CN109780369B - Pipeline crawling robot and crawling method thereof - Google Patents
Pipeline crawling robot and crawling method thereof Download PDFInfo
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- CN109780369B CN109780369B CN201910178511.5A CN201910178511A CN109780369B CN 109780369 B CN109780369 B CN 109780369B CN 201910178511 A CN201910178511 A CN 201910178511A CN 109780369 B CN109780369 B CN 109780369B
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Abstract
The invention discloses a pipeline crawling robot and a crawling method thereof, wherein the pipeline crawling robot comprises four telescopic mechanisms which have the same structure and are sequentially connected end to end, and the telescopic mechanisms comprise: the device comprises an upper supporting plate, a lower supporting plate, a first supporting connecting rod, a second supporting connecting rod, a supporting table, a box body, a first motor, a second motor, a first eccentric wheel and a second eccentric wheel; the control module is used for synchronously controlling the two motors, so that the telescopic mechanisms are driven to contract or stretch, and the pipeline robot can crawl in a pipeline through the mutual matching of the four telescopic mechanisms; the control module is used for carrying out differential control on the two motors, so that the two eccentric wheels of the telescopic mechanism are driven to rotate at different angles, and the telescopic mechanism turns towards the turning direction of the pipeline.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a pipeline crawling robot and a crawling method thereof.
Background
As one of 5 large transportation modes in the world, oil and gas transportation plays an important role in national economy, and pipelines are widely applied to transporting oil and natural gas. Once the pipeline for transporting oil and gas is damaged and leaked, huge loss is caused. The pipeline is usually buried deep in the ground, the sea bottom or in a building, which brings great inconvenience to manual maintenance. The traditional mode of overhauling the pipeline excavation can cause the damage of the pipeline and the waste of manpower. Therefore, the inspection work for the pipeline has been a concern in various countries.
Nowadays, with the improvement of information technology and control technology, the robot technology has been greatly developed. Robots with various functions are also present in the production and life of people, and research on pipeline robots is also beginning. The pipeline robot is an automatic or semi-automatic machine system which is provided with various sensing and detecting instruments, a controller and an executing and operating mechanism and replaces human beings to execute operation tasks such as pipeline detection, maintenance, cleaning and the like. The pipeline robot is used for entering the pipeline to complete detection and repair, so that the labor intensity of workers is reduced, and the detection efficiency and stability are improved. Therefore, the pipeline robot has important research significance.
The peristaltic pipeline robot adopts the bionics principle to simulate the motion modes of animals such as earthworms, caterpillars and the like. The motion process is as follows: firstly, the front end of the robot is tensioned and attached to a pipeline, and the rear end of the robot moves forwards in a separation mode; the rear end is then tensioned against the pipe and the front end moves forward, thereby effecting an extension movement of the front and rear ends. Compared with a wheeled robot, the robot has the advantages of stronger obstacle crossing capability, capability of passing through a track with a larger bending radius and smaller abrasion to a pipe wall. However, most of peristaltic pipeline robots are pneumatically driven, so that traction force is limited, energy loss in a motion mode is large, and the peristaltic pipeline robots are often used for pipeline detection of small pipe diameter and short distance.
The Chinese patent with publication number CN107842666A discloses a caterpillar-like creeping pipeline crawling robot and a control method thereof, wherein the robot comprises a clamping module, a displacement module, a creeping joint and a rotating joint; the clamping module transmits the torque of a motor to the screw rod through the bevel gear transmission mechanism, so that the nut slider moves along the direction of the screw rod, and the clamping force of the gripper outside the pipe and the support of the gripper inside the pipe are realized through the characteristics of large clamping force and forward shrinkage during clamping by the scissor mechanism through the lever principle; the displacement module makes the clamping module flexibly rotate in a plane through the combined movement of different extension distances of the two cylinders and the rotation of the driving connecting plate driven by the motor; then the robot crawls along the pipeline in a creeping way through the alternate clamping motion of the two paws and the reciprocating linear motion of the telescopic joint electric cylinder; the application has two working modes of in-pipe crawling and out-pipe crawling; however, the structure is more complex and the cost is higher; and the displacement module adopts pneumatic drive, the traction force is limited, the energy loss of the motion mode is large, and the device is not suitable for bent pipe crawling.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a pipeline crawling robot and a crawling method thereof.
In order to achieve the purpose, the invention adopts the technical scheme that:
a pipeline crawling robot comprises four telescopic mechanisms which are identical in structure and sequentially connected end to end, namely a first telescopic mechanism, a second telescopic mechanism, a third telescopic mechanism and a fourth telescopic mechanism; the telescopic mechanism comprises: the device comprises an upper supporting plate, a lower supporting plate, a first supporting connecting rod, a second supporting connecting rod, a supporting table, a box body, a first motor, a second motor, a first eccentric wheel and a second eccentric wheel; the upper supporting plate of the first telescopic mechanism is provided with a detection unit for detecting internal obstacles or bends of the pipeline;
the upper supporting plate is movably connected with the lower supporting plate through a first supporting connecting rod and a second supporting connecting rod; the support table is arranged on the lower support plate, the box body is fixed on the support table, and the box body, the support table and the lower support plate are fixed through bolts; the left and right outer side walls of the box body are respectively provided with a first eccentric wheel and a second eccentric wheel, the left and right inner side walls of the box body are respectively provided with a first motor and a second motor, the first motor is connected with the first eccentric wheel through a transmission shaft, and the second motor is connected with the second eccentric wheel through a transmission shaft; the upper supporting plate is provided with two spherical rollers which are respectively matched with the first eccentric wheel and the second eccentric wheel; a power supply and a control module are also arranged in the box body, and the power supply and the control module are electrically connected with the first motor and the second motor; the telescopic mechanism controls the first motor and the second motor to work through the control module, and drives the first eccentric wheel and the second eccentric wheel to rotate, so that the telescopic mechanism is driven to do telescopic motion.
Specifically, first eccentric wheel, second eccentric wheel all are equipped with the grooved rail along circumference, the grooved rail of first eccentric wheel, second eccentric wheel respectively with two spherical rollers of going up the backup pad cooperate, first eccentric wheel, second eccentric wheel pass through grooved rail and spherical roller swing joint with last backup pad all the time at the pivoted in-process.
Specifically, go up backup pad, bottom suspension fagging and be waist circular structure, the both sides of waist circular structure all are equipped with the recess, be equipped with the mounting hole in the recess, it passes through to go up backup pad, bottom suspension fagging the mounting hole and first support connecting rod, second support connecting rod swing joint.
Specifically, first supporting connecting rod, second supporting connecting rod all include two swing joint's bracing piece, two the free end of bracing piece respectively with last backup pad, bottom suspension fagging swing joint.
Specifically, the detection unit comprises one or more of an infrared sensor, an ultrasonic sensor, a laser sensor and a camera, and the detection unit is electrically connected with the power supply and the control module respectively.
Corresponding to the pipeline crawling robot, the invention also provides a crawling method of the pipeline crawling robot, which comprises a crawling method of a vertical pipeline and a crawling method of a turning pipeline;
the crawling method of the vertical pipeline comprises the following steps:
s11, the robot is in an initial crawling state, a first telescopic mechanism and a second telescopic mechanism of the robot are in a contraction state, and a third telescopic mechanism and a fourth telescopic mechanism of the robot are in a stretching state;
s12, the first telescopic mechanism of the robot is converted into a stretching state, meanwhile, the third telescopic mechanism is converted into a contracting state, and the fourth telescopic mechanism is pulled to move upwards;
s13, the second telescopic mechanism of the robot is converted into a stretching state, and meanwhile, the fourth telescopic mechanism is converted into a contracting state to push the first telescopic mechanism to move upwards;
s14, the third telescopic mechanism of the robot is converted into a stretching state, and meanwhile, the first telescopic mechanism is converted into a contracting state to push the first telescopic mechanism and the second telescopic mechanism to move upwards;
s15, the fourth telescopic mechanism of the robot is converted into a stretching state, meanwhile, the second telescopic mechanism is converted into a contracting state, and the robot returns to the initial crawling state of the step S11;
s16, repeating the steps S12 to S15 to enable the robot to continuously climb upwards along the vertical pipeline;
the crawling method of the turning pipeline comprises the following steps:
s21, when the detection unit on the first telescoping mechanism detects a curve, the second telescoping mechanism, the third telescoping mechanism and the fourth telescoping mechanism are in a contracted state, and the control module in the first telescoping mechanism carries out differential control on the first motor and the second motor, so that the first telescoping mechanism stretches at a small angle close to the first support connecting rod on the inner side of the curve and stretches at a large angle close to the second support connecting rod on the outer side of the curve, and the first telescoping mechanism of the robot enters the curve;
s22, a control module in a second telescopic mechanism of the robot carries out differential control on a first motor and a second motor, so that the second telescopic mechanism is stretched at a small angle close to a first support connecting rod on the inner side of a curve and stretched at a large angle close to a second support connecting rod on the outer side of the curve, the first telescopic mechanism of the robot is pushed out of the curve, and at the moment, the first telescopic mechanism is in a fully stretched state, and meanwhile, the second telescopic mechanism of the robot enters the curve;
s23, a control module in a third telescopic mechanism of the robot carries out differential control on a first motor and a second motor, so that the third telescopic mechanism is stretched at a small angle close to a first support connecting rod on the inner side of a curve and stretched at a large angle close to a second support connecting rod on the outer side of the curve, and the second telescopic mechanism of the robot is pushed out of the curve, at the moment, the second telescopic mechanism is in a fully stretched state, and meanwhile, the third telescopic mechanism of the robot enters the curve;
s24, converting a first telescoping mechanism of the robot into a contracted state, and differentially controlling a first motor and a second motor by a control module in a fourth telescoping mechanism of the robot to enable the fourth telescoping mechanism to stretch at a small angle close to a first support connecting rod on the inner side of a curve and stretch at a large angle close to a second support connecting rod on the outer side of the curve, and simultaneously converting the second telescoping mechanism of the robot into a contracted state to pull the fourth telescoping mechanism to pass through the curve; at this time, the state of the robot is restored to the initial crawling state in the vertical pipeline, namely, the robot smoothly passes through the curve.
Specifically, when a telescopic mechanism of the robot is in a contracted state, a first eccentric wheel and a second eccentric wheel of the telescopic mechanism are both in an initial position; when the control module controls the first motor and the second motor to synchronously rotate for a half cycle, the first eccentric wheel and the second eccentric wheel synchronously rotate for a half cycle, and at the moment, the telescopic mechanism is converted from a contraction state to a stretching state; when the control module controls the first motor and the second motor to continuously and synchronously rotate for a half cycle, the first eccentric wheel and the second eccentric wheel continuously and synchronously rotate for a half cycle to return to the initial position, and at the moment, the telescopic mechanism is converted into a contraction state from a stretching state.
Specifically, when the telescopic mechanism of the robot enters a curve, the control module is used for carrying out differential control on the first motor and the second motor, the control module controls the first motor, close to the inner side of the curve, of the telescopic mechanism to run for a quarter cycle, and the second motor, close to the outer side of the curve, of the telescopic mechanism to run for a half cycle, so that the first eccentric wheel rotates for a quarter cycle, and the second eccentric wheel rotates for a half cycle, namely, the small-angle stretching of the first support connecting rod, close to the inner side of the curve, of the telescopic mechanism and the large-angle stretching of the second support connecting rod, close to the outer.
Compared with the prior art, the invention has the beneficial effects that: (1) the control module is used for synchronously controlling the two motors, so that the telescopic mechanisms are driven to contract or stretch, and the four telescopic mechanisms are matched with each other, so that the pipeline robot can crawl in the pipeline; (2) the robot can automatically cross obstacles or pass through a bend in a pipeline, and the control module performs differential control on the two motors so as to drive the two eccentric wheels of the telescopic mechanism to rotate at different angles and enable the telescopic mechanism to turn in the direction of the bend of the pipeline.
Drawings
Fig. 1 is a schematic plan view of a telescopic mechanism in a contracted state according to embodiment 1 of the present invention;
fig. 2 is a schematic perspective view of a telescopic mechanism in a contracted state according to embodiment 1 of the present invention;
FIG. 3 is a schematic plan view of the telescopic mechanism of embodiment 1 of the present invention in a stretched state;
FIG. 4 is a schematic structural view of an upper support plate in embodiment 1 of the present invention;
FIG. 5 is a schematic structural view of a telescopic mechanism entering a curve according to embodiment 3 of the present invention;
fig. 6 is a schematic view of a process of the pipeline crawling robot crawling in the vertical pipeline in embodiment 2 of the present invention;
fig. 7 is a schematic view of a process in which a pipeline-crawling robot crawls in a curve in embodiment 3 of the present invention;
in the figure: 100. a first telescoping mechanism; 200. a second telescoping mechanism; 300. a third telescoping mechanism; 400. a fourth telescoping mechanism; 1. an upper support plate; 2. a lower support plate; 3. a first support link; 4. a second support link; 5. a support table; 6. a box body; 7. a first motor; 8. a second motor; 9. a first eccentric wheel; 10. a second eccentric wheel; 11. a first bolt; 12. a drive shaft; 13. a spherical roller; 14. a groove rail; 15. a groove; 16. a second bolt; 17. and a third bolt.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1 to 3, the embodiment discloses a pipeline crawling robot, which includes four telescoping mechanisms with the same structure, namely a first telescoping mechanism 100, a second telescoping mechanism 200, a third telescoping mechanism 300 and a fourth telescoping mechanism 400, which are sequentially connected end to end; the telescopic mechanism comprises: the device comprises an upper supporting plate 1, a lower supporting plate 2, a first supporting connecting rod 3, a second supporting connecting rod 4, a supporting table 5, a box body 6, a first motor 7, a second motor 8, a first eccentric wheel 9 and a second eccentric wheel 10; the upper supporting plate 1 of the first telescopic mechanism 100 is provided with a detection unit for detecting an obstacle or a curve inside the pipeline;
the upper supporting plate 1 and the lower supporting plate 2 are movably connected through a first supporting connecting rod 3 and a second supporting connecting rod 4; the support table 5 is arranged on the lower support plate 2, the box body 6 is fixed on the support table 5, and the box body 6, the support table 5 and the lower support plate 2 are fixed through a first bolt 11; a first eccentric wheel 9 and a second eccentric wheel 10 are respectively arranged on the left outer side wall and the right outer side wall of the box body 6, a first motor 7 and a second motor 8 are respectively arranged on the left inner side wall and the right inner side wall of the box body 6, the first motor 7 is connected with the first eccentric wheel 9 through a transmission shaft 12, and the second motor 8 is connected with the second eccentric wheel 10 through the transmission shaft 12; two spherical rollers 13 are arranged on the upper supporting plate 1, and the two spherical rollers 13 are respectively matched with the first eccentric wheel 9 and the second eccentric wheel 10; a power supply and a control module are also arranged in the box body 6, and the power supply and the control module are electrically connected with the first motor 7 and the second motor 8; the telescopic mechanism controls the first motor 7 and the second motor 8 to work through the control module, and drives the first eccentric wheel 9 and the second eccentric wheel 10 to rotate, so that the telescopic mechanism is driven to do telescopic motion.
Specifically, the first eccentric wheel 9 and the second eccentric wheel 10 are both provided with a groove rail 14 along the circumferential direction, the groove rails 14 of the first eccentric wheel 9 and the second eccentric wheel 10 are respectively matched with two spherical rollers 13 of the upper supporting plate 1, and the first eccentric wheel 9 and the second eccentric wheel 10 are always movably connected with the upper supporting plate 1 through the groove rail 14 and the spherical rollers 13 in the rotating process; when the motor rotates for half a circle, the transmission shaft 12 drives the eccentric wheel to rotate for half a circle, and the eccentric wheel is matched with the spherical roller 13 on the upper supporting plate 1, so that the upper supporting plate 1 is jacked up, the supporting connecting rod is driven to extend, and the extension of the telescopic mechanism is realized; when the motor continues to rotate for half a circle, the transmission shaft 12 continues to drive the eccentric wheel to rotate for half a circle, the eccentric wheel is matched with the spherical roller 13 on the upper supporting plate 1, the lower supporting plate 2 is pulled to move upwards, the supporting connecting rod is driven to contract, and therefore the contraction of the telescopic mechanism is achieved.
Further, the first eccentric wheel 9 and the second eccentric wheel 10 are circular, the diameter of the first eccentric wheel is 50mm, and the thickness of the first eccentric wheel is 6 mm; the width of the groove track 14 is 2mm, and the depth of the groove track is 5 mm; the eccentricity of the first eccentric wheel 9 and the second eccentric wheel 10 is 18 mm;
specifically, the support table 5 is a cuboid 40 × 10 × 5mm, and is used for supporting the box body 6;
specifically, the box body 6 is a cuboid of 40 × 40 × 45mm, the interior of the box body is hollow, the thickness of the box body is 2mm, the interior of the box body is used for fixing a motor, and three side walls of the box body 6 are provided with mounting holes respectively used for mounting two motors and fixing the box body 6 and the support platform 5 on the lower support plate 2;
specifically, as shown in fig. 4, the upper support plate 1 and the lower support plate 2 are both waist-shaped structures, grooves 15 are formed in both sides of each waist-shaped structure, mounting holes are formed in the grooves 15, and the upper support plate 1 and the lower support plate 2 are movably connected with the first support connecting rod 3 and the second support connecting rod 4 through the mounting holes; go up backup pad 1/2 total length of bottom suspension fagging and be 90mm, the width is 40mm, and thickness is 3mm, and the radius of both sides semicircle is 20 mm.
Specifically, the first support connecting rod 3 and the second support connecting rod 4 both comprise two movably connected support rods, and the two support rods are movably connected through a second bolt 16; the free ends of the two support rods are respectively movably connected with the upper support plate 1 and the lower support plate 2 through third bolts 17; the length of the support rod is 53mm, and the thickness of the support rod is 3 mm.
Specifically, the detection unit comprises one or more of an infrared sensor, an ultrasonic sensor, a laser sensor and a camera, and the detection unit is electrically connected with the power supply and the control module respectively.
Specifically, the outer part of the whole robot device can be provided with a layer of skin, so that the inner part of the robot is not damaged by sundries and dust in a pipeline.
Example 2
As shown in fig. 6, the embodiment provides a method for a pipeline crawling robot to crawl a vertical pipeline, which specifically includes the following steps:
s11, the robot is in an initial crawling state, the first telescopic mechanism 100 and the second telescopic mechanism 200 of the robot are in a contracting state, and the third telescopic mechanism 300 and the fourth telescopic mechanism 400 of the robot are in a stretching state; the support connecting rods of the first telescopic mechanism 100 and the second telescopic mechanism 200 are abutted against the pipeline to provide friction force, so that the robot is prevented from falling;
s12, the first telescoping mechanism 100 of the robot is switched to the stretching state, and at the same time, the third telescoping mechanism 300 is switched to the shrinking state, and the fourth telescoping mechanism 400 is pulled to move upwards; the supporting connecting rods of the second telescopic mechanism 200 and the third telescopic mechanism 300 are abutted against the pipeline, so that the enough friction force required by the robot to overcome the gravity can be ensured, and meanwhile, the fourth telescopic mechanism 400 of the robot can be pulled to move upwards;
s13, the second telescoping mechanism 200 of the robot is switched to the extended state, and meanwhile, the fourth telescoping mechanism 400 is switched to the retracted state, pushing the first telescoping mechanism 100 to move upwards; the supporting connecting rods of the third telescopic mechanism 300 and the fourth telescopic mechanism 400 are abutted against the pipeline, so that the first telescopic mechanism 100 can be pushed to move upwards while enough friction force is provided;
s14, the third telescoping mechanism 300 of the robot is switched to the stretching state, and at the same time, the first telescoping mechanism 100 is switched to the shrinking state, and the first telescoping mechanism 100 and the second telescoping mechanism 200 are pushed to move upwards; the supporting connecting rods of the first telescopic mechanism 100 and the fourth telescopic mechanism 400 are abutted against the pipeline, so that the first telescopic mechanism 100 and the second telescopic mechanism 200 are pushed to move upwards while sufficient friction force is provided;
s15, the fourth telescoping mechanism 400 of the robot is switched to the extended state, and at the same time, the second telescoping mechanism 200 is switched to the retracted state, and the robot returns to the initial crawling state of step S11;
s16, repeating the steps S12 to S15 to enable the robot to continuously climb upwards along the vertical pipeline;
specifically, when the telescopic mechanism of the robot is in a contracted state, the first eccentric wheel 9 and the second eccentric wheel 10 of the telescopic mechanism are both in an initial position, and at the moment, the height of the telescopic mechanism is 60.58mm, and the width of the telescopic mechanism is 166.30 mm; when the control module controls the first motor 7 and the second motor 8 to synchronously rotate for a half cycle, the first eccentric wheel 9 and the second eccentric wheel 10 synchronously rotate for a half cycle, at the moment, the telescopic mechanism is converted from a contraction state to a stretching state, at the moment, the height of the telescopic mechanism is 98.42mm, and the width of the telescopic mechanism is 115.28 mm; when the control module controls the first motor 7 and the second motor 8 to continue to synchronously rotate for a half cycle, the first eccentric wheel 9 and the second eccentric wheel 10 continue to synchronously rotate for a half cycle and return to the initial position, and at the moment, the stretching state of the telescopic mechanism is converted into the shrinking state.
Example 3
As shown in fig. 5 and 7, the present embodiment provides a method for a pipeline crawling robot to crawl in a curve, which specifically includes the following steps:
s21, when the detection unit on the first telescoping mechanism 100 detects a curve, the second telescoping mechanism 200, the third telescoping mechanism 300 and the fourth telescoping mechanism 400 are in a contracted state, the control module in the first telescoping mechanism 100 carries out differential control on the first motor 7 and the second motor 8, so that the first telescoping mechanism 100 stretches at a small angle close to the first support connecting rod 3 at the inner side of the curve and stretches at a large angle close to the second support connecting rod 4 at the outer side of the curve, and the first telescoping mechanism 100 of the robot enters the curve;
s22, a control module in a second telescoping mechanism 200 of the robot carries out differential control on a first motor 7 and a second motor 8, so that the second telescoping mechanism 200 is stretched at a small angle close to a first support connecting rod 3 on the inner side of a curve and stretched at a large angle close to a second support connecting rod 4 on the outer side of the curve, the first telescoping mechanism 100 of the robot is ejected out of the curve, at the moment, the first telescoping mechanism 100 is in a fully stretched state, and the second telescoping mechanism 200 of the robot enters the curve;
s23, a control module in a third telescoping mechanism 300 of the robot carries out differential control on a first motor 7 and a second motor 8, so that the third telescoping mechanism 300 is stretched at a small angle close to a first support connecting rod 3 on the inner side of a curve and stretched at a large angle close to a second support connecting rod 4 on the outer side of the curve, the second telescoping mechanism 200 of the robot is ejected out of the curve, at the moment, the second telescoping mechanism 200 is in a fully stretched state, and meanwhile, the third telescoping mechanism 300 of the robot enters the curve;
s24, the first telescoping mechanism 100 of the robot is converted into a retracted state, a control module in a fourth telescoping mechanism 400 of the robot performs differential control on a first motor 7 and a second motor 8, so that the fourth telescoping mechanism 400 is stretched at a small angle close to a first support connecting rod 3 on the inner side of a curve and is stretched at a large angle close to a second support connecting rod 4 on the outer side of the curve, and meanwhile, the second telescoping mechanism 200 of the robot is converted into a retracted state to pull the fourth telescoping mechanism 400 to pass through the curve; at this time, the state of the robot is restored to the initial crawling state in the vertical pipeline, namely, the robot smoothly passes through the curve.
Specifically, when the telescopic mechanism of the robot enters a curve, the control module performs differential control on the first motor 7 and the second motor 8, the control module controls the first motor 7, close to the inner side of the curve, of the telescopic mechanism to run for a quarter cycle, and controls the second motor 8, close to the outer side of the curve, to run for a half cycle, so that the first eccentric wheel 9 rotates for a quarter cycle, and the second eccentric wheel 10 rotates for a half cycle, namely, the telescopic mechanism stretches at a small angle close to the first support connecting rod 3 on the inner side of the curve and stretches at a large angle close to the second support connecting rod 4 on the outer side of the curve.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A pipeline crawling robot is characterized by comprising four telescopic mechanisms which are identical in structure and sequentially connected end to end, namely a first telescopic mechanism, a second telescopic mechanism, a third telescopic mechanism and a fourth telescopic mechanism; the telescopic mechanism comprises: the device comprises an upper supporting plate, a lower supporting plate, a first supporting connecting rod, a second supporting connecting rod, a supporting table, a box body, a first motor, a second motor, a first eccentric wheel and a second eccentric wheel; the upper supporting plate of the first telescopic mechanism is provided with a detection unit for detecting internal obstacles or bends of the pipeline;
the upper supporting plate is movably connected with the lower supporting plate through a first supporting connecting rod and a second supporting connecting rod; the support table is arranged on the lower support plate, the box body is fixed on the support table, and the box body, the support table and the lower support plate are fixed through bolts; the left and right outer side walls of the box body are respectively provided with a first eccentric wheel and a second eccentric wheel, the left and right inner side walls of the box body are respectively provided with a first motor and a second motor, the first motor is connected with the first eccentric wheel through a transmission shaft, and the second motor is connected with the second eccentric wheel through a transmission shaft; the upper supporting plate is provided with two spherical rollers which are respectively matched with the first eccentric wheel and the second eccentric wheel; a power supply and a control module are also arranged in the box body, and the power supply and the control module are electrically connected with the first motor and the second motor; the telescopic mechanism controls the first motor and the second motor to work through the control module, and drives the first eccentric wheel and the second eccentric wheel to rotate, so that the telescopic mechanism is driven to do telescopic motion.
2. The pipeline crawling robot of claim 1, wherein the first eccentric wheel and the second eccentric wheel are provided with grooved rails along the circumferential direction, the grooved rails of the first eccentric wheel and the second eccentric wheel are respectively matched with the two spherical rollers of the upper supporting plate, and the first eccentric wheel and the second eccentric wheel are always movably connected with the upper supporting plate through the grooved rails and the spherical rollers in the rotating process.
3. The pipeline crawling robot of claim 1, wherein the upper supporting plate and the lower supporting plate are both of a kidney-shaped structure, grooves are formed in both sides of the kidney-shaped structure, mounting holes are formed in the grooves, and the upper supporting plate and the lower supporting plate are movably connected with the first supporting connecting rod and the second supporting connecting rod through the mounting holes.
4. The pipeline crawling robot of claim 1, wherein each of the first support link and the second support link comprises two movably connected support rods, and free ends of the two support rods are movably connected with the upper support plate and the lower support plate respectively.
5. The pipeline crawling robot of claim 1, wherein the detection unit comprises one or more of an infrared sensor, an ultrasonic sensor, a laser sensor and a camera, and the detection unit is electrically connected with the power supply and the control module respectively.
6. A crawling method of the pipe crawling robot based on any one of claims 1 to 5, comprising a vertical pipe crawling method and a turning pipe crawling method;
the crawling method of the vertical pipeline comprises the following steps:
s11, the robot is in an initial crawling state, a first telescopic mechanism and a second telescopic mechanism of the robot are in a contraction state, and a third telescopic mechanism and a fourth telescopic mechanism of the robot are in a stretching state;
s12, the first telescopic mechanism of the robot is converted into a stretching state, meanwhile, the third telescopic mechanism is converted into a contracting state, and the fourth telescopic mechanism is pulled to move upwards;
s13, the second telescopic mechanism of the robot is converted into a stretching state, and meanwhile, the fourth telescopic mechanism is converted into a contracting state to push the first telescopic mechanism to move upwards;
s14, the third telescopic mechanism of the robot is converted into a stretching state, and meanwhile, the first telescopic mechanism is converted into a contracting state to push the first telescopic mechanism and the second telescopic mechanism to move upwards;
s15, the fourth telescopic mechanism of the robot is converted into a stretching state, meanwhile, the second telescopic mechanism is converted into a contracting state, and the robot returns to the initial crawling state of the step S11;
s16, repeating the steps S12 to S15 to enable the robot to continuously climb upwards along the vertical pipeline;
the crawling method of the turning pipeline comprises the following steps:
s21, when the detection unit on the first telescoping mechanism detects a curve, the second telescoping mechanism, the third telescoping mechanism and the fourth telescoping mechanism are in a contracted state, and the control module in the first telescoping mechanism carries out differential control on the first motor and the second motor, so that the first telescoping mechanism stretches at a small angle close to the first support connecting rod on the inner side of the curve and stretches at a large angle close to the second support connecting rod on the outer side of the curve, and the first telescoping mechanism of the robot enters the curve;
s22, a control module in a second telescopic mechanism of the robot carries out differential control on a first motor and a second motor, so that the second telescopic mechanism is stretched at a small angle close to a first support connecting rod on the inner side of a curve and stretched at a large angle close to a second support connecting rod on the outer side of the curve, the first telescopic mechanism of the robot is pushed out of the curve, and at the moment, the first telescopic mechanism is in a fully stretched state, and meanwhile, the second telescopic mechanism of the robot enters the curve;
s23, a control module in a third telescopic mechanism of the robot carries out differential control on a first motor and a second motor, so that the third telescopic mechanism is stretched at a small angle close to a first support connecting rod on the inner side of a curve and stretched at a large angle close to a second support connecting rod on the outer side of the curve, and the second telescopic mechanism of the robot is pushed out of the curve, at the moment, the second telescopic mechanism is in a fully stretched state, and meanwhile, the third telescopic mechanism of the robot enters the curve;
s24, converting a first telescoping mechanism of the robot into a contracted state, and differentially controlling a first motor and a second motor by a control module in a fourth telescoping mechanism of the robot to enable the fourth telescoping mechanism to stretch at a small angle close to a first support connecting rod on the inner side of a curve and stretch at a large angle close to a second support connecting rod on the outer side of the curve, and simultaneously converting the second telescoping mechanism of the robot into a contracted state to pull the fourth telescoping mechanism to pass through the curve; at this time, the state of the robot is restored to the initial crawling state in the vertical pipeline, namely, the robot smoothly passes through the curve.
7. The crawling method of the pipeline crawling robot of claim 6, wherein when the telescoping mechanism of the robot is in a retracted state, the first eccentric wheel and the second eccentric wheel of the telescoping mechanism are both in an initial position; when the control module controls the first motor and the second motor to synchronously rotate for a half cycle, the first eccentric wheel and the second eccentric wheel synchronously rotate for a half cycle, and at the moment, the telescopic mechanism is converted from a contraction state to a stretching state; when the control module controls the first motor and the second motor to continuously and synchronously rotate for a half cycle, the first eccentric wheel and the second eccentric wheel continuously and synchronously rotate for a half cycle to return to the initial position, and at the moment, the telescopic mechanism is converted into a contraction state from a stretching state.
8. The crawling method of the pipeline crawling robot as claimed in claim 6, wherein when the telescoping mechanism of the robot enters the curve, the control module performs differential control on the first motor and the second motor, the control module controls the first motor of the telescoping mechanism near the inner side of the curve to run for a quarter cycle, the second motor near the outer side of the curve to run for a half cycle, so that the first eccentric wheel rotates for a quarter cycle, and the second eccentric wheel rotates for a half cycle, thereby realizing small-angle stretching of the first support link near the inner side of the curve and large-angle stretching of the second support link near the outer side of the curve.
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