CN114776933A

CN114776933A - Pipeline walking robot

Info

Publication number: CN114776933A
Application number: CN202210569749.2A
Authority: CN
Inventors: 杨宇; 郑浩; 杨俊杰; 施云博; 陈瑶
Original assignee: Anhui Institute of Information Engineering
Current assignee: Anhui Institute of Information Engineering
Priority date: 2022-05-24
Filing date: 2022-05-24
Publication date: 2022-07-22
Also published as: WO2023226806A1; ZA202306330B

Abstract

The invention discloses a pipeline walking robot, which relates to the field of machinery and comprises a robot body, a driving device, walking components and an adjusting component, wherein side frames are fixedly connected to the left side and the right side of the robot body, and three walking components are arranged on the side frames; through the walking subassembly of adjusting device adjustment degree of opening, change the angle of opening in common spring passive form relatively, the control degree of opening that can be more accurate, thereby adapt to the walking work in the different pipe diameters, inside at the bracing piece sets up pressure sensor, can indirectly obtain the pressure data between walking wheel and the pipe wall, and utilize pressure data, reach closed-loop control adjustment motor's purpose, adopt the worm to drive the worm wheel in step and rotate in the aspect of the drive, transmit drive power to the walking wheel, realize intraductal walking, compare in using a plurality of executor, the operation is more synchronous, and utilize worm gear's auto-lock principle, can make this robot can stably stop a certain position in the pipe, then carry out the operation.

Description

Pipeline walking robot

Technical Field

The invention relates to the field of machinery, in particular to a pipeline walking robot.

Background

The operation generally divide into manual work and machinery two kinds in present pipeline, and manual work's work load is great, and some pipelines are comparatively narrow, can only adopt mechanical operation, and mechanical operation needs the device that is used for the pipeline walking that corresponds to drive mechanisms such as anterior detection, cleanness, polishing.

Present pipeline walking mode has wheeled, crawler-type, it is spiral etc, but the unable different pipe diameters of adaptation of part walking robot, and the pressure of difficult accurate control walking wheel and pipe inner wall now, make the condition of skidding appear with the pipe inner wall in the walking wheel, also some devices adopt the spring to increase the pressure of walking wheel and pipe inner wall and adapt to different pipe diameters, but the walking robot of this kind of mode is installing intraductal, it is intraductal to need compression spring just to put into it, it is very inconvenient to use, and when meetting the great condition of pipe diameter, the elasticity of spring can diminish, thereby lead to the walking wheel still can't hug closely the pipe wall, the condition of skidding appears.

The front and rear travelling wheels of the robot are driven by different actuators, sometimes the conditions of inconsistent pace can occur, and some robots only adopt rear wheels or front wheels to drive, so that the driving force of the robot is deficient.

Disclosure of Invention

An object of the present invention is to provide a pipeline walking robot to solve the above-mentioned problems occurring in the prior art.

A pipeline walking robot comprises a robot body, a driving device, walking components and an adjusting component, wherein side frames are fixedly connected to the left side and the right side of the robot body, and three walking components are arranged on the side frames;

the driving device is arranged in the machine body and the side frames and is used for providing driving force for the driving wheels in the walking assembly;

the adjusting component is used for supporting and adjusting the unfolding angle of the walking component, so that the walking wheel is tightly attached to the inner wall of the pipeline.

Preferably, the side bearer includes set square and support frame, the support frame is equipped with threely, between two set squares of equal fixed connection, inboard set square and fuselage fixed connection.

Preferably, the walking subassembly includes the wheel carrier, the bottom of wheel carrier is rotated and is connected with the drive shaft, fixedly connected with worm wheel in the drive shaft, the both sides of wheel carrier bottom respectively are equipped with an articulated seat, articulated seat and support frame fixed connection, the drive shaft rotates between two articulated seats of connection, the top of wheel carrier is rotated and is connected with the driven shaft, and the both sides on its top be equipped with driven shaft fixed connection's drive wheel, still be equipped with transmission assembly in the wheel carrier, transmission assembly is used for turning into the rotation of driven shaft with the rotation of drive shaft.

Preferably, drive assembly includes drive sprocket and driven sprocket, drive sprocket and drive shaft fixed connection, driven sprocket and driven shaft fixed connection, be connected through the chain between drive sprocket and the driven sprocket.

Preferably, the driving device comprises a driving motor and two worms, the driving motor is fixedly connected in the machine body, the driving motor is a double-shaft motor, two output ends of the driving motor are fixedly connected with driving gears, the two worms are respectively and rotatably connected in the two side frames, the worms are meshed with the worm wheels, the inner ends of the worms penetrate through the machine body and are fixedly connected with driven gears, and the driven gears are meshed with the driving gears.

Preferably, the adjustment subassembly includes adjustment motor, articulated piece and bracing piece, the adjustment motor also is double-shaft motor, all be connected with a ball screw through the shaft coupling on two output of adjustment motor, ball screw's inside portion does not set up the screw thread, and its outside portion is equipped with the screw thread, the worm is passed to the part that does not set up the screw thread on the ball screw, and rotates with the worm and be connected, be equipped with the fixed plate in the fuselage, ball screw still rotates with the fixed plate to be connected, fixedly connected with and the screw-nut who is connected with ball screw on the articulated piece, the quantity of bracing piece is unanimous with the quantity of wheel carrier, the one end of bracing piece is articulated with articulated piece, and the other end is articulated with the wheel carrier.

Preferably, the bracing piece includes the barrel, sliding connection has last piston and lower piston in the barrel, and the last direct connection has the body of rod on the piston, go up body of rod top and wheel carrier articulated, pressure sensor of bottom fixedly connected with of lower piston, the body of rod under pressure sensor's the bottom fixedly connected with, the bottom of the body of rod is articulated with articulated piece down, it has the wire casing that can supply the pressure sensor wire to wear out to reserve in the body of rod down.

The invention has the advantages that:

three walking components capable of adjusting the opening degree through an adjusting device are arranged on the side frame, the adjusting device adopts an adjusting motor to drive a ball screw to drive a hinge block to move, so that the support of a supporting rod is changed, the opening degree of the walking components is changed, compared with the common passive spring type mode of changing the opening angle, the opening degree can be controlled more accurately, the robot can adapt to walking work in different pipe diameters,

in order to control the pressure between the travelling wheels and the pipe wall, a pressure sensor is arranged in the supporting rod, so that the gas pressure in the cylinder can be detected in real time, the pressure data between the travelling wheels and the pipe wall can be indirectly obtained, and the purpose of automatically controlling and adjusting the motor in a closed loop mode is achieved by utilizing the pressure data, so that the adjustment motor can automatically adapt to different pipe diameters, and the condition that the travelling wheels and the pipe wall slip is avoided;

the worm wheel that adopts in the synchronous drive three walking assembly of worm in the aspect of the drive rotates, recycles drive assembly and will drive power transmission to the walking wheel on, realizes intraductal walking, compares in using a plurality of executor to come the driven wheels, perhaps adopts rear wheel, front wheel single drive's mode, and drive power is bigger, and utilizes worm gear's auto-lock principle, can make this robot can stably stop in a certain position of intraductal, then carries out the operation.

Drawings

FIG. 1 is a schematic view of the external overall structure of the present invention;

FIG. 2 is a cross-sectional view of the present invention;

FIG. 3 is a partial structural view of the driving assembly and the traveling assembly;

FIG. 4 is a front view of the wheel frame and side frame;

FIG. 5 is a schematic view of the parts inside the side frame and around the worm gear;

fig. 6 is a sectional view of the support bar.

In the figure: 1-a machine body, 11-a fixing plate, 2-a driving device, 21-a driving motor, 22-a worm, 23-a driving gear and 24-a driven gear;

3-a walking component, 31-a wheel carrier, 32-a driving shaft, 33-a worm wheel, 34-an articulated seat, 35-a driven shaft, 36-a driving wheel, 37-a transmission component, 371-a driving chain wheel and 372-a driven chain wheel;

4-adjustment assembly, 41-adjustment motor, 42-hinged block, 43-supporting rod, 431-cylinder, 432-upper piston, 433-lower piston, 434-upper rod, 435-pressure sensor, 436-lower rod, 4361-wire groove, 44-ball screw;

5-side frame, 51-triangle and 52-support frame.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 6, a pipeline walking robot comprises a robot body 1, a driving device 2, walking components 3 and an adjusting component 4, wherein side frames 5 are fixedly connected to the left side and the right side of the robot body 1, three walking components 3 are arranged on the side frames 5, the driving device 2 is arranged in the robot body 1 and the side frames 5 and used for providing driving force for driving wheels 36 in the walking components 3, and the adjusting component 4 is used for supporting and adjusting the unfolding angle of the walking components 3, so that walking wheels cling to the inner wall of a pipeline, and the walking wheels are prevented from slipping with the inner wall of the pipeline.

In this embodiment, the side frame 5 includes three triangular plates 51 and three support frames 52, the three support frames 52 are all fixedly connected between the two triangular plates 51, a gap is left between the adjacent support frames 52 for the worm wheel 33 to pass through, so that the worm wheel 33 is conveniently meshed with the worm 22, and the triangular plate 51 at the inner side is fixedly connected with the body 1.

In this embodiment, the walking assembly 3 includes a wheel frame 31, a driving shaft 32 is rotatably connected to a bottom end of the wheel frame 31, a worm wheel 33 is fixedly connected to the driving shaft 32, two hinged seats 34 are respectively disposed on two sides of the bottom end of the wheel frame 31, the hinged seats 34 are fixedly connected to a supporting frame 52, the driving shaft 32 is rotatably connected between the two hinged seats 34, and the wheel frame 31 is also rotatably connected, so that the driving shaft 32 can freely rotate between the hinged seats 34 and on the wheel frame 31, and the normal operation of the transmission assembly 37 is ensured. The top end of the wheel carrier 31 is rotatably connected with a driven shaft 35, two sides of the top end of the wheel carrier are provided with driving wheels 36 fixedly connected with the driven shaft 35, and a transmission assembly 37 is further arranged in the wheel carrier 31. The transmission assembly 37 is disposed in the wheel frame 31, so that the transmission assembly 37 is protected conveniently.

In this embodiment, the transmission assembly 37 is used for converting the rotation of the driving shaft 32 into the rotation of the driven shaft 35, and includes a driving sprocket 371 and a driven sprocket 372, the driving sprocket 371 is fixedly connected with the driving shaft 32, the driven sprocket 372 is fixedly connected with the driven shaft 35, and the driving sprocket 371 and the driven sprocket 372 are connected by a chain. The chain transmission can adapt to severe environments.

In this embodiment, the adjusting assembly 4 includes an adjusting motor 41, a hinge block 42 and a support rod 43, the adjusting motor 41 is also a two-shaft motor, two output ends of the adjusting motor 41 are connected with a ball screw 44 through a coupling, the inner portion of the ball screw 44 is not provided with threads, and the outer portion thereof is provided with a screw thread, the portion of the ball screw 44 which is not provided with the screw thread passes through the worm 22, the worm 22 is rotatably connected with the worm, a fixing plate 11 is arranged in the machine body 1, the ball screw 44 is further rotatably connected with the fixing plate 11, a screw nut connected with the ball screw 44 is fixedly connected to the hinging block 42, the hinging block 42 can move left and right along with the rotation of the ball screw 44, the number of the supporting rods 43 is the same as that of the wheel frames 31, one wheel frame 31 corresponds to one supporting rod 43, and the supporting rod 43 is used for supporting the wheel frame 31 and monitoring the pressure of the driving wheel 36 and the inner wall of the pipeline. The supporting rod 43 comprises a cylinder 431, an upper piston 432 and a lower piston 433 are slidably connected in the cylinder 431, an upper rod body 434 is directly connected onto the upper piston 432, the top end of the upper rod body 434 is hinged to the wheel frame 31, a pressure sensor 435 is fixedly connected to the bottom of the lower piston 433, a lower rod body 436 is fixedly connected to the bottom end of the pressure sensor 435, the bottom end of the lower rod body 436 is hinged to the hinge block 42, and a wire groove 4361 through which a wire of the pressure sensor 435 can penetrate out is reserved in the lower rod body 436.

In this embodiment, the driving device 2 includes a driving motor 21 and two worms 22, the driving motor 21 is fixedly connected in the machine body 1, the driving motor 21 is a two-shaft motor, two output ends of the driving motor 21 are both fixedly connected with driving gears 23, two worms 22 are provided and are respectively rotatably connected in the two side frames 5, the worms 22 are rotatably connected with two triangular plates 51 on the side frames 5, so as to rotate in the side frames 5, the worms 22 are meshed with the worm wheels 33, the inner ends of the worms 22 penetrate through the machine body 1 and are fixedly connected with driven gears 24, and the driven gears 24 are meshed with the driving gears 23.

In the embodiment, bearings are arranged at the rotating joints of all the parts, so that the rotating stability is kept.

The working process and the principle thereof are as follows:

after the walking robot is put into the pipeline, the adjustment motor 41 is started, and the adjustment motor 41 drives the two ball screws 44 to rotate under the limiting action of the fixing plate 11 and the worm 22. Since the hinge block 42 is connected to the ball screw 44 by the screw nut, the hinge block 42 moves on the ball screw 44 when the ball screw 44 rotates. When the hinge block 42 moves toward the adjustment motor 41, the angle between the support rod 43 and the ball screw 44 increases, and the support rod 43 will support the wheel frame 31, so that the bottom end of the wheel frame 31 is continuously opened around the driving shaft 32, and the driving shaft 32 and the wheel frame 31 rotate through the bearing, without hindering the free rotation of the wheel frame 31.

When the travelling wheels contact with the inner wall of the pipeline, the wheel frame 31 cannot be continuously opened, the adjusting motor 41 continues to work at the moment, and the hinge block 42 continues to move towards the adjusting motor 41. The upper rod 434 and the lower rod 436 are contracted to enter the cylinder 431, the distance between the upper piston 432 and the lower piston 433 in the cylinder 431 is reduced, and the air pressure between the upper piston 432 and the lower piston 433 is increased. The air pressure acts on the lower piston 433, so that the pressure between the lower piston 433 and the lower rod 436 is increased, and the pressure sensor 435 can detect the pressure data between the lower piston 433 and the lower rod 436 in real time and compare the pressure data with a preset value. When being equal to the default, the pressure of walking wheel and pipeline inner wall is suitable promptly, internal controller closes through this pressure standard signal automatic control adjustment motor 41, and bracing piece 43 angle at this moment keeps unchangeable, and the length of bracing piece 43 also keeps unchangeable to make walking subassembly 3 fix the degree of opening that is fit for the pipe fitting, and the walking wheel remains fixed pressure value with the pipeline inner wall, thereby avoid walking wheel and pipeline inner wall to skid.

After the opening degree of the wheel frame 31 is adjusted, the driving motor 21 can be started, the driving motor 21 drives the two worms 22 to rotate in the forward direction, the same worm 22 is meshed with the three worm wheels 33 at the same time, so that the worm wheels 33 rotate, the driving shaft 32 drives the driving chain wheel 371 to rotate, the driving shaft 32 is rotatably connected with the hinge base 34, and the driving shaft 32 can rotate automatically without being constrained. The driving sprocket 371 drives the driven sprocket 372 to rotate through a chain, the driven shaft 35 fixedly connected with the driven sprocket 372 also rotates accordingly, and the walking wheel rotates under the driving of the driven shaft 35, so that a complete transmission chain is formed.

When the walking wheel needs to stay at a certain place for operation, the driving motor 21 is turned off, and at the moment, the worm wheel 33 cannot actively rotate due to the self-locking principle of the worm wheel 33 and the worm 22, so that the walking wheel can also keep a self-locking state.

Based on the above: through the walking subassembly of adjusting device adjustment degree of opening, change in common spring passive form and open the angle relatively, the degree of opening of control that can be more accurate, thereby adapt to the walking work in the different pipe diameters, inside at the bracing piece sets up pressure sensor, can indirectly obtain the pressure data between walking wheel and the pipe wall, and utilize pressure data, reach closed-loop control adjustment motor's purpose, adopt the worm to drive the worm wheel in step and rotate in the aspect of the drive, transmit drive power to the walking wheel, realize intraductal walking, compare in using a plurality of executor, the operation is more synchronous, and utilize worm gear's auto-lock principle, can so that this robot can stably stop in a certain position intraductal, then carry out the operation.

It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.

Claims

1. The pipeline walking robot is characterized by comprising a robot body (1), a driving device (2), walking components (3) and adjusting components (4), wherein side frames (5) are fixedly connected to the left side and the right side of the robot body (1), and three walking components (3) are arranged on the side frames (5);

the driving device (2) is arranged in the machine body (1) and the side frame (5) and is used for providing driving force for driving wheels (36) in the walking assembly (3);

the adjusting component (4) is used for supporting and adjusting the unfolding angle of the walking component (3), so that the walking wheel is tightly attached to the inner wall of the pipeline.

2. The pipe walking robot according to claim 1, characterized in that the side frame (5) comprises three triangular plates (51) and three supporting frames (52), the three supporting frames (52) are fixedly connected between the two triangular plates (51), and the inner triangular plate (51) is fixedly connected with the body (1).

3. The pipe walking robot according to claim 1, wherein the walking assembly (3) comprises a wheel carriage (31), the bottom end of the wheel carrier (31) is rotationally connected with a driving shaft (32), the driving shaft (32) is fixedly connected with a worm wheel (33), two sides of the bottom end of the wheel carrier (31) are respectively provided with a hinged seat (34), the hinged seats (34) are fixedly connected with the supporting frame (52), the driving shaft (32) is rotationally connected between the two hinged seats (34), the top end of the wheel carrier (31) is rotationally connected with a driven shaft (35), and both sides of the top end of the driving shaft are provided with driving wheels (36) fixedly connected with a driven shaft (35), the wheel carrier (31) is also internally provided with a transmission assembly (37), and the transmission assembly (37) is used for converting the rotation of the driving shaft (32) into the rotation of the driven shaft (35).

4. The pipe walking robot of claim 3, wherein the transmission assembly (37) comprises a driving sprocket (371) and a driven sprocket (372), the driving sprocket (371) is fixedly connected with the driving shaft (32), the driven sprocket (372) is fixedly connected with the driven shaft (35), and the driving sprocket (371) is connected with the driven sprocket (372) through a chain.

5. The pipe walking robot of claim 1, wherein the driving device (2) comprises a driving motor (21) and a worm (22), the driving motor (21) is fixedly connected in the machine body (1), the driving motor (21) is a double-shaft motor, two output ends of the driving motor (21) are respectively and fixedly connected with a driving gear (23), the worm (22) is provided with two driving gears which are respectively and rotatably connected in two side frames (5), the worm (22) is meshed with a worm wheel (33), the inner end of the worm (22) penetrates through the machine body (1), and the driven gear (24) is meshed with the driving gear (23).

6. The pipe walking robot as claimed in claim 1, wherein the adjusting assembly (4) comprises an adjusting motor (41), a hinge block (42) and support rods (43), the adjusting motor (41) is also a two-shaft motor, a ball screw (44) is connected to each of two output ends of the adjusting motor (41) through a coupling, the inner portion of the ball screw (44) is not provided with threads, and the outer portion of the ball screw is provided with threads, the non-threaded portion of the ball screw (44) passes through the worm (22) and is rotatably connected with the worm (22), a fixing plate (11) is arranged in the robot body (1), the ball screw (44) is further rotatably connected with the fixing plate (11), a screw nut connected with the ball screw (44) is fixedly connected to the hinge block (42), and the number of the support rods (43) is equal to the number of the wheel carriers (31), one end of the supporting rod (43) is hinged with the hinging block (42), and the other end is hinged with the wheel carrier (31).

7. The pipe walking robot of claim 6, wherein the supporting rod (43) comprises a cylinder (431), an upper piston (432) and a lower piston (433) are slidably connected in the cylinder (431), an upper rod (434) is directly connected on the upper piston (432), the top end of the upper rod (434) is hinged to the wheel carrier (31), a pressure sensor (435) is fixedly connected to the bottom of the lower piston (433), a lower rod (436) is fixedly connected to the bottom end of the pressure sensor (435), the bottom end of the lower rod (436) is hinged to the hinge block (42), and a wire slot (4361) for a wire of the pressure sensor (435) to pass through is reserved in the lower rod (436).