CN110104085A - A kind of climbing robot for pipe detection - Google Patents
A kind of climbing robot for pipe detection Download PDFInfo
- Publication number
- CN110104085A CN110104085A CN201910496618.4A CN201910496618A CN110104085A CN 110104085 A CN110104085 A CN 110104085A CN 201910496618 A CN201910496618 A CN 201910496618A CN 110104085 A CN110104085 A CN 110104085A
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- sweep
- steering engine
- module
- climbing robot
- pipe detection
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- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 230000009194 climbing Effects 0.000 title claims abstract description 18
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention discloses a kind of climbing robot for pipe detection, belongs to outside pipe and climb detection technique field, including two sweeps being connected by oblique U connector, the two sides of each sweep are connected separately with a steering engine arm；The sweep includes the upper sweep being connected by sweep support frame and lower sweep, wheel slot is offered on the upper sweep and lower sweep, wheel is equipped between upper sweep and the wheel slot of lower sweep, motor is equipped between the upper sweep and lower sweep, the motor is connect with wheel, structure is simple, small in size.
Description
Technical field
The present invention relates to detection technique field is climbed outside pipe, and in particular to a kind of climbing robot for pipe detection.
Background technique
Pipe robot is an important component of industrial robot field, modern industrial and agricultural production and normal life
In used a large amount of pipeline, and once leaked in most of industrial pipelines containing fluids, these fluids such as toxic, high temperature
Great casualties and property loss will be will cause, consequence will be inestimable, therefore using Pipe-out Robot replace the mankind into
The detection and maintenance of row pipeline are essential.The type and arrangement for the pipeline industrially used at present are extremely complex,
Bend is the complicated shapes such as L-type, T-type, has the barriers such as pipe joint, valve, support frame on pipeline, to adapt to completely in this way
Complicated working environment, Pipe-out Robot, which must have, adapts to different tube diameters, passes through complicated pipe shape and barrier
Ability.Still there are many disadvantages for current existing Pipe-out Robot: for example structure is complicated, and weight is big, poor universality, can not be suitble to
The pipe arrangement structure of various complexity.
Summary of the invention
To solve the deficiencies in the prior art, the present invention provides a kind of climbing robot for pipe detection, ties
Structure is simple, small in size.
The present invention is that technical solution used by solving its technical problem is: a kind of climbing machine for pipe detection
People, including two sweeps being connected by oblique U connector, the two sides of each sweep are connected separately with a steering engine arm；
The sweep includes the upper sweep being connected by sweep support frame and lower sweep, is offered on the upper sweep and lower sweep
Wheel slot is equipped with wheel between upper sweep and the wheel slot of lower sweep, motor is equipped between the upper sweep and lower sweep, described
Motor is connect with wheel.
Further, the steering engine arm includes that be sequentially connected the steering engine connect, arc straight panel a, arc connector, arc straight
Plate b and steering engine connector, the steering engine connector are connect by bearing chuck with bearing one end, are socketed with shaft coupling on the bearing
Device, the bearing other end are connect by fixedly connected part with driven wheel.
Further, the steering engine arm is connected by the sweep support frame of steering engine fixing piece and sweep；The steering engine is solid
Determining part is a U-typed structure, connects steering engine between two side wall, and driven steering wheel is equipped between one of side wall and steering engine,
Chuck is equipped between another side wall and steering engine.
Further, the oblique U connector includes base member and the company for being connected to base member both ends
Handle is connect, the connection handle at both ends is connected to the sweep support frame of two sweeps.
Further, the base member side is connected with 8 hole steering engine connecting plate for fixing, connects with 8 hole steering engines
The opposite side of fishplate bar is connected with 6 hole steering engine connecting plate for fixing.
Further, the electric machine support for being used to support motor is connected with motor corresponding position on the lower sweep.
Further, control system includes STM32F407 single-chip microcontroller and connects respectively with STM32F407 single-chip microcontroller
Sensor module, motor drive module, camera module, wireless transport module, servo driving module and infrared remote control module；Institute
Stating sensor module includes Raindrop sensor and DHT11 digital hygro sensor；The motor drive module is complete using L298N
Bridge driving chip, the camera module are OV7670 or OV7171 imaging sensor, and the wireless transport module uses
NRF24L01 digital RF chip, the servo driving module are digital using DS3115 steering engine twin shaft output 15kg metal large torque
Steering engine robot arm digital rudder controller；The infrared remote control module connects using the remote 38K integration of 1838B band shielding is infrared
Receive head.
Further, it is mono- to be transferred to STM32F407 for Raindrop sensor or the signal of DHT11 digital hygro sensor acquisition
Piece machine is exported by NRF24L01 digital RF chip to terminal handheld device after the processing of STM32F407 single-chip microcontroller；Camera mould
Block acquisition image after be transmitted to STM32F407 single-chip microcontroller processing, after processing by NRF24L01 digital RF chip export to
Terminal handheld device.
The beneficial effects of the present invention are: the movement, it can be achieved that holding and release is arranged in car body rear and front end steering engine arm,
It can adapt to the pipeline of different-diameter, flexible movements improve the freedom degree of climbing, and it is stupid to solve most of pipe robot action
The problem of weight, obstacle crossing function difference, and the configuration of the present invention is simple, it is small in size, convenient for manipulation.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is the present invention tiltedly U connecting-piece structure schematic diagram；
Fig. 3 is main view of the present invention；
Fig. 4 is side view of the present invention；
Fig. 5 is bottom view of the present invention；
Fig. 6 is L298N full-bridge driving chip pinouts of the present invention；
Fig. 7 is steering engine pulse diagram of the present invention；
Fig. 8 is steering engine corner figure of the present invention.
Appended drawing reference is as follows in figure: 1, sweep, 2, motor, 3, electric machine support, 4, sweep support frame, 5, wheel, 6, steering engine
Fixing piece, 7, steering engine, 8, driven steering wheel, 9, chuck, 10, arc straight panel a, 11, arc connector, 12, steering engine connector, 13,
Bearing chuck, 14, bearing, 15, shaft coupling, 16, fixedly connected part, 17, oblique U connector, 18,6 hole steering engine connecting plates, 19,8 holes
Steering engine connecting plate, 20, wheel slot, 21, arc straight panel b, 22, driven wheel, 23, base member, 24, connection handle.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
Embodiment 1
A kind of climbing robot for pipe detection, including two sweeps 1 being connected by oblique U connector 17, often
The two sides of a sweep 1 are connected separately with a steering engine arm, and the steering engine arm includes being sequentially connected steering engine 7, the arc connect
Straight panel a10, arc connector 11, arc straight panel b21 and steering engine connector 12, the steering engine connector 12 pass through bearing chuck 13
Connect with 14 one end of bearing, be socketed with shaft coupling 15 on the bearing 14,14 other end of bearing by fixedly connected part 16 with from
Driving wheel 22 is hinged.Arc connector 11 is to be flexibly connected with arc straight panel a10, arc straight panel b21.The sweep 1 includes logical
The upper sweep and lower sweep that sweep support frame 4 is connected are crossed, wheel slot 20 is offered on the upper sweep and lower sweep, gets on the bus
Be equipped with wheel 5 between plate and the wheel slot 20 of lower sweep, be equipped with motor 2 between the upper sweep and lower sweep, the motor 2 with
Wheel 5 connects.
The steering engine arm is connect by steering engine fixing piece 6 with the sweep support frame 4 of sweep 1；The steering engine fixing piece 6 is
One U-typed structure connects steering engine 7 between two side wall, and driven steering wheel 8 is equipped between one of side wall and steering engine 7, another
Chuck 9 is equipped between a side wall and steering engine 7.
The oblique U connector 17 includes base member 23 and the connection handle for being connected to 23 both ends of base member
Hand 24, the connection handle 24 at both ends are connected to the sweep support frame 4 of two sweeps 1.
23 side of base member is connected with 8 hole steering engine connecting plate 19 for fixing, with 8 hole steering engine connecting plates 19
Opposite side is connected with 6 hole steering engine connecting plate 18 for fixing.
It is connected with the electric machine support 3 for being used to support motor 2 on the lower sweep by fastener with 2 corresponding position of motor.
Preferably, the present embodiment sweep 1 is made of nylon material, can mitigate 2 burden of motor, and above sweep 1
Camera, Raindrop sensor, TCS230 color sensor, ESP-M2wifi module are installed.
The control system of climbing robot of the present invention for pipe detection include STM32F407 single-chip microcontroller and
The sensor module that is connected respectively with STM32F407 single-chip microcontroller, motor drive module, camera module, wireless transport module, rudder
Machine drive module and infrared remote control module；The sensor module includes Raindrop sensor and DHT11 digital hygro sensor；
The motor drive module uses L298N full-bridge driving chip, and the camera module is OV7670 or OV7171 image sensing
Device, the wireless transport module use NRF24L01 digital RF chip, and the servo driving module is double using DS3115 steering engine
Axis exports 15kg metal large torque number steering engine robot arm digital rudder controller；The infrared remote control module uses 1838B band
Shield remote 38K integration infrared receiving terminal.
Raindrop sensor or the signal of DHT11 digital hygro sensor acquisition are transferred to STM32F407 single-chip microcontroller,
It is exported by NRF24L01 digital RF chip to terminal handheld device after the processing of STM32F407 single-chip microcontroller；Camera module is adopted
It is transmitted to the processing of STM32F407 single-chip microcontroller after the image of collection, is exported by NRF24L01 digital RF chip to terminal after processing
Handheld device.
Preferably, can use STM32F407 single-chip microcontroller NRF24L01 digital RF chip be configured to reception pattern or
Sending mode, can also configure channel, address, the byte number sent every time, whether band CRC check, power etc..It is configured to send mould
After formula, the data to be sent are written with STM32F407 single-chip microcontroller, NRF24L01 digital RF chip automatically issues data
It goes；After being configured to reception pattern, STM32F407 single-chip microcontroller is sentenced by observing the IRQ pin of NRF24L01 digital RF chip
Disconnected whether to receive data, IRQ is low level, illustrates to have received data, STM32F407 single-chip microcontroller is received by PI mouthfuls of acquisitions
The data arrived.Currently preferred NRF24L01 digital RF chip power-consumption is low, when with the power emission of -6dBm, work electricity
Stream also only has 9mA；When reception, operating current only has 12.3mA, a variety of low-power working modes, and work electric current in 100mw is
160mA, it is more energy efficient, conveniently in data transmission with respect to WiFi apart from farther.
Detect water yield with Raindrop sensor, so as to monitor at any time pipeline whether leak, and specific data are passed through
Terminal handheld device is passed back after the processing of STM32F407 single-chip microcontroller；When DHT11 digital hygro sensor detects liquid temperature and humidity
After certain standard value, signal is issued to STM32F407 single-chip microcontroller, to monitor whether pipeline is revealed at any time, and will be specific
Data pass terminal handheld device back after handling by STM32F407 single-chip microcontroller.
Steering engine 7 is a kind of execution unit of primary control surface (control surface) rotation, by motor, transmission parts and clutch group
At, steering engine 7 is controlled by the pulse that servo driving module width can be changed, the parameter of pulse include minimum value, maximum value and
Frequency；The general reference signal period of steering engine 7 is 20ms, and width 1.5ms, the position that this reference signal defines is interposition
It sets, steering engine 7 has maximum rotation angle, and the definition in middle position is from then on position to maximum rotation angle and minimum rotation angle
It measures just the same；Fig. 7 is steering engine pulse diagram；Angle be as produced by the duration impulse from control line, this control method
Impulse modulation is done, the length of pulse determines the size of 7 rotational angle of steering engine.Such as 1.5 millisecond pulse can arrive and turn to interposition
It sets, then exactly turning to 90 ° of positions for 180 ° of steering engines 7；It is instructed when control system issues, steering engine 7 is allowed to be moved to certain
One position, and this angle is kept, the at this moment influence of external force will not allow 7 angle of steering engine to generate variation, and the upper limit is the maximum of steering engine 7
Torsion.Except noncontrol system ceaselessly issues the angle of pulse stabilization steering engine 7, the angle of steering engine 7 will not be constant always.Such as Fig. 8
Shown, when steering engine 7 receives the pulse for being less than 1.5ms, output shaft can be using middle position as standard, and rotation is certain counterclockwise
Angle.It is opposite that the pulse that steering engine 7 receives is greater than 1.5ms situation.
Currently preferred L298N full-bridge driving chip can drive two motors, as shown in fig. 6, OUT1,0UT2 and
2 motor are connect between OUT3, OUT4 respectively, 5,7,10,12 pins connect input control level, control the positive and negative rotation of motor,
ENA, ENB pin connect control enable end, control the stalling of motor.
Operating principle of the present invention: by infrared remote control module remote control, driving motor 2 drives robot ambulation, passes through tune
The angle of section steering engine 7 carrys out clamping pipe outer wall.Handle 24 is connected relative to base member 23 with different angle activity, can be formed
Arch bridge type foldable structure improves flexibility, and then realizes the obstacle crossing function of complicated pipeline configuration, such as the pipeline of T-type structure and general
It threads a pipe the ring flange of upper installation.
By 7 angle changing of steering engine on vertical-type pipeline, the pipeline of different-diameter is adapted to, then reduces angle and holds pipe tightly
Road, by infrared remote control module remote control, driving motor 2 is walked, and carries out the climbing of vertical pipeline；Remote adjustment steering engine 7 makes
Back segment clamping pipe, motor 2 drive leading portion to move upwards, and leading portion raises backward while opening steering engine arm for 90 degree, for cooperating
Horizontal pipe above vertical pipeline after reaching horizontal pipe, adjusts steering engine 7 again, leading portion is made to hold pipeline tightly, after clamping, after
Section steering engine arm unclamps, and motor 2 drives leading portion to walk forward on horizontal pipe a distance, can be with after being folded up rear end
Clamp horizontal pipe.Adjusting steering engine 7 makes robot rear end clamping pipe, and front end is lifted, when front end is across obstacle, such as ring flange
When, front end clamps and rear end is lifted, and so far entire robot surmounts obstacles.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art within the technical scope of the present disclosure, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of climbing robot for pipe detection, which is characterized in that two to be connected including passing through oblique U connector (17)
The two sides of a sweep (1), each sweep (1) are connected separately with a steering engine arm；The sweep (1) includes passing through sweep branch
The upper sweep and lower sweep that support (4) is connected offer wheel slot (20) on the upper sweep and lower sweep, upper sweep and
Wheel (5) are equipped between the wheel slot (20) of lower sweep, are equipped with motor (2) between the upper sweep and lower sweep, the motor
(2) it is connect with wheel (5).
2. a kind of climbing robot for pipe detection according to claim 1, which is characterized in that the steering engine arm
It is connected including being sequentially connected the steering engine connect (7), arc straight panel a (10), arc connector (11), arc straight panel b (21) with steering engine
Part (12), the steering engine connector (12) are connect with bearing (14) one end by bearing chuck (13), are covered on the bearing (14)
It is connected to shaft coupling (15), bearing (14) other end is connect by fixedly connected part (16) with driven wheel (22).
3. a kind of climbing robot for pipe detection according to claim 1, which is characterized in that the steering engine arm
It is connect by steering engine fixing piece (6) with the sweep support frame (4) of sweep (1)；The steering engine fixing piece (6) is a U-typed structure,
Steering engine (7) are connected between two side wall, are equipped with driven steering wheel (8) between one of side wall and steering engine (7), another side wall
Chuck (9) are equipped between steering engine (7).
4. a kind of climbing robot for pipe detection according to claim 1, which is characterized in that the oblique U connection
Part (17) includes base member (23) and the connection handle (24) for being connected to base member (23) both ends, both ends
Connection handle (24) is connected to the sweep support frame (4) of two sweeps (1).
5. a kind of climbing robot for pipe detection according to claim 4, which is characterized in that described intermediate fixed
Part (23) side is connected with 8 hole steering engine connecting plate (19) for fixing, and the side opposite with 8 hole steering engine connecting plates (19) is connect
There is 6 hole steering engine connecting plate (18) for fixing.
6. a kind of climbing robot for pipe detection according to claim 1, which is characterized in that on the lower sweep
The electric machine support (3) for being used to support motor (2) is connected with motor (2) corresponding position.
7. a kind of climbing robot for pipe detection according to claim 1, which is characterized in that further include control system
System, the control system include STM32F407 single-chip microcontroller and the sensor module connected respectively with STM32F407 single-chip microcontroller,
Motor drive module, camera module, wireless transport module, servo driving module and infrared remote control module；The sensor die
Block includes Raindrop sensor and DHT11 digital hygro sensor；The motor drive module drives core using L298N full-bridge
Piece, the camera module are OV7670 or OV7171 imaging sensor, and the wireless transport module is using NRF24L01 number
Radio frequency chip, the servo driving module are man-machine using DS3115 steering engine twin shaft output 15kg metal large torque number steering engine machine
Tool arm digital rudder controller；The infrared remote control module shields remote 38K integration infrared receiving terminal using 1838B band.
8. a kind of climbing robot for pipe detection according to claim 7, which is characterized in that Raindrop sensor or
The signal of DHT11 digital hygro sensor acquisition is transferred to STM32F407 single-chip microcontroller, leads to after the processing of STM32F407 single-chip microcontroller
NRF24L01 digital RF chip is crossed to export to terminal handheld device；STM32F407 is transmitted to after camera module acquisition image
Single-chip microcontroller processing, is exported by NRF24L01 digital RF chip to terminal handheld device after processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910496618.4A CN110104085A (en) | 2019-06-10 | 2019-06-10 | A kind of climbing robot for pipe detection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910496618.4A CN110104085A (en) | 2019-06-10 | 2019-06-10 | A kind of climbing robot for pipe detection |
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Family
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| CN201910496618.4A Pending CN110104085A (en) | 2019-06-10 | 2019-06-10 | A kind of climbing robot for pipe detection |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110803233A (en) * | 2019-11-04 | 2020-02-18 | 黑龙江工程学院 | Computer-controlled crawling robot |
| CN111550684A (en) * | 2020-04-30 | 2020-08-18 | 大连民族大学 | Pipeline patrolling system capable of crossing obstacles during patrolling and machine learning leakage monitoring system |
| CN112572631A (en) * | 2020-12-07 | 2021-03-30 | 马鞍山学院 | Wheeled outer pipeline climbing manipulator device |
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