CN117605907A - Intelligent power system of inertial measurement pipeline robot - Google Patents
Intelligent power system of inertial measurement pipeline robot Download PDFInfo
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- CN117605907A CN117605907A CN202311582205.0A CN202311582205A CN117605907A CN 117605907 A CN117605907 A CN 117605907A CN 202311582205 A CN202311582205 A CN 202311582205A CN 117605907 A CN117605907 A CN 117605907A
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- 238000005259 measurement Methods 0.000 title claims abstract description 44
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 100
- 239000010959 steel Substances 0.000 claims abstract description 100
- 230000005540 biological transmission Effects 0.000 claims abstract description 53
- 238000004804 winding Methods 0.000 claims description 39
- 238000006073 displacement reaction Methods 0.000 claims description 33
- 230000002457 bidirectional effect Effects 0.000 claims description 17
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 230000008447 perception Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 10
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005553 drilling Methods 0.000 description 4
- 210000005036 nerve Anatomy 0.000 description 4
- 230000006855 networking Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/04—Driving gear manually operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
- B66D1/38—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains by means of guides movable relative to drum or barrel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/46—Control devices non-automatic electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent power system of an inertial measurement pipeline robot, which comprises a frame, a steel rope dragging and arranging wire storage system, a steel rope tension real-time sensing system, a steel rope dragging and arranging wire storage system, an industrial control computer, a wireless data transmission radio station and an electric control box, wherein the steel rope dragging and arranging wire storage system, the steel rope tension real-time sensing system, the steel rope dragging and arranging wire speed real-time sensing system and the electric control box are all arranged in the frame, the industrial control computer and the wireless data transmission radio station are independently arranged in a remote control suitcase, and the steel rope tension real-time sensing system is positioned at the bottom of the steel rope dragging and arranging wire storage system. According to the invention, intelligent program control of a remote control suitcase industrial control computer system can be realized, so that the steel rope dragging and wire arranging storage system drives the pipeline robot to start, run, slow down, stop and stand for measurement, and the measurement accuracy and the measurement data reliability of the inertial measurement robot are improved.
Description
Technical Field
The invention relates to the technical field of pipeline robots, in particular to an intelligent power system of an inertial measurement pipeline robot.
Background
Urban underground pipelines are known as "blood vessels" and "nerves" of the human body, and are called "lifelines" of cities. However, the construction engineering of the underground pipeline accounts for more than 20 percent, and the principle of the highly-dependent horizontal directional drilling construction technology is that the elastic deformation of the rigid pipeline material in the allowed range is utilized, and the elastic laying of the underground pipeline under the non-excavation condition is realized through the guiding drilling technology and the pore-forming technology in the horizontal directional drilling technology; the most critical elastic laying technology is the final purpose of realizing the construction of the underground pipeline and the safe operation in the whole life cycle of the pipeline in the future and the preconditions and indexes which must be met. With the understanding of directional drilling construction technology in the future, inertial measurement detection technology has entered into a fast-developing expressway for the safety of people's lives and properties and strategic conception of social peaceful development and national smart city management.
The measurement precision and reliability of the inertial measurement detection technology are mainly ensured to depend on the on-board pipeline robot technology of the instrument and the intelligent power traction technology of the unpowered pipeline robot except the self precision of the inertial measurement instrument, namely the inertial measurement instrument is ensured to avoid stable and uniform starting parking operation of vibration; at present, intelligent autonomous running inertial measurement pipeline robots in the market are blank, and traction of the inertial measurement unpowered pipeline robots still stays in the following two modes:
1. manual traction
The manual traction is a manual hand winch, the speed stability of a dragging operation line is poor, the measurement accuracy and the data reliability are seriously dependent on the operation proficiency and personnel quality of measurement personnel, particularly the pipeline measurement of more than 200 meters, the detection accuracy error is large due to the influence of manual physical force, the measurement operation parameters are not uniform, and the measurement cost is high.
2. Traction of electric hoist
The electric winch traction reduces labor intensity to a certain extent, improves labor productivity, saves labor cost, but because the traction electric winch only can select specific running rotation speed and traction force cannot be controlled, the inertial measurement unpowered pipeline robot changes along with the influence of the measured pipeline weld scar foreign matters on running resistance, the robot is blocked and blocked frequently, and particularly, stable and uniform starting stop running of the measurement required to avoid vibration cannot be ensured, equipment damage or steel cable stretch-breaking caused personal injury accidents are more easily caused.
The Chinese patent with the application number of 202022988128.7 discloses a pipeline robot traction system, although the pipeline robot traction system can overcome the limitation of the running length of the pipeline robot in a pipeline, stable and uniform running power can be effectively provided for the pipeline robot by controlling the rotating speed of a friction tension wheel, and the problem of dragging of the pipeline robot when an ultra-long pipeline is detected is solved, but the pipeline robot traction system cannot ensure stable uniform speed starting parking operation which is required to be measured and avoid vibration.
Disclosure of Invention
The invention aims to provide an intelligent power system of an inertial measurement pipeline robot, which solves the technical problem that the prior art cannot ensure stable and uniform-speed starting and stopping operation of the pipeline robot, which is required to avoid vibration during measurement.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
the utility model provides an inertial measurement pipeline robot intelligence driving system, includes frame, steel cable drag winding displacement system of accomodating, steel cable tension real-time perception system, steel cable drag linear velocity real-time measurement system, industrial control computer, wireless data transmission radio and electrical control box, steel cable drag winding displacement system of accomodating, steel cable tension real-time perception system, steel cable drag linear velocity real-time measurement system and electrical control box all install in the frame, industrial control computer and wireless data transmission radio are independently installed in the remote control suitcase, steel cable tension real-time perception system is located steel cable drag winding displacement system's bottom, steel cable drag linear velocity real-time measurement system is located steel cable drag winding displacement system's top.
Further, the steel rope dragging and winding-up wire storage system comprises a dragging motor, a wire harness free roller assembly, a free winding drum, a bidirectional screw winding-up wire mechanism, a chain transmission mechanism, a manual clutch, a synchronous belt transmission mechanism, a steel rope rolling brush and a steel rope winding-up wire dragging roller assembly, wherein the dragging motor is fixedly connected with a frame, the wire harness free roller assembly is positioned between the steel rope winding-up wire dragging roller assembly and a steel rope dragging-up wire speed real-time measurement system, the steel rope winding-up wire dragging roller assembly is rotationally connected with the frame through a rotating shaft, the chain transmission mechanism is positioned between the dragging motor and the steel rope winding-up wire dragging roller assembly, the bidirectional screw winding-up wire mechanism is rotationally connected with the frame, the synchronous belt transmission mechanism is positioned between the bidirectional screw winding-up wire mechanism and the steel rope winding-up wire dragging roller assembly, the manual clutch is arranged on the rotating shaft at one end of the steel rope winding-up wire dragging roller assembly, the rotating shaft at the other end of the steel rope winding-up wire dragging roller assembly extends out of the frame and is fixedly connected with a rolling pin unidirectional clutch rocking handle, the free winding-up wire wheel is connected with the frame through a connecting rod, and the free winding-up wire is connected with the frame through the connecting rod, and the steel rope winding-up wire dragging roller assembly is connected with the free winding-up wire mechanism.
Further, the chain transmission mechanism comprises a driving sprocket, a driven sprocket and a chain, wherein the driving sprocket is fixedly connected with the power output end of the dragging motor, the driven sprocket is fixedly connected with the rotating shaft at one end of the steel rope winding dragging roller assembly, and the driving sprocket is in transmission connection with the driven sprocket through the chain.
Further, the synchronous belt transmission mechanism comprises a driving belt wheel, a driven belt wheel and a transmission belt, wherein the driving belt wheel is fixedly connected with a rotating shaft at one end of the steel rope take-up dragging roller assembly, the driven belt wheel is fixedly connected with the bidirectional screw wire arrangement mechanism, and the driving belt wheel is in transmission connection with the driven belt wheel through the transmission belt.
Further, the dragging motor is a stepping motor or a servo motor.
The beneficial effects of the invention are as follows:
1. according to the invention, through the cooperation of the steel rope dragging flat cable storage system, the steel rope tension real-time sensing system, the steel rope dragging linear speed real-time measuring system, the industrial control computer and the wireless data transmission radio station, the preset measuring parameters given by a computer program and the 'nerve' sensing parameters of each subsystem are organically combined to operate, and the wireless data transmission synchronous system is used for networking, the intelligent program control of the remote control suitcase industrial control computer system can be realized, the steel rope dragging flat cable storage system drives the pipeline robot to stably start, run, slow down and stop and stand for measuring operation, the measuring precision and the measuring data reliability of the inertial measuring robot are improved, and the problems that the measuring precision and the data reliability are determined only by the proficiency of operators when the conventional pipeline inertial measuring robot is started and stopped at home and abroad are solved.
2. The invention adopts a stepping motor or a servo motor to accurately drive at a fixed rotating speed; by arranging the bidirectional screw wire arranging mechanism and the accurate synchronous belt transmission mechanism, the wire arranging is smooth and neat; the wire harness free roller assembly is arranged to ensure that the wire is never disordered; by arranging the free winding displacement wheel, the automatic winding displacement trend is realized, so that the bidirectional reciprocating forced winding displacement is lighter; through being provided with the one-way separation and reunion crank of kingpin, can carry out manual receipts line, have pure electric drive, pure manual drive and the three kind of flexible receipts line driving method that uses of electric motor with manual drive.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a top view of the present invention.
FIG. 3 is a block diagram of the intelligent power system of the present invention.
The reference numerals in the drawings indicate: 1. a cable drag and drop line storage system; 11. a drag motor; 12. a wire harness payout roller assembly; 13. free winding displacement wheel; 14. a bidirectional screw wire arranging mechanism; 15. a chain transmission mechanism; 16. a manual clutch; 17. a synchronous belt transmission mechanism; 18. a steel rope rolling brush; 19. a steel rope winding and dragging roller assembly; 2. a steel rope tension real-time sensing system; 3. the real-time measurement system of the wire rope dragging linear speed; 4. an industrial control computer; 5. a wireless data transfer station; 6. an electrical control box; 7. one-way clutch crank of the needle roller.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Examples are as follows:
referring to fig. 1-3, an intelligent power system of an inertial measurement pipeline robot comprises a frame, a steel rope dragging and winding displacement storage system 1, a steel rope tension real-time sensing system 2, a steel rope dragging and winding displacement speed real-time measuring system 3, an industrial control computer 4, a wireless data transmission radio station 5 and an electric control box 6, wherein the steel rope dragging and winding displacement storage system 1, the steel rope tension real-time sensing system 2, the steel rope dragging and winding displacement speed real-time measuring system 3 and the electric control box 6 are all arranged in the frame, the industrial control computer 4 and the wireless data transmission radio station 5 are independently arranged in a remote control suitcase and are respectively connected with a machine body through a data cable aviation plug and a pipe orifice limiting damping device, the two opening pipe orifice characteristics of a measured pipeline are utilized, the intelligent power system of the inertial measurement pipeline robot is used in pairs, the wireless data transmission radio station 5 networking the two industrial control computers 4, the linkage traction, deceleration, parking and standing program of two intelligent power systems is realized, a steel rope tension real-time sensing system 2 is positioned at the bottom of a steel rope dragging and arranging wire storage system 1, the steel rope tension real-time sensing system 2 is a rectangular force measuring module, the steel rope tension real-time sensing system 2 is fixed with a frame through two M6 screws, the upper part and the shaft end of a steel rope guide wheel are stressed leftwards, the stress is transmitted to an industrial control computer 4 through module electric signals, a steel rope dragging wire speed real-time measuring system 3 is positioned at the top of the steel rope dragging and arranging wire storage system 1, the steel rope dragging wire speed real-time measuring system 3 is a speed measuring sensor, a roller transmits the wire speed of the steel rope to the industrial control computer 4 through a wire harness free roller assembly 12 to be changed into an electric signal, the industrial control computer 4 adopts a 32-bit ARM microprocessor, the model STM32F103, a wireless data transmission radio station 5 adopts a one hundred million 433MHZ data transmission radio station, the cable drag winding displacement storage system 1, the cable tension real-time sensing system 2, the cable drag linear velocity real-time measuring system 3, the industrial control computer 4 and the wireless data transmission radio station 5 are matched for use, the cable drag winding displacement storage system 1 can be controlled to drive the pipeline robot to start, run, slow down and stop and stand for measuring operation by the combination operation of preset measuring parameters given by computer programs and 'nerve' sensing parameters of each subsystem and by the networking of a wireless data transmission synchronous system, the measuring precision and the measuring data reliability of the inertial measuring robot are improved, the problems that the starting and stopping of the conventional pipeline inertial measuring robot at home and abroad only depend on the proficiency and personnel quality of operators to determine the measuring precision and the data reliability are solved, the steel rope dragging and winding-up wire storage system 1 comprises a dragging motor 11, a wire harness free roller assembly 12, a free winding wheel 13, a bidirectional screw winding-up wire mechanism 14, a chain transmission mechanism 15, a manual clutch 16, a synchronous belt transmission mechanism 17, a steel rope rolling brush 18 and a steel rope winding-up wire dragging roller assembly 19, wherein the dragging motor 11 is fixedly connected with a frame, the wire harness free roller assembly 12 is positioned between the steel rope winding-up wire dragging roller assembly 19 and the steel rope dragging wire speed real-time measuring system 3, the steel rope is always in a compression state no matter the wire harness free roller assembly 12 is static or rotates, the wire harness free wire winding-up wire dragging roller assembly 19 is ensured to be in a permanently messy state, the chain transmission mechanism 15 is positioned between the dragging motor 11 and the steel rope winding-up wire dragging roller assembly 19 through a rotating shaft, the bidirectional screw winding-up wire mechanism 14 is in rotating connection with the frame, the synchronous belt transmission mechanism 17 is positioned between the bidirectional screw winding-up wire dragging roller assembly 14 and the steel rope winding-up wire dragging roller assembly 19, through setting up two-way screw rod winding displacement mechanism 14 and accurate hold-in range drive mechanism 17, the winding displacement is smooth neat, manual clutch 16 installs in the pivot of steel cable receipts line and drags roller assembly 19 one end, manual clutch 16 is prior art, the pivot of steel cable receipts line and drags the roller assembly 19 other end stretches out the frame and fixedly connected with kingpin one-way clutch crank 7, through being provided with kingpin one-way clutch crank 7, can carry out manual receipts line, have pure electric drive, pure manual drive and electric and manual drive's three flexible receipts line drive mode that uses, free winding displacement wheel 13 passes through the connecting rod and is connected with the frame, free winding displacement wheel 13 is 90 degrees free winding displacement wheel, let driving system steel cable drag and steel cable drag winding displacement system 1 cylinder drag are 90 degrees corners, under the circumstances that driving system drag direction is roughly perpendicular with the storage cylinder, the axial drag force that the cylinder drag direction drag is greater than and overcome drag force and 90 degrees free winding displacement wheel straight line bearing resistance, have and force to drag the direction drive wire displacement trend from reciprocating force to let the winding displacement wire displacement wheel 13 more through connecting rod and the free winding displacement wheel 18, it is convenient for draw between the frame and the free winding displacement brush 18 to clean between the steel cable and the frame.
As an alternative solution of the invention: the chain transmission mechanism 15 comprises a driving sprocket, a driven sprocket and a chain, wherein the driving sprocket is fixedly connected with the power output end of the dragging motor 11, the driven sprocket is fixedly connected with the rotating shaft at one end of the steel rope winding dragging roller assembly 19, and the driving sprocket is in transmission connection with the driven sprocket through the chain.
As an alternative solution of the invention: the synchronous belt transmission mechanism 17 comprises a driving belt wheel, a driven belt wheel and a transmission belt, wherein the driving belt wheel is fixedly connected with a rotating shaft at one end of the steel rope take-up dragging roller assembly 19, the driven belt wheel is fixedly connected with the bidirectional screw wire arranging mechanism 14, and the driving belt wheel is in transmission connection with the driven belt wheel through the transmission belt.
As an alternative solution of the invention: the dragging motor 11 is a stepping motor or a servo motor, so that accurate driving and running at a fixed rotating speed are facilitated.
To sum up: the industrial control computer 4 adopting the 32-bit ARM microprocessor is assisted with the steel rope tension real-time sensing system 2 and the steel rope dragging linear speed real-time measuring system 3 as a central control system of an intelligent power system of the inertial measurement pipeline robot, the preset measuring parameters given by a computer program and the 'nerve' sensing parameters of each subsystem are organically combined and operated, the wireless data transmission synchronization system networking is carried out through the wireless data transmission radio station 5, the system coordination program controls the steel rope dragging flat cable storage system 1 to drive the pipeline robot to stably start, operate, slow down and stop and stand for measuring operation, the measuring precision and the measuring data reliability of the inertial measurement robot are improved, and the problem that the starting and stopping of the conventional pipeline inertial measurement robot at home and abroad only depend on the proficiency of operators and personnel quality to determine the measuring precision and the data reliability is solved; the stepping motor or the servo motor is adopted for accurate driving at a fixed rotating speed; by arranging the bidirectional screw wire arranging mechanism 14 and the accurate synchronous belt transmission mechanism 17, the wire arranging is smooth and tidy; by providing the wire harness free drum assembly 12, never mess is ensured; by arranging the 90-degree free wire arranging wheel, the automatic wire arranging trend is realized, so that the bidirectional reciprocating forced wire arranging is lighter; the rolling needle one-way clutch crank handle 7 is arranged, so that three flexible winding driving modes of pure electric driving, pure manual driving and electric and manual driving are provided.
The intelligent robot pipeline power system consists of two dragging systems, wherein the two systems communicate through a wireless data transmission radio station 5 (a data transmission module UR4 in a structural block diagram) and analyze data through an integrated computer (a touch integrated machine PC in the structural block diagram) to determine which system is a host computer and which system is a slave computer and which performs traction and which is responsible for assistance; the singlechip STM32F103 is a core control element of the control system, all data are summarized to the singlechip, the singlechip processes the data and controls how the dragging motor 11 (the dragging motor M1 in the structural block diagram) operates, when the motor stops, when the motor is accelerated and decelerated, when the motor operates at a constant speed and the like; the electromagnet YV1 ensures that the measuring robot can be stable and motionless within the standing time, so that the interference of other external factors is avoided, and the measuring precision is improved; the electromagnetic clutch YV2 is used for switching which working mode, electric mode or manual mode the power system is in; the electric push rod M2 releases or retracts the one-way operation mechanism of the steel wire rope according to the control system; the encoder PG adopts a double-shaft grating encoder for measuring the running speed of the motor in real time and feeding back the pulse number to the singlechip so as to calculate the running distance of the motor; the HX711 module is an analog/digital (A/D) converter chip and is used for measuring the tension of the steel wire when the system operates and feeding back the value to the singlechip, and when the tension value exceeds the warning range, the system starts a shutdown protection program; the distance measuring sensor UR8 is used for detecting whether the front of the measuring robot has an obstacle in real time, and is a key element for decelerating and stopping the robot.
All electrical components in the invention are connected with the adaptive power supply through wires and are automatically controlled by the controller, and the control circuit of the controller can be realized through simple programming by a person skilled in the art, and the control mode and circuit connection are not described in detail because the invention belongs to common general knowledge in the art.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (5)
1. An intelligent power system of an inertial measurement pipeline robot is characterized in that: including frame, steel cable drag winding displacement system of accomodating, steel cable tension real-time perception system, steel cable drag winding displacement speed real-time measurement system, industrial control computer, wireless data transmission radio and electrical control box, steel cable drag winding displacement system of accomodating, steel cable tension real-time perception system, steel cable drag winding displacement speed real-time measurement system and electrical control box all install in the frame, industrial control computer and wireless data transmission radio are independently installed in the remote control suitcase, steel cable tension real-time perception system is located steel cable drag winding displacement system's bottom, steel cable drag winding displacement speed real-time measurement system is located steel cable drag winding displacement system's top.
2. An inertial measurement pipeline robot intelligent power system according to claim 1, wherein: the steel rope dragging and winding-up wire storage system comprises a dragging motor, a wire rope free roller assembly, a free winding drum, a bidirectional screw winding-up wire mechanism, a chain transmission mechanism, a manual clutch, a synchronous belt transmission mechanism, a steel rope rolling brush and a steel rope winding-up wire dragging roller assembly, wherein the dragging motor is fixedly connected with a frame, the wire rope free winding drum assembly is positioned between the steel rope winding-up wire dragging roller assembly and a steel rope dragging speed real-time measurement system, the steel rope winding-up wire dragging roller assembly is rotatably connected with the frame through a rotating shaft, the chain transmission mechanism is positioned between the dragging motor and the steel rope winding-up wire dragging roller assembly, the bidirectional screw winding-up wire mechanism is rotatably connected with the frame, the synchronous belt transmission mechanism is positioned between the bidirectional screw winding-up wire mechanism and the steel rope winding-up wire dragging roller assembly, the manual clutch is arranged on the rotating shaft at one end of the steel rope winding-up wire dragging roller assembly, the rotating shaft at the other end of the steel rope winding-up wire dragging roller assembly extends out of the frame and is fixedly connected with a roller one-way clutch handle, the free winding-up wire wheel is connected with the frame through a connecting rod, the steel rope winding-up wire dragging roller assembly is connected with the connecting rod, and the steel rope winding-up wire mechanism is positioned between the connecting rod and the free winding-up wire mechanism and the steel wire winding-drawing drum assembly.
3. An inertial measurement pipeline robot intelligent power system according to claim 2, wherein: the chain transmission mechanism comprises a driving sprocket, a driven sprocket and a chain, wherein the driving sprocket is fixedly connected with the power output end of the dragging motor, the driven sprocket is fixedly connected with the rotating shaft at one end of the steel rope take-up dragging roller assembly, and the driving sprocket is in transmission connection with the driven sprocket through the chain.
4. An inertial measurement pipeline robot intelligent power system according to claim 2, wherein: the synchronous belt transmission mechanism comprises a driving belt wheel, a driven belt wheel and a transmission belt, wherein the driving belt wheel is fixedly connected with a rotating shaft at one end of the steel rope winding-up dragging roller assembly, the driven belt wheel is fixedly connected with the bidirectional screw wire arrangement mechanism, and the driving belt wheel is in transmission connection with the driven belt wheel through the transmission belt.
5. An inertial measurement pipeline robot intelligent power system according to claim 2 or 3, wherein: the dragging motor is a stepping motor or a servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311582205.0A CN117605907A (en) | 2023-11-24 | 2023-11-24 | Intelligent power system of inertial measurement pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311582205.0A CN117605907A (en) | 2023-11-24 | 2023-11-24 | Intelligent power system of inertial measurement pipeline robot |
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| Publication Number | Publication Date |
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| CN117605907A true CN117605907A (en) | 2024-02-27 |
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|---|---|---|---|
| CN202311582205.0A Pending CN117605907A (en) | 2023-11-24 | 2023-11-24 | Intelligent power system of inertial measurement pipeline robot |
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| CN (1) | CN117605907A (en) |
Citations (8)
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