CN201386881Y - Electromagnetic wedge-shaped micro-pipeline robot - Google Patents
Electromagnetic wedge-shaped micro-pipeline robot Download PDFInfo
- Publication number
- CN201386881Y CN201386881Y CN200920064051U CN200920064051U CN201386881Y CN 201386881 Y CN201386881 Y CN 201386881Y CN 200920064051 U CN200920064051 U CN 200920064051U CN 200920064051 U CN200920064051 U CN 200920064051U CN 201386881 Y CN201386881 Y CN 201386881Y
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- permanent magnet
- slide block
- type slide
- wedge type
- coil carrier
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Abstract
The utility model discloses an electromagnetic wedge-shaped micro-pipeline robot comprising an extending and contracting mechanism and two supporting mechanisms, wherein both ends of the extending and contracting mechanism are respectively connected with one supporting mechanism; the supporting mechanism comprises a fusiform base body, a permanent magnet wedge-shaped slide block and a coil carrier, wherein the spindly base body is formed by a middle coil carrier and cone-shaped parts positioned on both ends of the middle coil carrier; the coil carrier is connected with the cone-shaped parts; the coil carrier and the middle coil carrier are both wound with electromagnet coils; the cone-shaped parts are both uniformly provided with at least two guide chutes along a circumferential direction, the bottoms of the guide chutes are arranged in an inclining way corresponding to axle wires of the cone-shaped parts, each guide chute is internally provided with one permanent magnet wedge-shaped slide block. The electromagnetic wedge-shaped micro-pipeline robot has the advantages of simple structure, high carrying capacity, two-way motion and high caliber change adaptation capacity.
Description
Technical field
The utility model relates to the microtubule robot field, relates in particular to electromagnetic wedge-type microtubule robot.
Background technique
Operation exists very big difficulty and dangerous in microchannel, and microtubule robot provides a kind of otherwise effective technique approach for it.At present, microtubule robot is mainly used in the numerous tiny pipeline of industries existence such as nuclear power station, cogeneration power plant, chemical industry, refrigeration and the detection of various complex power system pipelines.Numerous countries all pay much attention to the development of microtubule robot, and numerous and confused infusion of financial resources and time have been launched research to such Robotics, and have obtained certain achievement in research.The research laboratory of Japan DENSO CORP company has developed a kind of stacked piezoelectric final controlling element microrobot, this robot is made up of four parts: the thin-sheet metal spindle matrix that 60um is thick, two vortex sensors detect wall defects, motion (motion comprises that three U-shaped spring clip clamping unit elasticity are adjacent to tube wall, a stacked piezoelectric final controlling element and a mass block) and radiating fin, the robot diameter only is 5.5mm, be applicable to the straight tube or the bend pipe of 8mm caliber, travelling speed 10mm/s.Precision optical machinery research institute of Shanghai University is studied two kinds of piezo actuator robots, and wherein stacked piezoelectric final controlling element robot can be suitable for 10mm caliber level or vertical pipeline intraductal operation, forward velocity 2.19mm/s, and astern speed 2.48mm/s is of a size of
9.8 * 22mm has the grade ability of 0～90 degree; Bimorph final controlling element robot is suitable for 20mm caliber level, vertically or in the crooked pipeline detects, and the interior speed up and down of vertical tube is respectively 4～6mm/s, 17～22mm/s.
At present the mode of advancing of microtubule robot mainly contains wheeledly directly to advance, wheeled helical advances and creeping type, no matter adopt wherein any mode, frictional force between microtubule robot traveller and the tube wall is a certain fixed value, and the tractive force of microtubule robot is less than this frictional force, must correspondingly increase frictional force so desire improves tractive force, have less surface friction drag when still but wishing to obtain bigger tractive force in actual applications.In addition, the microtubule robot that has the bidirectional-movement function at present is not very desirable at the tractive force aspect of performance, for example the small in-pipe robot based on the compound driving of cymbals shape piezoelectricity of Zhejiang University's development in 2005 advances and return motion all operates steadily, but maximum drawbar pull only has 15mN.At last, at present in the microtubule robot field, mainly connect by universal joint or ball pivot between the robot module, this traditional Placement has limited the application of robot in small-caliber pipeline or deep camber bend pipe on a lot of degree.
The model utility content
The technical problems to be solved in the utility model is to overcome the deficiencies in the prior art, provide a kind of simple in structure, load capacity is high, can make bidirectional-movement, caliber changes the strong electromagnetic wedge-type microtubule robot of adaptive capacity.
For solving the problems of the technologies described above, the utility model by the following technical solutions:
A kind of electromagnetic wedge-type microtubule robot, comprise extending means and two support mechanisms, the two ends of described extending means link to each other with a support mechanism respectively, described support mechanism comprises the spindle matrix, permanent magnet wedge type slide block and coil supporter, described spindle matrix is made of intermediate coil carrier and the tapering part that is positioned at intermediate coil carrier two ends, coil supporter is connected with tapering part, all be arranged with electromagnet coil on coil supporter and the intermediate coil carrier, tapering part along the circumferential direction evenly offers at least two guide chutes, the bottom of described guide chute is in tilted layout with respect to the medial axis of tapering part, all installs a permanent magnet wedge type slide block in each guide chute.
The cone angle of two sections tapering parts is α on the described spindle matrix, and the friction angle between tapering part and the permanent magnet wedge type slide block is ψ
1, the friction angle between permanent magnet wedge type slide block and the microtubule inwall is ψ
2, α＜ψ
2-ψ
1
Described extending means is connected by spring with the coil supporter of each support mechanism.
Compared with prior art, advantage of the present utility model is: electromagnetic wedge-type microtubule robot of the present utility model, axial position with electromagnet coil control permanent magnet wedge type slide block, when producing axial displacement, permanent magnet wedge type slide block changes the radial position of permanent magnet wedge type slide block by tapering part in the spindle matrix, permanent magnet wedge type slide block is opened with respect to inner-walls of duct or tighten up, when permanent magnet wedge type slide block is in open configuration, can form self-locking with inner-walls of duct, for obtaining enough big tractive force, pipeline robot provides support, when permanent magnet wedge type slide block is in when tightening up state, do not contact with inner-walls of duct, mobile the provide advantage of pipeline robot in pipeline is provided, because permanent magnet wedge type slide block can form self-locking with inner-walls of duct, so the stiction of pipeline robot and inner-walls of duct will increase along with the increase of load, make the load capacity of pipeline robot no longer be subject to the frictional force of a certain fixed size, can under the situation of heavy load, still keep high-speed motion; Can realize robot in ducted bidirectional walking and walking commutation by the cooperation between permanent magnet wedge type slide block, electromagnet coil and the extending means, and can in case of emergency fast and safely withdraw from from either direction; Permanent magnet can slide in dovetail groove, slides onto diverse location in the dovetail groove according to the variation of caliber or turning radius, makes pipeline robot change caliber and direction and has stronger adaptability; Extending means is connected by spring with support mechanism, can transmit the motion of extending means, and reduce requirement, play the effect of shock absorbing the extending means starting torque, also strengthened the flexibility of pipeline robot simultaneously, made pipeline robot and to become the caliber pipeline by deep camber.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the structural representation of support mechanism of the present utility model;
Fig. 3 is the structural representation of spindle matrix of the present utility model;
Fig. 4 is the structural representation of permanent magnet wedge type slide block of the present utility model;
Fig. 5 is the force analysis figure of permanent magnet wedge type slide block of the present utility model when being in self-locking state;
Fig. 6 is the force analysis figure of permanent magnet wedge type slide block of the present utility model when being in relaxed state;
Fig. 7 is the step decomposing schematic representation of robot of the present utility model when moving right;
Fig. 8 is that robot of the present utility model is in the structural representation under the two-way hauling-out state.
Each label is represented among the figure:
1, extending means 2, support mechanism
3, spring 21, spindle matrix
22, permanent magnet wedge type slide block 23, coil supporter
211, guide chute 212, intermediate coil carrier
213, tapering part 214, wire through-hole
215, main coil 216, secondary coil
Embodiment
As shown in Figures 1 to 4, electromagnetic wedge-type microtubule robot of the present utility model, comprise extending means 1, two support mechanisms 2 and two springs 3, two support mechanisms 2 are symmetrically arranged in extending means 1 two ends, each support mechanism 2 comprises spindle matrix 21, permanent magnet wedge type slide block 22 and coil supporter 23, spindle matrix 21 is made of intermediate coil carrier 212 and the tapering part 213 that is positioned at intermediate coil carrier 212 two ends, coil supporter 23 is connected with tapering part 213, all be arranged with electromagnet coil on coil supporter 23 and the intermediate coil carrier 212, tapering part 213 along the circumferential direction evenly offers at least two guide chutes 211, the bottom of guide chute 211 is in tilted layout with respect to the medial axis of tapering part 213, all install a permanent magnet wedge type slide block 22 in each guide chute 211, extending means 1 is connected by a spring 3 with the coil supporter 23 of each support mechanism 2.Extending means 1 is used for drive machines people elongation and shortens, support mechanism 2 can be supported on robot on the inwall of pipeline, connect extending means 1 and support mechanism 2 by spring 3, can transmit the motion of extending means 1, and reduced requirement to extending means 1 starting torque, play the effect of shock absorbing, also strengthened the flexibility of pipeline robot simultaneously, make pipeline robot and to become the caliber pipeline by deep camber.
In the present embodiment, the coil supporter 23 and the intermediate coil carrier 212 of each support mechanism 2 are cylindrical body, tapering part 213 is a circular cone, be connected by tapering part 213 between intermediate coil carrier 212 and the coil supporter 23, tapering part 213 is a bigger diameter end near an end of intermediate coil carrier 212, and an end of close coil supporter 23 is a miner diameter end.What twine on the intermediate coil carrier 212 is one group of main coil 215, twine one group of secondary coil 216 on two coil supporters 23 respectively, each is organized electromagnet coil and all adopts independent circuit control break-make, and spindle matrix 21 is provided with wire through-hole 214 vertically, is used to arrange the lead that connects electromagnet coil.Guide chute 211 evenly is provided with three along the circumferencial direction of tapering part 213, and along tapering part 213 surface tilt settings, one of installing can be along the permanent magnet wedge type slide block 22 of guide chute 211 slips in each guide chute 211.Guide chute 211 is the dovetail type cell body, and the joint that permanent magnet wedge type slide block 22 cooperates with guide chute 211 is the dovetail joint shape, and permanent magnet wedge type slide block 22 is the N utmost point near an end of intermediate coil carrier 212, and an end of close coil supporter 23 is the S utmost point.When permanent magnet wedge type slide block 22 slides into tapering part 213 miner diameter ends, permanent magnet wedge type slide block 22 can draw in fully in spindle matrix 21, this structure can be reduced radially pipeline robot to greatest extent and is taken up room, be suitable in the microminiature pipeline, working, by the less bending pipeline of radius of curvature.The cone angle of two sections tapering parts 213 is α on the spindle matrix 21, and the friction angle between tapering part 213 and the permanent magnet wedge type slide block 22 is ψ
1, the friction angle between permanent magnet wedge type slide block 22 and the microtubule inwall is ψ
2, α＜ψ
2-ψ
1, α in the present embodiment=6 °; ψ
1=8.53 °; ψ
2=2.72 °.When permanent magnet wedge type slide block 22 is in self-locking state, its force-bearing situation as shown in Figure 5, G is the resistance that prevents that permanent magnet wedge type slide block 22 from gliding among Fig. 5, the active tractive force that F provides for extending means 1, F
1For tube wall acts on active force on the permanent magnet wedge type slide block 22, F
2For spindle matrix 21 acts on active force on the permanent magnet wedge type slide block 22, because G+F
1Sin ψ
2=F
2Sin (ψ
1+ a), and F1cos ψ
2=F2cos (ψ
2+ a), then can get: G=F (1-tan ψ
2/ tan (ψ
1+ a)), making G≤0, can get: tan ψ
2〉=tan (ψ
1+ a).So as α＜ψ
2-ψ
1The time, resistance G≤0 shows between permanent magnet wedge type slide block 22 and the tube wall and has realized self-locking, and therefore, no matter how tractive force F increases, and permanent magnet wedge type slide block 22 all can not slide.When permanent magnet wedge type slide block 22 is in relaxed state, its force-bearing situation as shown in Figure 6, the active tractive force that F provides for extending means 1 among Fig. 6, F
3Be the active force of tube wall to permanent magnet wedge type slide block 22, spindle matrix 21 is after the effect that is subjected to F, permanent magnet wedge type slide block 22 is lost supporting effect, permanent magnet wedge type slide block 22 and tube wall between disengage with tube wall under the effect of frictional force, make that support mechanism 2 can begin to move along pipeline axial.
Working principle of the present utility model: electromagnetic wedge-type microtubule robot of the present utility model, robot walks in pipeline by the realization of the cooperation between permanent magnet wedge type slide block 22, electromagnet coil and the extending means 1.Axial position with electromagnet coil control permanent magnet wedge type slide block 22, when producing axial displacement, permanent magnet wedge type slide block 22 changes the radial position of permanent magnet wedge type slide block 22 by tapering part in the spindle matrix 21 213, permanent magnet wedge type slide block 22 is opened with respect to inner-walls of duct or tighten up, when permanent magnet wedge type slide block 22 is in open configuration, form self-locking with inner-walls of duct, for obtaining enough big tractive force, pipeline robot provides support, when permanent magnet wedge type slide block 22 is in when tightening up state, do not contact, mobile the provide advantage of pipeline robot in pipeline is provided with inner-walls of duct.
Electromagnetic wedge-type microtubule robot of the present utility model is in basic movement process, and a cycle of motion comprises four steps, is example below to move right in microtubule, and the motion principle of electromagnetic wedge-type microtubule robot is elaborated.
Shown in Fig. 7 a, electromagnetic wedge-type microtubule robot places in the microtubule, during original state, extending means 1 full extension, each permanent magnet wedge type slide block 22 in two support mechanisms 2 all is positioned at the end away from intermediate coil carrier 212, permanent magnet wedge type slide block 22 is the S utmost point near a side of secondary coil 216, and a side of close main coil 215 is the N utmost point.
Step 4, shown in Fig. 7 e, the permanent magnet wedge type slide block 22 in two support mechanisms 2 continues to keep the state described in the step 3; Extending means 1 begins to stretch out, the support mechanism 2 that the promotes right-hand member segment distance that moves right.At this moment, the support mechanism 2 of left end is the mobile tractive force that provides of right-hand member support mechanism 2 by the wherein permanent magnet wedge type slide block 22 and the inner-walls of duct formation self-locking of left end.
So far, finished a cycle of motion that moves right, the robot integral body step pitch h that moved up just can realize to left movement according to sequence of movement in contrast to this.
In step 3, the support mechanism 2 of right-hand member can also adopt the mode identical with the support mechanism 2 of left end to control, make in the support mechanism 2 of right-hand member, the permanent magnet wedge type slide block 22 of left end moves to the end near intermediate coil carrier 212 along guide chute 211, permanent magnet wedge type slide block 22 until left end contacts with inner-walls of duct, and the permanent magnet wedge type slide block 22 of right-hand member keeps static.When under this kind state, carrying out step 4, the function of the support mechanism 2 of left end is identical with function in the above-mentioned steps four, in the support mechanism 2 of right-hand member, though left end permanent magnet wedge type slide block 22 contacts with inner-walls of duct, but can not form self-locking with inner-walls of duct, do not move right so do not influence the support mechanism 2 of extending means 1 promotion right-hand member, simultaneously, left end permanent magnet wedge type slide block 22 can also play certain leading role under this kind state.
When urgency takes place pipeline robot to be hauled out pipeline under external force, can adopt following measure:, then can directly haul out along its moving direction if this moment, pipeline robot was in motion state; Also pipeline robot can be adjusted into two-way hauling-out state as shown in Figure 8, this moment, pipeline robot and pipeline broke away from fully, all can withdraw from safely along pipe ends.
Claims (3)
1, a kind of electromagnetic wedge-type microtubule robot, comprise extending means (1) and two support mechanisms (2), the two ends of described extending means (1) link to each other with a support mechanism (2) respectively, it is characterized in that: described support mechanism (2) comprises spindle matrix (21), permanent magnet wedge type slide block (22) and coil supporter (23), described spindle matrix (21) is made of intermediate coil carrier (212) and the tapering part (213) that is positioned at intermediate coil carrier (212) two ends, coil supporter (23) is connected with tapering part (213), all be arranged with electromagnet coil on coil supporter (23) and the intermediate coil carrier (212), tapering part (213) along the circumferential direction evenly offers at least two guide chutes (211), the bottom of described guide chute (211) is in tilted layout with respect to the medial axis of tapering part (213), all installs a permanent magnet wedge type slide block (22) in each guide chute (211).
2, electromagnetic wedge-type microtubule robot according to claim 1, it is characterized in that: the cone angle of the last two sections tapering parts of described spindle matrix (21) (213) is α, and the friction angle between tapering part (213) and the permanent magnet wedge type slide block (22) is ψ
1, the friction angle between permanent magnet wedge type slide block (22) and the microtubule inwall is ψ
2, α＜ψ
2-ψ
1
3, electromagnetic wedge-type microtubule robot according to claim 1 and 2 is characterized in that: described extending means (1) is connected by spring (3) with the coil supporter (23) of each support mechanism (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920064051U CN201386881Y (en) | 2009-04-13 | 2009-04-13 | Electromagnetic wedge-shaped micro-pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920064051U CN201386881Y (en) | 2009-04-13 | 2009-04-13 | Electromagnetic wedge-shaped micro-pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201386881Y true CN201386881Y (en) | 2010-01-20 |
Family
ID=41579416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200920064051U Expired - Fee Related CN201386881Y (en) | 2009-04-13 | 2009-04-13 | Electromagnetic wedge-shaped micro-pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201386881Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106214107A (en) * | 2016-07-14 | 2016-12-14 | 上海交通大学 | Active exercise unit for electromagnetic drive type intestinal microrobot |
| CN111237587A (en) * | 2020-04-28 | 2020-06-05 | 上海彩虹鱼海洋科技股份有限公司 | Recoverable pipeline detection robot |
| CN112212122A (en) * | 2020-10-12 | 2021-01-12 | 东北电力大学 | Soft micro robot for pipeline detection and cleaning |
| CN113374983A (en) * | 2021-05-08 | 2021-09-10 | 上海工程技术大学 | Piezoelectric driving miniature pipeline detection robot |
-
2009
- 2009-04-13 CN CN200920064051U patent/CN201386881Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106214107A (en) * | 2016-07-14 | 2016-12-14 | 上海交通大学 | Active exercise unit for electromagnetic drive type intestinal microrobot |
| CN111237587A (en) * | 2020-04-28 | 2020-06-05 | 上海彩虹鱼海洋科技股份有限公司 | Recoverable pipeline detection robot |
| CN112212122A (en) * | 2020-10-12 | 2021-01-12 | 东北电力大学 | Soft micro robot for pipeline detection and cleaning |
| CN113374983A (en) * | 2021-05-08 | 2021-09-10 | 上海工程技术大学 | Piezoelectric driving miniature pipeline detection robot |
| CN113374983B (en) * | 2021-05-08 | 2022-08-23 | 上海工程技术大学 | Piezoelectric driving miniature pipeline detection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100120 Termination date: 20110413 |