CN109764109B - Be applied to pipeline robot's electronic type triaxial differential system - Google Patents
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Abstract
An electronic three-axle differential system for pipeline robot is composed of three identical DC motors and an electronic control system. Three direct current motors are bundled together to form a regular triangle structure, the output shafts of the three direct current motors are respectively connected with the travelling mechanisms of the three groups of pipeline robots, and each group of travelling mechanisms is provided with a driving wheel; the electronic control system consists of three groups of constant torque control systems of the direct current motor. When the pipeline robot runs in the straight pipe, the blocking force of the three driving wheels of the pipeline robot is the same, if the main magnetic flux, the armature voltage and the armature resistance of the three direct current motors are the same, the electromagnetic torque generated by the three motors is the same, and thus the rotation speeds of the three driving wheels are the same, namely, the three driving wheels do synchronous motion; when the pipeline robot runs in the bent pipe, the three driving wheels of the pipeline robot bear different resistances, so that the electromagnetic torque of the three motors is kept the same, and the three driving wheels have different rotating speeds due to different resistances, namely, differential motion is realized.
Description
Technical Field
The invention belongs to the field of pipeline robots, and particularly relates to an electronic control system with a triaxial differential motion function.
Background
The pipeline robot is an electromechanical integrated system capable of walking along the inside of a narrow pipeline, carrying one or more sensors and operating equipment and performing a series of in-pipeline operations under the control of a worker or an automatic control system. The pipeline robot can be roughly divided into medium pressure difference type, wheel type, crawler type, peristaltic type, leg type and the like according to different driving modes. The wheel type pipeline robot is widely applied due to the simple structure, high and stable walking speed. As an automobile travels on a curved road, a wheel type pipeline robot needs to solve the problem of differential motion of driving wheels when traveling in the curved road, and is a three-axis differential problem. The solution to the three axis differential problem is related to the driving mode chosen for the pipe robot: if the pipeline robot is selected to be driven intensively by a single motor, the problem is generally solved by a mechanical differential mode, such as a three-shaft differential gear train (design research [ J ] of a three-shaft differential driving unit of the pipeline robot, the 1 st period of 2008) which is invented by the national Harbin industrial university and is formed by combining four conical gear differential gears according to a certain logic relationship, and a three-shaft differential mechanism (Novel robot mechanism capable of 3D differential driving inside pipelines[A), which is invented by the Korean university and is formed by connecting two-stage cylindrical gear differential gears in series, IEEE/RSJ International conference on intelligent robot and systems, chicago, USA,2014, 1944-1949); if the pipeline robot selects a plurality of motors to drive respectively, the problem is generally solved by an electronic differential mode, the current practice is to automatically control the running rotating speed of each driving wheel by automatically controlling the output rotating speed of each motor according to an ideal motion model when the robot runs in the pipeline, so as to realize differential over-bending motion of the robot without motion interference, as described in the literature six independent wheel driving tube internal detection traction robot [ J ], mechanical engineering report, 2005 9 th. The above approaches to solve the over-curved differential driving problem have some drawbacks: although the mechanical differential mechanism has an autonomous and self-adaptive differential function, the mechanical differential mechanism has the problems of complex mechanism, huge volume, larger mechanical transmission friction loss and the like; although the electronic differential system has the advantages of simple transmission, higher transmission efficiency and the like, a series of problems that the environmental parameters of the pipeline (such as the curvature radius of the bent pipe and the like) need to be predicted in advance or judged in real time, and the control system is complex and the stability, the instantaneity and the flexibility are not ideal due to the complex environment of the pipeline and the difficult acquisition and processing of the environmental information exist.
Disclosure of Invention
In order to overcome the defects of the existing mechanical differential mechanism and electronic differential system, the invention provides a novel electronic differential system which has autonomous and self-adaptive functions based on real-time feedback of the resistance of driving wheels and is realized by implementing constant torque control on each driving motor according to the dynamic principle of rotation of a rigid body around a fixed shaft by referring to the working principle of a mechanical automobile differential mechanism.
The differential principle of a symmetrical bevel gear automotive differential can be interpreted as follows:
as shown in fig. 1, the torque output from the engine of the automobile is transmitted to the differential case H via the speed reduction and torque increase of the transmission and the final drive (gear 4', gear 5')Torque T 0 The differential case converts the torque into a driving force P 0 Acting on the planetary axle H, which in turn distributes this force equally to the left and right side gears 1', 2' via the planet wheels 3' that are hollow therearound, so that the left and right axle shafts simultaneously acquire an equal driving torqueAnd thereby drives the left and right driving wheels 6', 7' to rotate. This state exists objectively whether the vehicle is traveling straight or turning.
When the automobile is traveling straight, the left and right driving wheels 6', 7' are driven with torqueUnder the action, tangential force F is generated on the ground tL And F tR And F tL ＝F tR ＝F t At the same time, the ground reaction gives the left and right driving wheels 6', 7' a frictional resistance F fL And F fR And F fL ＝F fR ＝F f . The frictional resistance of the left and right driving wheels 6', 7' respectively pass through the left and right side gears 1', 2' and are reacted to the planetary gear "lever" 3', respectively denoted as P fL And P fR And P is fL ＝P fR ＝P f The planetary gear "lever" 3' is therefore not rotated by static balance, i.e. the differential does not act as a differential, which can be seen as a rigid body pushing the left and right driving wheels 6', 7' to move at the same speed. The dynamics equations of the left and right half shafts of the automobile can be expressed as +.>Wherein T is f Is formed by F f The converted drag torque. From the above, the dynamic torque of the left and right half shafts is the same, the moment of inertia is the same, so the angular acceleration is the same, and the initial speed is the same (simultaneous start), so the instantaneous speed is the same. The left and right half shafts are used as analysis objects, and the left and right driving wheels 6', 7' are kept when the automobile runs straight from the dynamic angleRoot cause of the same-speed motion.
When the vehicle just starts to turn left from straight running, the differential mechanism has not yet acted as a differential mechanism, and the left and right driving wheels 6', 7' still rotate at the same rotation speed. To accommodate the need (minimal energy consumption principle) for the inner (left) drive wheel 6 'to travel less than the outer (right) drive wheel 7' during cornering, the inner (left) drive wheel 6 'tends to roll while traveling in-situ with slip, while the outer (right) drive wheel 7' tends to roll while traveling with slip and mopping. The sliding and dragging of the left and right driving wheels 6', 7' will be subjected to additional resistance forces which are equal in magnitude and opposite in direction. The additional resistance is reacted to the planetary wheel "lever" 3 'to create a couple which causes the planetary wheel 3' to rotate and to be in an accelerating rotation state, i.e. the differential acts as a differential and is in a state of continuously expanding the speed difference, thereby causing the rotation speeds of the left and right driving wheels 6', 7' to be different and to be in a state of one being decelerating and the other being accelerating. When the rotation speeds of the left and right driving wheels 6', 7' reach the ideal speed (the rotation speeds of the two driving wheels are in direct proportion to the turning radius of the two driving wheels), the slip and drag phenomena disappear, the additional resistance also disappears, the planet wheel 3' turns to rotate at a constant speed, and the left and right driving wheels 6', 7' turn to walk stably at the ideal (pure rolling) speed. Also, the dynamic equations of the left and right half shafts of the process car can be expressed asAnd->As can be seen from the two formulas, when turning is started, the dynamic torques of the left and right driving wheels 6', 7' are different, the moment of inertia is the same, and the angular accelerations are different, so that the initial speeds of the left and right driving wheels 6', 7' are the same, but one of the left and right driving wheels is decelerating, and the other driving wheel is accelerating, so that the instantaneous speeds are different, and the differential motion is realized; when the turn enters an ideal state (pure rolling), the additional resistance disappears, the dynamic torque of the two is restored to be the same, the moment of inertia is the same, the angular acceleration is restored to be the same, and the left and right driving wheels 6', 7' stably run (turn) at the respective ideal speedsThe speed differential does not expand). The left half axle and the right half axle are taken as analysis objects, and the root cause of the differential motion and the maintenance of the differential motion can be realized by dynamically explaining the left driving wheel 6 'and the right driving wheel 7'.
Based on the above understanding, the invention provides a novel electronic differential system applied to a pipeline robot. It is composed of three identical DC motors (same rated parameters) and an electronic control system. Three direct current motors are bundled together to form a regular triangle structure (namely, uniformly distributed in the circumferential direction), and the output shafts of the three direct current motors are respectively connected with the travelling mechanisms of the three groups of pipeline robots; the set of electronic control system mainly comprises three sets of direct current motor constant torque control systems. When the pipeline robot runs in the straight pipe, the torque T blocked by each driving wheel of the pipeline robot L If the main magnetic flux, the armature voltage, and the armature resistance applied to the three dc motors are the same, the electromagnetic torque T generated by the three motors is equal M The same applies. According to the kinetic equation of rotation of the rigid body around the fixed axisAt this time, the dynamic torque T of the triaxial d ＝T M -T L The same, and the same moment of inertia of the three shafts, the same walking speed of the three driving wheels, namely the same-speed movement; when the pipeline robot rotates into the bent pipe to run, the three driving wheels of the pipeline robot are subjected to additional resistance moment delta T at the beginning L (by additional resistance DeltaF) t Converted) are different, the main magnetic flux of the three DC motors is kept the same, and the electromagnetic torque of the three motors is kept the same by adjusting the armature voltage or the armature resistance (additional armature resistance), at this time, the dynamic torque T of the three shafts d ＝T M -T L The rotational speeds of the three driving wheels are different due to different resistance moments (actually, different additional resistance moments), some of the three driving wheels are accelerating, some of the three driving wheels are decelerating, and the degree of acceleration or deceleration may be different. When the rotational speed of the three driving wheels reaches the ideal rotational speed (the rotational speed of each driving wheel is in direct proportion to the turning radius of each driving wheel) when the three driving wheels are excessively bent, the additional resistance (moment) disappears, the resistance (moment) of the three driving wheels is restored to be the same, the electromagnetic torque is still unchanged, and the dynamic torque T of the three shafts is obtained d ＝T M -T L The same is restored, and thus the three driving wheels will make stable (rotation speed difference does not enlarge) turning motions at the respective ideal speeds.
The invention discloses an electronic triaxial differential system applied to a pipeline robot, which comprises a frame 8, wherein 3 direct current motors 7, 3 sets of travelling mechanisms, 3 sets of auxiliary supports and 3 pre-tightening tension springs 6 are arranged on the frame 8, the travelling mechanisms are arranged at one end of the frame 8, and the auxiliary supports are arranged at the other end of the frame 8;
3 direct current motors 7 are bundled together to form a regular triangle structure, namely, the regular triangle structure is circumferentially and uniformly distributed, the output shafts of the 3 direct current motors 7 are respectively connected with 3 sets of travelling mechanisms, and the 3 sets of travelling mechanisms are also circumferentially and uniformly distributed; the travelling mechanism consists of a worm 5, a worm wheel 4, a tie rod 3, a bevel gear 2 and a driving wheel 1, wherein the worm 5 is connected with an output shaft of a direct current motor 7, the worm 5 is meshed with the worm wheel 4, the worm wheel 4 is meshed with the bevel gear 2, the bevel gear 2 is connected with the driving wheel 1, and one end of the tie rod 3 is hinged with a frame 8; the auxiliary support consists of a swing rod 9 and a travelling wheel 10, and one end of the swing rod 9 is hinged with the frame 8; the travelling mechanism and the auxiliary support are symmetrically arranged along the axis of the frame 8; the two ends of the pre-tightening tension spring 6 are respectively connected with the other end of the tie rod 3 and the other end of the swing rod 9, so that the driving wheel 1 and the travelling wheel 10 are pressed on the inner wall of the pipeline;
the 3 sets of auxiliary supports play an auxiliary supporting role, and the travelling wheels 10 on the auxiliary supports are driven wheels.
The exciting circuit of the dc motor 7 is connected in parallel to the same dc power supply, and the armature voltage and/or the armature circuit additional resistance of the dc motor 7 are adjustable.
The axis of the frame 8 is arranged along the axis of the pipe the robot walks.
The beneficial effects of the invention are as follows: compared with a mechanical differential mechanism, the mechanical structure is simple; compared with the existing electronic differential system, the system has autonomous and self-adaptive characteristics without pre-predicting or real-time judging the environmental parameters of the pipeline, so that the stability, the real-time performance and the flexibility of the system tend to be ideal.
Drawings
The patent of the invention is further described below with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the operation of a prior art mechanical automotive differential;
FIG. 2a is a front view of the pipe robot mechanism of the present invention;
FIG. 2b is a left side view of FIG. 2 a;
fig. 3 is a schematic circuit diagram of the electronic differential system of the present invention.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
As shown in FIG. 1, the electronic three-axis differential system applied to the pipeline robot is composed of 3 direct current motors 7, 3 sets of travelling mechanisms, 3 sets of auxiliary supports, 3 pre-tightening tension springs 6 and a frame 8. 3 DC motors 7 are bundled together to form a regular triangle structure (namely, uniformly distributed in the circumferential direction), and the output shafts of the DC motors are respectively connected with 3 sets of travelling mechanisms, so that the 3 sets of travelling mechanisms are uniformly distributed in the circumferential direction. Each set of 3 sets of travelling mechanisms consists of a worm 5, a worm wheel 4, a tie rod 3, a bevel gear 2 and a driving wheel 1, and one end of the tie rod 3 is hinged with a frame 8. Each set of auxiliary support of the 3 sets consists of a swinging rod 9 and a travelling wheel 10, and one end of the swinging rod 9 is hinged with the frame 8. The 3 sets of travelling mechanisms and the 3 sets of auxiliary supports are symmetrically arranged along the axis of the frame 8. Two ends of each of the 3 pre-tightening tension springs 6 are respectively connected with the other end of the tie rod 3 and the other end of the swing rod 9, so that the driving wheel 1 and the travelling wheel 10 are pressed on the inner wall of the pipeline with certain pressure.
As shown in fig. 2, each of the 3 direct current motors 7 drives the respective driving wheel 1 to walk along the pipe wall through a transmission path of worm 5, worm wheel 4 and bevel gear 2. The 3 sets of auxiliary supports play an auxiliary supporting role, and the travelling wheels 10 on the auxiliary supports are driven wheels.
The exciting circuit of the DC motor (7) is connected with the same DC power supply in parallel, and the armature voltage and the additional resistance of the armature circuit of the DC motor (7) can be adjusted, or one of the armature voltage and the additional resistance of the armature circuit can be adjusted.
When the pipeline robot runs in the straight pipe, the exciting circuits of the three direct current motors are connected in parallelIn a DC power supply, respectively adjusting armature voltages U of three DC motors a1 、U a2 、U a3 Make U a1 ＝U a2 ＝U a3 Simultaneously respectively adjusting the armature circuit additional resistance Rad of the three direct current motors 1 、Rad 2 、Rad 3 Let R be ad1 ＝R ad2 ＝R ad3 Thereby making the electromagnetic torque T of the three-DC motor M Identical, i.e. T M1 ＝T M2 ＝T M3 . The three motors resist the moment T because the three driving wheels resist the same moment L Also the same, i.e. T L1 ＝T L2 ＝T L3 The output rotation speeds of the three direct current motors are the same, so the rotation speeds of the three driving wheels are the same, namely the three driving wheels walk at the same speed in a pure rolling way.
When the pipeline robot is switched from a straight pipe to a bent pipe to run, the additional resistance Rad of the armature circuit is maintained 1 、Rad 2 、Rad 3 Invariable or identical, respectively, to adjust armature voltage U a1 、U a2 、U a3 Alternatively, the armature voltage U is maintained a1 、U a2 、U a3 Respectively adjusting the additional resistance Rad of the armature circuit unchanged or identical 1 、Rad 2 、Rad 3 Electromagnetic torque T of three DC motor M Identical or unchanged, i.e. T M1 ＝T M2 ＝T M3 Due to the blocked force (moment) T of each driving wheel L Different (actually, different additional resistances (moments)), i.e. T L1 ≠T L2 ≠T L3 The output rotation speeds of the three direct current motors are different, the rotation speeds of the three driving wheels are different, and the rotation speed difference of the three driving wheels is continuously enlarged. When the rotational speed of the three driving wheels reaches the ideal rotational speed (the rotational speed of each driving wheel is in direct proportion to the turning radius), the additional resistance (moment) disappears, the resistance (moment) of the three driving wheels is restored to be equal, the electromagnetic torque of the three direct current motor is still unchanged, and the three driving wheels perform stable turning motion at the respective ideal speed (the rotational speed difference is not enlarged).
The embodiments described in the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, and the scope of protection of the present invention and equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.
Claims (1)
1. An electronic triaxial differential system applied to a pipeline robot is characterized in that:
the machine frame (8) is provided with 3 direct current motors (7), 3 sets of travelling mechanisms, 3 sets of auxiliary supports and 3 pre-tightening tension springs (6), wherein the travelling mechanisms are arranged at one end of the machine frame (8), and the auxiliary supports are arranged at the other end of the machine frame (8);
3 direct current motors (7) are bundled together to form a regular triangle structure, namely, the regular triangle structure is uniformly distributed in the circumferential direction, the output shafts of the 3 direct current motors (7) are respectively connected with 3 sets of travelling mechanisms, and the 3 sets of travelling mechanisms are also uniformly distributed in the circumferential direction; the walking mechanism consists of a worm (5), a worm wheel (4), a tie rod (3), a bevel gear (2) and a driving wheel (1), wherein the worm (5) is connected with an output shaft of a direct current motor (7), the worm (5) is meshed with the worm wheel (4), the worm wheel (4) is meshed with the bevel gear (2), the bevel gear (2) is connected with the driving wheel (1), and one end of the tie rod (3) is hinged with a frame (8); the auxiliary support consists of a swing rod (9) and a travelling wheel (10), and one end of the swing rod (9) is hinged with the frame (8); the travelling mechanism and the auxiliary support are symmetrically arranged along the axis of the frame (8); the two ends of the pre-tightening tension spring (6) are respectively connected with the other end of the tie rod (3) and the other end of the swing rod (9), so that the driving wheel (1) and the travelling wheel (10) are pressed on the inner wall of the pipeline;
the exciting circuit of the direct current motor (7) is connected in parallel with the same direct current power supply, and the armature voltage and/or the armature circuit additional resistance of the direct current motor (7) are adjustable;
when the pipeline robot runs in the straight pipe, the exciting circuits of the three direct current motors are connected in parallel to the same direct current power supply, and the armature voltages U of the three direct current motors are respectively regulated a1 、U a2 、U a3 Make U a1 ＝U a2 ＝U a3 Simultaneously respectively adjusting the armature circuit additional resistance Rad of the three direct current motors 1 、Rad 2 、Rad 3 Let R be ad1 ＝R ad2 ＝R ad3 Thereby making the electromagnetic torque T of the three-DC motor M Identical, i.e. T M1 ＝T M2 ＝T M3 The method comprises the steps of carrying out a first treatment on the surface of the The torque T blocked by the three motors is the same because the torque blocked by the three driving wheels is the same L Also the same, i.e. T L1 ＝T L2 ＝T L3 The output rotating speeds of the three direct current motors are the same, so the rotating speeds of the three driving wheels are the same, namely the three driving wheels walk at the same speed in a pure rolling way;
when the pipeline robot is switched from a straight pipe to a bent pipe to run, the additional resistance Rad of the armature circuit is maintained 1 、Rad 2 、Rad 3 Invariable or identical, respectively, to adjust armature voltage U a1 、U a2 、U a3 Alternatively, the armature voltage U is maintained a1 、U a2 、U a3 Respectively adjusting the additional resistance Rad of the armature circuit unchanged or identical 1 、Rad 2 、Rad 3 Electromagnetic torque T of three DC motor M Identical or unchanged, i.e. T M1 ＝T M2 ＝T M3 Moment T blocked by each driving wheel L Different, in fact, the additional resistance moment is different, i.e. T L1 ≠T L2 ≠T L3 The output rotation speeds of the three direct current motors are different, the rotation speeds of the three driving wheels are different, and the rotation speed difference of the three driving wheels is continuously enlarged; when the rotation speed of the three driving wheels reaches the ideal rotation speed when the three driving wheels are excessively bent, namely, the rotation speed of each driving wheel is in direct proportion to the turning radius of each driving wheel, the additional resistance moment disappears, the resistance moment of the three driving wheels is restored to be equal, the electromagnetic torque of the three direct current motors is still unchanged, and the three driving wheels perform stable turning motion with the respective ideal rotation speed and without expanding the rotation speed difference.
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| CN110131518A (en) * | 2019-05-24 | 2019-08-16 | 北京交通大学 | Small-bore line for polyethylene gas pipes intelligent detector |
| CN113566051B (en) * | 2021-07-21 | 2022-11-04 | 江苏淮盐矿业有限公司 | Bittern pipeline alkaline scaling anticorrosion protection method |
| CN113932090B (en) * | 2021-10-21 | 2023-12-12 | 杭州赫恩数字技术有限公司 | Surveying and mapping robot |
| CN114654146B (en) * | 2022-03-31 | 2024-05-14 | 成都熊谷加世电器有限公司 | Welding workstation |
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| CN2747088Y (en) * | 2004-07-09 | 2005-12-21 | 北京工业大学 | Travelling mechanism of mini pipeline robot driven by single electric motor with directly advancing wheels |
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