CN114056448B - Auxiliary obstacle crossing robot and working method thereof - Google Patents
Auxiliary obstacle crossing robot and working method thereof Download PDFInfo
- Publication number
- CN114056448B CN114056448B CN202111613153.XA CN202111613153A CN114056448B CN 114056448 B CN114056448 B CN 114056448B CN 202111613153 A CN202111613153 A CN 202111613153A CN 114056448 B CN114056448 B CN 114056448B
- Authority
- CN
- China
- Prior art keywords
- vehicle body
- electric cylinder
- guide wheel
- wheel
- inner container
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an auxiliary obstacle crossing robot, and particularly relates to the technical field of obstacle crossing of auxiliary large-scale oil and gas pipeline inspection robots. The wheel-type climbing wall structure is matched with the permanent magnet adsorption type adsorption structure, so that the adsorption force is strong, the adaptability to a severe working plane is strong, the defects that the contact area of wheels and the wall surface is small and the adsorption force is relatively small in the wheel-type climbing wall structure can be overcome, the whole structure adopts a cooperative structure, the flexibility is strong, the complexity and the weight of the mechanism are reduced, the cruising ability of the mechanism is enhanced, and the trafficability and the stability of the robot are enhanced.
Description
Technical Field
The invention relates to the technical field of obstacle crossing of auxiliary large-scale oil and gas pipeline inspection robots, in particular to an auxiliary obstacle crossing robot.
Background
The problem of pipeline corrosion caused by long running time and poor gas quality of gas pipe network facilities is more prominent, and the investment of maintenance and technical improvement is increased. Due to the shutdown of the coal gas backbone network maintenance process and the particularity of medium replacement requirements, the maintenance difficulty is very high, and the modification period of a coal gas pipe network is long. Once the gas pipeline facility leaks, the contradiction between production and safety is prominent. Therefore, it is particularly urgent to change the gas pipeline leakage fault from the after-repair to the pre-known repair. The gas pipeline online detection device with the obstacle crossing function is developed and integrated by applying a detection technology and a robot to realize automation, intelligence and visualization, and realizes efficient and reliable gas pipeline nondestructive detection.
The pipeline obstacle-surmounting robot is one robot capable of adsorbing, moving and surmounting on pipeline surface. For adsorbing the pipeline robot on the pipeline plane, the following three types of adsorption modes are commonly used: a negative pressure adsorption mode, a magnetic adsorption mode, and a mechanical adsorption mode. Magnetic adsorption is mostly adopted, wherein the magnetic adsorption is divided into permanent magnetic adsorption and electromagnetic adsorption. The mechanical body made by the permanent magnetic adsorption mode has a relatively simple structure, strong adsorption force and strong adaptability to severe working planes. The electromagnetic adsorption mode has higher requirements on mechanical structures, weak adsorption force and higher requirements on a control system. Like this, use the adsorbed robot design structure of permanent magnetism can be simpler, and the robot falls suddenly when can not taking place outage or other proruption situation moreover, has guaranteed personnel, the equipment safety when patrolling and examining more.
The common walking mechanisms of the pipeline inspection robot comprise a crawler type walking mechanism, a leg-foot type walking mechanism and a wheel type walking mechanism. Comparing the advantages and the disadvantages, the moving mode suitable for the pipeline robot is selected. The crawler-type pipeline robot has large contact area with the wall surface, strong adaptability and larger adsorption force, can install the adsorption device on the crawler, but has larger driving torque required by steering and difficult steering; the leg-foot type wall-climbing robot has large adsorption force, flexible movement and strong wall-climbing capability; but the movement speed is slow, the electric control system and the movement mechanism are complex, and the stability is poor; the wheel type wall climbing robot has the characteristics of simple and reliable structure, high moving speed, good operability, large bearing capacity, good steering performance and the like, however, the contact area between the wheels and the wall surface is small, the adsorption force is relatively small, and the defect can be made up by a special magnetic wheel structure. Because the pipe tank robot is applied to a large oil-gas tank guide, the required energy consumption is large, and the energy consumption is reduced as much as possible.
The pipe robot has two structures, one is an integral structure. The pipeline robot has the advantages of complex structure and control, general obstacle crossing performance and large overall weight, and not only provides examination for the stability and the trafficability of the robot, but also aggravates the consumption of the battery. The other type is a cooperative structure, and the structure has the advantages that by using two robots to work together, not only is the complexity and the weight of the mechanism reduced, the cruising ability of the mechanism is enhanced, but also the trafficability and the stability of the robots are enhanced.
In summary, the auxiliary obstacle crossing robot is a multi-body obstacle crossing robot, a traveling mechanism of the auxiliary obstacle crossing robot is a wheel type, and a permanent magnet is adopted for the wheel.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks of the prior art, embodiments of the present invention provide an auxiliary obstacle crossing robot to solve the above-mentioned problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: an auxiliary obstacle crossing robot comprises a middle vehicle body, wherein a first side vehicle body and a second side vehicle body are respectively hinged to two sides of the middle vehicle body, first stand columns are fixedly arranged at two ends of one side, close to the first side vehicle body, of the top surface of the middle vehicle body, and second stand columns are fixedly arranged at two ends of one side, close to the second side vehicle body, of the top surface of the middle vehicle body;
a first electric cylinder is arranged between the first side vehicle body and the first upright post, and a second electric cylinder is arranged between the second side vehicle body and the second upright post;
a first guide wheel is arranged on one side of the bottom of the middle vehicle body, and a second guide wheel is arranged on the other side of the bottom of the middle vehicle body.
In a preferred embodiment, the first electric cylinder comprises a first electric cylinder body, a first electric cylinder secondary inner container is arranged inside the first electric cylinder body, a first electric cylinder primary inner container is arranged inside the first electric cylinder secondary inner container, a first electric cylinder motor is arranged on the side surface of the top of the first electric cylinder body, a first fisheye pair is arranged on the top of the first electric cylinder body, and a second fisheye pair is arranged on the bottom of the first electric cylinder body.
In a preferred embodiment, the second electric cylinder comprises a second electric cylinder body, a second electric cylinder secondary inner container is arranged inside the second electric cylinder body, a second electric cylinder primary inner container is arranged inside the second electric cylinder secondary inner container, a second electric cylinder motor is arranged on the side surface of the top of the second electric cylinder body, a third fisheye pair is arranged on the top of the second electric cylinder body, and a fourth fisheye pair is arranged on the bottom of the second electric cylinder body.
In a preferred embodiment, the first guide wheel comprises a first guide wheel electric cylinder body, a first guide wheel electric cylinder secondary inner container is arranged inside the first guide wheel electric cylinder body, a first guide wheel electric cylinder primary inner container is arranged inside the first guide wheel electric cylinder secondary inner container, a first guide wheel support is arranged at the bottom of the first guide wheel electric cylinder primary inner container, and a first guide wheel is arranged inside the first guide wheel support.
In a preferred embodiment, the second guide wheel comprises a second guide wheel electric cylinder body, a second guide wheel electric cylinder secondary inner container is arranged inside the second guide wheel electric cylinder body, a second guide wheel electric cylinder primary inner container is arranged inside the second guide wheel electric cylinder secondary inner container, a second guide wheel support is arranged at the bottom of the second guide wheel electric cylinder primary inner container, and a second guide wheel is arranged inside the second guide wheel support.
In a preferred embodiment, the first side vehicle body side is provided with a first side vehicle body connecting and fixing hinge seat for hinging with the middle vehicle body;
the surface of the first side vehicle body is provided with a first vehicle body electric cylinder fixed hinge seat which is used for being hinged with a second fisheye pair;
two groups of first short wheel mounting plates are arranged at one end of the bottom of the first side vehicle body, which is far away from the middle vehicle body, and two groups of first long wheel mounting plates are arranged at two ends of the bottom of the first side vehicle body, which are close to the middle vehicle body;
the first short wheel mounting plate and the first long wheel mounting plate are both provided with a first driving wheel, and the first long wheel mounting plate and the first short wheel mounting plate are both provided with a first driving motor for driving the first driving wheel;
and a first distance measuring sensor is arranged on the side surface of the first side vehicle body far away from the middle vehicle body.
In a preferred embodiment, one side of the second side vehicle body is provided with a second side vehicle body connecting and fixing hinge seat for hinging with the middle vehicle body;
the surface of the second side car body is provided with a second car body electric cylinder fixed hinging seat used for being hinged with a fourth fisheye pair;
two groups of second short wheel mounting plates are arranged at one end of the bottom of the second side vehicle body, which is far away from the middle vehicle body, and two groups of second long wheel mounting plates are arranged at two ends of the bottom of the second side vehicle body, which are close to the middle vehicle body;
second driving wheels are arranged on the second short wheel mounting plate and the second long wheel mounting plate respectively, and second driving motors for driving the second driving wheels are arranged on the second long wheel mounting plate and the second short wheel mounting plate respectively;
and a second distance measuring sensor is arranged on the side surface of the second side car body far away from the middle car body.
In a preferred embodiment, the top of the first upright post is provided with a first upright post upper fixed hinged support hinged with a first fisheye pair, and the top of the second upright post is provided with a second upright post upper fixed hinged support hinged with a third fisheye pair;
a first vehicle body fixed hinged seat hinged with the first side vehicle body connecting fixed hinged seat is arranged on one side of the middle vehicle body, and a second vehicle body fixed hinged seat hinged with the second side vehicle body connecting fixed hinged seat is arranged on the other side of the middle vehicle body;
the middle vehicle body bottom is provided with two permanent magnets and a battery, wherein the battery is arranged between the two permanent magnets.
The invention has the technical effects and advantages that:
the invention adopts the wheel type wall climbing structure, has the characteristics of simple and reliable structure, high moving speed, good operability, large bearing capacity, good steering performance and the like, is matched with the permanent magnetic adsorption type adsorption structure, has strong adsorption capacity and strong adaptability to severe working planes, can just make up for the defects of small contact area between wheels and wall surfaces and relatively small adsorption capacity in the wheel type wall climbing structure, has simple and reasonable integral structure, adopts a cooperative structure, has strong flexibility and can move by taking the front end and the rear end as the head ends, thereby not only reducing the complexity and the weight of the mechanism, but also enhancing the cruising ability of the mechanism, and enhancing the trafficability and the stability of a robot.
Drawings
Fig. 1 is a perspective view of the overall structure of the present invention.
Fig. 2 is an elevational view of the overall construction of the present invention.
Fig. 3 is a schematic diagram of the step of crossing obstacles according to the present invention.
Fig. 4 is a schematic view of the structure of the center vehicle body of the present invention.
FIG. 5 is a schematic view of a first side vehicle body structure of the present invention.
FIG. 6 is a schematic view of a second side vehicle body structure of the present invention.
Fig. 7 is a schematic structural view of a first electric cylinder of the present invention.
Fig. 8 is a schematic structural view of a second electric cylinder of the present invention.
FIG. 9 is a schematic view of a first guide wheel of the present invention.
FIG. 10 is a schematic view of a second idler structure according to the present invention.
The reference signs are: 1-an intermediate vehicle body; 2-a first side vehicle body; 5-a second side vehicle body; 3-a first electric cylinder; 6-a second electric cylinder; 4-a first guide wheel; 7-a second guide wheel;
11-a first upright; 12-a second upright; 111-fixing a hinged support on the first upright post; 121-a hinged support is fixed on the second upright post; 131-a first vehicle body fixed hinged support; 132-a second vehicle body fixed articulated seat; 14-a permanent magnet; 15-a battery;
21-the first side vehicle body is connected with a fixed hinged seat; 22-first vehicle body electric cylinder fixed hinged seat; 23-a first short wheel mounting plate; 24-a first drive wheel; 25-a first long wheel mounting plate; 26-a first drive motor; 27-a first ranging sensor;
311-first fisheye pair; 312-second fisheye pair; 32-a first electric cylinder motor; 33-a first electric cylinder; 34-a second-stage inner container of the first electric cylinder; 35-a first electric cylinder primary inner container;
41-a first idler motor; 42-a first idler motor cylinder; 43-a second-level inner container of the first guide wheel electric cylinder; 44-a first-stage inner container of the first guide wheel electric cylinder; 45-a first idler yoke; 46-a first idler wheel;
51-a second side vehicle body is connected with a fixed hinged seat; 52-a second body electric cylinder fixed articulated seat; 53-second short wheel mounting plate; 54-a second drive wheel; 55-a second long wheel mounting plate; 56-a second drive motor; 57-a second ranging sensor;
611-third fisheye pair; 612-fourth fisheye pair; 62-a second electric cylinder motor; 63-a second electric cylinder; 64-a second electric cylinder secondary inner container; 65-a primary inner container of a second electric cylinder;
71-a second idler motor; 72-a second idler power cylinder; 73-a second-level inner container of the second guide wheel electric cylinder; 74-a primary inner container of a second guide wheel electric cylinder; 75-a second idler yoke; 76-second idler wheel.
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.
The auxiliary obstacle crossing robot as shown in the attached figures 1-10 comprises a middle vehicle body 1, wherein a first side vehicle body 2 and a second side vehicle body 5 are respectively hinged to two sides of the middle vehicle body 1, first upright posts 11 are fixedly arranged at two ends of one side, close to the first side vehicle body 2, of the top surface of the middle vehicle body 1, and second upright posts 12 are fixedly arranged at two ends of one side, close to the second side vehicle body 5, of the top surface of the middle vehicle body 1;
a first electric cylinder 3 is arranged between the first side vehicle body 2 and the first upright post 11, and a second electric cylinder 6 is arranged between the second side vehicle body 5 and the second upright post 12;
a first guide wheel 4 is arranged on one side of the bottom of the middle vehicle body 1, and a second guide wheel 7 is arranged on the other side of the bottom of the middle vehicle body 1.
As shown in fig. 7, the first electric cylinder 3 includes a first electric cylinder body 33, a first electric cylinder secondary inner container 34 is disposed inside the first electric cylinder body 33, a first electric cylinder primary inner container 35 is disposed inside the first electric cylinder secondary inner container 34, a first electric cylinder motor 32 is disposed on a side of a top of the first electric cylinder body 33, a first fisheye pair 311 is disposed on a top of the first electric cylinder body 33, and a second fisheye pair 312 is disposed on a bottom of the first electric cylinder body 33.
As shown in fig. 8, the second electric cylinder 6 includes a second electric cylinder body 63, a second electric cylinder secondary inner container 64 is disposed inside the second electric cylinder body 63, a second electric cylinder primary inner container 65 is disposed inside the second electric cylinder secondary inner container 64, a second electric cylinder motor 62 is disposed on a side surface of a top of the second electric cylinder body 63, a third fisheye pair 611 is disposed on a top of the second electric cylinder body 63, and a fourth fisheye pair 612 is disposed on a bottom of the second electric cylinder body 63.
As shown in fig. 9, the first guide wheel 4 includes a first guide wheel electric cylinder 42, a first guide wheel electric cylinder secondary inner container 43 is disposed inside the first guide wheel electric cylinder 42, a first guide wheel electric cylinder primary inner container 44 is disposed inside the first guide wheel electric cylinder secondary inner container 43, a first guide wheel bracket 45 is disposed at the bottom of the first guide wheel electric cylinder primary inner container 44, and a first guide wheel 46 is disposed inside the first guide wheel bracket 45.
As shown in fig. 10, the second guide wheel 7 includes a second guide wheel electric cylinder 72, a second guide wheel electric cylinder secondary inner container 73 is disposed inside the second guide wheel electric cylinder 72, a second guide wheel electric cylinder primary inner container 74 is disposed inside the second guide wheel electric cylinder secondary inner container 73, a second guide wheel bracket 75 is disposed at the bottom of the second guide wheel electric cylinder primary inner container 74, and a second guide wheel 76 is disposed inside the second guide wheel bracket 75.
As shown in fig. 5, a first side car body connecting and fixing hinged seat 21 for hinging with the middle car body 1 is arranged on one side of the first side car body 2, a first car body electric cylinder fixing hinged seat 22 for hinging with the second fisheye pair 312 is arranged on the surface of the first side car body 2, two sets of first short wheel mounting plates 23 are arranged at one end of the bottom of the first side car body 2 away from the middle car body 1, two sets of first long wheel mounting plates 25 are arranged at two ends of the bottom of the first side car body 2 close to the middle car body 1, first driving wheels 24 are arranged on the first short wheel mounting plates 23 and the first long wheel mounting plates 25, first driving motors 26 for driving the first driving wheels 24 are arranged on the first long wheel mounting plates 25 and the first short wheel mounting plates 23, and a first distance measuring sensor 27 is arranged on the side of the first side car body 2 away from the middle car body 1.
As shown in fig. 6, a second side car body connecting fixed hinge seat 51 for hinging with the middle car body 1 is arranged on one side of the second side car body 5, a second car body electric cylinder fixed hinge seat 52 for hinging with the fourth fisheye pair 612 is arranged on the surface of the second side car body 5, two sets of second short wheel mounting plates 53 are arranged at one end of the bottom of the second side car body 5 far away from the middle car body 1, two sets of second long wheel mounting plates 55 are arranged at two ends of the bottom of the second side car body 5 close to the middle car body 1, second driving wheels 54 are arranged on the second short wheel mounting plates 53 and the second long wheel mounting plates 55, second driving motors 56 for driving the second driving wheels 54 are arranged on the second long wheel mounting plates 55 and the second short wheel mounting plates 53, and a second distance measuring sensor 57 is arranged on the side of the second side car body 5 far away from the middle car body 1.
As shown in fig. 4, the top of the first upright 11 is provided with a first upright upper fixed hinged support 111 hinged to the first fisheye pair 311, the top of the second upright 12 is provided with a second upright upper fixed hinged support 121 hinged to the third fisheye pair 611, one side of the middle vehicle body 1 is provided with a first vehicle body fixed hinged support 131 hinged to the first side vehicle body connected fixed hinged support 21, the other side of the middle vehicle body 1 is provided with a second vehicle body fixed hinged support 132 hinged to the second side vehicle body connected fixed hinged support 51, the bottom of the middle vehicle body 1 is provided with two permanent magnets 14 and a battery 15, and the battery 15 is disposed between the two permanent magnets 14.
The working principle of the invention is as follows: the whole working flow of the auxiliary obstacle crossing robot mechanism is as follows:
in the first case, forward or backward between the two mounting flanges.
8 driving motors on the first side vehicle body 2 and the second side vehicle body 5 control 8 driving wheels to roll forwards or backwards at the same speed, and a guide wheel of the middle vehicle body 1 moves along with the movement of the front vehicle body and the rear vehicle body to realize forward movement or backward movement;
in the second case, the obstacle crossing is performed at the mounting flange.
Both the first side vehicle body 2 and the second side vehicle body 5 of the obstacle crossing robot can be used as front end vehicle bodies in the obstacle crossing process, so that only the situation that the first side vehicle body 2 is used as the front end vehicle body for obstacle crossing is discussed.
The first step is as follows: when the displacement sensor at the front end of the first side vehicle body 2 detects that the distance from the obstacle is a specified distance, the controller controls the first electric cylinder 3 of the first side vehicle body 2 to contract, so that the first side vehicle body 2 is driven to rise, and when the first driving wheel 24 on the first long wheel mounting plate 25 of the first side vehicle body 2 is tangent to the upper surface of the mounting flange, the first electric cylinder 3 stops moving.
The second step is that: and when the distance between the first guide wheel 4 and the mounting flange is a specified distance, the vehicle stops moving, and the controller controls the first guide wheel 4 to ascend to be tangent to the upper surface of the mounting flange and stop.
The third step: the vehicle continues to move forward, and when the first guide wheel 4 completely crosses the obstacle and exceeds the first guide wheel 4 by one position, the vehicle is halted and the first guide wheel 4 is lowered to be tangent to the upper surface of the pipe.
The fourth step: the controller controls the first electric cylinder 3 to put down the first side vehicle body 2, the inspection trolley drives in from the second side vehicle body 5, passes through the middle vehicle body 1 and finally drives out from the first side vehicle body 2.
The fifth step: and the second guide wheel 7 of the middle vehicle body 1 rises to be tangent to the upper surface of the mounting flange, and the vehicle stops when moving forwards integrally to exceed the second side guide wheel by one position.
And a sixth step: the controller controls the second electric cylinder 6 to contract to lift the second side vehicle body 5, and the second driving wheel of the second long wheel mounting plate of the second side vehicle body 5 stops when being tangent to the upper surface of the mounting flange.
The seventh step: the whole vehicle continues to move forwards, and when the front end of the mounting flange is one position beyond the front end of the mounting flange, the controller controls the second guide wheel 7 to descend to be stopped when the front end of the mounting flange is tangent to the upper surface of the pipeline.
The eighth step: the whole vehicle continues to move forwards, when the second guide wheel 7 is away from the mounting flange and exceeds a position of a second side vehicle body 5, the vehicle stops, the controller controls the second electric cylinder 6 of the second side vehicle body 5 to stretch so as to put down the second side vehicle body 5, and therefore normal walking of the robot with the mounting flange on the outer surface of the pipeline is achieved.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;
and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (1)
1. A working method of a large oil and gas pipeline auxiliary obstacle crossing robot comprises a middle vehicle body (1), wherein a first side vehicle body (2) and a second side vehicle body (5) are hinged to two sides of the middle vehicle body (1) respectively, first stand columns (11) are fixedly arranged at two ends of one side, close to the first side vehicle body (2), of the top surface of the middle vehicle body (1), and second stand columns (12) are fixedly arranged at two ends of one side, close to the second side vehicle body (5), of the top surface of the middle vehicle body (1);
a first electric cylinder (3) is arranged between the first side vehicle body (2) and the first upright post (11), and a second electric cylinder (6) is arranged between the second side vehicle body (5) and the second upright post (12);
a first guide wheel (4) is arranged on one side of the bottom of the middle vehicle body (1), and a second guide wheel (7) is arranged on the other side of the bottom of the middle vehicle body (1); the first electric cylinder (3) comprises a first electric cylinder body (33), a first electric cylinder secondary inner container (34) is arranged inside the first electric cylinder body (33), a first electric cylinder primary inner container (35) is arranged inside the first electric cylinder secondary inner container (34), a first electric cylinder motor (32) is arranged on the side surface of the top of the first electric cylinder body (33), a first fisheye pair (311) is arranged on the top of the first electric cylinder body (33), and a second fisheye pair (312) is arranged on the bottom of the first electric cylinder body (33);
the second electric cylinder (6) comprises a second electric cylinder body (63), a second electric cylinder secondary inner container (64) is arranged inside the second electric cylinder body (63), a second electric cylinder primary inner container (65) is arranged inside the second electric cylinder secondary inner container (64), a second electric cylinder motor (62) is arranged on the side surface of the top of the second electric cylinder body (63), a third fisheye pair (611) is arranged on the top of the second electric cylinder body (63), and a fourth fisheye pair (612) is arranged at the bottom of the second electric cylinder body (63);
the first guide wheel (4) comprises a first guide wheel electric cylinder body (42), a first guide wheel electric cylinder secondary inner container (43) is arranged inside the first guide wheel electric cylinder body (42), a first guide wheel electric cylinder primary inner container (44) is arranged inside the first guide wheel electric cylinder secondary inner container (43), a first guide wheel support (45) is arranged at the bottom of the first guide wheel electric cylinder primary inner container (44), and first guide wheel wheels (46) are arranged inside the first guide wheel support (45);
the second guide wheel (7) comprises a second guide wheel electric cylinder body (72), a second guide wheel electric cylinder secondary inner container (73) is arranged in the second guide wheel electric cylinder body (72), a second guide wheel electric cylinder primary inner container (74) is arranged in the second guide wheel electric cylinder secondary inner container (73), a second guide wheel support (75) is arranged at the bottom of the second guide wheel electric cylinder primary inner container (74), and a second guide wheel (76) is arranged in the second guide wheel support (75);
a first side vehicle body connecting and fixing hinged seat (21) which is used for being hinged with the middle vehicle body (1) is arranged on one side of the first side vehicle body (2);
the surface of the first side car body (2) is provided with a first car body electric cylinder fixed hinged seat (22) which is used for being hinged with a second fisheye pair (312); two groups of first short wheel mounting plates (23) are arranged at one end of the bottom of the first side vehicle body (2) far away from the middle vehicle body (1), and two groups of first long wheel mounting plates (25) are arranged at two ends of the bottom of the first side vehicle body (2) near the middle vehicle body (1);
the first short wheel mounting plate (23) and the first long wheel mounting plate (25) are both provided with a first driving wheel (24), and the first long wheel mounting plate (25) and the first short wheel mounting plate (23) are both provided with a first driving motor (26) for driving the first driving wheel (24);
a first distance measuring sensor (27) is arranged on the side surface of the first side vehicle body (2) far away from the middle vehicle body (1);
a second side vehicle body connecting and fixing hinged seat (51) which is used for being hinged with the middle vehicle body (1) is arranged on one side of the second side vehicle body (5);
the surface of the second side car body (5) is provided with a second car body electric cylinder fixed hinged seat (52) which is hinged with a fourth fisheye pair (612); two groups of second short wheel mounting plates (53) are arranged at one end of the bottom of the second side vehicle body (5) far away from the middle vehicle body (1), and two groups of second long wheel mounting plates (55) are arranged at two ends of the bottom of the second side vehicle body (5) near the middle vehicle body (1);
second driving wheels (54) are arranged on the second short wheel mounting plate (53) and the second long wheel mounting plate (55), and second driving motors (56) used for driving the second driving wheels (54) are arranged on the second long wheel mounting plate (55) and the second short wheel mounting plate (53);
a second distance measuring sensor (57) is arranged on the side surface of the second side vehicle body (5) far away from the middle vehicle body (1);
the top of the first upright column (11) is provided with a first upright column upper fixed hinged support (111) hinged with a first fisheye pair (311), and the top of the second upright column (12) is provided with a second upright column upper fixed hinged support (121) hinged with a third fisheye pair (611);
a first vehicle body fixing hinged seat (131) hinged with the first side vehicle body connecting and fixing hinged seat (21) is arranged on one side of the middle vehicle body (1), and a second vehicle body fixing hinged seat (132) hinged with the second side vehicle body connecting and fixing hinged seat (51) is arranged on the other side of the middle vehicle body (1);
the bottom of the middle vehicle body (1) is provided with two permanent magnets (14) and a battery (15), wherein the battery (15) is arranged between the two permanent magnets (14);
the method is characterized by comprising the following steps: the first step is as follows: when a displacement sensor positioned at the front end of the first side vehicle body (2) detects that the distance between the displacement sensor and an obstacle is a specified distance, the controller controls the first electric cylinder (3) of the first side vehicle body (2) to contract so as to drive the first side vehicle body (2) to rise, and when a first driving wheel (24) on a first long wheel mounting plate (25) of the first side vehicle body (2) is tangent to the upper surface of the mounting flange, the first electric cylinder (3) stops moving;
the second step is that: four second driving wheels of the second side vehicle body (5) continue to drive the whole vehicle to continue to move forwards, when the distance between the first guide wheel (4) and the mounting flange is a specified distance, the vehicle stops moving, and the controller controls the first guide wheel (4) to ascend to be tangent to the upper surface of the mounting flange and stop;
the third step: the vehicle continues to move forwards, when the first guide wheel (4) completely crosses the obstacle and exceeds the first guide wheel (4) by one position, the vehicle is halted, and the first guide wheel (4) descends to be tangent with the upper surface of the pipeline;
the fourth step: the controller controls the first electric cylinder (3) to put down the first side vehicle body (2), the inspection trolley drives in from the second side vehicle body (5), passes through the middle vehicle body (1), and finally drives out from the first side vehicle body (2);
the fifth step: a second guide wheel (7) of the middle vehicle body (1) rises to be tangent to the upper surface of the mounting flange, and the vehicle stops when moving forwards integrally to exceed the second side guide wheel by one position;
and a sixth step: the controller controls the second electric cylinder (6) to contract to lift the second side vehicle body (5), and the second electric cylinder stops when a second driving wheel of a second long wheel mounting plate of the second side vehicle body (5) is tangent to the upper surface of the mounting flange;
the seventh step: the whole vehicle continues to move forwards, and when the front end of the mounting flange is beyond the position of the second guide wheel (7), the controller controls the second guide wheel (7) to descend to be tangent to the upper surface of the pipeline and stop;
eighth step: the whole vehicle continues to move forwards, when the second guide wheel (7) exceeds a second side vehicle body (5) by one position from the mounting flange, the vehicle stops, the controller controls the second electric cylinder (6) of the second side vehicle body (5) to stretch so as to put down the second side vehicle body (5), and therefore normal walking of the robot on the appearance of the pipeline with the mounting flange is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111613153.XA CN114056448B (en) | 2021-12-27 | 2021-12-27 | Auxiliary obstacle crossing robot and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111613153.XA CN114056448B (en) | 2021-12-27 | 2021-12-27 | Auxiliary obstacle crossing robot and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114056448A CN114056448A (en) | 2022-02-18 |
| CN114056448B true CN114056448B (en) | 2022-12-16 |
Family
ID=80230354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111613153.XA Active CN114056448B (en) | 2021-12-27 | 2021-12-27 | Auxiliary obstacle crossing robot and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114056448B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107965192A (en) * | 2018-01-04 | 2018-04-27 | 吉林大学 | A kind of accessible parking apparatus of wheel leg type and control method for stopping |
| CN108177703A (en) * | 2018-02-10 | 2018-06-19 | 西安建筑科技大学 | It is a kind of can obstacle detouring climbing robot and its obstacle-detouring method |
| CN111055946B (en) * | 2019-02-09 | 2021-10-22 | 孙风云 | Obstacle crossing device and mobile equipment provided with same |
| CN110254557A (en) * | 2019-05-31 | 2019-09-20 | 中鸿纳米纤维技术丹阳有限公司 | A kind of supervision robot running gear for nanofiber production |
| CN211466378U (en) * | 2019-11-01 | 2020-09-11 | 上海永力信息科技股份有限公司 | Obstacle crossing action structure of robot |
| CN213946462U (en) * | 2020-12-13 | 2021-08-13 | 江西小马机器人有限公司 | Automatic obstacle-surmounting robot |
| CN215078034U (en) * | 2021-01-26 | 2021-12-10 | 广州晒帝智能科技有限公司 | Obstacle-crossing type floor sweeping device |
-
2021
- 2021-12-27 CN CN202111613153.XA patent/CN114056448B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114056448A (en) | 2022-02-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102672704B (en) | Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms | |
| CN102699893B (en) | Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom | |
| CN108482503B (en) | Magnetic wheel-track type obstacle crossing mechanism of wall climbing robot | |
| CN102689296B (en) | Novel differentially driven composite attraction type wall climbing robot | |
| CN111661192B (en) | Permanent-magnet adsorption wheel-leg composite wall-climbing robot | |
| CN202686562U (en) | Multi-gear heavy-load mobile robot automatic guided vehicle (AGV) | |
| CN101947776A (en) | Wheel type barrier-crossing wall-climbing robot | |
| CN203567836U (en) | Amphibious wheel-track robot moving platform | |
| CN109176468B (en) | Sliding rail guiding sucker telescopic worm-imitating wall-climbing robot device | |
| CN112092606B (en) | Wheel type electric drive axle with power supply system and control method thereof | |
| CN108791555B (en) | Magnetic wheel-track type obstacle crossing mechanism of wall climbing robot | |
| CN208021569U (en) | A kind of vacuum suction wall climbing vehicle | |
| CN111056486A (en) | Six-degree-of-freedom high-precision transferring and flexible butt joint equipment for large cabin | |
| CN103612678A (en) | Amphibious wheel-track combined type robot mobile platform | |
| CN114056448B (en) | Auxiliary obstacle crossing robot and working method thereof | |
| CN217198439U (en) | Six-wheel chassis structure with Ackerman steering and pivot steering functions | |
| CN110901785B (en) | Novel six-foot boiler water wall maintenance robot | |
| CN113844564B (en) | Magnetic adsorption wall-climbing robot suitable for multiple vertical surfaces | |
| CN216886983U (en) | Intelligent auxiliary obstacle crossing robot | |
| CN112977665A (en) | All-directional self-adaptive stair climbing transportation robot for high-rise building | |
| CN113110427A (en) | AGV-based flexible positioning device and method for main starting fairing attitude adjusting platform | |
| CN110001604B (en) | Electric vehicle battery-changing double-acting end effector | |
| CN207943098U (en) | The wheeled climbing robot of magnetic gap | |
| CN215097923U (en) | Six-wheel leg wall obstacle crossing robot | |
| CN214996433U (en) | Two-layer primary and secondary parking robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |