Worm wheel type driving pipeline robot system based on high-strength spring wall press apparatus

A pipeline robot, high-strength technology, applied in control/adjustment system, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve problems such as difficult stable operation, poor control effect, etc., to avoid Accidental injury, realization of online detection and diagnosis, and effect of ensuring effective detection

Inactive Publication Date: 2016-04-13
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Abstract
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Problems solved by technology

[0003] At present, pipeline robots are mostly wheeled or crawler-type with ordinary structures, which can run in horizontal or small-inclination pipelines, but it is difficult to run stably in large-inclination or even vertical pipelines; the drive motor Most of the control is based on the traditional PID algorithm, but in the face of pipelines with complex structures and changing environments, the control effect is not good

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  • Worm wheel type driving pipeline robot system based on high-strength spring wall press apparatus
  • Worm wheel type driving pipeline robot system based on high-strength spring wall press apparatus
  • Worm wheel type driving pipeline robot system based on high-strength spring wall press apparatus

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Embodiment

[0040] Example: A helical wheel-driven pipeline robot system based on a high-strength spring-loaded wall device (see figure 1 ), which is characterized in that it includes a body mechanical structure and a control system; wherein, the body mechanical structure is composed of a screw head 1, a body 2 and a cage 3; the body 2 is the main body of the robot, and the screw head 1 and the cage 3 are installed on the fuselage 2; the screw head 1 is distributed and installed with driving wheels 4 in the circumferential direction; the cage 3 is distributed and installed with guide wheels 5 in the circumferential direction; the driving wheels 4 and The guide wheels 5 are connected to the screw head 1 and the cage 3 through the connecting rod 6 .

[0041] The screw head 1 is evenly distributed with three groups of driving wheels 4 in the circumferential direction, and the interval between each two groups of driving wheels 4 is 120° (see figure 1 ).

[0042] Each of the three groups of ...

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Abstract

A worm wheel type driving pipeline robot system based on a high-strength spring wall press apparatus is characterized by comprising a body mechanical structure and a control system; the body mechanical structure comprises a spiral head, a body and a holding frame; the body is a main body of the robot; the working method is that the robot system is a fully-closed loop servo control system taking wheel linear speed as a feedback quantity through a fuzzy adaptive PID control algorithm. The advantages of the robot system are: (1) the robot system can steadily and flexibly move within a tilted and vertical pipeline with a minimal variable diameter; (2) the robot system exhibits good dynamic responsiveness, robustness and stability; (3) signal transmission is convenient; and (4) the robot system is highly controllable and is high in accuracy.

Description

(1) Technical field: [0001] The invention belongs to the technical field of pipeline inspection robots, in particular to a spiral wheel-driven pipeline robot system based on a high-strength spring wall pressing device. (2) Background technology: [0002] Pipeline transportation and railway transportation, road transportation, waterway transportation and air transportation are called the five major transportation modes in the world today. Relying on the transmission characteristics of safety, economy, speed and large volume, pipeline transportation has been widely used in petrochemical, food processing, urban water supply and drainage, living resource supply, nuclear industry and other fields, and occupies an extremely important position in the development of the national economy. One of the main indicators to measure the level of a country's industrial development. With the steady progress of national economic construction, the pipeline industry has also ushered in a period...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0255G05D2201/0217
Inventor 邵磊王毅董克建陈小奇刘宏利李季
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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