CN101543994A - Electromagnetic wedge-type microtubule robot - Google Patents
Electromagnetic wedge-type microtubule robot Download PDFInfo
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- CN101543994A CN101543994A CN200910043103A CN200910043103A CN101543994A CN 101543994 A CN101543994 A CN 101543994A CN 200910043103 A CN200910043103 A CN 200910043103A CN 200910043103 A CN200910043103 A CN 200910043103A CN 101543994 A CN101543994 A CN 101543994A
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- permanent magnet
- slide block
- type slide
- coil
- wedge type
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Abstract
The present invention discloses an electromagnetic wedge-type microtubule robot, comprising a telescopic mechanism and a two-part supporting mechanism, wherein, the two ends of the telescopic mechanism is connected with the supporting mechanism; the supporting mechanism comprises a spindle-shaped substrate, a permanent magnet wedge-type slide block, and a coil bearer; the spindle-shaped substrate comprises a middle coil bearer and conical parts at the ends of the middle coil bearer, and the coil bearer is connected with the conical parts; a magnet coil is wound on the coil bearer and the middle coil bearer, respectively, the conical part has at least two guide grooves arranged along circumferential direction evenly, and the bottoms of the guide grooves are arranged in an inclined manner relatively to the axial line of the conical part; a permanent magnet wedge-type slide block is mounted in each guide groove. The electromagnetic wedge-type microtubule robot is simple in structure, has high load capacity, can move in two ways, and is highly adaptive to different tube diameters.
Description
Technical field
The present invention relates to the microtubule robot field, relate in particular to electromagnetic wedge-type microtubule robot.
Background technology
Operation exists very big difficulty and dangerous in microchannel, and microtubule robot provides a kind of otherwise effective technique approach for it.At present, microtubule robot is mainly used in the numerous tiny pipeline of industries existence such as nuclear power station, thermo-power station, chemical industry, refrigeration and the detection of various complex power system pipelines.Numerous countries all pay much attention to the development of microtubule robot, and numerous and confused infusion of financial resources and time have been launched research to such Robotics, and have obtained certain achievement in research.The research laboratory of Japan DENSO CORP company has developed a kind of stacked piezoelectric actuator microrobot, this robot is made up of four parts: the thin-sheet metal spindle matrix that 60um is thick, two eddy current sensors detect wall defects, motion (motion comprises that three U-shaped spring clip clamping unit elasticity are adjacent to tube wall, a stacked piezoelectric actuator and a mass) and fin, the robot diameter only is 5.5mm, be applicable to the straight tube or the bend pipe of 8mm caliber, translational speed 10mm/s.Precision optical machinery research institute of Shanghai University is studied two kinds of piezo actuator robots, and wherein stacked piezoelectric actuator robot can be suitable for 10mm caliber level or vertical pipeline intraductal operation, pace 2.19mm/s, and astern speed 2.48mm/s is of a size of
9.8 * 22mm has the climbing capacity of 0～90 degree; Bimorph actuator robot is suitable for 20mm caliber level, vertically or in the crooked pipeline detects, and the interior speed up and down of VERTICAL TUBE is respectively 4～6mm/s, 17～22mm/s.
At present the mode of advancing of microtubule robot mainly contains wheeledly directly to advance, wheeled helical advances and creeping motion type, no matter adopt wherein any mode, frictional force between microtubule robot walking mechanism and the duct wall is a certain fixed value, and the tractive force of microtubule robot is less than this frictional force, must correspondingly increase frictional force so desire improves tractive force, have less frictional resistance when still but wishing to obtain bigger tractive force in actual applications.In addition, the microtubule robot that has the bidirectional-movement function at present is not very desirable at the tractive force aspect of performance, for example the small in-pipe robot based on the compound driving of cymbals shape piezoelectricity of Zhejiang University's development in 2005 advances and setback all operates steadily, but maximum drawbar pull only has 15mN.At last, at present in the microtubule robot field, mainly connect by universal joint or ball pivot between the robot module, this traditional connected mode has limited the application of robot in small-caliber pipeline or deep camber bend pipe on a lot of degree.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, provide a kind of simple in structure, load capacity is high, can make bidirectional-movement, caliber changes the strong electromagnetic wedge-type microtubule robot of adaptive capacity.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of electromagnetic wedge-type microtubule robot, comprise telescoping mechanism and two supporting devices, the two ends of described telescoping mechanism link to each other with a supporting device respectively, described supporting device comprises the spindle matrix, permanent magnet wedge type slide block and coil supporter, described spindle matrix is made of intermediate coil carrier and the tapering part that is positioned at intermediate coil carrier two ends, coil supporter is connected with tapering part, all be arranged with electromagnet coil on coil supporter and the intermediate coil carrier, tapering part along the circumferential direction evenly offers at least two guide chutes, the bottom of described guide chute is in tilted layout with respect to the axis of tapering part, all installs a permanent magnet wedge type slide block in each guide chute.
The bevel angle of two sections tapering parts is α on the described spindle matrix, and the angle of friction between tapering part and the permanent magnet wedge type slide block is ψ
1, the angle of friction between permanent magnet wedge type slide block and the microtubule inwall is ψ
2, α＜ψ
2-ψ
1
Described telescoping mechanism is connected by spring with the coil supporter of each supporting device.
Compared with prior art, the invention has the advantages that: electromagnetic wedge-type microtubule robot of the present invention, axial location with electromagnet coil control permanent magnet wedge type slide block, when producing axial displacement, permanent magnet wedge type slide block changes the radial position of permanent magnet wedge type slide block by tapering part in the spindle matrix, permanent magnet wedge type slide block is opened with respect to inner-walls of duct or tighten up, when permanent magnet wedge type slide block is in open configuration, can form self-locking with inner-walls of duct, for obtaining enough big tractive force, pipe robot provides support, when permanent magnet wedge type slide block is in when tightening up state, do not contact with inner-walls of duct, mobile the provide advantage of pipe robot in pipeline is provided, because permanent magnet wedge type slide block can form self-locking with inner-walls of duct, so the stiction of pipe robot and inner-walls of duct will increase along with the increase of load, make the load capacity of pipe robot no longer be subject to the frictional force of a certain fixed size, can under the situation of heavy load, still keep high-speed motion; Can realize robot in ducted bidirectional walking and walking commutation by the cooperation between permanent magnet wedge type slide block, electromagnet coil and the telescoping mechanism, and can in case of emergency fast and safely withdraw from from either direction; Permanent magnet can slide in dovetail groove, slides onto diverse location in the dovetail groove according to the variation of caliber or turning radius, makes pipe robot change caliber and direction and has stronger adaptability; Telescoping mechanism is connected by spring with supporting device, can transmit the motion of telescoping mechanism, and reduce requirement, play the effect of shock absorbing the telescoping mechanism staring torque, also strengthened the compliance of pipe robot simultaneously, made pipe robot and to become the caliber pipeline by deep camber.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the structural representation of supporting device of the present invention;
Fig. 3 is the structural representation of spindle matrix of the present invention;
Fig. 4 is the structural representation of permanent magnet wedge type slide block of the present invention;
Fig. 5 is the force analysis figure of permanent magnet wedge type slide block of the present invention when being in self-locking state;
Fig. 6 is the force analysis figure of permanent magnet wedge type slide block of the present invention when being in relaxed state;
Fig. 7 is the step decomposing schematic representation of robot of the present invention when moving right;
Fig. 8 is that robot of the present invention is in the structural representation under the two-way hauling-out state.
Each label is represented among the figure:
1, telescoping mechanism 2, supporting device
3, spring 21, spindle matrix
22, permanent magnet wedge type slide block 23, coil supporter
211, guide chute 212, intermediate coil carrier
213, tapering part 214, wire through-hole
215, main coil 216, secondary coil
The specific embodiment
As shown in Figures 1 to 4, electromagnetic wedge-type microtubule robot of the present invention, comprise telescoping mechanism 1, two supporting devices 2 and two springs 3, two supporting devices 2 are symmetrically arranged in telescoping mechanism 1 two ends, each supporting device 2 comprises spindle matrix 21, permanent magnet wedge type slide block 22 and coil supporter 23, spindle matrix 21 is made of intermediate coil carrier 212 and the tapering part 213 that is positioned at intermediate coil carrier 212 two ends, coil supporter 23 is connected with tapering part 213, all be arranged with electromagnet coil on coil supporter 23 and the intermediate coil carrier 212, tapering part 213 along the circumferential direction evenly offers at least two guide chutes 211, the bottom of guide chute 211 is in tilted layout with respect to the axis of tapering part 213, all install a permanent magnet wedge type slide block 22 in each guide chute 211, telescoping mechanism 1 is connected by a spring 3 with the coil supporter 23 of each supporting device 2.Telescoping mechanism 1 is used for driven machine people elongation and shortens, supporting device 2 can be supported on robot on the inwall of pipeline, connect telescoping mechanism 1 and supporting device 2 by spring 3, can transmit the motion of telescoping mechanism 1, and reduced requirement to telescoping mechanism 1 staring torque, play the effect of shock absorbing, also strengthened the compliance of pipe robot simultaneously, make pipe robot and to become the caliber pipeline by deep camber.
In the present embodiment, the coil supporter 23 and the intermediate coil carrier 212 of each supporting device 2 are cylinder, tapering part 213 is the frustum of a cone, be connected by tapering part 213 between intermediate coil carrier 212 and the coil supporter 23, tapering part 213 is a bigger diameter end near an end of intermediate coil carrier 212, and an end of close coil supporter 23 is a miner diameter end.What twine on the intermediate coil carrier 212 is one group of main coil 215, twine one group of secondary coil 216 on two coil supporters 23 respectively, each is organized electromagnet coil and all adopts independent circuit control break-make, and spindle matrix 21 is provided with wire through-hole 214 vertically, is used to arrange the lead that connects electromagnet coil.Guide chute 211 evenly is provided with three along the circumferencial direction of tapering part 213, and along tapering part 213 surface tilt settings, one of installing can be along the permanent magnet wedge type slide block 22 of guide chute 211 slips in each guide chute 211.Guide chute 211 is the dovetail type cell body, and the connecting portion that permanent magnet wedge type slide block 22 cooperates with guide chute 211 is the dovetail shape, and permanent magnet wedge type slide block 22 is the N utmost point near an end of intermediate coil carrier 212, and an end of close coil supporter 23 is the S utmost point.When permanent magnet wedge type slide block 22 slides into tapering part 213 miner diameter ends, permanent magnet wedge type slide block 22 can draw in fully in spindle matrix 21, this structure can be reduced radially pipe robot to greatest extent and is taken up room, be suitable in the microminiature pipeline, working, by the less bending pipeline of radius of curvature.The bevel angle of two sections tapering parts 213 is α on the spindle matrix 21, and the angle of friction between tapering part 213 and the permanent magnet wedge type slide block 22 is ψ
1, the angle of friction between permanent magnet wedge type slide block 22 and the microtubule inwall is ψ
2, α＜ψ
2-ψ
1, α in the present embodiment=6 °; ψ
1=8.53 °; ψ
2=2.72 °.When permanent magnet wedge type slide block 22 is in self-locking state, its force-bearing situation as shown in Figure 5, G is the resistance that prevents that permanent magnet wedge type slide block 22 from gliding among Fig. 5, the active tractive force that F provides for telescoping mechanism 1, F
1For tube wall acts on active force on the permanent magnet wedge type slide block 22, F
2For spindle matrix 21 acts on active force on the permanent magnet wedge type slide block 22, because G+F
1Sin ψ
2=F
2Sin (ψ
1+ a), and F
1Cos ψ
2=F
2Cos (ψ
2+ a), then can get: G=F (1-tan ψ
2/ tan (ψ
1+ a)), making G≤0, can get: tan ψ
2〉=tan (ψ
1+ a).So as α＜ψ
2-ψ
1The time, resistance G≤0 shows between permanent magnet wedge type slide block 22 and the tube wall and has realized self-locking, and therefore, no matter how tractive force F increases, and permanent magnet wedge type slide block 22 all can not slide.When permanent magnet wedge type slide block 22 is in relaxed state, its force-bearing situation as shown in Figure 6, the active tractive force that F provides for telescoping mechanism 1 among Fig. 6, F
3Be the active force of tube wall to permanent magnet wedge type slide block 22, spindle matrix 21 is after the effect that is subjected to F, permanent magnet wedge type slide block 22 is lost supporting role, permanent magnet wedge type slide block 22 and tube wall between disengage with tube wall under the effect of frictional force, make that supporting device 2 can begin to move along pipeline axial.
Operation principle of the present invention: electromagnetic wedge-type microtubule robot of the present invention, robot walks in pipeline by the realization of the cooperation between permanent magnet wedge type slide block 22, electromagnet coil and the telescoping mechanism 1.Axial location with electromagnet coil control permanent magnet wedge type slide block 22, when producing axial displacement, permanent magnet wedge type slide block 22 changes the radial position of permanent magnet wedge type slide block 22 by tapering part in the spindle matrix 21 213, permanent magnet wedge type slide block 22 is opened with respect to inner-walls of duct or tighten up, when permanent magnet wedge type slide block 22 is in open configuration, form self-locking with inner-walls of duct, for obtaining enough big tractive force, pipe robot provides support, when permanent magnet wedge type slide block 22 is in when tightening up state, do not contact, mobile the provide advantage of pipe robot in pipeline is provided with inner-walls of duct.
Electromagnetic wedge-type microtubule robot of the present invention is in basic motion process, and a period of motion comprises four steps, is example below to move right in microtubule, and the motion principle of electromagnetic wedge-type microtubule robot is elaborated.
Shown in Fig. 7 a, electromagnetic wedge-type microtubule robot places in the microtubule, during original state, telescoping mechanism 1 full extension, each permanent magnet wedge type slide block 22 in two supporting devices 2 all is positioned at the end away from intermediate coil carrier 212, permanent magnet wedge type slide block 22 is the S utmost point near a side of secondary coil 216, and a side of close main coil 215 is the N utmost point.
Step 4, shown in Fig. 7 e, the permanent magnet wedge type slide block 22 in two supporting devices 2 continues to keep the state described in the step 3; Telescoping mechanism 1 begins to stretch out, the supporting device 2 that the promotes right-hand member segment distance that moves right.At this moment, the supporting device 2 of left end is the mobile tractive force that provides of right-hand member supporting device 2 by the wherein permanent magnet wedge type slide block 22 and the inner-walls of duct formation self-locking of left end.
So far, finished a period of motion that moves right, the robot integral body step pitch h that moved up just can realize to left movement according to sequence of movement in contrast to this.
In step 3, the supporting device 2 of right-hand member can also adopt the mode identical with the supporting device 2 of left end to control, make in the supporting device 2 of right-hand member, the permanent magnet wedge type slide block 22 of left end moves to the end near intermediate coil carrier 212 along guide chute 211, permanent magnet wedge type slide block 22 until left end contacts with inner-walls of duct, and the permanent magnet wedge type slide block 22 of right-hand member keeps static.When under this kind state, carrying out step 4, the function of the supporting device 2 of left end is identical with function in the above-mentioned steps four, in the supporting device 2 of right-hand member, though left end permanent magnet wedge type slide block 22 contacts with inner-walls of duct, but can not form self-locking with inner-walls of duct, do not move right so do not influence the supporting device 2 of telescoping mechanism 1 promotion right-hand member, simultaneously, left end permanent magnet wedge type slide block 22 can also play certain guide effect under this kind state.
When emergency takes place pipe robot to be hauled out pipeline under external force, can adopt following measure:, then can directly haul out along its direction of motion if this moment, pipe robot was in motion state; Also pipe robot can be adjusted into two-way hauling-out state as shown in Figure 8, this moment, pipe robot and pipeline broke away from fully, all can withdraw from safely along pipe ends.
Claims (3)
1, a kind of electromagnetic wedge-type microtubule robot, comprise telescoping mechanism (1) and two supporting devices (2), the two ends of described telescoping mechanism (1) link to each other with a supporting device (2) respectively, it is characterized in that: described supporting device (2) comprises spindle matrix (21), permanent magnet wedge type slide block (22) and coil supporter (23), described spindle matrix (21) is made of intermediate coil carrier (212) and the tapering part (213) that is positioned at intermediate coil carrier (212) two ends, coil supporter (23) is connected with tapering part (213), all be arranged with electromagnet coil on coil supporter (23) and the intermediate coil carrier (212), tapering part (213) along the circumferential direction evenly offers at least two guide chutes (211), the bottom of described guide chute (211) is in tilted layout with respect to the axis of tapering part (213), all installs a permanent magnet wedge type slide block (22) in each guide chute (211).
2, electromagnetic wedge-type microtubule robot according to claim 1, it is characterized in that: the bevel angle of the last two sections tapering parts of described spindle matrix (21) (213) is α, and the angle of friction between tapering part (213) and the permanent magnet wedge type slide block (22) is ψ
1, the angle of friction between permanent magnet wedge type slide block (22) and the microtubule inwall is ψ
2, α＜ψ
2-ψ
1
3, electromagnetic wedge-type microtubule robot according to claim 1 and 2 is characterized in that: described telescoping mechanism (1) is connected by spring (3) with the coil supporter (23) of each supporting device (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100431035A CN101543994B (en) | 2009-04-13 | 2009-04-13 | Electromagnetic wedge-type microtubule robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100431035A CN101543994B (en) | 2009-04-13 | 2009-04-13 | Electromagnetic wedge-type microtubule robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101543994A true CN101543994A (en) | 2009-09-30 |
| CN101543994B CN101543994B (en) | 2010-09-22 |
Family
ID=41191501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100431035A Expired - Fee Related CN101543994B (en) | 2009-04-13 | 2009-04-13 | Electromagnetic wedge-type microtubule robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101543994B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105424817A (en) * | 2015-11-27 | 2016-03-23 | 中国人民解放军济南军区72465部队 | Integrated in-pipe robot for guided wave detection |
| CN106323153A (en) * | 2016-08-04 | 2017-01-11 | 南京航空航天大学 | Pipeline inner bore quality detection mini-sized mobile robot and control method therefor |
| CN107606383A (en) * | 2017-11-01 | 2018-01-19 | 齐鲁工业大学 | A kind of pneumatic locking type flexibility in-pipe robot of single-acting and its method of work |
| CN109681719A (en) * | 2018-12-24 | 2019-04-26 | 中国矿业大学 | A kind of electromagnetic drive type pipe robot |
| CN112298507A (en) * | 2020-10-16 | 2021-02-02 | 哈尔滨工业大学（威海） | Robot in liquid environment lower pipe based on duck foot web imitating type active steering |
| CN114983572A (en) * | 2022-05-17 | 2022-09-02 | 北京航空航天大学 | Magnetic pipeline robot driving device |
-
2009
- 2009-04-13 CN CN2009100431035A patent/CN101543994B/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105424817A (en) * | 2015-11-27 | 2016-03-23 | 中国人民解放军济南军区72465部队 | Integrated in-pipe robot for guided wave detection |
| CN105424817B (en) * | 2015-11-27 | 2018-07-10 | 齐鲁工业大学 | A kind of Guided waves integrated form in-pipe robot |
| CN106323153A (en) * | 2016-08-04 | 2017-01-11 | 南京航空航天大学 | Pipeline inner bore quality detection mini-sized mobile robot and control method therefor |
| CN106323153B (en) * | 2016-08-04 | 2019-07-09 | 南京航空航天大学 | Miniature mobile robot and its control method for inner bore of pipeline quality testing |
| CN107606383A (en) * | 2017-11-01 | 2018-01-19 | 齐鲁工业大学 | A kind of pneumatic locking type flexibility in-pipe robot of single-acting and its method of work |
| CN109681719A (en) * | 2018-12-24 | 2019-04-26 | 中国矿业大学 | A kind of electromagnetic drive type pipe robot |
| CN112298507A (en) * | 2020-10-16 | 2021-02-02 | 哈尔滨工业大学（威海） | Robot in liquid environment lower pipe based on duck foot web imitating type active steering |
| CN112298507B (en) * | 2020-10-16 | 2022-06-07 | 哈尔滨工业大学（威海） | Robot in liquid environment lower pipe based on duck foot web imitating type active steering |
| CN114983572A (en) * | 2022-05-17 | 2022-09-02 | 北京航空航天大学 | Magnetic pipeline robot driving device |
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| Publication number | Publication date |
|---|---|
| CN101543994B (en) | 2010-09-22 |
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Granted publication date: 20100922 Termination date: 20140413 |