CN103712035A

CN103712035A - Cage type pipeline aircraft

Info

Publication number: CN103712035A
Application number: CN201410007797.8A
Authority: CN
Inventors: 张婷; 刘伟杰; 李金库; 任怡娜; 李東轩; 梅迪
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2014-01-08
Filing date: 2014-01-08
Publication date: 2014-04-09

Abstract

A cage type pipeline aircraft comprises an external wheel frame structure which can roll and an internal four-shaft eight-rotor-wing structure. An external wheel frame is driven to roll by the difference between power and torque which are generated by internal rotor wings, so that maneuver such as advancing, retreating, turning, rising and falling can be realized. The cage type pipeline aircraft reveals a novel motion form in a pipeline and can be applied to pipeline detection and maintenance. Different from a traditional caterpillar track type or wheel type pipeline robot, the wheel frame is driven to roll by air flow, and the cage type pipeline aircraft can be used at various corners on the upper portion, lower portion, left portion and right portion of the pipeline and is not prone to being turned over by foreign matter inside the pipeline or being stuck.

Description

Cage pipeline aircraft

Affiliated technical field

The present invention relates to unmanned vehicle, intelligent robot, motion control etc. multi-field, relate in particular to the pipeline robot for pipe detection and maintenance.

Background technique

Nowadays the pipeline such as various oil, chemical industry, exhaust is distributed widely in industry and life region, but most pipeline buries in underground or be positioned at the place that other are difficult for contact, so pipe detection and maintenance become a difficult problem.Pipeline aircraft is a kind of in pipeline robot, compares with other pipeline robots, and its flexibility ratio and mobility are higher, and Applicable scope is more extensive.Pipeline aircraft has very high use value in actual pipe detection and in safeguarding.

Current existing pipeline robot is mainly following several structure.

1, wheeled construction, serviceable wagon wheel construction is realized in ducted motion;

2, caterpillar belt structure, bottom is furnished with crawler belt band mobile robot and moves in pipeline;

3, supporting type structure, adopts particular support to be supported on inner-walls of duct, and then realizes pipeline motion.

But, above these mechanisms be not suitable for many crooked and there is the pipeline in up-down structure in work, and run into foreign matter and may cause robot rollover even stuck.

In order to tackle the pipeline of various structures, need to design a novel pipeline robot, make its mobility, flexibility stronger, can freedom and flexibility motion in pipeline.

Summary of the invention

The present invention designs a novel cage pipeline aircraft, can realize at pipe interior and rolling and two kinds of forms of motion of flight.This aircraft is not limited by pipeline replicated structures, also sporting flying up and down.

This cage pipeline aircraft is divided into inside and outside two parts.Inside is four axle eight rotor structures, has the positive and negative slurry of upper and lower two switched in opposite on an axle, and the reasoning producing by rotor wing rotation drives aircraft movements, and the no-radius that the difference in torque producing while utilizing rotation realizes aircraft turns to.Outside is rotatable cage construction, under rotor thrust drives, can roll or turn at pipe interior.Meanwhile, external frame can protect inner rotor not collided by tube wall.

This cage pipeline aircraft is compared with conventional pipelines robot, and kinematic dexterity is higher, and range of movement is larger, and not fragile.Rely on air-flow to move at pipe interior, affected by surface friction drag little, and can not skid.The no-radius steering technique being undertaken by rotation torque can guarantee that aircraft turns at pipe interior whenever and wherever possible.

In addition, in order to realize the observation to the detection of pipe interior and flight state in real time, also utilize LABVIEW to build an ipc monitor platform.

Accompanying drawing explanation

Fig. 1 is cage pipeline Aircraft structural design schematic diagram;

Fig. 2 is pipeline aircraft motion schematic diagram in pipeline;

Fig. 3 is ipc monitor platform interface;

Embodiment

Below in conjunction with accompanying drawing, the technological scheme in the embodiment of the present invention is described in detail.

As shown in Figure 1, the present invention is a kind of novel pipeline aircraft.Outer wheels frame and internal structure, consist of, 4. outer wheels frame can adopt carbon fiber or model plank, and left and right wheels frame is connected nylon column by wheel frame and 6. connects, and with in intracardiac axle 2. coaxial, can Free-rolling.Inside is four axle eight rotor structures, always has 4 axles, fixes two rotors 1. on each axle, its principle of dynamics is to rely on eight rotor wing rotations of eight driven by motor, the common lift that produces produces difference in torque by rotating up and down reverse feature simultaneously, controls aircraft and turns to.In order to guarantee pipeline aircraft balance, 5. battery is placed in to below of body, rely on the weight of battery that aircraft center of gravity is dragged down.

For the control aspect of aircraft, controller is by PSoC4 controller and fly to control plate and 3. form, and is responsible for respectively attitude collection and the motion control of pipeline aircraft.

At the forms of motion of pipe interior as shown in Figure 2, wherein (a) represents that pipeline aircraft relies on inclination fuselage in horizontal pipe to cage pipeline aircraft, produces thrust backward and promotes outer wheels frame and roll and advance; (b) while representing to run into turning, rely on the bispin wing structure generation rotation torque on four axles poor, body is turned to, left dress during counterclockwise moment of torsion, turns right during clockwise moment of torsion; (c) represent to run into corner's formula vertically upward when pipeline aircraft, rely on rotor to produce air flow promotion aircraft and rise; (d) represent to rely on air-flow thrust to make pipeline aircraft slow decreasing, guarantee that pipeline aircraft is not damaged in decline process.

Fig. 3 is the supporting ipc monitor platform of this cage pipeline aircraft, can obtain and carry at aircraft upper sensor numerical information, also can show in real time the current attitude information of aircraft.

Claims

1. a cage pipeline aircraft, its inside is four axle eight rotor structures, the positive and negative slurry that has upper and lower two switched in opposite on an axle, outside is rotatable mouse cage type structure, it is characterized by: the no-radius that the difference in torque producing while utilizing slurry rotation realizes aircraft turns to and can roll and advance or turn at pipe interior under rotor thrust drives.

2. cage pipeline aircraft according to claim 1, is characterized in that: can realize at pipe interior and rolling and two kinds of forms of motion of flight, not limited by pipeline replicated structures, sporting flying up and down.

3. cage pipeline aircraft according to claim 1, is characterized in that: the ipc monitor platform of building by LABVIEW can be realized the observation to the detection of pipe interior and flight state in real time.