CN110486570B

CN110486570B - Bionic pipeline crawling robot

Info

Publication number: CN110486570B
Application number: CN201910787873.4A
Authority: CN
Inventors: 杨绿; 张进; 高娜; 樊艳娥; 李辉; 徐达; 何沐阳
Original assignee: Guizhou University
Current assignee: Guizhou University
Priority date: 2019-08-26
Filing date: 2019-08-26
Publication date: 2022-01-07
Anticipated expiration: 2039-08-26
Also published as: CN110486570A

Abstract

The invention discloses a bionic pipeline crawling robot, which consists of 2 basic telescopic modules. Each basic telescopic module consists of a supporting structure in contact with the pipe wall and a three-degree-of-freedom parallel structure, and the three-degree-of-freedom mechanism is respectively connected with the movable platform and the static platform. The basic telescopic modules are flexibly connected through springs. The invention develops a bionic robot which crawls in a pipeline from the gait characteristics of simulating the crawling of inchworms and earthworms. Carry on all kinds of equipment with this robot as the microscope carrier, can realize detecting a flaw to pipeline inside, regularly patrols and examines, dredge functions such as pipeline, for the inside corrosion of pipeline, crackle, wearing and tearing, jam scheduling problem provides the solution to effectively monitor the pipeline and corrode, the crackle, the wearing and tearing and block up the condition, thereby avoid the accident that this type of problem arouses.

Description

Bionic pipeline crawling robot

Technical Field

The invention relates to mechanical equipment for crawling operation in a fluid conveying pipeline, and belongs to the field of bionic robots.

Background

The pipeline is a main tool for transporting fluid substances such as gas, water, petroleum and the like, and in actual production and life, pipeline cracks and abrasion are often required to be detected; in addition, the blockage and dredging of the pipeline are also troublesome problems in production. But the pipeline has the characteristics of limited operation space, difficulty in directly detecting the internal condition from the outside, unsuitability for manual operation and the like. Therefore, there is an urgent need for a robot platform capable of crawling operations in a pipeline.

In the prior art, an invention patent (publication number 105697927a) applied by Beijing university of transportation discloses an IPMC-based bionic inchworm pipeline crawling mechanism, which belongs to the field of mechanical engineering and is used for crawling detection in a slightly bent pipeline. The intelligent IPMC power-driven pipe joint comprises two clamping modules and a telescopic module, the characteristic that an intelligent material IPMC is bent after being electrified is used as a driving principle, a motor is not used, the size is small, the weight is light, the intelligent IPMC power-driven pipe joint can adapt to different pipe diameters by adjusting the inclination angle of an IPMC foot, the structure can be bent, and the forward, resident and backward movement in a pipeline can be realized through a curve with larger curvature.

An invention patent (publication No. 109506074a) filed by changzhou school district of river-sea university, discloses a bionic inchworm for climbing in a pipeline, the bionic inchworm comprising: the driving mechanism provides power for the executing mechanism, so that a task of advancing and exploring the bionic inchworm is realized; the executing mechanism is a crank rocker mechanism and a double-rocker mechanism, carries wheels with a ratchet mechanism, simulates the telescopic action of an inchworm trunk through the combination of the crank rocker and the double-rocker mechanism, realizes alternate braking of the front part and the rear part by utilizing the ratchet mechanism, realizes speed reduction through a transmission system of a worm gear and a worm and reaches a specified transmission ratio, and thus, the bionic inchworm device which can stably and quickly advance in a generally straight pipeline is manufactured.

In addition, the invention patent (publication number 109899622A) applied by the academy of mansion engineering provides a bionic creeping type pipeline inner crawler and a creeping method thereof, relating to the technical field of bionic robots. Wherein, this kind of bionical wriggling type pipeline internal climbing ware includes: a propulsion portion and at least two feet; the foot section includes: a foot bladder; a plurality of wheel sets arranged along the circumferential direction of the foot airbag; the first air pump assembly controls the foot air bag to stretch and contract along the radial direction of the pipeline so as to fix or separate the foot and the inner wall of the pipeline; the propulsion portion is connected between the two feet, and comprises: a medial axis airbag; and the second air pump assembly controls the middle shaft air bag to axially extend and retract along the pipeline. This scheme is through utilizing the air pump subassembly to carry out orderly inflation and deflation to foot and propulsion portion, realizes the crawl of crawl device in the pipeline, has fine stability and economic nature.

Above technical scheme all has certain suggestion to the bionic robot of crawling in the pipeline, but this type of robot when crawling in the pipeline, appears the card in bend department easily, and the speed of crawling is slow and turn to and climb the little scheduling problem of slope angle, thereby it is very necessary to further study and improve thereby propose more ideal scheme.

Disclosure of Invention

In order to solve the problems that the robot is easy to block at a curve when crawling in a pipeline, the crawling speed is slow, the steering and climbing angles are small and the like in the prior art, the invention provides a bionic pipeline crawling robot. Generally, the robot cannot be clamped on the inner wall of a pipeline, and if the robot is clamped on the inner wall of the pipeline, the phenomenon can be eliminated by adjusting the motion of the movable platform.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a bionic pipeline crawling robot is composed of 2 basic telescopic modules. Each basic telescopic module consists of a supporting structure in contact with the pipe wall and a three-degree-of-freedom parallel structure, and the three-degree-of-freedom parallel structure is respectively connected with the movable platform and the static platform. The basic telescopic modules are flexibly connected through springs.

Wherein, aforementioned bearing structure mainly comprises 1 bracing piece, 3 sliding sleeves, 3 compression spring, 3 leading wheels and 3 electromagnetic braking ware.

Furthermore, the supporting rods are evenly distributed with three sliding sleeves in the circumferential direction, the upper ends of the sliding sleeves are connected with the guide wheels through shafts and bearings, and the lower ends of the sliding sleeves are connected with the supporting rods through sliding pairs. One end of the spring is welded on the support rod, and the other end of the spring is welded on the sliding sleeve. The guide wheel is arranged on the shaft above the sliding sleeve.

Furthermore, the stator of the electromagnetic brake is arranged at the upper end of the sliding sleeve, and the armature unit is arranged on the shaft. When the electromagnetic brake is powered off, the guide wheel is braked by the brake shaft, and when the electromagnetic brake is powered on, the guide wheel can freely rotate in the axis direction of the guide wheel.

Further, the three-degree-of-freedom parallel structure is a parallel mechanism consisting of 1 static platform, 1 movable platform, 3 driving arms and 3 groups of parallelogram driven branched chains.

Furthermore, three driving motors which are uniformly distributed are installed on the static platform, the driving motors are connected with the driving arm through a revolute pair, and the driving arm is driven to move by the driving motors.

Furthermore, the section area of one end of the driving arm is smaller, the section area of the other end of the driving arm is larger, the end with the larger section area is connected with the driving motor on the static platform, and the end with the smaller section area is connected with the parallelogram driven branched chain through the two ball pairs.

Furthermore, the parallelogram driven branched chain is a three-degree-of-freedom parallel mechanism driven branched chain, each group of driven branched chain is composed of two driven arms, two ends of each driven arm are respectively connected with the driving arm and the movable platform through a ball pair, one group of two driven arms are provided, and after assembly is completed, the two driven arms are kept parallel to form the parallelogram driven branched chain. The two ends of each arm are provided with spherical shell parts of a spherical pair structure, and the spherical part of the spherical pair is arranged on the driving arm. Two ends of each group of driven arms are respectively provided with a spring hook, and the spring hooks are matched with the cylinders beside the ball pairs of the driven arms to connect the two driven arms.

Furthermore, the ball body parts of the three groups of ball pair structures are uniformly distributed on the movable platform and are connected with the ball shell parts of the ball pair structures on the parallelogram driven branched chains, and the movable platform can move along the three directions of X, Y and Z under the common control of the three groups of driven arms.

Compared with the prior art, the bionic robot capable of crawling in the pipeline is developed from the gait characteristics of simulating the crawling of inchworms and earthworms. Carry on all kinds of equipment with this robot as the microscope carrier, can realize detecting a flaw to pipeline inside, regularly patrols and examines, dredge functions such as pipeline, for the inside corrosion of pipeline, crackle, wearing and tearing, jam scheduling problem provides the solution to effectively monitor the pipeline and corrode, the crackle, the wearing and tearing and block up the condition, thereby avoid the accident that this type of problem arouses.

Drawings

FIG. 1 is an analysis diagram of the gait of the inchworm;

FIG. 2 is a three-dimensional view of the total assembly of the bionic pipeline crawling robot provided by the embodiment of the invention;

FIG. 3 is a front view of a biomimetic pipeline robot provided in an embodiment of the present invention;

FIG. 4 is a left side view of FIG. 3 provided in accordance with an embodiment of the present invention;

FIG. 5 is a top view of FIG. 3 provided in accordance with an embodiment of the present invention;

FIG. 6 is an enlarged view of a portion of FIG. 4 in accordance with an embodiment of the present invention;

FIG. 7 is a gait analysis diagram of the linear motion of the bionic pipeline robot provided by the embodiment of the invention;

fig. 8 is a gait analysis diagram of the turning motion of the bionic pipeline robot provided by the embodiment of the invention.

Description of reference numerals: 1. a guide wheel; 2. an active arm; 3. a first stationary platform; 4. a first hexagon bolt; 5. a first hexagonal nut; 6. a first gasket; 7. a drive motor; 8. a support bar; 9. a sliding sleeve; 10. a driven arm; 11. a spring hook; 12. a movable platform; 13. a connecting spring; 14. a second stationary platform; 15. a second hexagon bolt; 16. a second gasket; 17. a second hexagonal nut; 18. a compression spring; 19. a first end cap; 20. a shaft; 21. a rolling bearing; 22. a seal ring; 23. a second end cap; 24. a third end cap; 25. a first key; 26. a circlip; 27. a third hexagonal nut; a fourth end cap; 29. a fourth hexagonal nut; 30. an electromagnetic brake stator; 31. an electromagnetic brake armature; 32. a plate-shaped spring; 33. an armature hub; 34. a second key; 35. and (5) tightening the screw.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

The invention discloses a bionic robot which is developed from the gait characteristics of simulating the creeping of inchworms and earthworms, and an inchworm movement gait analysis diagram is shown in figure 1.

As shown in fig. 2 and 3, the bionic pipeline crawling robot according to the embodiment of the invention comprises 2 basic telescopic modules, and the basic telescopic modules are flexibly connected through a connecting spring 13. Each basic telescopic module consists of a supporting structure and a three-degree-of-freedom parallel structure, and the supporting structure is connected with the first static platform 3 or the movable platform 12 of the three-degree-of-freedom parallel structure.

As shown in fig. 3 and 6, a supporting structure is mainly composed of 1 supporting

rod

8, 3 sliding sleeves 9, 3 springs 18, 3 guide wheels 1 and 3 electromagnetic brakes, wherein each electromagnetic brake comprises an electromagnetic brake stator 30 and an electromagnetic brake armature 31. The upper end of the sliding sleeve 9 is connected with the guide wheel 1 through a shaft 20 and a bearing 21, and the lower end is connected with the support rod 8 through a sliding pair. One end of the compression spring 18 is welded on the support bar 8, and the other end is welded on the sliding sleeve 9. When the compression spring 18 is deformed, the sliding sleeve 9 moves on the support rod 8 to adapt to different pipe diameters or to cross obstacles attached to the inner wall of the pipeline. In addition, because one end of the compression spring 18 is welded on the sliding sleeve 9, the guide wheel 1 connected with the upper end of the sliding sleeve 9 through the shaft 20 can rotate in a certain range in the axial direction of the compression spring 18, and when the section of the guide wheel 1 is parallel to the section of the pipeline and the obstacle cannot be overcome, the angle of the guide wheel 1 can be adjusted under the action of the torque of the compression spring 18 to solve the problem. A guide rod and a guide sleeve structure at the lower end of the sliding sleeve 9 are designed in the supporting rod 8, so that the stability of the compression spring 18 is ensured.

As shown in fig. 6, an electromagnetic brake stator 30 is mounted on the upper end of the sliding sleeve 9, and an electromagnetic brake armature 31 is mounted on the shaft 20. When the armature 31 of the electromagnetic brake is de-energized, the guide wheel 1 is braked by the brake shaft 20, and the guide wheel 1 is pressed against the inside of the pipeline and cannot move, and the process is a braking process of the supporting structure or a grasping stage of the robot. When the armature 31 of the electromagnetic brake is electrified, the sliding sleeve 9 can move up and down along the supporting rod 8 under the driving of the compression spring 18, and at the moment, the guide wheel 1 can freely move along the inner wall of the pipeline, and the process is the releasing stage of the robot.

As shown in fig. 3, the three-degree-of-freedom parallel structure is a parallel mechanism composed of a static platform, 1 moving

platform

12, 3 driving

arms

2 and 3 groups of parallelogram driven branched chains. Three driving motors 7 which are uniformly distributed are arranged on the first static platform 3 and the second static platform 14, the driving motors 7 are connected with the driving arm 2 through a revolute pair, and the driving arm 2 is driven to move by the driving motors 7. The section area of one end of the driving arm 2 is smaller, the section area of the other end of the driving arm is larger, the end with the larger section area is connected with the driving motor 7 on the first static platform 3 or the second static platform 14, and the end with the smaller section area is connected with the parallelogram driven branched chain through two spherical pairs.

As shown in fig. 3, the parallelogram driven branched chain is a three-degree-of-freedom parallel mechanism driven branched chain, each group of driven branched chain is composed of two driven arms 10, two ends of the two driven arms 10 are respectively connected with the driving arm 2 and the movable platform 12 through a ball pair, the two driven arms 10 are in a group, and after assembly is completed, the two driven arms 10 are kept parallel to form the parallelogram driven branched chain. Each driven arm 10 has a spherical shell portion of a ball pair structure at both ends, and a spherical portion of the ball pair is on the driving arm 2. Two ends of each group of driven arms 10 are respectively provided with a spring hook 11, and the spring hooks 11 are matched with the cylinders beside the ball pairs of the driven arms 10 to connect the two driven arms 10. The moving platform 12 is uniformly distributed with three groups of ball parts of ball pair structure, which are connected with the ball shell parts of the ball pair structure on the parallelogram driven branched chain, and the moving platform 12 can move along the three directions of X, Y and Z under the common control of the three groups of driven arms 10.

As shown in fig. 3, the support structure of the bionic pipeline crawling robot in the embodiment of the present invention connected to the movable platform 12 is the front foot of the robot, the support structure connected to the first stationary platform 3 is the rear foot, the front foot and the three-degree-of-freedom parallel mechanism form a first basic module, and the rear foot and the three-degree-of-freedom parallel mechanism form a second basic module. As shown in fig. 7 and 8, the gait process of the robot moving along the straight pipeline and the curved pipeline in one cycle is as follows:

a grasping stage: when the three electromagnetic brakes of the rear foot are powered off, the guide wheel 1 brakes to abut against the inner wall of the pipeline, and the rear foot is fixed to enable the rear foot to tightly grasp the inner wall of the pipeline.

A loosening stage: the three electromagnetic brakes of the front foot are electrified, the guide wheel 1 is loosened and can move along the pipeline, so that the front foot can move freely.

An elongation stage: the driving arm 2 of each three-degree-of-freedom parallel structure rotates under the driving of the driving motor 7, the three-degree-of-freedom parallel structure extends, and when crawling in a straight pipeline, the rotating angles must be equal, so that the robot can be guaranteed to crawl along a straight line.

A grasping stage: the three electromagnetic brakes of the front foot lose electricity, the guide wheel 1 brakes to prop against the inner wall of the pipeline, and the front foot is fixed to enable the front foot to tightly grasp the inner wall of the pipeline.

A loosening stage: the three electromagnetic brakes of the hind foot are electrified, the guide wheel 1 is loosened and can move along the pipeline, so that the hind foot can move freely.

And (3) shrinkage stage: under the drive of the drive motor 7, the driving arm 2 rotates, the three-degree-of-freedom parallel mechanism contracts, and when the robot crawls in a straight pipeline, the rotating angles must be equal to ensure that the robot crawls along a straight line.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a bionic pipeline robot of crawling which characterized in that: the robot consists of 2 basic telescopic modules; each basic telescopic module consists of a supporting structure in contact with the pipe wall and a three-degree-of-freedom parallel structure, and the three-degree-of-freedom parallel structure is respectively connected with the movable platform (12) and the static platform; the basic telescopic modules are flexibly connected through springs; the supporting structure consists of 1 supporting rod (8), 3 sliding sleeves (9), 3 compression springs (18), 3 guide wheels (1) and 3 electromagnetic brakes; the supporting rod (8) is uniformly provided with three sliding sleeves (9) in the circumferential direction, the upper ends of the sliding sleeves (9) are connected with the guide wheel (1) through a shaft (20) and a bearing, and the lower ends of the sliding sleeves are connected with the supporting rod (8) through a sliding pair; one end of the compression spring (18) is welded on the support rod (8), and the other end is welded on the sliding sleeve (9); the guide wheel (1) is arranged on a shaft (20) above the sliding sleeve (9); the stator of the electromagnetic brake is arranged at the upper end of the sliding sleeve (9), and the armature unit is arranged on the shaft (20).

2. The biomimetic pipeline crawling robot of claim 1, wherein: the three-degree-of-freedom parallel structure is a parallel mechanism consisting of a static platform, a movable platform (12), 3 driving arms (2) and 3 groups of parallelogram driven branched chains.

3. The biomimetic pipeline crawling robot of claim 2, wherein: three driving motors are uniformly distributed on the static platform, the driving motors are connected with the driving arm (2) through a revolute pair, and the driving arm (2) is driven to move by the driving motors.

4. The biomimetic pipeline crawling robot of claim 2, wherein: the driving arm (2) is small in cross-sectional area at one end and large in cross-sectional area at the other end, the end with the large cross-sectional area is connected with the driving motor on the static platform, and the end with the small cross-sectional area is connected with the parallelogram driven branched chain through the two ball pairs.

5. The biomimetic pipeline crawling robot of claim 2, wherein: the parallelogram driven branched chain is a three-degree-of-freedom parallel mechanism driven branched chain, each group of driven branched chain is composed of two driven arms (10), two ends of each driven arm (10) are respectively connected with the driving arm (2) and the movable platform (12) through a ball pair, the two driven arms (10) form a group, and after assembly is completed, the two driven arms (10) are kept parallel to form the parallelogram driven branched chain; both ends of each driven arm (10) are provided with spherical shell parts of a spherical pair structure, and the spherical parts of the spherical pairs are arranged on the driving arms (2); two ends of each group of driven arms (10) are respectively provided with a spring hook (11), and the spring hooks (11) are matched with the cylinders beside the ball pairs of the driven arms (10) to connect the two driven arms (10).

6. The biomimetic pipeline crawling robot of claim 5, wherein: the movable platform (12) is uniformly distributed with three groups of ball parts of ball pair structures, the ball parts are connected with the ball shell parts of the ball pair structures on the parallelogram driven branched chains, and the movable platform (12) can move along the three directions of X, Y and Z under the common control of the three groups of driven arms (10).