Composite drive self-adapting pipe robot

Abstract

The present application relates to a kind of composite drive self-adapting pipeline robot, it is characterized in that including wheeled drive spring passive variable-diameter mechanism, parallel mechanism and screw drive screw active variable-diameter mechanism, and the both ends of parallel mechanism are connected wheeled drive spring passive variable-diameter mechanism and screw drive screw active variable-diameter mechanism respectively.The present application is better adapted in the operation of complex pipeline, with high efficiency power transmission, high stability motion ability and mechanical structure simplest, control is convenient.Wheeled and screw composite drive become the main driving mode of the pipeline robot of the present application.The active variable-diameter of screw nut and the spring passive variable-diameter combination mode are used, the stable walking and turning of pipeline robot are realized, can adapt to different pipe diameter and a variety of pipelines;And through the front and rear self-adapting design is favorable for improving the problem of obstacle.

Description

TECHNICAL FIELD

[0001] The present application relates to a pipeline robot, in particular to a pipeline robot with composite driving and self-adaptive variable diameter mechanism, and is especially suitable for pipeline detection. BACKGROUND

[0002] As an intelligent equipment working in a specific environment, the pipeline robot has been one of the research focuses of domestic and foreign scholars. In recent years, China has increased investment in oil and gas pipeline network construction, and has developed rapidly with remarkable achievements. With the acceleration of pipeline construction in China and the increase in the number of pipelines, the detection, maintenance and operation of pipelines have a growing impact on national economic development and people's quality of life, and are of great significance to national security and social stability. However, at present, the pipeline robot is unstable in walking and turning, and cannot adapt to different pipe diameters and other types of pipelines. Moreover, the obstacle crossing ability of the pipeline robot needs to be improved. SUMMARY

[0003] The present application provides a pipeline robot with composite driving and self-adaptive variable diameter mechanism to solve the problem of instability in walking and turning of the pipeline robot in the prior art, and the inability to adapt to different pipe diameters.

[0004] The technical scheme of the present application is as follows:

[0005] A composite driving self-adaptive pipeline robot comprises a wheeled driving spring passive variable diameter mechanism, a parallel mechanism and a screw driving lead screw active variable diameter mechanism, and the two ends of the parallel mechanism are respectively connected to the wheeled driving spring passive variable diameter mechanism and the screw driving lead screw active variable diameter mechanism.

[0006] The screw driving lead screw active variable diameter mechanism comprises a screw driving part, a lead screw active variable diameter part, a screw angle changing mechanism and a running wheel; the screw driving part comprises a screw motor and a reducer, a first coupling and a screw platform, the screw platform is connected to the screw motor and the reducer through the first coupling, and the screw platform realizes robot walking and support through the opening and closing of the motor; the lead screw active variable diameter part and the screw angle changing mechanism are connected to the running wheel through a first compression spring.

[0007] The wheeled driving spring passive variable diameter mechanism is provided with a sensor in the end, the end is connected to the parallel mechanism through a guide rail, a fixed base is sleeved on the guide rail, one end of a rocker is rotationally connected to the fixed base, and the other end of the rocker is connected to a front running wheel; two sides of the fixed base on the guide rail are respectively provided with sliding blocks, pull and pressure springs are respectively arranged between the sliding blocks and the end and between the sliding blocks and the parallel mechanism, one end of a connecting rod is connected to the sliding block, and the other end of the connecting rod is connected to the rocker.

[0008] The spiral variable angle mechanism comprises a variable angle motor and reducer, a large bevel gear, a small bevel gear, a small bevel gear shaft and a long shaft; the variable angle motor and reducer are installed on the spiral platform through a motor base; the output shaft of the variable angle motor and reducer is connected with the large bevel gear, the large bevel gear is engaged with the uniformly spaced small bevel gears, one end of the small bevel gear shaft is connected with the small bevel gear, and the other end of the small bevel gear shaft is connected with the long shaft through a key; a spring top piece is fixed on the long shaft, a spring seat is arranged above the spring top piece, a first compression spring is arranged between the spring top piece and the spring seat, and the spring seat is connected with the axle of the rear driving wheel; the variable angle motor and reducer drive the large bevel gear to rotate, the large bevel gear drives the small bevel gears to rotate, and thus the rear driving wheel and the small bevel gears are synchronously rotated.

[0009] The small bevel gears are uniformly and spacedly arranged in six.

[0010] The screw rod active variable diameter part comprises six variable diameter mechanisms, each single variable diameter mechanism comprises a variable diameter motor and reducer, a second coupling, a screw rod and a nut; the variable diameter motor and reducer are installed on the spiral platform through a motor base, the variable diameter motor and reducer are connected with the bottom of the screw rod through the second coupling, and the upper part of the screw rod is installed with the nut; one end of the nut is fixed with the connecting plate, and the other end of the connecting plate is slidably sleeved on the long shaft; when the screw rod rotates, the nut is driven to ascend or descend, thereby driving the connecting plate fixedly connected therewith to slide on the long shaft, when the connecting plate touches the spring top piece and continues to force, the first compression spring is compressed, and thus the variable diameter is realized.

[0011] In the wheel type driving spring passive variable diameter mechanism, four grooves are uniformly and spacedly arranged on the side wall of the fixed base along the circumference, the rotating shaft is arranged in the groove, and one end of the rocker is sleeved on the rotating shaft;

[0012] The other end of the rocker is connected with the second compression spring, the second compression spring is fixedly connected with the sealed motor box, and the motor shaft extends out of the sealed motor box and is connected with the two driving wheels.

[0013] The parallel mechanism comprises a first end panel, a second end panel, a large arm, a small arm and a hooke joint, the small arm and the large arm are connected in a cylindrical pair, the end of the small arm and the end of the large arm are respectively connected with the hooke joint, and the hooke joint is fixedly installed on the first end panel and the second end panel.

[0014] The advantages and effects of the present application are as follows:

[0015] The application is better adapted to the operation of complex pipelines, has high efficient power transmission, high stability movement ability and the simplest mechanical structure, and is convenient to control. The wheel type and spiral compound driving becomes the main driving mode of the pipeline robot. The active variable diameter of the screw nut and the passive variable diameter of the spring are combined to realize the stable walking and turning of the pipeline robot, and the pipeline robot can adapt to different pipe diameters and various pipelines. The front and rear self-adapting design is beneficial to improve the obstacle crossing problem. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the application.

[0017] Figure 2 It is a schematic diagram of the structure of the spiral driving screw active variable diameter mechanism of the application.

[0018] Figure 3 It is a schematic diagram of the local structure of the variable diameter mechanism and the spiral variable angle mechanism.

[0019] Figure 4 It is a schematic diagram of the structure of the wheel type driving spring passive variable diameter mechanism of the application.

[0020] Figure 5 It is a schematic diagram of the side structure of the wheel type driving spring passive variable diameter mechanism of the application.

[0021] Figure 6 It is a schematic diagram of the parallel mechanism structure of the application.

[0022] Figure 7 It is a schematic diagram of the local structure of the Hooke joint part of the parallel mechanism.

[0023] In the figure, 1-1, spiral motor and reducer, 1-2, first coupling, 1-3, spiral table, 1-4, variable angle motor and reducer, 1-5, large bevel gear, 1-6, small bevel gear, 1-7, variable diameter motor and reducer, 1-8, second coupling, 1-9, screw, 1-10, nut, 1-11, small bevel gear shaft, 1-12, spring top piece, 1-13, first compression spring, 1-14, spring seat, 1-15, rear traveling wheel, 1-16, long shaft, 1-17, wheel shaft; 2-1, first end plate, 2-2, second end plate, 2-3, small arm, 2-4, large arm, 2-5, Hooke joint, 2-5-1, bearing seat, 2-5-2, bearing, 2-5-3, connecting support shaft, 2-5-4, connecting piece; 3-1, end head, 3-2, rocker, 3-3, connecting rod, 3-4, second compression spring, 3-5, sealing motor box, 3-6, fixed base, 3-7, front traveling wheel, 3-8, sliding block, 3-9, tension spring, 3-10, guide rail, 3-11, fixed connection end face. DETAILED DESCRIPTION Embodiment

[0024] As shown in the figure, a double drive adaptive pipeline robot comprises a wheeled drive spring passive variable diameter mechanism 3, a parallel mechanism 2 and a screw drive screw active variable diameter mechanism 1, and the two ends of the parallel mechanism are respectively connected with the wheeled drive spring passive variable diameter mechanism and the screw drive screw active variable diameter mechanism.

[0025] The screw drive screw active variable diameter mechanism comprises a screw drive part, a screw active variable diameter part, a screw angle changing mechanism and a rear traveling wheel; the screw drive part comprises a screw motor and a reducer 1-1, a first coupling 1-2 and a screw platform 1-3, the screw platform 1-3 is a support frame for supporting, the screw platform 1-3 is connected with the screw motor and the reducer 1-1 through the first coupling 1-2, and the screw platform realizes the walking and supporting of the robot through the opening and closing of the motor; the screw active variable diameter part and the screw angle changing mechanism are connected with the rear traveling wheel through the first compression spring;

[0026] The screw angle changing mechanism comprises an angle changing motor and a reducer 1-4, a large bevel gear 1-5, a small bevel gear 1-6, a small bevel gear shaft 1-11 and a long shaft 1-16; the angle changing motor and the reducer are installed on the screw platform through a motor base; the output shaft of the angle changing motor and the reducer 1-4 is connected with the large bevel gear 1-5, the large bevel gear 1-5 is engaged with the six small bevel gears 1-6 which are uniformly and regularly arranged, one end of the small bevel gear shaft 1-11 is connected with the small bevel gear 1-6, and the other end of the small bevel gear shaft 1-11 is connected with the long shaft 1-16 through a key; a spring top piece 1-12 is fixed on the long shaft 1-16, a spring seat 1-14 is arranged above the spring top piece 1-12, a first compression spring 1-13 is arranged between the spring top piece 1-12 and the spring seat 1-14, and the spring seat 1-14 is connected with the wheel shaft 1-17 of the rear traveling wheel 1-15; the angle changing motor and the reducer 1-4 drive the large bevel gear 1-5 to rotate, the large bevel gear 1-5 drives the small bevel gears 1-6 to rotate, thereby driving the rear traveling wheel 1-15 and the small bevel gears to rotate synchronously. The speed of the pipeline robot in the pipeline is adjusted, and the brake is realized, and when the screw angle is 90° with the advancing direction, the purpose of rapid braking is achieved.

[0027] The screw rod active variable diameter part includes six variable diameter mechanisms, each single variable diameter mechanism includes a variable diameter motor and a reducer 1-7, a second coupling 1-8, a screw rod 1-9 and a nut 1-10; the variable diameter motor and the reducer are installed on the spiral platform through a motor base, the variable diameter motor and the reducer 1-7 are connected to the bottom of the ball screw 1-9 through the second coupling 1-8, and the upper part of the ball screw 1-9 is installed with the nut 1-10; the nut 1-10 is fixed with one end of the connecting plate, and the other end of the connecting plate is slidably sleeved on the long shaft 1-16; when the ball screw 1-9 rotates, the nut 1-10 is driven to rise or fall, thereby driving the connecting plate fixedly connected therewith to slide on the long shaft 1-16; when the connecting plate touches the spring top piece 1-12 and continues to force, the first compression spring 1-13 is compressed, thereby realizing variable diameter. Six groups are driven to rotate by six motors, so that the nut rises or falls, and the purpose of adopting the screw nut variable diameter is beneficial to firm support, and the unstable support caused by the reverse rotation of the motor in the moment of closing the motor does not occur.

[0028] The wheel type driving spring passive variable diameter mechanism is provided with a sensor in the end head 3-1, the end head 3-1 is connected with the first end face plate 2-1 of the parallel mechanism through the guide rail 3-10, and the fixed base 3-6 is sleeved on the guide rail 3-10; four grooves are uniformly and circumferentially arranged on the side wall of the fixed base 3-6, a rotating shaft is arranged in the groove, and one end of the rocker 3-2 is sleeved on the rotating shaft; the other end of the rocker 3-2 is connected with the second compression spring 3-4, the second compression spring 3-4 is fixedly connected with the sealed motor box 3-5, and the motor shaft extends out of the sealed motor box 3-5 and is connected with the front driving wheels 3-7 on both sides. The two sides of the fixed base 3-6 on the guide rail 3-10 are respectively provided with sliding blocks 3-8, and the sliding blocks 3-6 and the first end face plate 2-1 of the parallel mechanism are respectively provided with tension and compression springs 3-9 between the sliding blocks 3-6 and the end head 3-1 and between the sliding blocks 3-8 and the first end face plate 2-1 of the parallel mechanism; one end of the connecting rod 3-3 is connected to the sliding block 3-8, and the other end of the connecting rod 3-3 is connected to the rocker 3-2.

[0029] The sensor part at the front end of the end head is applied to detect the situation in the pipeline and transmit information to the computer or mobile phone APP of the observer, so that the observer can make a judgment and give an instruction.

[0030] When the rear drive is started, the mechanism can be self-adaptive in the pipeline. When the pipeline robot travels in the pipeline, the tension and compression springs on both sides are pulled or compressed, which pulls the sliders connected thereto to slide on the guide rail, and simultaneously drives the connecting rod connected with the rotary pair of the slider to swing, and the swing angle of the rocker is changed to increase the variable diameter range of the self-adaptive mechanism. For example, when advancing in a certain direction in the pipeline, a backward force is generated, so that the rear tension and compression spring is compressed by a compression force, and the front spring is naturally stretched by a stretching force, so that the rocker is inclined backward. The upper end of the rocker is connected with the second compression spring, which increases the variable diameter range and plays a damping role.

[0031] The parallel mechanism comprises a first end panel 2-1, a second end panel 2-2, a large arm 2-4, a small arm 2-3 and a hooke joint 2-5, bearing seats 2-5-1 in the hooke joint are fixed on the first end panel 2-1 and the second end panel 2-2 respectively; the end of the small arm and the end of the large arm are fixedly connected with the bearing seats 2-5-1 of the hooke joint respectively; the small arm and the large arm are connected in a cylindrical pair; the bearing seats 2-5-1 in the hooke joint are connected with bearings 2-5-2 in a rotary pair, the bearings 2-5-2 are connected with a connecting support shaft 2-5-3 in a rotary pair, and a connecting piece 2-5-4 is connected with the connecting support shaft 2-5-3 in a rotary pair. The bearings 2-5-2 play a role of connecting the relative rotation of the bearing seats 2-5-1 and the connecting support shaft 2-5-3.

[0032] The parallel mechanism has the advantages of driving device being arranged on or close to the fixed platform, light weight of the moving part, high speed, good dynamic response, compact structure, high rigidity, large carrying capacity and the like, so that the pipeline robot designed in the application adopts the parallel mechanism as an intermediate connecting mechanism.

[0033] The motors in the screw motor and reducer 1-1, the variable-angle motor and reducer 1-4, the variable-diameter motor and reducer 1-7 and the sealed motor box 3-5 are all servo motors. The servo motor is adopted because: the operation is very stable, and vibration phenomenon does not occur even at low speed; constant torque output is achieved, the output rated torque is constant, and constant power output is achieved above the rated speed; and the servo motor has strong overload capacity.

[0034] The front driving wheels 3-7 and the rear driving wheels 1-15 in the application are all Mecanum wheels, which have the advantage of full-direction movement, are beneficial to walking in a circular pipeline and prevent skidding, and the rear driving wheels 1-15 adopt a design of 360° 6 wheels, so that walking is more stable and a supporting effect can be better achieved, which is more stable for passing through a T-shaped pipe and can adapt to more complex pipelines.

[0035] The spiral motor and speed reducer 1-1 of the application is fixed to the second end panel 2-2, the fixed connection end panel 3-11 is fixed to the first end panel 2-1, the rear end spiral drive screw main drive diameter changing mechanism 1 and the front end wheel type drive spring passive diameter changing mechanism 3 are connected through the parallel mechanism 2, and the structure is compact.

[0036] The rear end spiral drive screw main drive diameter changing mechanism 1 adopts the design of six support mechanisms in a circle, which can solve the difficulty of spiral driving through a T-shaped pipe (three-way pipeline): more support mechanisms can pass through the T-shaped pipe, and the blockage caused by insufficient support due to turning can be avoided; meanwhile, the six support mechanisms with six small motors can adjust the diameter respectively, and can better adapt to pipelines in different situations. Meanwhile, the stability of support is increased, and even if one or several (less than three) support mechanisms fail (break down), the remaining ones can still continue to walk; meanwhile, it can adapt to more shaped pipelines.

[0037] The front end wheel type drive spring passive diameter changing mechanism 3 adopts four self-adaptive support mechanisms which are 90 degrees apart in a circle. It is also suitable for pipelines of different shapes, but compared with spiral driving, wheel type direct driving is more stable in operation, so four circumferential distributions are used, and the mechanism is also simplified.

[0038] The specific operation mode of the application is: when the pipeline robot encounters a reduced or increased pipe diameter in front, the tension and compression springs 3-9 on both sides are stretched or compressed, which drives the sliding blocks 3-8 fixedly connected thereto to slide on the guide rails 3-10, and simultaneously drives the connecting rods 3-3 connected with the sliding blocks 3-8 through rotary pairs, the connecting rods 3-3 drive the rocker arms 3-2 connected with them through rotary pairs to swing, achieving the effect of self-adaptation in the pipeline; the sensors in the end 3-1 provide instructions to control the output shafts of the six diameter changing motors and reducers 1-7 to drive the ball screws 1-9 connected thereto to rotate, the ball screws 1-9 drive the nuts 1-10 screwed therewith to rise or fall, the nuts 1-10 drive the spring top pieces 1-12 fixedly connected therewith to rise or fall, the compression springs 1-13 supported by the spring top pieces 1-12 are self-adaptive, thereby driving the spring seats 1-14, wheel shafts 1-17 and Mecanum wheels 1-15 fixedly connected therewith to adapt to the diameter changing pipeline.

[0039] The output shaft of the variable angle motor and speed reducer 1-4 is linked by a key to drive the rotation of the large bevel gear 1-5, and the small bevel gear 1-6 is rotated by the meshing of the large bevel gear 1-5 and the small bevel gear 1-6, thereby driving the small bevel gear shaft 1-11 and the long shaft 1-16 connected with the small bevel gear shaft 1-11 by a key, the spring top piece 1-12 fixedly connected with the long shaft 1-16, the compression spring 1-13 supported by the spring top piece 1-12 and the spring seat 1-14, the wheel shaft 1-17 fixedly connected with the spring seat 1-14, and the Mecanum wheel 1-15 capable of omni-directional walking and the synchronous rotation of the small bevel gear 1-6. Thus, controllable speed regulation and braking (when the helix angle and the direction of travel are 90°, the purpose of rapid braking is achieved).

[0040] The composite drive of the application is better adapted to the operation of complex pipelines, has the advantages of high efficiency of power transmission, high stability of movement, simple mechanical structure, easy control, etc. in the active robot, and can control the most suitable driving mode in different parts of the pipeline.

[0041] The mounting mode, connection mode or setting mode of all the components described above are common mechanical connection modes, wherein the sliding / rotating fixation means that they do not fall off in the sliding / rotating state, and the specific structure, model and coefficient index of all the components are self-owned technologies, as long as they can achieve the beneficial effects, they can be implemented, therefore, they will not be described here.

[0042] In the description of the application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation. Therefore, it cannot be understood as a limitation on the application, and the protection scope of the application is not limited by the specific embodiments.

Claims

1. A compound drive self-adapting pipe robot, characterized in that The parallel mechanism is connected with the wheel driving spring passive variable diameter mechanism and the screw driving screw main active variable diameter mechanism at two ends respectively. The screw driving screw main active variable diameter mechanism comprises a screw driving part, a screw main active variable diameter part, a screw angle changing mechanism and a running wheel. The wheel driving spring passive variable diameter mechanism is provided with a sensor in the end head, the end head is connected with the parallel mechanism through a guide rail, a fixed base is sleeved on the guide rail, one end of a rocker is rotationally connected to the fixed base, and the other end of the rocker is connected with a front running wheel. The screw angle changing mechanism comprises an angle changing motor and a reducer, a large bevel gear, a small bevel gear, a small bevel gear shaft and a long shaft. The small bevel gears are uniformly and evenly spaced. In the wheel driving spring passive variable diameter mechanism, four grooves are uniformly and evenly spaced on the side wall of the fixed base along the circumference, and a rotating shaft is arranged in the groove. The other end of the rocker is connected with a second compression spring, the second compression spring is fixedly connected with a sealed motor box, and a motor shaft extends out of the sealed motor box and is connected with two running wheels.

2. The compound drive self-adapting pipe robot according to claim 1, characterized in that The screw main active variable diameter part comprises six variable diameter mechanisms, each single variable diameter mechanism comprises a variable diameter motor and a reducer, a second coupling, a screw and a nut, the variable diameter motor and the reducer are installed on the screw platform through a motor base, the variable diameter motor and the reducer are connected to the bottom of the screw through the second coupling, and the upper part of the screw is installed with the nut. The nut is fixed to one end of a connecting plate, the other end of the connecting plate is slidably sleeved on the long shaft, the screw rotates to drive the nut to ascend or descend, thereby driving the connecting plate fixedly connected thereto to slide on the long shaft, the first compression spring is compressed when the connecting plate touches the spring top piece and continues to be forced, and the diameter is changed.

3. The composite drive self-adapting pipe robot according to claim 1, wherein The parallel mechanism comprises a first end panel, a second end panel, a large arm, a small arm and a hook joint, the small arm and the large arm are connected in a cylindrical pair, the end of the small arm and the end of the large arm are connected with the hook joint respectively, and the hook joint is fixedly installed on the first end panel and the second end panel.

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