CN112145868A - Vector propulsion pipeline robot - Google Patents
Vector propulsion pipeline robot Download PDFInfo
- Publication number
- CN112145868A CN112145868A CN202010948995.XA CN202010948995A CN112145868A CN 112145868 A CN112145868 A CN 112145868A CN 202010948995 A CN202010948995 A CN 202010948995A CN 112145868 A CN112145868 A CN 112145868A
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- China
- Prior art keywords
- pipeline robot
- servo motor
- output shaft
- vector propulsion
- robot 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
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention is suitable for the technical field of pipeline inspection robots, and provides a vector propulsion pipeline robot, which comprises a pipeline robot body, a water jet propeller and a direction adjusting device, wherein the water jet propeller is arranged on the pipeline robot body; the direction adjustment device includes: the first servo motor is arranged on the outer side of the body; the connecting piece is assembled at the end part of the first output shaft of the first servo motor; the second servo motor is arranged at one end, far away from the first servo motor, of the connecting piece, and the end part of a second output shaft of the second servo motor is assembled with the water-jet propeller; the first output shaft is perpendicular to the second output shaft, the thrust line of the water-jet propeller is changed through two-shaft movement, the high maneuverability of the propeller is greatly improved, a dead-angle-free movement mode can be achieved, the effect of a vector propeller is achieved, and the problem that sundries are wound in a pipeline of a conventional pipeline robot due to the fact that a motor shaft is omitted in the water-jet propeller is solved.
Description
Technical Field
The invention relates to the technical field of pipeline inspection robots, in particular to a vector propulsion pipeline robot.
Background
Pipelines are widely used as an effective material conveying means. In order to prolong the service life of the pipeline and prevent accidents such as leakage, effective detection and maintenance of the pipeline are required. Under the condition that a plurality of defects exist in a manual detection mode, the pipeline detection robot is used as effective pipeline detection equipment and is applied more and more.
At present, the conventional wheeled or tracked robots commonly applied to most pipeline detection robots have the conditions of large rotation path, low propeller utilization efficiency, poor underwater working drag reduction performance and the like on low-speed controllability and maneuverability. In the real application process, the layout simplification of the propeller, the improvement of the steering flexibility, the maximization of the efficiency and the stable controllability all are technical problems which need to be realized by innovating a reasonable propeller layout design.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a vector propulsion pipeline robot, and aims to solve the technical problems of inflexible steering and low efficiency of the pipeline robot in the prior art.
The technical problem solved by the invention can be realized by adopting the following technical scheme: a vector propulsion pipeline robot, comprising: the pipeline robot comprises a pipeline robot body, a water-jet propeller and a direction adjusting device arranged between the pipeline robot body and the water-jet propeller; the direction adjustment device includes: the first servo motor is arranged on the outer side of the pipeline robot body; the connecting piece is assembled at the end part of the first output shaft of the first servo motor; the second servo motor is arranged at one end, far away from the first servo motor, of the connecting piece, and the end part of a second output shaft of the second servo motor is assembled with the water-jet propeller; the first output shaft is perpendicular to the second output shaft; locate inside the pipeline robot body respectively with the central processing unit that first servo motor and second servo motor electricity are connected, central processing unit passes through cable and remote terminal equipment communication connection, is used for controlling turning to and opening and close of first servo motor and second servo motor.
Preferably, the first servo motors have three groups.
Preferably, three groups of first servo motors are located on the same horizontal plane, and an included angle between two adjacent first servo motors is 120 degrees.
Preferably, the pipeline robot body is provided with an eagle eye panoramic high-definition camera electrically connected with the central processing unit.
Preferably, the pipeline robot body is provided with a five-axis mechanical arm which is electrically connected with the central processing unit and is used for grabbing bottle stoppers, and four sampling bottles with the bottle stoppers.
Preferably, the outer side of the pipeline robot body is designed to be hydrodynamic.
Preferably, a group of parking brackets are symmetrically arranged at the bottom of the pipeline robot body.
Preferably, the structure of the connecting piece is in an L shape.
Preferably, the water jet propeller is a shaftless propeller.
Preferably, the rotation range of the first output shaft is between 0 and 180 °, and the rotation range of the second output shaft is between 0 and 120 °.
The invention has the beneficial effects that:
1) the first servo motor that the pipeline robot body outside set up passes through connecting rod fixedly connected with second servo motor, second servo motor with vector water jet propulsion connects, changes water jet propulsion's distance line through the diaxon motion, improves the high mobility of propeller greatly, can reach the motion mode at no dead angle, reaches vector propulsion's effect.
2) The water-jet propeller can avoid the problem that the conventional pipeline robot winds sundries in a pipeline because of a rotating shaft because a motor shaft is omitted.
Drawings
FIG. 1 is a schematic perspective view of a vector propulsion pipeline robot according to the present invention;
fig. 2 is a schematic view of a combination structure of the direction adjusting device and the water jet propeller of the present invention.
Reference numerals: 1. a pipeline robot body; 2. a water jet propeller; 3. a direction adjusting device; 31. a first servo motor; 32. a connecting member; 33. a second servo motor; 4. a panoramic camera; 5. a sampling bottle; 6. five-axis mechanical arm; 7. a parking stand.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, a vector propulsion pipeline robot according to the present invention includes: the pipeline robot comprises a pipeline robot body 1, a water-jet propeller 2 and a direction adjusting device 3 arranged between the pipeline robot body 1 and the water-jet propeller 2; the direction adjustment device 3 includes: a first servo motor 31 provided outside the body; a connecting member 32 fitted to a first output shaft end portion of the first servo motor 31; the second servo motor 33 is arranged at one end of the connecting piece 32, which is far away from the first servo motor 31, and the second output shaft end part of the second servo motor 33 is assembled with the water jet propeller 2; a first output shaft (not shown) of the first servomotor 31 is perpendicular to a second output shaft (not shown) of the second servomotor 33.
Most of the existing pipeline detection robot propellers have the conditions of simplified layout, low steering flexibility and the like. In the direction adjustment device 3 of the present embodiment, the first servomotor 31 and the second servomotor 33 are connected by the connection member 32. In this embodiment, the connecting member 32 is a connecting rod, which can limit a gap between the water jet 2 and the second servo motor 33, so as to prevent the water jet 2 from colliding with the second servo motor 33 when the first servo motor 31 rotates. In addition, the first output shaft (not shown) of the first servo motor 31 is perpendicular to the second output shaft (not shown) of the second servo motor 33, and the design increases the moving space of the water jet propeller 2, and can adjust the movement of the pipeline robot body 1 in a wider range.
Specifically, in the direction adjusting device 3, the first servo motor 31 is connected to the pipeline robot body 1 through a first output shaft (not shown), the second servo motor 33 is connected to the vector water jet propeller 2 through a second output shaft (not shown), the rotation range of the first output shaft is 0 to 180 °, the rotation range of the second output shaft is 0 to 120 °, and the rotation of the vector water jet propeller 2 is controlled through the two-shaft combined action of the first servo motor 31 and the second servo motor 33, so that the thrust line and the layout range of the water jet propeller 2 can be greatly changed, thereby greatly improving the maneuverability of the vector propulsion pipeline robot and achieving a dead-angle-free motion mode.
A central processing unit (not shown) electrically connected with the first servo motor and the second servo motor respectively is arranged in the pipeline robot body and used for controlling the turning, opening and closing of the first servo motor and the second servo motor; the central processor is communicatively connected to a remote terminal device (not shown), such as a computer, via a cable (not shown). The central processing unit (not shown) and the remote terminal (not shown) are conventional in the art and will not be described herein.
In this embodiment, there are three sets of the first servo motors 31, which are located on the same horizontal plane and form an angle of 120 degrees two by two; correspondingly, the second servo motors 33 and the water jet propellers 2 are also three groups, so that the vector propulsion pipeline robot can be ensured to be stressed in a pipeline in a balanced manner and operate in a stable state.
It should be noted that, because the water jet propeller 2 is a shaftless propeller, a motor shaft is replaced, and the problem that the conventional pipeline robot winds sundries in the pipeline due to the existence of the motor shaft can be avoided.
Referring to fig. 2, in the direction adjusting device 3, the structure of the connecting member 32 is "L" shaped, the water jet propeller 2 is a shaftless propeller, the inner part of the propeller is provided with blades, the outer edge of the propeller is respectively provided with a rotor magnetic steel and a stator coil structure, the stator coil and the rotor magnetic steel part are both processed by epoxy resin encapsulation technology, and a high polymer engineering plastic self-lubricating maintenance-free shaft sleeve is used for improving reliability.
In some embodiments, referring to fig. 1, the pipeline robot body 1 is provided with an eagle eye panoramic high definition camera 4 electrically connected to a central processing unit (not shown), the panoramic camera 4 can provide photo materials required by digital modeling, realize three-dimensional display of an underground pipeline system through later software jigsaw processing, and can macroscopically analyze the problem of the pipeline system.
In some embodiments, with continued reference to fig. 1, the pipeline robot body 1 is further provided with a five-axis robotic arm 6 for grasping a stopper and four 50mL sampling bottles 5 for collecting samples. The mechanical arm 6 is electrically connected with a central processing unit (not shown), and when the sampling bottle 5 is placed at a place to be tested, the central processing unit (not shown) drives the mechanical arm 6 to grab the bottle stopper, so that the sampling bottle 5 is in an open state. After sampling, the mechanical arm 6 plugs the bottle stopper back to the bottle mouth again to finish water sample collection. Pipeline robot body 1 is from taking water quality sampling bottle 4, can carry out water quality sampling to specific regional position in the pipeline to reach environmental protection monitoring's function, satisfied pipeline environmental monitoring sampling problem.
In some embodiments, with continued reference to fig. 1, the pipeline robot body 1 is symmetrically provided at the bottom with a set of parking stands 7, and when suspending the operation, the pipeline robot body 1 can be stably parked in the pipeline by the parking stands 7. The pipeline robot body 1 is designed to be in a hydrodynamic shape, such as an ellipsoid shape, and can greatly reduce the resistance of motion in water.
The invention improves and designs the structure of the existing pipeline inspection robot and the layout of the propeller through a plurality of groups of servo motor vector control and shaftless propellers, has the characteristics of high controllability, high stability, high propeller utilization efficiency, vector propulsion utilization, excellent resistance reduction performance and the like, solves a plurality of problems caused by the layout design of the propeller, can be widely used for the inspection work and the investigation of the municipal pipe network of the pipeline inspection robot under the state of full water of the pipeline, makes up the dilemma that the existing conventional wheeled or crawler-type robot can not work under the underwater environment, realizes the digital modeling of the low pipe network, realizes the aim that a digital city extends to the underground, and has higher application and prospect values.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or communication connection may be an indirect coupling or communication connection between devices or units through some interfaces, and may be in a telecommunication or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above examples are only used to illustrate the technical solutions of the present invention, and do not limit the scope of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from these embodiments without making any inventive step, fall within the scope of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art may still make various combinations, additions, deletions or other modifications of the features of the embodiments of the present invention according to the situation without conflict, so as to obtain different technical solutions without substantially departing from the spirit of the present invention, and these technical solutions also fall within the protection scope of the present invention.
Claims (10)
1. A vector propulsion pipeline robot, comprising:
the pipeline robot comprises a pipeline robot body, a water-jet propeller and a direction adjusting device arranged between the pipeline robot body and the water-jet propeller;
the direction adjustment device includes:
the first servo motor is arranged on the outer side of the pipeline robot body;
the connecting piece is assembled at the end part of the first output shaft of the first servo motor;
the second servo motor is arranged at one end, far away from the first servo motor, of the connecting piece, the end part of a second output shaft of the second servo motor is assembled with the water-jet propeller, and the first output shaft is perpendicular to the second output shaft;
locate inside the pipeline robot body respectively with the central processing unit that first servo motor and second servo motor electricity are connected, central processing unit passes through cable and remote terminal equipment communication connection, is used for controlling turning to and opening and close of first servo motor and second servo motor.
2. The vector propulsion pipeline robot of claim 1, wherein: the first servo motors are provided with three groups.
3. The vector propulsion pipeline robot of claim 2, wherein: the first servo motors are positioned on the same horizontal plane, and an included angle between every two adjacent first servo motors is 120 degrees.
4. The vector propulsion pipeline robot of claim 1, wherein: the pipeline robot body is provided with an eagle eye panoramic high-definition camera electrically connected with the central processing unit.
5. The vector propulsion pipeline robot of claim 1, wherein: the pipeline robot body is provided with a five-axis mechanical arm which is electrically connected with the central processing unit and used for grabbing a bottle stopper and four sampling bottles with the bottle stopper.
6. The vector propulsion pipeline robot of claim 1, wherein: the outside of the pipeline robot body is designed into a hydrodynamic appearance.
7. The vector propulsion pipeline robot of claim 1, wherein: a group of parking supports are symmetrically arranged at the bottom of the pipeline robot body.
8. The vector propulsion pipeline robot of claim 1, wherein: the structure of the connecting piece is L-shaped.
9. The vector propulsion pipeline robot of claim 1, wherein: the water-jet propeller is a shaftless propeller.
10. The vector propulsion pipeline robot of claim 1, wherein the first output shaft has a range of rotation between 0-180 ° and the second output shaft has a range of rotation between 0-120 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010948995.XA CN112145868A (en) | 2020-09-10 | 2020-09-10 | Vector propulsion pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010948995.XA CN112145868A (en) | 2020-09-10 | 2020-09-10 | Vector propulsion pipeline robot |
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| CN112145868A true CN112145868A (en) | 2020-12-29 |
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| CN202010948995.XA Pending CN112145868A (en) | 2020-09-10 | 2020-09-10 | Vector propulsion pipeline robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112944110A (en) * | 2021-04-06 | 2021-06-11 | 深圳市博铭维智能科技有限公司 | Pipeline robot and pipeline detection device |
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| CN206456535U (en) * | 2016-11-11 | 2017-09-01 | 武汉理工大学 | Shaftless propeller based on submersible motor |
| CN108082436A (en) * | 2018-01-25 | 2018-05-29 | 西南石油大学 | A kind of propulsion device and underwater robot for underwater robot |
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| CN112944110A (en) * | 2021-04-06 | 2021-06-11 | 深圳市博铭维智能科技有限公司 | Pipeline robot and pipeline detection device |
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Application publication date: 20201229 |
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