CN110822215B - Electromagnetic differential type self-adaptive pipeline device - Google Patents
Electromagnetic differential type self-adaptive pipeline device Download PDFInfo
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- CN110822215B CN110822215B CN201911124602.7A CN201911124602A CN110822215B CN 110822215 B CN110822215 B CN 110822215B CN 201911124602 A CN201911124602 A CN 201911124602A CN 110822215 B CN110822215 B CN 110822215B
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- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 5
- 239000002887 superconductor Substances 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 239000012530 fluid Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000002572 peristaltic effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model provides an electromagnetism differential speed formula self-adaptation pipeline device, includes the fuselage, is located the fuselage both ends and is provided with cross auxiliary stay mechanism respectively, installs magnet pretension mechanism between the tip of both sides auxiliary stay mechanism, and magnet pretension mechanism outside symmetry is provided with drive wheel and auxiliary wheel, has differential mechanism at fuselage internally mounted, and the drive wheel links to each other with differential mechanism. The invention adds the electromagnetic pre-tightening mechanism and the control module on the basis of the existing differential mechanism to accurately control the driving of the robot, thereby improving the advancing efficiency and the bent pipe passing performance of the robot and ensuring that the robot has stronger obstacle crossing capability.
Description
Technical Field
The invention relates to the technical field of oil and gas pipeline transportation, in particular to an electromagnetic differential type self-adaptive pipeline device.
Background
With the continuous development of society, pipelines are widely used in industry and daily life, such as natural gas pipelines, underground water pipelines, and the like. The pipelines can be corroded, scaled, cracked, perforated and the like under the action of medium inside and outside the pipelines in the long-term use process, so that the pipelines can fail, the normal operation of transportation operation is influenced, and serious safety accidents are extremely easy to cause catastrophic results. However, because the pipeline has limited internal space and complex structure, the manual overhaul is difficult, so that the pipeline robot is generated for improving the accuracy and efficiency of work.
Several types of pipeline robots commonly used at present are mainly: fluid-driven pipeline robots, wheeled pipeline robots, walking pipeline robots and peristaltic pipeline robots. Wherein, the driving force of the fluid driving type pipeline robot is directly from fluid, and the fluid driving type pipeline robot can be effectively driven only in a large-diameter pipeline with enough pressure. The walking type pipeline robot has the structure like an animal leg, has high walking speed, needs a very complex mechanical structure and multiple groups of drivers, and is generally not adopted. Peristaltic pipeline robots mostly adopt pneumatic modes to drive the contraction and the extension of the front end and the rear end, and the driving mode has limited traction force and larger energy loss. The wheel type movement mode has the advantages of high walking speed, large dragging force, simple structure and the like, and is adopted by most large and medium oil gas conveying pipeline operation robots. However, when passing through the bent pipe, if the wheel type pipeline robot
Without the differential function, some drive wheels can produce motion interference, thereby reducing the effective drag force of the robot and increasing the wear of the transmission parts.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide an electromagnetic differential type self-adaptive pipeline device, and an electromagnetic pre-tightening mechanism and a control module are added on the basis of the existing differential mechanism to accurately control the driving of a robot, so that the advancing efficiency and the bent pipe passing performance of the robot are improved, and the stronger obstacle crossing capability of the robot is ensured.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides an electromagnetism differential speed formula self-adaptation pipeline device, includes fuselage 6, is located fuselage 6 both ends and is provided with cross auxiliary stay mechanism 4 respectively, installs magnet pretension mechanism 3 between the tip of both sides auxiliary stay mechanism 4, and magnet pretension mechanism 3 outside symmetry is provided with drive wheel 2 and auxiliary wheel 5, has differential mechanism 1 at fuselage 6 internally mounted, and drive wheel 2 links to each other with differential mechanism 1.
The magnet pre-tightening mechanism 3 is of an arc-shaped structure, and the arc-shaped structure is concave inwards.
The driving wheel 2 is arranged at the end part of the machine body 6 in a radial quarter mode, and the auxiliary wheel 5 is arranged at the other end of the machine body 6 in a quarter mode at a position corresponding to the driving wheel 2.
The driving wheel 2 is driven by a straight wheel type.
The differential mechanism 1 is a triaxial differential mechanism.
The driving wheel 2 is driven by a driving motor in the machine body 6, and the driving wheel 2 is connected with the driving motor by a differential mechanism 1.
The surface of the magnet pre-tightening mechanism 3 is provided with a small superconductor.
The machine body 6 is provided with a power management module, a singlechip module, a sensor module and a motor driving module; the single chip microcomputer module, the sensor module and the motor driving module are powered through the power management module, the sensor module comprises a photoelectric sensor signal processor and a control circuit, the photoelectric conversion circuit converts optical signals received by the photoelectric sensor into electric signals, the received voltage values are transmitted to the single chip microcomputer module, and the output end of the single chip microcomputer module is connected with the driving wheel 2.
The front and back positions of the body 6 on the side are respectively provided with a photoelectric sensor and a light source device.
The singlechip module and the sensor module are LM1117-5.
The driving motor adopts an L293 driving chip.
The invention has the beneficial effects that:
the robot adopts a front wheel driving and rear wheel auxiliary supporting mode, a magnet pre-tightening mechanism is innovated as a pipe diameter self-adaptive mechanism of the pipeline robot, the change of the magnet reducing pre-tightening force is small, the self-adaptive capacity is strong, and the properties of the magnet can be changed by changing different magnets, so that a larger reducing range is realized; by using an STC89C52RC singlechip and a photoelectric sensor control system,
the invention is a self-tracking device, which can accurately control the forward movement of the robot, thereby solving the problem that the robot is difficult to self-adaptively turn in the pipe bending stage.
Drawings
Fig. 1 is a schematic view of the overall structure of a pipe robot.
Fig. 2 is a schematic view of the spatial distribution of the overall design.
Fig. 3 is a schematic diagram of the principle of the electromagnetic differential type pipeline robot.
Fig. 4 is a schematic diagram of the principle of realizing accurate turning by means of a control part when passing through a bent pipe.
Fig. 5 is a schematic diagram of a magnet pretension reducing mechanism.
FIG. 6 is a schematic diagram of the overall design of the control system.
Fig. 7 is a diagram of a driving circuit of the L293 driving chip.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, an electromagnetic differential type self-adaptive pipeline device basically comprises the following components: differential mechanism 1, drive wheel 2 (4), magnet pretension mechanism 3, auxiliary support mechanism 4, auxiliary wheel 5 (4) and fuselage 6. The spatial distribution structure is schematically shown in fig. 2.
In order to make the output speed of the driving unit of the pipeline robot uniform, the driving unit is relatively stable in the running process, and can adapt to a working state with a large load, thereby realizing the self-adaptive pipeline function. A novel driving unit is designed by adopting a straight wheel type driving and taking a single motor as a main power source. The working principle of the triaxial differential mechanism is as follows:
(1) The magnet pre-tightening mechanism 3 is used for changing the distance between two identical magnetic poles through the pressure of the pipe wall acting on the machine body, so that the pre-tightening diameter-changing of the three-axis differential type pipeline robot is realized.
(2) When the pipe bending stage works, power provided by the driving motor can be transmitted to the triaxial differential mechanism and the driving arm, and then the differential function is realized.
As shown in fig. 5: the magnet pre-tightening mechanism 3 changes the pre-tightening reducing mode used in the past in the design of the electromagnetic differential self-adaptive pipeline robot at this time, and innovates a new pre-tightening reducing method: the diameter of the magnet is changed by pre-tightening. As shown in fig. 5, the magnitude of the distance is changed by using the basic principle that magnets repel each other with the same poles and the inverse relation between the repulsive force between the poles and the magnetic pole distance.
The magnet reducing pretightening force has small change and strong self-adaptive capacity, and the attribute of the magnet can be changed by changing different magnets, so that a larger reducing range is realized. In order to enhance the reducing stability, a small superconductor can be arranged on the surface of the magnet.
As shown in fig. 6: system overall design analysis
The design comprises four parts, namely a power management module, a singlechip module, a sensor module and a motor driving module.
In the whole control system, the power management of all modules is realized by the power module. Wherein, singlechip and photoelectric tube all need 5V's voltage just can work, and the motor then needs to provide 6V's voltage.
The hardware aspect: the device mainly comprises a photoelectric sensor signal processor and a control circuit. The photoelectric conversion circuit performs a certain process on the optical signal received by the photoelectric sensor, thereby converting the optical signal into an electrical signal. Then, the received voltage value is transmitted to the singlechip, and the singlechip acts on a certain algorithm to give an instruction to the steering engine, so that the steering of the driving wheel 2 is changed, and the pipeline robot can automatically find light rays to walk.
Software aspect: the singlechip is a core part of the control system, and outputs an instruction to the driving motor after analog-digital conversion is carried out on the acquired signals, so that the forward and reverse rotation of the driving motor are controlled.
The singlechip module is the most core part of the pipeline robot control system. The method can carry out strict calculation on all input digital signals, so that a command is output to the driving wheel, and the driving wheel can finish steering work at a specified angle, so that the whole pipeline robot can work normally.
When the pipeline robot encounters the bent pipe, the light rays emitted by the main light source are reflected through the inflection point of the bent pipe, and the photoelectric sensor is used for tracking the light rays, so that the bent pipe trafficability of the pipeline robot can be improved to a great extent.
The working principle of the invention is as follows:
when the robot works, power is transmitted to four driving wheels 2 through a differential mechanism 1 by a driving motor arranged in a machine body 6, and each driving wheel 2 can realize autonomous differential walking of the robot according to environmental constraint through differential adjustment of the differential mechanism 1; the electromagnetic pre-tightening mechanism 3 realizes the adjustment of the positive pressure of the robot in the pipeline by utilizing the homopolar repulsion of the magnets and the inverse proportion relation between the repulsive force and the magnetic pole distance, so that the driving wheel 2 obtains enough positive pressure to meet the working condition demands of different pipelines; the auxiliary wheels 5 on the auxiliary supporting mechanism 4 are arranged in one-to-one correspondence with the driving wheels 2, and the auxiliary wheels 5 can have enough pretightening force by adjusting pretightening quantity, so that the auxiliary wheels 5 are kept in contact with the pipe wall, and the self-positioning and centering requirements of the robot in the running process are ensured, as shown in fig. 3.
Fig. 4 is a schematic diagram of a pipe robot that relies on a control section to achieve a precise turn when encountering a bend. The photoelectric sensor and the light source are respectively arranged at the front and back positions of the lateral body of the pipeline robot, and the incident angle of the light is equal to the reflection angle because the light can be reflected when encountering an obstacle, so that the forward path of the robot can be simulated to a great extent. The photoelectric sensor is used for tracking parallel light rays emitted by the main light source in real time, the obtained optical signals are converted into electric signals through the photoelectric conversion circuit and are input into the singlechip, and an instruction is sent to the driving motor through conversion of the digital-to-analog conversion circuit, so that steering work of the driving wheel of the pipeline robot is completed. The advancing accuracy and efficiency of the pipeline robot can be improved to a great extent in straight pipes or bent pipes.
Claims (8)
1. An electromagnetic differential type self-adaptive pipeline device is characterized by comprising a machine body (6), wherein cross auxiliary supporting mechanisms (4) are respectively arranged at two ends of the machine body (6), a magnet pre-tightening mechanism (3) is arranged between the ends of the auxiliary supporting mechanisms (4) at two sides, driving wheels (2) and auxiliary wheels (5) are symmetrically arranged at the outer sides of the magnet pre-tightening mechanism (3), a differential mechanism (1) is arranged in the machine body (6), and the driving wheels (2) are connected with the differential mechanism (1);
the magnet pre-tightening mechanism (3) comprises two magnets which are oppositely arranged, the magnets have the same magnetism and are of arc-shaped structures, the arc-shaped structures are sunken towards one side of the pipe wall, and the distance between two identical magnetic poles is changed through the pressure of the pipe wall acting on the machine body, so that the pre-tightening reducing of the differential type pipeline robot is realized;
the driving wheel (2) is arranged at the end part of the machine body (6) in a radial quarter mode, and the auxiliary wheel (5) is arranged at the other end of the machine body (6) in a quarter mode at a position corresponding to the driving wheel (2).
2. An electromagnetic differential self-adaptive pipeline device according to claim 1, characterized in that the driving wheel (2) is driven by a straight wheel type.
3. An electromagnetic differential type self-adaptive pipeline device according to claim 1, wherein the differential mechanism (1) is a triaxial differential type mechanism.
4. An electromagnetic differential type self-adaptive pipeline device according to claim 1, characterized in that the driving wheel (2) is driven by a driving motor in the machine body (6), the driving wheel (2) is connected with the driving motor by a differential mechanism (1), and the driving motor adopts an L293 driving chip.
5. An electromagnetic differential self-adaptive pipeline device according to claim 1, characterized in that the surface of the magnet pre-tightening mechanism (3) is provided with a small superconductor.
6. The electromagnetic differential type self-adaptive pipeline device according to claim 1, wherein the machine body (6) is provided with a power management module, a singlechip module, a sensor module and a motor driving module; the single-chip microcomputer module, the sensor module and the motor driving module are powered through the power management module, the sensor module comprises a photoelectric sensor signal processor and a control circuit, the photoelectric conversion circuit converts optical signals received by the photoelectric sensor into electric signals, the received voltage values are transmitted to the single-chip microcomputer module, and the output end of the single-chip microcomputer module is connected with the driving wheel (2).
7. An electromagnetic differential self-adaptive pipeline device according to claim 6, wherein the front and back positions of the body (6) are respectively provided with a photoelectric sensor and a light source.
8. The electromagnetic differential self-adaptive pipeline device according to claim 6, wherein the singlechip module and the sensor module are LM1117-5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911124602.7A CN110822215B (en) | 2019-11-18 | 2019-11-18 | Electromagnetic differential type self-adaptive pipeline device |
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| CN201911124602.7A CN110822215B (en) | 2019-11-18 | 2019-11-18 | Electromagnetic differential type self-adaptive pipeline device |
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| CN110822215A CN110822215A (en) | 2020-02-21 |
| CN110822215B true CN110822215B (en) | 2023-12-05 |
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| CN113494654A (en) * | 2021-06-30 | 2021-10-12 | 南京中智腾飞航空科技研究院有限公司 | Nondestructive testing device suitable for high temperature pipeline is detected a flaw |
| CN114654146B (en) * | 2022-03-31 | 2024-05-14 | 成都熊谷加世电器有限公司 | Welding workstation |
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| CN108194761A (en) * | 2017-12-20 | 2018-06-22 | 北京华航无线电测量研究所 | Detection device in a kind of submarine pipeline |
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| CN211716048U (en) * | 2019-11-18 | 2020-10-20 | 西安建筑科技大学 | Electromagnetic differential type self-adaptive pipeline robot |
-
2019
- 2019-11-18 CN CN201911124602.7A patent/CN110822215B/en active Active
Patent Citations (6)
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| CN203162434U (en) * | 2013-03-20 | 2013-08-28 | 亮杰科技有限公司 | Vacuum magnetic control guidance device |
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