CN109973759B - Adsorption type omnidirectional mobile robot walking along wall surface of straight pipeline - Google Patents
Adsorption type omnidirectional mobile robot walking along wall surface of straight pipeline Download PDFInfo
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- CN109973759B CN109973759B CN201910319814.4A CN201910319814A CN109973759B CN 109973759 B CN109973759 B CN 109973759B CN 201910319814 A CN201910319814 A CN 201910319814A CN 109973759 B CN109973759 B CN 109973759B
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- sucker
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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Abstract
An adsorption type omnidirectional mobile robot walking along the wall surface of a straight pipeline relates to the technical field of special robots. The upper end of the sucking disc is closed, the lower end of the sucking disc is open, an air outlet is formed in the middle of the closed end of the sucking disc, the fan is fixedly installed in the sucking disc, the lower end faces of any two opposite side walls of the sucking disc are arc surfaces protruding downwards, sealing skirts are fixed on the lower end faces of the four side walls of the sucking disc, the molded lines of the sealing skirts fixed on the two arc surfaces are consistent with the shape of the inner edge of the cross section of the pipeline, and the sealing skirts always form an air; the vehicle body chassis and the frame are fixed in the sucking disc, each Mecanum wheel is arranged on the output shaft of the corresponding driving motor, each driving motor is arranged on the corresponding support, and the four supports are hinged with the vehicle body chassis and the frame; the controller is fixed on the chassis of the vehicle body and the frame and used for controlling the start and stop of the four Mecanum wheels. The invention is absorbed into the straight pipeline to realize the omnibearing high-coverage motion detection of pipelines made of different materials.
Description
Technical Field
The invention relates to the technical field of special robots, in particular to an adsorption type omnidirectional mobile robot walking along the wall surface of a straight pipeline.
Background
The pipeline transportation has the advantages of large transportation capacity, convenience, rapidness, low cost and the like, and occupies great proportion in material transportation in the fields of petroleum, chemical industry, electric power, water supply and drainage, nuclear industry and the like. Due to chemical corrosion of a conveying medium, design defects of a pipeline and the like, serious accidents such as environmental pollution, inflammable substance explosion, energy waste and the like can be caused, and the interior of the pipeline needs to be regularly detected, maintained and cleaned. Traditional pipeline detection is realized by manual operation mode, and it is big, the inefficiency to face work load, and can't real-time detection contain noxious material or the pipeline that interior space is narrow, the structure is complicated.
Therefore, pipeline inspection robots are increasingly used instead of workers to perform pipeline inspection and maintenance operations. However, the common pipeline detection robot generally has the problems of insufficient detection operation coverage rate and poor adaptability of complex pipelines. After entering the pipeline, the robot can reach a working space limited to the bottom of the pipeline, and is easy to collide with obstacles in the pipeline or cannot pass through a narrow space due to excessive detection operation dead angles.
The invention patent application with the application number of CN201610662977.9 discloses a pipeline moving robot device, which discloses a robot walking in a pipeline, and the robot needs to occupy a large space during operation and cannot adapt to the environment with structures in the pipeline.
To above-mentioned problem, mainly adopt magnetism to adsorb formula pipeline inspection robot at present. The utility model discloses "a curved surface self-adaptation adsorbs formula omni-directional mobile platform" like application number CN201620431067.5, this patent introduced a robot to ferromagnetic pipeline adsorbs, however, ferromagnetic pipeline adsorbs robot has the poor problem of pipeline material adaptability. The application range of the pipeline is limited to ferromagnetic pipelines made of steel, cast iron and the like, and the pipeline cannot be suitable for non-ferromagnetic pipelines made of PV, aluminum alloy and the like which are used in large quantities in industry.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an adsorption type omnidirectional mobile robot walking along the wall surface of a straight pipeline, which can adapt to pipelines made of different materials and keep reliable and stable adsorption; the obstacle crossing capability is enough, and bottom interference is avoided; the device can avoid complex obstacles possibly existing in the pipeline, avoid collision and reach all positions of the inner wall of the pipeline, thereby realizing all-dimensional high-coverage motion detection of pipelines made of different materials.
The technical scheme adopted by the invention is as follows:
an adsorption type omnidirectional mobile robot walking along the wall surface of a straight pipeline comprises a negative pressure adsorption device, a modular omnidirectional movement mechanism, a vehicle body chassis, a frame and a controller; the negative pressure adsorption device comprises a fan, a sucker and a sealing skirt; the modularized omnidirectional movement mechanism comprises four Mecanum wheels, four driving motors and four supports;
the sucker is of a rectangular frame structure, the upper end of the sucker is a closed end, the lower end of the sucker is an open end, an air outlet is formed in the middle of the closed end of the sucker, the fan is fixedly mounted above the sucker, the air outlet of the fan is arranged outside the upper portion of the sucker, the lower end faces of any two opposite side walls of the sucker are arc faces protruding downwards, sealing skirts are fixed on the lower end faces of the four side walls of the sucker, the molded lines of the sealing skirts fixed on the two arc faces are consistent with the shape of the inner edge of any cross section of the pipeline, and gaps are formed between the sealing skirts and the; the sealing skirt of the negative pressure adsorption device forms an air gap with constant height with the inner wall of the pipeline all the time so as to realize stable adsorption; the vehicle body chassis and the frame are fixed in the sucking disc and positioned below the fan, each Mecanum wheel is arranged on the output shaft of the corresponding driving motor, each driving motor is arranged on the corresponding support, and the four supports are fixedly connected with the vehicle body chassis and the frame; the controller is fixed on the chassis of the vehicle body and the frame and used for controlling the start and stop of the four Mecanum wheels.
Compared with the prior art, the invention has the beneficial effects that:
the robot solves the problem that operators enter the interior of a pipeline, and particularly can flexibly move and walk in all directions in the pipeline which is narrow in space, complex in internal environment, contains toxic substances, liquid, high-pressure gas and the like and is not beneficial to the approach operation of the operators.
The invention is not only suitable for the detection and maintenance task of ferromagnetic pipelines such as steel pipelines, cast iron pipelines and the like which are suitable for the existing magnetic adsorption type pipeline detection robot, but also suitable for the adsorption type omnidirectional walking of non-ferromagnetic pipelines such as PVC pipelines, aluminum alloy pipelines and the like which are commonly used in industrial production.
By the design of the negative pressure adsorption device and the modularized omnidirectional movement mechanism, obstacle avoidance of complex obstacles, passing of narrow spaces and approaching of dead corners under the shielding of the obstacles can be realized, so that the robot has a flexible and autonomous movement obstacle avoidance operation function.
Drawings
FIG. 1 is a schematic structural diagram of an adsorption type omnidirectional mobile robot walking along the wall surface of a straight pipeline according to the present invention;
FIG. 2 is a schematic structural view of a single modular omnidirectional drive mechanism;
fig. 3 is a schematic diagram of the motion control of the adsorption type omnidirectional mobile robot walking along the wall surface of the straight pipeline.
Fig. 4 is an isometric view of the bottom view of the adsorption type omnidirectional mobile robot walking along the wall surface of a straight pipeline.
The names and the reference numbers of the parts related in the figure are as follows:
the device comprises a negative pressure adsorption device 1, a fan 11, a centrifugal fan 111, a main fan motor 112, a driving plate 113, a sucker 12, a sealing skirt 13, a modular omnidirectional movement mechanism 2, a Mecanum wheel 21, a driving motor 22, a bracket 23, a vehicle body chassis and frame 3 and a controller 4.
Detailed Description
The first embodiment is as follows: as shown in fig. 1, 2 and 4, the present embodiment describes an adsorption type omnidirectional moving robot traveling along a straight pipe wall surface, including a negative pressure adsorption device 1, a modular omnidirectional movement mechanism 2, a vehicle body chassis and frame 3, and a controller 4; the negative pressure adsorption device 1 comprises a fan 11, a sucker 12 and a sealing skirt 13; the modular omnidirectional movement mechanism 2 comprises four mecanum wheels 21, four driving motors 22 and four brackets 23;
the sucker 12 is of a rectangular frame structure, the upper end of the sucker 12 is a closed end, the lower end of the sucker 12 is an open end, an air outlet is formed in the middle of the closed end of the sucker 12, the fan 11 is fixedly mounted above the sucker 12, the air outlet of the fan 11 is arranged outside the upper portion of the sucker 12, the lower end faces of any two opposite side walls of the sucker 12 are arc faces protruding downwards, sealing skirts 13 are fixed on the lower end faces of the four side walls of the sucker 12, the molded lines of the sealing skirts 13 fixed on the two arc faces are consistent with the shape of inner edges of any cross section of a pipeline, and gaps are formed between the sealing skirts 13 and the; the sealing skirt 13 of the negative pressure adsorption device 1 always forms an air gap with constant height with the inner wall of the pipeline so as to realize stable adsorption (the sucking disc 12, the sealing skirt 13 and the inner wall of the pipeline form a negative pressure cavity, and the air outlet of the sucking disc 12, namely the air outlet of the negative pressure cavity, is circular); the vehicle body chassis and the frame 3 are fixed in the sucker 12 and positioned below the fan 11, each Mecanum wheel 21 is arranged on an output shaft of a corresponding driving motor 22, each driving motor 22 is arranged on a corresponding bracket 23, and the four brackets 23 are fixedly connected with the vehicle body chassis and the frame 3; the controller 4 is fixed on the chassis of the vehicle body and the frame 3, and the controller 4 is used for controlling the start and stop of the four mecanum wheels 21 (the part of the lower end of the suction cup 12 between the four mecanum wheels 21 and the side wall of the suction cup 12 is the air inlet of the fan, and the part of the lower end of the suction cup 12 in the middle of the four mecanum wheels 21 is the air inlet of the suction cup 12).
The four mecanum wheels 21 may also be replaced by omni wheels.
The second embodiment is as follows: as shown in fig. 1, the first embodiment is further described in the present embodiment, and the fan 11 includes a centrifugal fan 111, a main fan motor 112 and a driving plate 113; the main fan motor 112 is fixed above the inside of the suction cup 12, an output shaft of the main fan motor 112 penetrates through the suction cup 12 in a rotating mode and is fixedly connected with the centrifugal fan 111, the driving plate 113 is fixed on the main fan motor 112 and used for controlling the main fan motor 112 to start and stop, and the driving plate 113 is electrically connected with the controller 4.
The driving board 113 feeds back information of the main blower motor 112 (which is a dc servo motor) while receiving a control signal from the controller 4, and directly drives the centrifugal fan 111 to rotate, thereby reducing the gas content in the negative pressure chamber, generating a stable pressure difference, and realizing reliable adsorption of the robot.
The third concrete implementation mode: as shown in fig. 3 and 4, this embodiment is further described as an embodiment one, the four mecanum wheels 21 of the modular omnidirectional exercise mechanism 2 are driven independently, and the axes of the four mecanum wheels 21 are perpendicular to the normal of the surface of the pipeline.
The fourth concrete implementation mode: as shown in fig. 2 and 3, this embodiment is further described with respect to one or three embodiments, all the rollers of each mecanum wheel 21 are at an angle of 45 ° with respect to the axis of the mecanum wheel 21 (capable of moving in any direction, such as axial direction and circumferential direction, along the inner wall of the pipe), the four mecanum wheels 21 are arranged in a matrix form, two mecanum wheels 21 on the left side are in one group, two mecanum wheels 21 on the right side are in one group, the roller axes of the two mecanum wheels 21 in each group are symmetrically arranged, and the roller axes of the two mecanum wheels 21 on each diagonal line are in the same direction. Ensuring reliable contact with the surface of the pipeline and realizing omnidirectional movement.
The fifth concrete implementation mode: as shown in the drawings, in the first embodiment, each of the driving motors 22 is a deceleration dc servo motor or a dc brushless motor (the deceleration dc servo motor includes a speed reducer and a dc servo motor, and has the characteristics of compact structure and large output torque, and the driving motor 22 may also be a driving mechanism in which the dc servo motor is connected to an independent transmission mechanism).
The sixth specific implementation mode: as shown in fig. 2, the first embodiment is further described, and the material of the suction cup 12 is silica gel, polyurethane or nitrile rubber (which has excellent resilience and deformation resistance, and good sealing property).
The seventh embodiment: as shown in fig. 1, this embodiment is further described with respect to the first embodiment, and the material of the sealing skirt 13 is felt cloth, textile fiber cloth, rubber or resin (having good flexibility, wear resistance and sealing property).
The working principle is as follows: as shown in fig. 1-3, when the robot moves along the wall of the pipeline, the driving board 113 receives the signal from the controller 4, and controls and adjusts the rotation of the main blower motor 112 in real time, so as to drive the centrifugal fan 111 to rotate, and push the air to be discharged from the air outlet, thereby realizing air outlet at the air outlet and air inlet at the air inlet of the blower 11. The air outlet of the suction cup 12 is communicated with the air inlet of the fan 11 and exhausts air, the suction cup 12, the sealing skirt 13 and the wall surface of the pipeline form a negative pressure cavity, and the internal and external pressure difference enables ambient air to enter the negative pressure cavity and generate pressure on the suction cup 12 (double-suction). When the pressure and the gravity act on the robot together, the sucker 12 is in close contact with the inner wall of the pipeline to prevent overturning, and enough friction force is generated between the Mecanum wheel 21 and the wall surface of the pipeline to prevent the sucker 12 from sliding, so that the robot can reliably adsorb and move in all directions along the inner wall of the pipeline.
At the same time, the drive motor 22 receives a signal from the controller 4 to control the movement of the mecanum wheel 21. As shown in fig. 1. The motion control of the pipeline robot is explained as follows:
four mecanum wheels 21, defined as wheels a, b, c, d, respectively, four mecanum wheels 21 are arranged in ABAB fashion (i.e., according to the embodiment).
(1) When the wheel a, the wheel b, the wheel c and the wheel d rotate forwards at the same rotating speed, the robot moves in the positive axial direction;
(2) when the wheel a and the wheel c rotate forwards at the same rotating speed and the wheel b and the wheel d rotate backwards at the same rotating speed, the robot moves anticlockwise along the circumferential direction;
(3) when the wheel a and the wheel c rotate positively at the same speed and the wheel b and the wheel d are static, the robot moves counterclockwise in a combined manner along the axial positive direction and the circumferential direction;
(1) when the wheel a and the wheel b rotate forwards at the same rotating speed and the wheel c and the wheel d rotate backwards at the same rotating speed, the robot rotates anticlockwise along the axis of the robot.
Similarly, the four mecanum wheels 21 combine at other turns and speeds to allow the robot to walk in any direction along the pipe wall.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. The utility model provides an absorption formula omnidirectional movement robot of walking along straight pipeline wall which characterized in that: comprises a negative pressure adsorption device (1), a modularized omnidirectional movement mechanism (2), a vehicle body chassis and frame (3) and a controller (4); the negative pressure adsorption device (1) comprises a fan (11), a sucker (12) and a sealing skirt (13); the modularized omnidirectional movement mechanism (2) comprises four Mecanum wheels (21), four driving motors (22) and four supports (23);
the suction cup (12) is of a rectangular frame structure, the upper end of the suction cup (12) is a closed end, the lower end of the suction cup (12) is an open end, an air outlet is formed in the middle of the closed end of the suction cup (12), the fan (11) is fixedly installed above the suction cup (12), the air outlet of the fan (11) is arranged outside the upper portion of the suction cup (12), the lower end faces of any two opposite side walls of the suction cup (12) are arc faces protruding downwards, sealing skirts (13) are fixed on the lower end faces of the four side walls of the suction cup (12), the molded lines of the sealing skirts (13) fixed on the two arc faces are consistent with the shape of the inner edge of any cross section of the pipeline, and gaps are formed between the; a sealing skirt (13) of the negative pressure adsorption device (1) forms an air gap with constant height with the inner wall of the pipeline all the time so as to realize stable adsorption; the vehicle body chassis and the frame (3) are fixed in the sucker (12) and located below the fan (11), each Mecanum wheel (21) is installed on an output shaft of a corresponding driving motor (22), each driving motor (22) is installed on a corresponding support (23), and the four supports (23) are fixedly connected with the vehicle body chassis and the frame (3); the controller (4) is fixed on a chassis of the vehicle body and the frame (3), and the controller (4) is used for controlling the starting and stopping of the four Mecanum wheels (21); the part of the lower end of the sucker (12) between the four Mecanum wheels (21) and the side wall of the sucker (12) is a fan air inlet, and the part of the lower end of the sucker (12) in the middle of the four Mecanum wheels (21) is the air inlet of the sucker (12).
2. The adsorption type omnidirectional mobile robot walking along the wall surface of the straight pipeline according to claim 1, wherein: the fan (11) comprises a centrifugal fan (111), a main fan motor (112) and a driving plate (113); the air conditioner is characterized in that the main fan motor (112) is fixed above the inside of the sucker (12), an output shaft of the main fan motor (112) rotates to penetrate out of the sucker (12), the air outlet is fixedly connected with the centrifugal fan (111), the drive plate (113) is fixed on the main fan motor (112) and used for controlling the main fan motor (112) to start and stop, and the drive plate (113) is electrically connected with the controller (4).
3. The adsorption type omnidirectional mobile robot walking along the wall surface of the straight pipeline according to claim 1, wherein: the four Mecanum wheels (21) of the modularized omnidirectional movement mechanism (2) are driven independently, and the axes of the four Mecanum wheels (21) are vertical to the normal line of the surface of the pipeline at the position.
4. The adsorption type omnidirectional mobile robot walking along the wall surface of the straight pipeline according to claim 1 or 3, wherein: all rollers on each Mecanum wheel (21) form an included angle of 45 degrees with the axis of the Mecanum wheel (21), the four Mecanum wheels (21) are arranged in a matrix mode, two Mecanum wheels (21) on the left side are in one group, two Mecanum wheels (21) on the right side are in one group, the roller axes of the two Mecanum wheels (21) in each group are symmetrically arranged, and the roller axis directions of the two Mecanum wheels (21) on each diagonal line are consistent.
5. The adsorption type omnidirectional mobile robot walking along the wall surface of the straight pipeline according to claim 1, wherein: each driving motor (22) is a speed-reducing direct-current servo motor or a direct-current brushless motor.
6. The adsorption type omnidirectional mobile robot walking along the wall surface of the straight pipeline according to claim 1, wherein: the sucking disc (12) is made of silica gel, polyurethane or nitrile rubber.
7. The adsorption type omnidirectional mobile robot walking along the wall surface of the straight pipeline according to claim 1, wherein: the sealing skirt (13) is made of felt cloth, textile fiber cloth, rubber or resin.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910319814.4A CN109973759B (en) | 2019-04-19 | 2019-04-19 | Adsorption type omnidirectional mobile robot walking along wall surface of straight pipeline |
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| CN201910319814.4A CN109973759B (en) | 2019-04-19 | 2019-04-19 | Adsorption type omnidirectional mobile robot walking along wall surface of straight pipeline |
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| CN109973759B true CN109973759B (en) | 2021-06-08 |
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| CN112025052A (en) * | 2020-04-03 | 2020-12-04 | 中国核工业第五建设有限公司 | Device and method for filling argon into pipeline |
| CN115370868A (en) * | 2022-07-13 | 2022-11-22 | 常州工学院 | Allosteric robot suitable for irregular pipeline |
| CN115452557B (en) * | 2022-09-13 | 2024-06-21 | 中国石油大学(华东) | Indentation instrument fixing device for nondestructive testing of inner wall of pipeline |
| CN116357900B (en) * | 2023-03-07 | 2023-11-10 | 张家港宏昌钢板有限公司 | Dust removal flue blocks up leak detector |
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| JP2016101887A (en) * | 2014-11-28 | 2016-06-02 | シャープ株式会社 | Travel device |
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| CN1219457A (en) * | 1997-12-12 | 1999-06-16 | 唐世明 | Wall climbing robot |
| CN100422029C (en) * | 2006-11-27 | 2008-10-01 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN104960589A (en) * | 2014-08-22 | 2015-10-07 | 中科新松有限公司 | Omni-directional mobile robot device |
| CN105480317A (en) * | 2016-01-18 | 2016-04-13 | 重庆交通大学 | Robot for working on vertical surface of building |
| CN106828649A (en) * | 2017-03-21 | 2017-06-13 | 重庆大学 | A kind of Climbing Robot |
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| CN102826138A (en) * | 2012-08-24 | 2012-12-19 | 华南理工大学 | Negative-pressure adsorption module with automatic altitude detection capacity and self-adaptive capacity to adsorbed surface |
| JP2016101887A (en) * | 2014-11-28 | 2016-06-02 | シャープ株式会社 | Travel device |
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