WO2015089938A1 - 一种软体履带式管道机器人 - Google Patents

一种软体履带式管道机器人 Download PDF

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Publication number
WO2015089938A1
WO2015089938A1 PCT/CN2014/071994 CN2014071994W WO2015089938A1 WO 2015089938 A1 WO2015089938 A1 WO 2015089938A1 CN 2014071994 W CN2014071994 W CN 2014071994W WO 2015089938 A1 WO2015089938 A1 WO 2015089938A1
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WO
WIPO (PCT)
Prior art keywords
crawler
crawler belt
expansion body
soft
inflatable
Prior art date
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PCT/CN2014/071994
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English (en)
French (fr)
Inventor
刘清友
任涛
李雨佳
陈永华
Original Assignee
西南石油大学
刘清友
任涛
李雨佳
陈永华
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Application filed by 西南石油大学, 刘清友, 任涛, 李雨佳, 陈永华 filed Critical 西南石油大学
Publication of WO2015089938A1 publication Critical patent/WO2015089938A1/zh

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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
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • 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
    • F16L55/40—Constructional aspects of the body
    • F16L55/44—Constructional aspects of the body expandable
    • 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
    • F16L2101/10—Treating the inside of pipes

Definitions

  • the invention relates to the technical field of walking devices in pipelines, in particular to a soft crawler pipeline robot.
  • Pipeline robot technology is a comprehensive science and technology integrating automatic control technology, mechanical manufacturing technology, new materials, artificial intelligence testing technology and computer technology.
  • pipelines have been widely used in petroleum, chemical, natural gas and nuclear industries. After a period of operation of the pipeline, damage such as corrosion, cracks, dents or deformation may occur. In order to avoid accidents and prolong the life of the pipeline, it is especially important to carry out regular inspection and maintenance of the pipeline. In most cases, repairs to the pipeline must also take place within the pipeline after the pipeline has been damaged. However, the space inside the pipeline is small, and most of it is transported with toxic and harmful substances, which is difficult for manual maintenance. Therefore, there is a need for a pipeline tool that enables periodic inspection of the pipeline and enables repair work inside the pipeline.
  • Pipeline robots have been widely used in pipeline maintenance.
  • mobile pipe robots ie pipe pigs
  • wheeled pipe robots ie pipe pigs
  • crawler pipe robots the mobile robot needs to rely on the fluid to push forward and has no autonomous walking ability. Therefore, its moving speed and detection area are not easy to control, and the inner wall of the pipeline is required to be high.
  • the wheeled robot overcomes some of the shortcomings of the mobile robot, which can walk autonomously and can turn.
  • the wheel plane of the robot is not in the radial direction of the pipe, so there is a possibility of side slip, and there is also a certain requirement on the inclination of the pipe.
  • the crawler robot has a smoother movement and better obstacle performance, but its structure is complicated and it is not easy to be miniaturized.
  • the structure of the two-row track wheel is prone to tipping in the round tube.
  • a screw-driven pipeline robot such as the Chinese patent CN201210180267.4, which discloses a single motor, wheel and variable speed spiral hybrid drive pipeline robot, which comprises a screw drive, a wheel drive and a motor power output device. .
  • the wheel drive mode can be used to advance at a large speed, and the helix angle of the screw of the screw drive device is adjusted to 90 degrees.
  • the robot can be switched to a screw drive.
  • the electromagnet assembly releases the slip shunt shaft, and the power of the motor drives the rotating body to rotate by the meshing spur gear, thereby causing the inclined wheel to roll, generating an upward traction force, and the robot advances in a spiral shape.
  • this type of drive has some disadvantages. Since the tilting wheel is rotated by the rotating wheel frame, the friction of the intermediate mechanism causes a large energy loss, and the transmission motion is unreliable.
  • the traveling speed of the robot is affected by the rotation axis of the driving wheel and The influence of the angle of the axis of the body is small.
  • the spiral angle of the spiral path of the driving wheel is small, the driving force of the driving wheel is large, the driving wheel rotates faster, and the robot runs smoothly, but because The spiral angle of the spiral track is smaller and the forward speed is slower; as the angle increases, the force that drives the driving wheel rotates gradually, the driving wheel speed decreases but the spiral angle of the spiral path of the driving wheel increases, and the robot advance speed Will gradually increase with the increase of the angle, but when the value exceeds a certain value, the driving wheel speed is reduced to too small, the driving wheel speed is further reduced, resulting in a decrease in the forward speed of the robot and a decrease in the running stability of the robot.
  • the rotational speed of the driving wheel in the existing helical moving device varies with the angle between the rotation axis of the driving wheel and the axis of the body, and the running stability of the device is poor under different working conditions, and at the same time, since the driving wheel is driven
  • the wheel carrier drives the operation, so it is difficult to achieve accurate positioning and small displacement adjustment of the robot, and the handling is poor.
  • the object of the present invention is to overcome the shortcomings of the prior art and provide an active-driven crawler continuous spiral loop software crawler pipeline robot with high transmission efficiency, large axial traction force, stable and reliable operation and accurate position control.
  • a soft crawler pipeline robot comprising an inflatable expansion body and a motion executing device, the inside of the inflatable expansion body is a closed inflation chamber, and the inflation expansion body is connected with a charging and discharging device.
  • the center of the inflatable expansion body is provided with an axial passage
  • the movement executing device comprises a driving motor and a crawler
  • the crawler is spirally closed on the surface of the inflatable expansion body
  • the spiral closure is the end of the crawler from the inflatable expansion body Spirally wound around the outer surface of the inflated body
  • the track reaches the other end of the inflated body and then passes back from the axial passage to form a closed track
  • the lower portion of the track is spaced apart from a plurality of driving wheels for driving the crawler belt
  • each The drive wheels are each coupled to a drive motor that drives the rotation thereof and is fixed to the inflated body.
  • It also includes a control unit that is disposed within the inflatable body and that is coupled to the drive motor.
  • the control unit comprises a control circuit board and a cable, and the control circuit board is connected to the drive motor via a cable.
  • the inflatable expansion body comprises a casing and an air bag disposed in the casing, the air bag is connected to the charging and discharging device, the casing is provided with a spiral groove, and the track is disposed in the spiral groove.
  • the crawler belt is an elastic circular crawler belt having a circular cross section, and the driving wheel is a friction pulley, and the elastic circular crawler belt is in frictional contact with a driving wheel fixedly connected to the output shaft of the driving motor.
  • the track is a non-elastic track
  • the drive wheel is a pulley matched with the track
  • the inelastic track is driven by a drive wheel fixed to the output shaft of the drive motor.
  • the drive motor is disposed on an outer surface of the airbag.
  • the deflation device is a vent line connecting the air bag, and the vent line is connected to the tail of the inflatable expansion body.
  • the charging and discharging device is a micro pump disposed in the air bag, and the air bag is provided with a valve for controlling the inside of the inflation and expansion body to be connected or disconnected from the outside.
  • the invention has the following advantages: the invention combines the advantages of the crawler type and the screw type pipeline robot, and the crawler belt is driven and driven by the driving motor and the driving wheel, thereby reducing the energy loss caused by the transmission of the intermediate mechanism, and the transmission efficiency is high.
  • the crawler belt is a spiral continuous cycle, a closed loop is formed, thus preventing the phenomenon that the crawler belt is separated from the drive wheel when walking, so that the robot runs more smoothly and reliably; the crawler is driven actively, and the motor is controlled.
  • the speed, start and stop realize the adjustment of the axial position of the robot, which can achieve more precise control of the walking position of the robot.
  • Figure 1 is a schematic view of the structure of the present invention
  • Figure 2 is a schematic view of the internal structure of the present invention
  • Figure 3 is a schematic view of the lateral structure of the present invention
  • Figure 4 is a side cross-sectional structural view of the present invention
  • Figure 5 is a schematic view of the structure of the present invention.
  • Figure 6 is a schematic view showing the structure of the airbag and the cable of the present invention.
  • a software crawler type pipeline robot includes an inflatable expansion body 1 and a motion executing device.
  • the inflatable expansion body 1 is made of a flexible material, and the inside of the inflatable expansion body 1
  • the inflatable expansion body 1 is connected with a charging and deflation device that communicates with the inflation chamber.
  • the center of the inflation expansion body 1 is provided with an axial passage 3, and the motion executing device includes a driving motor 4 and a crawler belt 5, and a crawler belt 5 is spirally closed on the surface of the inflatable expansion body 1.
  • the spiral closure is such that the crawler belt 5 is spirally wound from the end of the inflatable expansion body 1 to the outer surface of the inflatable expansion body 1, and the crawler belt 5 reaches the inflatable expansion body 1.
  • the other end is inserted back into the axial passage 3 to form a closed crawler belt 5.
  • the lower portion of the crawler belt 5 is spaced apart from a plurality of drive wheels 6 for driving the crawler belt.
  • Each of the drive wheels 6 is connected with a drive for rotation and fixing.
  • the drive motor 4 on the inflated body 1 is distributed in a spiral equidistant manner.
  • control unit which is arranged in the inflatable expansion body 1 and which is connected to the drive motor 4.
  • the control unit comprises a control circuit board and a cable 10 which is connected to the drive motor 4 via a cable 10.
  • the inflatable expansion body 1 has a spherical shape or an ellipsoidal shape.
  • the inflatable expansion body 1 includes a casing 7 and an air bag 8 disposed in the casing 7. Both the outer casing 7 and the air bag 8 are made of a flexible and flexible material, and the outer casing 7 is provided with a spiral groove 9 which is disposed in the spiral groove 9 so that half of the circular crawler cross section is embedded therein to form a seal.
  • the structure prevents the impurities in the pipeline from entering the inside of the robot and disturbs its normal operation.
  • the driving wheel 6 is disposed at the bottom of the groove and is connected to the output shaft of the driving motor 4.
  • the airbag 8 and the outer casing 7 can change the volume as the input air pressure increases or decreases, thereby tensioning the crawler belt 5 and bringing the crawler belt 5 against the inner wall of the pipeline, and the crawler belt 5 is actively driven by the driving motor 4.
  • the spiral operation of the ground causes the inflatable expansion body 1 to advance or retreat along the pipeline; in the case where the cross section of the pipeline changes, the robot body is elastic, and the radial dimension of the pipeline can be changed according to the cross section of the pipeline, thereby adapting to a certain range.
  • the variation of different pipe diameters is shown in Figure 5.
  • the crawler belt 5 is an elastic circular crawler belt having a circular cross section
  • the driving wheel 6 is a friction pulley.
  • the elastic circular crawler belt is in frictional contact with the driving wheel 6 fixedly connected to the output shaft of the driving motor 4, and the driving wheel is driven by the driving wheel. 6 drives the track movement.
  • the concave radius of the driving wheel 6 should be consistent with the cross-sectional radius of the crawler belt 5, so that the tangential contact faces of the two are increased as much as possible, thereby improving the efficiency of the friction transmission.
  • the crawler belt 5 can also be an inelastic crawler belt.
  • the drive wheel 6 is a pulley that cooperates with the crawler belt 5, and the crawler belt is driven by a drive wheel 6 fixed to the output shaft of the drive motor 4.
  • the diameter of the pipe robot is changed by changing the axial length of the pipe robot.
  • the charge and discharge gas is used to change the length of the pipe robot, and the volume does not change, and the outer diameter changes due to the change in length.
  • the charging and deflation device is a vent line 2 that communicates with the air bag 8, and the vent line 2 is connected to the tail of the inflatable body 1.
  • the charging and discharging device may also be a micro pump disposed in the air bag 8.
  • the micro pump may be inflated (or liquid), and the air bag 8 is provided with a valve for controlling the inside of the inflatable body 1 to be connected or disconnected from the outside. The gas can be released.
  • the control unit is disposed in the airbag 8, the driving motor 4 is disposed on the outer surface of the airbag 8, and the cable 10 connecting the control circuit board and the driving motor 4 is reinforced by the portion of the airbag 8, and is casted at one time, as shown in FIG.
  • the airbag is integral with the cable 10, and there is no possibility of air leakage.
  • the cable 10 uses a multi-core wire.
  • the driving motor 4 is required to ensure the same type and the same rotating speed to ensure that the driving speed of the driving wheel 6 fixed on the driving motor 4 is uniform, so that the crawler belt 5 continuously and continuously runs continuously to prevent the local unevenness of the track 5 from being uneven. Tight and relaxed.
  • the working process of the present invention is as follows: the inflation-expanding body 1 changes in volume as the input air pressure of the charging and discharging device increases or decreases, thereby tensioning the crawler belt 5 and causing the crawler belt 5 to abut against the inner wall of the pipe, and the crawler belt 5 is driven.
  • the motor 4 actively rotates spirally to drive the inflatable expansion body 1 to advance or retreat along the pipeline; in the case where the cross section of the pipeline changes, the robot body is elastic, and the radial dimension can be changed according to the cross section of the pipeline. As shown in Figure 5, it is adapted to the variation of different pipe diameters within a certain range.

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Abstract

公开了一种软体履带式管道机器人，它包括一个充气膨胀本体（1）和运动执行装置，运动执行装置包括驱动电机（4）和履带（5），履带（5）呈螺旋形闭合设置于充气膨胀本体（1）表面，履带（5）的下部间隔设置有多个驱动履带运动的驱动轮（6），每个驱动轮（6）均连接有一个驱动其旋转、固设于充气膨胀本体（1）上的驱动电机（4）。有益效果是：结合了履带式和螺旋式管道机器人的优点，减小了由于中间机构的传动而引起的能量损失，传动效率高，轴向牵引力大；机器人运行平稳可靠；机器人行走位置控制更加精确。

Description

一种软体履带式管道机器人 技术领域
本发明涉及管道中行走装置技术领域，特别是一种软体履带式管道机器人。
 背景技术
管道机器人技术是集自动控制技术、机械制造技术、新材料、人工智能测试技术和计算机技术于一体的综合性科学技术。目前管道已广泛应用于石油、化工、天然气及核工业等领域。管道经过一段时间的运行后，会发生诸如腐蚀、裂纹、凹陷或变形等损坏。为避免发生意外事故，延长管道寿命，对管道进行定期的检查与维护显得尤为重要。在大多数情况下，当管道发生损坏后，对管道的维修也必须在管道内进行。然而管道内空间狭小，其输送的又多为有毒有害物质，人工检修困难。因此，需要一种管道工具，能实现定期对管道进行检查，能在管道内部进行修复工作。
近年来，石油化工、核工业等行业的发展及管道检测、维护的需要刺激了管道机器人的研究，管道机器人在管道检修方面的应用逐渐广泛。现应用较多的有流动式管道机器人（即管道猪）、轮式管道机器人以及履带式管道机器人。其中流动式机器人需依靠流体推动前行，无自主行走能力，因此其移动速度和检测区域均不易控制，对管道内壁要求较高。在此基础上，轮式机器人克服了流动式机器人的某些缺点，它可以自主行走，可以转弯。但由于管道多数是圆形，机器人的轮子平面不在圆管的径向方向，因此存在侧滑的可能，对管道的倾斜程度也有一定的要求。履带式机器人运动较平稳，越障性能好，但其结构复杂，不易小型化，两排履带轮的结构在圆管中容易发生倾覆。另外有一种螺旋驱动式管道机器人，如中国专利CN201210180267.4，公开一种单一电机、轮式和变速螺旋式混合驱动的管道机器人，其包括螺旋式驱动装置、轮式驱动装置和电机动力输出装置。机器人在行进时阻力较小的情况下，可使用轮式驱动方式，以较大速度前进，此时螺旋驱动装置轮子的螺旋角调为90度。在管道坡度较大或者负载较重的情况下，机器人可改用螺旋式驱动方式。此时，电磁铁组件释放滑移分流轴，电机的动力通过内啮合的直齿轮带动旋转体转动，从而引起倾斜的轮子滚动，产生向上的牵引力，机器人成螺旋式前进。但这种驱动存在一些缺点，由于倾斜轮是在旋转轮架的带动下旋转，中间机构的摩擦等会造成较大的能量损耗，传递运动不可靠，机器人的行进速度受到驱动轮的回转轴线与机体轴线的夹角取值的影响，当该夹角较小时，驱动轮运动的螺旋轨迹的螺旋角较小，驱动驱动轮旋转的力较大，驱动轮转速较快，机器人运行顺畅，但由于螺旋轨迹的螺旋角较小前进速度较慢；随着夹角的增大，驱动驱动轮旋转的力逐渐变小，驱动轮转速降低但驱动轮运动的螺旋轨迹的螺旋角增大，机器人前进速度会随着该夹角的增大逐渐提高，但超过一定值时，由于驱动驱动轮旋转的力减小至过小导致驱动轮转速进一步降低，导致机器人前进速度降低，同时机器人运行稳定性降低，甚至出现无法前进的现象。因此，现有螺旋移动装置中驱动轮的转速会随着驱动轮的回转轴线与机体轴线的夹角的变化而变化，在不同工况下装置的运行稳定性差，同时，由于驱动轮是由驱动轮架带动运转，因此，难以实现机器人的准确定位和微小位移调整，操控性差。
 技术问题
本发明的目的在于克服现有技术的缺点，提供一种传动效率高、轴向牵引力大、运行平稳可靠、位置控制精确的主动驱动的履带连续螺旋形循环软体履带式管道机器人。
 技术解决方案
本发明的目的通过以下技术方案来实现：一种软体履带式管道机器人，它包括一个充气膨胀本体和运动执行装置，充气膨胀本体内部为封闭的充气腔，充气膨胀本体连接有充放气装置，充气膨胀本体的中心设置有一个轴向通道，所述的运动执行装置包括驱动电机和履带，履带呈螺旋形闭合设置于充气膨胀本体表面，所述的螺旋形闭合为履带从充气膨胀本体的一端呈螺旋形缠绕于充气膨胀本体的外表面，履带到达充气膨胀本体的另一端后从轴向通道内穿入返回形成闭合履带，履带的下部间隔设置有多个驱动履带运动的驱动轮，每个驱动轮均连接有一个驱动其旋转、固设于充气膨胀本体上的驱动电机。
它还包括控制单元，控制单元设置于充气膨胀本体内，控制单元与驱动电机连接。
所述的控制单元包含控制电路板和电缆，控制电路板通过电缆与驱动电机连接。
所述的充气膨胀本体包括外壳和设置于外壳内的气囊，气囊连接充放气装置，外壳上设置有螺旋形凹槽，履带设置于螺旋形凹槽内。
所述的履带为截面为圆形的弹性圆形履带，所述的驱动轮为摩擦滑轮，弹性圆形履带与固连在驱动电机输出轴上的驱动轮摩擦接触。
所述的履带为非弹性履带，所述的驱动轮为与履带相配合的带轮，非弹性履带由固连在驱动电机输出轴上的驱动轮驱动。
所述的驱动电机设置于气囊外表面。
所述的放气装置为连通气囊的通气管线，通气管线连接于充气膨胀本体的尾部。
所述的充放气装置为设置于气囊内的微型泵，气囊上设置有控制充气膨胀本体内部与外界接通或隔断的阀门。
 有益效果
本发明具有以下优点：本发明结合了履带式和螺旋式管道机器人的优点，履带是由驱动电机和驱动轮主动驱动运转，因此减小了由于中间机构的传动而引起的能量损失，传动效率高，轴向牵引力大；同时，由于履带是螺旋形连续循环，形成了一条闭合回路，因此防止了履带行走时脱离驱动轮现象的发生，使机器人运行更加平稳可靠；履带主动驱动运转，通过控制电机的转速、启停实现对机器人轴向位置的调节，能实现机器人行走位置的更加精确的控制。
 附图说明
图1 为本发明的结构示意图
图2 为本发明的内部结构示意图
图3 为本发明的侧向结构示意图
图4 为本发明的侧剖结构示意图
图5 为本发明使用时的结构示意图
图6 为本发明的气囊与电缆配合结构示意图
图中，1-充气膨胀本体，2-通气管线，3-轴向通道，4-驱动电机，5-履带，6-驱动轮，7-外壳，8-气囊，9-螺旋形凹槽，10-电缆。
 本发明的实施方式
下面结合附图对本发明做进一步的描述，本发明的保护范围不局限于以下所述：
如图1、图2、图3、图4所示，一种软体履带式管道机器人，它包括一个充气膨胀本体1和运动执行装置，充气膨胀本体1采用柔性材料制成，充气膨胀本体1内部为封闭的充气腔，充气膨胀本体1连接有连通充气腔的充放气装置，充气膨胀本体1的中心设置有一个轴向通道3，所述的运动执行装置包括驱动电机4和履带5，履带5呈螺旋形闭合设置于充气膨胀本体1表面，所述的螺旋形闭合为履带5从充气膨胀本体1的一端呈螺旋形缠绕于充气膨胀本体1的外表面，履带5到达充气膨胀本体1的另一端后从轴向通道3内穿入返回形成闭合履带5，履带5的下部间隔设置有多个驱动履带运动的驱动轮6，每个驱动轮6均连接有一个驱动其旋转、固设于充气膨胀本体1上的驱动电机4，所述的多个驱动电机4呈螺旋形等距分布。
它还包括控制单元，控制单元设置于充气膨胀本体1内，控制单元与驱动电机4连接。所述的控制单元包含控制电路板和电缆10，控制电路板通过电缆10与驱动电机4连接。
所述的充气膨胀本体1呈球形或椭球形。所述的充气膨胀本体1包括外壳7和设置于外壳7内的气囊8。外壳7和气囊8均由有弹性的柔性材料制成，外壳7上设置有螺旋形凹槽9，履带5设置于螺旋形凹槽9内，以使圆形履带截面的一半嵌入其中，形成密封结构，防止管道内的杂质进入机器人内部，干扰其正常运转，驱动轮6设置于凹槽的底部，并连接驱动电机4的输出轴。所述的气囊8和外壳7可以随着输入气压的增大或减小而产生体积的改变，从而张紧履带5，并使履带5抵紧管道内壁，履带5在驱动电机4的带动下主动地螺旋形运转，从而带动充气膨胀本体1沿管道前进或后退；遇到管道截面发生变化的场合，因机器人机体是弹性的，可根据管道的截面改变自身径向尺寸，从而适应一定范围内的不同管径的变化，如图5所示。
所述的履带5为截面为圆形的弹性圆形履带，所述的驱动轮6为摩擦滑轮，弹性圆形履带与固连在驱动电机4输出轴上的驱动轮6摩擦接触，由驱动轮6带动履带运动。所述的驱动轮6凹面半径应与履带5的横截面半径保持一致，以使二者相切的接触面尽可能增大，提高摩擦传动的效率。
所述的履带5也可为非弹性履带，则驱动轮6采用与履带5相配合的带轮，由固连在驱动电机4输出轴上的驱动轮6驱动履带运动。使用非弹性履带时，依靠改变管道机器人轴向的长度，来改变管道机器人的直径。此时，充放气是用来改变管道机器人的长度，而体积不变，由于长度的改变，将使得外径发生改变。
所述的充放气装置为连通气囊8的通气管线2，通气管线2连接于充气膨胀本体1的尾部。所述的充放气装置也可为设置于气囊8内的微型泵，微型泵可以向内充气（或液），气囊8上设置有控制充气膨胀本体1内部与外界接通或隔断的阀门，可以释放气体。
控制单元设置于气囊8内，驱动电机4设置于气囊8外表面，连接控制电路板与驱动电机4的电缆10通过气囊8的部分做增强处理，且一次性浇筑成型，如图6所示，这样气囊与电缆10是一体的，不会存在漏气的可能。电缆10采用多芯线。
所述的驱动电机4要保证型号一致、转速一致，以确保固连在驱动电机4上的驱动轮6的转速一致，使履带5平稳匀速地连续循环运转，防止履带5的局部不均匀的张紧与放松。
本发明的工作过程如下：充气膨胀本体1随着充放气装置输入气压的增大或减小而产生体积的改变，从而张紧履带5，并使履带5抵紧管道内壁，履带5在驱动电机4的带动下主动地螺旋形运转，从而带动充气膨胀本体1沿管道前进或后退；遇到管道截面发生变化的场合，因机器人机体是弹性的，可根据管道的截面改变自身径向尺寸，如图5所示，从而适应一定范围内的不同管径的变化。

Claims (9)

  1. 一种软体履带式管道机器人，其特征在于：它包括一个充气膨胀本体（1）和运动执行装置，充气膨胀本体（1）内部为封闭的充气腔，充气膨胀本体（1）连接有充放气装置，充气膨胀本体（1）的中心设置有一个轴向通道（3），所述的运动执行装置包括驱动电机（4）和履带（5），履带（5）呈螺旋形闭合设置于充气膨胀本体（1）表面，所述的螺旋形闭合为履带（5）从充气膨胀本体（1）的一端呈螺旋形缠绕于充气膨胀本体（1）的外表面，履带（5）到达充气膨胀本体（1）的另一端后从轴向通道（3）内穿入返回形成闭合履带（5），履带（5）的下部间隔设置有多个驱动履带运动的驱动轮（6），每个驱动轮（6）均连接有一个驱动其旋转、固设于充气膨胀本体（1）上的驱动电机（4）。
  2. 根据权利要求1所述的一种软体履带式管道机器人，其特征在于：它还包括控制单元，控制单元设置于充气膨胀本体（1）内，控制单元与驱动电机（4）连接。
  3. 根据权利要求2所述的一种软体履带式管道机器人，其特征在于：所述的控制单元包含控制电路板和电缆（10），控制电路板通过电缆（10）与驱动电机（4）连接。
  4. 根据权利要求1所述的一种软体履带式管道机器人，其特征在于：所述的充气膨胀本体（1）包括外壳（7）和设置于外壳（7）内的气囊（8），气囊（8）连接充放气装置，外壳（7）上设置有螺旋形凹槽（9），履带（5）设置于螺旋形凹槽（9）内。
  5. 根据权利要求4所述的一种软体履带式管道机器人，其特征在于：所述的履带（5）为截面为圆形的弹性圆形履带，所述的驱动轮（6）为摩擦滑轮，弹性圆形履带与固连在驱动电机（4）输出轴上的驱动轮（6）摩擦接触。
  6. 根据权利要求4所述的一种软体履带式管道机器人，其特征在于：所述的履带（5）为非弹性履带，所述的驱动轮（6）为与履带（5）相配合的带轮，非弹性履带由固连在驱动电机（4）输出轴上的驱动轮（6）驱动。
  7. 根据权利要求4所述的一种软体履带式管道机器人，其特征在于：所述的驱动电机（4）设置于气囊（8）外表面。
  8. 根据权利要求4所述的一种软体履带式管道机器人，其特征在于：所述的放气装置为连通气囊（8）的通气管线（2），通气管线（2）连接于充气膨胀本体（1）的尾部。
  9. 根据权利要求4所述的一种软体履带式管道机器人，其特征在于：所述的充放气装置为设置于气囊（8）内的微型泵，气囊（8）上设置有控制充气膨胀本体（1）内部与外界接通或隔断的阀门。
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