CN1249985A - Cubical creeping and walking mechanism of intertube robot - Google Patents
Cubical creeping and walking mechanism of intertube robot Download PDFInfo
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- CN1249985A CN1249985A CN 99113962 CN99113962A CN1249985A CN 1249985 A CN1249985 A CN 1249985A CN 99113962 CN99113962 CN 99113962 CN 99113962 A CN99113962 A CN 99113962A CN 1249985 A CN1249985 A CN 1249985A
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Abstract
The cubical creeping and walking mechanism consists of 12 creeping elements capable of contracting and stretching axially and 8 supporting feet. It is one cube and the 12 creeping elements in the 12 edges separately are assembled together by the 8 supporting feet at the 8 vertexes separately. The supporing feet have spherical part to contact tube wall. Without needing special turning mechanism, the present invention can pass through bend as well as L-shaped, T-shaped and cross unions. The present invention may be used as moving carrier in miniature robot for intertube detection, fault finding and service.
Description
The present invention relates to a kind of in-pipe robot crawl walking mechanism, relate in particular to the square build crawl walking mechanism of a kind of in-pipe robot, can be used as the motion carrier of detection in the pipe, flaw detection and maintenance activity in-pipe robot, belong to mechanical engineering Robotics field.
The trafficability characteristic that improves in-pipe robot is a problem that urgency is to be solved.Existing in-pipe robot by " L " type, T-shape,
The bend pipe of type pipe joint and certain curvature all is to realize under assisting of device turned round in special use.
" (Cheng Junshi etc. translate for ancestor's brilliance, Haibo Liu in the Robotics handbook.Japan association of robot compiles, Science Press, 1996:p350-351.) introduced a kind of 2 inches wheeled in-pipe robots of Japanese's invention, four driving wheels are evenly distributed on the excircle of robot, and tightly be pressed against on the inner-walls of duct, a direct current generator drives four driving wheels through reduction gearing and rotates, and the driving reaction force that inner-walls of duct produces wheel when rotating by wheel is realized motion in the pipe.Head front end in robot has roller guide rail, and another direct current generator can drive rubber strip and rotate on roller guide rail, utilizes the friction of rubber strip and tube wall driving force that is obtained and the driving force that drives wheel, is implemented in turning round of " L " type pipe joint place.But T-shape,
The corner of type pipe joint, rubber strip can't contact with tube wall, therefore, this in-pipe robot can't pass through T-shape,
The type pipe joint.
Kochi Suzumori and Akira Abe, Applying Flexible Microactuators to PipelineInspection Robots, Robots, Mechatronics and Manufacturing Systems, T.Takamoriand K.Tsuchiya (Editors), Elsevier Science Publishers B.V. (North-Holland), 1993IMACS:p515-520. introduced a kind of 2 inches wheeled in-pipe robots of Japanese's invention in the document, its motion in pipe also is to drive the driving wheel that is evenly distributed on the robot excircle by direct current generator through reduction gearing to realize.The flexible microdrive of rubber system in the middle of the robot (FlexibleMicroactuators) can produce certain flexural deformation by pneumatic actuation, and robot is by the bending of flexible microdrive, can reach by the bend pipe of certain curvature " L " type, T-shape,
The type pipe joint, device has increased the volume and weight of in-pipe robot but the special use that this robot adopts is turned round.
The objective of the invention is to design and develop a kind of in-pipe robot crawl walking mechanism of new structure, make it need not the special use device that turns round, bend pipe that can be by certain curvature and " L " type, T-shape,
The type pipe joint is realized the robot microminaturization, has more practicality.
For realizing such purpose, the inventor utilizes the bias type marmem creeping mechanism a kind of in parallel (number of patent application: 99226926.1) make the wriggling element of my design, further developed a kind of in-pipe robot crawl walking mechanism that is the regular cube type, assemble by 12 bias type marmem in parallel wriggling element and eight feets that can shrink vertically with diastole, outward appearance is the regular cube type, 12 marmem wriggling elements place 12 seamed edge places of regular cube, are assembled into one by eight feets that are positioned at place, eight summits of regular cube.
For realize robot can by certain curvature bend pipe and " L " type, T-shape,
The purpose of type pipe joint, this walking mechanism is shunk and fully all should the side's of being kept upright build during diastole fully at 12 marmems wriggling elements, for this reason, 12 marmems wriggling size of component and the performance that are adopted must equate that the structure of eight feets and size are also just the same.Three fitting surfaces of feet and three marmem wriggling elements should be orthogonal, and are orthogonal with three marmem wriggling elements that guarantee to be installed on the same feet.Feet except with three marmems wriggling element contact positions, other place is all spherical in shape, and is promptly spherical in shape with the tube wall contact position.When said structure had guaranteed four feet stay pipe inwalls of in-pipe robot, the power on the inside pipe wall of being applied to had been avoided unstability among the robot motion all about tubular axis line symmetry.
The walking mechanism of the regular cube type of the uniqueness that the present invention adopts, when having guaranteed no matter robot follows away the exterior normal direction motion of any face in six faces of mechanism, pose all is the same, this be this walking mechanism can pass through " L " type, T-shape,
The key point of type pipe joint.
Wriggling element of the present invention has adopted bias type marmem creeping mechanism in parallel, this wriggling element allows radially to produce flexural deformation, the wriggling element is fixedlyed connected with the feet place can guarantee on end face of robot four when wriggling the element diastoles, four wriggling elements on the other end parallel with them can shrink, to realize that robot is along pipe wriggling radially.
12 wriggling elements also can adopt other not allow radially to produce diastrophic creeping mechanism along the wriggling element among the present invention, such as cylinder etc., at this moment the element of wriggling must be connected with ball pivot with the feet place, when guaranteeing on end face of robot four wriggling element diastoles, four wriggling elements on the other end parallel with them can shrink, and realize that robot is along pipe wriggling radially.
Walking and the motion strategy when passing through pipe joint of regular cube type in-pipe robot crawl walking mechanism in pipe is as follows:
According to bionics principle, imitate coelenterata motion mode, in this crawl walking mechanism walking process, in 12 wriggling elements in the middle of parallel with direction of travel four compose in parallel a longitudinal muscle group, follow away direction contraction, diastole, realize the function of coelenterate longitudinal muscle; Eight vertical in rear and front end with direction of travel, two circular muscle groups before and after forming, four every group are connected into ring-type, perpendicular to direction of travel shrink, diastole, realize the function of coelenterate circular muscle.When adopting bias type marmem creeping mechanism in parallel to make the wriggling element, can be by the flow through sequential of the electric current of respectively organizing marmem wriggling element of control, control three groups of wriggling elements and alternately shrink and diastole, realize the front and back wriggling walking of this crawl walking mechanism in pipe.Marmem wriggling element allows to produce certain flexural deformation, and two circular muscle groups are shunk and diastole independently before and after having guaranteed, and make this walking in pipe mechanism be applicable to the bend pipe of certain curvature.
When adopting cylinder to make the wriggling element, can respectively organize the switching sequence of the directional control valve of cylinder, control three groups of wriggling elements and alternately shrink and diastole, realize the front and back wriggling walking of this crawl walking mechanism in pipe by control.Cylinder is connected by ball pivot with the feet place, and two circular muscle groups are shunk and diastole independently before and after having guaranteed, and make this walking in pipe mechanism be applicable to the bend pipe of certain curvature.
Run into " L " type, T-shape,
The type pipe joint when needing to change the direction of motion, is broken the composition of original longitudinal muscle group and circular muscle group, and will be parallel with the new direction of motion four compose in parallel a new longitudinal muscle group, exercise the function of longitudinal muscle; Will be vertical eight with the new direction of motion, two new circular muscle groups before and after forming, the function of enforcement coelenterate circular muscle.This crawl walking mechanism need not to adjust attitude like this, can be implemented in the pipe forwards, backwards, up and down, the walking of wriggling arbitrarily of left and right sides all directions, smoothly by " L " type, T-shape,
The type pipe joint.
For understanding technical solution of the present invention better, describe in further detail below in conjunction with drawings and Examples.
Fig. 1 is a wriggling component structure schematic diagram of the present invention.
Wriggling element shown in the figure is bias type marmem creeping mechanism in parallel, respectively there is an elasticity folder 4 at the two ends of creeping mechanism, two one ends protrude in the cylindrical sleeves 2 that is step-like and are installed with a marmem SMA helical spring 3, clamp with elasticity folder 4 at the two ends of SMA helical spring 3, be with a common helical spring 1 in the outside of cylindrical sleeves 2, its two ends withstand on the step place of cylindrical sleeves 2 respectively.
Fig. 2 is a regular cube type structural representation of the present invention.
Among the figure as seen, the square build crawl walking mechanism of in-pipe robot can assemble along bias type marmem wriggling element in parallel (numbering is from 1# to 12#) and eight feets 5 of axis contraction and diastole by 12, outward appearance is the regular cube type, 12 marmem wriggling elements are positioned at 12 seamed edge places of regular cube, are assembled into one by eight feets 5 that are positioned at place, eight summits of regular cube.
When the normal direction on 1#, 2#, four wrigglings of 3#, 4# plane, element place in the direction of travel of robot and the crawl walking mechanism is consistent, 5#, 6#, four wrigglings of 7#, 8# element are formed the longitudinal muscle group, 1#, 2#, four wrigglings of 3#, 4# element are formed a circular muscle group, and 9#, 10#, four wrigglings of 11#, 12# element are formed another circular muscle group.When robot need be when the normal direction on 1#, 5#, four wrigglings of 9#, 8# plane, element place be moved, break the composition of wriggling element in above-mentioned longitudinal muscle group and the circular muscle group, form a new longitudinal muscle group by 2#, 4#, four wrigglings of 12#, 10# element, 1#, 5#, four wrigglings of 9#, 8# element are formed a new circular muscle group, and 6#, 3#, four wrigglings of 7#, 11# element are formed another new circular muscle group.
Controlling the process of this crawl walking mechanism wriggling walking in pipe, in fact is exactly to control the process of 12 wriggling elements according to certain time sequence contraction and diastole.
The contraction of marmem wriggling element and diastole realize by making Coil Spring of Shape Memory Alloys generation cold cycling, the present invention adopts the mode of energising heating Coil Spring of Shape Memory Alloys to make marmem wriggling component shrinkage, with the sequential and the current's intensity of Single-chip Controlling energising.Adopt the helical spring mode of nature cooling shape memory alloy to make the diastole of marmem wriggling element.
Fig. 3 is the control circuit figure of the comprehensive wriggling walking in pipe of crawl walking mechanism among the present invention.
Among the figure, what enter 12 triodes after the single-chip microcomputer PIC16C711 output is ten two road pwm signals of being realized by software, triode plays switch and amplification, duty by the control pwm signal is recently controlled intensity by the average current of Coil Spring of Shape Memory Alloys SMA, the intensity of average current is divided Three Estate, the heat that they produce makes the Coil Spring of Shape Memory Alloys intensification that the martensite reverse transformation takes place respectively, it is temperature-resistant to keep the high temperature austenite state, the martensite phase transformation takes place in cooling, make marmem wriggling element be in contraction state respectively, keep contraction state and diastole state.Control the sequential of 12 marmems wriggling component shrinkage and diastole by the sequential of controlling 12 pwm signals, realize that this crawl walking mechanism comprehensive wriggling in pipe walks.
When adopting bias type marmem creeping mechanism in parallel to make the wriggling element, in the motion wriggling element that belongs in same group is heated and stop heating simultaneously, they are acted in agreement at the volley.When adopting cylinder to make the wriggling element, in the motion directional control valve that belongs to the cylinder in same group is switched simultaneously, they are acted in agreement at the volley.
Claims (3)
1, a kind of Cubical creeping and walking mechanism of intertube robot, it is characterized in that assembling by 12 wriggling element and eight feets (5) that can shrink vertically with diastole, be the regular cube type, 12 wriggling elements are positioned at 12 seamed edge places of regular cube, be assembled into one by eight feets (5) that are positioned at place, eight summits of regular cube, feet (5) is spherical in shape with the tube wall contact position.
2, a kind ofly it is characterized in that adopting 12 to allow radially to produce diastrophic wriggling element as the square build crawl walking mechanism of the said in-pipe robot of claim 1, the wriggling element is fixedlyed connected with the feet place.
3, a kind ofly it is characterized in that adopting 12 not allow radially to produce diastrophic wriggling element as the square build crawl walking mechanism of the said in-pipe robot of claim 1, the wriggling element is connected with ball pivot with the feet place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99113962A CN1081112C (en) | 1999-08-06 | 1999-08-06 | Cubical creeping and walking mechanism of intertube robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99113962A CN1081112C (en) | 1999-08-06 | 1999-08-06 | Cubical creeping and walking mechanism of intertube robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1249985A true CN1249985A (en) | 2000-04-12 |
| CN1081112C CN1081112C (en) | 2002-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN99113962A Expired - Fee Related CN1081112C (en) | 1999-08-06 | 1999-08-06 | Cubical creeping and walking mechanism of intertube robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1077484C (en) * | 1999-12-10 | 2002-01-09 | 上海交通大学 | Pneumatic creeping cable robot |
| CN103133818A (en) * | 2013-02-27 | 2013-06-05 | 北京交通大学 | Pipeline robot |
| CN103831818A (en) * | 2014-02-26 | 2014-06-04 | 南京航空航天大学 | Cube rod mechanism achieving space three-freedom-degree class ball joint rotation through liner driving |
| CN104908838A (en) * | 2015-06-26 | 2015-09-16 | 赵姝颖 | Transformed-wheel human-shaped robot with cubic structure |
| CN106313033A (en) * | 2016-11-10 | 2017-01-11 | 燕山大学 | Truss-type flexible manipulator |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2187097Y (en) * | 1993-09-16 | 1995-01-11 | 哈尔滨工业大学 | Walking mechanism in tube for peristaltic robot |
| CN2202021Y (en) * | 1994-06-22 | 1995-06-28 | 哈尔滨工业大学 | Robert moving mechanism in tube with stright moving wheels |
| CN1043325C (en) * | 1995-01-19 | 1999-05-12 | 太原工业大学 | Robot walking in pipe |
-
1999
- 1999-08-06 CN CN99113962A patent/CN1081112C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1077484C (en) * | 1999-12-10 | 2002-01-09 | 上海交通大学 | Pneumatic creeping cable robot |
| CN103133818A (en) * | 2013-02-27 | 2013-06-05 | 北京交通大学 | Pipeline robot |
| CN103133818B (en) * | 2013-02-27 | 2014-12-24 | 北京交通大学 | Pipeline robot |
| CN103831818A (en) * | 2014-02-26 | 2014-06-04 | 南京航空航天大学 | Cube rod mechanism achieving space three-freedom-degree class ball joint rotation through liner driving |
| CN103831818B (en) * | 2014-02-26 | 2016-01-20 | 南京航空航天大学 | The cube linkage that linear drives implementation space Three Degree Of Freedom class ball-joint rotates |
| CN104908838A (en) * | 2015-06-26 | 2015-09-16 | 赵姝颖 | Transformed-wheel human-shaped robot with cubic structure |
| CN106313033A (en) * | 2016-11-10 | 2017-01-11 | 燕山大学 | Truss-type flexible manipulator |
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| Publication number | Publication date |
|---|---|
| CN1081112C (en) | 2002-03-20 |
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