CN114484150B - Small crawler-type pipeline robot and motion method thereof - Google Patents

Small crawler-type pipeline robot and motion method thereof Download PDF

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Publication number
CN114484150B
CN114484150B CN202210170493.8A CN202210170493A CN114484150B CN 114484150 B CN114484150 B CN 114484150B CN 202210170493 A CN202210170493 A CN 202210170493A CN 114484150 B CN114484150 B CN 114484150B
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robot
crawler
pipeline
motor
wheel
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CN114484150A (en
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刘亚红
吉爱红
于阳光
邱镓辉
韩青非
俞志伟
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • 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
    • 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)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a small-sized crawler-type pipeline robot and a movement method thereof.A control and drive module of the robot is arranged in a front support body and a rear support body, and a crawler and crawler wheels are arranged at two sides of the support body; climbing and reducing in the vertical pipeline; and detecting the conditions in the pipe. Robot organism middle part and robot organism front portion or robot organism rear portion are connected through primary and secondary rivet and are realized the beat degree of freedom, and robot organism middle part contains two steering engines and realizes the every single move degree of freedom for the fuselage is "Z" font and supports in vertical pipeline, thereby the reducing mechanism who has lead screw, screw nut and coding disc worm gear reduction motor to constitute between the steering engine support piece realizes the change of fuselage length and adapts to different pipe diameters. The robot has the moving performance of detecting narrow pipelines, crossing obstacles and adapting to different pipe diameters.

Description

Small crawler-type pipeline robot and movement method thereof
Technical Field
The invention belongs to the technical field of robot application, and particularly relates to a small crawler-type pipeline robot and a motion method thereof.
Background
The pipeline is a terrain with a long and narrow space, the traditional pipeline detection means, such as an endoscope, has certain limitations in operation and a limited range of detection, and the pipeline robot is specially designed for surveying the terrain environment of the pipeline. The pipeline robot has multiple movement modes such as a wheel type, a crawler type and a peristaltic type, and the pipeline robot with the crawler as a moving part has the characteristics of large contact area, strong obstacle crossing capability and the like.
The invention discloses a pipeline robot with a telescopic walking device and a control system thereof, and discloses three groups of crawler wheels which are uniformly distributed along the axis of a pipeline at 120 degrees, wherein the research on the crawler pipeline robot at home and abroad has been carried out to a certain extent, the application date is 20190314, and the application number is CN 110056742A; the invention patent with the application date of 20191125 and the application number of CN212226420U provides a chassis structure of a crawler-type pipeline robot, and discloses that two groups of crawler wheels are symmetrically distributed along the vertical plane in a pipeline; compared with the pipeline robots, the pipeline robot has the main problem that the pipeline robot is overlarge in size and is mainly applied to pipelines with large pipe diameters. The KOHGA snake robot in Japan has an overall size of 180X 135X 2050 (mm) (Tetsushi Kamegawa, tatsuhiro Yarnasaki, hiroki Igarashi, et al. Development of the snake-like residual robot [ C ]// Robotics and Automation, 2004. Proceedings. ICRA' 04.2004 IEEE International 1 Conference on. IEEE. 2004.5: 5081-5086.) and the Sarcos snake robot in the United states has an overall size of 132X 120X 1321 (mm) (https:// www. Sarcos. Com.) and the application date 20150819 and the invention patent application No. CN 103624765B has an overall size of 256X 158X 1100 (mm).
The big pipe diameter pipeline robot's characteristics lie in multiple functional, not only can detect, can maintain even, but the pipe diameter that uses under many occasions is less, and the pipeline robot that detects the inside situation of small pipe diameter pipeline is less.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the prior art, a small crawler-type pipeline robot and a motion method thereof are provided;
the technical scheme is as follows: the invention provides a small crawler-type pipeline robot, which comprises a robot body front part, a robot body middle part and a robot body rear part, wherein the robot body front part is hinged with the robot body middle part, the robot body middle part is hinged with the robot body rear part, and the robot body middle part and the robot body rear part are called as a group; the novel multifunctional electric scooter is characterized in that a first driving module is arranged in the front of the scooter body, a second driving module is arranged in the middle of the scooter body, and a third driving module is arranged in the rear of the scooter body.
The crawler-type pipeline robot has a compact structure, the overall size is 56 multiplied by 35 multiplied by 520 (mm), and the machine body can meet the detection task in the pipe diameter of more than 80mm while containing the encoding disc worm and gear speed reducing motor, the STM32 driving plate, the motor driving plate and the steering engine driving plate. The main body of the front part of the machine body structure is composed of a front support body, and a coding disc, a worm gear and worm speed reducing motor, a picture transmission camera, a crawler belt, crawler wheels and support wheels are arranged on the front support body. The rotating speed, the rotating direction and the relative speed of a worm gear speed reducing motor of the coding discs on two sides of the machine body are controlled to realize advancing, retreating and steering, the crawler wheel on the front side of the machine body is a driving wheel, and the crawler wheel on the rear side is driven to rotate by the crawler. The image transmission camera detects the conditions in the pipeline and transmits images to the receiver. Organism structure middle part contains two every single move steering engines and realizes that vertical pipeline crawls and the vertical pipeline of a lead screw and lead screw nut reducing structure adaptation pipe diameter change, and organism structure middle part all is connected through primary and secondary rivet with organism structure front portion or organism structure rear portion, and the motion at organism structure rear portion is the same with the front portion, and the power outside the pipeline is received to the power cord is drawn forth at the organism structure rear portion, can judge the position of model machine in the pipeline through the volume of walking of power cord.
The pipeline robot mainly comprises a front supporting body, a rear supporting body and a steering engine connecting piece, wherein the front supporting body, the rear supporting body and the steering engine connecting piece are connected through a snap rivet, a steering engine is arranged between the steering engine connecting piece and the steering engine supporting piece, and a lead screw nut reducing structure adaptive to reducing is arranged in the middle of the steering engine supporting piece. Every single move steering wheel and preceding supporter or back supporter between be rigid connection, through STM32 drive plate control steering wheel drive plate, the output angle of rethread steering wheel drive plate control steering wheel realizes that the pipeline robot climbs to vertical pipeline wall by horizontal pipeline wall through the pipeline transition face, the organism at the back of the in-process that climbs is supporting preceding organism and promoting preceding organism and constantly upwards to be "Z" font in order to support in vertical pipeline. The pitching steering engine is also rigidly connected with the lead screw and the lead screw nut reducing structure, the lead screw is connected with the encoding disc worm gear speed reducing motor through interference fit and splines, and the STM32 drive plate and the motor drive plate control the rotation speed, the rotation position and the rotation direction of the motor to realize the relative motion of the lead screw and the lead screw nut, so that the change of the length of the robot body is realized to adapt to a vertical pipeline with the inner diameter of 130 +/-20 mm.
Has the beneficial effects that:
1. the moving part of the robot body adopts a crawler belt, and the crawler belt can increase the contact area of the robot body and the wall surface and adapt to the curved surface terrain of the pipeline.
2. The robot has compact structural design, and can realize the functions of advancing, retreating, steering, detecting and the like in a small-caliber pipeline with the inner diameter of more than 80 mm.
3. The robot body structure is a multi-section structure, and when the front part of the robot body climbs, the rear part of the robot body realizes the functions of supporting and pushing the front part.
4. Every single move steering wheel among the robot organism structure can make the robot be "Z" shape and crawl at vertical pipeline, and cooperation lead screw and screw nut reducing structure can make the robot adapt to the vertical pipeline of internal diameter 130 +/-20 mm change, and lead screw connection's code disc worm gear reduction motor can control the relative position of lead screw and screw nut.
Drawings
FIG. 1 is a perspective side view of a tracked pipeline robot in accordance with the present invention;
FIG. 2 is an exploded view of the front of the tracked pipe robot body according to the present invention;
FIG. 3 is an exploded view of the middle of the tracked pipe robot body according to the present invention;
FIG. 4 is an exploded rear view of the tracked pipe robot body according to the present invention;
FIG. 5 is a schematic diagram of the operation of the tracked pipeline robot of the present invention in a pipeline having an inner diameter of 80 mm;
FIG. 6 is a schematic diagram of the operation of the tracked pipeline robot of the invention in a pipeline with an inner diameter of 80mm and a turning radius of 180 mm;
FIG. 7 is a schematic view of the crawler-type pipeline robot of the present invention in operation when the front part of the robot body is lifted up during transition from a horizontal pipeline to a vertical pipeline;
FIG. 8 is a schematic view of the tracked pipeline robot of the present invention in operation with the pipeline robot supported within the pipe wall as the pipeline robot transitions from a horizontal pipeline to a vertical pipeline;
FIG. 9 shows that the crawler-type pipeline robot realizes diameter change in a vertical pipeline with an inner diameter of 130 +/-20 mm through a lead screw and a lead screw nut.
In the figure: 1. a picture transfer camera; 2. a worm gear and worm speed reducing motor of the horizontal coding disc; 3. a crawler belt; 4. a support plate; 5. a support wheel spindle; 6. a support wheel; 7. a crawler wheel; 8. a crawler wheel spindle; 9. a bearing; 10. a crawler wheel transmission shaft; 11. a front support; 12. a steering engine drive plate; 13. a primary and secondary rivet; 14. a steering engine connecting piece; 15. a steering engine; 16. a worm gear speed reducing motor of the vertical coding disc; 17. a motor cover plate; 18. a lead screw; 19. a lead screw nut; 20. a steering engine support member; 21. a steering engine fixing piece; 22. a steering engine motor support member; 23. a rear support; 24. a motor drive plate; stm32 drive board.
Detailed Description
The invention is further explained below with reference to the drawings.
As shown in the combined figure 1, the structural schematic diagram of the crawler-type pipeline robot is shown in figure 1, the pipeline robot is composed of a front robot body A, a middle robot body B and a rear robot body C, and the three modules are connected through primary and secondary rivets respectively.
Referring to fig. 2, a main body of a front portion a of a robot body is composed of a front support 11, two horizontal encoding disc worm and gear reduction motors 2 and a steering engine drive plate 12 are symmetrically installed inside the front support 11, an image transmission camera 1 is installed at the front portion, a crawler wheel transmission shaft 10 is installed at the rear portion, a crawler wheel rotating shaft 8 and a crawler wheel 7 are installed on the horizontal encoding disc worm and gear reduction motors 2, bearings 9, the crawler wheel rotating shaft 8 and the crawler wheel 7 are symmetrically installed on two sides of the crawler wheel transmission shaft 10, two support plates 4 are symmetrically installed on two sides of the support 11, four groups of support wheel mandrels 5 and four groups of support wheels 6 are installed on the support plates 4, and a crawler 3 is installed on the crawler wheel 7. The front part A of the robot body realizes forward, backward and differential steering by controlling a horizontal encoding disc worm and gear reduction motor 2.
Referring to fig. 4, the middle part B of the robot body comprises two steering engines 15 for providing a pitching degree of freedom for the robot body, and the snap rivets 13 are connected with the steering engine connecting pieces 14 and the front part a of the robot body or the rear part C of the robot body, and provide a passive deflection degree of freedom through clearance fit. And a steering engine supporting piece 20 and a steering engine motor supporting piece 22 are respectively arranged on the two steering engine connecting pieces 14. A steering engine 15 and a lead screw nut 19 are installed on a steering engine supporting piece 20, a steering engine 15, a vertical coding disc worm gear speed reducing motor 16 and a motor cover plate 17 are installed on a steering engine motor supporting piece 22, and a lead screw 18 is installed on the vertical coding disc worm gear speed reducing motor 16. The lead screw 18 is matched with the lead screw nut 19, and the length of the machine body is changed by controlling the rotation of the lead screw 18 so as to adapt to different pipe diameters.
As shown in fig. 5, the main body of the rear part C of the robot body is formed of a rear support 23, a motor drive board 24 and an STM32 drive board 25 are mounted inside the rear support 23, and the rest of the components are mounted as in the front part a of the robot body.
Regarding power supply and control: this crawler-type pipeline robot has a picture to pass the camera, supplies power through STM32 drive plate 25, six coding disc worm gear reduction motors connect on motor drive plate 24, and through STM32 drive plate 25 control motor drive plate 24 and then control motor, two steering wheel 15 are connected on the steering wheel drive plate, and through STM32 drive plate 25 control steering wheel drive plate 12 and then control the steering wheel. And the motor drive plate 24, the steering engine drive plate 12 and the STM32 drive plate 25 are powered by a 7.4V lithium battery and a voltage reduction module.
Regarding the pipeline application range: as shown in the combination of FIG. 1, the overall size of the crawler-type pipeline robot is 56X 35X 520 (mm). As shown in the combination of FIG. 5, the tracked pipeline robot can advance and retreat in a pipeline with an inner diameter of 80 mm. As shown in connection with FIG. 6, the tracked pipeline robot can differentially turn in pipelines with an inner diameter of 80mm and a turning radius of 180 mm. As shown in the combined drawings of FIG. 7 and FIG. 8, the crawler-type pipeline robot can realize transition between a horizontal pipeline and a vertical pipeline through pitching actions of the steering engine 15, in the transition process, the front portion A of the robot body and the middle portion B of the robot body contact the wall of the vertical pipeline through the actions of the steering engine 15, and the rear portion C of the robot body pushes the middle portion B of the robot body to climb upwards and support on two sides of the wall of the vertical pipeline. As shown in the combined figure 9, the crawler-type pipeline robot can change diameters in a vertical pipeline with the inner diameter of 130 +/-20 mm and is supported in a Z shape to realize walking.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (5)

1. A small-sized crawler-type pipeline robot is characterized by comprising a robot body front part, a robot body middle part and a robot body rear part, wherein the robot body front part is hinged with the robot body middle part, the robot body middle part is hinged with the robot body rear part, and the robot body middle part and the robot body rear part are called a group of combined bodies; a first driving module is arranged in the front part of the machine body, a second driving module is arranged in the middle part of the machine body, and a third driving module is arranged in the rear part of the machine body; the middle part of the machine body comprises two steering engine connecting pieces (14), one ends of the two steering engine connecting pieces (14) are respectively provided with a primary and secondary rivet (13), and the middle part of the machine body is connected to the first connecting part and the second connecting part through the primary and secondary rivets (13) in a hinged mode; be close to the organism front portion steering wheel connecting piece (14) rotate and connect steering wheel support piece (20), be close to the organism rear portion steering wheel connecting piece (14) rotate and connect steering wheel motor support piece (22), steering wheel support piece (20) with all be equipped with steering wheel (15) on steering wheel motor support piece (22), still be equipped with two perpendicular coding disc worm gear motor (16), two be equipped with motor cover board (17) on perpendicular coding disc worm gear motor (16), one side of steering wheel support piece (20) is equipped with screw nut (19), two the drive end of perpendicular coding disc worm gear motor (16) all is equipped with lead screw (18), lead screw (18) and screw nut (19) threaded connection, two the equal fixed connection mounting (21) in one side of steering wheel connecting piece (14), the one end fixed connection in the drive end of steering wheel (15), two the opposite side of steering wheel connecting piece (14) all rotate connect in steering wheel (20) or steering wheel motor support piece (22).
2. The small-sized crawler-type pipeline robot according to claim 1, wherein each of the front body part and the rear body part comprises a support body (11), each of two sides of the support body (11) is provided with a crawler belt (3), each of two ends of the crawler belt (3) is in transmission connection with a crawler wheel (7), a crawler wheel rotating shaft (8) is arranged in the crawler wheel (7), one of the crawler wheel rotating shafts (8) is connected with a driving end of a horizontal encoder disk worm and gear speed reducing motor (2), the other crawler wheel rotating shaft (8) is provided with a crawler wheel transmission shaft (10), and the crawler wheel transmission shaft (10) is rotatably connected to one end of the support body (11) through a bearing (9); a steering engine driving plate (12) is further arranged in the supporting body (11);
supporting plates (4) are further arranged on two sides of the supporting body (11), a plurality of groups of supporting wheel mandrels (5) are arranged on the supporting plates (4), supporting wheels (6) are arranged on the plurality of groups of supporting wheel mandrels (5), and the supporting wheels (6) are in transmission connection with the caterpillar tracks (3);
the front end of the front part of the machine body is provided with a picture transmission camera (1), the rear end of the front part of the machine body is provided with a first connecting part, and the first connecting part is hinged with the middle part of the machine body; the front end at organism rear portion is equipped with the second connecting portion, and its other end is equipped with the third connecting portion.
3. The small crawler-type pipeline robot of claim 2, wherein an STM32 driving plate (25) is further arranged inside the rear part of the machine body, and a motor driving plate (24) is electrically connected above the STM32 driving plate (25);
the first driving module and the third driving module respectively comprise two horizontal encoding disc worm gear speed reducing motors (2), and the four horizontal encoding disc worm gear speed reducing motors (2) are electrically connected to the motor driving plate (24);
the second driving module comprises two vertical encoding disc worm gear speed reducing motors (16), and the two vertical encoding disc worm gear speed reducing motors (16) are electrically connected to the motor driving plate (24);
the image transmission camera (1), the steering engine driving plate (12) and the motor driving plate (24) are electrically connected to the STM32 driving plate (25), and the two steering engines (15) are electrically connected to the steering engine driving plate (12).
4. A small tracked pipeline robot as claimed in claim 2, wherein n said groups of said combined units are hingedly connected by said third connecting portion.
5. A moving method of a small crawler type pipeline robot, which is applied to the small crawler type pipeline robot of claim 3, characterized by comprising:
1) The pipeline robot moves forwards and backwards by changing the rotating speed and the rotating direction of the worm gear speed reducing motor (2) of the horizontal coding disc; the direction of the pipeline robot is adjusted by changing the relative speed of the worm gear and worm speed reducing motor (2) of the horizontal coding discs on the two sides of the support body (11);
2) In the transition process of a horizontal pipeline and a vertical pipeline, the front part of a machine body of the pipeline robot adjusts a steering engine (15) through a steering engine driving plate (12) to perform pitching action, and meanwhile, the relative positions of a rotating speed, a rotating direction and a rotating position of a vertical coding disc worm gear speed reducing motor (16) are changed to adjust a screw rod (18) and a screw rod nut (19), so that the pipeline robot is supported on two sides of the pipe wall in a Z shape in the vertical pipeline to climb.
CN202210170493.8A 2022-02-24 2022-02-24 Small crawler-type pipeline robot and motion method thereof Active CN114484150B (en)

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KR20000073460A (en) * 1999-05-11 2000-12-05 최혁렬 Robot and robot steering apparatus for inspection pipelines
CN101144558A (en) * 2007-09-30 2008-03-19 中国人民解放军国防科学技术大学 Crawling type micro pipeline robot
CN103191895A (en) * 2013-04-01 2013-07-10 任春华 Wall-climbing robot capable of turning around vertically
CN103624765A (en) * 2013-12-23 2014-03-12 哈尔滨工业大学 Modular search and rescue robot with reconfigurable function
CN106996498A (en) * 2017-05-13 2017-08-01 承德石油高等专科学校 One kind wheel carries out tandem pipe robot
CN108006368A (en) * 2017-12-29 2018-05-08 南京工程学院 Creeping motion type pipe robot
CN207607560U (en) * 2017-10-18 2018-07-13 西安科技大学 A kind of wheel-track combined sniffing robot of leg
CN110293543A (en) * 2019-07-15 2019-10-01 北京工业大学 A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint
CN112393057A (en) * 2020-12-11 2021-02-23 河海大学 Bionic leg structure of tubular pile wall-climbing robot
CN215215333U (en) * 2021-01-20 2021-12-17 深圳市博铭维智能科技有限公司 Folding type walking device and pipeline robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2949668T3 (en) * 2018-05-07 2023-10-02 Shonan Gosei Jushi Seisakusho Kk Pipe interior robot

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20000073460A (en) * 1999-05-11 2000-12-05 최혁렬 Robot and robot steering apparatus for inspection pipelines
CN101144558A (en) * 2007-09-30 2008-03-19 中国人民解放军国防科学技术大学 Crawling type micro pipeline robot
CN103191895A (en) * 2013-04-01 2013-07-10 任春华 Wall-climbing robot capable of turning around vertically
CN103624765A (en) * 2013-12-23 2014-03-12 哈尔滨工业大学 Modular search and rescue robot with reconfigurable function
CN106996498A (en) * 2017-05-13 2017-08-01 承德石油高等专科学校 One kind wheel carries out tandem pipe robot
CN207607560U (en) * 2017-10-18 2018-07-13 西安科技大学 A kind of wheel-track combined sniffing robot of leg
CN108006368A (en) * 2017-12-29 2018-05-08 南京工程学院 Creeping motion type pipe robot
CN110293543A (en) * 2019-07-15 2019-10-01 北京工业大学 A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint
CN112393057A (en) * 2020-12-11 2021-02-23 河海大学 Bionic leg structure of tubular pile wall-climbing robot
CN215215333U (en) * 2021-01-20 2021-12-17 深圳市博铭维智能科技有限公司 Folding type walking device and pipeline robot

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