CN109780369A - A kind of pipeline climbing robot and its method of creeping - Google Patents
A kind of pipeline climbing robot and its method of creeping Download PDFInfo
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Abstract
The present invention discloses a kind of pipeline climbing robot and its method of creeping, the pipe robot includes that four structures are identical and successively end to end telescoping mechanism, the telescoping mechanism include: upper backup pad, lower supporting plate, the first support link, the second support link, supporting table, cabinet, the first motor, the second motor, the first eccentric wheel and the second eccentric wheel；The present invention synchronizes control to two motor by control module, so that telescoping mechanism be driven to shrink or stretch, and passes through the mutual cooperation of four telescoping mechanisms, enables pipe robot crawling exercises in pipeline；Differential Control is carried out to two motor by control module, to drive two eccentric wheel rotational angles of telescoping mechanism different, telescoping mechanism is set to turn towards pipeline turning direction, robot of the invention adapts to complicated pipeline internal environment, efficiently the mankind can be replaced to execute the job tasks such as pipeline detection, maintenance, cleaning.
Description
Technical field
The invention belongs to bio-robot technical field, specifically a kind of pipeline climbing robot and its method of creeping.
Background technique
As one of global 5 big means of transportation, oil gas transport occupies critically important status in national economy, and pipeline transports
Oil and natural gas has a wide range of applications.Once the pipeline for transporting oil gas generates damage and leakage, huge loss will be caused.
Pipeline is generally all buried in underground, seabed or building, this brings big inconvenience for artificial maintenance.And pipeline is excavated
The traditional approach overhauled will cause the damage of pipeline and the waste of manpower again.Therefore, it is always to the detection work of pipeline
The problem of every country is paid close attention to.
Nowadays, with the raising of information technology and control technology, huge development that robot technology obtains.Various function
The robot of energy also appears in people's production and life, and the research of pipe robot also starts to carry out.Pipeline machine
People is a kind of various sensing detecting instruments of configuration, controller and executes operating mechanism, instead of the mankind execute pipeline detection, maintenance,
The automation of the job tasks such as cleaning or semi-automatic machine system.Entered inside pipeline using pipe robot, completes detection
With the work of reparation, the labor intensity of worker is not only reduced, and improves the efficiency and stability of detection.Therefore, pipeline
There is critically important research significance in robot.
Creeping motion type pipe robot uses bionics principle, imitates earthworm, the motion mode of the animals such as caterpillar.It is moved
Process is as follows: the tensioning of robot front end touch pipeline first, and rear end is detached from and travels forward；Rear end tensioning later touch pipeline, preceding
End travels forward, to realize the stretching motion of front and back end.Compared to wheeled robot, the advantages of such humanoid robot is obstacle detouring
Ability is stronger, can be and smaller to the abrasion of tube wall by the track of relatively large bending radius.But due to creeping motion type pipe robot
Pneumatic actuation is mostly used greatly, tractive force is limited, and motion mode energy loss is larger, is usually used in the short-range pipeline inspection of small diameter tube
It surveys.
The Chinese invention patent of Publication No. CN107842666A discloses a kind of imitative caterpillar wriggle pipeline climbing robot
And its control method, the robot include self-clamping module, displacement module, wriggling joint and a cradle head；Wherein, mould is clamped
Block by bevel gear transmission in the torque transfer to screw rod of motor so that screw sliding block is moved along screw rod direction,
By scissor mechanism by lever principle clamping force greatly and the characteristics of while clamping shrinks forward, realize clamping of the gripper outside pipe and
Support in pipe；Displacement module drives the combination fortune of active connecting plate rotation by two cylinder elongated distance differences and motor
It is dynamic, make self-clamping module planar flexible rotating；Then pass through the past of the alternating clamping movements of two grippers and telescopic joint electric cylinders
Linear motion makes Robot pipeline creeping；This application, which has, creeps and manages the outer two kinds of operating modes creeped in pipe；
But but its structure is more complicated, higher cost；And its displacement module uses pneumatic actuation, tractive force is limited, motion mode
Energy loss is larger, and is not suitable for bend pipe and creeps.
Summary of the invention
In response to the problems existing in the prior art, the purpose of the present invention is to provide a kind of pipeline climbing robot and its sides of creeping
Method, the robot architecture is simple, low in cost, is driven by motor and creeps, and energy consumption is lower, adapts to ring complicated inside pipeline
Border smooth can pass through pipeline turning part.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of pipeline climbing robot, including four structures are identical and successively end to end telescoping mechanism, respectively
One telescoping mechanism, the second telescoping mechanism, third telescoping mechanism and the 4th telescoping mechanism；The telescoping mechanism include: upper backup pad,
Lower supporting plate, the first support link, the second support link, supporting table, cabinet, the first motor, the second motor, the first bias
Wheel and the second eccentric wheel；The upper backup pad of first telescoping mechanism is equipped with for detecting pipeline inner barrier or bend
Probe unit；
The upper backup pad is flexibly connected with lower supporting plate by first support bar and second support bar；The supporting table is set
On lower supporting plate, the cabinet is fixed on the supporting table, and the cabinet, supporting table and lower supporting plate are solid by bolt
It is fixed；Left and right two lateral wall of cabinet is respectively equipped with the first eccentric wheel and the second eccentric wheel, left and right two inner sidewall of cabinet
It is respectively equipped with the first motor and the second motor, first motor/second motor and the first eccentric wheel/second are eccentric
Wheel passes through transmission axis connection；It is set on the upper backup pad there are two spherical roller, described two spherical rollers are inclined with first respectively
Heart wheel and the second eccentric wheel match；It is additionally provided with power supply and control module in the cabinet, the power supply, control module are with
One motor, the second electronic mechatronics；The telescoping mechanism controls the first motor, the second motor work by control module
Make, the first eccentric wheel, the rotation of the second eccentric wheel is driven, so that telescoping mechanism be driven to do stretching motion.
Specifically, first eccentric wheel, the second eccentric wheel are circumferentially arranged with grooved rail, first eccentric wheel, second
The grooved rail of eccentric wheel is matched with two spherical rollers of the upper backup pad respectively, and the eccentric wheel begins in the course of rotation
It is flexibly connected eventually with upper backup pad by grooved rail and spherical roller.
Specifically, the upper backup pad, lower supporting plate are kidney ellipsoid structure, and the both sides of the kidney ellipsoid structure are equipped with
Groove, the groove is interior to be equipped with mounting hole, and the mounting hole is used for upper backup pad/lower supporting plate and the first support link/the second
The flexible connection of support link.
Specifically, first support link, the second support link include the support rod of two flexible connections, two institutes
The free end for stating support rod is flexibly connected with upper backup pad, lower supporting plate respectively.
Specifically, the probe unit include infrared sensor, ultrasonic sensor, laser sensor, in camera
One or more, the probe unit is electrically connected with power supply and control module respectively.
Corresponding with a kind of above-mentioned pipeline climbing robot, the present invention also provides a kind of climbing for pipeline climbing robot
Row method, the method for creeping of creep method and pipeline of turning including vertical pipe；
The vertical pipe creep method the following steps are included:
S11, robot are in initial crawl state, and the first telescoping mechanism and the second telescoping mechanism of robot, which are in, to be shunk
State, the third telescoping mechanism and the 4th telescoping mechanism of robot are in tensional state；
The first telescoping mechanism of S12, robot are converted to tensional state, meanwhile, third telescoping mechanism is converted to contraction-like
State pulls the 4th telescoping mechanism to move up；
The second telescoping mechanism of S13, robot are converted to tensional state, meanwhile, the 4th telescoping mechanism is converted to contraction-like
State pushes the first telescoping mechanism to move up；
The third telescoping mechanism of S14, robot are converted to tensional state, meanwhile, the first telescoping mechanism is converted to contraction-like
State pushes the first telescoping mechanism and the second telescoping mechanism to move up；
The 4th telescoping mechanism of S15, robot are converted to tensional state, meanwhile, the second telescoping mechanism is converted to contraction-like
State, robot are restored to the initial crawl state of step S11；
S16 repeats step S12 to S15, and robot is made constantly to creep upwards along vertical pipe；
It is described turning pipeline creep method the following steps are included:
S21, after the probe unit on the first telescoping mechanism detects bend, the second telescoping mechanism, third telescoping mechanism
It is in contraction state with the 4th telescoping mechanism, the control module in the first telescoping mechanism is real to the first motor and the second motor
Row Differential Control stretches the first telescoping mechanism close to the support link low-angle of curve inner side, the support on the outside of bend
Connecting rod wide-angle stretches, and the first telescoping mechanism of robot is made to enter bend；
S22, the control module in the second telescoping mechanism of robot carry out the first motor and the second motor differential
Control stretches the second telescoping mechanism close to the support link low-angle of curve inner side, and the support link on the outside of bend is big
Angle stretches, and the first telescoping mechanism of robot is ejected bend, at this point, the first telescoping mechanism, which is in, is completely stretched state, together
When robot the second telescoping mechanism enter bend；
S23, the control module in the third telescoping mechanism of robot carry out the first motor and the second motor differential
Control stretches third telescoping mechanism close to the support link low-angle of curve inner side, and the support link on the outside of bend is big
Angle stretches, and the second telescoping mechanism of robot is ejected bend, at this point, the second telescoping mechanism, which is in, is completely stretched state, together
When robot third telescoping mechanism enter bend；
S24, the first telescoping mechanism of robot are converted to contraction state, the control mould in the 4th telescoping mechanism of robot
Block carries out Differential Control to the first motor and the second motor, keeps the 4th telescoping mechanism small close to the support link of curve inner side
Angle stretches, and the support link wide-angle on the outside of bend stretches, meanwhile, the second telescoping mechanism of robot is converted to contraction
State pulls the 4th telescoping mechanism to pass through bend；The state of robot is restored to the initial crawl state in vertical pipe at this time,
I.e. robot passes through bend.
Specifically, when the telescoping mechanism of robot is in contraction state, the first eccentric wheel of the telescoping mechanism and second
Eccentric wheel is in initial position；When control module controls the first motor and the second motor synchronous operating half period,
First eccentric wheel and the second eccentric wheel rotate synchronously half cycle, at this point, telescoping mechanism is converted to tensional state by contraction state；
When control module, which controls the first motor and the second motor, to be continued to operate synchronously half period, first eccentric wheel and the
Two eccentric wheels continue synchronous rotation half cycle and return to initial position, at this point, telescoping mechanism is converted to contraction state by tensional state.
Specifically, when the telescoping mechanism of robot enters bend, by control module to the first motor and the second electricity
Motivation carries out Differential Control, and control module controls first motor operation a quarter week of the telescoping mechanism close to curve inner side
Phase, the second motor operation half period on the outside of bend make the first eccentric wheel rotation a quarter week, the second eccentric wheel
Half cycle is rotated, i.e. realization telescoping mechanism is stretched close to the support link low-angle of curve inner side, and the support on the outside of bend connects
Bar wide-angle stretches.
Compared with prior art, the beneficial effects of the present invention are: (1) present invention by control module to two motor into
Row synchronously control so that telescoping mechanism be driven to shrink or stretch, and passes through the mutual cooperation of four telescoping mechanisms, makes pipeline machine
People can the crawling exercises in pipeline, structure is simple, and cost is relatively low, and tractive force is enough, and energy loss is smaller；(2) this hair
Bright robot can surmount obstacles automatically or in the duct by bend, be carried out by control module to two motor differential
Control makes telescoping mechanism turn towards pipeline turning direction to drive two eccentric wheel rotational angles of telescoping mechanism different, this
The robot of invention adapts to complicated pipeline internal environment, efficiently the mankind can be replaced to execute pipeline detection, maintenance, cleaning
Equal job tasks.
Detailed description of the invention
Fig. 1 is the planar structure schematic diagram of telescoping mechanism contraction state in the embodiment of the present invention 1；
Fig. 2 is the schematic perspective view of telescoping mechanism contraction state in the embodiment of the present invention 1；
Fig. 3 is the planar structure schematic diagram of telescoping mechanism tensional state in the embodiment of the present invention 1；
Fig. 4 is the structural schematic diagram of upper backup pad in the embodiment of the present invention 1；
Fig. 5 enters structural schematic diagram when bend for telescoping mechanism in the embodiment of the present invention 3；
Fig. 6 is the process schematic that pipe robot is creeped in vertical pipe in the embodiment of the present invention 2；
Fig. 7 is the process schematic that pipe robot is creeped in bend in the embodiment of the present invention 3；
In figure: 100, the first telescoping mechanism；200, the second telescoping mechanism；300, third telescoping mechanism；400, the 4th is flexible
Mechanism；1, upper backup pad；2, lower supporting plate；3, the first support link；4, the second support link；5, supporting table；6, cabinet；7,
One motor；8, the second motor；9, the first eccentric wheel；10, the second eccentric wheel；11, the first bolt；12, transmission shaft；13, ball
Shape roller；14, grooved rail；15, groove；16, the second bolt；17, third bolt.
Specific embodiment
Below in conjunction with the attached drawing in the present invention, technical solution of the present invention is clearly and completely described, it is clear that
Described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the implementation in the present invention
Example, those of ordinary skill in the art's all other embodiment obtained under the conditions of not making creative work belong to
The scope of protection of the invention.
Embodiment 1
As shown in Figures 1 to 3, present embodiment discloses a kind of pipeline climbing robot, including four structures are identical and successively
End to end telescoping mechanism, respectively the first telescoping mechanism 100, the second telescoping mechanism 200, third telescoping mechanism 300 and
Four telescoping mechanisms 400；The telescoping mechanism includes: upper backup pad 1, lower supporting plate 2, the first support link 3, the second support link
4, supporting table 5, cabinet 6, the first motor 7, the second motor 8, the first eccentric wheel 9 and the second eccentric wheel 10；Described first stretches
The upper backup pad 1 of contracting mechanism 100 is equipped with the probe unit for detecting pipeline inner barrier or bend；
The upper backup pad 1 is flexibly connected with lower supporting plate 2 by first support bar and second support bar；The supporting table
5 are located on lower supporting plate 2, and the cabinet 6 is fixed in supporting table 5, and the cabinet 6, supporting table 5 and lower supporting plate 2 pass through the
One bolt 11 is fixed；Left and right two lateral wall of the cabinet 6 is respectively equipped with the first eccentric wheel 9 and the second eccentric wheel 10, the cabinet
6 left and right two inner sidewalls are respectively equipped with the first motor 7 and the second motor 8,7/ second motor 8 of the first motor with
First eccentric wheel, 9/ second eccentric wheel 10 is connected by transmission shaft 12；Spherical roller 13 there are two being set on the upper backup pad 1, institute
Two spherical rollers 13 are stated to match with the first eccentric wheel 9 and the second eccentric wheel 10 respectively；Be additionally provided in the cabinet 6 power supply and
Control module, the power supply, control module are electrically connected with the first motor 7, the second motor 8；The telescoping mechanism passes through
Control module controls the first motor 7, the work of the second motor 8, drives the first eccentric wheel 9, the rotation of the second eccentric wheel 10, thus
Telescoping mechanism is driven to do stretching motion.
Specifically, first eccentric wheel 9, the second eccentric wheel 10 are circumferentially arranged with grooved rail 14, first eccentric wheel
9, the grooved rail 14 of the second eccentric wheel 10 is matched with two spherical rollers 13 of the upper backup pad 1 respectively, and the eccentric wheel exists
It is flexibly connected always with upper backup pad 1 by grooved rail 14 and spherical roller 13 during rotation；When the motor rotation half
Zhou Shi, transmission shaft 12 rotate half cycle with movable eccentric wheel, and eccentric wheel is matched with the spherical roller 13 on upper backup pad 1, thus will
Upper backup pad 1 jacks up, and drives support link elongation, to realize that telescoping mechanism extends；When the motor continues to rotate half cycle
When, transmission shaft 12 continues band movable eccentric wheel and rotates half cycle, and eccentric wheel is matched with the spherical roller 13 on upper backup pad 1, is pulled
Lower supporting plate 2 moves upwards, and support link is driven to shrink, to realize that telescoping mechanism is shunk.
Further, the eccentric wheel is circle, a diameter of 50mm, with a thickness of 6mm；The 14 width 2mm of grooved rail is deep
5mm；The eccentricity of the eccentric wheel is 18mm；
Specifically, the supporting table 5 is 40 × 10 × 5mm cuboid, is used to supporting box 6；
Specifically, the cabinet 6 is 40 × 40 × 45mm cuboid, and inner hollow, with a thickness of 2mm, inside is used to fix
Motor, 6 three side walls of the cabinet, which are opened, is equipped with mounting hole, be respectively used to installation two motor and by cabinet 6, support
Platform 5 is fixed on lower supporting plate 2；
Specifically, as shown in figure 4, the upper backup pad 1, lower supporting plate 2 are kidney ellipsoid structure, the kidney ellipsoid structure
Both sides be all provided with fluted 15, be equipped with mounting hole in the groove 15, the mounting hole for 1/ lower supporting plate 2 of upper backup pad with
The flexible connection of first support link, 3/ second support link 4；1/ lower supporting plate of upper backup pad, 2 total length is 90mm, wide
Degree is 40mm, and with a thickness of 3mm, the radius of two sides semicircle is 20mm.
Specifically, the support rods of first support link 3, the second support link 4 including two flexible connections, two
The support rod is flexibly connected by the second bolt 16；The free end of two support rods respectively with upper backup pad 1, lower support
Plate 2 is flexibly connected by third bolt 17；The support pole length is 53mm, with a thickness of 3mm.
Specifically, the probe unit include infrared sensor, ultrasonic sensor, laser sensor, in camera
One or more, the probe unit is electrically connected with power supply and control module respectively.
Specifically, one layer of covering can be done outside the robot single unit system, makes robot interior not by miscellaneous in pipeline
Object and dust damage.
Embodiment 2
As shown in fig. 6, present embodiments provide a kind of pipe robot in the method for creeping of vertical pipe, specifically include with
Lower step:
S11, robot are in initial crawl state, at the first telescoping mechanism 100 and the second telescoping mechanism 200 of robot
In contraction state, the third telescoping mechanism 300 and the 4th telescoping mechanism 400 of robot are in tensional state；It is flexible by first
Mechanism 100 and the support link of the second telescoping mechanism 200 resist pipeline, provide frictional force, prevent robot from falling；
The first telescoping mechanism 100 of S12, robot are converted to tensional state, meanwhile, third telescoping mechanism 300 is converted to
Contraction state pulls the 4th telescoping mechanism 400 to move up；Pass through the branch of the second telescoping mechanism 200 and third telescoping mechanism 300
Supporting rod resists pipeline, can not only guarantee that robot overcame enough frictional force needed for gravity in this way, but also can pull machine
The 4th telescoping mechanism 400 of device people moves up；
The second telescoping mechanism 200 of S13, robot are converted to tensional state, meanwhile, the 4th telescoping mechanism 400 is converted to
Contraction state pushes the first telescoping mechanism 100 to move up；Pass through the branch of third telescoping mechanism 300 and the 4th telescoping mechanism 400
Supporting rod resists pipeline, while providing enough frictional force, and the first telescoping mechanism 100 can be pushed to move up；
The third telescoping mechanism 300 of S14, robot are converted to tensional state, meanwhile, the first telescoping mechanism 100 is converted to
Contraction state pushes the first telescoping mechanism 100 and the second telescoping mechanism 200 to move up；Pass through the first telescoping mechanism 100 and
The support link of four telescoping mechanisms 400 resists pipeline, while providing enough frictional force, pushes the first telescoping mechanism 100 and the
Two telescoping mechanisms 200 move up；
The 4th telescoping mechanism 400 of S15, robot are converted to tensional state, meanwhile, the second telescoping mechanism 200 is converted to
Contraction state, robot are restored to the initial crawl state of step S11；
S16 repeats step S12 to S15, and robot is made constantly to creep upwards along vertical pipe；
Specifically, when the telescoping mechanism of robot is in contraction state, the first eccentric wheel 9 and second of the telescoping mechanism
Eccentric wheel 10 is in initial position, and the height of telescoping mechanism is 60.58mm, width 166.30mm at this time；Work as control module
Control the first motor 7 and when the second motor 8 operates synchronously half period, first eccentric wheel 9 and the second eccentric wheel 10
Half cycle is rotated synchronously, at this point, telescoping mechanism is converted to tensional state by contraction state, the height of the telescoping mechanism is at this time
98.42mm, width 115.28mm；When control module the first motor 7 of control and the second motor 8 continue to operate synchronously half
When the period, first eccentric wheel 9 and the second eccentric wheel 10 continue synchronous rotation half cycle and return to initial position, at this point, telescopic machine
Structure is converted to contraction state by tensional state.
Embodiment 3
As shown in Fig. 5,7, a kind of method that pipe robot is creeped in bend is present embodiments provided, is specifically included following
Step:
S21, after the probe unit on the first telescoping mechanism 100 detects bend, the second telescoping mechanism 200, third are stretched
Contracting mechanism 300 and the 4th telescoping mechanism 400 are in contraction state, and the control module in the first telescoping mechanism 100 is electronic to first
Machine 7 and the second motor 8 carry out Differential Control, draw the first telescoping mechanism 100 close to the support link low-angle of curve inner side
It stretches, the support link wide-angle on the outside of bend stretches, and the first telescoping mechanism 100 of robot is made to enter bend；
S22, the control module in the second telescoping mechanism 200 of robot carry out the first motor 7 and the second motor 8
Differential Control stretches the second telescoping mechanism 200 close to the support link low-angle of curve inner side, the support on the outside of bend
Connecting rod wide-angle stretches, and the first telescoping mechanism 100 of robot is ejected bend, at this point, the first telescoping mechanism 100 is in complete
Tensional state, while the second telescoping mechanism 200 of robot enters bend；
S23, the control module in the third telescoping mechanism 300 of robot carry out the first motor 7 and the second motor 8
Differential Control stretches third telescoping mechanism 300 close to the support link low-angle of curve inner side, the support on the outside of bend
Connecting rod wide-angle stretches, and the second telescoping mechanism 200 of robot is ejected bend, at this point, the second telescoping mechanism 200 is in complete
Tensional state, while the third telescoping mechanism 300 of robot enters bend；
S24, the first telescoping mechanism 100 of robot are converted to contraction state, in the 4th telescoping mechanism 400 of robot
Control module carries out Differential Control to the first motor 7 and the second motor 8, makes the 4th telescoping mechanism 400 close to curve inner side
Support link low-angle stretch, the support link wide-angle on the outside of the bend stretches, meanwhile, the second telescopic machine of robot
Structure 200 is converted to contraction state, and the 4th telescoping mechanism 400 is pulled to pass through bend；The state of robot is restored to vertical tube at this time
Initial crawl state in road, i.e. robot pass through bend.
Specifically, when the telescoping mechanism of robot enters bend, by control module to the first motor 7 and the second electricity
Motivation 8 carries out Differential Control, and control module controls first motor 7 operating a quarter of the telescoping mechanism close to curve inner side
Period, the second motor 8 on the outside of bend operate half period, make the first eccentric wheel 9 rotation a quarter week, second partially
Heart wheel 10 rotates half cycle, i.e. realization telescoping mechanism is stretched close to the support link low-angle of curve inner side, on the outside of bend
Support link wide-angle stretches.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of pipeline climbing robot, which is characterized in that and successively end to end telescoping mechanism identical including four structures,
Respectively the first telescoping mechanism, the second telescoping mechanism, third telescoping mechanism and the 4th telescoping mechanism；The telescoping mechanism includes:
It is upper backup pad, lower supporting plate, the first support link, the second support link, supporting table, cabinet, the first motor, second electronic
Machine, the first eccentric wheel and the second eccentric wheel；The upper backup pad of first telescoping mechanism is equipped with for detecting barrier inside pipeline
Hinder or the probe unit of bend；
The upper backup pad is flexibly connected with lower supporting plate by first support bar and second support bar；The supporting table is located at down
In support plate, the cabinet is fixed on the supporting table, and the cabinet, supporting table and lower supporting plate are bolted；Institute
It states left and right two lateral wall of cabinet and is respectively equipped with the first eccentric wheel and the second eccentric wheel, left and right two inner sidewall of cabinet is set respectively
There are the first motor and the second motor, first motor/second motor passes through with the first eccentric wheel/second eccentric wheel
It is driven axis connection；Set on the upper backup pad there are two spherical roller, described two spherical rollers respectively with the first eccentric wheel and
Second eccentric wheel matches；Power supply and control module are additionally provided in the cabinet, the power supply, control module are electronic with first
Machine, the second electronic mechatronics；The telescoping mechanism controls the first motor, the second electric motor operation, band by control module
Dynamic first eccentric wheel, the rotation of the second eccentric wheel, so that telescoping mechanism be driven to do stretching motion.
2. a kind of pipeline climbing robot according to claim 1, which is characterized in that first eccentric wheel, second are partially
Heart wheel is circumferentially arranged with grooved rail, grooved rail two with the upper backup pad respectively of first eccentric wheel, the second eccentric wheel
Spherical roller matches, and the eccentric wheel is connected with upper backup pad by grooved rail and spherical roller activity always in the course of rotation
It connects.
3. a kind of pipeline climbing robot according to claim 1, which is characterized in that the upper backup pad, lower supporting plate
It is kidney ellipsoid structure, the both sides of the kidney ellipsoid structure are all provided with fluted, and mounting hole, the mounting hole are equipped in the groove
It is flexibly connected for upper backup pad/lower supporting plate with the first support link/second support link.
4. a kind of pipeline climbing robot according to claim 1, which is characterized in that first support link, second
Support link include two flexible connection support rods, the free end of two support rods respectively with upper backup pad, lower branch
Fagging is flexibly connected.
5. a kind of pipeline climbing robot according to claim 1, which is characterized in that the probe unit includes infrared biography
One of sensor, ultrasonic sensor, laser sensor, camera are a variety of, the probe unit respectively with power supply and control
The electrical connection of molding block.
6. a kind of method of creeping based on any one of claim 1 to 5 pipe robot, which is characterized in that including vertical
The method of creeping of the creep method and pipeline of turning of pipeline；
The vertical pipe creep method the following steps are included:
S11, robot are in initial crawl state, and the first telescoping mechanism and the second telescoping mechanism of robot are in contraction-like
State, the third telescoping mechanism and the 4th telescoping mechanism of robot are in tensional state；
The first telescoping mechanism of S12, robot are converted to tensional state, meanwhile, third telescoping mechanism is converted to contraction state, draws
Dynamic 4th telescoping mechanism moves up；
The second telescoping mechanism of S13, robot are converted to tensional state, meanwhile, the 4th telescoping mechanism is converted to contraction state, pushes away
Dynamic first telescoping mechanism moves up；
The third telescoping mechanism of S14, robot are converted to tensional state, meanwhile, the first telescoping mechanism is converted to contraction state, pushes away
Dynamic first telescoping mechanism and the second telescoping mechanism move up；
The 4th telescoping mechanism of S15, robot are converted to tensional state, meanwhile, the second telescoping mechanism is converted to contraction state, machine
Device people is restored to the initial crawl state of step S11；
S16 repeats step S12 to S15, and robot is made constantly to creep upwards along vertical pipe；
It is described turning pipeline creep method the following steps are included:
S21, after the probe unit on the first telescoping mechanism detects bend, the second telescoping mechanism, third telescoping mechanism and
Four telescoping mechanisms are in contraction state, and it is poor that the control module in the first telescoping mechanism carries out the first motor and the second motor
Dynamic control stretches the first telescoping mechanism close to the support link low-angle of curve inner side, the support link on the outside of bend
Wide-angle stretches, and the first telescoping mechanism of robot is made to enter bend；
S22, the control module in the second telescoping mechanism of robot carry out Differential Control to the first motor and the second motor,
Stretch the second telescoping mechanism close to the support link low-angle of curve inner side, the support link wide-angle on the outside of bend is drawn
It stretches, the first telescoping mechanism of robot is ejected into bend, at this point, the first telescoping mechanism, which is in, is completely stretched state, while machine
The second telescoping mechanism of people enters bend；
S23, the control module in the third telescoping mechanism of robot carry out Differential Control to the first motor and the second motor,
Stretch third telescoping mechanism close to the support link low-angle of curve inner side, the support link wide-angle on the outside of bend is drawn
It stretches, the second telescoping mechanism of robot is ejected into bend, at this point, the second telescoping mechanism, which is in, is completely stretched state, while machine
The third telescoping mechanism of people enters bend；
S24, the first telescoping mechanism of robot are converted to contraction state, the control module pair in the 4th telescoping mechanism of robot
First motor and the second motor carry out Differential Control, make the 4th telescoping mechanism close to the support link low-angle of curve inner side
It stretching, the support link wide-angle on the outside of bend stretches, meanwhile, the second telescoping mechanism of robot is converted to contraction-like
State pulls the 4th telescoping mechanism to pass through bend；The state of robot is restored to the initial crawl state in vertical pipe at this time, i.e.,
Robot passes through bend.
The method 7. pipe robot according to claim 6 is creeped, which is characterized in that the telescoping mechanism of robot, which is in, to be received
When contracting state, the first eccentric wheel and the second eccentric wheel of the telescoping mechanism are in initial position；When control module control the
When one motor and the second motor synchronous operating half period, first eccentric wheel and the second eccentric wheel rotate synchronously half
Week, at this point, telescoping mechanism is converted to tensional state by contraction state；When control module controls the first motor and the second motor
When continuing to operate synchronously half period, first eccentric wheel and the second eccentric wheel continue synchronous rotation half cycle and return to initial bit
It sets, at this point, telescoping mechanism is converted to contraction state by tensional state.
The method 8. pipe robot according to claim 6 is creeped, which is characterized in that when the telescoping mechanism of robot enters
When bend, Differential Control is carried out to the first motor and the second motor by control module, control module controls telescoping mechanism
The first motor operation a quarter period of close curve inner side, the second motor operation half week on the outside of bend
Phase makes the first eccentric wheel rotation a quarter week, and the second eccentric wheel rotates half cycle, i.e. realization telescoping mechanism is close to curve inner side
Support link low-angle stretches, and the support link wide-angle on the outside of bend stretches.
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| CN109780369B (en) | 2020-07-10 |
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