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A System Analysis and Verification Method of Pipeline Crawling Robot

A crawling robot and system analysis technology, applied in the direction of design optimization/simulation, etc., can solve the problems of insufficient research and in-depth research, and achieve the effect of good development prospects, good reliability and simple structure

Active Publication Date: 2021-12-28
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Most of these robots use the principle of inertial impact movement. At present, extensive theoretical and experimental research on its driving principle has been carried out at home and abroad, but these studies are not comprehensive and in-depth.

Method used

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  • A System Analysis and Verification Method of Pipeline Crawling Robot
  • A System Analysis and Verification Method of Pipeline Crawling Robot
  • A System Analysis and Verification Method of Pipeline Crawling Robot

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Embodiment Construction

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0038] The invention provides a pipeline crawling robot system. The inertial impact driver is composed of a mobile positioning body, a piezoelectric ceramic driver and a mass block. A micro-displacement period of the inertial impact driver is divided into two phases, and the two-phase movement is repeated. The inertial impact driver will realize Continuous forward (backward) motion. A pipeline robot system analysis and verification method mainly consists of three parts: a structure design module, a control design module and a finite element simulation setting.

[0039] The mechanical structure module, based on the twin-crystal piezoelectric film micro-linear actuator, includes a set on the central axis, one or both ends are respectively positioned by an inertial mass and a fixed sleeve, and a plurality of twin-crystal piezoelectric film is iso...

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Abstract

The invention relates to a method for analyzing and verifying a pipeline crawling robot system. A three-dimensional model of a robot body structure is established in a three-dimensional modeling software; the three-dimensional model is divided into grids by using a hexahedral grid, and the obtained finite element model of the robot body is imported into Analysis settings are made in ADAMS; in ADAMS, a voltage signal is applied to the piezoelectric ceramic driver to make the finite element model of the robot body move forward; in MATLAB, a voltage signal is applied to the piezoelectric ceramic driver to make the finite element model of the robot body generate Forward displacement, consistent with forward displacement in ADAMS. The mobile robot in the tube of the present invention is based on the piezoelectric double-layer film, and uses the principle of inertial impact to achieve the purpose of movement. The structure is simple, the operation is convenient and easy to realize, it can move in soft and hard narrow pipes, and it can work under harsh working conditions, so it has a good development prospect.

Description

technical field [0001] The invention relates to the field of pipeline crawling robot system analysis, in particular to a pipeline crawling robot system analysis and verification method. Background technique [0002] Various tiny pipes are used in thermal power plants, nuclear power plants, chemical plants, and civil buildings, and their safe use requires regular maintenance. However, due to the limitation of narrow space, automatic maintenance is difficult. Taking nuclear power plants as an example, there are many pipes with an inner diameter of about 20mm, and the working conditions of workers during shutdown inspections are harsh. Therefore, the research and application of robotic automatic inspection technology in tiny pipelines is very necessary. We are going to design a micro-robot that can move back and forth inside soft and hard narrow pipes, and can be loaded with sensors such as cameras for detection. It can be used in medicine, such as digestive tract detection, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20
CPCG06F30/20
Inventor 骆海涛富佳于长帅刘广明矫利闯陈宁王巍陈士朋武廷课
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI