmission with the third pulley 47 through a toothed disc.

A fifth intermediate gear 61 and a sixth intermediate gear 62 are provided inside the third pulley 47 and the fourth pulley 48, respectively. The rear part in the machine body 1 is also provided with two fixed frames 56, and a second intermediate shaft 63 is rotatably arranged between the two fixed frames 56; a seventh intermediate gear 64 and an eighth intermediate gear 65 are mounted to both ends of the second intermediate shaft 63, respectively. The fifth intermediate gear 61 is in meshed transmission with the seventh intermediate gear 64; the sixth intermediate gear 62 is in meshing transmission with the eighth intermediate gear 65.

When the rotation control unit works, the process is as follows: when the second motor 43 is started, the output shaft of the second reducer 44, the third bevel gear 53 and the fourth bevel gear 54 are used for transmission, so as to drive the driving rotating shaft 118 on one side of the front or rear part of the machine body 1 to rotate, and the driving rotating shaft 118 on the side not only drives the rotating disk frame on the side to rotate, but also generates the following linkage: 1. the first belt pulley 45 is driven to rotate, the first belt pulley 45 rotates to drive the first intermediate belt pulley 50 to rotate through the belt 52, and the first intermediate belt pulley 50 drives the fourth belt pulley 48 to rotate. 2. The first intermediate gear 55, the second intermediate gear 58, the first intermediate shaft 57, the third intermediate gear 59 and the fourth intermediate gear 60 are sequentially driven to rotate, the fourth intermediate gear 60 drives the second belt pulley 46, the second belt pulley 46 drives the second intermediate belt pulley 51 to rotate through the belt 52, and the second intermediate belt pulley 51 drives the third belt pulley 47 to rotate. The third belt pulley 47 drives the fifth intermediate gear 61, the seventh intermediate gear 64, the second intermediate shaft 63, the eighth intermediate gear 65 and the sixth intermediate gear 62 to rotate, and the sixth intermediate gear 62 drives the fourth belt pulley 48 to rotate. From this, a closed-loop synchronous drive is formed. The four robotic arms then rotate synchronously in a vertical plane about the drive shafts 118 in their respective positions.

Further, as shown in fig. 13, 14, 15, the bending control unit includes a power cord 66 and a take-up reel 67 rotatably provided on the rotating turret; one end of the power rope 66 passes through the connecting part and each joint body 3 and is fixed on the outermost joint body 3, and the other end is wound and tied on the winding shaft 67; the third driving mechanism is in transmission connection with the winding shaft 67 and can enable the winding shaft 67 to rotate, and the third driving mechanism enables the joint body 3 to rotate around a hinge point to the avoidance gap 4 through the winding power rope 66.

In this embodiment, the driving shafts 118 are all hollow mechanisms, the driving shafts 118 are all sleeved outside the winding shaft 67, and the winding shaft 67 extends to the outside of the machine body 1 and is rotatably arranged between the winding shaft 67 and the first disk 40 and the second disk 41, so that the winding shaft 67 and the rotating disk frame do not affect each other when rotating.

A fifth bevel gear 68 and a sixth bevel gear 69 which are meshed with each other are respectively arranged on the output shaft of the third driving mechanism and one end of the take-up shaft 67 on the front or rear side of the machine body 1 on the inner side of the machine body 1. At the front end of the sixth bevel gear 69, a first winding gear 70 is further arranged on the winding shaft 67; a third intermediate shaft 71 is sleeved on the first intermediate shaft 57; a second winding gear 72 and a third winding gear 73 are respectively mounted on both sides of the third intermediate shaft 71. The second winding gear 72 and the third winding gear 73 are fixedly connected with the third intermediate shaft 71 through a key groove structure.

The take-up shaft 67 on the other side is provided with a fourth take-up gear 74 inside the machine body 1 in the direction perpendicular to the output shaft of the third drive mechanism. The first winding gear 70 is engaged with the second winding gear 72, and the third winding gear 73 is engaged with the fourth winding gear 74.

Between the two fixed frames 56 at the front part of the machine body 1, the upper part of the third intermediate shaft 71 is sequentially provided with a fourth intermediate shaft 75 and a fifth intermediate shaft 76 in a rotating manner, the fourth intermediate shaft 75 is provided with a fifth rolling gear 77 engaged with the third rolling gear 73, and the fifth rolling gear 77 can be rotatably connected with the fourth intermediate shaft 75. The fifth intermediate shaft 76 is provided with a sixth winding gear 78 engaged with the fifth winding gear 77, and the sixth winding gear 78 can be rotatably connected with the fifth intermediate shaft 76.

On the two fixed frames 56 at the rear part of the machine body 1, a sixth intermediate shaft 79 is sleeved on the second intermediate shaft 63, and a seventh intermediate shaft 80 and an eighth intermediate shaft 81 are sequentially rotatably arranged on the upper part of the sixth intermediate shaft 79. The eighth intermediate shaft 81 is provided with a ninth winding gear 82, and the ninth winding gear 82 is in transmission connection with the sixth winding gear 78 through a belt 52.

A tenth winding gear 83 meshed with the ninth winding gear 82 is arranged on the seventh intermediate shaft 80; an eleventh winding gear 84 meshed with the tenth winding gear 83 is arranged on the winding shaft 67 which is positioned at the rear part of the machine body and close to one side of the third belt pulley, and the eleventh winding gear 84 is fixedly connected with the winding shaft 67 at the side. A twelfth winding gear 86 and a thirteenth winding gear 87 are fixed to both sides of the sixth intermediate shaft 79, respectively. The eleventh winding gear 84 is in meshing transmission with the twelfth winding gear 86. A fourteenth winding gear 85 meshed with the thirteenth winding gear 87 is arranged on the winding shaft 67 close to one side of the fourth belt pulley 48.

In this embodiment, the third driving mechanism includes a third motor 88 and a third speed reducer 89 at the front end of the third motor 88.

When the bending control unit works, the process is as follows: when the third motor 88 is started, the output shaft of the third reducer 89, the fifth bevel gear 68 and the sixth bevel gear 69 are used for transmission, so as to drive the winding shaft 67 on one side of the front part or the rear part of the machine body 1 to rotate, and the driving rotating shaft 118 on the side can wind the power rope 66 outside the machine body 1 on the side to wind each joint body 3 of the mechanical arm, and simultaneously, the following linkage can be generated: 1. the first winding gear 70, the second winding gear 72, the third intermediate shaft 71, the third winding gear 73 and the fourth winding gear 74 are sequentially driven to rotate, then the fourth winding gear 74 drives the winding shaft 67 connected with the fourth winding gear to rotate, and then the power rope 66 outside the machine body 1 on the side is wound to enable each joint body 3 of the mechanical arm to tightly hold the outer wall of the pipeline; 2. the first winding gear 70, the second winding gear 72, the third intermediate shaft 71, the third winding gear 73, the fifth winding gear 77 and the sixth winding gear 78 are sequentially driven to rotate, the ninth winding gear 82, the tenth winding gear 83 and the eleventh winding gear 84 on the rear side of the machine body 1 are sequentially driven to rotate by the sixth winding gear 78 through the belt 52, the winding shaft 67 on the side is driven to rotate by the eleventh winding gear 84, and then the power rope 66 outside the machine body 1 on the side is wound to enable each joint body 3 of the mechanical arm to tightly hold the outer wall of the pipeline; meanwhile, the eleventh winding gear 84 sequentially drives the twelfth winding gear 86, the thirteenth winding gear 87 and the fourteenth winding gear 85 to rotate, then the fourteenth winding gear drives the winding shaft 67 connected with the fourteenth winding gear to rotate, and then the power rope 66 outside the machine body 1 is wound to enable each joint body 3 of the mechanical arm to tightly hold the outer wall of the pipeline. So far, the synchronous rolling action of four total mechanical arms on the front side and the rear side of the machine body 1 is realized through the third driving mechanism, so that the mechanical arms are tightly held on the outer wall of the pipeline, then the robot is controlled by the advancing unit to rotate back and forth, or the advancing wheel 2 is controlled by the steering unit to steer, and the mechanical arms rotate on the pipeline under the condition that the mechanical arms surround the pipeline wall.

Further, as shown in fig. 16, 17, 18 and 19, the robot further includes a direction adjusting unit and a fifth driving mechanism, the direction adjusting unit is in transmission connection with the robot arm, and the direction adjusting unit includes a first rotating gear 90, a second rotating gear 91, a first adjusting bevel gear 92, a second adjusting bevel gear 93, a fourth connecting shaft 94 and a fifth connecting shaft 95; the connecting portion includes a first connecting frame 96 and a second connecting frame 97; the fourth connecting shaft 94 is in transmission connection with the fifth driving mechanism, and the first adjusting bevel gear 92 is fixed at the outer end of the fourth connecting shaft 94; the fifth connecting shaft 95 is rotatably arranged on the first connecting frame 96, and the second adjusting bevel gear 93 and the first rotating gear 90 are respectively fixed at two ends of the fifth connecting shaft 95; the first adjustment bevel gear 92 and the second adjustment bevel gear 93 are meshed; one side of the second rotary gear 91 is fixedly connected with the second connecting frame 97, the other side is rotatably arranged on the first connecting frame 96, and the second rotary gear 91 is meshed with the first rotary gear 90.

The shaft part of the winding shaft 67 is of a hollow structure; a fourth connecting shaft 94 is rotatably provided at the center of the take-up shaft 67.

The fifth driving mechanism includes a fifth motor 98 and a fifth reduction gear 99 at an end of the fifth motor 98. The end of the output shaft of the fifth reduction gear 99 and the end of the fourth connecting shaft 94 inside the machine body 1 are provided with a seventh bevel gear 100 and an eighth bevel gear 101, respectively, which mesh with each other.

The adjusting units on the front and rear sides of the machine body 1 and in the direction perpendicular to the axis of the fifth motor 98 are connected by a fourth connecting shaft 94, and the fourth connecting shafts 94 on the two sides are connected into a whole.

A first adjusting gear 102 is fixed on the fourth connecting shaft 94 at the front part of the machine body 1, a second adjusting gear 103 meshed with the first adjusting gear 102 is sleeved outside the third intermediate shaft 71, and the third intermediate shaft 71 and the second adjusting gear 103 are not influenced with each other when rotating. A bushing for isolating and preventing the gears from shifting is sleeved between the second adjusting gear 103 and the second and third winding gears 72 and 73.

A third adjusting gear 104 meshing with the second adjusting gear 103 is rotatably provided on the fourth intermediate shaft 75, and a fourth adjusting gear 105 meshing with the third adjusting gear 104 is rotatably provided on the fifth intermediate shaft 76.

The eighth intermediate shaft 81 on the two fixed frames 56 at the rear part of the machine body 1 is rotatably provided with a fifth adjusting gear 106, and the fifth adjusting gear 106 is in transmission connection with the fourth adjusting gear 105 through a belt 52. A sixth adjusting gear 107 engaged with the fifth adjusting gear 106 is rotatably provided on the seventh intermediate shaft 80, and a seventh adjusting gear 108 engaged with the sixth adjusting gear 107 is fixed to the fourth connecting shaft 94 at the rear of the machine body 1.

When the fifth motor 98 is started, the output shaft of the fifth speed reducer 99 is driven to rotate, the output shaft of the fifth speed reducer 99 drives the seventh bevel gear 100 to rotate, and then the transmission path of the seventh bevel gear 100 is simultaneously performed as follows: 1. the eighth bevel gear 101 is driven to rotate, the eighth bevel gear 101 rotates to drive the fourth connecting shafts 94 on the two sides to rotate, then the first adjusting bevel gear 92, the second adjusting bevel gear 93, the first rotating gear 90 and the second rotating gear 91 on the two sides are sequentially driven to rotate, and finally the mechanical arm is driven to rotate around the axis of the second rotating gear 91; 2. the fourth connecting shaft 94, the first adjusting gear 102, the second adjusting gear 103, the third adjusting gear 104 and the fourth adjusting gear 105 are driven to rotate, the fourth adjusting gear 105 is in transmission connection with the fifth adjusting gear 106 through the belt 52, then the sixth adjusting gear 107 and the seventh adjusting gear 108 are driven, the seventh adjusting gear 108 drives the fourth connecting shaft 94 at the rear part of the machine body 1 to rotate, so that the first adjusting bevel gear 92, the second adjusting bevel gear 93, the first rotating gear 90 and the second rotating gear 91 at two sides are sequentially driven to rotate, and finally the mechanical arm is driven to rotate around the axis of the second rotating gear 91. From this, the effect that the four robot arms on both sides of the front and rear parts of the machine body 1 rotate synchronously around the axis of the second rotating gear 91 is achieved by the fifth driving mechanism. Make things convenient for robotic arm to rotate to the operating condition of preparing to hold pipeline outer wall tightly from the state of accomodating.

Further, as shown in fig. 20, the robot arm further includes an elastic fixing strip 109, each joint body 3 is provided with a first insertion hole 110 and a second insertion hole 111, the fixing strip 109 is sequentially inserted into the first insertion hole 110 of each joint body 3 and maintains the robot arm in a preset shape, the power cord 66 sequentially passes through the second insertion hole 111 of each joint body 3, the fixing strip 109 is located at the upper portion of the machine body 1, and the power cord 66 is located at the lower portion of the machine body 1. In this embodiment, the shaping strip 109 is an elastic steel strip, so that the robot arm is in a linear state in the initial state and is prevented from being in a loose state. When the winding shaft 67 rotates to start winding the power rope 66, the shaping strip 109 is pulled from the linear state to the bending state under the action of tension until the mechanical arm can hold the outer wall of the pipeline tightly. When the winding shaft 67 rotates reversely, the power cord 66 is loosened, and the shaping strip 109 is restored to a linear state under the action of stress. In this embodiment, the joint bodies 3 are inverted trapezoidal, and an avoidance gap 4 is formed between adjacent joint bodies 3 at the bottom.

Further, as shown in fig. 20, 21, and 22, the traveling unit 5 includes a ball 112 rotatably provided at the bottom of the joint body 3; ball 112 sets up in the spherical holding tank 113 in joint body 3 bottom, and organism 1 bottom is fixedly connected with limiting plate 114 still, offers on the limiting plate 114 with the just right circular port 119 of holding tank 113, ball 112 agrees with the 113 inner walls of holding tank when making holding tank 113 can hold ball 112, and the diameter that ball 112 lower part passed circular port 119 and circular port 119 is less than ball 112's diameter, and ball 112's lower part passes the circular port and exposes to limiting plate 114 below.

Furthermore, a power supply is arranged in the machine body 1, and motors in the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism and the fifth driving mechanism are all electrically connected with the power supply. Because often have explosion-proof requirement in the pipeline transportation scene, the electrified equipment of this scheme all sets up in organism 1, through worm gear structure and gear train structure with the interior power transmission of organism 1 outside organism 1, can satisfy the explosion-proof requirement.

Claims (5)

1. A robotic system capable of travelling on intersecting ducts, comprising a first body (120), a second body (121) of identical construction, an articulation mechanism connecting the first body (120) and the second body (121), and a rotation angle mechanism capable of controlling the first body (120) to turn with respect to the second body (121); the first main body (120) and the second main body (121) respectively comprise a traveling wheel (2), a mechanical arm for clamping the outer wall of the pipeline, a traveling unit, a steering unit, a rotation control unit and a bending control unit, wherein the rotation control unit and the bending control unit are in transmission connection with the mechanical arm; the advancing unit and the steering unit are in transmission connection with the advancing wheel (2); the mechanical arm comprises a plurality of joint bodies (3) which are sequentially hinged; avoidance gaps (4) are formed between the joint bodies (3) at the lower parts of the hinged parts, and the lower parts of the joint bodies (3) are rotatably provided with walking parts (5); the advancing unit, the rotation control unit, the bending control unit and the steering unit are respectively and correspondingly provided with a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are in transmission connection with the advancing unit, the rotation control unit, the bending control unit and the steering unit.

2. The robotic system capable of traveling over intersecting conduits as claimed in claim 1 wherein the corner mechanism comprises a connecting bracket (122) located at adjacent ends of the first body (120) and the second body (121), a swivel arm (123), a tilt motor (124), a drive worm (125), a drive worm gear (126); two ends of the rotating arm (123) are respectively hinged on a connecting frame (122) of the first main body (120) and the second main body (121) through rotating shafts, and a transmission worm (125) is positioned at the upper part of the rotating shafts and is in transmission connection with a turnover motor (124); the transmission worm wheel (126) is fixed on the rotating shaft, and the transmission worm (125) is in meshed transmission connection with the transmission worm wheel (126).

3. A robotic system as claimed in claim 1 or 2, further comprising a direction adjustment unit and a fifth drive mechanism in driving connection with the robotic arm.

4. A method for using the system, comprising the steps of:

step S1, placing the first main body (120) and the second main body (121) on the outer wall of the pipeline, when the mechanical arms of the first main body (120) and the second main body (121) are both in a parallel state with the axis of the pipeline, starting the main body at the lower part or at least one of the two main bodies in a straight line to work, starting the second driving mechanism, and controlling the mechanical arms of the main body at the lower part or the two main bodies in a straight line to rotate to the position vertical to the axis of the pipeline on the vertical plane; then, the step S2 is carried out, and when the mechanical arms of the first main body (120) and the second main body (121) are both in the vertical state, the step S2 is directly carried out;

step S2, starting a third driving mechanism by the main body positioned at the lower part or the two main bodies positioned on the same straight line, and controlling the mechanical arm to bend and hold the outer wall of the pipeline tightly;

step S3, the main body at the lower part or the two main bodies in a straight line starts the first driving mechanism, and the driving advancing unit makes the first main body (120) and the second main body (121) move;

step S4:

when encountering a pipeline which is intersected with the pipeline where the first body (120) and the second body (121) are located, and the plane where the two intersected pipelines are located is the same as the plane where the first body (120) and the second body (121) are overturned around the rotating shaft, the pipeline overturning device comprises the following steps:

step A, the corner mechanism of the main body positioned at the lower part or the rear part starts to work, the turning motor (124) drives the transmission worm (125) to rotate after being started, the transmission worm (125) drives the transmission worm wheel (126) to rotate, and the transmission worm wheel (126) drives the rotating arm (123) and the main body positioned at the upper part or the front part to turn upwards around the rotating shaft until the mechanical arms of the main body positioned at the upper part or the front part are positioned at the two sides of the crossed pipeline;

b, starting the main body positioned at the upper part or the front part to work, starting a third driving mechanism, and controlling the mechanical arm to bend and tightly hold the outer wall of the pipeline;

c, starting a third driving mechanism by the main body positioned at the lower part or the rear part, and controlling the mechanical arm to be loosened and separated from the clamping state;

d, starting the main body corner mechanism positioned on the upper part or the front part to work, driving a transmission worm (125) to rotate after a turnover motor (124) is started, driving a transmission worm wheel (126) to rotate by the transmission worm (125), and driving a rotating arm (123) and the main body positioned on the lower part to turn upwards around a rotating shaft on the lower part by the transmission worm wheel (126) until the main body is separated from the original pipeline;

step E, the main body positioned at the upper part or the front part starts a first driving mechanism, and drives a traveling unit to move a first main body (120) and a second main body (121);

when a pipeline intersected with the pipeline where the first main body (120) and the second main body (121) are located is encountered, and the plane where the two intersected pipelines are located is different from the plane where the first main body (120) and the second main body (121) turn around the rotating shaft, the method comprises the following steps:

step a: the steering unit of the main body positioned at the lower part starts to work, and the fourth driving mechanism controls the rotation angle of the travelling wheel (2) to ensure that the plane where the first main body (120) and the second main body (121) turn around the rotation axis is the same as the plane where the two crossed pipelines are located;

step b: and D, repeating the step A to the step E.

5. The method of use of claim 4, wherein the step of S1 further comprises: when the walking part (5) at the lower part of the mechanical arm joint body (3) does not face the pipe wall, the direction adjusting unit is started first, and the fifth driving mechanism controls the mechanical arm to rotate around the axis where the length direction of the mechanical arm is located until the walking part (5) faces the pipe wall.

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