阅读说明：本技术 一种压力自适应调节的管道机器人预紧机构 (Pipeline robot pre-tightening mechanism with pressure self-adaptive adjustment function ) 是由 刘祚全 郑红海 董浩 程传云 于 2020-11-16 设计创作，主要内容包括：本发明公开了一种压力自适应调节的管道机器人预紧机构,所述管道机器人具有机器人主体和安装在所述机器人主体上的主驱动电机,包括调节机构和多个张紧机构,对于每个张紧机构而言,其各自包括轮架、驱动滚轮和缓冲装置,轮架的一端通过第一铰接件铰接在机器人主体上而另一端通过第二铰接件铰接所述缓冲装置的一端；调节机构包括驱动装置和移动组件,移动组件通过第三铰接件铰接所述缓冲装置的另一端,所述移动组件由所述驱动装置驱动做直线移动。本发明能够适应弯管环境,并在遇到障碍物时或管径一定范围内变化时,可实时调节预紧力,从而实现驱动单元的顺利运行。另外,遇到微小障碍时,可实现单个驱动滚轮预紧力的自适应微小调节。(The invention discloses a pressure self-adaptive adjustment pipeline robot pre-tightening mechanism, which comprises a robot main body and a main driving motor arranged on the robot main body, wherein the pipeline robot pre-tightening mechanism comprises an adjusting mechanism and a plurality of tensioning mechanisms; the adjusting mechanism comprises a driving device and a moving assembly, the moving assembly is hinged to the other end of the buffering device through a third hinge, and the moving assembly is driven by the driving device to move linearly. The invention can adapt to the environment of the bent pipe, and can adjust the pretightening force in real time when meeting obstacles or the pipe diameter changes within a certain range, thereby realizing the smooth operation of the driving unit. In addition, when a tiny obstacle is met, self-adaptive tiny adjustment of the pretightening force of the single driving roller can be realized.)

1. A pre-tightening mechanism of a pipeline robot with self-adaptive pressure adjustment, the pipeline robot is provided with a robot main body and a main driving motor installed on the robot main body, and is characterized by comprising an adjusting mechanism and a plurality of tensioning mechanisms, wherein:

each tensioning mechanism comprises a wheel carrier, a driving roller and a buffer device, wherein the driving roller is rotatably arranged on the wheel carrier and is driven by the main driving motor to rotate so as to press the inner wall of the pipeline to walk, one end of the wheel carrier is hinged to the robot main body through a first hinge part, and the other end of the wheel carrier is hinged to one end of the buffer device through a second hinge part;

the adjusting mechanism comprises a driving device and a moving assembly, the driving device is installed on the robot main body, the moving assembly is hinged to the other end of the buffering device through a third hinge piece, the moving assembly is driven by the driving device to move linearly, so that the included angle between a wheel carrier of the tensioning mechanism and the buffering device is controlled, the pressure of the driving roller of the tensioning mechanism acting on the inner wall of the pipeline is adjusted, and the center lines of the first hinge piece, the second hinge piece, the third hinge piece and the driving roller are parallel.

2. The pre-tightening mechanism of the pipeline robot with adaptive pressure regulation according to claim 1, it is characterized in that a driving base is arranged on the robot main body, the wheel carrier comprises a driving connecting shaft, a driving gear, a driving connecting rod and a synchronous belt component, the driving connecting shaft is connected to the driving base through a fourth hinge, the driving gear is fixedly arranged on the driving connecting shaft and is meshed with an output gear on an output shaft of the main driving motor, one end of the driving connecting rod is connected with the driving connecting shaft through a fifth hinging piece, and the other end of the driving connecting rod is rotatably provided with a driving wheel shaft, the driving roller is fixedly arranged on the driving wheel shaft, the driving wheel shaft is connected with the driving connecting shaft through the synchronous belt component, the center lines of the fourth hinge part and the fifth hinge part are parallel to the center line of the driving roller.

3. The adaptive pressure regulating mechanism for the pipeline robot as claimed in claim 2, wherein the buffering mechanism comprises a gas spring and an auxiliary compression spring, one end of the gas spring is hinged to the driving wheel shaft through the second hinge member, the other end of the gas spring is hinged to the moving assembly through the third hinge member, and the auxiliary compression spring is installed between the second hinge member and a pressure cylinder of the gas spring.

4. The pre-tightening mechanism of the pipeline robot with the self-adaptive pressure regulation function according to claim 1, characterized in that the regulating mechanism further comprises a regulating base installed on the main driving motor;

the movable assembly comprises an adjusting sliding sleeve, an adjusting pressure spring and an adjusting pressure screw, the adjusting sliding sleeve is movably sleeved on the adjusting base and connected with the driving device so as to linearly move under the driving of the driving device, the adjusting sleeve is movably sleeved on the adjusting sliding sleeve, a space for containing the adjusting pressure spring is reserved between the inner wall of the adjusting sleeve and the outer wall of the adjusting sliding sleeve, the adjusting sleeve is provided with a barrel body and a limiting stop table arranged at one end of the barrel body, the adjusting pressure screw is connected at one end of the adjusting sliding sleeve, the adjusting pressure spring is sleeved on the sliding sleeve, one end of the adjusting pressure spring is abutted against the limiting stop table, and the other end of the adjusting pressure spring is abutted against the adjusting pressure screw;

the adjusting sleeve of the moving assembly is hinged to the buffering device through the third hinge.

5. The mechanism of claim 4, wherein the driving device comprises an adjusting motor base, an adjusting motor, an adjusting screw, an adjusting nut, and an adjusting pillar, the adjusting motor base is mounted on the robot body, the adjusting motor is mounted on the adjusting motor base, an output shaft of the adjusting motor is connected to the adjusting screw, the adjusting nut is mounted on the adjusting screw, the adjusting nut is connected to the adjusting pillar, the adjusting pillar passes through the adjusting base and then is connected to the adjusting sliding sleeve, and the adjusting base is provided with a notch as a moving channel of the adjusting pillar.

6. The mechanism of claim 4, further comprising a pressure sensor assembly, wherein the pressure sensor assembly comprises a sensor support, a pressure sensor, a push rod support, a spring seat, a spring push rod, and a sensor compression spring, the sensor support is mounted on the adjusting sleeve, the push rod support is mounted on the adjusting sleeve, the spring push rod is movably mounted on the push rod support, one end of the spring push rod is fixedly connected to the spring seat, the sensor compression spring is sleeved on the spring push rod, one end of the sensor compression spring abuts against the spring seat, the other end of the sensor compression spring abuts against the push rod support, the pressure sensor is mounted on the sensor support and abuts against the spring seat, so as to sense pressure changes caused by a displacement difference between the adjusting sleeve and the adjusting sleeve, and the pressure change value is transmitted to the control module, the control module judges whether the pressure applied to the inner wall of the pipeline by the driving roller needs to be adjusted or not after the pressure is changed, if the pressure needs to be adjusted, the included angle between the wheel frame of the tensioning mechanism and the buffer device is adjusted through the driving device, so that the pressure applied to the inner wall of the pipeline by the driving roller is adjusted to be within a set range, and the requirements of walking and dragging force of the driving roller are met.

7. The pre-tightening mechanism of the pipeline robot with the self-adaptive pressure regulation as claimed in claim 6, wherein when the pipeline robot walks in a bent pipe or in a reducer pipe, the pressure sensor senses the pressure applied to the inner wall of the pipeline by the driving roller of the tensioning mechanism and senses the rotation speed of the main driving motor together with the encoder, and the sensed pressure is transmitted to the control module, and the control module automatically determines whether the included angle between the wheel carrier of the tensioning mechanism and the buffer device needs to be regulated by the driving device, so that the pressure applied to the inner wall of the pipeline by the driving roller or the rotation speed of the driving roller is regulated to a set range by the main driving motor, the walking and dragging requirements of the driving roller are met, and the self-adaptive pressure regulation of the driving roller in the walking process is realized.

8. The pressure self-adaptive adjustment pipeline robot pre-tightening mechanism according to claim 1, characterized by further comprising an encoder component, wherein the encoder component comprises an encoder connected with an output shaft of the main driving motor, the encoder transmits the rotation speed of the main driving motor to the control module, and the control module judges whether the driving roller is jammed in the obstacle crossing or bending process, so that the driving device drives the moving component to move linearly, and an included angle between a wheel carrier of the tensioning mechanism and the buffering device is increased, and walking and dragging force requirements of the driving roller are met.

9. The pressure self-adaptive adjusting pipeline robot pre-tightening mechanism according to claim 1, characterized in that the encoder assembly further comprises an encoder support and a connecting shaft, the encoder support is mounted on the robot body, and a rotating shaft of the encoder is connected with an output shaft of the main driving motor through the connecting shaft.

10. The pre-tensioning mechanism for the pipeline robot with the pressure self-adaptive adjustment function according to claim 1, wherein the tensioning mechanisms are evenly distributed on the periphery of the adjusting mechanism in the circumferential direction.

Technical Field

The invention belongs to the technical field of special robots, and particularly relates to a pre-tightening mechanism of a pipeline robot.

Background

The pipeline robot, as one of the branches of the special robot, can work in a specific space where the pipeline belongs, carry various detection instruments or operation devices, enter the pipeline under the remote control or autonomous control of an operator, and complete tasks such as pipeline defect detection, detection and coating of an anticorrosive coating, identification and removal of foreign matters in the pipeline, processing in the pipeline and the like. As an effective detection and maintenance device, the pipeline robot changes the traditional single means of pipeline manual maintenance, and greatly improves the accuracy and efficiency of detection. With the rapid development of petroleum, chemical engineering and military equipment, the length of pipelines laid in various fields is rapidly increased, and the application occasions of pipeline robots are more and more extensive.

Through years of research and development, the pipeline robot field obtains more technical achievements at home and abroad, and a series of pipeline robot products or model machines with different driving forms are developed. The pipeline robot can be generally classified into a medium pressure difference, a wheel type, a screw driving type, a crawler type, a snake type, a peristaltic type, a multi-foot crawling type and the like according to the movement mode. The wheel type movement mode has the advantages of simple structure, stable speed, easy positioning and the like, is widely applied to the operations of non-in-service detection, flaw detection and the like of large and medium oil and gas transmission pipelines, but the problem of interference of over-bending movement of the pipelines cannot be fundamentally solved. When the wheel type pipeline robot passes through the elbow pipe, the actual arc length of each driving roller is different, and accordingly the speed of each driving roller is required to be different, if the wheel type pipeline robot does not have a differential function, some driving rollers become actual brake wheels to generate motion interference, so that the effective dragging force of the robot is reduced, the abrasion of transmission parts is aggravated, the robot needs to overcome extra power consumption generated due to environmental constraint, and even the robot cannot pass through the pipelines. In contrast, the multi-motor driving mode has the advantages of simple structure and convenient design, but has the disadvantages of not ideal real-time performance and flexibility, complex control system, and the need of predicting the parameters of the pipeline environment, such as the curvature radius of a bent pipe, the angle of an elbow and the like. Meanwhile, a large number of irregular pipelines with various non-circular shapes such as bulges and depressions exist in the pipelines, and the pipe diameters of the irregular pipelines change, so that the driving unit of the pipeline robot is required to perform differential regulation on the rotating speed of the driving roller in real time, and the driving roller is required to adapt to the change of the pipelines, and certain pressure is ensured to be kept between the driving roller and the pipe walls, so that enough dragging capacity is generated. The pressure applied to the inner wall of the pipeline, which is generated by only depending on the weight of the driving unit, is far from meeting the design requirement. Therefore, a pre-tightening mechanism is required to generate enough pressure for the driving roller and meet the requirement that the driving roller can adapt to the change of the pipeline parameters.

At present, a spring and an elastic mechanism of an elastic rod are arranged in a pre-tightening mechanism of a wheel type pipeline robot to adjust the pressure applied to the inner wall of a pipeline by a driving roller, but when the caliber of the pipeline changes, the elastic mechanism cannot adjust the positive pressure of the driving roller in a large range, and the pipeline adaptability is not strong; the utility model provides a pretension adjustment mechanism of slider-crank formula, this kind of adjustment mechanism is when meetting small obstacle, can't accomplish the small regulation of single drive roller pretightning force, can appear because of the small regulation back of certain drive roller pretightning force, drives two other drive roller pretightning forces and adjusts together to the drive roller skids, idles, leads to driving power not enough. The utility model provides a compound pretension adjustment mechanism of crank slider and parallelogram linkage, this kind of mechanism can't accomplish single drive roller's small regulation equally, and when walking in the return bend, the difference of the actual arc length of the last front and back drive roller of parallelogram linkage meeting pipeline produces relative slip to internal stress appears on parallelogram linkage, leads to revolute pair deformation failure even.

Disclosure of Invention

Aiming at the defects or improvement requirements of the prior art, the invention provides a pressure self-adaptive adjusting pipeline robot pre-tightening mechanism which can adapt to the environment of a bent pipe and can adjust the pre-tightening force in real time when meeting an obstacle or the pipe diameter changes within a certain range, thereby realizing the smooth operation of a driving unit. In addition, when a tiny obstacle is met, self-adaptive tiny adjustment of the pretightening force of the single driving roller can be realized.

To achieve the above object, according to one aspect of the present invention, there is provided a pre-tightening mechanism for a pipeline robot with adaptive pressure adjustment, the pipeline robot having a robot body and a main driving motor mounted on the robot body, characterized by comprising an adjustment mechanism and a plurality of tensioning mechanisms, wherein:

each tensioning mechanism comprises a wheel carrier, a driving roller and a buffer device, wherein the driving roller is rotatably arranged on the wheel carrier and is driven by the main driving motor to rotate so as to press the inner wall of the pipeline to walk, one end of the wheel carrier is hinged to the robot main body through a first hinge part, and the other end of the wheel carrier is hinged to one end of the buffer device through a second hinge part;

the adjusting mechanism comprises a driving device and a moving assembly, the driving device is installed on the robot main body, the moving assembly is hinged to the other end of the buffering device through a third hinge piece, the moving assembly is driven by the driving device to move linearly, so that the included angle between a wheel carrier of the tensioning mechanism and the buffering device is controlled, the pressure of the driving roller of the tensioning mechanism acting on the inner wall of the pipeline is adjusted, and the center lines of the first hinge piece, the second hinge piece, the third hinge piece and the driving roller are parallel.

Preferably, a driving base is installed on the robot main body, the wheel carrier includes a driving connecting shaft, a driving gear, a driving connecting rod and a synchronous belt assembly, the driving connecting shaft is connected to the driving base through a fourth hinge, the driving gear is fixedly installed on the driving connecting shaft and meshed with an output gear on an output shaft of a main driving motor, one end of the driving connecting rod is connected to the driving connecting shaft through a fifth hinge, a driving wheel shaft is rotatably installed at the other end of the driving connecting rod, the driving roller is fixedly installed on the driving wheel shaft, the driving wheel shaft is connected to the driving connecting shaft through the synchronous belt assembly, and center lines of the fourth hinge and the fifth hinge are parallel to a center line of the driving roller.

Preferably, the buffer device comprises a gas spring and an auxiliary pressure spring, one end of the gas spring is hinged to the driving wheel shaft through the second hinge member, the other end of the gas spring is hinged to the moving assembly through the third hinge member, and the auxiliary pressure spring is installed between the second hinge member and a pressure cylinder of the gas spring.

Preferably, the adjusting mechanism further comprises an adjusting base mounted on the main driving motor;

the movable assembly comprises an adjusting sliding sleeve, an adjusting pressure spring and an adjusting pressure screw, the adjusting sliding sleeve is movably sleeved on the adjusting base and connected with the driving device so as to linearly move under the driving of the driving device, the adjusting sleeve is movably sleeved on the adjusting sliding sleeve, a space for containing the adjusting pressure spring is reserved between the inner wall of the adjusting sleeve and the outer wall of the adjusting sliding sleeve, the adjusting sleeve is provided with a barrel body and a limiting stop table arranged at one end of the barrel body, the adjusting pressure screw is connected at one end of the adjusting sliding sleeve, the adjusting pressure spring is sleeved on the sliding sleeve, one end of the adjusting pressure spring is abutted against the limiting stop table, and the other end of the adjusting pressure spring is abutted against the adjusting pressure screw;

the adjusting sleeve of the moving assembly is hinged to the buffering device through the third hinge.

Preferably, drive arrangement is including adjusting motor cabinet, accommodate motor, regulation lead screw, regulation screw and regulation pillar, it installs to adjust the motor cabinet in the main part of the robot, accommodate motor installs adjust motor cabinet is last, and accommodate motor's output shaft adjust the lead screw, adjust the screw and install adjust on the lead screw, adjust and connect on the screw adjust the pillar, adjust the pillar and pass connect behind the regulation base adjust the sliding sleeve, and be provided with the breach as the removal passageway of adjusting the pillar on the regulation base.

Preferably, the pressure sensor assembly further comprises a pressure sensor assembly, the pressure sensor assembly comprises a sensor support, a pressure sensor, a push rod support, a spring seat, a spring push rod and a sensor pressure spring, the sensor support is mounted on the adjusting sleeve, the push rod support is mounted on the adjusting sliding sleeve, the spring push rod is movably mounted on the push rod support in a penetrating manner, one end of the spring push rod is fixedly connected with the spring seat, the sensor pressure spring is sleeved on the spring push rod, one end of the sensor pressure spring is abutted against the spring seat, the other end of the sensor pressure spring is abutted against the push rod support, the pressure sensor is mounted on the sensor support and abutted against the spring seat so as to sense pressure change generated by displacement difference of the adjusting sliding sleeve and the adjusting sleeve, a pressure change value is transmitted to the control module, and the control module judges whether the pressure applied to the inner wall of the pipeline by the driving roller is required, if the adjustment is needed, the included angle between the wheel frame of the tensioning mechanism and the buffer device is adjusted through the driving device, so that the pressure exerted on the inner wall of the pipeline by the driving roller is adjusted to a set range, and the requirements of walking and dragging force of the driving roller are met.

Preferably, when the pipeline robot walks in the bent pipe or in the reducer pipe, the pressure sensor senses the pressure applied to the inner wall of the pipeline by the driving roller of the tensioning mechanism and the rotating speed of the main driving motor sensed by the encoder, and the pressure and the rotating speed are transmitted to the control module, and the control module automatically judges whether the included angle between the wheel frame of the tensioning mechanism and the buffer device needs to be adjusted by the driving device, so that the pressure applied to the inner wall of the pipeline by the driving roller or the rotating speed of the driving roller is adjusted to a set range by the main driving motor, the walking and dragging force requirements of the driving roller are met, and the pressure self-adaptive adjustment of the driving roller in the walking process is realized.

Preferably, the device further comprises an encoder assembly, wherein the encoder assembly comprises an encoder connected with an output shaft of the main driving motor, the encoder senses the rotating speed of the main driving motor and transmits the rotating speed to the control module, and the control module judges whether the driving roller is blocked in the obstacle crossing or bending process, so that the driving device drives the moving assembly to move linearly, and the included angle between the wheel carrier of the tensioning mechanism and the buffer device is increased to meet the requirements of walking and dragging force of the driving roller.

Preferably, the encoder assembly further comprises an encoder support and a connecting shaft, the encoder support is mounted on the robot main body, and a rotating shaft of the encoder is connected with an output shaft of the main driving motor through the connecting shaft.

Preferably, the tensioning means are evenly circumferentially distributed around the adjustment means. In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:

(1) the pre-tightening mechanism of the pipeline robot with the self-adaptive pressure regulation can adapt to the bend pipe and the reducing pipe, can drive the moving assembly to move through the driving device when meeting obstacles or changing in a certain range of pipe diameter, and can regulate the pre-tightening force in real time by regulating the included angle between the wheel carrier and the buffer device, so that the driving roller adapts to the change of the pipeline environment, and the smooth rolling and walking of the driving roller are realized.

(2) The pipeline robot pre-tightening mechanism with the self-adaptive pressure adjustment function has the advantages that the pre-tightening mechanism performs mixed pre-tightening through the buffer of the buffer device and the movement of the moving assembly, the movement mode is a slider-crank mechanism, and the change of the included angle between the buffer device and the wheel carrier is realized by controlling the displacement of the moving assembly, so that the tensioning angle adjustment of the tensioning mechanism is realized, and the pre-tightening force adjustment is further realized. The mechanism has the advantages of small pretightening force change, strong self-adaptive capacity and large range, and also has strong self-releasing capacity.

(3) According to the pipe robot pre-tightening mechanism with the self-adaptive pressure adjustment function, the pre-tightening force can be slightly adjusted by adopting the buffer device of the tensioning mechanism, such as a gas spring and an auxiliary pressure spring, for example; when the robot main body walks in the pipeline and a single driving roller encounters small obstacles (such as craters, defects and the like), based on the small adjusting functions of the gas spring and the auxiliary pressure spring, the self-adaptive small adjustment of the positive pressure of the single driving roller can be realized without influencing the normal walking of the driving rollers of other tensioning mechanisms.

(4) The pipeline robot pre-tightening mechanism with the self-adaptive pressure regulation can sense the change condition of the pressure exerted on the inner wall of the pipeline by the driving roller through the pressure sensor assembly, and the control module controls the driving device to drive the moving assembly to execute the regulation action so as to regulate the included angle between the buffer device and the wheel frame, so that the pressure exerted on the inner wall of the pipeline by the driving roller is regulated to a set range, and the requirements of walking and dragging force of the driving roller are met.

(5) The pipeline robot pre-tightening mechanism with the self-adaptive pressure regulation function can realize the self-adaptive regulation of the pressure exerted on the inner wall of the pipeline by the driving roller through the matching use of the encoder and the pressure sensor, and has high automation degree.

Drawings

FIG. 1 is a perspective view of the present invention mounted on a pipeline robot;

FIG. 2 is a cross-sectional view of the present invention;

FIG. 3 is a perspective view of the tensioning mechanism of the present invention;

FIG. 4 is a cross-sectional view of a tensioning mechanism in an embodiment of the present invention;

FIG. 5 is a cross-sectional view of an adjustment mechanism of the present invention;

FIG. 6 is a cross-sectional view of the pressure sensor assembly of the present invention;

fig. 7 is a schematic diagram of an encoder assembly of the present invention.

In all the figures, the same reference numerals denote the same features, in particular: 1-tensioning mechanism, 101-driving base, 102-driving gear, 103-driving connecting shaft, 104-driving connecting rod, 105-connecting sleeve, 106-synchronous belt assembly, 107-driving roller, 108-driving wheel shaft, 109-gas spring, 110-auxiliary pressure spring, 2-adjusting mechanism, 201-adjusting motor, 202-adjusting motor base, 203-adjusting base, 204-adjusting screw rod, 205-adjusting screw nut, 206-adjusting sliding sleeve, 207-adjusting sleeve, 208-adjusting end cover, 209-adjusting pressure spring, 210-adjusting pressure screw, 211-adjusting support column, 212-connecting hinge base, 3-pressure sensor assembly, 301-pressure sensor, 302-sensor support, 303-ejector rod support base, 103-ejector rod support base, 304-spring seat, 305-spring ejector rod, 306-sensor pressure spring, 4-encoder component, 401-encoder, 402-encoder support and 403-connecting shaft.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 to 7, a pressure adaptive control pre-tightening mechanism for a pipeline robot having a robot main body 5 and a main driving motor installed on the robot main body 5, the pre-tightening mechanism for a pipeline robot including an adjusting mechanism 2 and a plurality of tensioning mechanisms 1, the tensioning mechanisms 1 being uniformly distributed circumferentially around the adjusting mechanism 2, wherein:

each tensioning mechanism 1 comprises a wheel frame, a driving roller 107 and a buffer device, wherein the driving roller 107 is rotatably arranged on the wheel frame and is driven by the main driving motor to rotate so as to press the inner wall of the pipeline to walk, so that the pipeline robot walks, one end of the wheel frame is hinged on the robot main body 5 through a first hinge, and the other end of the wheel frame is hinged on one end of the buffer device through a second hinge;

adjustment mechanism 2 includes drive arrangement and removal subassembly, drive arrangement installs on robot main part 5, it is articulated that the removal subassembly passes through the third articulated joint spare buffer's the other end, the removal subassembly by drive arrangement drive is linear movement to the realization is to the control of straining device 1's wheel carrier and buffer's contained angle, and then realizes the regulation of the pressure of straining device 1's drive roller 107 effect on the pipeline inner wall, wherein, first articulated joint spare the central line of second articulated joint spare, third articulated joint spare and drive roller 107 is parallel.

The robot main body 5 is provided with a driving base 101, and the driving base 101 is a fixed connecting piece of the tensioning mechanism 1. The wheel carrier of the present invention may be directly hinged to the robot main body 5, or may be first hinged to the driving base 101, i.e., the wheel carrier is indirectly hinged to the robot main body 5.

The wheel carrier comprises a driving connecting shaft 103, a driving gear 102, a driving connecting rod 104 and a synchronous belt assembly 106, the driving connecting shaft 103 is connected to the driving base 101 through a fourth hinge, the driving gear 102 is fixedly mounted on the driving connecting shaft 103 and engaged with an output gear on an output shaft of a main driving motor, one end of the driving link 104 is connected to the driving connecting shaft 103 through a fifth hinge and the other end is rotatably mounted with a driving wheel axle 108, the driving wheel axle 108 is fixedly mounted with the driving roller 107, namely the driving roller 107 of the present invention is rotatably mounted on the wheel frame by the driving wheel shaft 108, and the driving wheel shaft 108 is connected with the driving connecting shaft 103 through the timing belt assembly 106, the center lines of the fourth hinge and the fifth hinge are parallel to the center line of the driving roller 107. The driving gear 102 is a bevel gear, an output wheel on an output shaft of a main driving motor is also a bevel gear, the driving connecting shaft 103 and the output shaft of the main driving motor are two intersecting shafts, the two bevel gears are meshed with each other, and the motion and the power between the driving connecting shaft 103 and the output shaft of the main driving motor are transmitted by the two bevel gears so as to transmit the motion and the power of the output wheel of the main driving motor; the driving connecting shaft 103 is sleeved on the driving gear 102 through a flat key, and is a rotating shaft of the driving gear 102.

The hinged parts (the first hinged part to the fifth hinged part) can be selected from a bearing, a hinged shaft, a pin shaft, a hinged support and the like, the hinged parts meet the requirement that two connected components can rotate relatively, the center line of the hinged parts is a rotation center line, and the bearing or the hinged support is preferably adopted.

Further, the damping device may adopt an existing damping device having an elastic or damping function, such as a hydraulic damper, a urethane damper, a spring damper, etc., and the damping device of the present invention preferably includes a gas spring 109 and an auxiliary compression spring 110, one end of the gas spring 109 is hinged to the driving wheel shaft 108 through the second hinge and the other end is hinged to the moving assembly through the third hinge, and the auxiliary compression spring 110 is installed between the second hinge and a pressure cylinder of the gas spring 109. The gas spring 109 has a certain compression stroke under a certain pressure, so that the micro-adjustment of the pretightening force is met; the auxiliary pressure spring 110 can realize auxiliary adjustment of the pretightening force, and meets the requirement of micro adjustment of the pretightening force.

One end of the driving connecting rod 104 is sleeved with the driving connecting shaft 103 through the fifth hinge, and the other end of the driving connecting rod is rotatably mounted on the driving wheel shaft 108 through a bearing, wherein the driving connecting rod 104 is a supporting structure of the driving wheel shaft 108 and ensures the relative movement position of the two shafts; the tensioning mechanism 1 comprises two driving connecting rods 104, and the two driving connecting rods 104 are connected into a whole through a connecting sleeve 105 and a long bolt, so that stability in movement of a wheel carrier of the tensioning mechanism 1 is guaranteed.

The synchronous belt component 106 comprises two synchronous belt wheels and a synchronous belt, the two synchronous belt wheels are respectively sleeved on the driving connecting shaft 103 and the driving wheel shaft 108 through flat keys and used for transmitting the motion and the power of the driving gear 102, the synchronous belt wheels and the synchronous belt do not slide relatively in the transmission process, the transmission ratio is accurate and constant, and the transmission efficiency is high;

the driving roller 107 is sleeved on the driving wheel shaft 108 through a flat key, is the driving roller 107 of the robot, is in contact with the inner wall of the pipeline, and applies certain pressure on the inner wall of the pipeline so as to generate enough dragging capacity in the walking process; the main body of the driving roller 107 is formed by processing hard aluminum alloy, a layer of polyurethane rubber pressed by a die is embedded in the surface of the driving roller, the polyurethane rubber has larger friction force with the inner wall of the pipeline, and meanwhile, a group of tensioning mechanisms 1 comprises 2 coaxially arranged driving rollers 107 so as to improve the friction coefficient with the inner wall of the pipeline and increase the contact area so as to provide enough friction force and convert the friction force into dragging force;

further, the number of the tensioning mechanisms 1 is preferably three, and three driving gears 102 are respectively meshed with bevel gears of 3 output shafts of the main driving motor and are uniformly distributed along the circumferential direction of the adjusting mechanism 2. The distribution can be beneficial to the pipeline robot to better adapt to the environment in the pipeline, and the gravity of the pipeline robot has less influence on the difference of the pressure (positive pressure) exerted on the inner wall of the pipeline by each driving roller 107 and the inner wall of the pipeline, so that the pipeline robot has better walking stability;

further, when the driving roller 107 drives the pipeline robot to walk in the pipeline and a single driving roller 107 encounters a tiny obstacle (such as a crater, a defect, etc.), based on the tiny adjustment functions of the gas spring 109 and the auxiliary pressure spring 110, the self-adaptive tiny adjustment of the positive pressure of the single driving roller 107 can be realized without affecting the normal walking of the driving rollers 107 of the other two tensioning mechanisms 1;

further, the adjusting mechanism 2 further comprises an adjusting base 203 mounted on the main driving motor;

the moving assembly comprises an adjusting sliding sleeve 206, an adjusting sleeve 207, an adjusting pressure spring 209 and an adjusting pressure screw 210, the adjusting sliding sleeve 206 is movably sleeved on the adjusting base 203 and connected with the driving device so as to linearly move under the driving of the driving device, the adjusting sleeve 207 is movably sleeved on the adjusting sliding sleeve 206, a space for accommodating the adjusting pressure spring 209 is formed between the inner wall of the adjusting sleeve 207 and the outer wall of the adjusting sliding sleeve 206, the adjusting sleeve 207 is provided with a barrel body and a limit stop arranged at one end of the barrel body, the adjusting pressure screw 210 is connected at one end of the adjusting sliding sleeve 206, the adjusting pressure spring 209 is sleeved on the sliding sleeve, one end of the adjusting pressure spring 209 abuts against the limit stop, and the other end of the adjusting pressure spring 209 abuts against the adjusting pressure screw 210;

the adjustment sleeve 207 of the moving assembly is hinged to the damping device by the third hinge.

Further, the driving device includes an adjusting motor base 202, an adjusting motor 201, an adjusting screw 204, an adjusting nut 205 and an adjusting strut 211, the adjusting motor base 202 is installed on the robot main body 5 and is an installation structure of the whole adjusting mechanism 2, the adjusting motor 201 is installed on the adjusting motor base 202, as a power element of the adjusting mechanism 2, an output torque and a rotation speed of the adjusting motor can be controlled by a control module on the robot main body 5, an output shaft of the adjusting motor 201 is connected with the adjusting screw 204, the adjusting nut 205 is installed on the adjusting screw 204, the adjusting nut 205 is connected with the adjusting strut 211, the adjusting strut 211 passes through the adjusting base 203 and then is connected with the adjusting sliding sleeve 206, and a gap serving as a moving channel of the adjusting strut 211 is arranged on the adjusting base 203. The pre-tightening mechanism of the pipeline robot is a mixed pre-tightening mechanism of the gas spring 109, the auxiliary pressure spring 110 and the lead screw nut pair, the main body motion mode of the pre-tightening mechanism can be regarded as a slider-crank mechanism, and the rotation angle of the gas spring 109 and the wheel carrier is realized by controlling the displacement of the adjusting sliding sleeve 206, the adjusting sleeve 207 and the like of the moving assembly, so that the tensioning angle adjustment of the pre-tightening mechanism is realized, and the pre-tightening force adjustment is further realized. The mechanism has the advantages of small pretightening force change, strong self-adaptive capacity and large range, and also has strong self-releasing capacity.

Further, the adjusting base 203 is screwed on the adjusting motor base 202 through a pin, has a better coaxiality with the adjusting motor base 202, and is a mounting base of the adjusting screw 204. The adjusting screw 204 is connected with the adjusting motor 201 through a flat key and is connected to the adjusting base 203 through a bearing so as to be convenient to rotate. When the adjusting motor 201 rotates, the adjusting screw 204 can be directly driven to rotate, and the adjusting screw 205 is driven to move, and the screw-screw pair converts the rotary motion of the motor into linear motion. The adjusting pressure spring 209 is provided with a certain initial pretightening force, and the compression amount can be changed along with the movement of the adjusting sliding sleeve 206, so that the spring force is changed. Because the adjusting sleeve 207 is hinged to the gas spring 109 in the tensioning mechanism 1, the movement of the adjusting sleeve 207 can drive the tensioning mechanism 1 to open and close, so as to implement the tensioning action. The adjusting pressure screw 210 can play a role in positioning and fixing the adjusting pressure spring 209. In addition, the adjusting mechanism 2 further comprises an adjusting end cover 208 and a connecting hinged support 212, the adjusting end cover 208 is screwed on one end of the adjusting sliding sleeve 206 far away from the adjusting motor 201, and the connecting hinged support 212 is screwed on the adjusting end cover 208 and provided with a hooke hinged support for connecting other working modules of the pipeline robot.

The pipeline robot pre-tightening mechanism can be regarded as a crank-slider mechanism, the combination of the driving connecting rod 104 and the synchronous belt component 106 in the tensioning mechanism 1 can be regarded as a crank of the crank-slider mechanism, and the crank-slider mechanism is an actuating component in the crank-slider mechanism; the gas spring 109 in the tensioning mechanism 1 can be regarded as a connecting rod of a crank slider mechanism; the combination of the adjusting sliding sleeve 206 and the adjusting sleeve 207 in the adjusting mechanism 2 can be regarded as a slider of a slider-crank mechanism, and is a prime mover in the slider-crank mechanism.

Further, the pipeline robot pre-tightening mechanism further comprises a pressure sensor 301 assembly 3, the pressure sensor 301 assembly 3 comprises a sensor support 302, a pressure sensor 301, a push rod support 303, a spring seat 304, a spring push rod 305 and a sensor compression spring 306, the sensor support 302 is mounted on the adjusting sleeve 207, the push rod support 303 is mounted on the adjusting sliding sleeve 206, the spring push rod 305 is movably mounted on the push rod support 303 in a penetrating manner, one end of the spring push rod is fixedly connected with the spring seat 304, the sensor compression spring 306 is sleeved on the spring push rod 305, one end of the sensor compression spring 306 abuts against the spring seat 304, the other end of the sensor compression spring 306 abuts against the push rod support 303, the pressure sensor 301 is mounted on the sensor support 302 and abuts against the spring seat 304 to sense pressure changes generated by displacement differences of the adjusting sliding sleeve 206 and the adjusting sleeve 207, and the pressure change value is converted and output into an available electric signal and transmitted to the control module, the control module judges whether the pressure applied to the inner wall of the pipeline by the driving roller 107 needs to be adjusted or not after the pressure is changed, if the pressure needs to be adjusted, the included angle between the wheel frame of the tensioning mechanism 1 and the buffer device is adjusted through the driving device, so that the pressure applied to the inner wall of the pipeline by the driving roller 107 is adjusted to be within a set range, and the requirements of walking and dragging force of the driving roller 107 are met.

When the pressure applied to the inner wall of the pipeline by the driving roller 107 changes, the change of the pressure is transmitted to the adjusting sleeve 207 through the gas spring 109 and the auxiliary pressure spring 110, so that the adjusting sleeve 207 and the adjusting sliding sleeve 206 generate relative displacement, the compression amount of the sensor pressure spring 306 is changed, namely, the pressure sensed by the pressure sensor 301 changes, the pressure change value is converted and output into an available electric signal, finally, the electric signal is transmitted to the control module, and the control module judges whether the pressure applied to the inner wall of the pipeline by the driving roller 107 needs to be adjusted or not after the pressure change. If the adjustment is needed, the adjustment motor 201 is driven to drive the adjustment screw 204 and the adjustment sliding sleeve 206 to perform adjustment, so that the pressure applied to the inner wall of the pipeline by the driving roller 107 is adjusted to a certain range, and the requirements of walking and dragging force are met.

Further, pipeline robot pretension mechanism still includes encoder subassembly 4, encoder subassembly 4 include with main driving motor's output shaft's encoder 401, in order to be in the perception control module is given after main driving motor's the rotational speed, and control module judges from this whether drive roller 107 is crossing obstacle or crossing curved in-process card and die, thereby lets the drive arrangement drive the removal subassembly is rectilinear movement, and then lets straining device 1's wheel carrier and buffer's contained angle grow to satisfy drive roller 107's walking and tractive force requirement. The encoder assembly 4 further includes an encoder support 402 and a connecting shaft 403, the encoder support 402 is installed on the robot main body 5, the encoder 401 is installed on the encoder support 402, and a rotating shaft of the encoder 401 is connected with an output shaft of the main driving motor through the connecting shaft 403.

Further, when the pipeline robot walks in the elbow, the pressure sensor 301 senses the pressure applied to the inner wall of the pipeline by the driving roller 107 of the tensioning mechanism 1 and the rotating speed of the main driving motor sensed by the encoder 401, and the control module automatically judges whether the included angle between the wheel carrier of the tensioning mechanism 1 and the buffer device needs to be adjusted through the driving device, so that the pressure applied to the inner wall of the pipeline by the driving roller 107 is adjusted to a set range, or the rotating speed of the driving roller 107 is adjusted to a set range through the main driving motor, so that the walking and dragging force requirements of the driving roller 107 are met, and the pressure self-adaptive adjustment of the driving roller in the walking process is realized.

When the pipeline internal diameter changes, accessible control module control drive arrangement adjusts straining device 1's wheel carrier and buffer's contained angle, so that the pressure that driving roller 107 applyed on the pipeline inner wall is adjusted to the settlement within range, perhaps lets driving roller 107's rotational speed adjust to the settlement within range through main driving motor, satisfies walking and towing power requirement, realizes the walking demand that pipeline robot adapted pipeline reducing.

After the pre-tightening mechanism of the pipeline robot is assembled, the pre-tightening mechanism has a compact structure, runs stably, is debugged to be qualified, successfully passes a bent pipe walking test, a pipeline reducing walking test and various mechanical tests, has good walking effect, and can meet the requirements of bent pipe walking and pressure regulation of the robot. The mechanism has the advantages of small pretightening force change, strong adaptive capacity, large range and strong self-releasing capacity. The invention can realize the self-adaptive adjustment of the positive pressure of the driving roller 107 when the pipeline robot walks in the pipe, and meets the walking requirements of the pipeline robot such as overbending, obstacle crossing, diameter changing and the like in the pipe. The design method and the structural application of the device are not limited to be used for the pipeline robot, and the device has reference significance under similar environmental conditions.

It is to be understood that the foregoing are many different embodiments or examples of the different features of the present embodiments. Specific examples of components and arrangements are described below to simplify the illustrative embodiments. These are, of course, merely examples and are not intended to limit the embodiments, and for example, device dimensions are not limited to the ranges or values disclosed, but may depend on processing conditions and/or desired properties of the device. Moreover, the formation of a first feature over or on a second feature in the description that follows may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features may be formed interposing the first and second features, such that the first and second features may not be in direct contact, although the various features may be drawn arbitrarily to varying proportions for simplicity and clarity of illustration.

Spatially relative terms, such as "under," "below," "lower," "above," "upper," and the like, may be used herein to describe one element or feature's relationship to another element or feature(s) as illustrated in the figures. These spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be oriented in different ways (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.