CN111299273A - Pipeline internal walking mechanism and control method thereof - Google Patents
Pipeline internal walking mechanism and control method thereof Download PDFInfo
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- CN111299273A CN111299273A CN202010095043.8A CN202010095043A CN111299273A CN 111299273 A CN111299273 A CN 111299273A CN 202010095043 A CN202010095043 A CN 202010095043A CN 111299273 A CN111299273 A CN 111299273A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/0492—Heavy-type cleaning devices, e.g. crawlers with plural cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
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- Automatic Cycles, And Cycles In General (AREA)
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Abstract
The invention discloses a pipeline internal walking mechanism and a control method thereof, wherein the pipeline internal walking mechanism comprises a frame, a left front spiral wheel mechanism, a right front spiral wheel mechanism, a left rear spiral wheel mechanism, a right rear spiral wheel mechanism and a central control unit are arranged on the frame, and the spiral direction of the right front spiral wheel mechanism is opposite to that of the left front spiral wheel mechanism; the spiral direction of the left rear spiral wheel mechanism is the same as that of the right front spiral wheel mechanism; the spiral direction of the right rear spiral wheel mechanism is opposite to that of the left rear spiral wheel mechanism; the left front spiral wheel mechanism, the right front spiral wheel mechanism, the left rear spiral wheel mechanism and the right rear spiral wheel mechanism are all connected with a central control unit. The walking mechanism in the pipeline can move forwards and backwards, crab, turn left and turn right in the pipeline, and has simple structure and convenient operation; the environmental suitability is strong, and the single wheel slipping does not influence the running condition of the whole vehicle; the turning radius is small, and the pivot steering can be realized; the maintenance is convenient, and the spiral wheel is easy to replace.
Description
Technical Field
The invention relates to the technical field of pipeline dredging or blockage dredging equipment, in particular to a walking mechanism in a pipeline and a control method thereof.
Background
The pipeline dredging or dredging device is produced in the large environment of wide application of the current automation equipment, and is widely applied to construction dredging of pipelines, anhydrous riverways, lakes, ports and other areas. The normal operation of the pipeline dredging or blocking-dredging equipment ensures the operation of the water channel, and the smoothness of the pipeline is ensured.
At present, a chassis travelling mechanism of pipeline dredging or blockage dredging equipment mainly adopts a crawler-type chassis, and the chassis mechanism has poor maneuvering performance and too large turning radius, is only suitable for straight pipe travelling and is inconvenient to turn in a bent pipe; in addition, the chassis mechanism has the advantages of complex structure, heavy weight and poor vibration damping function, and is not suitable for complex muddy environments.
Disclosure of Invention
The invention mainly aims to provide a pipeline internal travelling mechanism and a control method thereof.
In order to achieve the above object, according to one aspect of the present invention, there is provided an in-pipe running mechanism including:
a frame;
the left front spiral wheel mechanism is arranged on the left side of the front end of the frame;
the right front spiral wheel mechanism is arranged on the right side of the front end of the frame, and the spiral direction of the right front spiral wheel mechanism is opposite to the spiral direction of the left front spiral wheel mechanism;
the left rear spiral wheel mechanism is arranged on the left side of the rear end of the frame, and the spiral direction of the left rear spiral wheel mechanism is the same as that of the right front spiral wheel mechanism;
the right rear spiral wheel mechanism is arranged on the right side of the rear end of the frame, and the spiral direction of the right rear spiral wheel mechanism is opposite to the spiral direction of the left rear spiral wheel mechanism;
and the central control unit is connected with the left front spiral wheel mechanism, the right front spiral wheel mechanism, the left rear spiral wheel mechanism and the right rear spiral wheel mechanism.
Further, the left front screw wheel mechanism includes:
the two ends of the left front spiral wheel are rotatably arranged on the left side of the front end of the frame through bearings;
the left front stepping motor is arranged on the frame and is connected with the central control unit, and an output shaft of the left front stepping motor is connected with the left front spiral wheel;
the right front spiral wheel mechanism includes:
the two ends of the right front spiral wheel are rotatably arranged on the right side of the front end of the frame through bearings;
the right front stepping motor is arranged on the frame and is connected with the central control unit, and an output shaft of the right front stepping motor is connected with the right front spiral wheel;
left rear spiral wheel mechanism includes:
the two ends of the left rear spiral wheel are rotatably arranged on the left side of the rear end of the frame through bearings;
the left rear stepping motor is arranged on the frame, the left rear stepping motor is connected with the central control unit, and an output shaft of the left rear stepping motor is connected with the left rear spiral wheel;
the right rear spiral wheel mechanism includes:
the two ends of the right rear spiral wheel are rotatably arranged on the right side of the rear end of the frame through bearings;
and the right rear stepping motor is arranged on the frame, the right rear stepping motor is connected with the central control unit, and an output shaft of the right rear stepping motor is connected with the right rear spiral wheel.
Further, the central control unit includes:
a control module;
the left front stepping motor driver is connected with the control module, and the left front stepping motor is connected with the left front stepping motor driver;
the right front stepping motor driver is connected with the control module, and the right front stepping motor is connected with the right front stepping motor driver;
the left rear stepping motor driver is connected with the control module, and the left rear stepping motor is connected with the left rear stepping motor driver;
and the right rear stepping motor driver is connected with the control module, and the right rear stepping motor is connected with the right rear stepping motor driver.
Furthermore, a shaft encoder is arranged in each of the left front stepping motor, the right front stepping motor, the left rear stepping motor and the right rear stepping motor and is connected with the control module.
Further, an output shaft of the left front stepping motor is connected with a left front speed reducer, and an output shaft of the left front speed reducer is connected with a left front spiral wheel;
the output shaft of the right front stepping motor is connected with a right front speed reducer, and the output shaft of the right front speed reducer is connected with a right front spiral wheel;
the output shaft of the left rear stepping motor is connected with a left rear speed reducer, and the output shaft of the left rear speed reducer is connected with a left rear spiral wheel;
the output shaft of the right rear stepping motor is connected with a right rear speed reducer, and the output shaft of the right rear speed reducer is connected with a right rear spiral wheel.
Furthermore, a speed sensor is mounted at the front end of the frame and connected with the central control unit.
According to another aspect of the present invention, there is provided a method for controlling the traveling mechanism in the pipeline, including:
when the travelling mechanism in the pipeline moves forwards or backwards, the central control unit controls the rotation direction of the left front spiral wheel to be opposite to that of the left rear spiral wheel, controls the rotation direction of the right front spiral wheel to be opposite to that of the left front spiral wheel and controls the rotation direction of the right rear spiral wheel to be the same as that of the left front spiral wheel;
when the travelling mechanism in the pipeline turns left or right, the central control unit controls the rotation direction of the left front spiral wheel to be opposite to that of the left rear spiral wheel, controls the rotation direction of the right front spiral wheel to be the same as that of the left front spiral wheel, and controls the rotation direction of the right rear spiral wheel to be opposite to that of the left front spiral wheel;
when the walking mechanism inside the pipeline crabbing leftwards or rightwards, the central control unit controls the rotation directions of the left rear spiral wheel, the right front spiral wheel and the right rear spiral wheel to be the same as the rotation direction of the left front spiral wheel.
Further, still include:
when a certain spiral wheel in the running mechanism in the pipeline slips, the rotating speed of the spiral wheel which slips is reduced, and meanwhile, the rotating speed of the spiral wheel at the other end of the running mechanism in the pipeline, which is at the same side as the spiral wheel which slips, is reduced in an equivalent manner.
Further, whether a certain spiral wheel in the running mechanism in the pipeline slips or not is judged by the following method:
respectively acquiring the rotating speeds of a left front stepping motor, a right front stepping motor, a left rear stepping motor and a right rear stepping motor through corresponding shaft encoders;
the central control unit judges whether the spiral wheel slips or not according to the rotating speed of each stepping motor, and the judging method comprises the following steps:
when the rotation speed of the stepping motor is greater than or equal to
When the rotation speed of the stepping motor is less than the set rotation speed, the spiral wheel connected with the stepping motor slips
When the stepping motor is used, the spiral wheel connected with the stepping motor does not slip;
wherein igα is the included angle between the linear speed of the spiral wheel and the running speed direction of the running mechanism in the pipeline, D is the diameter of the spiral wheel, and A is a preset threshold value.
Further, before the central control unit judges whether the spiral wheel slips or not according to the rotating speed of each stepping motor, the current actually measured speed value of the travelling mechanism in the pipeline is obtained through a speed sensor;
comparing the current actual vehicle speed value with a preset vehicle speed threshold value B through a central control unit, wherein when the current actual vehicle speed value is smaller than the vehicle speed threshold value B, the threshold value A is E; when the current actual measurement vehicle speed value is larger than the vehicle speed threshold value B, the threshold value A is
And is
Greater than or equal to E;
wherein E, F, G are all preset values,
the unit is km/h for the current actually measured vehicle speed value.
By applying the technical scheme of the invention, a left front spiral wheel mechanism is arranged on the left side of the front end of a frame, a right front spiral wheel mechanism is arranged on the right side of the front end of the frame, a left rear spiral wheel mechanism is arranged on the left side of the rear end of the frame, a right rear spiral wheel mechanism is arranged on the right side of the rear end of the frame, the spiral direction of the right front spiral wheel mechanism is opposite to that of the left front spiral wheel mechanism, the spiral direction of the left rear spiral wheel mechanism is the same as that of the right front spiral wheel mechanism, the spiral direction of the right rear spiral wheel mechanism is opposite to that of the left rear spiral wheel mechanism, and the left front spiral wheel mechanism, the right front spiral wheel mechanism, the left rear spiral wheel mechanism and the right rear spiral wheel mechanism are all connected with a central control unit; the central control unit respectively controls the rotation directions of the left front spiral wheel mechanism, the right front spiral wheel mechanism, the left rear spiral wheel mechanism and the right rear spiral wheel mechanism, so that the advancing, retreating, crab running, left turning and right turning of the running mechanism in the pipeline can be realized, the structure is simple, and the operation is convenient; the environment adaptability is strong, the vehicle can walk on swamp and silt roads, and the running condition of the whole vehicle is not influenced by single-wheel skidding; the turning radius is small, and the pivot steering can be realized; the spiral wheel is convenient to maintain and easy to replace when being worn.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a running mechanism in a pipeline according to an embodiment of the present invention.
Fig. 2 is a control schematic diagram of the traveling mechanism in the pipeline according to the embodiment of the invention.
Fig. 3 is a graph showing the relationship between the speed of the spiral wheel and the traveling speed in the traveling mechanism in the pipeline according to the embodiment of the invention.
Fig. 4 is a flow chart of determination of driving skid resistance in the running mechanism in the pipeline according to the embodiment of the present invention.
Wherein the figures include the following reference numerals:
10. a frame; 20. a left front spiral wheel mechanism; 21. a left front helical wheel; 22. a left front stepper motor; 23. a left front reducer; 30. a right front spiral wheel mechanism; 31. a right front helical wheel; 32. a right front stepping motor; 33. a right front speed reducer; 40. a left rear spiral wheel mechanism; 41. a left rear spiral wheel; 42. a left rear stepper motor; 43. a left rear reducer; 50. a right rear spiral wheel mechanism; 51. a right rear spiral wheel; 52. a right rear stepping motor; 53. a right rear reducer; 60. a central control unit; 61. a control module; 62. a left front stepper motor driver; 63. a right front stepper motor driver; 64. a left rear stepper motor driver; 65. a right rear stepper motor driver; 70. a speed sensor; 80. and (4) a storage battery.
Detailed Description
In order to facilitate an understanding of the invention, the invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of the invention is not limited to the specific embodiments below. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Unless otherwise defined, all terms of art used hereinafter have the same meaning as commonly understood by one of ordinary skill in the art. The use of the words "a" or "an" and the like in the description and claims of the present patent application do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.
Referring to fig. 1 to 4, a running mechanism in a pipeline according to an embodiment of the present invention is mainly applied to a pipeline dredging device, and as can be seen from the figures, the running mechanism in the pipeline mainly includes: a frame 10, a left front spiral wheel mechanism 20, a right front spiral wheel mechanism 30, a left rear spiral wheel mechanism 40, a right rear spiral wheel mechanism 50, and a central control unit 60. Wherein, the left front spiral wheel mechanism 20 is arranged at the left side of the front end of the frame 10; the right front spiral wheel mechanism 30 is arranged on the right side of the front end of the frame 10, and the spiral direction of the right front spiral wheel mechanism 30 is opposite to the spiral direction of the left front spiral wheel mechanism 20; the left rear spiral wheel mechanism 40 is arranged on the left side of the rear end of the frame 10, and the spiral direction of the left rear spiral wheel mechanism 40 is the same as that of the right front spiral wheel mechanism 30; the right rear spiral wheel mechanism 50 is arranged at the right side of the rear end of the frame 10, and the spiral direction of the right rear spiral wheel mechanism 50 is opposite to the spiral direction of the left rear spiral wheel mechanism 40; the left front spiral wheel mechanism 20, the right front spiral wheel mechanism 30, the left rear spiral wheel mechanism 40 and the right rear spiral wheel mechanism 50 are connected to a central control unit 60. For example, when the left front spiral wheel mechanism 20 employs a right spiral wheel, the right front spiral wheel mechanism 30 is a left spiral wheel, the left rear spiral wheel mechanism 40 is a left spiral wheel, and the right rear spiral wheel mechanism 50 is a right spiral wheel; when the left front spiral wheel mechanism 20 is a left spiral wheel, the right front spiral wheel mechanism 30 is a right spiral wheel, the left rear spiral wheel mechanism 40 is a right spiral wheel, and the right rear spiral wheel mechanism 50 is a left spiral wheel. A battery 80 is also mounted in the middle of the frame 10, and the battery 80 is connected with the central control unit 60 to supply power to the central control unit 60.
In the in-duct travel mechanism, the left front spiral wheel mechanism 20 is provided on the left side of the front end of the frame 10, the right front spiral wheel mechanism 30 is provided on the right side of the front end of the frame 10, the left rear spiral wheel mechanism 40 is provided on the left side of the rear end of the frame 10, the right rear spiral wheel mechanism 50 is provided on the right side of the rear end of the frame 10, the spiral direction of the right front spiral wheel mechanism 30 is opposite to the spiral direction of the left front spiral wheel mechanism 20, the spiral direction of the left rear spiral wheel mechanism 40 is the same as the spiral direction of the right front spiral wheel mechanism 30, the spiral direction of the right rear spiral wheel mechanism 50 is opposite to the spiral direction of the left rear spiral wheel mechanism 40, and the left front spiral wheel mechanism 20, the right front spiral wheel mechanism 30, the left rear spiral wheel mechanism 40 and the right rear spiral wheel mechanism 50 are all connected to the central control unit 60; the central control unit 60 respectively controls the rotation directions of the left front spiral wheel mechanism 20, the right front spiral wheel mechanism 30, the left rear spiral wheel mechanism 40 and the right rear spiral wheel mechanism 50, so that the advancing, retreating, crab walking, left turning and right turning of the walking mechanism in the pipeline can be realized, the structure is simple, and the operation is convenient; the environment adaptability is strong, the vehicle can walk on swamp and silt roads, and the running condition of the whole vehicle is not influenced by single-wheel skidding; the turning radius is small, and the pivot steering can be realized; the spiral wheel is convenient to maintain and easy to replace when being worn.
Specifically, in the present embodiment, the left front screw wheel mechanism 20 includes a left front screw wheel 21 and a left front stepping motor 22. The two ends of the left front spiral wheel 21 are rotatably installed on the left side of the front end of the frame 10 through bearings, the left front stepping motor 22 is installed on the frame 10, the left front stepping motor 22 is connected with the central control unit 60, and the output shaft of the left front stepping motor 22 is connected with the left front spiral wheel 21. The right front screw wheel mechanism 30 includes a right front screw wheel 31 and a right front stepping motor 32. Both ends of the right front spiral wheel 31 are rotatably installed on the right side of the front end of the frame 10 through bearings, the right front stepping motor 32 is installed on the frame 10, the right front stepping motor 32 is connected with the central control unit 60, and the output shaft of the right front stepping motor 32 is connected with the right front spiral wheel 31. The left rear screw wheel mechanism 40 includes a left rear screw wheel 41 and a left rear stepping motor 42. Both ends of the left rear spiral wheel 41 are rotatably arranged on the left side of the rear end of the frame 10 through bearings; the left rear stepping motor 42 is mounted on the frame 10, the left rear stepping motor 42 is connected to the central control unit 60, and the output shaft of the left rear stepping motor 42 is connected to the left rear screw wheel 41. The right rear screw wheel mechanism 50 includes a right rear screw wheel 51 and a right rear stepping motor 52. The two ends of the right rear spiral wheel 51 are rotatably arranged on the right side of the rear end of the frame 10 through bearings, the right rear stepping motor 52 is arranged on the frame 10, the right rear stepping motor 52 is connected with the central control unit 60, and the output shaft of the right rear stepping motor 52 is connected with the right rear spiral wheel 51. So set up, the spiral wheel installation is maintained conveniently, and each spiral wheel conveniently carries out independent control through a step motor and central control unit 60 respectively to the rotational speed of each spiral wheel. Each spiral wheel transmits the ground friction force to the frame 10 through two bearings, and the stepping motor is connected with the spiral wheel through the spline housing to transmit the torque.
In the present embodiment, the central control unit 60 includes a control module 61, a left front stepper motor driver 62, a right front stepper motor driver 63, a left rear stepper motor driver 64, and a right rear stepper motor driver 65. Wherein, the left front stepping motor driver 62 is connected with the control module 61, and the left front stepping motor 22 is connected with the left front stepping motor driver 62; the right front stepping motor driver 63 is connected with the control module 61, and the right front stepping motor 32 is connected with the right front stepping motor driver 63; the left rear stepper motor driver 64 is connected with the control module 61, and the left rear stepper motor 42 is connected with the left rear stepper motor driver 64; the right rear stepper motor driver 65 is connected to the control module 61 and the right rear stepper motor 52 is connected to the right rear stepper motor driver 65. Each stepping motor is connected with the control module 61 through a stepping motor driver, each spiral wheel is provided with a set of stepping motor drivers, four-wheel independent control is achieved, and the rotating speed and the rotating direction of the corresponding stepping motor are controlled through each stepping motor driver.
In the present embodiment, a shaft encoder (not shown) is built in each of the front left stepping motor 22, the front right stepping motor 32, the rear left stepping motor 42 and the rear right stepping motor 52, and the shaft encoder is connected to the control module 61. The rotation speed of each stepping motor is measured by a shaft encoder, and the rotation speed signal of each stepping motor is fed back to the control module 61 in real time.
In the present embodiment, the output shaft of the left front stepping motor 22 is connected to a left front speed reducer 23, and the output shaft of the left front speed reducer 23 is connected to the left front screw wheel 21; an output shaft of the right front stepping motor 32 is connected with a right front speed reducer 33, and an output shaft of the right front speed reducer 33 is connected with the right front spiral wheel 31; the output shaft of the left rear stepping motor 42 is connected with a left rear speed reducer 43, and the output shaft of the left rear speed reducer 43 is connected with the left rear spiral wheel 41; an output shaft of the right rear stepping motor 52 is connected to a right rear speed reducer 53, and an output shaft of the right rear speed reducer 53 is connected to the right rear screw wheel 51. Each speed reducer and the corresponding stepping motor are integrated into a whole, and the stepping motor drives the spiral wheel to rotate through speed reduction of the speed reducer.
In this embodiment, a speed sensor 70 is further installed at the center of the front end of the frame 10, and the speed sensor 70 is connected to the central control unit 60 and is used for acquiring the running speed of the running mechanism in the pipeline in real time and feeding the running speed back to the central control unit 60 in real time.
The control method of the walking mechanism in the pipeline comprises the following steps:
when the travelling mechanism in the pipeline moves forwards or backwards, the central control unit 60 controls the rotation direction of the left front spiral wheel 21 to be opposite to the rotation direction of the left rear spiral wheel 41, controls the rotation direction of the right front spiral wheel 31 to be opposite to the rotation direction of the left front spiral wheel 21, and controls the rotation direction of the right rear spiral wheel 51 to be the same as the rotation direction of the left front spiral wheel 21;
when the in-tunnel traveling mechanism turns left or right, the central control unit 60 controls the rotation direction of the left front spiral wheel 21 to be opposite to the rotation direction of the left rear spiral wheel 41, controls the rotation direction of the right front spiral wheel 31 to be the same as the rotation direction of the left front spiral wheel 21, and controls the rotation direction of the right rear spiral wheel 51 to be opposite to the rotation direction of the left front spiral wheel 21;
when the in-duct running mechanism crab left or right, the rotation directions of the left rear spiral wheel 41, the right front spiral wheel 31 and the right rear spiral wheel 51 are all controlled by the central control unit 60 to be the same as the rotation direction of the left front spiral wheel 21.
Taking the left front spiral wheel mechanism 20 as a right spiral wheel, the right front spiral wheel mechanism 30 as a left spiral wheel, the left rear spiral wheel mechanism 40 as a left spiral wheel, and the right rear spiral wheel mechanism 50 as a right spiral wheel as an example, the whole vehicle state of the running mechanism in the pipeline and the rotation direction of the spiral wheels are as follows:
the in-pipeline running mechanism can also automatically identify the slipping working condition, when one spiral wheel in the in-pipeline running mechanism slips, the control module 61 reduces the rotating speed of the slipping spiral wheel through the stepping motor driver, and simultaneously reduces the rotating speed of the spiral wheel at the other end of the in-pipeline running mechanism, which is at the same side as the slipping spiral wheel, in an equivalent manner. The slip control is a deviation between a reference vehicle speed and a control target vehicle speed
And performing closed-loop control on the rotating speed difference of the stepping motor for a closed-loop control target. When a certain spiral wheel slips, the slip rate is increased, the lateral adhesive force of the spiral wheel is reduced, and the motion stability of the whole vehicle is seriously influenced. Therefore, the output rotation speed of the slipping helical wheel is reduced in the anti-slip control.
Taking the case where the right front spiral wheel 31 is slipping as an example, the driving force of each spiral wheel at the time of slipping is coordinately distributed as follows:
| control method | Left front wheel | Right front wheel | Left rear wheel | Right rear wheel |
| Rotational speed | n1 | n2-Δn2 | n3 | n4-Δn2 |
By adopting a rotating speed control method, when the right front spiral wheel 31 rotates in a sliding mode, the rotating speed of the right front spiral wheel 31 is reduced, and the rotating speed of the right rear spiral wheel 51 is increased equally, so that the frame 10 moves leftwards and gets rid of a sliding area under the condition that the requirement of total driving force is not changed. After the frame 10 gets rid of the slip region, judging whether the spiral wheel slips again, if the spiral wheel still slips, continuing to be in the anti-slip control state; if not, the system is restored to the original state, and the anti-skid control is quitted.
Specifically, whether a certain spiral wheel in the running mechanism in the pipeline slips or not is judged by the following method:
respectively acquiring the rotating speeds n of the left front stepping motor 22, the right front stepping motor 32, the left rear stepping motor 42 and the right rear stepping motor 52 through corresponding shaft encoders in the stepping motors; the central control unit 60 determines whether the spiral wheel slips according to the rotation speed n of each stepping motor, and the specific determination method is as follows:
when the rotation speed n of the stepping motor is greater than or equal to
When the rotation speed n of the stepping motor is less than the rotation speed n, the spiral wheel connected with the stepping motor slips
When the stepping motor is used, the spiral wheel connected with the stepping motor does not slip; wherein igα is the included angle between the linear speed of the spiral wheel and the running speed direction of the running mechanism in the pipeline, and has the unit of degree, D is the diameter of the spiral wheel and has the unit of m, A is a preset threshold value, and n is the rotating speed of the stepping motor and has the unit of revolution per minute.
Helical wheel speed
Fig. 3 shows a graph relating to the travel speed of the traveling mechanism in the pipeline. The relation is as follows:
wherein the content of the first and second substances,
the speed of the spiral wheel is shown in the unit of km/h; vxThe running speed of the whole vehicle of the running mechanism in the pipeline is calculated according to the rotating speed of the motor, namely km/h.
Further, in order to avoid frequent switching of the slip state of the driving wheel due to large calculation error when the rotating speed of the wheel is low, the current actually measured vehicle speed value is used
And judging whether the speed of the vehicle is greater than a set vehicle speed threshold value B or not and determining whether the spiral wheel is in a slip state or not.
Specifically, before the central control unit 60 determines whether the corresponding spiral wheel slips according to the rotation speed n of each stepping motor, the current measured vehicle speed value of the running mechanism in the pipeline is obtained through the speed sensor 70
The current measured vehicle speed value is measured by the central control unit 60
Comparing with a preset vehicle speed threshold value B, and when the current actual vehicle speed value is measured
When the speed is less than the speed threshold B, the threshold A is E; when the current actual measurement vehicle speed value is larger than the vehicle speed threshold value B, the threshold value A is
And is
Greater than or equal to E; wherein E, F, G are all preset values,
the unit is km/h for the current actually measured vehicle speed value.
For example, the vehicle speed threshold B may be preset to 0.5km/h, E to 0.9, F to 1.2, and G to 0.3; when the measured current measured vehicle speed value is detected
Less than 0.5km/h, the threshold value A is 0.9, under which condition the rotation speed n of the stepping motor is greater than or equal to
When the stepping motor is used, the spiral wheel connected with the stepping motor slips and rotates at a high speedDegree n is less than
When the stepping motor is used, the spiral wheel connected with the stepping motor does not slip; when the measured current measured vehicle speed value
When the threshold value is greater than or equal to 0.5km/h, the threshold value A is
Under the condition that the rotating speed n of the stepping motor is more than or equal to
When the step motor is connected with the spiral wheel, the spiral wheel slips, and the rotating speed n is less than
When the stepping motor is used, the spiral wheel connected with the stepping motor does not slip. The flow chart of the screw wheel drive anti-skid judgment is shown in fig. 4.
Generally, the walking mechanism in the pipeline has a simple structure and is convenient to operate, and the walking mechanism can jointly control the whole vehicle to move forwards and backwards, crab, turn left and turn right through spiral wheel mechanisms rotating to different directions; the skid working condition can be automatically identified, the influence of single-wheel skid on the running of the whole vehicle can be effectively avoided through four-wheel independent drive and single-wheel skid control, the environmental adaptability is strong, the vehicle can run on swamp and muddy roads, and the running working condition of the whole vehicle is not influenced by the single-wheel skid; the turning radius of the walking mechanism in the pipeline is small, and pivot steering can be realized; convenient maintenance, the spiral wheel is easy to be replaced when worn.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a running gear in pipeline which characterized in that, running gear includes in the pipeline:
a frame (10);
a left front screw wheel mechanism (20) mounted on the left side of the front end of the frame (10);
a right front spiral wheel mechanism (30) installed on the right side of the front end of the frame (10), wherein the spiral direction of the right front spiral wheel mechanism (30) is opposite to the spiral direction of the left front spiral wheel mechanism (20);
the left rear spiral wheel mechanism (40) is arranged on the left side of the rear end of the frame (10), and the spiral direction of the left rear spiral wheel mechanism (40) is the same as that of the right front spiral wheel mechanism (30);
the right rear spiral wheel mechanism (50) is arranged on the right side of the rear end of the frame (10), and the spiral direction of the right rear spiral wheel mechanism (50) is opposite to the spiral direction of the left rear spiral wheel mechanism (40);
and the left front spiral wheel mechanism (20), the right front spiral wheel mechanism (30), the left rear spiral wheel mechanism (40) and the right rear spiral wheel mechanism (50) are connected with the central control unit (60).
2. The in-pipe running mechanism of claim 1,
the left front screw wheel mechanism (20) includes:
the two ends of the left front spiral wheel (21) are rotatably arranged on the left side of the front end of the frame (10) through bearings;
the left front stepping motor (22) is mounted on the frame (10), the left front stepping motor (22) is connected with the central control unit (60), and an output shaft of the left front stepping motor (22) is connected with the left front spiral wheel (21);
the right front screw wheel mechanism (30) includes:
the front-right spiral wheel (31), both ends of the front-right spiral wheel (31) are rotatably installed on the right side of the front end of the frame (10) through bearings;
the right front stepping motor (32) is mounted on the frame (10), the right front stepping motor (32) is connected with the central control unit (60), and an output shaft of the right front stepping motor (32) is connected with the right front spiral wheel (31);
the left rear screw wheel mechanism (40) includes:
the two ends of the left rear spiral wheel (41) are rotatably arranged on the left side of the rear end of the frame (10) through bearings;
the left rear stepping motor (42) is installed on the frame (10), the left rear stepping motor (42) is connected with the central control unit (60), and an output shaft of the left rear stepping motor (42) is connected with the left rear spiral wheel (41);
the right rear screw wheel mechanism (50) includes:
the right rear spiral wheel (51), two ends of the right rear spiral wheel (51) are rotatably arranged on the right side of the rear end of the frame (10) through bearings;
the right rear stepping motor (52) is mounted on the frame (10), the right rear stepping motor (52) is connected with the central control unit (60), and an output shaft of the right rear stepping motor (52) is connected with the right rear spiral wheel (51).
3. The in-duct walking mechanism of claim 2, wherein the central control unit (60) comprises:
a control module (61);
a left front stepping motor driver (62), wherein the left front stepping motor driver (62) is connected with the control module (61), and the left front stepping motor (22) is connected with the left front stepping motor driver (62);
a right front stepping motor driver (63), wherein the right front stepping motor driver (63) is connected with the control module (61), and the right front stepping motor (32) is connected with the right front stepping motor driver (63);
a left rear stepper motor driver (64), the left rear stepper motor driver (64) being connected to the control module (61), the left rear stepper motor (42) being connected to the left rear stepper motor driver (64);
the control module comprises a right rear stepping motor driver (65), the right rear stepping motor driver (65) is connected with the control module (61), and the right rear stepping motor (52) is connected with the right rear stepping motor driver (65).
4. The in-pipe walking mechanism of claim 3, wherein each of the front left stepper motor (22), the front right stepper motor (32), the rear left stepper motor (42) and the rear right stepper motor (52) has a built-in shaft encoder, and the shaft encoders are connected with the control module (61).
5. The in-pipe walking mechanism of claim 4,
an output shaft of the left front stepping motor (22) is connected with a left front speed reducer (23), and an output shaft of the left front speed reducer (23) is connected with the left front spiral wheel (21);
an output shaft of the right front stepping motor (32) is connected with a right front speed reducer (33), and an output shaft of the right front speed reducer (33) is connected with the right front spiral wheel (31);
the output shaft of the left rear stepping motor (42) is connected with a left rear speed reducer (43), and the output shaft of the left rear speed reducer (43) is connected with the left rear spiral wheel (41);
an output shaft of the right rear stepping motor (52) is connected with a right rear speed reducer (53), and an output shaft of the right rear speed reducer (53) is connected with the right rear spiral wheel (51).
6. An in-duct walking mechanism according to claim 5, wherein a speed sensor (70) is mounted at the front end of the frame (10), and the speed sensor (70) is connected with the central control unit (60).
7. A method of controlling an in-duct running gear according to claim 6, comprising:
when the travelling mechanism in the pipeline moves forwards or backwards, the central control unit (60) controls the rotation direction of the left front spiral wheel (21) to be opposite to the rotation direction of the left rear spiral wheel (41), controls the rotation direction of the right front spiral wheel (31) to be opposite to the rotation direction of the left front spiral wheel (21), and controls the rotation direction of the right rear spiral wheel (51) to be the same as the rotation direction of the left front spiral wheel (21);
when the travelling mechanism in the pipeline turns leftwards or rightwards, the central control unit (60) controls the rotation direction of the left front spiral wheel (21) to be opposite to the rotation direction of the left rear spiral wheel (41), controls the rotation direction of the right front spiral wheel (31) to be the same as the rotation direction of the left front spiral wheel (21), and controls the rotation direction of the right rear spiral wheel (51) to be opposite to the rotation direction of the left front spiral wheel (21);
when the walking mechanism inside the pipeline craws leftwards or rightwards, the central control unit (60) controls the rotation directions of the left rear spiral wheel (41), the right front spiral wheel (31) and the right rear spiral wheel (51) to be the same as the rotation direction of the left front spiral wheel (21).
8. The method for controlling an in-pipe running mechanism according to claim 7, further comprising:
when a certain spiral wheel in the running mechanism in the pipeline slips, the rotating speed of the spiral wheel which slips is reduced, and meanwhile, the rotating speed of the spiral wheel at the other end of the running mechanism in the pipeline, which is at the same side as the spiral wheel which slips, is reduced in an equivalent manner.
9. The in-tunnel travel mechanism control method according to claim 8, wherein it is determined whether a certain spiral wheel in the in-tunnel travel mechanism slips by:
acquiring the rotation speeds of the left front stepping motor (22), the right front stepping motor (32), the left rear stepping motor (42) and the right rear stepping motor (52) respectively through the shaft encoders correspondingly;
the central control unit (60) judges whether the spiral wheel slips or not according to the rotating speed of each stepping motor, and the judging method comprises the following steps:
when the rotation speed of the stepping motor is greater than or equal to
When the rotation speed of the stepping motor is less than the set rotation speed, the spiral wheel connected with the stepping motor slips
When the stepping motor is used, the spiral wheel connected with the stepping motor does not slip;
wherein igα is the included angle between the linear speed of the spiral wheel and the running speed direction of the running mechanism in the pipeline, the unit is degree, D is the diameter of the spiral wheel, the unit is m, and A is a preset threshold value.
10. The method for controlling an in-pipe running mechanism according to claim 9,
before the central control unit (60) judges whether the spiral wheel slips or not according to the rotating speed of each stepping motor, the current actual measurement vehicle speed value of the travelling mechanism in the pipeline is obtained through the speed sensor (70);
comparing the current actual measurement vehicle speed value with a preset vehicle speed threshold value B through the central control unit (60), wherein when the current actual measurement vehicle speed value is smaller than the vehicle speed threshold value B, the threshold value A is E; when the current actual measurement vehicle speed value is greater than the vehicle speed threshold value B, the threshold value A is
And is
Greater than or equal to E;
wherein E, F, G are all preset values,
the unit is km/h for the current actually measured vehicle speed value.
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| CN202010095043.8A CN111299273B (en) | 2020-02-13 | 2020-02-13 | Pipeline internal walking mechanism and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112934872A (en) * | 2021-03-31 | 2021-06-11 | 通威太阳能(眉山)有限公司 | Cleaning robot in pipe |
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| CN111299273B (en) | 2021-03-23 |
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