CN108278440B - Pipeline robot maximum curvature steering mechanism and steering method - Google Patents
Pipeline robot maximum curvature steering mechanism and steering method Download PDFInfo
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- CN108278440B CN108278440B CN201711361543.6A CN201711361543A CN108278440B CN 108278440 B CN108278440 B CN 108278440B CN 201711361543 A CN201711361543 A CN 201711361543A CN 108278440 B CN108278440 B CN 108278440B
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- machine body
- body assembly
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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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
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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
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pipeline robot maximum curvature steering mechanism and a steering method, wherein the steering mechanism comprises a front machine body assembly, a propelling assembly and a rear machine body assembly; the propelling component is arranged between the front machine body component and the rear machine body component; the front machine body assembly comprises elastic supporting wheel legs, telescopic steering wheel legs and a shell, wherein the elastic supporting wheel legs comprise supporting wheels, springs and sliding sleeves; the supporting wheel is elastically connected with the sliding sleeve in a sliding manner through a spring; the telescopic steering wheel leg comprises a left pressing wheel, a right pressing wheel, a left driving motor, a right driving motor and a double-push-rod cylinder; the left pressing wheel is connected with an output shaft of the left driving motor, and the right pressing wheel is connected with an output shaft of the right driving motor; two piston rods of the double-push-rod cylinder are respectively connected with the driving motor and the tail end of the driving motor; the mechanism and the steering method are based on the coordination of the telescopic slewing mechanism, the zero-curvature-radius steering of the robot in the pipe is realized, the adaptability of the pipeline robot to the pipeline structure is improved, and the application range of the pipeline robot is enlarged.
Description
Technical Field
The invention relates to the technical field of pipeline robot control, in particular to a pipeline robot maximum curvature steering mechanism and a steering method. The steering mechanism is suitable for steering at the position of a vertical surface elbow, and realizes right-angle steering or right-angle steering of a robot from a vertical shaft to a horizontal pipeline.
Background
In the process of pipe cleaning operation, the pipeline robot needs to enter a horizontal pipeline from a vertical shaft in order to put into pipeline work, and the pipeline robot needs to pass through an elbow with zero curvature radius, namely a right-angle elbow, and the elbow has almost no fillet transition. However, the existing pigging robot is difficult to complete zero curvature radius steering due to the self structure and driving characteristics, so that the robot is not favorable for throwing. Therefore, aiming at the problem that the pipeline robot is difficult to realize zero-curvature-radius steering, the pipeline robot suitable for zero-curvature-radius steering is developed based on the coordination effect of the telescopic slewing mechanism from the actual situation, so that a foundation is provided for realizing the pipeline cleaning with right-angle steering.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a pipeline robot maximum curvature steering mechanism and a steering method, which realize zero curvature radius steering of the robot in a pipe based on the coordination action of a telescopic slewing mechanism, improve the adaptability of the pipeline robot to a pipeline structure and enlarge the application range of the pipeline robot.
In order to achieve the purpose, the invention adopts the technical scheme that: a pipeline robot maximum curvature steering mechanism and a steering method thereof comprise a front machine body assembly, a propelling assembly and a rear machine body assembly; the propelling component is arranged between the front machine body component and the rear machine body component;
the front machine body assembly comprises elastic supporting wheel legs, telescopic steering wheel legs and a shell, wherein the elastic supporting wheel legs comprise supporting wheels, springs and sliding sleeves; the supporting wheel is elastically connected with the sliding sleeve in a sliding manner through a spring; the telescopic steering wheel legs comprise a left pressing wheel, a right pressing wheel, a left driving motor, a right driving motor and a double-push-rod cylinder; the left pressing wheel is connected with an output shaft of the left driving motor, and the right pressing wheel is connected with an output shaft of the right driving motor; two piston rods of the double-push-rod cylinder are respectively connected with the tail ends of the left driving motor and the right driving motor;
the propelling component comprises a single push rod cylinder; the piston rod of the single push rod cylinder is connected with the front machine body assembly, and the cylinder body of the single push rod cylinder is connected with the rear machine body assembly to drive the front machine body assembly and the rear machine body assembly to do telescopic motion.
The propelling assembly comprises a double-push-rod cylinder, a front piston rod of the double-push-rod cylinder is connected with the front machine body assembly, and a rear piston rod of the double-push-rod cylinder is connected with the rear machine body assembly to drive the front machine body assembly and the rear machine body assembly to do telescopic motion; the front piston rod and the rear piston rod of the double-push-rod cylinder can move independently.
The pipeline robot maximum curvature steering method is characterized in that a front machine body assembly contracts and a rear machine body assembly supports when the pipeline robot travels in a straight line, and the front machine body assembly and the rear machine body assembly axially extend to the position (b); then the front machine body component supports and the rear machine body component contracts to the position (c), and finally the front machine body component and the rear machine body component axially contract to the position (d) at the same time, and the straight movement is realized through the circular reciprocating.
A pipeline robot maximal curvature steering method comprises the steps that a pipeline robot moves to a position (b) in a straight line by creeping (a), a front machine assembly body contracts, a rear machine assembly body supports, a left driving motor and a right driving motor rotate around a central shaft of a rear machine body clockwise by 45 degrees to a position (c), a front machine body assembly extends to a position (d) axially, and then the front machine body assembly supports and the rear machine body assembly contracts; and finally, the front machine body assembly and the rear machine body assembly axially contract to the position (e), and the left driving motor and the right driving motor respectively rotate clockwise around the center of the front machine body by 45 degrees to the position (f), so that the turning over and the bending are realized.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
the coordination cooperation of two double push rod cylinders of control and a single push rod cylinder behind the pipeline robot puts into the pipeline for around organism along radial shrinkage in turn and support, the organism also can stretch out and draw back in turn along the axis direction around the while, make the robot follow the pipeline wriggling walking. When the pipeline robot meets the right-angle bent pipe in the pipe, the motor is controlled to rotate and the machine body is controlled to axially stretch, so that the turning over and bending are realized.
Through the coordination of the stretching mechanism and the steering mechanism, the robot can turn and bend in the pipe with zero curvature radius, and the method has practical engineering significance for comprehensive cleaning of the pipeline.
Drawings
The technical scheme of the invention is further explained by combining the accompanying drawings as follows:
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a side view of the present invention;
FIG. 5 is a schematic view of the construction of the resilient support leg and the telescoping steering leg of the present invention;
FIG. 6 is a block diagram of the right angle turn duct of the present invention;
FIG. 7 is a flow chart of the straight motion of the present invention (B-B cross-sectional view);
fig. 8 is a flow chart of the steering motion of the present invention (a-a cross-sectional view).
Wherein: 1. a front body assembly; 1-1, elastically supporting wheel legs; 1-1-1, a support wheel; 1-1-2, a spring; 1-1-3, sliding sleeve; 1-2, telescopic steering wheel legs; 1-2-1, a left pinch roller; 1-2-2, a left driving motor; 1-2-3, a double push rod cylinder; 1-2-4, right driving motor; 1-2-5, right pinch roller; 1-3, a shell; 2. a propulsion assembly; 3. and a rear body assembly.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
Example one
The pipe robot maximum curvature steering mechanism shown in fig. 1 comprises a front machine body assembly 1, a propelling assembly 2 and a rear machine body assembly 3; the propelling component 2 is arranged between the front machine body component 1 and the rear machine body component 3; the front machine body component 1 and the rear machine body component 3 can be designed to be symmetrical structures, and maintenance of the mechanism is facilitated.
The propulsion assembly 2 advances by reciprocating telescopic driving in a crawler-like advancing mode.
As shown in fig. 2 to 5, the front body assembly includes an elastic support wheel leg 1-1, a telescopic steering wheel leg 1-2 and a housing 1-3, the elastic support wheel leg 1-1 includes a support wheel 1-1-1, a spring 1-1-2 and a sliding sleeve 1-1-3; the supporting wheel 1-1-1 is elastically connected with the sliding sleeve 1-1-3 in a sliding manner through a spring 1-1-2; the telescopic steering wheel leg 1-2 comprises a left pinch roller 1-2-1, a right pinch roller 1-2-5, a left driving motor 1-2-2, a right driving motor 1-2-4 and a double push rod cylinder 1-2-3; the left pressure wheel 1-2-1 is connected with an output shaft of a left driving motor 1-2-2, and the right pressure wheel 1-2-5 is connected with an output shaft of a right driving motor 1-2-4; two piston rods of the double-push-rod cylinder 1-2-3 are respectively connected with the tail ends of the left driving motor 1-2-2 and the right driving motor 1-2-4; the left pinch roller 1-2-1 and the right pinch roller 1-2-5 are both hard rubber wheels, which can not only ensure certain strength requirement, but also prevent the inner wall of the pipeline from being scratched.
The left driving motor 1-2-2 and the right driving motor 1-2-4 have the function of rotating around the axis of the double-push-rod air rod 1-2-3, and can drive the front machine body assembly 1 and the rear machine body assembly 3 to rotate around the respective axes of the front machine body assembly and the rear machine body assembly as required.
The propelling component 2 comprises a single push rod cylinder; the piston rod of the single push rod cylinder is connected with the front machine body assembly 1, and the cylinder body of the single push rod cylinder is connected with the rear machine body assembly 3 to drive the front machine body assembly 1 and the rear machine body assembly 3 to do telescopic motion.
As shown in fig. 6 to 8, the pipeline robot moves linearly when moving in the pipeline, the front body 1 contracts, the rear body 3 supports, and the front and rear bodies 1 axially extend to the (b) position; then the front machine body 1 supports and the rear machine body 3 contracts to the position (c), and finally the front machine body 1 and the rear machine body 3 axially contract to the position (d) at the same time, and the straight movement is realized through the circular reciprocating.
The pipeline robot moves straight to the position (b) by creeping the (a), the front machine body 1 contracts, the rear machine body 3 supports, the left driving motor 1-2-2 and the right driving motor 1-2-4 rotate clockwise by 45 degrees around the central shaft of the rear machine body 3 to the position (c), the shaft of the front machine body 1 and the shaft of the rear machine body 1 axially extend to the position (d), and then the front machine body 1 supports, and the rear machine body 3 contracts; and finally, the front machine body 1 and the rear machine body 3 axially contract to the position (e), and the left driving motor 1-2-2 and the right driving motor 1-2-4 respectively rotate clockwise around the center of the front machine body 1 by 45 degrees to the position (f) to realize steering and bending passing.
Example two
The propelling component 2 comprises a double-push-rod cylinder, a front piston rod of the double-push-rod cylinder is connected with the front machine body component 1, and a rear piston rod of the double-push-rod cylinder is connected with the rear machine body component 3 to drive the front machine body component 1 and the rear machine body component 3 to do telescopic motion; the front piston rod and the rear piston rod of the double-push-rod cylinder can move independently. The application of the double-push-rod cylinder can greatly improve the control precision of the front machine body assembly 1 and the rear machine body assembly 3.
The above is only a specific application example of the present invention, and the protection scope of the present invention is not limited in any way. All the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.
Claims (2)
1. The pipeline robot maximum curvature steering method is based on a pipeline robot maximum curvature steering mechanism, and the mechanism comprises a front machine body assembly (1), a propelling assembly (2) and a rear machine body assembly (3); the propelling component (2) is arranged between the front machine body component (1) and the rear machine body component (3);
the front machine body assembly comprises elastic supporting wheel legs (1-1), telescopic steering wheel legs (1-2) and a machine shell (1-3), wherein the elastic supporting wheel legs (1-1) comprise supporting wheels (1-1-1), springs (1-1-2) and sliding sleeves (1-1-3); the supporting wheel (1-1-1) is elastically connected with the sliding sleeve (1-1-3) in a sliding manner through a spring (1-1-2); the telescopic steering wheel leg (1-2) comprises a left pressure wheel (1-2-1), a right pressure wheel (1-2-5), a left driving motor (1-2-2), a right driving motor (1-2-4) and a double-push-rod cylinder (1-2-3); the left pinch roller (1-2-1) is connected with an output shaft of the left driving motor (1-2-2), and the right pinch roller (1-2-5) is connected with an output shaft of the right driving motor (1-2-4); two piston rods of the double-push-rod cylinder (1-2-3) are respectively connected with the tail ends of the left driving motor (1-2-2) and the right driving motor (1-2-4);
the propelling component (2) comprises a single push rod cylinder; a piston rod of the single push rod cylinder is connected with the front machine body assembly (1), and a cylinder body of the single push rod cylinder is connected with the rear machine body assembly (3) to drive the front machine body assembly (1) and the rear machine body assembly (3) to do telescopic motion;
it is characterized in that the preparation method is characterized in that,
when the pipeline robot travels linearly, the front machine body assembly (1) contracts, the rear machine body assembly (3) supports and the front and rear machine body assemblies axially extend; then the front machine body assembly (1) supports and the rear machine body assembly (3) contracts, and finally the front machine body assembly (1) and the rear machine body assembly (3) axially contract at the same time and reciprocate circularly to realize straight movement;
the pipeline robot comprises a front machine body assembly (1), a rear machine body assembly (3), a left driving motor (1-2-2) and a right driving motor (1-2-4), wherein the front machine body assembly (1) contracts and is supported by the rear machine body assembly (3), the left driving motor (1-2-2) and the right driving motor (1-2-4) rotate around a central shaft of the rear machine body assembly (3) clockwise by 45 degrees, the front machine body assembly (1) extends axially, and then the front machine body assembly (1) supports and the; and finally, the front machine body assembly (1) and the rear machine body assembly (3) are axially contracted, and the left driving motor (1-2-2) and the right driving motor (1-2-4) respectively rotate clockwise for 45 degrees around the center of the front machine body assembly (1) to realize steering and bending.
2. The maximum curvature steering method for a pipeline robot according to claim 1, wherein: the propelling component (2) comprises a double-push-rod cylinder, a front piston rod of the double-push-rod cylinder is connected with the front machine body component (1), a rear piston rod of the double-push-rod cylinder is connected with the rear machine body component (3), and the front machine body component (1) and the rear machine body component (3) are driven to do telescopic motion; the front piston rod and the rear piston rod of the double-push-rod cylinder can move independently.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711361543.6A CN108278440B (en) | 2017-12-18 | 2017-12-18 | Pipeline robot maximum curvature steering mechanism and steering method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711361543.6A CN108278440B (en) | 2017-12-18 | 2017-12-18 | Pipeline robot maximum curvature steering mechanism and steering method |
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| Publication Number | Publication Date |
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| CN108278440A CN108278440A (en) | 2018-07-13 |
| CN108278440B true CN108278440B (en) | 2020-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711361543.6A Expired - Fee Related CN108278440B (en) | 2017-12-18 | 2017-12-18 | Pipeline robot maximum curvature steering mechanism and steering method |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7279877B2 (en) * | 2018-07-23 | 2023-05-23 | 株式会社アイビルド | Drilling device and drilling method |
| CN109282108B (en) * | 2018-09-27 | 2020-08-25 | 中国科学院合肥物质科学研究院 | Carrier robot for pipeline detection |
| CN111623192B (en) * | 2019-02-27 | 2022-05-10 | 香港理工大学 | Pipeline robot and system |
| CN112044883A (en) * | 2020-08-11 | 2020-12-08 | 肖勇强 | Pipeline dredging device |
| CN113198808B (en) * | 2021-04-27 | 2023-10-27 | 西安开顿国际工程有限公司 | Pre-buried pipe cleaning device and application method thereof |
| CN113459092A (en) * | 2021-06-18 | 2021-10-01 | 中广核研究院有限公司 | Robot and robot system |
| CN117086037B (en) * | 2023-10-17 | 2024-01-05 | 大安吉电绿氢能源有限公司 | Pipeline cleaning device |
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| CN104565674A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Hydraulic peristaltic pipeline robot traction device |
| CN106925575A (en) * | 2017-05-11 | 2017-07-07 | 中国矿业大学 | Complete strong support type list drives two-way crawling formula pipeline cleaning machine people |
| CN107270027A (en) * | 2017-05-16 | 2017-10-20 | 哈尔滨工程大学 | A kind of support wheel type pipeline detection robot of optimization |
| CN107339546A (en) * | 2017-07-17 | 2017-11-10 | 浙江金马逊机械有限公司 | A kind of self-propelled inner-walls of duct examination and repair system and repair method |
| CN206637183U (en) * | 2017-03-30 | 2017-11-14 | 燕山大学 | It is a kind of to turn to controllable tapered pipeline robot |
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2017
- 2017-12-18 CN CN201711361543.6A patent/CN108278440B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104565674A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Hydraulic peristaltic pipeline robot traction device |
| CN206637183U (en) * | 2017-03-30 | 2017-11-14 | 燕山大学 | It is a kind of to turn to controllable tapered pipeline robot |
| CN106925575A (en) * | 2017-05-11 | 2017-07-07 | 中国矿业大学 | Complete strong support type list drives two-way crawling formula pipeline cleaning machine people |
| CN107270027A (en) * | 2017-05-16 | 2017-10-20 | 哈尔滨工程大学 | A kind of support wheel type pipeline detection robot of optimization |
| CN107339546A (en) * | 2017-07-17 | 2017-11-10 | 浙江金马逊机械有限公司 | A kind of self-propelled inner-walls of duct examination and repair system and repair method |
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| CN108278440A (en) | 2018-07-13 |
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