CN110953439B - Integrated robot suitable for complex pipeline - Google Patents
Integrated robot suitable for complex pipeline Download PDFInfo
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- CN110953439B CN110953439B CN201911154836.6A CN201911154836A CN110953439B CN 110953439 B CN110953439 B CN 110953439B CN 201911154836 A CN201911154836 A CN 201911154836A CN 110953439 B CN110953439 B CN 110953439B
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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
- 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
The invention discloses an integrated robot suitable for complex pipelines, which comprises a main body unit, an auxiliary supporting unit and a driving unit, wherein the main body unit is used for adjusting the pipe diameter range which can be adapted by the robot; the auxiliary supporting unit adjusts the position of the universal wheel through the electric push rod, and the stable posture of the robot in the pipeline is guaranteed; drive unit includes fixed platform, upper rotary platform, drive wheel and both sides driving motor etc. and when both sides driving motor syntropy rotated, the drive robot gos forward, and when both sides driving motor antiport, because of the main part unit orientation receives the effect of auxiliary stay unit to keep unchangeable, the drive wheel drives upper rotary platform relatively fixed platform rotation, changes drive unit's the orientation of advancing. The integrated robot of the embodiment of the invention adopts single-side double-wheel drive, so that the robot can adjust the driving direction of the robot through the reverse drive of the single-side double wheels, thereby realizing the adjustment of the advancing direction or the rapid adjustment of the posture of the robot in a straight pipe.
Description
Technical Field
The invention relates to the technical field of pipeline robots, in particular to a device for autonomous walking in a complex pipeline.
Background
With the development of robotics, the research of robotics under special conditions is gradually rising. The problems of leakage and the like easily occur when the oil and gas transmission pipeline works for a long time, and the detection problem is a major technical problem to be solved urgently at home and abroad because the pipeline is buried underground and is difficult to detect directly. The most effective detection method at present is to directly detect in the pipeline by a pipeline robot carrying detection equipment. The long pipeline is mainly a long straight pipeline, the existing pipeline robot (mainly a pipeline) can better meet the detection requirement, but the urban gas pipeline is very complex, a large number of complex pipeline conditions can occur, such as a large-angle elbow, a three-way pipeline, a pipeline well and the like, and the existing pipeline robot cannot meet the detection requirement when facing the complex pipeline conditions.
For complex pipelines including tee joints and large-curvature elbows, related researches have been carried out at home and abroad, such as tandem pipeline robots introduced by the U.S. Pipetel corporation. The pipeline robot is composed of a plurality of driving sections in series connection, and each driving section is provided with a plurality of driving wheels. The core idea of the pipeline robot for passing through the curve is to adopt the principle of forward pulling and backward pushing, use the driving section still in the straight pipe as a main driving source, and pull or push the driving section in the curve to advance, thereby realizing the bending passing of the whole robot. The robot has the advantages of stability and large traction force, but can only pass through a large-bending-diameter small-angle horizontal bend at present due to the limitation of the mechanical structure of the robot, is more used in vast plain oil and gas pipelines in the United states, and is difficult to apply in complex pipelines in cities. The robot similar to the pipeline trolley has the problems that enough positive pressure on the pipe wall is lacked in an inclined or even vertical pipeline, the structure of the robot is often long, and the like, and is also lacked in climbing capacity and capacity of passing through an elbow and a three-way pipeline.
Based on this, need urgently to design a novel integration pipeline robot, be applicable to the city gas pipeline that the pipeline condition is more complicated, solve traditional pipeline robot and be difficult to through special pipelines such as big curvature elbow, tee bend, vertical pipeline problem.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide an integrated robot suitable for complex pipelines.
In order to achieve the above object, an embodiment of the present invention provides an integrated robot adapted to a complex pipeline, including: the robot comprises a main body unit, a robot body unit and a robot control unit, wherein the main body unit comprises an angle bracket, side end plates, an upper end plate, a lower end plate, a linear bearing and a fixed rod, the upper end plate and the lower end plate are connected with the fixed rod through the linear bearing, so that the upper end plate and the lower end plate slide up and down along the fixed rod, and the linear bearing is connected with the angle bracket through a spring to adjust the pipe diameter range which can be adapted by the robot; the auxiliary supporting unit comprises an electric push rod, a universal wheel and an auxiliary supporting arm, wherein the universal wheel is connected with the auxiliary supporting arm, the auxiliary supporting arm is connected with a fixed rod of the main body unit, so that the auxiliary supporting arm rotates around the fixed rod to drive the electric push rod to adjust the position of the universal wheel, and the stable posture of the robot during movement in a pipeline is guaranteed; the driving unit comprises a fixed platform, an upper rotary platform, a driving wheel, an angle transmission rod, an elastic loop rod, an anti-skid washer, an anti-skid layer, two-side driving motors and a locking layer, wherein the fixed platform is connected with the upper end plate and the lower end plate of the main body unit through the elastic loop rod, the upper rotary platform is connected with the fixed platform, the upper rotary platform can rotate relative to the fixed platform without dead angles, the angle transmission rod is fixedly connected with the upper rotary platform so as to transmit the rotating angle to an angle sensor fixed on the upper end plate and the lower end plate, the driving direction of the robot is accurately controlled, the two-side driving motors are fixed on the upper rotary platform, the two-side driving motors respectively and independently control the driving of the driving wheel to move, and when the two-side driving motors rotate in the same direction, the robot is driven to advance, when the driving motors on the two sides rotate reversely, the driving wheels drive the upper rotating platform to rotate relative to the fixed platform, and the advancing direction of the driving unit is changed.
According to the integrated robot suitable for the complex pipeline, the relative position of the driving wheels is adjusted, and the miniaturization design is adopted, so that the robot can pass through pipeline elbows with various angles, T-shaped joints and other special pipeline joints at high speed; by applying the single-side double-wheel driving mechanism, the robot can adjust the driving direction of the robot through the reverse driving of the single-side double wheels, so that the forward direction can be adjusted or the posture of the robot can be quickly adjusted in a straight pipe. Compared with the traditional pipeline trolley, the pipeline trolley has higher adaptability to inclined and vertical pipelines, stronger driving force and certain adaptability to small-amplitude deformation of the pipeline caused by external force; compared with the traditional multi-wheel type pipeline robot, the robot has the advantages that the occupied space is small, the self posture can be quickly adjusted, and the robot can pass through a pipeline elbow, a joint and the like at a high speed.
In addition, the integrated robot adapted to the complex pipeline according to the above embodiment of the present invention may further have the following additional technical features:
further, in one embodiment of the present invention, the main body unit is centered perpendicular to the auxiliary support unit and the driving unit.
Further, in one embodiment of the invention, the end of the auxiliary supporting arm is fixed with a universal wheel, and the universal wheel is supported on the pipe wall to realize rotation in multiple directions.
Further, in one embodiment of the invention, two adjacent auxiliary supporting arms are connected by the electric push rod, and the distance between the universal wheels is controlled by the electric push rod.
Further, in one embodiment of the present invention, the auxiliary supporting unit further includes: the parallel sliding rod mechanism comprises a fixed sliding rail, a parallel sliding rod and a sliding groove, wherein the parallel sliding rod moves along the fixed sliding rail, the sliding groove is arranged on the parallel sliding rod, one end of the auxiliary supporting arm is fixed with the universal wheel, the other end of the auxiliary supporting arm is fixed in the sliding groove, when the electric push rod stretches, the electric push rod is limited by the sliding groove, the inner side end of the auxiliary supporting arm can only move on the parallel sliding rod, and the axis of the electric push rod is enabled to be parallel to the side end plate of the main body unit.
Further, in one embodiment of the present invention, the driving unit further includes: the limiting auxiliary mechanism comprises a limiting supporting arm, a limiting auxiliary wheel and a shock absorber so as to limit the inclination angle of the robot in the linear motion process.
Further, in an embodiment of the present invention, the upper rotating platform is connected to the fixed platform through the anti-slip layer, the anti-slip washer and the locking layer, and rotates relative to the fixed platform without a dead angle.
Further, in an embodiment of the present invention, when the robot is in the straight pipe, the driving motors on the two sides rotate in opposite directions to drive the driving wheels to rotate, so as to drive the upper rotating platform to rotate relative to the fixed platform, change the forward direction of the driving unit, and rotate in the same direction through the driving motors on the two sides, so that the robot rotates around the axis of the pipeline quickly, and change the posture of the robot in the pipeline.
Further, in one embodiment of the present invention, when the robot passes through the bend, the robot is firstly adjusted in posture by the driving unit and the auxiliary supporting unit, the robot axis is parallel to the bend axis, and then the driving unit is advanced to turn along the pipe direction.
Further, in one embodiment of the invention, when the robot passes through the three-way pipe, the robot firstly utilizes the driving unit and the auxiliary supporting unit to adjust the posture of the robot, the axis of the robot is perpendicular to the plane of the three-way pipe, and then the advancing direction of the driving unit is changed to directly switch the direction of the pipeline under the condition that the robot main body is not rotated so as to enter the branch pipe of the three-way pipe.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a perspective view of an integrated robot adapted to accommodate complex pipes according to one embodiment of the present invention;
fig. 2 is a schematic structural diagram of a main body unit in the all-in-one robot according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an auxiliary support unit in the integrated robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a driving unit in the integrated robot according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an integrated robot in relation to a pipeline according to one embodiment of the present invention;
FIG. 6 is a basic schematic diagram of an integrated robot during overbending according to one embodiment of the present invention;
FIG. 7 is a schematic diagram of fast attitude adjustment of an integrated straight pipe robot according to an embodiment of the present invention, wherein a is the attitude of the robot when it normally advances in a straight pipe; b is that the driving unit actively changes the advancing direction; c is the driving unit advancing, thereby changing the posture of the robot in the pipeline;
FIG. 8 is a schematic view of an integrated robot passing through an elbow according to one embodiment of the present invention;
FIG. 9 is a schematic diagram of an integrated robot through a tee joint according to an embodiment of the present invention, wherein a is the robot moving in a straight pipe; b, the robot rotates reversely at the three-way pipeline by a single-side double driving wheel to change the advancing direction of the driving unit; c, the robot enters a branch pipeline of the three-way pipeline;
FIG. 10 is a schematic diagram of a motion control system according to one embodiment of the present invention.
Description of reference numerals:
10-integrated robot, 100-main body unit, 101-angle bracket, 102-side end plate, 103-upper and lower end plate, 104-linear bearing, 105-fixed rod, 200-auxiliary supporting unit, 201-electric push rod, 202-universal wheel, 203-auxiliary supporting arm, 204-fixed slide rail, 205-parallel slide rod, 206-slide groove, 300-driving unit, 301-fixed platform, 302-upper rotary platform, 303-driving wheel, 304-angle transmission rod, 305-elastic loop bar, 306-anti-slip washer, 307-anti-slip layer, 308-two-side driving motor, 309-locking layer, 310-limit supporting arm, 311-limit auxiliary wheel, 312-shock absorber and 400-pipeline.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes an integrated robot adapted to a complex pipe according to an embodiment of the present invention with reference to the accompanying drawings.
Fig. 1 is a perspective view of an integrated robot adapted to complex pipes according to an embodiment of the present invention.
As shown in fig. 1, the integrated robot 10 for accommodating a complex pipe includes: a main body unit 100, an auxiliary support unit 200, and a driving unit 300. Wherein the center of the main body unit 100 is perpendicular to the auxiliary supporting unit 200 and the driving unit 300.
As shown in fig. 2, the main body unit 100 includes an angle bracket 101, a side end plate 102, an upper end plate 103, a lower end plate 103, a linear bearing 104 and a fixing rod 105, wherein the upper end plate 103 is connected with the fixing rod 105 through the linear bearing 104, so that the upper end plate 103 slides up and down along the fixing rod 105 to adjust the pipe diameter range adaptable to the robot.
In addition, the corner bracket 101 and the side end plate 102 in the embodiment of the present invention are provided with corresponding through holes, and can be fixed by bolts and nuts, and the fixing slide 204 is also fixed inside the main unit 100 by the corner bracket 101.
It should be noted that there is a large space in the main unit 1, and all the control elements and the battery can be mounted.
As shown in fig. 3, the auxiliary supporting unit 200 includes an electric push rod 201, a universal wheel 202 and an auxiliary supporting arm 203, wherein the universal wheel 202 is connected to the auxiliary supporting arm 203, and the auxiliary supporting arm 203 is connected to the fixing rod 105 of the main body unit 100, so that the auxiliary supporting arm 203 can rotate around the fixing rod 105 to drive the electric push rod 201 to adjust the position of the universal wheel 202, thereby ensuring the posture stability of the robot when moving in a pipeline or the active adjustment and recovery when the robot loses stability.
Specifically, the auxiliary support arm 203 is connected to the fixing rod 105, the universal wheel 202 is fixed to the end of the auxiliary support arm 203, and the universal wheel 202 is directly supported on the pipe wall, so that rotation in multiple directions can be achieved. Two adjacent auxiliary supporting arms are connected by an electric push rod 201, and the electric push rod 201 can actively control the distance between two universal wheels 202, so as to control the supporting pipe diameter of the auxiliary supporting unit 200. Meanwhile, the electric push rod 201 has a certain elastic adjustment range, that is, the support pipe diameter of the auxiliary support unit 200 also has a certain elastic adaptation range, so that the electric push rod can adapt to small pipe diameter changes caused by pipe deformation.
Further, in order to ensure that the advancing axis (perpendicular to the side end plate and passing through the center of the side end plate) of the robot main unit 100 is parallel to the axis of the pipeline 400, it is necessary to ensure that the connecting line of the axes of the two adjacent universal wheels 202 is parallel to the side end plate 102 of the main unit on the same side, that is, it is necessary to ensure that the axis of the electric push rod 201 is parallel to the side end plate 102 of the main unit on the same side, a slide rail-based parallel slide rod mechanism is further designed on the auxiliary support unit 200, and the parallel slide rod mechanism includes a fixed slide rail 204, a parallel slide rod 205 and a slide groove 206, wherein the parallel slide rod 205 can move along the fixed slide rail 204, the slide groove 206 is disposed on the parallel slide rod 205, one end of. When the electric push rod 201 extends and contracts, the inner end of the auxiliary support arm 200 can only move on the parallel slide rod 205 due to the limitation of the sliding groove, so that the axis of the electric push rod 201 is kept parallel to the side end plate 102 of the main body unit 100, and the axis of the electric push rod is also kept parallel to the side end surface.
As shown in fig. 4, the driving unit 300 includes a fixed platform 301, an upper rotating platform 302, a driving wheel 303, an angle transmission rod 304, an elastic loop bar 305, an anti-slip washer 306, an anti-slip layer 307, two-side driving motors 308 and a locking layer 309, wherein the fixed platform 301 is connected with the upper and lower end plates 103 of the main unit 100 through the elastic loop bar 305, the upper rotating platform 302 is connected with the fixed platform 301 and can rotate relative to the fixed platform 301 without dead angle, the angle transmission rod 304 is fixedly connected with the upper rotating platform 302 to transmit the rotating angle to an angle sensor fixed on the upper and lower end plates 103, the driving direction of the robot is precisely controlled, the two-side driving motors 308 are fixed on the upper rotating platform 302, the two-side driving motors 308 respectively and individually control the driving wheel 303 to move, when the two-side driving motors 308 rotate in the same direction, the robot is driven to move forward, when the two-side driving, the driving wheel 303 drives the upper rotating platform 302 to rotate relative to the fixed platform 301, so as to change the advancing direction of the driving unit 300.
Specifically, the main function of the driving unit 3 is to provide the driving force for the robot to walk autonomously, and the driving unit 300 of the embodiment of the present invention adopts a design that can be quickly disassembled and replaced, and the fixed platform 301 of the driving unit 300 is connected with the upper and lower end plates 103 of the main unit 100 through long screws and elastic rods 305. The upper rotating platform 302 is connected with the fixed platform 301 through an anti-slip gasket 306, an anti-slip layer 307 and a locking layer 309, and can rotate relative to the fixed platform 301 without dead angles. The angle transmission rod 304 is fixedly connected with the upper rotary platform 302, and can transmit the rotating angle of the angle transmission rod to the angle sensor fixed on the upper end plate 103 and the lower end plate 103, so that the accurate control of the driving direction of the robot is realized. The driving motor 308 is fixed on the upper rotating platform 302, and the driving motors 308 at two sides can be respectively and independently controlled to drive the driving wheel 303. When the two driving motors rotate in the same direction, the whole robot can be driven to move forward. When the two driving motors rotate reversely, the orientation of the main body unit is kept unchanged under the action of the auxiliary supporting unit, and the driving wheels drive the upper rotating platform to rotate relative to the fixed platform, so that the advancing orientation of the driving units is changed.
In addition, the driving unit is further provided with a limiting auxiliary mechanism, which comprises a limiting supporting arm 310, a limiting auxiliary wheel 311 and a shock absorber 312, and can limit the inclination angle of the robot in the linear motion process, so that the problem that the positive pressure of a driving wheel is insufficient due to overlarge inclination amplitude of the robot is avoided.
The basic operation principle of the integrated robot according to the embodiment of the present invention will be described below.
First, as shown in fig. 5. According to the embodiment of the invention, the problem of overbending caused by interference of the driving wheels and the wall of the curve is solved by adjusting the distribution of the driving wheels, namely adjusting the distribution of contact points of the pipeline robot and the wall of the pipeline. And the adaptability of the pipeline robot to the pipeline elbow is greatly improved by unitizing, integrating and miniaturizing the robot.
When the robot is in the straight tube, accessible both sides driving motor antiport drives the drive wheel and rotates to it is rotatory to drive the relatively fixed platform of upper rotary platform, changes drive unit's the orientation that gos forward, after changing drive unit and advancing the orientation, through both sides driving motor syntropy rotation, thereby makes the robot rotatory around the pipeline axis fast, changes the gesture of robot in the pipeline.
As shown in fig. 6, when the integrated robot passes through the basic principle of the elbow: if the pipeline robot only has two drive wheels (the auxiliary wheels are not counted), when passing through a horizontal bend, the drive axis of the robot is parallel to the axis of the bend, and the paths passed by the two drive wheels are the same, so that the problem of differential speed caused by different bending radii of the drive wheels is solved, the mass center of the robot is positioned on the axis of the pipeline, and the pipeline robot has great advantage in the aspect of pipeline detection.
In the actual design process, in order to improve the driving efficiency of the robot, a design scheme that double speed reducing motors are installed on one side (the interval between the double speed reducing motors is extremely small) is adopted. When the single-side double speed reducing motors rotate in the same direction, the driving unit moves forward to drive the robot to move; when the unilateral double-speed reducing motor rotates reversely, the robot main body cannot rotate under the action of the auxiliary supporting mechanism, and the driving unit rotates relative to the robot main body, so that the advancing direction of the driving unit is changed. As shown in fig. 7, a is the attitude of the robot when it normally advances in a straight pipe; b is that the driving unit actively changes the advancing direction; c is the drive unit advancing, changing the pose of the robot within the pipe.
As shown in fig. 8, based on the concept of bending in fig. 5, the integrated robot in the embodiment of the present invention only needs to adjust its posture when passing through the elbow, so that the axis of the robot (passing through the center of the robot and perpendicular to the plane of the auxiliary support mechanism) is parallel to the axis of the elbow (passing through the center of the radius of the elbow and perpendicular to the plane of the elbow), and then the driving motor moves forward to turn along the direction of the pipeline, and there is no differential problem between the driving wheels, so that each driving wheel can be ensured to perform a driving function when passing through the elbow, thereby improving the driving efficiency when the robot passes through the elbow.
In addition, the integrated robot provided by the embodiment of the invention can also achieve the aim of quickly passing through a three-way pipeline. When the robot passes through the three-way pipeline, the posture of the robot needs to be adjusted firstly, so that the axis of the robot is perpendicular to the plane of the three-way pipeline, and then the direction of the pipeline can be directly switched and the robot passes through the three-way pipeline under the condition that the main body of the robot does not rotate by changing the advancing direction of the driving unit. As in fig. 9, a is the robot moving in a straight tube; b, the robot rotates reversely at the three-way pipeline by a single-side double driving wheel to change the advancing direction of the driving unit; c, the robot enters the branch pipeline of the three-way pipeline.
As shown in fig. 10, a model prototype of the integrated robot according to the embodiment of the present invention is manufactured and tested, and the prototype uses Arduino UNO as a control board and is remotely controlled by connecting a bluetooth to a computer. The posture change of the robot is controlled by controlling an encoder motor and an electric push rod through the L298N. The driving unit is connected with the angle sensor, and the angle of the driving unit relative to the robot main body is fed back to the control unit in real time, so that the monitoring of the advancing direction of the driving unit is guaranteed. In addition, an attitude sensor is arranged in the robot to monitor the attitude of the robot in real time. At present, a prototype has already realized the verification test of passing elbows, tees and vertical pipelines.
In conclusion, the integrated robot adapting to the complex pipeline provided by the embodiment of the invention improves the adaptability of the pipeline robot to the complex pipeline, and can smoothly pass through special conditions such as pipeline elbows, tees and the like; the driving efficiency of the pipeline robot when passing through a pipeline elbow, a three-way pipeline and the like is improved, and the loading capacity of the robot under the same driving force is improved; the device has strong adaptability to inclined pipelines and vertical pipelines, has the capability of quickly adjusting the self posture, and has compact integral structure, flexible posture adjustment and high operation efficiency.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An integrated robot adapted to a complex pipe, comprising:
the robot comprises a main body unit, a robot body unit and a robot control unit, wherein the main body unit comprises an angle bracket, side end plates, an upper end plate, a lower end plate, a linear bearing and a fixed rod, wherein the upper end plate and the lower end plate are connected with the fixed rod through the linear bearing, so that the upper end plate and the lower end plate slide up and down along the fixed rod to adjust the pipe diameter range adaptable to the robot;
the auxiliary supporting unit comprises an electric push rod, a universal wheel and an auxiliary supporting arm, wherein the universal wheel is connected with the auxiliary supporting arm, the auxiliary supporting arm is connected with a fixing rod of the main body unit, the auxiliary supporting arm rotates around the fixing rod to drive the electric push rod to adjust the position of the universal wheel, and the stable posture of the robot during movement in a pipeline is guaranteed;
a driving unit, wherein the driving unit comprises a fixed platform, an upper rotary platform, a driving wheel, an angle transmission rod, an elastic loop rod, an anti-skid washer, an anti-skid layer, two-side driving motors and a locking layer, wherein the fixed platform is connected with the upper end plate and the lower end plate of the main body unit through the elastic loop rod, the upper rotary platform is connected with the fixed platform and rotates relative to the fixed platform without dead angle, the angle transmission rod is fixedly connected with the upper rotary platform to transmit the rotating angle to an angle sensor fixed on the upper end plate and the lower end plate, the driving direction of the robot is accurately controlled, the two-side driving motors are fixed on the upper rotary platform, the two-side driving motors respectively and independently control and drive the driving wheel to move, when the two-side driving motors rotate in the same direction, the robot is driven to advance, and when the two-side driving motors rotate reversely, the driving wheel drives the upper rotating platform to rotate relative to the fixed platform, and the advancing direction of the driving unit is changed.
2. The integrated robot for accommodating complex pipelines according to claim 1, wherein the center of the main body unit is perpendicular to the auxiliary support unit and the driving unit.
3. The integrated robot for adapting to the complex pipeline as claimed in claim 1, wherein the auxiliary supporting arm is fixed with universal wheels at the end, and the universal wheels are supported on the pipe wall to realize rotation in multiple directions.
4. The integrated robot for adapting to the complex pipeline is characterized in that the two adjacent auxiliary supporting arms are connected by the electric push rod, and the distance between the universal wheels is controlled by the electric push rod.
5. The integrated robot for accommodating complex pipelines according to claim 1, wherein the auxiliary support unit further comprises:
the parallel sliding rod mechanism comprises a fixed sliding rail, a parallel sliding rod and a sliding groove, wherein the parallel sliding rod moves along the fixed sliding rail, the sliding groove is arranged on the parallel sliding rod, one end of the auxiliary supporting arm is fixed with the universal wheel, the other end of the auxiliary supporting arm is fixed in the sliding groove, when the electric push rod stretches, the electric push rod is limited by the sliding groove, the inner side end of the auxiliary supporting arm can only move on the parallel sliding rod, and the axis of the electric push rod is enabled to be parallel to the side end plate of the main body unit.
6. The integrated robot for accommodating complex pipelines according to claim 1, wherein the driving unit further comprises:
the limiting auxiliary mechanism comprises a limiting supporting arm, a limiting auxiliary wheel and a shock absorber so as to limit the inclination angle of the robot in the linear motion process.
7. The integrated robot adapted to complex pipelines according to claim 1, wherein the upper rotating platform is connected to the fixed platform through the anti-slip layer, the anti-slip washer and the locking layer, and rotates relative to the fixed platform without dead angle.
8. The integrated robot adapted to the complex pipeline according to claim 1, wherein when the robot is in the straight pipe, the driving wheels are driven to rotate by the reverse rotation of the driving motors at the two sides, so as to drive the upper rotating platform to rotate relative to the fixed platform, the advancing direction of the driving unit is changed, and then the robot is rapidly rotated around the pipeline axis by the same-direction rotation of the driving motors at the two sides, so as to change the posture of the robot in the pipeline.
9. The integrated robot for adapting to the complex pipeline is characterized in that when the robot passes through the elbow, the robot firstly utilizes the driving unit and the auxiliary supporting unit to adjust the posture of the robot, the axis of the robot is parallel to the axis of the elbow, and then the driving unit advances to turn along the direction of the pipeline.
10. The integrated robot for adapting to the complex pipeline as claimed in claim 1, wherein the robot is first adjusted in posture by the driving unit and the auxiliary supporting unit when passing through the three-way pipeline, the axis of the robot is perpendicular to the plane of the three-way pipeline, and then the direction of the pipeline is directly switched by changing the advancing direction of the driving unit without rotating the robot body to enter the branch pipeline of the three-way pipeline.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911154836.6A CN110953439B (en) | 2019-11-22 | 2019-11-22 | Integrated robot suitable for complex pipeline |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911154836.6A CN110953439B (en) | 2019-11-22 | 2019-11-22 | Integrated robot suitable for complex pipeline |
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| CN112325051B (en) * | 2020-11-05 | 2022-05-13 | 北京建筑大学 | Pipeline robot |
| CN115432082B (en) * | 2022-09-09 | 2023-08-15 | 北京合聚数字技术有限公司 | Communication cable is with operation robot |
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