CN111692458A - Pipeline self-adaptation detection robot - Google Patents
Pipeline self-adaptation detection robot Download PDFInfo
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- CN111692458A CN111692458A CN202010488857.8A CN202010488857A CN111692458A CN 111692458 A CN111692458 A CN 111692458A CN 202010488857 A CN202010488857 A CN 202010488857A CN 111692458 A CN111692458 A CN 111692458A
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- robot
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- pipeline
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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
- F16L55/40—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
- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- 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
Abstract
The invention discloses a pipeline self-adaptive detection robot, which comprises a robot main body, a reducing mechanism, a curve adaptive mechanism, a wall attaching wheel, a camera holder, a communication cable and a control module, wherein the robot main body is provided with a plurality of connecting rods; the robot main body is divided into a front section and a rear section, the front section and the rear section are connected through a curve adapting mechanism, and the curve adapting mechanism ensures that the robot can pass through a bent pipeline; the communication cable is fixed on a rear end cover of the rear section of the robot main body and is used for connecting a computer outside a pipeline, a control module arranged on the robot main body is controlled by the computer, and the camera holder is arranged on a front end cover of the front section of the robot main body; the reducing mechanisms are respectively and fixedly arranged on the rear end cover of the front section and the front end cover of the rear section of the robot main body in an axisymmetric manner; the invention can move in the vertical, horizontal, inclined and bent pipelines, and provides clear images through the camera carried on the robot.
Description
Technical Field
The invention relates to a pipeline self-adaptive detection robot which is suitable for detecting and checking the internal condition of a cargo ship pipeline system.
Technical Field
In the shipbuilding industry, a pipeline system is complicated and complicated, the conditions of bending, verticality, inclination, diameter change and the like exist, and the traditional inspection means is difficult to carry out efficient inspection without dead angles on the interior of the pipeline. Most of the pipeline robots used in other industries are only suitable for detecting horizontal pipelines, and the newly released pipeline robots can adapt to the complicated conditions, but use a large number of sensors or have extremely high requirements on control technology.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a pipeline self-adaptive detection robot which can adapt to complicated and complicated pipeline environments and is convenient to use.
In order to solve the technical problems, the technical scheme of the invention is as follows: a pipeline self-adaptive detection robot comprises a robot main body, a diameter changing mechanism, a curve adapting mechanism, a wall attaching wheel, a camera holder, a communication cable and a control module;
the robot main body is divided into a front section and a rear section, the front section and the rear section are connected through a curve adapting mechanism, and the curve adapting mechanism ensures that the robot can pass through a bent pipeline;
the communication cable is fixed on a rear end cover at the rear section of the robot main body and is used for connecting a computer outside a pipeline, a control module arranged on the robot main body is controlled by the computer, and the camera holder is arranged on a front end cover at the front section of the robot main body;
the reducing mechanisms are respectively fixedly arranged on the rear end cover of the front section and the front end cover of the rear section of the robot main body in an axisymmetric manner;
the reducing mechanism comprises a coupler, a plurality of groups of sliding block rockers, a hinged support fixing hole integrated block, a screw rod sliding block, a connecting rod and a direct current motor; one end of a screw rod is arranged in a fixed hole of the robot body through a hinged support fixed hole integrated block and is positioned at the axis of the robot body, the other end of the screw rod is connected with an output shaft of a first power device through a coupler, a screw rod sliding block is matched with the screw rod and is hinged with sliding block rockers in all directions, the sliding block rockers in all directions are hinged with the hinged support fixed hole integrated block, and the hinged support fixed hole integrated block is fixed on an end cover of the front section or the rear section of the robot body through screws; one end of the connecting rod is hinged with the hinged support fixing hole integrated block, the other end of the connecting rod is connected with the wall attaching wheel, the rod part of the middle section of the connecting rod is hinged with the sliding block rocker, and a second power device is arranged inside the wall attaching wheel and used for driving the wall attaching wheel.
The first power device is a direct current motor, an output shaft is connected with the coupler so as to drive the screw rod to rotate, and when the screw rod rotates, the sliding block moves on the screw rod.
The curve adapting mechanism comprises a plurality of identical springs, symmetrical fixing holes are respectively formed in the rear end cover of the front section and the front end cover of the rear section of the robot main body, and the head and the tail of each spring are respectively connected with the fixing holes in the main body in a matched mode.
The wall-attached wheel is arranged at the tail end of the reducing mechanism through a bearing, is driven by the hub motor and is arranged in the wall-attached wheel.
The camera holder comprises a first steering engine, a second steering engine and a camera, wherein the first steering engine is fixed on a front end cover of the front section of the robot body, the second steering engine is fixed on a shaft wing of the first steering engine, and the camera is fixed on a shaft wing of the second steering engine.
The control module is positioned on the robot body and comprises an STMFVET ARM Cortex-M kernel chip controller and an LN motor driving module, a camera steering engine holder of the LN driving module is respectively connected with the STMFVET ARM Cortex-M kernel chip controller, and a second power device, a first steering engine, a second steering engine and a first power device are respectively connected with the LN driving module.
After the technical scheme is adopted, the robot can move forwards and backwards like a common tracked robot when running in a horizontal pipeline, and can be attached to the inner wall of the pipeline in a supporting mode like a wall-attached robot when passing through a vertical pipeline and an inclined pipeline, so that the stability of the posture of the robot is ensured, and the rotation of the wall-attached wheels drives the robot to move. The matching of the reducing mechanism and other mechanisms can enable the robot to smoothly pass through the hinged position of two pipelines with different calibers. The curve adaptation mechanism enables the robot to smoothly pass through a curved pipeline. The robot can meet the requirements of the internal inspection of the complex variable pipeline system with non-large caliber and non-long distance in a cargo ship and the like, so that the inspection process can be completed only by 1 to 2 inspectors, and the robot can go to all corners of the pipeline system under the control of the inspectors to perform inspection without dead angles.
Drawings
FIG. 1 is a schematic plan view of the present invention;
FIG. 2 is a first perspective view of the present invention;
FIG. 3 is a second perspective view of the present invention;
fig. 4 is a block diagram of a robot control system.
Detailed Description
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description taken in conjunction with the accompanying drawings.
As shown in fig. 1-3, a pipeline adaptive detection robot comprises a robot main body 1, a diameter changing mechanism, a curve adapting mechanism, a wall attaching wheel 2, a camera holder, a communication cable 3 and a control module;
the robot main body 1 is divided into a front section and a rear section, the front section and the rear section are connected through a curve adapting mechanism, and the curve adapting mechanism ensures that the robot can pass through a bent pipeline;
the communication cable 3 is fixed on a rear end cover at the rear section of the robot main body 1 and is used for connecting a computer outside a pipeline, a control module arranged on the robot main body 1 is controlled by the computer, and the camera holder is arranged on a front end cover at the front section of the robot main body 1;
the reducing mechanisms are respectively fixedly arranged on a rear end cover of the front section and a front end cover of the rear section of the robot main body 1 in an axisymmetric manner;
the reducing mechanism comprises a coupler 4, a plurality of groups of sliding block rockers 5, a hinged support fixing hole integrated block 6, a screw rod 7, a screw rod sliding block 8, a connecting rod 15 and a direct current motor 9; one end of a screw rod 7 is arranged in a fixed hole of the robot main body 1 through a hinged support fixed hole integrated block 6 and is positioned at the axis of the robot main body 1, the other end of the screw rod is connected with an output shaft of a first power device 9 through a coupler 4, a screw rod sliding block 8 is matched with the screw rod 7 and is hinged with a sliding block rocker 5 in each direction, the sliding block rocker 5 in each direction is hinged with the hinged support fixed hole integrated block 6, and the hinged support fixed hole integrated block 6 is fixed on an end cover of the front section or the rear section of the robot main body 1 through a screw; one end of the connecting rod 15 is hinged to the hinged support fixing hole integrated block 6, the other end of the connecting rod is connected with the wall attaching wheel 2, the middle rod part of the connecting rod 15 is hinged to the sliding block rocker 5, and a second power device is arranged inside the wall attaching wheel 2 and used for driving the wall attaching wheel 2.
The first power device is a direct current motor, an output shaft is connected with the coupler 4 so as to drive the screw rod 7 to rotate, and when the screw rod 7 rotates, the sliding block moves on the screw rod 7.
The curve adapting mechanism comprises a plurality of identical springs 10, symmetrical fixing holes 11 are respectively formed in the rear end cover of the front section and the front end cover of the rear section of the robot main body 1, and the head and the tail of each spring are respectively connected with the fixing holes 11 in the main body in a matched mode.
The wall attaching wheel 2 is mounted at the tail end of the reducing mechanism through a bearing, driven by the hub motor and mounted inside the wall attaching wheel 2.
The camera holder comprises a first steering engine 12, a second steering engine 13 and a camera 14, wherein the first steering engine 12 is fixed on a front end cover of the front section of the robot body 1, the second steering engine 13 is fixed on a shaft wing of the first steering engine 12, and the camera 14 is fixed on a shaft wing of the second steering engine 13.
As shown in fig. 4, the control module is located on the robot body and includes an STM32F407VET6 ARM-M4 core chip controller and an L298N motor driving module, the L298N driving module and the camera steering engine cradle head are respectively connected with the STM32F407VET6 ARM Cortex-M4 core chip controller, and the second power device, the first steering engine 12, the second steering engine 13 and the first power device 9 are respectively connected with the L298N driving module.
The working principle of the invention is as follows:
1. horizontal pipeline
When the robot moves in a horizontal pipeline, the wall attaching wheels 2 do not need to be supported on the inner wall of the pipeline, so that the screw rod 7 rotates forwards, the diameter changing mechanism contracts, the two wall attaching wheels 2 are respectively arranged at the front section and the rear section of the robot main body 1 and are in contact with the inner wall of the pipeline, and the robot can move forwards, backwards and turn in the pipeline just like a trolley.
2. Reducing pipeline
When the robot moves to the joint of two pipelines with different calibers, if the robot originally runs in a non-wall-attachment state in a horizontal pipeline, the advancing speed is firstly adjusted to be in a slower state, and then the screw rod 7 rotates reversely until all the wall-attachment wheels 2 are attached to the inner wall of the pipeline.
1) Entering a small-diameter pipeline:
the lead screw 7 corotation of anterior segment reducing mechanism makes anterior segment mechanism radially contract to slightly be less than the diameter of the pipeline in the place ahead, and back end attaches wall wheel 2 and slowly rotates, and drive robot moves forward, and after the front segment main part got into the path pipeline, the lead screw 7 reversal of anterior segment reducing mechanism made attaches wall wheel 2 and depends on the pipeline inner wall.
Similarly, the screw rod 7 of the rear section diameter-changing mechanism rotates forwards to enable the rear section mechanism to contract radially to a diameter smaller than that of the pipeline in front, and after the rear section main body enters the small-diameter pipeline, the screw rod 7 rotates backwards to enable the wall-attached wheel 2 in the rear to be attached to the inner wall of the pipeline.
2) Entering a large-diameter pipeline:
after the front-section main body of the robot enters the large-diameter pipeline, the screw rod 7 of the front-section reducing mechanism rotates reversely, and the front-section reducing mechanism expands radially, so that the wall attaching wheel 2 is attached to the inner wall of the front pipeline.
The robot moves forward, after the rear-section main body enters the large-diameter pipeline, the screw rod 7 of the rear-section reducing mechanism rotates reversely, and the rear-section mechanism expands radially, so that the wall attaching wheel 2 is attached to the inner wall of the pipeline.
3. Curved pipe
When the robot is going to pass through a bent pipeline, the screw rod 7 of the front section diameter-changing mechanism rotates positively to enable the front section mechanism to contract slightly in the radial direction, the outer diameter of the front section is slightly smaller than the inner diameter of the pipeline, and then the wall-attached wheel 2 of the rear section mechanism drives the robot to advance. The front-section robot touches the bent pipeline, at the moment, the wall-attached wheel 2 of the front-section mechanism is used as a rolling wheel, the front section of the robot advances along the bending direction of the pipeline, and the curve adaptive mechanism is bent.
After the front-section robot passes through the bent pipeline, the screw rod 7 of the front-section reducing mechanism rotates reversely, so that the front wall attaching wheel 2 is attached to the inner wall of the pipeline. The screw rod 7 of the rear section diameter-changing mechanism rotates positively to enable the rear section mechanism to contract slightly in the radial direction, the outer diameter of the front section is slightly smaller than the inner diameter of the pipeline, and the front section wall-attached wheel 2 drives the robot to advance.
After the robot at the rear section passes through the bent pipeline, a screw rod 7 of the reducing mechanism at the rear section rotates reversely, and a rear wall attaching wheel 2 is attached to the inner wall of the pipeline.
4. Camera pan-tilt control
The degree of freedom of combining two steering engines, camera 14 can point to all angles of robot front end, has guaranteed the detection of no dead angle. The pitching angle of the camera 14 can be changed through the rotation of the first 12 shafts of the steering engine, and the left-right swinging angle of the camera 14 can be changed through the rotation of the second 13 shafts of the steering engine.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A pipeline self-adaptation detection robot which characterized in that: the robot comprises a robot main body (1), a reducing mechanism, a curve adapting mechanism, a wall attaching wheel (2), a camera holder, a communication cable (3) and a control module;
the robot main body (1) is divided into a front section and a rear section, the front section and the rear section are connected through a curve adapting mechanism, and the curve adapting mechanism ensures that the robot can pass through a curved pipeline;
the communication cable (3) is fixed on a rear end cover at the rear section of the robot main body (1) and is used for connecting a computer outside a pipeline, a control module arranged on the robot main body (1) is controlled by the computer, and the camera holder is arranged on a front end cover at the front section of the robot main body (1);
the reducing mechanisms are respectively and fixedly arranged on a rear end cover of the front section and a front end cover of the rear section of the robot main body (1) in an axisymmetric manner;
the reducing mechanism comprises a coupler (4), a plurality of groups of sliding block rockers (5), a hinged support fixing hole integrated block (6), a screw rod (7), a screw rod sliding block (8), a connecting rod (15) and a direct current motor (9); one end of a screw rod (7) is installed in a fixed hole of the robot main body (1) through a hinged support fixed hole integrated block (6) and is positioned at the axis of the robot main body, the other end of the screw rod is connected with an output shaft of a first power device (9) through a coupler (4), a screw rod sliding block (8) is matched with the screw rod (7) and is hinged with sliding block rocking rods (5) in all directions, the sliding block rocking rods (5) in all directions are hinged with the hinged support fixed hole integrated block (6), and the hinged support fixed hole integrated block (6) is fixed on an end cover of the front section or the rear section of the robot main body (1) through screws; one end of the connecting rod (15) is hinged to the hinged support fixing hole integrated block (6), the other end of the connecting rod is connected with the wall attaching wheel (2), the middle section rod part of the connecting rod (15) is hinged to the sliding block rocker (5), and a second power device is arranged inside the wall attaching wheel (2) and used for driving the wall attaching wheel (2).
2. The pipeline adaptive detection robot of claim 1, wherein: the first power device is a direct current motor, an output shaft is connected with the coupler (4) so as to drive the screw rod (7) to rotate, and when the screw rod (7) rotates, the sliding block moves on the screw rod (7).
3. The pipeline adaptive detection robot of claim 1, wherein: the curve adapting mechanism comprises a plurality of identical springs (10), symmetrical fixing holes (11) are respectively formed in the rear end cover of the front section and the front end cover of the rear section of the robot main body (1), and the head and the tail of each spring are respectively connected with the fixing holes (11) in the main body in a matched mode.
4. The pipeline adaptive detection robot of claim 1, wherein: the wall attaching wheel (2) is arranged at the tail end of the reducing mechanism through a bearing, is driven by the hub motor and is arranged inside the wall attaching wheel (2).
5. The pipeline adaptive detection robot of claim 1, wherein: the camera holder comprises a first steering engine (12), a second steering engine (13) and a camera (14), wherein the first steering engine (12) is fixed on a front end cover of the front section of the robot body (1), the second steering engine (13) is fixed on a shaft wing of the first steering engine (12), and the camera (14) is fixed on a shaft wing of the second steering engine (13).
6. The pipeline adaptive detection robot of claim 1, wherein: the control module be located the robot body, including STM32F407VET6 ARM Cortex-M4 kernel chip controller, L298N motor drive module, L298N drive module camera steering wheel cloud platform is connected with STM32F407VET6 ARM Cortex-M4 kernel chip controller respectively, second power device, steering wheel one (12), steering wheel two (13), first power device (9) are connected with L298N drive module respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010488857.8A CN111692458A (en) | 2020-06-02 | 2020-06-02 | Pipeline self-adaptation detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010488857.8A CN111692458A (en) | 2020-06-02 | 2020-06-02 | Pipeline self-adaptation detection robot |
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| CN111692458A true CN111692458A (en) | 2020-09-22 |
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| CN202010488857.8A Pending CN111692458A (en) | 2020-06-02 | 2020-06-02 | Pipeline self-adaptation detection robot |
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| CN113090862A (en) * | 2021-03-23 | 2021-07-09 | 河海大学常州校区 | Self-adaptive detection robot for cargo ship pipeline |
| CN113483197A (en) * | 2021-06-30 | 2021-10-08 | 国机传感科技有限公司 | Self-adaptive variable-diameter multi-driving-wheel type pipeline crawling device |
| CN117231852A (en) * | 2023-11-15 | 2023-12-15 | 成都锦城学院 | Pipeline inspection robot |
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| CN117231852A (en) * | 2023-11-15 | 2023-12-15 | 成都锦城学院 | Pipeline inspection robot |
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Application publication date: 20200922 |