CN211716048U

CN211716048U - Electromagnetic differential type self-adaptive pipeline robot

Info

Publication number: CN211716048U
Application number: CN201921984140.1U
Authority: CN
Inventors: 张雅荣
Original assignee: Xian University of Architecture and Technology
Current assignee: Xian University of Architecture and Technology
Priority date: 2019-11-18
Filing date: 2019-11-18
Publication date: 2020-10-20
Anticipated expiration: 2029-11-18

Abstract

The utility model provides an electromagnetism differential formula self-adaptation pipeline robot, includes the fuselage, is located the fuselage both ends and is provided with criss-cross auxiliary stay mechanism respectively, installs magnet preloading mechanism between the tip of both sides auxiliary stay mechanism, and magnet preloading mechanism outside symmetry is provided with drive wheel and auxiliary wheel, has differential mechanism at fuselage internally mounted, and the drive wheel links to each other with differential mechanism. The utility model discloses on existing differential mechanism's basis, add electromagnetism pretension mechanism and control module, the drive to the robot is accurate control in addition to improve the robot efficiency of moving ahead and return bend trafficability characteristic, in order to guarantee that it has stronger obstacle crossing ability.

Description

Electromagnetic differential type self-adaptive pipeline robot

Technical Field

The utility model relates to an oil gas pipeline transportation technical field, in particular to electromagnetism differential formula self-adaptation pipeline robot.

Background

With the continuous development of society, pipelines are widely applied to industry and daily life, such as natural gas pipelines, underground water pipelines and the like. The pipelines can be subjected to the action of the medium inside and outside the pipeline to generate phenomena of corrosion, scaling, cracks, perforation and the like in the long-term use process, not only can cause the pipeline to lose efficacy and influence the normal operation of transportation operation, but also can easily cause serious safety accidents to cause disastrous results. However, the pipeline robot has the advantages of limited internal space, complex structure and high difficulty in manual maintenance, so that the pipeline robot can be operated at the same time for improving the working accuracy and efficiency.

Several kinds of common pipeline robots are mainly: fluid-driven pipeline robots, wheeled pipeline robots, walking pipeline robots, and peristaltic pipeline robots. The driving force of the fluid driven pipeline robot is directly from fluid, and the fluid driven pipeline robot can be effectively driven only in a pipeline with large diameter and enough pressure. The walking type pipeline robot has the structure like an animal leg, has high walking speed, needs a very complicated mechanical structure and a plurality of groups of drivers, and is not generally adopted. The peristaltic pipeline robot adopts a pneumatic mode to drive the contraction and the extension of the front end and the rear end, and the driving mode has limited traction force and large energy loss. The wheel type motion mode has the advantages of high walking speed, large dragging force, simple structure and the like, and is adopted by most large and medium-sized oil and gas conveying pipeline operation robots. However, when the wheel type pipeline robot passes through the bent pipe, if the wheel type pipeline robot does not have the differential function, certain driving wheels can generate movement interference, so that the effective dragging force of the robot is reduced, and the abrasion of a transmission part is aggravated.

Disclosure of Invention

For overcoming the not enough of above-mentioned prior art, the utility model aims to provide an electromagnetism differential formula self-adaptation pipeline robot, on the basis that has differential mechanism, add electromagnetism pretension mechanism and control module, the drive to the robot is accurate control in addition to improve the robot efficiency of moving ahead and return bend trafficability characteristic, in order to guarantee that it has stronger obstacle-crossing ability.

In order to realize the purpose, the utility model discloses a technical scheme is:

the utility model provides an electromagnetism differential formula self-adaptation pipeline robot, includes fuselage 6, is located 6 both ends of fuselage and is provided with criss-cross auxiliary stay mechanism 4 respectively, installs magnet pretension mechanism 3 between the tip of both sides

auxiliary stay mechanism

4, and 3 outside symmetries of magnet pretension mechanism are provided with drive wheel 2 and auxiliary wheel 5, have differential mechanism 1 at 6 internally mounted of fuselage, and drive wheel 2 links to each other with differential mechanism 1.

The magnet pre-tightening mechanism 3 is of an arc-shaped structure, and the arc-shaped structure is inwards concave.

The driving wheel 2 is arranged at the end part of the machine body 6 in a radial quartering way, and the auxiliary wheel 5 is arranged at the other end of the machine body 6 in a quartering way at the position corresponding to the driving wheel 2.

The driving mode of the driving wheel 2 is a straight wheel type driving.

The differential mechanism 1 is a three-axis differential mechanism.

The driving wheel 2 is driven by a driving motor in the machine body 6, and the driving wheel 2 is connected with the driving motor through a differential mechanism 1.

And a small superconductor is arranged on the surface of the magnet pre-tightening mechanism 3.

The machine body 6 is provided with four parts, namely a power management module, a single chip microcomputer module, a sensor module and a motor driving module; the single chip microcomputer module, the sensor module and the motor driving module are powered through the power management module, the sensor module comprises a photoelectric sensor signal processor and a control circuit, a photoelectric conversion circuit can convert optical signals received by a photoelectric sensor into electric signals and transmit received voltage values to the single chip microcomputer module, and the output end of the single chip microcomputer module is connected with the driving wheel 2.

The front and back positions of the side body of the machine body 6 are respectively provided with a photoelectric sensor and a light source device.

The single chip microcomputer module and the sensor module are LM 1117-5.

The driving motor adopts an L293 driving chip.

The utility model has the advantages that:

the robot adopts a mode of front wheel driving and rear wheel auxiliary supporting, a magnet pre-tightening mechanism is innovated to serve as a pipeline robot pipe diameter self-adaptive mechanism, the change of the magnet variable diameter pre-tightening force is small, the self-adaptive capacity is strong, and the property of the magnet can be changed by replacing different magnets, so that a larger variable diameter range is realized; utilize STC89C52RC singlechip and photoelectric sensor to constitute control system, the utility model discloses a device from seeking the light track is to advancing of robot in addition accurate control to the problem that the robot is difficult to the self-adaptation turn in the return bend stage has been solved.

Drawings

Fig. 1 is a schematic view of the overall structure of the pipeline robot.

Fig. 2 is a schematic diagram of the spatial distribution of the overall design.

Fig. 3 is a schematic diagram of the principle of the electromagnetic differential pipeline robot.

Fig. 4 is a schematic view of the principle of the control part for realizing the precise turning when passing through the bent pipe.

Fig. 5 is a schematic diagram of the magnet pre-tightening reducing principle.

Fig. 6 is a schematic diagram of the overall design of the control system.

Fig. 7 is a driving circuit diagram of the L293 driving chip.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1, an electromagnetic differential type adaptive pipeline robot comprises the following basic components: differential mechanism 1, drive wheel 2 (4), magnet pretension mechanism 3, supplementary supporting mechanism 4, auxiliary wheel 5 (4) and fuselage 6. The schematic diagram of the spatial distribution structure is shown in fig. 2.

In order to ensure that the output speed of the driving unit of the pipeline robot is uniform, the driving unit is relatively stable in the advancing process, and can adapt to a working state with a larger load, thereby realizing the function of a self-adaptive pipeline. A straight-wheel drive is adopted, and a single motor is used as a main power source, so that a brand-new drive unit is designed. The working principle of the three-axis differential mechanism is as follows:

(1) the magnet reducing mechanism 3 changes the distance between two like poles by the pressure of the pipe wall acting on the machine body, thereby realizing the pre-tightening reducing of the three-axis differential pipeline robot.

(2) When the pipe bending stage works, the power provided by the driving motor can be transmitted to the three-axis differential mechanism and the driving arm, so that the differential function is realized.

As shown in fig. 5: the magnet reducing mechanism 3 changes the pre-tightening reducing mode used in the past in the design of the electromagnetic differential self-adaptive pipeline robot, and creates a new pre-tightening reducing method: the magnet is pre-tightened and the diameter is changed. As shown in fig. 5, the distance is changed based on the principle that like poles of magnets repel each other and the repulsive force between magnetic poles is inversely proportional to the distance between the magnetic poles.

The magnet reducing pretightening force is small in change and strong in self-adaptive capacity, and the properties of the magnet can be changed by replacing different magnets, so that a larger reducing range is realized. In order to enhance the diameter-changing stability, small superconductors can be arranged on the surface of the magnet.

As shown in fig. 6: and (3) analyzing the overall design of the system:

the design has four parts, namely a power management module, a single chip microcomputer module, a sensor module and a motor driving module.

In the whole control system, the power management of all the modules is realized by the power supply module. The singlechip and the photoelectric tube can work only by 5V voltage, and the motor needs to provide 6V voltage.

Hardware aspect: the photoelectric sensor mainly comprises a photoelectric sensor signal processor and a control circuit. The photoelectric conversion circuit performs a certain processing on the optical signal received by the photoelectric sensor, thereby converting the optical signal into an electrical signal. Then, transmit the received voltage value for the singlechip, the certain algorithm of singlechip effect is assigned the instruction to the steering wheel to change drive wheel 2 and turn to, make pipeline robot can seek light walking voluntarily.

Software aspect: the single chip microcomputer is a core part of the control system, and outputs an instruction to the driving motor after analog-to-digital conversion is carried out on the acquired signal, so that the forward and reverse rotation of the driving motor is controlled.

The singlechip module is the most core part of the pipeline robot control system. It can carry out rigorous calculation to all digital signals of input to output an instruction and give the drive wheel, make the drive wheel accomplish the steering work of regulation angle, thereby guarantee that whole pipeline robot can normally work.

When the pipeline robot meets the elbow, the reflection phenomenon occurs to the light that the main light source sent through the elbow inflection point, and the photoelectric sensor is utilized to track the light, so that the elbow passing performance of the pipeline robot can be improved to a great extent.

The utility model discloses a theory of operation:

when the robot works, power is transmitted to the four driving wheels 2 through the differential mechanism 1 by the driving motor arranged in the robot body 6, and the driving wheels 2 can realize autonomous differential walking of the robot according to environmental constraints through differential adjustment of the differential mechanism 1; the electromagnetic pre-tightening mechanism 3 adjusts the positive pressure of the robot in the pipeline by utilizing the inverse relation between the repulsion force between the same poles of the magnets and the distance between the magnetic poles, so that the driving wheel 2 obtains enough positive pressure to meet the working condition requirements of different pipelines; the auxiliary wheels 5 on the auxiliary supporting mechanism 4 are arranged in one-to-one correspondence with the driving wheels 2, and the auxiliary wheels 5 can have enough pretightening force by adjusting the pretightening force, so that the auxiliary wheels 5 are kept in contact with the pipe wall, and the self-positioning and centering requirements of the robot in the operation process are met, as shown in fig. 3.

Fig. 4 is a schematic diagram of the control part for realizing accurate turning when the pipeline robot meets the bent pipe. Photoelectric sensor and light source are equipped with respectively around the pipeline robot side, because light meets the barrier and can take place the reflection, and the incident angle of light equals the reflection angle, and then can simulate out the robot route of advancing to a great extent. The parallel light emitted by the main light source is tracked in real time through the photoelectric sensor, the obtained light signal is converted into an electric signal through the photoelectric conversion circuit and is input into the single chip microcomputer, and an instruction is sent to the driving motor through the conversion of the digital-to-analog conversion circuit, so that the steering work of the driving wheel of the pipeline robot is completed. In both the straight pipe and the bent pipe, the traveling accuracy and efficiency of the pipeline robot can be improved to a great extent.

Claims

1. The utility model provides an electromagnetism differential formula self-adaptation pipeline robot, its characterized in that, includes fuselage (6), is located fuselage (6) both ends and is provided with criss-cross auxiliary stay mechanism (4) respectively, installs magnet preloading mechanism (3) between the tip of both sides auxiliary stay mechanism (4), and magnet preloading mechanism (3) outside symmetry is provided with drive wheel (2) and auxiliary wheel (5), has differential mechanism (1) at fuselage (6) internally mounted, and drive wheel (2) link to each other with differential mechanism (1).

2. The electromagnetic differential type adaptive pipeline robot as claimed in claim 1, wherein the magnet pre-tightening mechanism (3) is of an arc-shaped structure, and the arc-shaped structure is inwards concave.

3. An electromagnetic differential type adaptive pipeline robot as claimed in claim 1, characterized in that the driving wheel (2) is arranged at the end of the robot body (6) in a radial quarter way, and the auxiliary wheel (5) is arranged at the other end of the robot body (6) in a quarter way at the position corresponding to the driving wheel (2).

4. The electromagnetic differential type adaptive pipeline robot according to claim 1, characterized in that the driving wheel (2) is driven in a straight-wheel type.

5. An electromagnetic differential adaptive pipeline robot according to claim 1, characterized in that said differential mechanism (1) is a three-axis differential mechanism.

6. An electromagnetic differential type adaptive pipeline robot as claimed in claim 1, characterized in that the driving wheels (2) are driven by driving motors in the machine body (6), and the driving wheels (2) are connected with the driving motors through the differential mechanism (1).

7. The electromagnetic differential type adaptive pipeline robot according to claim 1, characterized in that the surface of the magnet pre-tightening mechanism (3) is provided with small superconductors.

8. The electromagnetic differential type adaptive pipeline robot according to claim 1, characterized in that the robot body (6) is provided with four parts of a power management module, a single chip module, a sensor module and a motor driving module; the sensor module comprises a photoelectric sensor signal processor and a control circuit, a photoelectric conversion circuit can convert optical signals received by the photoelectric sensor into electric signals and transmit the received voltage values to the single chip microcomputer module, and the output end of the single chip microcomputer module is connected with a driving wheel (2).

9. The electromagnetic differential type adaptive pipeline robot according to claim 8, characterized in that the lateral front and back positions of the robot body (6) are respectively provided with a photoelectric sensor and a light source.

10. The electromagnetic differential type adaptive pipeline robot of claim 8, wherein the single chip module and the sensor module are LM 1117-5.