CN104266037A - Telescopic pipeline robot device - Google Patents
Telescopic pipeline robot device Download PDFInfo
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- CN104266037A CN104266037A CN201410392192.5A CN201410392192A CN104266037A CN 104266037 A CN104266037 A CN 104266037A CN 201410392192 A CN201410392192 A CN 201410392192A CN 104266037 A CN104266037 A CN 104266037A
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- support arm
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a telescopic pipeline robot device which comprises a telescopic mechanism, a locking mechanism, a robot main cabin, a front supporting wheel system, a rear supporting wheel system, a middle supporting wheel system and detachable hinges. The telescopic mechanism and the locking mechanism are connected through the corresponding detachable hinge; the telescopic mechanism and the middle supporting wheel system are connected through a bolt; the middle supporting wheel system is connected with the robot main cabin through the corresponding detachable hinge; the locking mechanism is connected with the robot main cabin through the corresponding detachable hinge; the front supporting wheel system is connected with the locking mechanism through threads; the rear supporting wheel system is connected with the locking mechanism through threads. The multi-section module design is adopted in a main structure, and a robot can conveniently and smoothly pass through a bending pipeline.
Description
Technical field
The present invention relates to pipeline robot field, be specifically related to a kind of pipeline robot being applied to underground utility detection field.
Background technique
Pipeline robot belongs to the research category of specialized robot, that one automatically can be walked at pipe interior or outside, carried one or more sensors and operate machine, under the remotely-controlled operation or computer controlled automatic of staff, carry out mechanical, electrical, the instrument integral system of a series of pipeline operations.The groundwork of pipeline robot can be divided into detection operation and maintenance operation.Detect events in operation and mainly comprise location of pipeline, pipeline inspection etc.; Maintenance operation comprises cleaning, repaired mouth, welding etc.In order to satisfied different demand, domestic and international each mechanism starts with from the aspect such as walking manner, structure composition, control system of pipeline robot and works out the robot of many patterns.
Divide according to the walking manner of pipeline robot, pipeline robot common at present has wheeled pipeline robot and crawler belt type pipeline robot.Adopt its driving mechanism of pipeline robot of running on wheels mode to drive one or several wheel turns, realize front and back and the turning motion of robot.This type of pipeline robot structure is simple, gait of march fast, therefore obtains extensive utilization.But wheeled pipeline robot also has obvious deficiency, such as Chinese patent application publication No. is that " pipe scale removal robot " of CN201427125Y adopts running gear system, difficulty in walking in the environment of muddy, greasy dirt, be not suitable for large inclined angle pipeline, and tractive force is less.
In order to the adaptive capacity of the tractive force and pipe environment that improve robot, realize moving in the pipeline under greasy dirt, the mal-condition such as muddy, crawler belt type pipeline robot have also been obtained more application.Crawler type walking mechanism is by better performances in rugged environment, and crawler belt is provided with grouser, not easily skids, and can provide larger tractive force compared with ratcheting mechanism.Such as Chinese patent application publication No. is that " a kind of multi-dimensions test amphibious working pipe pipeline robot " of CN103672293A is although overcome the shortcoming that wheeled pipeline robot tractive force is poor, obstacle climbing ability is poor, but this invention is difficult to use in the pipeline of large inclined angle, and volume is comparatively large, can only be applicable to heavy-caliber pipeline.
Above-mentioned two kinds of pipeline robots are applicable to greatly usually, the detection of medium caliber pipeline, in being applicable to make robot, small-bore underground, meet the requirement of large pipeline inclination angle, large traction, both at home and abroad flexible (wriggling) formula pipeline robot of some mechanism design simultaneously.This type of robot in order to realize advance or retreat, its walking structure needs the action carrying out reciprocal telescopic, its motion be interval, thus travelling speed generally than wheeled, caterpillar type robot is slow.Such as Chinese patent application publication No. CN103672290A " entirely driving creeping type pipeline robot " overcomes wheeled, that crawler belt type pipeline robot is unsuitable for small-bore pipeline defect, but this invention cannot autonomous measuring robots whether secure ratcs, and water-proof performance is poor, the rugged environment under ground piping cannot be adapted to.
Because underground utility are often buried, lay circumstance complication, the location technology that current various pipes robot uses all has defect more or less.GPS location and electromagnetic location method cannot be applied to the location of robot in buried underground utility; Single odometer positioning error is comparatively large, and can not obtain the 3 d pose of robot motion; Vision positioning method is in conceptual phase at present mostly, also has problems in practical application.In addition, above-mentioned technology is more difficult to the three-dimensional coordinate obtaining detected underground utility.
In sum, current be applicable in, the pipeline robot of small-bore underground also has shortcomings with not enough.Particularly for the underground utility that trenchless technology is laid, existing pipeline robot is generally difficult to adapt to this type of working environment, therefore needs a kind of novel pipeline robot of specialized designs to meet this type of demand.
Summary of the invention
The object of the invention is to for underground utility detection field provides a kind of stable, reliable autonomous detection platform, and underground utility three-dimensional coordinate accurately can be obtained.This pipeline robot mainly towards all kinds of underground utility that trenchless technology is laid, possesses the adaptive capacity to environment of bidirectional walking ability, stronger grade ability and excellence, and can adapt to the pipeline of multiple different bore.In addition, robot is furnished with front end CCD camera, and is furnished with master system, and user can at upper-position unit Real Time Observation pipe interior video image.
Telescopic pipeline robot device comprises extending means, lockable mechanism, robot main cabin body, front support train, rear support train, middle supporting wheel systems and dismountable hinge;
Connected by dismountable hinge between extending means, lockable mechanism, be bolted between extending means, middle supporting wheel systems, connected by dismountable hinge between middle supporting wheel systems, robot main cabin body, connected by dismountable hinge between lockable mechanism, robot main cabin body, between front support train and lockable mechanism, be all threaded connection between rear support train and lockable mechanism;
Compared with existing pipeline robot, the invention has the advantages that:
(1) agent structure adopts more piece modular design, is convenient to robot and passes through crooked pipeline smoothly;
(2) robot reaches the security level of IP68, can use in the rugged environment of underground for a long time;
(3) lockable mechanism whether secure ratcs can automatically be detected;
(4) be designed with contactless limit control, prevent robot motion from exceeding safety travel;
(5) overcome the shortcoming that existing pipeline robot accurately cannot carry out autonomous location, robot is furnished with inertial navigation module, accurately can locate the three-dimensional coordinate of robot self attitude and underground utility;
(6) communication of robot and upper-position unit adopts DC carrier wave communication technology, long transmission distance, and antijamming capability is strong.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is extending means structural representation of the present invention.
Fig. 3 is lockable mechanism structural representation of the present invention.
Fig. 4 is main section structure schematic diagram of the present invention.
Fig. 5 is front support wheel train structure schematic diagram of the present invention.
Fig. 6 is rear support wheel train structure schematic diagram of the present invention.
Fig. 7 is middle supporting wheel systems structural representation of the present invention.
Fig. 8 is extending means waterproof sealing schematic diagram of the present invention.
Fig. 9 is lockable mechanism waterproof sealing schematic diagram of the present invention.
Figure 10 is Control system architecture schematic diagram of the present invention.
Figure 11 is lockable mechanism secure ratcs decision flow chart of the present invention.
Figure 12 is contactless position-limit mechanism schematic diagram of the present invention.
In figure:
1. extending means 2. lockable mechanism 3. robot main cabin body
4. front support train 5. rear support train 6. dismountable hinge
7. middle supporting wheel systems
1-1. stepper motor 1-2. motor leading screw seat 1-3. ball screw
1-4. elastic coupling flexible coupling 1-5. fixed side bearing 1-6. support-side bearing
1-7. nut seat 1-8. stretches push rod 1-9. guide rail
1-10. magnetic bead seat 1-11. Hall switch seat 1-12. wiring bin
1-13. connecting base 1-14. Waterproof cable joint 1-15. ball nut
1-16. motor bin
2-1. planetary reduction gear stepper motor 2-2. reducing motor leading screw seat 2-3. ball screw
2-4. nut seat 2-5. support arm 2-6. support
2-7. connecting rod 2-8. magnetic bead seat 2-9. Hall switch seat
2-10. connecting base 2-11. train fixed base 2-12. reducing motor storehouse
2-13.O type rubber seal 2-14. waterproof leading screw sheath 2-15. Waterproof cable joint
3-1. circuit storehouse 3-2. connection jaws 3-3. Waterproof cable joint
3-4. switch cover 3-5. connecting base 3-6. control system
4-1. camera storehouse 4-2. train axis 4-3. central axis seat
4-4. train fixed tray 4-5. supporting arm base 4-6. support arm active base
4-7. support arm 4-8. wheel
Train axis 5-3. train fixed tray after 5-1. draw ring 5-2.
5-4. supporting arm base 5-5. support arm active base 5-6. support arm
5-7. wheel
Train axis 7-3. supporting arm base in 7-1. wiring bin 7-2.
7-4. support arm active base 7-5. support arm 7-6. wheel
7-7. connecting base 7-8. Waterproof cable joint 7-9. spring
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Figure 1, Telescopic pipeline robot device of the present invention comprises extending means 1, lockable mechanism 2, robot main cabin body 3, front support train 4, rear support train 5, middle supporting wheel systems 7 and dismountable hinge 6.
Connected by dismountable hinge 6 between extending means 1, lockable mechanism 2, be bolted between extending means 1, middle supporting wheel systems 7, connected by dismountable hinge 6 between middle supporting wheel systems 7, robot main cabin body 3, connected by dismountable hinge 6 between lockable mechanism 2, robot main cabin body 3, dismountable hinge 6 can flexible rotating, thus make robot smoothly by crooked pipeline, and be convenient to the storage and maintenance of robot; Between front support train 4 and lockable mechanism 2, be all threaded connection between rear support train 4 and lockable mechanism 2.
As shown in Figure 2, extending means 1 comprises stepper motor 1-1, motor leading screw seat 1-2, ball screw 1-3, elastic coupling flexible coupling 1-4, fixed side bearing 1-5, support-side bearing 1-6, nut seat 1-7, flexible push rod 1-8, guide rail 1-9, magnetic bead seat 1-10, Hall switch seat 1-11, wiring bin 1-12, connecting base 1-13, Waterproof cable joint 1-14, ball nut 1-15, motor bin 1-16;
Stepper motor 1-1 is as driver part, and stepper motor 1-1 adopts and is bolted on motor leading screw seat 1-2;
Ball screw 1-3 one end connects the output shaft of stepper motor 1-1 by elastic coupling flexible coupling 1-4, ball screw 1-3 adopts the mounting type of fixing-support, fixed side is fixed side bearing 1-5, support-side is support-side bearing 1-6, and fixed side bearing 1-5 is fixed by screws on motor leading screw seat 1-2;
Ball screw 1-3 is provided with ball nut 1-15, and nut seat 1-7 and ball nut 1-15 is bolted;
Extending means is provided with two guide rail 1-9, and guide rail 1-9 one end is through nut seat 1-7, and be threaded connection motor leading screw seat 1-2, the other end is fixedly connected with the bearing support of support-side bearing 1-6 by screw;
Extending means is provided with two flexible push rod 1-8, and flexible push rod 1-8 one end is fixedly connected with nut seat 1-7, and the other end passes the bearing support of support-side bearing 1-6 and is fixedly connected with wiring bin 1-12 by screw;
Magnetic bead seat 1-10 is fixed on nut seat 1-7, and Hall switch seat 1-11 is fixed on the bearing support of support-side bearing 1-6, is provided with Hall switch above Hall switch seat 1-11, magnetic bead seat 1-10 and the corresponding setting of Hall switch seat 1-11;
Wiring bin 1-12 is provided with Waterproof cable joint 1-14, reaches the object of waterproof sealing, and the cable that Waterproof cable joint 1-14 picks out is for the connection of Hall switch seat 1-11, lockable mechanism 2 and robot main cabin body 3 controlling system 3-6;
Wiring bin 1-12 is also provided with connecting base 1-13, connects dismountable hinge 6 by connecting pin, the other end of dismountable hinge 6 connects lockable mechanism 2;
Motor leading screw seat 1-2 has been threaded connection motor bin 1-16, and motor bin 1-16 is provided with tapped hole, for fixing middle supporting wheel systems 7.
The convert rotational motion of stepper motor 1-1 is moving axially of ball nut 1-15 and nut seat 1-7 by ball screw 1-3, and nut seat 1-7 drives flexible push rod 1-8, and extending means 1 can complete expanding-contracting action.Magnetic bead seat 1-10 matches with Hall switch seat 1-11, constitutes contactless position-limit mechanism, prevents expanding-contracting action from exceeding safety travel.
By the elongation of extending means with shrink the advance or the retrogressing that realize pipeline robot.Connecting pipe pipeline robot is to the requirement of the performances such as caliber Applicable scope, the speed of travel, tractive force, and extending means adopts the driving mode of motor leading screw.
The present invention is provided with the identical two cover lockable mechanisms 2 of structure, as shown in Figure 3, lockable mechanism 2 comprises planetary reduction gear stepper motor 2-1, reducing motor leading screw seat 2-2, ball screw 2-3, nut seat 2-4, support arm 2-5, support 2-6, connecting rod 2-7, magnetic bead seat 2-8, Hall switch seat 2-9, connecting base 2-10, train fixed base 2-11, reducing motor storehouse 2-12.
Planetary reduction gear stepper motor 2-1 is as driver part, and planetary reduction gear stepper motor 2-1 is bolted on reducing motor leading screw seat 2-2;
Ball screw 2-3 one end is connected by the output shaft of elastic coupling flexible coupling with planetary reduction gear stepper motor 2-1, and the other end is fixedly connected with train fixed base 2-11;
Nut seat 2-4 is provided with 3 support arm holders symmetrical in 120 ° of circumferences, and train fixed base 2-11 is also provided with 3 support arm holders symmetrical in 120 ° of circumferences;
Support arm 2-5 comprises two struts, two struts are connected by movable axis, movable axis is through support 2-6, support arm holders on one end attaching nut's seat 2-4 of a strut, one end of another strut connects the support arm holders of train fixed base 2-11, is provided with 3 support arm 2-5 in the present invention, connects 3 support arm holders respectively, support arm 2-5 can realize opening and contraction
Support 2-6 is provided with rubber antiskid pad, increasing the frictional force between support 2-6 and inner-walls of duct, being provided with miniature load cell, for detecting support 2-6 to applied pressure between inner-walls of duct in one of them support 2-6.Support arm 2-6 can arrange different size according to caliber, makes it adapt to the pipeline of different tube diameters.
Connecting rod 2-7 is through nut seat 2-4, and one end is fixedly connected with reducing motor leading screw seat 2-2, and the other end is fixedly connected with train fixed base 2-11, connecting rod 2-7 for increasing system strength,
Magnetic bead seat 2-8 is fixed on connecting rod 2-7 by Cock screw, and Hall switch seat 2-9 is fixed by screws on nut seat 2-4, and corresponding setting, magnetic bead seat 2-8 and Hall switch seat 2-9 forms contactless position-limit mechanism.
Front support train 4 and rear support train 5 are all fixed on 2-11 train fixed base by screw thread.
Reducing motor storehouse 2-12 is fixedly connected with reducing motor leading screw seat 2-2 by screw thread, and reducing motor storehouse 2-12 is provided with connecting base 2-10, connects dismountable hinge 6 by connecting pin, and the other end of dismountable hinge 6 connects extending means 1;
Connecting base 2-10 is provided with Waterproof cable joint, reaches the object of waterproof sealing, and Waterproof cable joint is for connecting the control system 3-6 arranged in robot main cabin body 3;
The convert rotational motion of planetary reduction gear stepper motor 2-1 is moving axially of nut seat 2-4 by ball screw 2-3, nut seat 2-4 drives support arm 2-5 to open and contraction, when support arm 2-5 opens, support 2-6 just can press inner-walls of duct, thus locking robot.
For the feature of telescopic walking manner, Robot Design has the identical lockable mechanism of two nested structures to realize the bidirectional walking of robot.When lockable mechanism presses inner-walls of duct, robot can not unrestricted motion; When lockable mechanism shrinks, robot can move forward and backward under the effect of extending means.Lockable mechanism is provided with miniature load cell, for measuring robots whether secure ratcs.
Cabin as main in Tu4Shi robot body 3 structural representation, comprises circuit storehouse 3-1, connection jaws 3-2, Waterproof cable joint 3-3, switch cover 3-4, connecting base 3-5, control system 3-6;
Control system 3-6 is positioned at circuit storehouse 3-1, and connection jaws 3-2 and circuit storehouse 3-1 is threaded connection, and connection jaws 3-2 is provided with Waterproof cable joint 3-3.Switch cover 3-4 is connected with connection jaws 3-2 by screw thread, and inside is provided with robot main switch.Body 3 two ends, robot main cabin have been threaded connection connecting base 3-5, can connect dismountable hinge 6 by connecting pin, and by connecting base 3-5 and dismountable hinge 6, one end of robot main cabin body 3 is connected with lockable mechanism 2, and the other end is connected with middle supporting wheel systems 7.
Robot main cabin body 3 has good waterproof sealing performance.
As the schematic diagram that Figure 10 is control system 3-6 of the present invention, in order to make this pipeline robot reliable, be designed with the robot control system based on DSP.According to design needs, control system 3-6 comprises power module, DSP+CPLD module, external sensor, inertial navigation module, motor drive module, video module, communication module;
Power module is that pipeline robot is powered, and comprises other component such as control system 3-6 and motor, and power module adopts external dc power to be that robot powers by cable.
In DSP+CPLD module, DSP is the core of pipeline robot control system, and DSP adopts TMS320F28335 high-performance digital signal processor, realizes the functions such as Electric Machine Control, data acquisition and procession, upper and lower computer communication.CPLD adopts XC9572XL chip, for auxiliary DSP work, provides the control signals such as position limitation protection.
Control system 3-6 is provided with external sensor, comprises Hall switch, miniature load cell, odometer and water-proof CCD camera.Existing Telescopic pipeline robot device can not detect its lockable mechanism whether secure ratcs mostly automatically, in order to overcome this defect, the present invention is provided with miniature load cell in the support 2-6 of lockable mechanism 2, when only having load cell to detect that robot support is greater than predetermined threshold to tube wall applied pressure, the machine talent carries out expanding-contracting action, thus prevents robot to meet accident in large inclined angle pipeline slip.Extending means of the present invention 1 and lockable mechanism 2 are all designed with the contactless position-limit mechanism that Hall switch and magnetic bead are formed, this contactless position-limit mechanism principle is simple and reliable, antijamming capability is strong, avoids the damage that motor stalling may cause contact-type position-limit mechanism not in time.Mileage counts the mileage information that navigation module provides robot.Water-proof CCD camera provides the video image of pipe under test inside.
Inertial navigation module is used for Real-time Obtaining Telescopic pipeline robot device's exact posture and position, exports DSP+CPLD module to, obtains the three-dimensional coordinate of underground utility.
Motor drive module adopts special stepper motor driver chip THB6064AH to be that each mechanism stepper motor (stepper motor 1-1 and planetary reduction gear stepper motor 2-1) provides reliable drive singal.This chip receives the motor control signal such as velocity pulse, clockwise and anticlockwise, segmentation that DSP+CPLD module sends, for stepper motor provides corresponding drive singal.In order to prevent motor drive module from producing interference to control system, each control signal all uses optocoupler to isolate.
Video transmission module exports the video image of camera collection to upper-position unit, and the video signal of existing robot is transmitted usually through concentric cable, ethernet line or wireless technology.Because underground utility are buried in underground, and pipe interior circumstance complication, wireless technology is not suitable for this occasion.If concentric cable or ethernet line do not increase relay method, signal transmission decay is comparatively large, cannot long range propagation video.In order to overcome above-mentioned shortcoming, the present invention adopts twisted-pair cable video transmission module to complete the transmission of video signal, and this means transmission distance can reach 900 meters, and cost is far below media such as optical fiber, and antijamming capability is strong.
Communication module realizes real-time communication and the control of pipeline robot and master system.Communication module of the present invention adopts DC carrier wave communication technology, this mechanics of communication is by Signal averaging on DC electric wire, and compared with RS232 or RS485 communications protocol, its propagation length is far away, transmission data accuracy is high, and can complete long distance transmit without the need to special communication cable.Direct current carrier circuit forms primarily of network interface controller P485, power amplifier P111 and other accessory circuits.
If Fig. 5 is front support train 4 structural representation, front support train 4 comprises camera storehouse 4-1, train axis 4-2, central axis seat 4-3, train fixed tray 4-4, supporting arm base 4-5, support arm active base 4-6, support arm 4-7, wheel 4-8,
Front support train 4 front end is provided with camera storehouse 4-1, and inside is provided with water-proof CCD camera, in order to ensure robot video signal in normal acquisition pipe in rugged environment, have employed the Underwater Camera possessing IP68 security level, and being furnished with camera head protecting cabin.
Train axis 4-2 is fixedly connected with central axis seat 4-3 by screw thread, and central axis seat 4-3 is connected with train fixed tray 4-4 by screw.Train fixed tray 4-4 is provided with screw thread, for being connected with the train fixed base 2-11 of lockable mechanism 2.
Train axis 4-2 front end is connected with supporting arm base 4-5.
Support arm active base 4-6 internal fixtion has linear bearing, and train axis 4-2 is through linear bearing, and support arm active base 4-6 can move axially on train axis 4-2 surface.
Supporting arm base 4-5 and support arm active base 4-6 is equipped with 3 support arm axis holes, and the support arm 4-7 of 3 120 ° circumference symmetries is arranged on both respectively by coupling shaft.
The intermediate connections of support arm 4-7 is provided with wheel 4-8 by bearing.
The spring 4-9 having swing bolt to connect between supporting arm base 4-5 and support arm active base 4-6.Under the effect of spring 4-9, support arm 4-7 opens, and makes wheel 4-8 press inner-walls of duct, and when by crooked pipeline, spring 4-9 can stretch, and support arm 4-7 is shunk, and the expanded diameter of wheel 4-8 diminishes, and robot just can pass through crooked pipeline smoothly.
Be illustrated in figure 6 the structural representation of rear support train 5, its general structure and front support train 4 similar.Comprise draw ring 5-1, rear train axis 5-2, train fixed tray 5-3, supporting arm base 5-4, support arm active base 5-5, support arm 5-6, wheel 5-7,
Train axis 5-2 one end after draw ring 5-1 is fixing by screw thread, the rear train axis 5-2 the other end is fixed on train fixed tray 5-3.
Train fixed tray 5-3 is provided with screw thread, for being connected with the train fixed base 2-11 of lockable mechanism 2.
Supporting arm base 5-4 is fixed by screws on train fixed tray 5-3,
Be provided with linear bearing in support arm active base 5-5, rear train axis 5-2 is through linear bearing, and support arm active base 5-5 can move axially on rear train axis 5-2.
Supporting arm base 5-4 and support arm active base 5-5 is equipped with 3 support arm axis holes, and the symmetrical support arm 5-6 of 3 120 ° of circumferences is arranged on both respectively by coupling shaft.
The intermediate connections of support arm 5-6 is provided with wheel 5-7 by bearing.
The spring 5-8 having swing bolt to connect between supporting arm base 5-4 and support arm active base 5-5.Under the effect of spring 5-8, support arm 5-6 opens, and makes wheel 5-7 press inner-walls of duct, and when by crooked pipeline, spring 5-8 can stretch, and support arm 5-6 is shunk, and the expanded diameter of wheel 5-7 diminishes, and robot just can pass through crooked pipeline smoothly.
Be illustrated in figure 7 the structural representation of middle supporting wheel systems 7, comprise wiring bin 7-1, middle train axis 7-2, supporting arm base 7-3, support arm active base 7-4, support arm 7-5, wheel 7-6, connecting base 7-7, Waterproof cable joint 7-8, spring 7-9.
Wiring bin 7-1 is fixed on middle train axis 7-2 one end by screw thread, and the middle train axis 7-2 the other end is fixed on supporting arm base 7-3.Middle train axis 7-2 is hollow structure, and the control cables of control system 3-6 can extend there through.
Supporting arm base 7-3 is provided with tapped hole, for being connected with the motor bin 1-16 of extending means 1.
Be provided with linear bearing in support arm active base 7-4, middle train axis 7-2 is through linear bearing, and support arm active base 7-4 can move axially on middle train axis 7-2.
Supporting arm base 7-3 and support arm active base 7-4 is equipped with 3 support arm axis holes, and the symmetrical support arm 7-5 of 3 120 ° of circumferences is arranged on both respectively by coupling shaft.
The intermediate connections of support arm 7-5 is provided with wheel 7-6 by bearing.
The spring 7-9 having swing bolt to connect between supporting arm base 7-3 and support arm active base 7-4.Under the effect of spring 7-9, support arm 7-5 opens, and makes wheel 7-6 press inner-walls of duct, and when by crooked pipeline, spring 7-9 can stretch, and support arm 7-5 is shunk, and the expanded diameter of wheel 7-6 diminishes, and robot just can pass through crooked pipeline smoothly.
Wiring bin 7-1 is installed with connecting base 7-7, connects dismountable hinge 6 by connecting pin, and the other end of dismountable hinge 6 connects robot main cabin body 3.Connecting base 7-7 is installed with Waterproof cable joint 7-8, is connected for the cable between control system 3-6 with stepper motor 1-1.
Front support train 4, middle supporting wheel systems 7 and rear support train 5 form the supporting wheel system of robot.When lockable mechanism unlocks, supporting wheel systems supports robot, and robot stable movement, reduce surface friction drag.
In order to overcome the defect of existing pipeline robot waterproof sealing performance difference, this pipeline robot has fabulous water-proof performance, the IP68 security level that International Electronical Commission (IEC) is recommended is followed in its design, this security level can prevent dust from entering robot main cabin body completely, and Neng Shi robot soaks for a long time under a certain pressure and can normally use.In order to realize the security level of IP68, the present invention devises a set of waterproof sealing measure, and as shown in Figure 7, motor leading screw seat 1-2 interface adopts 55 ° of sealed pipe screw threads to the waterproofing design of extending means 1, and adds O type rubber seal 1-17 at screw mouth.Motor leading screw seat 1-2 and nut seat 1-7, add waterproof leading screw sheath 1-18 between nut seat 1-7 and wiring bin 1-12, waterproof leading screw sheath 1-18 uses flange plate to be connected with said mechanism.The cable connection mouth of extending means 1 all uses Waterproof cable joint 1-14 to protect.At the jointing of Waterproof cable joint 1-14, waterproof leading screw sheath 1-18, waterproof casting glue is all used to carry out seal protection.
As shown in Figure 9, the interface thread of reducing motor storehouse 2-12 adopts 55 ° of sealed pipe screw threads to the waterproofing design of lockable mechanism 2, and adds O type rubber seal 2-13 at screw mouth.Add waterproof leading screw sheath 2-14 between reducing motor leading screw seat 2-2 and nut seat 2-4, nut seat 2-4 and train fixed base 2-11, waterproof leading screw sheath 2-14 uses flange plate to be connected with said mechanism.The cable connection mouth of lockable mechanism 2 all uses Waterproof cable joint 2-15 to protect.At the jointing of waterproof leading screw sheath 2-14, Waterproof cable joint 2-15, waterproof casting glue is all used to carry out seal protection.
Walking principle of the present invention:
1. this pipeline robot is placed on entrance place, robot performs initialization procedure;
2. the planetary reduction gear stepper motor 2-1 in rear end lockable mechanism 2 rotates forward, 3 support arm 2-5 are driven to open by ball screw 2-3 and nut seat 2-7, support 2-6 is made to press inner-walls of duct, when the miniature load cell detection 2-6 support in support 2-6 exceedes predetermined value to tube wall applied pressure, rear end lockable mechanism 2 i.e. positive lock.The 2-1 planetary reduction gear stepper motor of front end lockable mechanism 2 rotates backward simultaneously, 3 2-5 support arms are driven to shrink by 2-3 ball screw and 2-7 nut seat, 2-6 is supported away from inner-walls of duct, when the Hall switch in 2-9 Hall switch seat experiences that in 2-8 magnetic bead seat, little magnetic bead magnetic field exceedes threshold value, send spacing control signal, 2-1 planetary reduction gear step motor stop, front end lockable mechanism 2 latch-release;
3. the 1-1 stepper motor in extending means 1 rotates forward, promote 1-8 by 1-3 ball screw and 1-7 nut seat to stretch push rod, thus promotion robot front end moves forward, when the position-limit mechanism that 1-11 magnetic bead seat and 1-12 Hall switch seat are formed sends spacing control signal, 1-1 step motor stop, extending means 1 action stops;
4. the 2-6 support of front end lockable mechanism 2 applies pressure to tube wall, when control mechanism detect meet locking condition time, front end lockable mechanism 2 has locked; The 2-6 support of rear end lockable mechanism 2 is away from tube wall simultaneously, rear end lockable mechanism 2 latch-release;
5. the 1-1 stepper motor in extending means 1 rotates backward, 1-8 is pulled to stretch push rod by 1-3 ball screw and 1-7 nut seat, thus band mobile robot rear end moves forward, when the position-limit mechanism that 1-11 magnetic bead seat and 1-12 Hall switch seat are formed sends spacing control signal, 1-1 step motor stop, extending means 1 action stops;
The several step of above-mentioned 2-5 is a basic expanding-contracting action, and robot carries out multiple expanding-contracting action, can realize moving forward along tube wall.
As shown in figure 11, be the secure ratcs decision flow chart of robot control system 3-6 to lockable mechanism 2, prevent lockable mechanism 2 from can not the accident of robot be caused to slide by positive lock.The DSP control lockable mechanism of control system 3-6 starts action, first DSP is loaded into the internal diameter of pipe under test, and according to the degree of crook of this bit of pipeline of the current place of calculating robot, robot pose angle that navigation module transmits, according to above-mentioned calculating, DSP calculates and sets the scope of support arm 2-5 opening dimension, control system controls planet decelerating step motor 2-1 startup afterwards, and after accelerating, planetary reduction gear stepping electric saw 2-1 starts uniform rotation.Whether the number of turns of rotating according to the nominal lead of ball screw pair 2-3 and planetary reduction gear stepper motor 2-1 as DSP calculates support 2-6 close to inner-walls of duct.If support 2-6 is not yet close to inner-walls of duct, planetary reduction gear stepper motor 2-1 continues uniform rotation.If support 2-6 is close to inner-walls of duct, planetary reduction gear stepper motor 2-1 reduces speed now rotation, DSP starts to carry out AD conversion simultaneously, the delivery pressure value of the miniature load cell in continuous monitoring support 2-6, when this force value reaches predetermined threshold value, think lockable mechanism 2 secure ratcs, DSP sends motor stalling signal, CPLD receives this signal, and controls planet decelerating step motor 2-1 stall.
If Figure 12 is contactless position-limit mechanism schematic diagram of the present invention.In order to prevent robot extending means 1, lockable mechanism 2 action exceeds safety margin, and the present invention is designed with the contactless position-limit mechanism based on Hall switch.Hall switch is arranged in Hall switch seat 1-11,2-9, is provided with little magnetic bead in magnetic bead seat 1-10,2-8.Hall switch can experience the magnetic field around device, if when the magnetic field around Hall switch reaches its threshold value, becomes and sends low level signal.Hall switch moves axially along with the nut seat shown in Figure 12 on ball screw, when reaching safety margin, Hall switch detects the magnetic field of little magnetic bead, spacing control signal is sent to the CPLD chip in control system 3-6, CPLD sends motor stalling signal to DSP, send control signal to motor drive ic simultaneously, control motor stalling.
Claims (6)
1. Telescopic pipeline robot device comprises extending means, lockable mechanism, robot main cabin body, front support train, rear support train, middle supporting wheel systems and dismountable hinge;
Connected by dismountable hinge between extending means, lockable mechanism, be bolted between extending means, middle supporting wheel systems, connected by dismountable hinge between middle supporting wheel systems, robot main cabin body, connected by dismountable hinge between lockable mechanism, robot main cabin body, between front support train and lockable mechanism, be all threaded connection between rear support train and lockable mechanism;
Extending means comprises stepper motor, motor leading screw seat, ball screw, elastic coupling flexible coupling, fixed side bearing, support-side bearing, nut seat, flexible push rod, guide rail, magnetic bead seat, Hall switch seat, wiring bin, connecting base, Waterproof cable joint, ball nut, motor bin; Stepper motor is fixed on motor leading screw seat; Ball screw one end connects the output shaft of stepper motor by elastic coupling flexible coupling, and ball screw adopts the mounting type of fixing-support, and fixed side is fixed side bearing, and support-side is support-side bearing, and fixed side bearing is fixed by screws on motor leading screw seat; Ball screw is provided with ball nut, and nut seat is connected with ball nut; Extending means is provided with two guide rails, and guide rail one end is through nut seat, and be threaded connection motor leading screw seat, the other end is fixedly connected with the bearing support of support-side bearing by screw; Extending means is provided with two flexible push rods, and flexible push rod one end is fixedly connected with nut seat, and the other end passes the bearing support of support-side bearing and is fixedly connected with wiring bin by screw; Magnetic bead seat is fixed on nut seat, and Hall switch seat is fixed on the bearing support of support-side bearing, is provided with Hall switch above Hall switch seat, the setting corresponding with Hall switch seat of magnetic bead seat; Wiring bin is provided with Waterproof cable joint, and the cable that Waterproof cable joint picks out is for the connection of Hall switch seat, lockable mechanism and robot main cabin body controlling system; Wiring bin is also provided with connecting base, connects dismountable hinge by connecting pin, the other end of dismountable hinge connects lockable mechanism; Motor leading screw seat is connected with motor bin, and motor bin is provided with tapped hole, for fixing middle supporting wheel systems;
The present invention is provided with the identical two cover lockable mechanisms of structure, and lockable mechanism comprises planetary reduction gear stepper motor, reducing motor leading screw seat, ball screw, nut seat, support arm, support, connecting rod, magnetic bead seat, Hall switch seat, connecting base, train fixed base, reducing motor storehouse; Planetary reduction gear stepper motor is bolted on reducing motor leading screw seat; Ball screw one end is connected by the output shaft of elastic coupling flexible coupling with planetary reduction gear stepper motor, and the other end is fixedly connected with train fixed base; Nut seat is provided with 3 support arm holders symmetrical in 120 ° of circumferences, and train fixed base is also provided with 3 support arm holders symmetrical in 120 ° of circumferences; Support arm comprises two struts, two struts are connected by movable axis, movable axis is through support, support arm holders on one end attaching nut's seat of a strut, one end of another strut connects the support arm holders of train fixed base, and 3 support arms connect 3 support arm holders respectively, and support is provided with rubber antiskid pad, in one of them support, miniature load cell is installed, for detecting support to applied pressure between inner-walls of duct; Connecting rod is through nut seat, one end is fixedly connected with reducing motor leading screw seat, the other end is fixedly connected with train fixed base, magnetic bead seat is fixed on connecting rod by Cock screw, Hall switch seat is fixed by screws on nut seat, corresponding setting, front support train and rear support train are all fixed on train fixed base by screw thread; Reducing motor storehouse is fixedly connected with reducing motor leading screw seat by screw thread, and reducing motor storehouse is provided with connecting base, connects dismountable hinge by connecting pin, and the other end of dismountable hinge connects extending means; Connecting base is provided with Waterproof cable joint, for connecting the control system arranged in robot main cabin body;
Robot main cabin body comprises circuit storehouse, connection jaws, Waterproof cable joint, switch cover, connecting base, control system; Control system is positioned at circuit storehouse, and connection jaws and circuit storehouse are threaded connection, and connection jaws is provided with Waterproof cable joint; Switch cover is connected with connection jaws by screw thread, and inside is provided with robot main switch; Body two ends, robot main cabin have been threaded connection connecting base, can connect dismountable hinge by connecting pin, and by connecting base and dismountable hinge, one end of robot main cabin body is connected with lockable mechanism, and the other end is connected with middle supporting wheel systems; Control system comprises power module, DSP+CPLD module, external sensor, inertial navigation module, motor drive module, video module, communication module; Power module is that pipeline robot is powered, and in DSP+CPLD module, DSP realizes Electric Machine Control, data acquisition and procession, upper and lower computer communication function; CPLD is used for auxiliary DSP work, provides position limitation protection control signal; Inertial navigation module is used for Real-time Obtaining Telescopic pipeline robot device's exact posture and position, exports DSP+CPLD module to, obtains the three-dimensional coordinate of underground utility; Motor drive module provides drive singal for each mechanism stepper motor; Video transmission module exports the video image of camera collection to upper-position unit; Communication module realizes real-time communication and the control of pipeline robot and master system;
Front support train comprises camera storehouse, train axis, central axis seat, train fixed tray, supporting arm base, support arm active base, support arm, wheel, front support train front end is provided with camera storehouse, inside is provided with water-proof CCD camera, train axis is fixedly connected with central axis seat, and central axis seat is connected with train fixed tray; Train fixed tray is provided with screw thread, for being connected with the train fixed base of lockable mechanism; Train axis front end is connected with supporting arm base; Support arm active base internal fixtion has linear bearing, and train axis is through linear bearing, and support arm active base can move axially on train axis surface; Supporting arm base and support arm active base are equipped with 3 support arm axis holes, and the support arm of 3 120 ° circumference symmetries is arranged on both by coupling shaft respectively; The intermediate connections of support arm is provided with wheel by bearing; The spring having swing bolt to connect between supporting arm base and support arm active base;
Rear support train comprises draw ring, rear train axis, train fixed tray, supporting arm base, support arm active base, support arm, wheel, train axis one end after draw ring is fixing by screw thread, and the rear train axis the other end is fixed on train fixed tray; Train fixed tray is provided with screw thread, for being connected with the train fixed base of lockable mechanism; Supporting arm base is fixed by screws on train fixed tray, is provided with linear bearing in support arm active base, and rear train axis is through linear bearing, and support arm active base can move axially on rear train axis; Supporting arm base and support arm active base are equipped with 3 support arm axis holes, and the symmetrical support arm of 3 120 ° of circumferences is arranged on both by coupling shaft respectively; The intermediate connections of support arm is provided with wheel by bearing; The spring having swing bolt to connect between supporting arm base and support arm active base;
Middle supporting wheel systems comprises wiring bin, middle train axis, supporting arm base, support arm active base, support arm, wheel, connecting base, Waterproof cable joint, spring; Wiring bin is fixed on middle train axis one end by screw thread, and the middle train axis the other end is fixed on supporting arm base; Middle train axis is hollow structure, and the control cables of control system extends there through; Supporting arm base is provided with tapped hole, for being connected with the motor bin of extending means; Be provided with linear bearing in support arm active base, middle train axis is through linear bearing, and support arm active base can move axially on middle train axis; Supporting arm base and support arm active base are equipped with 3 support arm axis holes, and the symmetrical support arm of 3 120 ° of circumferences is arranged on both by coupling shaft respectively; The intermediate connections of support arm is provided with wheel by bearing; The spring having swing bolt to connect between supporting arm base and support arm active base; Wiring bin is installed with connecting base, connects dismountable hinge by connecting pin, and the other end of dismountable hinge connects robot main cabin body; Connecting base is installed with Waterproof cable joint, is connected for the cable between control system with stepper motor.
2. Telescopic pipeline robot device according to claim 1, described video transmission module adopts twisted-pair cable video transmission technology.
3. Telescopic pipeline robot device according to claim 1, in described extending means, motor leading screw seated connection mouth adopts 55 ° of sealed pipe screw threads, and adds O type rubber seal at screw mouth; Motor leading screw seat and nut seat, add waterproof leading screw sheath between nut seat and wiring bin, waterproof leading screw sheath uses flange plate to be connected with said mechanism; The cable connection mouth of extending means all uses Waterproof cable joint to protect; At the jointing of Waterproof cable joint, waterproof leading screw sheath, waterproof casting glue is all used to carry out seal protection.
4. Telescopic pipeline robot device according to claim 1, in described lockable mechanism, the interface thread in reducing motor storehouse adopts 55 ° of sealed pipe screw threads, and adds O type rubber seal at screw mouth; Reducing motor leading screw seat and nut seat, add waterproof leading screw sheath between nut seat and train fixed base, waterproof leading screw sheath uses flange plate to be connected with said mechanism; The cable connection mouth of lockable mechanism all uses Waterproof cable joint to protect; At the jointing of waterproof leading screw sheath, Waterproof cable joint, waterproof casting glue is all used to carry out seal protection.
5. Telescopic pipeline robot device according to claim 1, described communication module adopts DC carrier wave communication technology.
6. Telescopic pipeline robot device according to claim 1, in described extending means and lockable mechanism, is equipped with Hall element, contactless position-limit mechanism that magnetic bead is formed.
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| CN106979433A (en) * | 2017-04-24 | 2017-07-25 | 江南大学 | A kind of screw-pushing type pipe robot |
| CN107191738A (en) * | 2016-03-15 | 2017-09-22 | 中国科学院沈阳自动化研究所 | Video detecting device in a kind of pipeline |
| CN107191737A (en) * | 2016-03-15 | 2017-09-22 | 中国科学院沈阳自动化研究所 | Adaptive motion detection device in a kind of pipeline |
| CN108303086A (en) * | 2018-02-09 | 2018-07-20 | 北京零偏科技有限责任公司 | A kind of underground utilities inertial positioning instrument built in odometer |
| CN108533881A (en) * | 2018-06-20 | 2018-09-14 | 深圳供电局有限公司 | Underground pipeline surveying and mapping robot |
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| CN109373203B (en) * | 2018-11-22 | 2020-06-26 | 乐至海天水务有限公司 | Intelligent water supply pipe quality detection method |
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| CN110173606A (en) * | 2019-05-22 | 2019-08-27 | 西安理工大学 | A kind of driving device of pipe robot |
| CN110524578A (en) * | 2019-08-22 | 2019-12-03 | 南通大学 | A kind of automatic locking device for photovoltaic module sweeping robot ferry bus |
| CN110524578B (en) * | 2019-08-22 | 2022-04-05 | 南通大学 | Automatic locking device for ferry vehicle with photovoltaic module cleaning robot |
| CN112413285A (en) * | 2020-11-30 | 2021-02-26 | 华南理工大学 | Pipeline obstacle clearing robot |
| CN112413285B (en) * | 2020-11-30 | 2024-04-09 | 华南理工大学 | Pipeline obstacle clearance robot |
| CN113617756A (en) * | 2021-07-12 | 2021-11-09 | 杭州电子科技大学 | Magnetic drive soft robot for cleaning pipeline and working method thereof |
| CN114113928A (en) * | 2021-11-11 | 2022-03-01 | 国网江苏省电力有限公司检修分公司 | Detect portable unmanned aerial vehicle carry device of zero value insulator |
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| CN115415996A (en) * | 2022-08-04 | 2022-12-02 | 广东蚂蚁工场制造有限公司 | Telescopic mechanism design of TIR robot |
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