CN110345335A - Climbing robot and its control method in imitative looper gait pipe - Google Patents
Climbing robot and its control method in imitative looper gait pipe Download PDFInfo
- Publication number
- CN110345335A CN110345335A CN201910624520.2A CN201910624520A CN110345335A CN 110345335 A CN110345335 A CN 110345335A CN 201910624520 A CN201910624520 A CN 201910624520A CN 110345335 A CN110345335 A CN 110345335A
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- Prior art keywords
- claw
- motor
- head piece
- climbing robot
- head
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Classifications
-
- 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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
-
- 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
-
- 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
- F16L2101/12—Cleaning
-
- 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
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses climbing robot and its control method in a kind of pipe of imitative looper gait, motion parts are realized by motor drive machinery structure, mainly include preceding claw portion, torso portion and rear claw portion.Preceding claw portion is by claw of creeping, worm and gear, driving motor, support frame, balanced support wheel.Claw portion is consistent with the composed structure of fore paw afterwards.Fore paw, rear solid end two parts are connected by torso portion and connection guide rod, and torso portion mainly includes that single chip control unit, battery unit, motor, feed screw nut, expansion plate etc. are constituted.Control section controls three motor regularity blocked operations by single-chip microcontroller, shows rear solid end clamping-trunk elongation-fore paw clamping-rear solid end release-trunk contraction-rear solid end clamping period repeatable motion, realizes that reciprocating linear is creeped in the pipeline of different tube diameters.Structure of the invention is relatively simple, easily controllable, and the functions such as detection, cleaning, maintenance to pipeline can be realized by carrying corresponding sensor or ancillary equipment.
Description
Technical field
The present invention relates to bio-robot technical fields, specifically, being climbing robot in a kind of imitative looper gait pipe
And its control method.
Background technique
Currently, pipeline has become the important conveying device in the fields such as petroleum, ocean, natural gas, chemical industry and nuclear industry.Due to
The particularity of pumped (conveying) medium or use environment has higher requirement to airtightness, safety, the stability etc. of pipeline.However, by
In unfavorable factors such as aging, burn into natural calamities, so that there is various problem, such as crackle, rusty stain in pipeline.In spy
Determine under operating condition, suchlike small defect may cause irremediable huge loss.Therefore, to the periodic detection of pipeline,
The operations such as maintenance, cleaning are highly desirable.But caused due to installation environment, caliber, pumped (conveying) medium etc. pipe detection with
The difficulty of maintenance increases.
The application of in-pipe robot then becomes a kind of simple, reliable and relatively inexpensive scheme.In-pipe robot can carry
Other ancillary equipments carry out periodic cleaning, detection and maintenance along pipeline.The machine National People's Congress for operation in pipeline currently on the market
More structure is complicated, is easily damaged, and is difficult to control.
Summary of the invention
In order to solve the above-mentioned technical problem, it is simple, practical, easily controllable that the object of the present invention is to provide a kind of structures
Pipe in climbing robot.In order to achieve the above object, the present invention is with inchworm motion mechanism from the angle of bionic function
Basis devises climbing robot and its control method in a kind of pipe.
The specific technical solution that the present invention uses is as follows:
Climbing robot in a kind of pipe of imitative looper gait, including preceding tine, torso portion and rear tine, preceding tine by
Creep claw and head piece composition, claw of creeping by worm gear card on the head piece, head piece by guide rod with
Torso member is connected, and rear tine is consistent with fore paw modular construction, and the head piece of rear tine passes through guide rod and trunk
Part is connected.
Further improvement of the present invention, preceding tine is consistent with rear solid end modular construction, and preceding tine includes shape design phase
Three same claws of creeping, the angle of claw between any two of creeping is 120 °, and the one end for claw of creeping is semiclosed to pass through bearing
It is fixed with worm gear, the both ends of bearing are fixed with multi-diameter shaft, and three claws of creeping are fixed there are three worm gear, are arranged between three worm gears
There is worm screw, worm gear is meshed with worm screw, and the bottom of worm screw is connected with motor connection axle, and motor connection axle and setting are in head piece
Internal driving motor is connected, one end of head piece is provided with three congenial pedestals of shape and structure, and pedestal is between any two
Angle is 120 °, and mounting hole is provided on pedestal, and the multi-diameter shaft on claw of creeping is fixedly mounted on realization in mounting hole and creeps
The connection of claw and head piece, the other end of head piece are provided with round chuck, are evenly arranged on round chuck several
Location hole, the surrounding of torso portion are evenly arranged with several guide rods, guide rod be punctured into positioning hole realize head piece with
The connection of torso member.
Further improvement of the present invention, head piece are internally provided with driving motor, and the external surrounding of head piece is set
It is equipped with balanced support wheel, balanced support wheel is mounted on wheel portion mounting rack, and wheel portion mounting rack is mounted on setting by fixing bolt
On the support wheel mounting hole on head piece inner wall.
Further improvement of the present invention, the outside surrounding of torso portion are provided with guide rod mounting hole and are used to wear for guide rod
It crosses convenient for fixing.
Further improvement of the present invention, torso portion are internally provided with driving motor, are set as telescopic drive motor, also
It is provided with voltage transformation module and single chip control module is connected with telescopic drive motor, telescopic drive motor is mounted on one admittedly
On fixed rack, expansion plate is additionally provided on fixed bracket, the thread spindle of telescopic drive motor is fixed on flexible across flange nut
The upside of plate further includes battery unit and doube bridge driving template, and battery unit and doube bridge drive module are arranged at mounting bracket
It is upper to be connected with telescopic drive motor.
Further improvement of the present invention wraps up rubber sleeve on claw of creeping.
Invention further discloses climbing robot control methods in a kind of Bionic inchworm gait pipe, using timing control side
Method, specifically includes the following steps:
Step A, single-chip microcontroller do not send out control instruction, and climbing robot is in a state of nature；
Step B, single machine unit control the driving motor in caudal components and rotate forward, and the claw of tail portion is opened in petal-shaped, with
The increase of angle, claw clamping tube wall, rear solid end are completed to fix；
Step C controls the telescope motor Positive work in torso portion, drives and stretches together with the head piece that expansion plate is connected
It is long, generate linear motion；
Step D, the motor controlled in head piece rotate forward, and the claw on head is opened in petal-shaped until clamping tube wall, completes machine
The fixation of device head part；
Step E, single-chip microcontroller control the motor reversal in caudal components, and the claw closure of tail portion disengages with tube wall, terminates tail
Portion's fixed operation；
Step F controls the telescope motor reversion in torso portion, drives tail portion operating to realize and shrinks；
Step G, the motor in caudal components rotate forward, and the claw clamping tube wall of tail portion, rear solid end is completed to fix；
Step H, single-chip microcontroller control the motor reversal in head piece, and the claw on head is gradually closed and disengages with tube wall,
Terminate the fixation of robot head；The looper gait motion of a cycle is completed at this time.
In the above-mentioned technical solutions, including preceding tine, torso portion and rear tine, the preceding claw portion is by being mounted on
Motor in head piece drives turbine and worm to realize that the petal type for claw of creeping opens and closes, the opening and closing degree and motor of claw of creeping
Driving turbine and worm transmission displacement it is related, by adjust the transmission displacement be adapted to different calibers.
It creeps the rubber sleeve being arranged outside claw, can prevent from damaging tube wall, and can increase and tube wall
Friction, to enhance clamping fixed ability, which is easily installed and dismantles.
There are three balanced support wheels for preceding claw portion surrounding also cloth, guarantee the water of climbing robot when claw of creeping does not open
Level stability.
Torso portion drives the telescoping visor movement being installed on head piece by telescopic drive motor, thus claw before driving
Linear expansion movement is realized in part movement.
The location hole of guide rod mounting hole and head piece in torso portion realized by guide rod and connected, not only can be with
Guiding linear motion is played, while can also realize the auxiliary connection function of fore paw and trunk.
The installation of the fixing support rack of torso portion not only support telescopic driving motor, while by battery unit, single-chip microcontroller
Unit and voltage drive module are integrated in frame, save installation space.
Single chip control unit realizes that the positive and negative rotation to three motors controls, and is controlled by the positive and negative rotation to driving motor real
The folding of existing front and back claw, the linear motion of climbing robot is realized to the control of telescopic drive motor.
Beneficial effects of the present invention: compared with prior art, climbing robot in the imitative looper gait pipe of present disclosure
It can work in the pipeline of different bores, there is certain versatility, easy to operate, the work being suitble under a variety of environment.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the perspective view of the explosion of Fig. 1.
Fig. 3 is the structural schematic diagram of claw of creeping in the present invention.
Fig. 4 is the structural schematic diagram of head piece in the present invention.
Fig. 5 is the structural schematic diagram of torso member in the present invention.
Fig. 6 is the mounting structure schematic diagram of the telescopic drive motor in the present invention inside torso member.
Fig. 7 is the looper gait timing control figure of climbing robot in the present invention.
In figure, 1- creeps claw, 2- head piece, 3- guide rod, 4- torso member, 101- rubber sleeve, 102- worm gear,
103- bearing, 104- multi-diameter shaft, 105- motor connection axle, 106- worm screw, 201- mounting hole, 202- fixing bolt, 203- wheel portion
Mounting rack, 204- balanced support wheel, 205- driving motor, 206- support wheel mounting hole, 207- location hole, the installation of 401- guide rod
Hole, 402- telescopic drive motor, 403- single chip control unit, 404- voltage transformation module, 405- electric machine support, 406- doube bridge
Drive module, 407- battery unit, 408- fixing support rack, 409- expansion plate, 410- threaded rod, 411- flange nut.
Specific embodiment
In order to deepen the understanding of the present invention, the present invention is done below in conjunction with drawings and examples and is further retouched in detail
It states, the embodiment is only for explaining the present invention, does not constitute and limits to protection scope of the present invention.
Embodiment: as depicted in figs. 1 and 2, climbing robot in a kind of pipe of imitative looper gait mainly includes preceding claw
Part, torso portion and rear tine.
Wherein, as Figure 3-Figure 4, for preceding tine by creeping claw 1 and head piece 2 forms, claw 1 of creeping is main special
Sign includes 3 claws, and each claw dresses rubber sleeve 101, and claw is realized by multi-diameter shaft 104, ball bearing 103 and circlip and snail
Wheel 102 is connected, and is mounted in the mounting hole 201 of head piece 2；The movement of claw is mainly by 3 worm gears 102 and 1
106 gear motion of worm screw is realized；Worm screw 106 and driving motor 205 are realized by the motor connection axle 105 with shaft coupling to be driven
Connection.Head piece 2 includes mounting hole 201, fixing bolt 202, wheel portion mounting rack 203, the balanced support wheel of fixed worm gear 102
204, support wheel mounting hole 206, driving motor 205 and location hole 207.The composed structure one of preceding tine and rear tine
It causes.
As shown in Figure 5 and Figure 6, torso portion 4 mainly include guide rod mounting hole 401, realize telescopic drive motor 402,
Single chip control unit 403, electric machine support 405, doube bridge drive module 406, battery unit 407, is consolidated voltage transformation module 404
Determine the composition such as support frame 408, expansion plate 409, thread spindle 410 and flange nut 411.Wherein, it is realized on electric machine support 405 flexible
Driving motor 402 is linked together by thread spindle 410 and flange nut 411 with expansion plate 409, and is mounted on fixing support rack
On 408, and single chip control unit 403, voltage transformation module 404, battery unit 407 are mounted on inside fixing support rack 408,
Doube bridge drive module 406 is mounted on the two sides of fixing support rack 408, to realize multipart integrated installation, it is empty to save installation
Between.The pilot hole that guide rod 3 passes through the location hole 207 of head piece, the guide rod mounting hole 401 of torso portion and tail portion is real
The connection of existing head, trunk, tail three parts, provides the function of support and guiding for the linear motion of climbing robot.
The control method of the present embodiment, using sequential control method, as shown in Figure 7: step A, single-chip microcontroller are not sent out control and are referred to
It enables, climbing robot is in a state of nature；Step B, single machine unit control the driving motor in caudal components and rotate forward, tail portion
Claw is opened in petal-shaped, and with the increase of angle, claw clamping tube wall, rear solid end is completed to fix；Step C controls torso portion
Interior telescope motor Positive work drives and extends together with the head piece that expansion plate is connected, and generates linear motion；Step D, control
Motor in head piece processed rotates forward, and the claw on head is opened in petal-shaped until clamping tube wall, completes consolidating for robot head
It is fixed；Step E, single-chip microcontroller control the motor reversal in caudal components, and the claw closure of tail portion disengages with tube wall, terminates tail
Portion's fixed operation；Step F controls the telescope motor reversion in torso portion, drives tail portion operating to realize and shrinks；Step G, tail portion
Motor in component rotates forward, the claw clamping tube wall of tail portion, and rear solid end is completed to fix；Step H, single-chip microcontroller control in head piece
Motor reversal, the claw on head are gradually closed and disengage with tube wall, terminate the fixation of robot head；It completes at this time
The looper gait motion of a cycle.As long as controlling according to sequence at this time, looper gait formula crawling exercises can be realized.The control
Method is simple, easy to implement, and stability is high.
Basic principles and main features and advantage of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (7)
1. climbing robot in a kind of pipe of imitative looper gait, which is characterized in that including preceding tine, torso portion and rear claw
Part, the preceding tine is by creeping claw and head piece forms, and the claw of creeping is by worm gear card mounted in the head
On part, the head piece is connected by guide rod with the torso member, the rear tine and the fore paw modular construction
Unanimously, the head piece of the rear tine is connected by guide rod with the torso member.
2. climbing robot in the pipe of imitative looper gait according to claim 1, which is characterized in that the preceding tine with
The rear solid end modular construction is consistent, and the preceding tine includes identical three claws of creeping of shape design, the claw of creeping
Angle between any two is 120 °, and one end of the claw of creeping is semiclosed to be fixed with worm gear by bearing, the bearing
Both ends are fixed with multi-diameter shaft, and three claws of creeping are fixed there are three worm gear, are provided with worm screw between three worm gears, the worm gear with
The worm screw is meshed, and the bottom of the worm screw is connected with motor connection axle, and the motor connection axle and setting are on the head
The driving motor of components interior is connected, and one end of the head piece is provided with three congenial pedestals of shape and structure, the base
The angle of seat between any two is 120 °, and mounting hole, the fixed peace of the multi-diameter shaft creeped on claw are provided on the pedestal
It creeps described in being realized in mounting hole the connection of claw and the head piece, the other end of the head piece is provided with circle
Shape chuck, it is described circle chuck on be evenly arranged with several location holes, the surrounding of the torso portion is evenly arranged with several lead
To bar, the guide rod is punctured into the connection that the positioning hole realizes the head piece Yu the torso member.
3. climbing robot in the pipe of imitative looper gait according to claim 2, which is characterized in that the head piece
It is internally provided with driving motor, the external surrounding of the head piece is provided with balanced support wheel, the balanced support wheel installation
On wheel portion mounting rack, the wheel portion mounting rack is mounted on the support being arranged on the head piece inner wall by fixing bolt
It takes turns on mounting hole.
4. climbing robot in the pipe of imitative looper gait according to claim 3, which is characterized in that the torso portion
Outside surrounding is provided with guide rod mounting hole and is used to pass through for the guide rod convenient for fixing.
5. climbing robot in the pipe of imitative looper gait according to claim 4, which is characterized in that the torso portion
Be internally provided with driving motor, be set as telescopic drive motor, be additionally provided with voltage transformation module and single chip control module with
The telescopic drive motor is connected, and the telescopic drive motor is mounted on a fixed bracket, is also set on the fixed bracket
It is equipped with expansion plate, the thread spindle of the telescopic drive motor passes through the upside that flange nut is fixed on the expansion plate, further includes
Battery unit and doube bridge drive template, the battery unit and the doube bridge drive module be arranged in the mounting bracket with
The telescopic drive motor is connected.
6. climbing robot in the pipe of imitative looper gait according to claim 1-5, which is characterized in that described to climb
Rubber sleeve is wrapped up on row claw.
7. climbing robot control method in a kind of Bionic inchworm gait pipe, which is characterized in that use sequential control method, specifically
The following steps are included:
Step A, single-chip microcontroller do not send out control instruction, and climbing robot is in a state of nature；
Step B, single machine unit control the driving motor in caudal components and rotate forward, and the claw of tail portion is opened in petal-shaped, with
The increase of angle, claw clamping tube wall, rear solid end are completed to fix；
Step C controls the telescope motor Positive work in torso portion, drives and stretches together with the head piece that expansion plate is connected
It is long, generate linear motion；
Step D, the motor controlled in head piece rotate forward, and the claw on head is opened in petal-shaped until clamping tube wall, completes machine
The fixation of device head part；
Step E, single-chip microcontroller control the motor reversal in caudal components, and the claw closure of tail portion disengages with tube wall, terminates tail
Portion's fixed operation；
Step F controls the telescope motor reversion in torso portion, drives tail portion operating to realize and shrinks；
Step G, the motor in caudal components rotate forward, and the claw clamping tube wall of tail portion, rear solid end is completed to fix；
Step H, single-chip microcontroller control the motor reversal in head piece, and the claw on head is gradually closed and disengages with tube wall,
Terminate the fixation of robot head；The looper gait motion of a cycle is completed at this time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910624520.2A CN110345335A (en) | 2019-07-11 | 2019-07-11 | Climbing robot and its control method in imitative looper gait pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910624520.2A CN110345335A (en) | 2019-07-11 | 2019-07-11 | Climbing robot and its control method in imitative looper gait pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110345335A true CN110345335A (en) | 2019-10-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910624520.2A Pending CN110345335A (en) | 2019-07-11 | 2019-07-11 | Climbing robot and its control method in imitative looper gait pipe |
Country Status (1)
| Country | Link |
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| CN (1) | CN110345335A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111946942A (en) * | 2020-08-21 | 2020-11-17 | 西安环海机器人科技有限公司 | Rescue system suitable for operation of pipeline robot |
| CN113984878A (en) * | 2021-11-02 | 2022-01-28 | 国家电网有限公司 | Overhead cable insulating layer damage detection equipment |
| CN115218740A (en) * | 2022-08-05 | 2022-10-21 | 中煤科工能源科技发展有限公司 | Energy-gathering pipe fixing device |
| CN116480356A (en) * | 2023-04-07 | 2023-07-25 | 中铁隧道股份有限公司 | Variable-resistance-based shield tunneling machine host translation device and application method thereof |
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| CN116480356A (en) * | 2023-04-07 | 2023-07-25 | 中铁隧道股份有限公司 | Variable-resistance-based shield tunneling machine host translation device and application method thereof |
| CN116480356B (en) * | 2023-04-07 | 2024-01-26 | 中铁隧道股份有限公司 | Variable-resistance-based shield tunneling machine host translation device and application method thereof |
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Application publication date: 20191018 |
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