WO2020238305A1

WO2020238305A1 - Pipeline type intelligent spraying robot and working method thereof

Info

Publication number: WO2020238305A1
Application number: PCT/CN2020/077108
Authority: WO
Inventors: 王懿
Original assignee: 南京灵雀智能制造有限公司
Priority date: 2019-05-29
Filing date: 2020-02-28
Publication date: 2020-12-03
Also published as: CN110180720A

Abstract

A pipeline type intelligent spraying robot and a working method thereof. The robot comprises a frame (1), multi-wheel drive units (2), and a pre-tensioning and reducing mechanism 3. Three multi-wheel drive units (2) are provided on the body of the frame (1), drive wheels (205) are distributed at 120°, and a drive motor (206) and the drive wheel (205) are fixed on the same support, so that the drive unit (2) is simplified, thereby economizing a design space. In order to prevent the drive wheel (205) from slipping, a rubber material is surrounded on the periphery of the drive wheel (205) to increase a static friction coefficient. A synchronous belt (212) is used as the transmission mode of the drive motor (206) and the drive wheel (205), so that a constant transmission ratio during transmission is maintained, stable transmission and vibration damping are implemented, and maintenance can be facilitated during use. Three independent torque motors are used so that the robot is driven to smoothly pass through a circular bend pipe by means of differential speeds between three wheels.

Description

A pipeline type intelligent spraying robot and its working method

Technical field

The invention belongs to the field of intelligent manufacturing spraying, and specifically relates to a pipeline type intelligent spraying robot and a working method thereof.

Background technique

As an important transportation tool, the pipeline occupies an important position in production. Spraying the pipeline is an important process in the production of some pipelines. The spraying of the inner wall of the pipeline is a necessary process in the production of many pipelines. Spraying different materials can prevent oxidation and corrosion of the inner wall of the pipeline, reduce the friction of the pipeline, and increase the pipeline transportation volume. In recent years, with the widespread application of pipelines in various industries, the spraying process of the inner wall of the pipeline has gradually gained attention. At this stage, for some spraying requirements are not high, the inner wall of the pipe with a larger diameter is usually sprayed manually.

The quality of the surface coating obtained by manual spraying mainly depends on the proficiency of the spraying workers, which often has many disadvantages such as low work efficiency, high labor intensity, damage to the health of spraying workers, and waste of paint. Moreover, when encountering some pipes with a relatively long length, a small diameter or a large bending angle, the spraying workers cannot complete the spraying operation. In this case, it is often necessary to change the pipe design.

However, the existing pipeline spraying parameter setting and pipeline spraying robot have great limitations and cannot complete the automatic spraying work well. The traditional pipeline robot and the walking drive device are originally realized by using the three-axis mechanical differential. The mechanical structure is relatively complicated, takes up a lot of space and is prone to cross-slip.

technical problem

A pipeline type intelligent spraying robot and its working method and its working method are provided, which solve the above-mentioned problems existing in the prior art.

Technical solutions

A pipeline type intelligent spraying robot, including;

The frame includes a frame body with a cylindrical shape, a front cover and a chassis provided at both ends of the frame body, and a connecting rod for fixing the front cover at one end and the chassis at the other end;

The multi-wheel drive unit includes a drive base arranged on the frame body, a pre-tightening diameter reducing motor fixed at one end of the drive base, and a movable bracket, which are arranged on the drive base and interact with the pre-tension reducing diameter The screw rod connected to the rotating end of the motor, the sliding sleeve and the damper arranged on the screw rod, the driven wheel arranged on the movable support, and the driving support provided at the other end of the driving base in sliding fit The driving wheel on the driving support, the driving motor provided on the driving support, the synchronous belt provided on the driving wheel and the driving motor at the same time, and the pretension reducing diameter provided at one end of the damper Nut.

In a further example, the frame is arranged with three multi-wheel drive units, and each of the drive wheels is uniformly arranged at 120°, which can have a stable movement speed, and has the ability to pass through bends and reduce diameters.

In a further example, the multi-wheel drive unit is provided with a pre-tightening and diameter reducing mechanism.

In a further example, the pre-tightening and reducing mechanism includes a reducing motor and a traveling wheel support provided on the driving support, a traveling wheel provided at one end of the traveling wheel support, and a pretensioning spring provided on the aforementioned screw rod , The pre-tightening nut at one end of the pre-tightening spring and the diameter reducing motor arranged at one end of the screw rod can make the pipeline robot walk in the pipe to maintain a certain positive pressure and generate sufficient driving capacity.

In a further example, the chassis has a plurality of ring-shaped parts, and the ring-shaped door gradually shrinks along the axis of the chassis.

In a further example, the outer periphery of the driving wheel is surrounded by a rubber material, which can ensure that the driving wheel is in contact with pipes of different diameters, and the outer rubber material has better elasticity and a larger static friction coefficient.

In a further example, deep groove ball bearings are provided at both ends of the driving wheel, which can reduce the frictional resistance when the driving wheel is moving.

In a further example, the driving bracket, the movable bracket, the walking wheel bracket, the front cover, the chassis and the driving base are all made of 7 series aluminum alloy materials, which can reduce the weight of the body and meet the mechanical strength of the parts.

In a further example, a working method of a pipeline type intelligent spraying robot includes the following steps;

S1. Put the driving unit into the sprayed pipe and start the robot;

S2. Control the motor to drive the screw rod to rotate so that the pre-tightening nut moves to a suitable position to obtain the positive pressure of the drive wheel and the pipe wall;

S3. When the pipeline spraying robot is running in the straight pipe, the positive pressure of the driving wheel and the pipe wall maintains the same speed for the three wheels;

S4. When the pipeline spraying robot is in a circular bend;

S5. The driven wheel first moves in the elbow under the uniform speed of the driving wheel. During the walking, the circumferential angle between the multi-wheel drive unit and the pipe does not change. The speed of the traveling wheel that forms an angle of 120° with each other is Different, the drive wheel maintains a certain speed difference relationship at this time;

S6. When the driving unit passes through the circular elbow, the driven wheel first moves in the elbow under the uniform speed drive of the driving wheel. During walking, the driving wheel and the driven wheel in the same direction move at the same position at the same speed. , And the speed at which the driving wheel passes through a certain position is directly installed with the speed at which the driven wheel passes through this position;

S7. When the driving wheel enters the elbow part, the running speed is adjusted according to the data of the front wheel, and the body speed is maintained at the speed of the front wheel until the driving wheel goes out of the elbow part;

S8. The spraying robot works in the spraying pipeline until the end of the spraying in the tube.

Beneficial effect

A pipeline type intelligent spraying robot and its working method. Three multi-wheel drive units are arranged on the frame body, and the drive wheels are distributed at 120°. At the same time, the drive motor and the drive wheels are fixed on the same bracket, simplifying The drive unit saves design space. In order to effectively avoid the phenomenon of driving wheels slipping, rubber material is surrounded on the periphery of the driving wheels, which effectively increases the static friction coefficient and has better elasticity. At the same time, the transmission mode of the driving motor and the driving wheels adopts a synchronous belt. The transmission process maintains a constant output transmission ratio, and the transmission is stable, with a certain degree of cushioning and vibration reduction capabilities, and it can be easily maintained and maintained during use.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the present invention.

Figure 2 is a side view of the present invention.

Fig. 3 is a schematic diagram of the structure of the multi-wheel drive unit in the present invention.

Figure 4 is a schematic diagram of the structure of the pre-tightening and reducing mechanism in the present invention.

Fig. 5 is a partial enlarged view of the multi-wheel drive unit in the present invention.

The reference signs in the figure are: frame 1, multi-wheel drive unit 2, pre-tightening reducing motor 201, damper 202, driven wheel 203, pre-tightening reducing nut 204, driving wheel 205, driving motor 206, screw rod 207, driving bracket 208, driving base 209, movable bracket 210, sliding sleeve 211, timing belt 212, first bracket 213, second bracket 214, pre-tension reducing mechanism 3, walking wheel 301, walking bracket 302, pre-tension spring 303. Diameter reducing motor 304, pre-tightening nut 305, pipe wall 306, rubber material 8, front cover 7, connecting rod 6, base 5, deep groove ball bearing 10, and annular part 11.

Embodiments of the invention

In the following description, a lot of specific details are given in order to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation cannot therefore be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

As shown in Figs. 1 to 5, a pipeline spraying robot includes a frame 1, a multi-wheel drive unit 2, and a pre-tightening and diameter reducing mechanism 3.

As shown in Figures 1 and 2, the frame 1 includes a frame 1 body, a front cover 7, a connecting rod 6, a base 5 and a ring part 11; the front cover 7 is installed at the front end of the frame 1, and the chassis is installed on the At the rear end of the main body of the frame 1, the two ends of the connecting rod 6 are respectively connected to the front cover 7 and the base 5, one end of the connecting rod 6 is installed on the front cover 7, and the other end of the connecting rod 6 is installed on the base 5.

The pipe is a special curved surface, and considering the walking mode of the robot, it determines the particularity of the pipe spraying. The driving unit of the wheeled pipe spraying robot mainly requires simple structure, small size, sufficient driving force and low speed , When performing curved pipe spraying, the pipe spraying robot is required to achieve uniform feed and smoothly pass through the bend.

In a further example, the chassis has a plurality of ring-shaped parts 11, and the ring-shaped door gradually shrinks along the axis of the chassis.

The frame 1 is arranged in a cylindrical shape, and three multi-wheel drive units 2 are arranged on the body of the frame 1, and each multi-wheel drive unit 2 is uniformly arranged at 120°, and each drive wheel 205 is also arranged at 120°. Layout.

As shown in Figure 3, the multi-wheel drive unit includes a pre-tightened diameter reducing motor 201, a damper 202, a driven wheel 203, a pre-tightened diameter reducing nut 204, a driving wheel 205, a driving motor 206, a screw rod 207, a driving bracket 208, Drive base 209, movable support 210, sliding sleeve 211, timing belt 212, rubber material 8 and deep groove ball bearing 10.

The driving base 209 is arranged on the main body of the frame 1, and the pre-tightening and reducing motor 201 and the movable bracket 210 are fixed on the end screw 207 of the driving base 209. The rotating end of the tightening reducing motor 201 is connected, the sliding sleeve 211 is slidingly fitted on the shaft surface of the screw rod 207, the damper 202 is slidingly fitted on the screw rod 207 and located at the end of the damper 202, and the driven wheel 203 is disposed on On the upper surface of the movable bracket 210, the driving bracket 208 is slidably arranged on the other end of the driving base 209, the driving wheel 205 is arranged on the driving bracket 208, and the driving motor 206 is arranged on the driving bracket 208, The timing belt 212 is arranged on the driving wheel 205 and the driving motor 206 at the same time, and the pre-tightening nut 204 is arranged on one end of the damper 202. In order for the movable support 210 to be movable, the movable support 210 includes the first The bracket 213 and the second bracket 214, one end of the first bracket 213 is set on the slider, the other end of the first bracket 213 and one end of the second bracket 214 are rotatably arranged together, the other end of the second bracket 214 It is fixed at the end of the driving base 209, and the driven wheel 203 is arranged at the end of the second bracket 214.

In a further example, the deep groove ball bearing both ends of the driving wheel can reduce the frictional resistance when the driving wheel is moving.

In a further example, in order to effectively prevent the drive wheel 205 from slipping, the rubber material 8 is surrounded on the periphery of the drive wheel 205, which is beneficial to increase the static friction coefficient and also has better elasticity, in order to further optimize the buffer and movement during movement. Vibration damping capacity, while increasing the stability of the transmission, and improving the working efficiency of the spraying robot. A timing belt 212 is set on the drive motor 206 and the drive wheel 205. The timing belt 212 is used for the transmission mode. The transmission mode can maintain a constant transmission ratio during the transmission process, and the transmission is stable, with a little buffering and vibration reduction ability, and it is also convenient for maintenance and maintenance during use.

In a further example, in order to simplify the structure of the multi-wheel drive unit 2 and save design space, the drive motor 206 and the drive wheel 205 are fixedly installed on the same bracket at the same time, and the drive motor 206 and the drive wheel 205 are fixedly installed at the same time Drive the bracket 208 above. Since the robot uses three multi-wheel drive units, in order to enable the three-wheeled pipeline robot to obtain greater driving force, an independent drive motor 206 is installed on each drive wheel 205, and the drive motor 206 is selected Permanent magnet torque motor, the torque motor has a strong advantage in output torque compared with other motors of the same size and weight. It can meet the power output requirements of low speed and large torque. At the same time, under the control of the servo drive, it can accurately Conveying power.

As shown in Figure 4, in order to keep the positive pressure between the driving wheel 205 and the tube wall 306 in order for the robot to walk in the tube, and generate sufficient driving capacity, although the weight of the robot itself also acts as a part of the driving wheel 205 and the tube wall 306 However, this pressure is limited. At the same time, the three driving wheels 205 are arranged uniformly at 120°, and gravity can be effective on the two driving wheels 205 at most. Therefore, each multi-wheel drive unit 2 is installed The pre-tightening of the diameter reducing mechanism 3 guarantees normal driving and increases the positive pressure between the pipe walls 306.

The pre-tightening and reducing mechanism 3 includes a walking wheel 301, a walking support 302, a pre-tensioning spring 303, a reducing motor 304 and a pre-tightening nut 305; the reducing motor 304 is arranged on the driving bracket 208, and the walking wheel 301 is also installed at the same time On the driving bracket 208, the motor and the screw rod 207 are designed in the driving bracket 208, which greatly improves the space utilization of the frame 1. The traveling wheel 301 is arranged at one end of the traveling wheel 301 bracket, and the pre-tensioning spring 303 is arranged at Above the aforementioned screw rod 207, the pre-tightening nut 305 at one end of the pre-tensioning spring 303, and the reducing motor 304 are arranged at the end of the screw rod 207. The screw rod 207 equipped with the pre-tensioning spring 303 ensures The requirement of the pre-tightening reducing mechanism 3 also adds a flexible device to the traveling wheel 301. During operation, the screw rod 207 provides the axial force for the pre-tightening nut 305, the traveling wheel 301 interacts with the pipe wall 306, and the traveling wheel 301 supports The interaction force between the pre-tensioning spring 303 and the dampers 202.

In a further example, the driving bracket 208, the movable bracket 210, the walking wheel 301 bracket, the front cover 7, the chassis and the driving base 209 are all made of 7 series aluminum alloy materials, which can reduce the weight of the body and meet the requirements of parts The mechanical strength.

In a further example, if the driving unit wants to operate in a predetermined walking state in the circular elbow, it is necessary to reasonably control the movement mode of the three driving wheels 205, so that the driving unit meets the position requirements. Obviously, during the process of driving the pipeline spraying robot through the circular elbow, the traveling speeds of the traveling wheels 301 that form an angle of 120° with each other are different. At this time, the three driving wheels 205 need to maintain a certain differential speed relationship. The principle of shaft mechanical differential speed is realized, but the mechanical mechanism in this way is more complicated, takes up a lot of space and is prone to cross shaft slip. In order to overcome these problems, the robot adopts three independent torque motors and two different control methods to realize that when the three-wheel differential driving unit passes through the circular elbow, the driven wheel 203 is the first to be driven by the driving wheel 205 at a constant speed. In the movement in the elbow, the circumferential angle between the driving unit and the pipeline does not change during the walking process. Therefore, it can be approximately regarded that the driving wheel 205 and the driven wheel 203 in the same direction move at the same position at the same speed. The speed of the wheel 205 at a certain position can be directly operated according to the speed of the driven wheel 203 when it passes through this position. This is the principle of state replication. The real-time speed of the three front wheels is measured by the speed sensor, and an incremental rotary encoder is installed. This kind of encoder drives the grating disc to rotate through the measured axis, and the rotation of the grating disc can generate pulses that change according to a certain rule. The controller obtains these pulse signals in real time, and applies certain algorithms to them to obtain the measured speed data. The incremental rotary encoder is small in size, high in accuracy and low in price, so it is very suitable for speed collection of the driven wheel 203.

In a further example, a working method of a pipeline-type intelligent spraying robot includes the following steps: putting the driving unit into the spraying pipeline, starting the robot; controlling the motor to drive the screw rod 207 to rotate so that the pre-tightening nut 305 moves to a suitable position , Get the positive pressure of the driving wheel 205 and the pipe wall 306; when the pipe spraying robot is running in a straight pipe, the positive pressure of the driving wheel 205 and the pipe wall 306 maintains the same speed for the three wheels; when the pipe spraying robot is in a circular bend; The driving wheel 203 is the first to move in the elbow under the constant speed drive of the driving wheel 205. During the traveling process, the circumferential angle between the multi-wheel drive unit 2 and the pipe does not change, and the speed of the traveling wheel 301 at an angle of 120° Is different. At this time, the driving wheel 205 maintains a certain speed difference relationship; when the driving unit passes through the circular elbow, the driven wheel 203 first moves in the elbow under the uniform speed drive of the driving wheel 205. During walking, the same direction The moving speed of the driving wheel 205 and the driven wheel 203 at the same position of the pipe is the same, and the driving wheel 205 is directly installed at a certain position and the driven wheel 203 moves at the speed of this position; when the driving wheel 205 enters the elbow part , The running speed is adjusted according to the data of the front wheel, and the body speed is maintained at the speed of the front wheel until the driving wheel 205 goes out of the elbow part; the spraying robot works in the spraying pipeline until the spraying work in the tube is finished.

As mentioned above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details can be made without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims

A pipeline type intelligent spraying robot, which is characterized in that it comprises

The frame includes a frame body with a cylindrical shape, a front cover and a chassis provided at both ends of the frame body, and a connecting rod that fixes the front cover at one end and the chassis at the other end;

The multi-wheel drive unit includes a drive base arranged on the frame body, a pre-tightening diameter reducing motor fixed at one end of the drive base, and a movable bracket, which are arranged on the drive base and interact with the pre-tension reducing diameter The screw rod connected to the rotating end of the motor, the sliding sleeve and the damper arranged on the screw rod, the driven wheel arranged on the movable support, and the drive support provided on the other end of the drive base are slidably fitted The driving wheel on the driving support, the driving motor provided on the driving support, the timing belt provided on the driving wheel and the driving motor at the same time, and the pretension reducing diameter provided at one end of the damper Nut.
The pipeline type intelligent spraying robot according to claim 1, characterized in that: the frame is arranged with three multi-wheel drive units, and each drive wheel is uniformly arranged at 120°.
The pipeline type intelligent spraying robot according to claim 1, wherein the multi-wheel drive unit is provided with a pre-tightening and diameter reducing mechanism.

To
The pipeline type intelligent spraying robot according to claim 3, characterized in that: the pre-tightening diameter reducing mechanism comprises a diameter reducing motor and a traveling wheel support arranged on the driving support, and is arranged at one end of the traveling wheel support The traveling wheel, the pre-tensioning spring arranged on the aforementioned screw rod, the pre-tightening nut at one end of the pre-tensioning spring, and the diameter reducing motor arranged at one end of the screw rod.
The pipeline type intelligent spraying robot according to claim 1, wherein the chassis has a plurality of annular parts, and the annular department is gradually reduced along the axis direction of the chassis.
The pipeline type intelligent spraying robot according to claim 1, wherein the outer periphery of the driving wheel is surrounded by rubber material.
The pipeline-type intelligent spraying robot according to claim 1, wherein deep groove ball bearings are provided at both ends of the driving wheel.
The pipeline type intelligent spraying robot according to claim 1, characterized in that the driving bracket, movable bracket, walking wheel bracket, front cover, chassis and driving base are all made of 7 series aluminum alloy materials.
A working method of a pipeline type intelligent spraying robot, which is characterized in that it comprises the following steps;

S1. Put the driving unit into the sprayed pipe and start the robot;

S2. Control the motor to drive the screw rod to rotate so that the pre-tightening nut moves to a suitable position, and the positive pressure of the driving wheel and the pipe wall is obtained;

S3. When the pipeline spraying robot is running in the straight pipe, the positive pressure of the driving wheel and the pipe wall maintains the same speed for the three wheels;

S4. When the pipeline spraying robot is in a circular bend;

S5. The driven wheel first moves in the elbow under the uniform drive of the driving wheel. During the walking process, the circumferential angle between the multi-wheel drive unit and the pipe does not change, and the speed of the traveling wheel at an angle of 120° is Different, the drive wheel maintains a certain speed difference relationship at this time;

S6. When the driving unit passes through the circular elbow, the driven wheel first moves in the elbow under the uniform speed of the driving wheel. During walking, the driving wheel and the driven wheel in the same direction move at the same position at the same speed. , And the speed at which the driving wheel passes through a certain position is directly installed with the speed at which the driven wheel passes through this position;

S7. When the driving wheel enters the elbow part, the running speed is adjusted according to the data of the front wheel, and the body speed is maintained at the speed of the front wheel until the driving wheel goes out of the elbow part;

S8. The spraying robot works in the spraying pipeline until the end of the spraying in the tube.