WO2020238305A1 - Robot de pulvérisation intelligent de type pipeline et son procédé de fonctionnement - Google Patents

Robot de pulvérisation intelligent de type pipeline et son procédé de fonctionnement Download PDF

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Publication number
WO2020238305A1
WO2020238305A1 PCT/CN2020/077108 CN2020077108W WO2020238305A1 WO 2020238305 A1 WO2020238305 A1 WO 2020238305A1 CN 2020077108 W CN2020077108 W CN 2020077108W WO 2020238305 A1 WO2020238305 A1 WO 2020238305A1
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WO
WIPO (PCT)
Prior art keywords
wheel
driving
drive
speed
spraying robot
Prior art date
Application number
PCT/CN2020/077108
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English (en)
Chinese (zh)
Inventor
王懿
Original Assignee
南京灵雀智能制造有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京灵雀智能制造有限公司 filed Critical 南京灵雀智能制造有限公司
Publication of WO2020238305A1 publication Critical patent/WO2020238305A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
    • B05B13/0627—Arrangements of nozzles or spray heads specially adapted for treating the inside of hollow bodies

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • the multi-wheel drive unit is provided with a pre-tightening and diameter reducing mechanism.
  • 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.
  • the chassis has a plurality of ring-shaped parts, and the ring-shaped door gradually shrinks along the axis of the chassis.
  • 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.
  • 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.
  • 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.
  • a working method of a pipeline type intelligent spraying robot includes the following steps;
  • the driven wheel first moves in the elbow under the uniform speed of the driving wheel.
  • 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;
  • the spraying robot works in the spraying pipeline until the end of the spraying in the tube.
  • 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.
  • 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.
  • a pipeline spraying robot includes a frame 1, a multi-wheel drive unit 2, and a pre-tightening and diameter reducing mechanism 3.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • the deep groove ball bearing both ends of the driving wheel can reduce the frictional resistance when the driving wheel is moving.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the traveling speeds of the traveling wheels 301 that form an angle of 120° with each other are different.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

Abstract

L'invention concerne un robot de pulvérisation intelligent de type pipeline et son procédé de fonctionnement. Le robot comprend un cadre (1), des unités d'entraînement à plusieurs roues (2) et un mécanisme de pré-tension et de réduction (3). Trois unités d'entraînement à roues multiples (2) sont disposées sur le corps du cadre (1), des roues d'entraînement (205) sont réparties à 120°, et un moteur d'entraînement (206) et la roue d'entraînement (205) sont fixés sur le même support, de telle sorte que l'unité d'entraînement (2) est simplifiée, ce qui permet d'économiser un espace de conception. Afin d'empêcher le patinage de la roue d'entraînement (205), un matériau en caoutchouc entoure la périphérie de la roue d'entraînement (205) pour augmenter un coefficient de frottement statique. Une courroie synchrone (212) est utilisée en tant que mode de transmission du moteur d'entraînement (206) et de la roue d'entraînement (205), de telle sorte qu'un rapport de transmission constant pendant la transmission est maintenu, une transmission stable et un amortissement des vibrations sont mis en œuvre et l'entretien peut être facilité pendant l'utilisation. Trois moteurs de couple indépendants sont utilisés de telle sorte que le robot est entraîné pour passer sans à-coups à travers un tuyau coudé circulaire au moyen de vitesses différentielles entre trois roues.
PCT/CN2020/077108 2019-05-29 2020-02-28 Robot de pulvérisation intelligent de type pipeline et son procédé de fonctionnement WO2020238305A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910454348.0 2019-05-29
CN201910454348.0A CN110180720A (zh) 2019-05-29 2019-05-29 一种管道式智能喷涂机器人及其工作方法

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CN110449304A (zh) * 2019-09-05 2019-11-15 广东海洋大学 一种自适应管径的管道内壁喷涂机器人
CN110939824B (zh) * 2019-11-25 2021-01-29 金陵科技学院 一种检测建筑物管道管壁缺陷用的驱动设备及其方法
CN112576863B (zh) * 2020-11-26 2022-11-11 中国科学院光电技术研究所 一种核辐射环境下管道涂胶修复机器人
CN112756201B (zh) * 2020-12-29 2021-10-01 山东加法智能科技股份有限公司 一种自行式圆弧寻迹打胶机器人
CN113769918B (zh) * 2021-09-08 2022-06-07 西安交通大学 一种小口径管道内壁喷涂机器人及其控制方法
CN114654146A (zh) * 2022-03-31 2022-06-24 成都熊谷加世电器有限公司 一种焊接工作站
CN114877164A (zh) * 2022-05-11 2022-08-09 林炎龙 一种自适应智能探测系统
CN116673162B (zh) * 2023-07-28 2023-09-22 山东翁派斯环保科技有限公司 一种管件涂覆装置

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