CN113108160A - Flexible continuous pipeline exploration robot - Google Patents
Flexible continuous pipeline exploration robot Download PDFInfo
- Publication number
- CN113108160A CN113108160A CN202110363043.6A CN202110363043A CN113108160A CN 113108160 A CN113108160 A CN 113108160A CN 202110363043 A CN202110363043 A CN 202110363043A CN 113108160 A CN113108160 A CN 113108160A
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- China
- Prior art keywords
- end cover
- air inlet
- air
- flexible continuous
- exploration robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000003205 muscle Anatomy 0.000 claims abstract description 39
- 238000007789 sealing Methods 0.000 claims abstract description 21
- 230000008878 coupling Effects 0.000 claims abstract description 9
- 238000010168 coupling process Methods 0.000 claims abstract description 9
- 238000005859 coupling reaction Methods 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims abstract description 8
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 210000003437 trachea Anatomy 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible continuous pipeline exploration robot, which comprises a head and a body, wherein the head consists of a detection module and a camera module, and the body is formed by coupling a plurality of solar energy saving muscles end to end; the pneumatic muscle comprises a plurality of air pipes arranged in parallel, and a sealing end cover and an air inlet end cover which are respectively arranged at two ends of each air pipe and used for sealing and fixing each air pipe, wherein an air inlet hole used for inflating each air pipe is formed in the air inlet end cover. The body of the robot adopts a plurality of pneumatic muscles which are coupled end to end, each pneumatic muscle can be independently controlled, any section can be controlled to move towards any direction by changing the air pressure input to the pneumatic muscles, and the overall flexibility of the robot is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a flexible continuous pipeline exploration robot.
Background
With the rapid development of domestic petroleum, chemical industry, natural gas and other industries, the requirements for maintenance and exploration in pipelines are increasing day by day. The oil and gas transmission pipelines, the water supply pipelines and the pipelines for transmitting various media are used for a long time, so that the pipelines are subjected to the combined action of the inside and outside media to generate corrosion, scaling, cracks and other phenomena, and then the pipelines are out of service. Due to the special structure of the pipeline, maintenance personnel cannot autonomously detect the damage condition in the pipeline, and once the pipeline fails, the reason cannot be found out. It is against this background that the invention of the pipeline robot has come. Under pipeline robot's help, maintenance personal can detect the exploration to each section pipeline in the very first time of pipeline inefficacy, can pinpoint fast and take place the pipeline that became invalid, further carries out maintenance and repair to the pipeline. In a narrow duct space, very high demands are placed on the material and motion properties of the robot. With the development of rigid-flexible structure coupling technology and continuous robots in recent years, rigid-flexible coupling flexible continuous robots have great breakthrough in overcoming the problems of complex environment operation, multitask requirements and the like.
For example, patent specification No. CN110388532B discloses a robot for detecting a small-caliber pipe in a nuclear power plant, comprising: the device comprises a front radial braking part, a middle driving steering part, a rear radial braking part, an air pump and a controller; the front radial braking part, the middle driving steering part and the rear radial braking part are all connected with the air pump, and the front radial braking part, the middle driving steering part and the rear radial braking part are fixedly connected in sequence; the front radial braking portion and the rear radial braking portion are both capable of radial deformation; the middle driving steering part can axially stretch and bend; the front radial braking part, the middle driving steering part and the rear radial braking part are electrically connected with the controller, and the middle driving steering part comprises three pneumatic muscles, three middle breather pipes, three middle electromagnetic valves, an elastic element and a plurality of supporting panels. The middle driving steering part in the scheme comprises three pneumatic muscles, and can be subjected to bending deformation, but when the structure of the middle driving steering part is longer, the flexibility is greatly reduced.
The patent specification with the publication number of CN204893948U discloses a flexible robot suitable for pipeline detection, which comprises two guide heads, two annular expansion muscles and three longitudinal telescopic muscles, wherein each guide head is connected with one annular expansion muscle through three parallelogram telescopic fixing mechanisms, and the two annular expansion muscles are respectively fixed at two ends of the three longitudinal telescopic muscles through connecting rings; the three longitudinal telescopic muscles form a mechanical arm with controllable bending angle and direction; the biggest problem with this solution is also poor flexibility.
Disclosure of Invention
The invention aims to provide a flexible continuous pipeline exploration robot, which is driven by air pressure to finish the motions of advancing, steering and the like in a pipeline and has higher flexibility.
A flexible continuous pipeline exploration robot comprises a head and a body, wherein the head consists of a detection module and a camera module, and the body is formed by coupling a plurality of solar energy saving muscles end to end; the pneumatic muscle comprises a plurality of air pipes arranged in parallel, and a sealing end cover and an air inlet end cover which are respectively arranged at two ends of each air pipe and used for sealing and fixing each air pipe, wherein an air inlet hole used for inflating each air pipe is formed in the air inlet end cover.
According to the scheme, whether scaling, blockage and other conditions occur in front of the robot can be detected in real time through the detection module and the camera module; meanwhile, each pneumatic muscle can be independently controlled, and any section can be controlled to move towards any direction by changing the air pressure input to the pneumatic muscle, so that the overall flexibility of the robot is improved.
Preferably, the sealing end cover of the pneumatic muscle is connected with the air inlet end cover of the adjacent pneumatic muscle, and a gap for the inflation tube to extend into is reserved between the connected sealing end cover and the air inlet end cover.
Further preferably, the connected sealing end cover is connected with the air inlet end cover through a buckle or a ribbon.
The adjacent pneumatic muscles are movably connected at intervals, so that the flexibility of the robot is further improved.
Preferably, the sealing end cover and the air inlet end cover are provided with central wiring holes.
Preferably, the body is formed by coupling three pneumatic muscles, and each pneumatic muscle comprises three air pipes distributed in a shape of a 'pinny'.
Further preferably, the adjacent trachea is secured by suture. When the air pressure of one air pipe changes, the other two air pipes can be driven to simultaneously bend.
Preferably, the sealing end cover and the air inlet end cover are both provided with lock columns which extend into the corresponding air pipes to fix the air pipes, and the air inlet holes penetrate through the lock columns on the air inlet end cover.
Preferably, the air pipe is made of silica gel.
The invention has the beneficial effects that:
the body of the robot adopts a plurality of pneumatic muscles which are coupled end to end, each pneumatic muscle can be independently controlled, any section can be controlled to move towards any direction by changing the air pressure input to the pneumatic muscles, and the overall flexibility of the robot is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the present invention (with one side of the trachea hidden);
FIG. 3 is a schematic view of the structure of the head;
FIG. 4 is a schematic structural view of an intake end cover;
fig. 5 is a schematic structural view of the end cap.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, the flexible continuous pipeline exploration robot comprises a head 1 and a body 2, wherein the head 1 is composed of a detection module 11 and a camera module 12, the detection module 11 specifically adopts an HCSR04 ultrasonic ranging module, and the camera module 12 specifically adopts an 002g48s circular network camera. The body 2 is formed by coupling a plurality of solar energy saving motor muscles 21 end to end; the pneumatic muscle 21 comprises a plurality of air pipes 211 arranged in parallel, and a sealing end cover 212 and an air inlet end cover 213 which are respectively arranged at two ends of the air pipes 211 and used for sealing and fixing each air pipe 211, wherein an air inlet hole 2131 used for inflating each air pipe 211 is arranged on the air inlet end cover 213.
In this embodiment, the body 2 is formed by coupling three pneumatic muscles 21, each pneumatic muscle 21 includes three silica gel air tubes 211 distributed in a "pin" shape, the silica gel air tubes 211 are retractable, and the adjacent air tubes 211 are fixed by sewing with a suture thread.
In this embodiment, the end cap 212 of the pneumatic muscle 21 is connected to the end cap 213 of the adjacent pneumatic muscle 21, specifically, the end cap 212 and the end cap 213 are both provided with retaining rings 2121 distributed in an annular shape for fixing, the end cap 212 and the end cap 213 are fixed by using a buckle or a tie, and when the end cap 212 and the end cap 213 are connected, a gap for the inflation tube to extend into is left between the two.
The sealing end cover 212 and the air inlet end cover 213 are respectively provided with a lock 2132 extending into the corresponding air pipe 211 for fixing the air pipe 211, and the air inlet 2131 penetrates through the lock 2132 on the air inlet end cover 213.
The air inlet end cap 213 at the outermost end of the body 2 is the tail of the robot, the sealing end cap 212 at the outermost end is the front of the robot, and the head 1 is arranged on the front.
In this embodiment, the sealing end cover 212 and the air inlet end cover 213 are provided with a central wire hole 2122 for passing the wires of the detection module 11 and the camera module 12, and for passing the air inlet pipe.
In the invention, each pneumatic muscle 21 is driven by an independent air inlet pipe, and any section can be controlled to move towards any direction by changing the air pressure input to the pneumatic muscle 21, so that the overall flexibility of the robot is improved.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (8)
1. A flexible continuous pipeline exploration robot is characterized in that: the device comprises a head and a body, wherein the head consists of a detection module and a camera module, and the body is formed by coupling a plurality of solar energy saving muscles end to end; the pneumatic muscle comprises a plurality of air pipes arranged in parallel, and a sealing end cover and an air inlet end cover which are respectively arranged at two ends of each air pipe and used for sealing and fixing each air pipe, wherein an air inlet hole used for inflating each air pipe is formed in the air inlet end cover.
2. A flexible continuous tubing exploration robot according to claim 1, characterized by: the sealing end cover of the pneumatic muscle is connected with the air inlet end cover of the adjacent pneumatic muscle, and a gap for the inflation tube to extend into is reserved between the connected sealing end cover and the air inlet end cover.
3. A flexible continuous tubing exploration robot according to claim 2, characterized by: the connected sealing end cover is connected with the air inlet end cover through a buckle or a ribbon.
4. A flexible continuous tubing exploration robot according to claim 1, characterized by: and the sealing end cover and the air inlet end cover are provided with central wiring holes.
5. A flexible continuous tubing exploration robot according to any of claims 1-4, characterized by: the body is formed by coupling three pneumatic muscles, and each pneumatic muscle comprises three air pipes distributed in a 'pin' shape.
6. A flexible continuous tubing exploration robot according to claim 5, characterized by: the adjacent trachea is fixed by suture.
7. A flexible continuous tubing exploration robot according to claim 5, characterized by: the sealing end cover and the air inlet end cover are both provided with lock columns which stretch into the corresponding air pipes to fix the air pipes, and the air inlet holes penetrate through the lock columns on the air inlet end cover.
8. A flexible continuous tubing exploration robot according to claim 5, characterized by: the material of trachea is silica gel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110363043.6A CN113108160A (en) | 2021-04-02 | 2021-04-02 | Flexible continuous pipeline exploration robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110363043.6A CN113108160A (en) | 2021-04-02 | 2021-04-02 | Flexible continuous pipeline exploration robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113108160A true CN113108160A (en) | 2021-07-13 |
Family
ID=76713826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110363043.6A Pending CN113108160A (en) | 2021-04-02 | 2021-04-02 | Flexible continuous pipeline exploration robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113108160A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113846554A (en) * | 2021-08-19 | 2021-12-28 | 上海大学 | Line inspection alternate moving type pneumatic assembly and installation method thereof |
| CN114012755A (en) * | 2021-11-24 | 2022-02-08 | 上海大学 | Multi-operation-mode modularized continuum robot |
| CN115234746A (en) * | 2022-06-20 | 2022-10-25 | 湖南大学 | Snake-shaped robot for detecting micro pipeline |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204893948U (en) * | 2015-07-17 | 2015-12-23 | 苑雪山 | Flexible pneumatic muscle and flexible robot |
| CN208237337U (en) * | 2018-04-02 | 2018-12-14 | 上海海洋大学 | A kind of pneumatic type bionic soft pipe robot |
| US20190323645A1 (en) * | 2018-04-19 | 2019-10-24 | Panagiotis Polygerinos | Water pipe inspection robot and method of traversing a water pipe |
| CN110388532A (en) * | 2019-07-25 | 2019-10-29 | 上海大学 | Robot is used in a kind of detection of nuclear power station small-bore pipeline |
| CN111692457A (en) * | 2020-06-11 | 2020-09-22 | 东华大学 | Worm-imitating pneumatic pipeline soft robot with fabric skin and paper folding skeleton |
| CN111761606A (en) * | 2020-07-08 | 2020-10-13 | 北京卫星环境工程研究所 | Pneumatic soft tentacle robot based on novel pneumatic muscles |
-
2021
- 2021-04-02 CN CN202110363043.6A patent/CN113108160A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204893948U (en) * | 2015-07-17 | 2015-12-23 | 苑雪山 | Flexible pneumatic muscle and flexible robot |
| CN208237337U (en) * | 2018-04-02 | 2018-12-14 | 上海海洋大学 | A kind of pneumatic type bionic soft pipe robot |
| US20190323645A1 (en) * | 2018-04-19 | 2019-10-24 | Panagiotis Polygerinos | Water pipe inspection robot and method of traversing a water pipe |
| CN110388532A (en) * | 2019-07-25 | 2019-10-29 | 上海大学 | Robot is used in a kind of detection of nuclear power station small-bore pipeline |
| CN111692457A (en) * | 2020-06-11 | 2020-09-22 | 东华大学 | Worm-imitating pneumatic pipeline soft robot with fabric skin and paper folding skeleton |
| CN111761606A (en) * | 2020-07-08 | 2020-10-13 | 北京卫星环境工程研究所 | Pneumatic soft tentacle robot based on novel pneumatic muscles |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113846554A (en) * | 2021-08-19 | 2021-12-28 | 上海大学 | Line inspection alternate moving type pneumatic assembly and installation method thereof |
| CN114012755A (en) * | 2021-11-24 | 2022-02-08 | 上海大学 | Multi-operation-mode modularized continuum robot |
| CN114012755B (en) * | 2021-11-24 | 2023-08-11 | 上海大学 | Multi-operation-mode modularized continuum robot |
| CN115234746A (en) * | 2022-06-20 | 2022-10-25 | 湖南大学 | Snake-shaped robot for detecting micro pipeline |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210713 |