CN113442149B

CN113442149B - Robot system capable of running on intersecting pipelines and use method

Info

Publication number: CN113442149B
Application number: CN202110770825.1A
Authority: CN
Inventors: 禹浪; 肖尧; 张建; 方向明; 杨易; 杨波
Original assignee: Seven Teng Robot Co ltd
Current assignee: Seven Teng Robot Co ltd
Priority date: 2021-07-07
Filing date: 2021-07-07
Publication date: 2024-04-05
Anticipated expiration: 2041-07-07
Also published as: CN113442149A

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 using method thereof, comprising a first main body, a second main body, a hinge mechanism for connecting the first main body and the second main body, and a corner mechanism capable of controlling the first main body to turn over relative to the second main body, wherein the first main body and the second main body have the same structure; the first main body and the second main body comprise a traveling wheel, 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 mechanical arm comprises a plurality of joint bodies which are sequentially hinged; the lower parts of the hinge parts are provided with avoiding gaps, and the lower parts of the joint bodies are provided with walking parts in a rotating way; the beneficial technical effects of the invention are as follows: the two robot main bodies are combined to perform actions such as alternation, encircling and turning to realize the processes of walking, obstacle surmounting, route changing and the like at the outer sides of the intersected pipelines, so that the robot can freely run on the staggered and complex pipelines, and the flexibility is high.

Description

Robot system capable of running on intersecting pipelines and use method

Technical Field

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

Background

In recent years, with the development and popularization of robot technology, the use of robots has become more and more popular in many high-risk or manpower-impossible works. For example, in the working scene of oil and gas pipelines, the pipeline is required to be periodically inspected, but the pipeline environment has the risks of explosion, dangerous gas leakage and the like, so that 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 staff or the automatic control of a computer.

Existing pipeline robots can be classified into inner pipe type and outer pipe type robots. The inner pipe type pipeline robot mainly walks in the pipeline, but the operation area is required to stop working to detect, and the defect of inconvenient use exists. The existing outer tube type pipeline robot can only walk on the outer side of a pipeline with a fixed pipe diameter and can only walk on a straight pipeline, and if the existing outer tube type pipeline robot meets the intersecting pipelines such as a T-shaped pipeline and a cross-shaped pipeline, the existing outer tube type pipeline robot cannot be well qualified for inspection work.

In summary, the existing outer pipe robot has a plurality of problems.

Disclosure of Invention

The invention aims to provide a robot system capable of running on intersecting pipelines and a using method thereof, which can walk on the outer walls of pipelines with various pipe diameters, can run across the intersecting pipelines and has the obstacle crossing function.

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

a robot system capable of running on an intersecting pipeline comprises a first main body, a second main body, a hinge mechanism for connecting the first main body and the second main body, and a corner mechanism capable of controlling the first main body to turn over relative to the second main body, wherein the first main body and the second main body have the same structure; the first main body and the second main body comprise a traveling wheel, 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; the mechanical arm comprises a plurality of joint bodies which are sequentially hinged; the lower parts of the hinge parts are provided with avoiding gaps, and the lower parts of the joint bodies are provided with walking parts in a rotating way; the advancing unit, the rotation control unit, the bending control unit and the steering unit are respectively 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 application 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 the pipe is held tightly, the mechanical arm is a flexible arm formed by hinging a plurality of joint bodies in sequence, and the bending control unit can wind the mechanical arm, so that the joint bodies rotate around the hinging points to avoid the clearance, the bottoms of the joint bodies are attached to the outer wall of the pipe, and the pipe with different pipe diameters can be adapted. The walking part is arranged at the lower part of the joint body, so that the mechanical arm can move while encircling the outer pipe. When the pipeline robot is used, the pipeline robot is placed on an outer pipeline, the turning of the mechanical arm is adjusted to the two sides of the pipeline through the rotary control unit, then the mechanical arm is tightened through the bending control unit, the joint body on the mechanical arm surrounds and holds the outer pipe tightly, and then the advancing unit controls the first main body and the second main body to move on the outer pipe.

When the intersecting pipeline is encountered, the two hinged first main bodies and second main bodies can control the first main bodies to turn over relative to the second main bodies by utilizing the corner mechanism, and then the bending control unit controls the first main bodies and the second main bodies to alternately encircle and loosen the intersecting pipeline, so that the positions of the first main bodies and the second main bodies are transferred from the original pipeline to the intersecting pipeline; in the process, the steering unit and the advancing unit are matched with the rotating angle and the distance, so that the effect of fast obstacle crossing is realized.

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

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

s2, starting a third driving mechanism by a main body positioned at the lower part or two main bodies positioned in a straight line, and controlling the mechanical arm to bend and hold the outer wall of the pipeline tightly;

step S3, the main body positioned at the lower part or two main bodies positioned in a straight line start a first driving mechanism to drive a traveling unit to move the first main body and the second main body;

step S4:

(1) when encountering a pipeline which is intersected with the pipeline where the first main body and the second main body are located, and the planes where the two intersected pipelines are located are the same as the planes where the first main body and the second main body are located when being turned around the rotating shaft, the method comprises the following steps:

The turning mechanism of the main body positioned at the lower part or the rear part starts to work, the turning motor is started to drive the transmission worm to rotate, 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 intersecting pipeline;

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

step C, a main body positioned at the lower part or the rear part starts a third driving mechanism to control the mechanical arm to relax and separate from the clamping state;

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

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

(2) when a pipeline intersecting with the pipeline where the first main body and the second main body are located is encountered, and the plane where the two intersecting pipelines are located is different from the plane where the first main body and the second main body are turned around the rotation axis, 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 of the first main body and the second main body which are turned around the rotation shaft is the same as the plane of the two intersected pipelines;

step b: repeating the steps A to 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 the processes of walking, obstacle crossing, route changing and the like on the outer sides of the intersected pipelines, so that the robot can freely run on the staggered and complex pipelines, and the flexibility is high;

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

3. the mechanical arm can enable the joint body to bend inwards when being folded, the whole volume of the robot is reduced to pass through a channel with smaller width, so that the robot can adapt to complex and changeable pipeline conditions, and the universality is good;

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, is beneficial to reducing the whole volume and the weight of the whole machine;

5. 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 travelling and steering synchronization, and travelling and steering can be performed simultaneously, so that the device has the characteristic of simplicity in operation;

6. the charged equipment is arranged in the machine body, and power is transmitted to the outside of the machine body through the transmission mechanism, so that the device has an explosion-proof function and improves the use safety; 7. replaces manual work, saves labor and improves work safety.

Drawings

Fig. 1 is a schematic diagram of the first body and the second body in the turnover state of the invention.

Fig. 2 is a schematic diagram of a transfer process of a first body and a second body in the present invention.

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

Fig. 4 is a schematic view showing a state in which the first body and the second body are rotated by an angle on the intersecting pipes in the present invention.

Fig. 5 is a schematic diagram of the present invention in which the first body and the second body are transferred on the same straight line pipe.

Fig. 6 is a schematic structural view of the cooperation 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 of the present invention.

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

Fig. 10 is a schematic diagram showing a transmission structure of a side view angle of a traveling and steering unit of a single body in the present invention.

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

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

Fig. 13 is a schematic view of a transmission structure of the bending control unit according to 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 adjusting unit of the present invention.

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

Fig. 18 is a schematic view of a part of a transmission structure of the bending control unit according to the present invention in a top view.

Fig. 19 is a cross-sectional view showing the coaxial structure of the rotation control unit, the bending control unit, and the direction adjustment unit in the present invention.

Fig. 20 is a schematic structural diagram of a mechanical arm in the present invention.

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

Fig. 22 is a schematic view of an exploded view of a joint body according to the present invention.

Fig. 23 is a schematic view of a fork in the present invention.

Fig. 24 is a schematic view of a partial transmission structure of the traveling wheel in the present invention.

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

In the figure: 1. A body; 2. a travelling wheel; 3. a joint body; 4. avoidance gap; 5. a walking unit; 6. a mounting 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 wheel; 13. a second connecting shaft; 14. a first bevel gear; 15. a second bevel gear; 16. a first transmission gear; 17. a second transmission gear; 18. a third connecting shaft; 19. a first transmission rod; 20. a third transmission gear; 21. a fifth transmission gear; 22. a first motor; 23. a first decelerator; 24. a steering worm wheel; 25. a steering worm; 26. a second transmission rod; 27. a fourth transmission gear; 28. a sixth transmission gear; 29. a housing; 30. wheel holes; 31. a worm installation area; 32. a mounting hole; 33. a long rod bolt; 34. a bracket; 35. a shaft seat; 36. a seventh transmission gear; 37. an eighth transmission gear; 38. a ninth transmission gear; 39. a gear shaft reserved hole; 40. a first disc; 41. a second disc; 42. a support rod; 43. a second motor; 44. a second decelerator; 45. a first pulley; 46. a second pulley; 47. a third pulley; 48. a fourth 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 fixing frame; 57. a first intermediate shaft; 58. a second intermediate gear; 59. a third intermediate gear; 60. a fourth intermediate gear; 61. a fifth intermediate gear, 62, a sixth intermediate gear; 63. a second intermediate shaft; 64. a seventh intermediate gear; 65. an eighth intermediate gear; 66. a power rope; 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. the 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 winding gear; 83. a tenth winding gear; 84. an eleventh winding gear; 85. a fourteenth winding gear; 86. a twelfth winding gear; 87. a thirteenth winding gear; 88. a third motor; 89. a third decelerator; 90. a first rotary gear; 91. a second rotary gear; 92. a first adjusting bevel gear; 93. a second adjusting bevel gear; 94. a fourth connecting shaft; 95. a fifth connecting shaft; 96. a first connection frame; 97. a second connecting 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 jack; 111. a second through jack; 112. a ball; 113. a receiving groove; 114. a limiting plate; 115. a power supply; 116. a fourth motor; 117. a fourth decelerator; 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. a turnover motor; 125. a drive worm; 126. a drive worm wheel; 127. and (3) rotating the shaft.

Detailed Description

The following describes a robotic system capable of traveling over intersecting pipes and a method of use in accordance with the present invention in further detail with reference to the accompanying drawings and examples.

A robot system capable of traveling on an intersecting pipe, comprising 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 over relative to the second body 121; the first main body 120 and the second main body 121 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 which 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 hinged in sequence; the lower parts of the hinging parts are respectively provided with an avoidance gap 4 between the joint bodies 3, and the lower parts of the joint bodies 3 are respectively provided with a walking part 5 in a rotating way; the advancing unit, the rotation control unit, the bending control unit and the steering unit are respectively 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 vertical swing plane, and then the operations of holding the pipe tightly, loosening the pipe, or folding the joint body 3 are completed. When the pipe is held tightly, the mechanical arm is a flexible arm formed by hinging a plurality of joint bodies 3 in sequence, and the bending control unit can wind the mechanical arm, so that the joint bodies 3 rotate around a hinging point to the inside of the avoidance gap 4, the bottom of the joint bodies 3 is attached to the outer wall of the pipe, and the pipe with different pipe diameters can be adapted. The walking part 5 is arranged at the lower part of the joint body 3, so that the mechanical arm can move while encircling the outer tube. When the pipeline robot is used, the pipeline robot is placed on an outer pipeline, the turning of the mechanical arm is adjusted to the two sides of the pipeline through the rotation control unit, then the mechanical arm is tightened through the bending control unit, the joint body 3 on the mechanical arm surrounds and holds the outer pipe tightly, and then the advancing unit controls the first main body 120 and the second main body 121 to move on the outer pipe.

When the intersecting pipeline is encountered, the two hinged first main bodies 120 and second main bodies 121 can control the first main bodies 120 to turn relative to the second main bodies 121 by utilizing a corner mechanism, and then the first main bodies 120 and the second main bodies 121 are controlled by a bending control unit to alternately encircle and loosen the intersecting pipeline, so that the positions of the first main bodies 120 and the second main bodies 121 are transferred from the original pipeline to the pipeline intersecting with the original pipeline; in the process, the steering unit and the advancing unit are matched with the rotating angle and the distance, so that the effect of fast obstacle crossing is realized.

In this embodiment, the number of joint bodies 3 of the mechanical arm can be freely increased or decreased according to the diameters of the pipes, so that the mechanical arm can adapt to the pipes with different pipe diameters. The joint body 3 is attached to the outer wall of the pipeline, so that the joint body is more in stress points, more stable in clamping and capable of having a locking function after power failure or in unpowered output, and no falling risk after failure is ensured. 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 forward, forward and backward directions, forward and left, forward and right directions, backward and left directions can be realized. When the power is not provided, the brake function is provided, and meanwhile, the power-off brake capability is provided, so that no falling risk is ensured in a vertical state.

Further, as shown in fig. 5, 6 and 7, the turning mechanism includes a connecting frame 122, a rotating arm 123, a turning motor 124, a driving worm 125 and a driving worm wheel 126, which are positioned at the adjacent ends of the first body 120 and the second body 121; two ends of the rotating arm 123 are hinged on the connecting frame 122 of the first main body 120 and the second main body 121 through rotating shafts 127 respectively, and a transmission worm 125 is positioned at the upper part of the rotating shafts 127 and is in transmission connection with the overturning motor 124; the transmission worm wheel 126 is fixed on the rotation shaft 127, and the transmission worm 125 is in meshed 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 transmission worm 125 and the transmission worm wheel 126 are respectively arranged in the diagonally opposite connecting frame 122 as a group, and when the corner mechanism works, the diagonally opposite two groups of transmission worm 125 and transmission worm wheel 126 mechanisms can be started simultaneously or can be started singly. When the turning motor 124 is started to drive the transmission worm 125 to rotate, the transmission worm 125 drives the transmission worm wheel 126 to rotate, and the transmission worm wheel 126 is fixedly connected with the rotating shaft, so that the other main body can turn around the rotating shaft under the transmission action of the transmission worm 125 and the transmission worm wheel 126.

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

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

step S3, the main body positioned at the lower part or two main bodies positioned in a straight line start a first driving mechanism to drive the traveling unit to move the first main body 120 and the second main body 121;

Step S4:

(1) when encountering a pipe intersecting the pipe in which the first body 120 and the second body 121 are located, and the plane in which the two intersecting pipes are located is the same as the plane in which the first body 120 and the second body 121 are turned around the rotation axis, the method comprises the steps of:

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

step D, the main body corner mechanism 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 at the lower part to turn upwards around the rotating shaft at the lower part until the rotating arm and the main body at the lower part are separated from the original pipeline;

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

(2) when a pipe intersecting the pipes of the first body 120 and the second body 121 is encountered, and the planes of the intersecting two pipes are different from the planes of the first body 120 and the second body 121 turned around the rotation axis, the method comprises the steps of:

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 of the first main body 120 and the second main body 121 which are turned around the rotation shaft is the same as the plane of the two intersected pipelines;

step b: repeating the steps A to 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: when an intersecting pipe with a 90-degree angle is encountered, as shown in fig. 1 to 4, the angle turning mechanism turns the upper body 90 degrees around the turning shaft, and the travelling mechanism on the lower body drives the whole to move forward, approaching the other intersecting pipe. The main body at the upper part opens the mechanical arm and hugs the pipeline 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 over by the corner mechanism to separate from the original pipeline or is folded back for retraction, so that the effect of changing the path can be realized. In addition, the steering unit may be used to control the traveling wheel 2 to rotate 90 degrees, and then the positions of the first body 120 and the second body 121 may be continuously moved to the pipe horizontal to the original pipe in the same manner.

As shown in fig. 5, when the same straight line crossing pipe is encountered, the positions of the first body 120 and the second body 121 may be moved to the other pipe by rotating by 180 degrees directly through the turn mechanism in cooperation with the bending control unit, the traveling unit, and the steering unit.

In order to facilitate the storage of the mechanical arm and the requirement of moving and changing the path, the direction of the walking part 5 on the mechanical arm may not be towards the pipe wall, and the mechanical arm is controlled to rotate around the axis in the length direction by the fifth driving mechanism until the walking part 5 is towards the pipe wall.

In this embodiment, the first body 120 and the second body 121 having the same structure are both a single-body robot mechanism as shown in fig. 8 to 25, and when a single first body 120 or second body 121 is illustrated in the drawings, the body structure of the first body 120 or second body 121 is illustrated as the machine body 1. The machine body 1 comprises a travelling wheel 2 and a mechanical arm for clamping the outer wall of the pipeline, wherein the travelling wheel 2 is arranged at the front part and the rear part of the machine body 1; the mechanical arm is arranged at the front part and the rear part of the two sides of the machine body 1 and comprises a plurality of joint bodies 3 which are hinged in sequence; the lower parts of the hinging parts are respectively provided with an avoidance gap 4 between the joint bodies 3, and the lower parts of the joint bodies 3 are respectively provided with a walking part 5 in a rotating way; the device also comprises a travelling unit in transmission connection with the travelling 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 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, each of the front and rear parts of the machine body 1 has one traveling wheel 2, and four robot arms are provided on the outer side of the machine body 1.

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 the lower parts of the mounting plates 6 are provided with forks 7; the travelling wheel 2 is respectively arranged on the fork frames 7 at the front part and the rear part in a rotating way through the wheel shaft 8; the top of fork 7 is vertically equipped with first connecting axle 9, and first connecting axle 9 is equipped with the shaft hole 10 that link up fork 7, and first connecting axle 9 passes and rotates to set up on mounting panel 6.

In this embodiment, the mounting plate 6 is 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 a travelling wheel 2, and the wheel hub is in spline connection with the wheel shaft 8; the advancing wheel 2 made of soft materials is sleeved with the hub and used for supporting the robot to walk in or out of the pipeline. The mounting plate 6 is provided with a hole, a shaft sleeve is arranged in the hole, the first connecting shaft 9 is rotatably arranged in the shaft sleeve to reduce friction generated in the rotation process of the fork frame 7, and the first connecting shaft 9 and the fork frame 7 are integrally formed.

Further, as shown in fig. 8, 9, and 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 conical gear 14 in a fork opening of the fork frame 7, the upper part 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 the traveling worm 11; the fork frame 7 is provided with a third connecting shaft 18 which is transversely and rotatably arranged, one end of the third connecting shaft 18 is connected with a first transmission gear 16, the other end of the third connecting shaft extends into a fork opening of the fork frame 7 to be connected with a 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 positioned at the front and the rear are connected through a first transmission rod 19, and the first transmission rod 19 is in transmission connection with a first driving mechanism.

The output shaft of the first driving mechanism is provided with a third transmission gear 20, and the first transmission rod 19 is provided with a fifth transmission gear 21; the third transmission gear 20 is meshed with the fifth transmission gear 21 for transmission, and two ends of the first transmission rod 19 are connected with the advancing worms 11 at the front and rear parts of the machine body 1 through couplings.

When the robot starts to work in the outer pipeline, the 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 travelling worm 11 positioned at the front part and the rear part of the machine body 1 to synchronously rotate, the travelling worm 11 is in meshed transmission with the travelling worm wheel 12 positioned at the upper part of the fork frame 7, the second connecting shaft 13 and the first bevel gear 14 are driven to rotate, the first bevel gear 14 is in meshed transmission with the second bevel gear 15, the third connecting shaft 18 and the first transmission gear 16 are driven to rotate, and then the second transmission gear 17 and the travelling wheel 2 are driven to rotate, so that the purpose of front-back movement in the pipeline is realized. In this embodiment, the first driving mechanism includes a first motor 22 and a first 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 reducer 23 and the first transmission rod 19 through keyways. 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 with a lower key groove of the second connecting shaft 13, the traveling worm wheel 12 is connected with an upper key groove of the second connecting shaft 13, and the second connecting shaft 13 is limited on the first connecting shaft 9. The third connecting shaft 18 is rotatably mounted on the fork 7 via a bushing 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 in spline connection with the first transmission gear 16. A shaft sleeve is sleeved on the third connecting shaft 18 on the inner side of the first transmission gear 16 so as to reduce friction between the first gear and the fork frame 7; a clip is mounted on the outside to limit the first drive gear 16. The first bevel gear 14 and the second bevel gear 15 are meshed for power transmission. The output shaft of the travelling power device is in transmission connection with the travelling worm 11 through a third transmission gear 20, a first transmission rod 19 and a fifth transmission gear 21; the gear set transmission structure is used for adjusting the transmission ratio, is convenient for giving way to other structures in the machine body 1, and is beneficial to improving the compactness of the mechanism in the machine body 1.

Further, as shown in fig. 8, 9 and 10, the steering device further comprises a steering unit in transmission connection with the travelling wheel 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 at the upper part of the mounting plate 6 and meshed with the steering worm 25; the steering worm 25 at the front and the rear are connected through a second transmission rod 26, and the second transmission rod 26 is in transmission connection with the fourth driving mechanism.

In this embodiment, a fourth transmission gear 27 is provided on the output shaft of the fourth driving mechanism, the second transmission rod 26 is provided with a sixth transmission gear 28, and the fourth transmission gear 27 is meshed with the sixth transmission gear 28. Both ends of the second transmission rod 26 are connected with the steering worm 25 at the front and rear parts of the machine body 1 through a coupler. The steering worm wheel 24 is connected with the first connecting shaft 9 through a key groove at 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 7. The 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; the gear set transmission structure is used for adjusting the transmission ratio, is convenient for giving way to other structures in the machine body 1, and is beneficial to improving the compactness of the mechanism in the machine body 1. In this embodiment, the fourth driving mechanism includes a fourth motor 116 and a fourth 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 reducer 44 and the second transmission rod 26 through keyways.

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

The front and rear steering worm 25 and the traveling worm 11 are connected through the transmission rod, and then the traveling worm wheel 12 and the steering worm wheel 24 are respectively driven, so that the synchronous traveling and steering effects of the front and rear traveling wheels 2 can be realized. The traveling worm wheel 12 and the steering worm wheel 24 are integrated on the same axis, so that 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 process, and the robot can realize the steering effect in the traveling process.

The first transmission rod 19 and the second transmission rod 26 are respectively connected with the first driving mechanism and the fourth driving mechanism through gear sets in a transmission way. Thus, the front and rear travelling wheels 2 can be driven to synchronously move by one motor, and the front and rear travelling wheels 2 are driven to synchronously turn by one motor. The overall weight of the machine body 1 is reduced, which is beneficial to reducing the overall volume.

Further, as shown in fig. 8 and 9, the mounting plate 6 is provided with a housing 29, a wheel hole 30 penetrating up and down is provided in the middle of the housing 29, and worm mounting areas 31 communicating with the wheel hole 30 are provided above one side and below the other side in the housing 29; the traveling worm 11 and the steering worm 25 are rotatably disposed in the worm mounting region 31, respectively, 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 each mounted on a side plate of the housing 29 by bearings for supporting the worm and ensuring the rotation of the worm. Correspondingly, the traveling worm wheel 12 is located at the upper portion of the steering worm wheel 24; the meshing of the traveling worm wheel 12 and the traveling worm 11, and the meshing transmission of the steering worm wheel 24 and the steering worm 25 are all carried out in the wheel hole 30, so that the structure has the functions of enclosing and safety protection.

Further, as shown in fig. 8 and 9, mounting holes are provided at four corners of the top of the housing 29, respectively, 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 to protect the worm and gear structure, and the shell 29 is also conveniently detached to overhaul and replace the worm and gear structure.

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

Further, as shown in fig. 9, both end portions of the second transmission rod 26 are provided with seventh transmission gears 36, and the front and rear portions in the machine body 1 are provided with eighth transmission gears 37; the seventh transmission gear 36 is meshed with the eighth transmission gear 37 for transmission, and the steering worm 25 at the front and the rear of the machine body 1 is 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, so that the transmission efficiency and stability are improved.

Further, as shown in fig. 23 and 24, the middle part of the fork 7 is a convex space; the first conical gear 14 and the second conical gear 15 are positioned at the top of the convex-shaped space, and the travelling wheel 2 is arranged in a wider area at the bottom of the convex-shaped space, so that the device has the characteristic of compact structure.

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 meshed with the first transmission gear 16 and the second transmission gear 17 for transmitting power while keeping the moving direction of the traveling wheel 2 consistent with the first transmission gear 16. In this 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 preformed holes 39 are symmetrically arranged on two sides of the fork frame 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 two sides of the fork frame 7, and the fork frame is more flexible and convenient to install.

Further, as shown in fig. 11, 12, the rotation control unit includes a rotating disk frame and a connecting portion; the second driving mechanism is in transmission connection with the rotating disc frame, the rotating disc frame is rotatably arranged at the front part and the rear part 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 with the connecting part.

The mechanical arm can be kept in a horizontal placement 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 disc frames on the front side and the rear side of the machine body 1 to rotate, so that the mechanical arm rotates downwards and rotates to the two sides of the outer wall of the pipeline, and further the bending mechanical arm acts.

Through holes are formed in the two side walls of the front part and the rear part of the machine body 1, and a rotating disc frame, a connecting part and a mechanical arm are arranged outside the through holes. In this embodiment, the number of through holes is four. A driving rotating shaft 118 is arranged at the through hole in a transverse direction, and the driving rotating shaft 118 is fixedly connected with the first disc 40 outside the machine body 1.

In this embodiment, the rotating disc frame includes a first disc 40 and a second disc 41, and the first disc 40 and the second disc 41 are connected by a plurality of support rods 42. The both sides of the connection part are fixed to the middle parts of the first and second discs 40 and 41 by screws.

The second drive mechanism includes a second motor 43 and a second decelerator 44; the machine body 1 is also provided with a first pulley 45, a second pulley 46, a third pulley 47, a fourth pulley 48, a first intermediate pulley 50, a second intermediate pulley 51 and a belt 52. The second motor 43 is fixedly installed in the casing by a screw, and the second decelerator 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 arranged on the through holes through shaft sleeve rotation, and the outer end of the shaft sleeve is flush with the outer side surface of the machine body 1. The output shaft of the second speed reducer 44 and one end of the driving rotating shaft 118 inside the machine body 1 are respectively fixed with a third bevel gear 53 and a fourth bevel gear 54, and the third bevel gear 53 and the fourth bevel gear 54 are meshed for transmission. While the fourth bevel gear 54 is fixed to the center of the first pulley 45 by a bolt, and one side of the bevel gear is exposed outside the first pulley 45. The drive shaft 118 on this side is fixed to the center of the fourth bevel gear 54 by a bolt.

A first intermediate gear 55 is also fixed to the inner end of the drive shaft 118; the front part in the machine body 1 is respectively provided with two fixing frames 56, and a first intermediate shaft 57 is rotatably arranged between the two fixing frames 56; a second intermediate gear 58 and a third intermediate gear 59 are respectively mounted on both ends of the first intermediate shaft 57, and the second intermediate gear 58 is meshed with the first intermediate gear 55. A fourth intermediate gear 60 meshed with the third intermediate gear 59 is provided on the inner side of 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 provided inside the machine body 1 by bearings. One side of the first, second, third and fourth pulleys 50, 51, 47, 48 is provided with a toothed disc. The first pulley 45 is drivingly connected to the first intermediate pulley 50 by a belt 52. The second pulley 46 is in driving connection with a second intermediate pulley 51 by means of a belt 52. The first intermediate pulley 50 is meshed with the fourth pulley 48 through a fluted disc; the second intermediate pulley 51 is engaged with the third pulley 47 via a toothed disc.

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

The rotation control unit is in operation, and the process is as follows: the second motor 43 is started, and drives the driving shaft 118 at one side of the front or rear part of the machine body 1 to rotate through the transmission of the output shaft of the second speed reducer 44, the third bevel gear 53 and the fourth bevel gear 54, and the driving shaft 118 at the side not only drives the rotating disc frame at the side to rotate, but also generates the following linkage: 1. the first pulley 45 is driven to rotate, the first pulley 45 rotates to drive the first intermediate pulley 50 to rotate through the belt 52, and the first intermediate pulley 50 drives the fourth 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 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 pulley 48 to rotate. From this, a closed-loop synchronous drive is formed. The four robots then rotate synchronously in the vertical plane about the drive axes 118 at their respective positions.

Further, as shown in fig. 13, 14, 15, the bending control unit includes a power cord 66 and a take-up shaft 67 rotatably provided on the rotating disc frame; one end of the power rope 66 passes through the connecting part and each joint body 3 and is fixed on the joint body 3 at the outermost end, and the other end is wound 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 the hinge point into the avoidance gap 4 through the winding power rope 66.

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

A fifth bevel gear 68 and a sixth bevel gear 69 which are engaged with each other are provided on the output shaft of the third driving mechanism and on one end of the windup shaft 67 on the front or rear side of the machine body 1 inside the machine body 1, respectively. The front end of the sixth conical gear 69 is also provided with a first rolling gear 70 on the rolling shaft 67; a third intermediate shaft 71 is sleeved on the first intermediate shaft 57; the second winding gear 72 and the third winding gear 73 are respectively installed at 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 winding shaft 67 on the other side is provided with a fourth winding gear 74 inside the machine body 1 in a direction perpendicular to the output shaft of the third driving mechanism. The first winding gear 70 is meshed with the second winding gear 72, and the third winding gear 73 is meshed with the fourth winding gear 74.

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

A sixth intermediate shaft 79 is mounted on the second intermediate shaft 63 on the two fixing frames 56 at the rear part of the machine body 1, and a seventh intermediate shaft 80 and an eighth intermediate shaft 81 are sequentially rotatably provided 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; the winding shaft 67 positioned at the rear part of the machine body and close to one side of the third belt pulley is provided with an eleventh winding gear 84 meshed with the tenth winding gear 83, 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 respectively fixed to both sides of the sixth intermediate shaft 79. The eleventh winding gear 84 is in meshed transmission with the twelfth winding gear 86. A fourteenth winding gear 85 meshed with the thirteenth winding gear 87 is provided on the winding shaft 67 near the side of the fourth pulley 48.

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

When the bending control unit works, the process is as follows: the third motor 88 is started, and drives the winding shaft 67 at one side of the front or rear part of the machine body 1 to rotate through the transmission of the output shaft of the third speed reducer 89, the fifth conical gear 68 and the sixth conical gear 69, and besides the winding power rope 66 at the outside of the machine body 1 at the side, the driving rotating shaft 118 at the side winds up each joint body 3 of the mechanical arm, and meanwhile the following linkage is generated: 1. the first rolling gear 70, the second rolling gear 72, the third intermediate shaft 71, the third rolling gear 73 and the fourth rolling gear 74 are sequentially driven to rotate, then the fourth rolling gear 74 drives the rolling shaft 67 connected with the fourth rolling gear 74 to rotate, and then the power rope 66 outside the machine body 1 on the side is rolled to enable each joint body 3 of the mechanical arm to tightly hold the outer wall of the pipeline; 2. the first rolling gear 70, the second rolling gear 72, the third intermediate shaft 71, the third rolling gear 73, the fifth rolling gear 77 and the sixth rolling gear 78 are sequentially driven to rotate, the sixth rolling gear 78 sequentially drives a ninth rolling gear 82, a tenth rolling gear 83 and an eleventh rolling gear 84 on the rear side of the machine body 1 to rotate through the belt 52, the eleventh rolling gear 84 drives the rolling shaft 67 on the side to rotate, and then the power rope 66 on the outer part of the machine body 1 on the side is rolled to enable all joint bodies 3 of the mechanical arm to hold the outer wall of a pipeline tightly; meanwhile, the eleventh winding gear 84 drives the twelfth winding gear 86, the thirteenth winding gear 87 and the fourteenth winding gear 85 to rotate in sequence, then the fourteenth winding gear drives the winding shaft 67 connected with the eleventh winding gear to rotate, and then the power rope 66 outside the side machine body 1 is wound to enable each joint body 3 of the mechanical arm to hug the outer wall of the pipeline. Up to this, realized through third actuating mechanism that a total of four robotic arms of organism 1 front and back both sides are synchronous rolling action, make the robotic arm hold tightly on the pipeline outer wall, then by the back-and-forth rotation of marcing unit control robot, perhaps turn to by steering unit control marcing wheel 2, rotate on the pipeline under the condition that robotic arm encircles the pipe wall.

Further, as shown in fig. 16, 17, 18 and 19, the robot further comprises a direction adjusting unit and a fifth driving mechanism, wherein the direction adjusting unit is in transmission connection with the mechanical arm and comprises a first rotary gear 90, a second rotary gear 91, a first adjusting conical gear 92, a second adjusting conical gear 93, a fourth connecting shaft 94 and a fifth connecting shaft 95; the connection part comprises a first connection frame 96 and a second connection frame 97; the fourth connecting shaft 94 is in transmission connection with the fifth driving mechanism, and the first adjusting conical gear 92 is fixed at the outer end of the fourth connecting shaft 94; the fifth connecting shaft 95 is rotatably provided on the first connecting frame 96, and the second regulating bevel gear 93 and the first rotating gear 90 are respectively fixed at both ends of the fifth connecting shaft 95; the first adjusting bevel gear 92 and the second adjusting 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; the fourth connecting shaft 94 is rotatably provided at the center of the take-up shaft 67.

The fifth drive mechanism includes a fifth motor 98 and a fifth decelerator 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 on the inside of the machine body 1 are provided with a seventh bevel gear 100 and an eighth bevel gear 101, respectively, which are engaged with each other.

The adjusting units positioned at the front part and the rear part of the machine body 1 and in the direction perpendicular to the axis of the fifth motor 98 are connected through the fourth connecting shafts 94, and the fourth connecting shafts 94 positioned at 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 mutually influenced when rotating. A sleeve for isolating and preventing each gear from shifting is sleeved between the second adjusting gear 103 and the second winding gear 72 and the third winding gear 73.

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

A fifth adjusting gear 106 is rotatably arranged on the eighth intermediate shaft 81 on the two fixing frames 56 at the rear part of the machine body 1, 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 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 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 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 positioned at the rear part of the machine body 1 to rotate, and accordingly the first adjusting conical gear 92, the second adjusting conical gear 93, the first rotating gear 90 and the second rotating gear 91 on 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 point on, the effect of synchronous rotation of the four mechanical arms each around the axis of the second rotary gear 91 on both sides of the front and rear of the body 1 is achieved by the fifth drive mechanism. The mechanical arm is convenient to rotate from a storage state to a working state of being ready to hug the outer wall of the pipeline.

Further, as shown in fig. 20, the mechanical arm further includes an elastic shaping bar 109, each joint body 3 is provided with a first insertion hole 110 and a second insertion hole 111, the shaping bar 109 is sequentially inserted into the first insertion holes 110 of each joint body 3 and maintains the mechanical arm in a preset shape, the power rope 66 sequentially passes through the second insertion holes 111 of each joint body 3, the shaping bar 109 is located at the upper portion of the machine body 1, and the power rope 66 is located at the lower portion of the machine body 1. In this embodiment, the shaping bar 109 is an elastic steel bar, so that the mechanical arm is in a straight line shape in the initial state, and is prevented from being in a loose shape. When the winding shaft 67 rotates to start winding the power rope 66, the shaping bar 109 is pulled from a straight line shape to a bending state under the action of a pulling force until the mechanical arm can hug the outer wall of the pipeline. When the winding shaft 67 rotates in the opposite direction, the power cord 66 is released and the shaping bar 109 returns to a straight configuration under stress. In this embodiment, the joint body 3 is in an inverted trapezoid shape, 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; the ball 112 is arranged in the spherical accommodation groove 113 at the bottom of the joint body 3, the bottom of the machine body 1 is fixedly connected with a limiting plate 114, the limiting plate 114 is provided with a circular hole 119 opposite to the accommodation groove 113, the accommodation groove 113 can accommodate the ball 112, the ball 112 is engaged with the inner wall of the accommodation groove 113, the lower part of the ball 112 passes through the circular hole 119, the diameter of the circular hole 119 is smaller than that of the ball 112, and the lower part of the ball 112 passes through the circular hole and is exposed below the limiting plate 114.

Further, 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 electrically connected with the power supply. Because there is explosion-proof requirement often in the pipeline transportation scene, equipment that this scheme was electrified all sets up in organism 1, outside the power transmission to organism 1 in with organism 1 through worm gear structure and gear train structure, can satisfy the explosion-proof requirement.

Claims

1. A robot system capable of traveling on an intersecting pipe, comprising a first body (120) and a second body (121) having the same structure, 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 over relative to the second body (121); the first main body (120) and the second main body (121) 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 which 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 hinged in sequence; an avoidance gap (4) is arranged between the joint bodies (3) at the lower part of the hinge joint, and a walking part (5) is arranged at the lower part of the joint bodies (3) in a rotating way; the advancing unit, the rotation control unit, the bending control unit and the steering unit are respectively 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 correspondingly; the rotation control unit comprises a rotating disc frame and a connecting part; the second driving mechanism is in transmission connection with the rotating disc frame, the rotating disc frame is rotatably arranged at the front part and the rear part 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 with the connecting part;

The mechanical arm driving device comprises a mechanical arm, a first rotating gear (90), a second rotating gear (91), a first adjusting conical gear (92), a second adjusting conical gear (93), a fourth connecting shaft (94) and a fifth connecting shaft (95), and is characterized by further comprising a direction adjusting unit and a fifth driving mechanism which are in transmission connection with the mechanical arm; the connecting part comprises 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 conical 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 conical gear (93) and the first rotating gear (90) are respectively fixed at two ends of the fifth connecting shaft (95); the first adjusting conical gear (92) is meshed with the second adjusting conical gear (93); one side of the second rotary gear (91) is fixedly connected with the second connecting frame (97), the other side of the second rotary gear is rotatably arranged on the first connecting frame (96), and the second rotary gear (91) is meshed with the first rotary gear (90).

2. The robotic system for traveling on intersecting pipes according to claim 1, wherein the turning mechanism comprises a connecting frame (122), a rotating arm (123), a turnover motor (124), a driving worm (125), and a driving worm wheel (126) at adjacent ends of the first body (120) and the second body (121); two ends of the rotating arm (123) are hinged on the connecting frame (122) of the first main body (120) and the second main body (121) through rotating shafts respectively, and the transmission worm (125) is positioned at the upper part of the rotating shafts and is in transmission connection with the overturning motor (124); the transmission worm wheel (126) is fixed on the rotating shaft, and the transmission worm (125) is meshed with the transmission worm wheel (126) for transmission.

3. A method of using a robotic system operable to travel on intersecting pipes as claimed in claim 1 or claim 2, comprising the steps of:

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

step S3, the main body positioned at the lower part or two main bodies positioned in a straight line start a first driving mechanism to drive a traveling unit to move the first main body (120) and the second main body (121);

Step S4:

(1) when encountering a pipeline intersecting with the pipeline of the first main body (120) and the second main body (121), and the planes of the two intersecting pipelines are the same as the planes of the first main body (120) and the second main body (121) which are turned around the rotation axis, the method comprises the following steps:

the method comprises the following steps that A, a rotating angle mechanism of a main body positioned at the lower part or the rear part starts to work, a turning motor (124) is started to drive a transmission worm (125) to rotate, the transmission worm (125) drives a transmission worm wheel (126) to rotate, and the transmission worm wheel (126) drives a rotating arm (123) and the main body positioned at the upper part or the front part to turn upwards around a rotating shaft until mechanical arms of the main body positioned at the upper part or the front part are positioned at two sides of an intersecting pipeline;

step D, a main body corner mechanism positioned at the upper part or the front part starts to work, a turning motor (124) is started to drive a transmission worm (125) to rotate, the transmission worm (125) drives a transmission worm wheel (126) to rotate, and the transmission worm wheel (126) drives a rotating arm (123) and a main body positioned at the lower part to turn upwards around a rotating shaft at the lower part until the main body is separated from an original pipeline;

E, starting a first driving mechanism by the main body positioned at the upper part or the front part, and driving the travelling unit to move the first main body (120) and the second main body (121);

(2) when a pipeline intersecting with the pipeline of the first main body (120) and the second main body (121) is encountered, and the plane of the two intersecting pipelines is different from the plane of the first main body (120) and the second main body (121) which are turned around the rotation 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 of the first main body (120) and the second main body (121) which are turned around the rotation shaft is the same as the plane of the two intersected pipelines;

step b: repeating the steps A to E.

4. A method of using a robotic system capable of traveling over intersecting pipes as claimed in claim 3, wherein step 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.