CN110520253A - Walking robot in pipeline - Google Patents

Abstract

Disclose walking robot in pipeline.Walking robot may include: the fore-stock and after-poppet for being supported by inner wall of the pipe and being walked along inner wall of the pipe in the pipeline of an exemplary embodiment of the present invention；And it is connected to the retainer that between fore-stock and after-poppet and flexibility is adjusted.

Description

Walking robot in pipeline

Technical field

The present invention relates to walking robots in a kind of pipeline advanced inside pipeline.

Background technique

The robot that the situation of the pipeline of industrial plants is investigated and repaired when can move inside pipeline is needed.

Traditional robot includes electric notor and the cable for driving wheel or roller.However, due to by high temperature and pressure pipe Road or risk for explosion caused by the electric spark in the gas pipeline of power generation, the use of electric notor and cable are restricted. Accordingly, there exist the needs of the improvement structure to mobile robot, which can be powered by a power supply, rather than by being used for The electric driver of internal duct investigation drives under the risk of such explosion.

Due to foozle, pipeline may have shape that is oval rather than completely justifying.Pipeline is also connected to a series of Attachment, such as 90 ° of bend pipes, 45 ° of bend pipes, T shape pipe and reducing pipe, to form pipe-line system.

These pipelines and many attachmentes are joined together to form pipe-line system, and robot allows for away piping system The pahtfinder hard of system.

Robot, which needs linearly to pass through a part, advances --- and the lower part of the part is with the shape of down position T shape pipe It is open in the pipe-line system of connection, or needs to advance to open lower part in bending state.

Pipe-line system includes the multiple attachmentes and multiple pipelines to link together, and allows the robot to pipe-line system of passing by Pahtfinder hard be important task.

It is open

Technical problem

Exemplary embodiment of the present invention makes great efforts to provide a kind of pipeline that can be moved inside the pipeline intricately connected Interior walking robot.

In addition, the present invention provides a kind of by effectively compensating for vehicle with walking machine in the pipeline that power loss can steadily walk Device people.

In addition, the present invention provides a kind of in the system for removing or minimizing in walking robot by forming braking circuit It can ensure that walking robot in the pipeline of enough brake force while dynamic equipment.

Technical solution

Walking robot includes: to be supported by inner wall of the pipe and along pipe in the pipeline of an exemplary embodiment of the present invention The fore-stock and after-poppet of road inner wall walking；And it is connected to the retainer that between fore-stock and after-poppet and flexibility is adjusted.

Retainer may include gas chamber, and the internal pressure of gas chamber changes according to the injection or discharge of air, and retainer Flexibility can be adjusted according to the internal pressure of gas chamber.

Gas chamber may include: the first gas chamber adjacent to fore-stock arrangement；And the second gas adjacent to after-poppet arrangement Room, wherein the first gas chamber and the second gas chamber are separated from each other.

Retainer may include multiple support rollers, these support rollers are arranged between the first gas chamber and the second gas chamber and edge Be arranged in from mutual a distance on the outside of retainer.

Retainer can become flexible when passing through curved pipe, so that fore-stock and after-poppet are walked in curved pipe.

When walking robot linearly passes through its underpart is open a region in the duct when, retainer can become Rigidity, so that fore-stock and after-poppet can linearly walk.

Fore-stock and after-poppet may include: the pneumatic cylinder operated with gas pressure；The rear end of pneumatic cylinder is set First plate at place；It is connected to the guide post in the outside of the first plate；It is connected to second plate of one end of guide post；Shaft portion has It is pivotably connected to the first connecting rod and second connecting rod of the first plate and the second plate respectively；And it is connected to the front end of shaft portion Roller segment.

Roller may include: driven roller, the front end for being connected to first connecting rod and drive motor is connected to it；And auxiliary Roller is connected to the front end of second connecting rod.

Walking robot may include: drive motor in pipeline, receive the power from external power supply, and to fore-stock Driving power is provided with after-poppet；Internal electric source moves together with fore-stock and after-poppet along pipeline, and passes through switch Operation be used to selectively connect to the current path between external power supply and drive motor；And controller, when by outside Power supply is supplied to the power of drive motor between the target power that currently needs when emergent power difference, which connects switch To connect internal electric source to be supplied to the power of drive motor with the power compensation of such as difference power as many.

External power supply can be fixed to a point in the outside of pipeline, and drive motor can pass through power cable (its at least part for forming current path) receives power from external power supply.

Walking robot can also include the Voltage measure that measurement is supplied to the voltage of drive motor in pipeline, and work as When there is difference between the voltage measured by Voltage measure and the target voltage according to target power, controller be can connect Internal electric source is to compensate the voltage differences.

Walking robot can also include the current measurer that measurement is supplied to the electric current of drive motor in pipeline, wherein Controller can determine target voltage according to the relationship between the electric current and target power measured by current measurer.

Controller can connect internal electric source when voltage differences are greater than voltage reference value, and when measured electric current compared with Reference voltage value can be determined as to lesser value when high.

Walking robot may include: drive motor in pipeline, receive the power from external power supply, and to fore-stock Driving power is provided with after-poppet；Driving circuit comprising external power supply and be used to selectively connect to drive motor；Braking electricity Road is used to selectively connect to drive motor；And controller, control one in driving circuit and braking circuit in In the connection status of drive motor, wherein controller can control driving circuit in the walking mode of fore-stock and after-poppet In connection status, and braking circuit is controlled in the braking mode of bracket and is in connection status.

The phase in drive motor can be set in the control switch selectively connecting with one of driving circuit and braking circuit At opposite end, and controller can control the connection status of driving circuit and braking circuit by controlling the control switch.

Resistive circuit including resistor and the non-resistive route in short-circuit condition are located in parallel to one another in braking electricity Lu Zhong and resistance switch connect one of resistive circuit and non-resistive route between the opposite end of drive motor.

In the normal brake mode of braking mode, when the speed of current brackets and after-poppet is higher than reference velocity, control Device can connect the resistive circuit in braking circuit, and when the speed is lower than reference velocity, controller can connect braking Non-resistive route in circuit.

Controller can control the non-resistive route in braking circuit in the Rapid brake mode of braking mode, but regardless of How is the speed of fore-stock and after-poppet.

Resistor may include NTC element, and the resistance of NTC element reduces when the temperature rises.

Variable resistance (its resistance is adjusted by controller) and NTC element can be arranged in series, and drive motor can lead to It crosses power cable to connect with driving circuit and braking circuit, and the resistance of variable resistance can increase in the length of power cable Added-time is controlled as smaller.

Beneficial effect

Exemplary embodiment of the present invention enables pipeline inner machine people easily to move inside the pipeline intricately connected It is dynamic.

In addition, even if being supplied to the loss of the power of drive motor (it provides driving force to the driven roller of walking robot) Occur, the power of the loss can also effectively and stably be compensated for the traveling of robot.

In addition, braking circuit is formed in walking robot effectively to provide enough brake force, even if additional system Dynamic equipment is removed or minimizes.

Detailed description of the invention

Fig. 1 is the perspective view of walking robot in the pipeline of an exemplary embodiment of the present invention.

Fig. 2 is the perspective view of the bracket applied to Fig. 1；

Fig. 3 is the perspective view of the retainer applied to Fig. 1；

Fig. 4 shows in the pipeline of an exemplary embodiment of the present invention walking robot along down position T shape pipe The state walked in downward direction.

Fig. 5 shows walking robot in the pipeline of an exemplary embodiment of the present invention and linearly crosses down position The state of T shape pipe walking.

Fig. 6 schematically show accoding to exemplary embodiment be arranged in inside pipeline simultaneously by power cable with outside Walking robot in the pipeline of portion's power supply connection.

Fig. 7 schematically shows a circuit of an exemplary embodiment of the present invention, and wherein internal electric source is arranged In pipeline in walking robot.

Fig. 8 schematically shows the circuit relevant to drive motor of an exemplary embodiment of the present invention, wherein Braking circuit is arranged in pipeline in walking robot.

Mode for invention

The present invention hereinafter will be more fully described with reference to attached drawing, exemplary embodiment of the present invention is shown in the accompanying drawings Out.As those of skill in the art will be recognized, described embodiment can in a variety of ways by modification and All without departing from the spirit or scope of the present invention.

Therefore, attached drawing and description is considered being regarded as illustrative in nature rather than restrictive.Similar reference number Similar element is indicated throughout the specification.

In addition, because the size and thickness of each element being shown in the accompanying drawings for convenience of description are shown at random, So the present invention, which is not necessarily limited by, those of is shown in the accompanying drawings element.

In addition, opposite situation unless explicitly recited, otherwise word " comprise (including) " and such as " comprises (packet Include) " or " comprising (including) " deformation will be understood as imply include stated element but be not excluded for it is any its His element.

Fig. 1 is the perspective view of walking robot in pipeline according to the exemplary embodiment of the disclosure.

With reference to Fig. 1, walking robot 100 may include bracket 10 and retainer 20 in pipeline.

Walking robot 100 can be used for checking the purpose of the inside of pipeline in pipeline, for example, video camera (not shown) can be set It sets in pipeline on the driving direction of walking robot 100.

Bracket 10 includes fore-stock 10a and after-poppet 10b.In pipeline walking robot 100 can by pipeline 200 (see It is advanced when inner wall Fig. 4) supports using bracket 10.

Retainer 20 is arranged between fore-stock 10a and after-poppet 10b, and fore-stock 10a and after-poppet 10b are connected to Each other.The length and internal pressure of retainer 20 can change since air injects.

For example, according to the state of pipeline 200, air can be injected by controller 90 (see Fig. 6) in retainer 20 or from Retainer 20 is discharged, so that retainer 20 becomes flexible or rigid.

When retainer 20 is flexible, it is meant that the relative position of fore-stock 10a and after-poppet 10b are variations, are made The length direction of the length direction and after-poppet 10b that obtain fore-stock 10a is different from each other, and when retainer 20 is rigid, Mean the relative position of fore-stock 10a and after-poppet 10b or length direction is fixed.

As mentioned, fore-stock 10a or after-poppet 10b can pass through retainer 20 in the state by changing retainer 20 It is supported by after-poppet 10b or is supported or be fixed to fixed to after-poppet 10b or by fore-stock 10a and is mobile when fore-stock 10a.

Therefore, walking robot 100 is adapted to pipe in the pipeline of the retainer 20 changed with state according to bracket 10 The variation of the diameter in road 200, and linearly (see Fig. 5) can be advanced when passing through curved pipe or down position T shape pipe 210. In this case, the flexibility and length of retainer 20 can be adjustable, and the therefore phase between fore-stock and after-poppet Length or distance can be adjustable.

Fig. 2 is the perspective view of the bracket applied to Fig. 1；

With reference to Fig. 1 and Fig. 2, bracket 10 may include pneumatic cylinder 12, plate part 11 and shaft portion 13.Bracket 10 can be with It advances, and can be separated with the inner wall of pipeline 200 in the inner wall support by pipeline 200.

Bracket 10 includes pneumatic air cylinder 12.Air be directed into pneumatic cylinder 12 or from 12 row of pneumatic cylinder Out, and therefore pneumatic cylinder 12 can in length expansion or shrinkage.

Control unit 90 can determine between fore-stock 10a and after-poppet 10b by adjusting the flexibility of retainer 20 Relative positional relationship.

The pneumatic cylinder 12 of each of fore-stock 10a and after-poppet 10b can be controlled by controller and the like.Example Such as, air be directed into the pneumatic cylinder 12 of fore-stock 10a, and air can be from the pneumatic cylinder of after-poppet 10b 12 discharges.In this case, fore-stock 10a is in the state that can be driven when being supported by the inner wall of pipeline 200, then Bracket 10b is in the state that cannot be driven, because it is separated with the inner wall of pipeline 200.However due to being driven by fore-stock 10a Dynamic, after-poppet 10b is allowed to move inside pipeline 200.

Plate part 11 includes the first plate 11a and the second plate 11b.

First plate 11a may be coupled to the rear end of pneumatic cylinder 12.Second plate 11b is connected by guide post 16 and the first plate 11a It connects, and one end of guide post 16 can be fixed to.Due to the expansion or shrinkage of pneumatic cylinder 12, after pneumatic cylinder 12 is set The first plate 11a at end can have variable range from the second plate 11b.

For example, the first plate 11a is connected to the rear end of pneumatic cylinder 12, and guide post 16 is arranged in the first plate 11a and second To be connected to the first plate 11a and the second plate 11b each other from its outside between plate 11b.It is arranged at the rear end of pneumatic cylinder 12 The first plate 11a be moveable by the expansion of pneumatic cylinder 12 and shrinking along guide post 16.

The second plate 11b being arranged at one end of guide post 16 is fixed.For example, when air is injected into air cylinder 12 When interior and pneumatic cylinder 12 expands therefore, the first plate 11a at the rear end of pneumatic cylinder 12 is set and is moved along guide post 16.

Shaft portion 13 can be pivotally disposed on the opposite side of the first plate 11a and the second plate 11b, these opposite sides Facing each other.Shaft portion 13 include first connecting rod 13a and second connecting rod 13b, and they be separately positioned on the first plate 11a and In second plate 11b.

For example, first connecting rod 13a is arranged in the first plate 11a, second connecting rod 13b is arranged in the second plate 11b, and the One connecting rod 13a can be connected with second connecting rod 13b with the shape of X.Therefore, shaft portion 13 can according in the first plate 11a and The distance between second plate 11b is adjustable in length along the direction perpendicular to bracket 10.

For example, when pipeline 200 has major diameter, it can be by reducing the distance between the first plate 11a and the second plate 11b To adjust shaft portion 13 to contact the inner wall of pipeline 200.On the contrary, when pipeline 200 has minor diameter, it can be by extending the The distance between one plate 11a and the second plate 11b adjust shaft portion 13 to contact the inner wall of pipeline 200.

The shaft portion 13 of first connecting rod 13a and second connecting rod 13b including X connection can be along the outer circles of plate part 11 Perimeter surface setting is multiple.For example, three or more can be provided at regular intervals along the external peripheral surface of plate part 11 Shaft portion 13.It therefore, can will be at the internally placed center of bracket 10 by more stably supporting pipeline 200 in inner wall.

Roller 14 can be set at the front end of each part in shaft portion 13.Roller segment 14 can contact pipeline 200 Inner wall with allow bracket 10 advance.For example, shaft portion 13 can contact the inner wall of pipeline 200 by roller segment 14.Connecting rod Part 13 squeezes roller segment 14, and therefore can be supported by the inner wall of pipeline 200.

Roller segment 14 may include driven roller 14a and help roll 14b.For example, drive motor 15 may be coupled to driven roller 14a.Driven roller 14a may be coupled to the front end of first connecting rod 13a.Drive motor 15 is connect with driven roller 14a, and therefore can be with It is connected to the side surface of first connecting rod 13a.Help roll 14b can be set in second connecting rod 13b.For example, when bracket 10 is by driving When dynamic roller 14a driving, help roll 14b can safely be advanced with guide support 10 without separating with the inner wall of pipeline 200.

Fig. 3 is the perspective view of the retainer applied to Fig. 1.

With reference to Fig. 1 and Fig. 3, retainer 20 is arranged between fore-stock 10a and after-poppet 10b, and by fore-stock 10a and It after-poppet 10b and is connected to each other.

Retainer 20 may include gas chamber 22, the air that the length and pressure of gas chamber 22 pass through the control progress by controller 90 Injection or discharge be changeable.Therefore, retainer 20 flexibly or can be rigidly attached fore-stock 10a and after-poppet 10b。

For example, when air is injected into the gas chamber 22 of retainer 20 and therefore the internal pressure of gas chamber 22 increases, The bracket in fore-stock 10a and after-poppet 10b not supported by the inner wall of pipeline 200 can be by the inner wall by pipeline 200 Another bracket of support is fixed or is supported.That is, retainer 20 can be between fore-stock 10a and after-poppet 10b Transmit support force.As another example, fore-stock 10a and after-poppet 10b pass through curved pipe, and therefore fore-stock 10a relative to After-poppet 10b carries out bending walking, and air is discharged from gas chamber 22 to reduce its internal pressure in retainer 20.In such case Under, retainer 20 becomes flexible, and the length of retainer 20 can be according to the opposite position of fore-stock 10a and after-poppet 10b It sets variation and changes.

Retainer 20 may include multiple gas chambers 22.For example, retainer 20 may include being arranged adjacent to fore-stock 10a First gas chamber 22a and the second gas chamber 22b being arranged adjacent to after-poppet 10b.First gas chamber 22a and the second gas chamber 22b can be with It is separated from each other.

E.g., including the retainer 20 of multiple gas chambers 22 can be by a gas injecting air into multiple gas chambers 22 Air is discharged from a gas chamber in multiple gas chambers 22 gradually to adjust flexibility in interior.

That is, air is discharged to reduce internal pressure in controller 90 when current brackets 10a enters curved pipe, and When current brackets 10a is completely in curved pipe, air is discharged from the second gas chamber 22b to reduce internal pressure in controller 90, and And it injects air into the first gas chamber 22a to increase internal pressure, to improve pulling force.

Support roller 23 can connect between the first gas chamber 22a and the second gas chamber 22b.Support roller 23 is in the first gas chamber 22a With being connected in the radial direction for the second gas chamber 22b, while in a circumferential direction be separated from each other.

When retainer 20 since air is injected into the first gas chamber 22a and the second gas chamber 22b or air is from the first gas chamber 22a When being discharged with the second gas chamber 22b and becoming flexible state, support roller 23 can more easily be moved from pipeline 200 with auxiliary holder 20 It is dynamic.

Fig. 4 shows in the pipeline of an exemplary embodiment of the present invention walking robot along down position T shape pipe The state walked in downward direction.

Referring to figs. 1 to Fig. 4, walking robot 100 can be along the downward of the opening of down position T shape pipe 210 in pipeline Direction is mobile.However, this is not limiting, and walking robot 100 can be moved along curved pipe in pipeline.

Hereinafter, walking robot 100 will be illustratively described in pipeline along the opening of down position T shape pipe 210 Situation about moving in downward direction.

When being moved on the direction of travel of walking robot 100 in pipeline, by the fore-stock of the inner wall support of pipeline 200 10a is bent in a downward direction naturally, in the downwardly direction, when neighbouring down position T shape pipe 210 opening it is downward The support force for the part opened when direction is lost.

In this case, controller 90 reduces internal pressure by the way that air is discharged from the first gas chamber 22a of retainer 20 Power, so that fore-stock 10a is bent downwardly.Fore-stock 10a moves down farther in a downward direction, and when contact is downward The walking when being supported and the driving when inner wall of the pipeline 200 just connected up.

After-poppet 10b is moved along the movement routine of fore-stock 10a, and the second gas chamber 22b is dropped by discharge air Low internal pressure is bent after-poppet 10b.In this case, the support roller 23 of retainer 20 can pass through contact It is more stablely mobile that the inner wall of down position T shape pipe 210 carrys out walking robot 100 in the pipeline of auxiliary bend.First gas chamber 22a Increase internal pressure before the second gas chamber 22b, and pulling force can be improved.

Fig. 5 shows walking robot in the pipeline of an exemplary embodiment of the present invention and linearly crosses down position The state of T shape pipe walking.

With reference to Fig. 5, a kind of method for crossing the walking of down position T shape pipe 210 along straight line is shown.

Fore-stock 10a and after-poppet 10b by pipeline 20 inner wall support, and therefore in pipeline walking robot 100 by driving Dynamic roller 14a driving.Air is injected into the internal pressure for increasing retainer 20 in retainer 20.The link rod part of fore-stock 10a 13 are divided to separate with the inner wall of pipeline 200.

For example, the air of the pneumatic cylinder 12 from fore-stock 10a be discharged with by the first plate 11a of pneumatic cylinder 12 and Second plate 11b is separated from each other, and shaft portion 13 and the inner wall of pipe 200 are separated.Walking robot 100 is by rear in pipeline Bracket 10b is supported on the inner wall of pipeline 200, and can be walked in the direction of travel by after-poppet 10b.

The fore-stock 10a supported by after-poppet 10b can cross the lower part of the opening of down position T shape pipe 210 linearly It is mobile.Next, fore-stock 10a is injected air into pneumatic cylinder 12 to move shaft portion towards the inner wall of pipeline 200 13, so that roller segment 14 contacts the inner wall of pipeline 200.Fore-stock 10a can be on the inner wall by being supported on pipeline 200 come row It walks.

Next, after-poppet 10b separates shaft portion 13 with the inner wall of pipeline 200.For example, after-poppet 10b's is pneumatic Air in cylinder 12 is discharged so that the first plate 11a and the second plate 11b to be separated from each other, thus by shaft portion 13 and pipeline 200 inner wall separation.

In this case, the after-poppet 10b supported by fore-stock 10a can cross the opening of down position T shape pipe 210 Lower running.

When walking robot 100 passes through the lower part of the opening of down position T shape pipe 210 in pipeline, retainer 20 passes through It is injected via air and greatly increases internal pressure to keep rigid state.As mentioned, walking robot 100 passes through in pipeline The attribute of retainer 20 is changed into the lower running of the opening rigid or flexible that can pass through down position T shape pipe 210, And it can advance in curved pipe more stablely.

Fig. 6 schematically show in the pipeline of an exemplary embodiment of the present invention walking robot 100 by from The state that external power supply 250 receives power to walk inside pipeline 200.

With reference to Fig. 6, walking robot 100 may include: driving horse in the pipeline of an exemplary embodiment of the present invention Up to 15, power is received from external power supply 250, and provide driving power to fore-stock 10a and after-poppet 10b；Internal electric source 70, It is mobile in the inside of pipeline 200 together with bracket 10, and be used to selectively connect to external power supply 250 and drive motor 15 it Between current path；And controller 90, in the power for being supplied to drive motor 15 from external power supply 250 and currently need Operation switch 75 when target power is different from each other, to use the power compensation such as difference power as many by connection internal electric source 70 It is supplied to the power of drive motor 15.

Driven roller 14a has can be set in bracket 10 including fore-stock 10a and after-poppet 10b.Bracket 10 passes through driven roller The driving of 14a and walk in the inside of pipeline 200, and drive motor 15 receives power from external power supply 250 with to driven roller 14a provides driving power.

Drive motor 15 is arranged single and provides driving power to multiple driven roller 14a, or can be set multiple with list Solely driving power is provided to respective drive roller 14a.

In Fig. 6, as exemplary embodiment of the present invention, a kind of structure, plurality of driven roller 14a setting are shown In bracket 10 and each driven roller 14a is provided with drive motor 15 to provide driving power.

In addition, walking robot 100 needs to reduce in terms of volume or load in the internal rows of pipeline 200 in pipeline It walks, and therefore present example embodiment according to the present invention, provides the external power supply 250 being arranged in outside pipeline 200 to incite somebody to action Power is transferred to drive motor 15 from external power supply 250.

At the same time, internal electric source 70 can be separately positioned in bracket 10 with external power supply 250.Pass through switch 75 Operation, internal electric source 70 are used to selectively connect to the current path between external power supply 250 and drive motor 15, while and bracket 10 is mobile in the inside of pipeline 200 together.

Internal electric source 70 may be mounted on bracket 10 or other component and internal electric source 70 is mounted on bracket in Fig. 6 On 10, and the electric current being connected between external power supply 250 and drive motor 15 by switch 75 is being schematically shown in Fig. 7 Circuit in path.

As shown in fig. 7, switch 75 is arranged in the current path of drive motor 15 selectively to connect internal electric source 70 It is connected to the path for being transferred to the electric current of drive motor 15 or makes internal electric source 70 from the path for the electric current for being transferred to drive motor 15 It disconnects.

The operation of switch 75 is controlled by controller 90, and controller 90 can by from user receive manipulation signal or According to predetermined condition come Operation switch.

Because internal electric source 70 is not the main power source for being permanently attached to be transferred to the path of the electric current of drive motor 15, Compared with external power supply 250, internal electric source 70 can be provided with smaller volume and lighter weight, and therefore walk Robot 100 individually equipped with external power supply 250 while, internal electric source 70 may be mounted on walking robot 100, this Walking is advantageous.

At the same time, when the power that drive motor 15 is supplied to from external power supply 250 and the target power currently needed not Be same as that at this point, 90 Operation switch 75 of controller to connect internal electric source 70, thus to the compensation of drive motor 15 such as difference power one Power more than sample.

Controller 90 can be set in walking robot 100, or can be set in the commanding apparatus of user, and Hereinafter an exemplary embodiment of the present invention controller 90 will be described as being arranged in walking robot 100.

Controller 90 determines the current goal power for making walking robot 100 walk, and the target power is meaned Meet current walking of the drive motor 15 for walking robot 100 needed for output power.Target power can be based on Electric current needed for the type of drive motor 15 or the acceleration determined by user determines.

In addition, controller 90 determine between the power and target power for being supplied to drive motor 15 whether emergent power Difference.The power for being supplied to drive motor 15 is provided from the external power supply 250 isolated with walking robot 100, and and external electrical The different power of power that source 250 is set can be provided because of a variety of causes.

For example, due to the exception in power cable 255 as power transfer path and the like or in power transmission The loss of voltage occurred in the process, it is understood that there may be transferred to the loss of the power of drive motor 15.

When the loss of the determining power for being transferred to drive motor 15 occurs and therefore relative to target power emergent power When poor, 90 control switch 75 of controller is being connected to internal electric source 70 to the current path of drive motor 15.

That is, the power from external power supply 250 and the power from internal electric source 70 are transferred to driving horse together Up to 15, with the power compensation difference power from internal electric source 70, and the damage for the power being therefore likely to occur in all cases Mistake can be processed.

At the same time, an exemplary embodiment of the present invention, 250 quilt of external power supply of walking robot 100 in pipeline An external position fixed to pipeline 200, and drive motor 15 receives function from external power supply 250 by power cable 255 Rate.

As previously mentioned, an exemplary embodiment of the present invention, is arranged in the external power supply 250 outside pipeline 200 and is mentioned Main power source is provided as to reduce the volume of walking robot 100 and load.Therefore, for being supplied power to from external power supply 250 The device of drive motor 15 is needed, and therefore power cable 255 is used in an exemplary embodiment of the present invention.

Fig. 7 shows a kind of circuit, and wherein power is provided to driving horse from external power supply 250 by power cable 255 Up to 15.When power cable 255 is by use, the line resistance 257 generated by power cable 255 is likely to occur, and due to line Road resistance 257 and be likely to occur power loss.

In fig. 7 it is shown that the line resistance 257 generated by power cable 255.When the length of power cable 255 increases When, line resistance 257 present in power cable 255 increases.When line resistance 257 increases, driving is transferred to from power supply 250 The voltage of motor 15 is lost, so as to cause power loss.

As shown in fig. 6, by external power supply 250 of the power cable 255 from a point being fixed on outside pipeline 200 come The walking robot 100 for providing an exemplary embodiment of the present invention of electrical power increases in the travel distance of robot 100 When need much longer power cable 255, and need compensate the line resistance 257 as present in power cable 255 and draw The power loss risen.

On the other hand, when walking on chute or vertical path when robot 100 or when needing high acceleration, drive motor The amount of 15 increase current drains is used to export high torque, and when the magnitude of current increases, from the line resistance of power cable 255 The amount for the power that the voltage drop generated in 257 increases and transmits from external power supply 250 also increases.

Therefore, in an exemplary embodiment of the present invention, walking robot 100 is driven by using external power supply 250 To reduce the volume and load of walking robot 100, and in the same time, internal electric source 70 is provided to compensate in the walking phase Between the power loss that is likely to occur.

Therefore, in an embodiment of the present invention, the external power supply 250 at a point being fixed on outside pipeline 200 is provided, And power is provided from external power supply 250 to drive motor 15 by power cable 255, and works as the power of drive motor 15 When consuming the increase due to travel distance and increasing, power deviation can be compensated by using internal electric source 70, so that driving Current goal power needed for motor 15 can be steadily satisfied.

At the same time, as shown in fig. 7, walking robot 100 may be used also in the pipeline of an exemplary embodiment of the present invention To include measuring the Voltage measure 65 for the voltage for being supplied to drive motor 15, and work as the voltage measured by Voltage measure 65 It is different from that at this point, the connection internal electric source 70 of controller 90 is poor with offset voltage with according to the target voltage of target power.

Controller 90 can determine that the power for being actually delivered to drive motor 15 by using various methods, and according to this The exemplary embodiment of invention, controller 90 are determined by being supplied to the voltage of drive motor 15 through the measurement of Voltage measure 65 It is supplied to the power of drive motor 15.

Particularly, output needed for controller 90 determines drive motor 15 according to user, and determine the target of the output Power.In addition, controller 90 in order to target power realization and adjust from external power supply 250 provide the magnitude of current.

When the expection voltage for corresponding to the magnitude of current adjusted is provided to drive motor 15, target power usually can be with It is satisfied, but when the voltage for being actually delivered to drive motor 15 has voltage difference relative to target power, difference power occurs.

Therefore, in an exemplary embodiment of the present invention, controller 90 is actually transmitted by the determination of Voltage measure 65 To the voltage of drive motor 15, and whether determination deposits between the target voltage and measured voltage determined by target power In voltage deviation.

When there is voltage deviation, controller 90 operates switch 75 shown in Fig. 7 towards internal electric source 70, so that from interior The voltage of portion's power supply 70 can compensate the voltage transmitted from external power supply 250.When the voltage for being transferred to drive motor 15 is compensated, Power loss in drive motor 15 can be compensated.

At the same time, as shown in fig. 7, walking robot 100 may be used also in the pipeline of an exemplary embodiment of the present invention To include measuring the current measurer 63 for the electric current for being supplied to drive motor 15, and controller 90 can be according to by current measurement The relationship between electric current and target power that device 63 measures determines target voltage.

In Fig. 7, an exemplary embodiment of the present invention, current measurer 63, which is arranged in, is supplied to drive motor 15 In the path of electric current.Controller 90 controls the value for being transferred to the electric current of drive motor 15 according to target power.

That is, controller 90 is controlled to provide to drive motor 15 relative to being provided by external power supply 250 Theoretical voltage is able to achieve the current value of target power.However, due to various reasons, such as control reason or physical cause, by controlling The current value that device 90 processed is arranged and the current value for being actually delivered to drive motor 15 can be different from each other.

Therefore, in an exemplary embodiment of the present invention, measured by current measurer 63 and be supplied to drive motor 15 Actual current value, and calculate current desired target in view of the current value that measures relative to current goal power Voltage.

In an exemplary embodiment of the present invention, when determining current deviation, not only consider to be supplied to drive motor 15 Voltage, and the current deviation indicated by current value is also considered, and therefore can accurately and effectively determine due to various reasons The current deviation being likely to occur, and can highly reliably realize the target power of the traveling for walking robot 100.

At the same time, in the pipeline of an exemplary embodiment of the present invention in walking robot 100, controller 90 can To connect internal electric source 70 when voltage deviation is higher than reference voltage, and electricity can will be referred to when measured electric current increases Pressure is adjusted to lesser value.

It may be due to outer by the voltage deviation between measured voltage and target voltage that Voltage measure 65 measures Unstability, the physical imperfection in power cable 255 or the suddenly change in walking states of portion's power supply 250 and occur.

In addition, being produced when walking states sudden change (for example, acceleration change) of walking robot 100 or the like Raw voltage deviation may be the natural result temporarily occurred, and the influence to the walking of walking robot 100 may be micro- Weak.

In addition, because sufficiently small lower than the voltage deviation of reference voltage value without influencing to be output to needed for drive motor 15 Electric current, so reference voltage is arranged to the ginseng of the compensation of the power carried out by internal electric source 70 in an embodiment of the present invention It examines.

Reference voltage value can be arranged to various values by various methods.For example, determined by many experiments due to The voltage deviation of the unstable driving of drive motor 15 caused by shortage of power, and then can statistically determine reference voltage Value.

In addition, can be based on statistical result in view of changing reference voltage value in terms of strategic control.For example, working as stability When being emphasised, reference voltage can be set to the larger value, and when validity is emphasised, reference voltage can be set to compared with Small value.

At the same time, when being supplied to the electric current increase of drive motor 15, the control of an exemplary embodiment of the present invention Reference voltage value is set lesser value by device 90 processed.When measured electric current is high, it is meant that mesh needed for drive motor 15 It is high to mark power.

When producing heavy load in walking robot 100 or walking robot 100 needs rapidly to accelerate, high target Power is needed.In this case, drive motor 15 may be driven due to power loss and astatically, this causes to go The deterioration of the safety of robot walking 100.

Therefore, in an exemplary embodiment of the present invention, for the stability of the control of walking robot 100 and effectively Property, reference voltage value is set, and reference voltage value is set to when the electric current for being supplied to drive motor 15 corresponds to high current Lower value, to improve the stability of walking.

Fig. 6 is referred back to, walking robot 100 includes: driving horse in the pipeline of an exemplary embodiment of the present invention Up to 15, power is received from external power supply 250 and provides driving force to bracket 10 or driven roller 14a；Driving circuit 120, packet It includes external power supply 250 and is used to selectively connect to drive motor 15；It is used to selectively connect to the braking circuit of drive motor 15 130；And controller 90, one in driving circuit 120 and braking circuit 130 is controlled in connection status, and is controlled Device 90 processed controls driving circuit 120 in the walking mode of bracket 10 and is in connection status and in the braking mode of bracket 10 Middle control braking circuit 130 is in connection status.

Controller 90 of the invention, which can be used as, to be provided according to each functional independence in mutual corpus separatum, or It can reside in the single construction for executing multiple functions as described above.

As exemplary embodiment of the present invention, Fig. 6 shows a kind of structure, and wherein external power supply 250 is placed on pipe The outside in road 200 is to reduce the volume and load of walking robot 100, and power cable 255 to drive motor 15 for mentioning For power.

In fig. 8 it is shown that the driving circuit 120 and braking circuit 130 of an exemplary embodiment of the present invention.

Driving circuit 120 include external power supply 250, and the property of can choose be connected to drive motor 15.With reference to Fig. 8, Driving circuit 120 includes external power supply 250, and the opposite end of drive motor 15 can be connected to by control switch 122.

Control switch 122 is connected one of driving circuit 120 and braking circuit 130 and drive motor 15 by controller 90 It connects.Driving circuit 120 or braking circuit 130 are alternately connected to drive motor 15 by control switch 122.

Therefore, when driving circuit 120 is connect with drive motor 15, therefore braking circuit 130 is in release conditions and It is separated with drive motor 15, and when braking circuit 130 is connect with drive motor 15, driving circuit 120 is in release conditions In and therefore separated with drive motor 15.

In the present invention, the detailed construction of driving circuit 120 can be diversely set, and in fig. 8, according to the present invention Exemplary embodiment, driving circuit 120 be formed include external power supply 250 route, and driving circuit 120 is opposite End is connect by the opposite end that control switch 122 is selectively arranged at route therein with drive motor 15.

At the same time, braking circuit 130 be do not include the circuit of external power supply 250, and pass through the control of control switch 122 System is to be used to selectively connect to drive motor 15.In fig. 8, it is schematically shown that braking circuit 130.

Since braking circuit 130 does not include external power supply 250, when connecting when system with drive motor 15 in braking circuit 130 When dynamic circuit 130 is controlled, drive motor 15 is as the generator operation for generating electricity by external force, and therefore consumption driving horse Braking mode up to 15 external force is implemented.

With reference to Fig. 8, braking circuit 130 is connected to the opposite end that drive motor 15 is arranged at route therein.

Braking circuit 130 can be configured to make the positive electrode short circuit of drive motor 15, and may include resistor 136 With resistor 137, as described below.

In the present invention, the braking circuit 130 for being selectively connected the opposite end of drive motor 15 can be equipped with respectively Kind structure, but control switch 122 is arranged in every one end in the opposite end of the route of drive motor 15 in fig. 8, and drives Dynamic circuit 120 can be alternately connected to the opposite end of drive motor 15 by the control of control switch 122.

In addition, braking circuit 130 can be set on walking robot 100, or can be set in external power supply 250 In.When braking circuit 130 is arranged in external power supply 250, driving circuit 120 and braking circuit 130 can pass through electric power electricity Cable 255 and the like is electrically connect with drive motor 15.

In fig. 8, a kind of structure is schematically illustrated, wherein driving circuit 120 is concurrently arranged in braking circuit 130 Top, and electrically connect by power cable 255 and the like with drive motor 15.

As previously mentioned, in an exemplary embodiment of the present invention, driving circuit 120 and braking circuit 130 are alternately controlled System by control switch 122 to be connected or be discharged.

At the same time, one in the control driving circuit 120 of controller 90 and braking circuit 130 is connected.That is, When driving circuit 120 is connected by the control of controller 90, braking circuit 130 can be controlled as being released, and when system When dynamic circuit 130 is controlled as being connected, driving circuit 120 can be controlled as being released.

The determination of the connection status of driving circuit 120 and braking circuit 130 can be operated by the control module of user Lai really It is fixed.For example, when user by using the control module for the walking states for being provided to control walking robot 100 manipulating so that When walking robot 100 according to the present invention slows down or stops, controller 90 determines driving circuit 120 according to corresponding signal With the connection status of braking circuit 130.

At the same time, the control of driving circuit 120 is connected when bracket 10 is in walking mode by controller 90, and And it is connected for controlling braking circuit 130 when bracket 10 is in braking mode.

In the present invention, term " drive mode " means that power is provided to drive motor 15 to generate the shape of power State and term " braking mode " mean that no power is generated from drive mode 15 and brake force is generated so that bracket 10 The state of stopping.

Controller can determine drive mode and braking mode by the manipulation signal of controller 90.That is, working as When user's manipulation and control module is used to walk to generate power from drive motor 15, controller 90 can identify drive mode, And when user presses individual stop button or controls the speed reduction of walking robot 100 or is zero, controller 90 It can identify braking mode.

In drive mode, controller 90 controls driving circuit 120 and is connected.Therefore, power can be from external power supply 250 It is provided to drive motor 15, and drive motor 15 is mentioned by using the power from external power supply 250 to driven roller 14a For driving power.

At the same time, in braking mode, controller 90 controls braking circuit 130 and is connected, while controlling driving circuit 120 are released.The power supply of drive motor 15 is blocked in the same time that driving circuit 120 is released, and is not therefore had There is power to generate from drive motor 15, and braking circuit 130 is connected to play the generator for generating power by external force Effect.

When braking circuit 130 is connected, the inertia force in walking robot 100 or walking are present in walking states The load of robot 100 is applied to driven roller 14a as external force, and the external force is passed to drive motor 15, so that driving Dynamic motor 15 plays the role of generator by external force.

That is, the generated energy of drive motor 15 plays consumption external force when braking circuit 130 is in connection status Brake force effect.

Since walking robot 100 according to the present invention has small walking space because walking in the inside of pipeline 200, Therefore reduce the volume of robot 100 or load is advantageous, and when braking circuit 130 is such as in exemplary implementation of the invention When being arranged in drive motor 15 in example, system can be formed in driven roller 14a in the case where not individual braking equipment Power, and be therefore advantageous in terms of the volume or load of the walking robot 100 that the inside of pipeline 200 is walked in reduction.

In addition, braking equipment can be set together with braking circuit 130, to ensure enough brake force, and In this case this is also advantageous, because the size of braking equipment or load can be reduced significantly.

At the same time, exemplary embodiment of the present invention makes to walk in vertical pipeline by using braking circuit 130 The braking aspect of robot 100 is advantageous.Vertical pipeline and refers to it is preferably meant that perpendicular to the pipeline 200 that ground extends The gravity of walking robot 100 be parallel to or similar to direction of travel pipeline 200.

In order to stop at walking robot 100 in vertical pipeline, the inertia force being not only present in walking robot 100 And corresponds to and be provided according to the brake force needs of the external force for the load for being applied to walking robot 100.

Under an example embodiment of this invention, by using braking circuit 130, it is applied to drive motor 15 External force is consumed and is provided together with reaction force, and the external force caused by loading is held in the case where vertical pipeline It keeps continuously, and therefore brake force needs are constantly provided so that walking robot 100 stops.

In an exemplary embodiment of the present invention, the braking circuit of the opposite end by connecting drive motor 15 is provided 130 consumption are applied to the braking system of the external force of drive motor 15, and accordingly, there is a need for the additional power supply for generating brake force, and And much more brake force can be provided when external force is strong.

Therefore, in the case where being such as continuously kept brake force in chute or vertical pipeline, exemplary reality of the invention It applies example to be advantageous, because the brake force corresponding to external force can constantly be provided to running machine by braking circuit 130 People 100 is without providing individual power.

At the same time, as previously mentioned, the driving circuit 120 and braking circuit 130 of an exemplary embodiment of the present invention It is shown in FIG. 8, and the setting of control switch 122 selectively connecting with one of driving circuit 120 and braking circuit 130 exists At the opposite end of drive motor 15, and controller 90 controls driving circuit 120 and braking by controlling the control switch 122 The connection status of circuit 130.

As shown in figure 8, the control switch 122 of an exemplary embodiment of the present invention can be separately positioned on including driving At the opposite end of the route of motor 15.

In an exemplary embodiment of the present invention, control switch 122 is arranged to a pair of, and this is to control switch 122 Each of at every one end for being arranged in the opposite end of drive motor 15 of switch, for driving circuit 120 and braking electricity The stabilization on road 130 and quickly control.

At the same time, as shown in figure 8, in the pipeline of an exemplary embodiment of the present invention in walking robot 100, The resistive circuit 135 of resistor 136 and 137 and the non-resistive route 138 in short-circuit condition are provided in braking circuit 130 In be arranged parallel to each other, and connection drive motor 15 can be set in one of resistive circuit 135 and non-resistive route 138 The resistance switch 133 of opposite end.

In an exemplary embodiment of the present invention, resistive circuit 135 includes resistor 136 and resistor 137, and non-electrical Resistance route 138 does not include resistor 136 and resistor 137, and therefore non-resistive route 138 connects the opposite of external power supply 250 End is in short-circuit condition.

The brake force needed for the braking mode of traveling robot 100 of traveling robot 100 can be required diversely. In an embodiment of the present invention, it is provided separately resistive circuit 135 and non-resistive route 138, allows brake force by diversely It is formed.

As previously mentioned, when braking circuit 130 is in connection status, the effect of 15 starter/generator of drive motor, and Become the brake force for being applied to drive motor 15 by the power that braking circuit 130 consumes.

That is, increased when the power increase consumed by braking circuit 130 by the external force that drive motor 15 consumes, And control is therefore controlled in drive motor 15 by the power that braking circuit 130 consumes in an exemplary embodiment of the present invention The brake force of middle formation.

E.g., including the resistive circuit 135 of resistor 136 and resistor 137 is than no resistance and forms short-circuit condition Non-resistive route 138 has the bigger resistance of consumption power, and when the resistance is very big, is subtracted by the amount of the power of voltage consumption It is few.

Therefore, the power of braking circuit 130 (it has the resistive circuit 135 for being connected to it) consumption was less than in the same time The power consumed by non-resistive route 138, and the brake force for being therefore supplied to drive motor 15 becomes smaller.

On the other hand, non-resistive route 138 does not have resistor 136 and resistor 137, and consumes in entire route by driving The power that dynamic motor 15 generates, and the resistance ratio resistive circuit 135 of non-resistive route 138 is much smaller, and therefore in same a period of time Between consume a greater amount of power.

Therefore, the braking circuit 130 that non-resistive route 138 is connected to provides much better than brake force to drive motor 15.

Therefore, in an exemplary embodiment of the present invention, selectively and it is alternately connected to the resistance of braking circuit 130 Route 135 and non-resistive route 138 are provided, and brake force needed for walking robot 100 is diversely met.

Resistive circuit 135 and non-resistive route 138 are alternately connected to braking circuit by the operation of resistance switch 133 130, and one of resistive circuit 135 and non-resistive route 138 are connected to system by controlling resistance switch 133 by controller 90 Dynamic circuit 130.

At the same time, when in the pipeline of an exemplary embodiment of the present invention walking robot 100 be in braking mode Normal brake mode in when, controller 90 bracket 10 speed be higher than reference velocity when connection braking circuit 130 in electricity Route 135 is hindered, and the non-resistive route 138 when the speed of bracket 10 is lower than reference velocity in connection braking circuit 130.

In an exemplary embodiment of the present invention, braking mode can be classified as general braking mode and fast braking mould Formula.It is manipulated to subtract from present speed when the fast braking button in user's manipulation and control platform or in walking robot 100 In the case that speed is more than predeterminated level, present mode can be identified as Rapid brake mode by controller 90.

More than predeterminated level, simultaneously therefore the identified speed of Rapid brake mode be can according to need by testing and counting Diversely it is arranged.In addition, this will be understood in an illustrative manner, and fast braking mould may be set in a manner of various other Formula.

On the other hand, control unit 90 can not will correspond to the case where Rapid brake mode and be identified as normal brake application mould Formula.In addition, user can preset one in general braking mode and Rapid brake mode, and therefore subsequent control can be with It is controlled as normal brake mode or Rapid brake mode.

In an exemplary embodiment of the present invention, in braking force mode, brake force is directly added to maximum braking force, and And normal brake mode be construed as being formed when braking and starting the brake force smaller than the brake force of Rapid brake mode with Reduce the braking mode of the impact generated by braking.

From the point of view of this viewpoint, by way of example, for distinguishing normal brake mode described above and quickly system The standard of dynamic model formula should be appreciated that, and can be arranged in various ways in view of intention.

When being confirmed as normal brake mode, when the present speed of bracket 10 is higher than reference velocity, controller 90 exists Resistive circuit 135 is connected on braking circuit.As previously mentioned, resistive circuit 135 than non-resistive route 138 shape in drive motor 15 At smaller driving force.

When speed is higher than reference velocity and initial brake power is higher than reference velocity, the impact of initial brake power increases, And the impact is applied to walking robot 100, to deteriorate the stability and durability of walking robot 100.Therefore exist In exemplary embodiment of the present invention, when speed is higher than reference velocity, resistive circuit connects resistive conductor on braking circuit 130 Road 135, thus mitigate as braking and caused by impact.

Reference velocity becomes the reference of the substitution connection about resistive circuit 135 and non-resistive route 138, and it can be with In view of being variously determined in terms of control strategy.For example, reference velocity can be set to greatly when needing fast braking Value, and when due to braking caused by impact need to be mitigated when, reference velocity is arranged to lesser value.

At the same time, when by resistive circuit 135 connection come implement braking and therefore the speed of bracket 10 is reduced to When lower than reference velocity, controller 90 increases brake force by the non-resistive route 138 in connection braking circuit 130.

Compared with the connected situation of resistive circuit 135, braking circuit 130 that non-resistive route 138 is connected to is to drive Dynamic motor 15 provides bigger brake force, passes through resistive circuit 135 when the speed of bracket 10 is higher than reference velocity to motor 15 Brake force is provided to mitigate impact, and mention by non-resistive route 138 to drive motor 15 when speed is lower than reference velocity The maximum braking force for being finally stopped state is formed for brake force.

At the same time, in the pipeline of an exemplary embodiment of the present invention in walking robot 100, controller 90 connects The non-resistive route 138 in braking circuit 130 is connect, but regardless of the speed of bracket 10 in the Rapid brake mode in braking mode How.

As previously mentioned, Rapid brake mode may be applied than mitigating in the braking mode of exemplary embodiment of the present invention The impact for being added to bracket 10 preferentially brakes quickly bracket 10, and therefore brake force quilt in an exemplary embodiment of the present invention Maximize without pipe holder 10 speed how.

That is, non-resistive route 138 is connected to braking circuit by controller 90 when identifying Rapid brake mode 130, so that the opposite terminal shortcircuit of external power supply 250, so as to provide maximum braking force to driving by braking circuit 130 Motor 15, to implement fast braking.

At the same time, as shown in figure 8, exemplary embodiment of the present invention may include NTC element 136, NTC element 136 Resistance the temperature of resistor 136 and resistor 137 increase when reduce.NTC (negative temperature coefficient of resistance) element means The resistive element that its resistance is reduced when the temperature of respective element increases.

As previously mentioned, resistive circuit 135 of the invention is provided with resistor 136 and resistor 137, and therefore drive motor 15 external force is consumed as power by resistor 136 and resistor 137, and because of the function in resistor 136 and resistor 137 Rate is usually dissipated the temperature of resistor 136 and resistor 137 raising when braking mode continues for heat.

That is, the resistance for the NTC element 136 being arranged in resistor 136 and resistor 137 when braking and continuing subtracts It is small, and the brake force of drive motor 15 is therefore applied to when the amount of the power consumed by resistor 136 and resistor 137 increases It gradually increases.

That is, in an exemplary embodiment of the present invention, providing in drive motor 15 than non-resistive route 138 The resistive circuit 135 of lower brake force is formed, and NTC element is included in the resistor 136 and resistance of resistive circuit 135 In device 137, so that brake force passes through NTC element when braking continues in the connected braking mode of resistive circuit 135 136 gradually increase.

Therefore it provides being gradually increased to the brake force of walking robot 100, and therefore impact is mitigated, and when braking When process continues, the brake force of sufficient amount can be provided for stopping walking robot 100.

At the same time, as shown in figure 8, walking robot 100 includes in the pipeline of an exemplary embodiment of the present invention In the variable resistance and NTC element that resistance is controlled by control unit, and drive motor passes through power cable selectivity Ground is connected to driving circuit and braking circuit.Variable resistance can be adjusted, so that when the length of power cable becomes longer Resistance value becomes smaller.

In the case where drive motor 15 is powered by power cable 255 from external power supply 250, the system of drive motor 15 Power can be formed in braking circuit 130 by using the line resistance 257 provided in power cable 255.

However, according to the length of power cable 255, the size for being present in the line resistance 257 in power cable 255 can be with Change, and therefore when resistive circuit 135 forms brake force by using the line resistance 257 of power cable 255, brake force Size can change.Therefore in an exemplary embodiment of the present invention, variable resistance 137 is arranged on resistive circuit 135.

Controller 90 can control variable resistance 137, so that the line resistance 257 and variable resistance of power cable 255 The summation of device 137 has steady state value.For example, when the length of power cable 255 is very long and line resistance 257 becomes larger, control Device 90 controls the size of variable resistance 137 to be small, and when the length of power cable 255 is very short and line resistance 257 when becoming smaller, and controller 90 is by the size control of variable resistance 137 to be big to keep the perseverance for being supplied to braking circuit 130 Determine resistance value.

Therefore, in an exemplary embodiment of the present invention, formed by using the line resistance 257 of power cable 255 When braking circuit 130, variable resistance 137 is arranged such that mention even if when the line resistance 257 of power cable 255 changes The brake force of supply drive motor 15 can be constant.

Although describing the present invention about the content for being presently believed to be practical example embodiment, it is to be understood that, this Invention is not limited to the disclosed embodiments.On the contrary, it is intended to cover the various modifications being included within the scope of the appended claims And equivalent arrangements.

The description-of symbol

100: walking robot 10 in pipeline: bracket

10a: fore-stock 10b: after-poppet

11: the 11a: the first plate of plate part

11b: the second plate 12: pneumatic cylinder

13: shaft portion 13a: first connecting rod

13b: second connecting rod 14: roller

14a: driven roller 14b: help roll

15: drive motor 16: guide post

20: retainer 22: gas chamber

22a: the first the 22b: the second gas chamber of gas chamber

23: support roller 63: current measurer

65: Voltage measure 70: internal electric source

75: switch 90: controller

120: driving circuit 122: control switch

130: braking circuit 135: resistive circuit

138: non-resistive route 200: pipeline

210: down position T shape pipe 250: external power supply

255: power cable 257: line resistance.

Claims (20)

1. walking robot in a kind of pipeline, comprising:

Fore-stock and after-poppet are supported by inner wall of the pipe and are walked along the inner wall of the pipe；And

Retainer, is connected between the fore-stock and the after-poppet and its flexibility is adjusted.

2. walking robot in pipeline according to claim 1, wherein the retainer includes gas chamber, the gas chamber Internal pressure changes according to the injection or discharge of air, and the flexible internal pressure according to the gas chamber of the retainer come It is adjusted.

3. walking robot in pipeline according to claim 2, wherein the gas chamber includes:

First gas chamber is arranged adjacent to the fore-stock；And

Second gas chamber, adjacent to the after-poppet arrange,

Wherein, first gas chamber and second gas chamber are separated from each other.

4. walking robot in pipeline according to claim 3, wherein the retainer includes multiple support rollers, described Multiple support rollers are arranged between first gas chamber and second gas chamber and are arranged on the outside of the retainer At mutual a distance.

5. walking robot in pipeline according to claim 1, wherein the retainer becomes soft when passing through curved pipe Property, so that the fore-stock and the after-poppet are walked in the curved pipe.

6. walking robot in pipeline according to claim 1, wherein when the walking robot is linearly passed through in institute When stating its underpart in pipeline and being open a region, the retainer becomes rigid so that the fore-stock and it is described after Bracket can linearly walk.

7. walking robot in pipeline according to claim 1, wherein the fore-stock and the after-poppet include:

The pneumatic cylinder operated with gas pressure；

First plate is arranged at the rear end of the pneumatic cylinder；

Guide post is connected to the outside of first plate；

Second plate is connected to one end of the guide post；

There is shaft portion the first connecting rod for being pivotably connected to first plate and second plate respectively and second to connect Bar；And

Roller segment is connected to the front end of the shaft portion.

8. walking robot in pipeline according to claim 7, wherein the roller includes:

Driven roller, is connected to the front end of the first connecting rod and the drive motor is connected to it；And

Help roll is connected to the front end of the second connecting rod.

9. walking robot in pipeline according to claim 1, comprising:

Drive motor receives the power from external power supply, and provides driving power to the fore-stock and the after-poppet；

Internal electric source moves together with the fore-stock and the after-poppet along the pipeline, and passes through the behaviour of switch The current path being connected to electing property between the external power supply and the drive motor；And

Controller, between the power for being supplied to the drive motor by the external power supply and the target power currently needed When emergent power difference, the controller connect it is described switch come connect the internal electric source with as the difference power as many Power compensation is supplied to the power of the drive motor.

10. walking robot in pipeline according to claim 9, wherein the external power supply is fixed in the pipe One point of the outside in road, and the drive motor receives power, the electricity from the external power supply by power cable Power cable forms at least part of the current path.

11. walking robot in pipeline according to claim 10 further includes the electricity that measurement is supplied to the drive motor The Voltage measure of pressure,

Wherein, poor when occurring between the target voltage in the voltage measured by the Voltage measure and according to the target power Different time, the controller connect the internal electric source to compensate the voltage differences.

12. walking robot in pipeline according to claim 11 further includes the electricity that measurement is supplied to the drive motor The current measurer of stream,

Wherein, the controller is determined according to the relationship between the electric current and the target power measured by the current measurer The target voltage.

13. walking robot in pipeline according to claim 12, wherein the controller is greater than in the voltage differences The internal electric source is connected when voltage reference value, and when measured electric current is higher by the reference voltage value be determined as compared with Small value.

14. walking robot in pipeline according to claim 1, comprising:

Drive motor receives the power from external power supply, and provides driving power to the fore-stock and the after-poppet；

Driving circuit comprising the external power supply and be used to selectively connect to the drive motor；

Braking circuit is used to selectively connect to the drive motor；And

Controller, control one in driving circuit and braking circuit in in the connection status of the drive motor,

Wherein, the controller controls the driving circuit in the walking mode of the fore-stock and the after-poppet and is in institute It states in connection status, and controls the braking circuit in the braking mode of the bracket and be in the connection status.

15. walking robot in pipeline according to claim 14, wherein selectively with the driving circuit and described The control switch of one of braking circuit connection is arranged at the opposite end of the drive motor, and the controller passes through control The control switch controls the connection status of the driving circuit and the braking circuit.

16. walking robot in pipeline according to claim 14, wherein resistive circuit including resistor and in short Non-resistive route in line state is located in parallel to one another in the braking circuit and resistance switch is in the drive motor The opposite end between connect one of the resistive conductor and the non-resistive line.

17. walking robot in pipeline according to claim 16, wherein in the normal brake mode of the braking mode In, the controller connects in the braking circuit when the fore-stock is higher than reference velocity with the speed of the after-poppet The resistive circuit, and the non-resistive line in the braking circuit is connected when the speed is lower than the reference velocity Road.

18. walking robot in pipeline according to claim 15, wherein the controller is fast the braking mode The non-resistive route in the braking circuit is controlled in fast braking mode, but regardless of the fore-stock and the after-poppet How is speed.

19. walking robot in pipeline according to claim 16, wherein the resistor includes NTC element, described The resistance of NTC element reduces when the temperature rises.

20. walking robot in pipeline according to claim 19, wherein its resistance is adjusted variable by the controller Resistor and the NTC element are arranged in series,

The drive motor is connect by power cable with the driving circuit and the braking circuit, and

The resistance of the variable resistance is controlled as smaller when the length of the power cable increases.