A pipe robot capable of traversing obstacles at a 90° bend and its structural design method

Abstract

This invention discloses a pipeline robot capable of traversing 90° bends and its structural design method, belonging to the field of robotics. This method utilizes planar research theory to simplify the robot into a single-rectangular front body model and a double-rectangular connected full-body model within the pipeline. Based on the planar passability model, mathematical models for the single-rectangular front body model and the double-rectangular connected full-body model to traverse 90° bends in the pipeline, along with the relationships between the parameters of each model (i.e., the pipeline geometric constraints), are derived. Combined with the robot's structural constraints, the overall dimensions through which the robot can pass in a pipeline of a specified diameter are determined. The robot's structural design is then completed based on these overall dimensions. The pipeline robot manufactured using this design method can freely walk, turn, climb walls, and traverse 90° right-angle bends within the pipeline, thus performing pipeline inspection. The design principle and derivation process of this method are simple, easy to implement, and have good application value.

Description

Technical Field

[0001] This invention belongs to the field of robotics, specifically relating to a pipeline robot capable of traversing obstacles at a 90° bend and its structural design method. Background Technology

[0002] In the industrial sector, ferromagnetic pipes are widely used for transporting natural gas, oil, and other liquids. During the welding process and long-term service, these pipes develop various defects due to corrosion, wear, and cracking. Humans cannot directly observe these internal defects with the naked eye, and manually identifying defects and cracks in pipe images is subjective and inefficient. Therefore, it is necessary to use robots carrying inspection tools to enter the pipes for inspection.

[0003] Currently, pipeline robots have emerged to perform regular inspections, maintenance, and cleaning of pipelines. However, the structure of traditional robots is mostly unable to pass through 90° angle obstacles and T-shaped pipelines, and there is a lack of research on the passability analysis of robots at 90° angle obstacles.

[0004] It is evident that pipeline robots may encounter right-angle bends during operation. Pipeline robots designed using existing methods cannot achieve right-angle turns, causing significant difficulties for inspection work. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a pipe robot capable of traversing 90° bend obstacles and a structural design method. The pipe robot manufactured using this method can easily achieve right-angle turns by passing through 90° bend obstacles and T-shaped pipes, thereby improving work efficiency.

[0006] To achieve the above objectives, the following technical solution is adopted:

[0007] A structural design method for a pipeline robot capable of traversing obstacles at a 90° bend angle includes:

[0008] S1: Based on the planar research theory, construct a single rectangular model of the front body and a double rectangular connection model of the entire body of the pipeline robot;

[0009] S2: Obtain model parameters based on the single rectangular model of the robot's front body and the double rectangular connection model of the entire body, and calculate the geometric constraint relationship of the pipeline based on the model parameters;

[0010] S3: Obtain the structural constraints of the pipeline robot based on its own structural requirements;

[0011] S4: By combining the geometric constraints of the pipeline with the structural constraints of the robot, the overall dimensions through which the robot can pass in the pipeline are obtained, thus completing the structural design of the pipeline robot.

[0012] Furthermore, in S2, the model parameters include the inner diameter of the pipe, the length of the robot's front body, the width of the robot, and the angle between the robot's front body and the 45° centerline.

[0013] Furthermore, in S2, the geometric constraints of the pipeline include the relationship between the robot height d, the robot front body length L, and the pipeline inner diameter D, as follows:

[0014]

[0015] Furthermore, the robot height d, the robot front body length L, and the pipe inner diameter D also satisfy the following relationship:

[0016]

[0017] Where θ represents the angle between the robot's front body and the 45° centerline.

[0018] Furthermore, in S3, the robot's structural constraints include:

[0019]

[0020] Among them, L max d represents the maximum length of the robot's front body when it contacts the pipe wall; d represents the robot's height; L is the length of the robot's front body; 轮 Indicates the diameter of the robot's wheels; b 轮 D represents the width of the robot's wheels; D is the inner diameter of the pipe.

[0021] A pipeline robot capable of crossing obstacles at a 90° angle, based on the aforementioned structural design method for a pipeline robot capable of crossing obstacles at a 90° angle, is characterized by comprising: a front body and a rear body; the front body and the rear body are hinged; wheels are respectively provided at the bottom of the front body and the rear body; and detection devices are provided on the front body and the rear body.

[0022] The control drive device is used to receive control signals and drive the front and rear bodies of the robot to move in the pipe according to the control signals.

[0023] Furthermore, the detection device includes an ultrasonic phased array and an ultrasonic thickness gauge, which work together to inspect the inner and outer surfaces of the pipe and the weld seams.

[0024] Furthermore, the control drive device includes a brushless motor connected to the wheel, the brushless motor being connected to the wheel via a drive shaft.

[0025] Furthermore, the wheel is a magnetically adsorbed wheel.

[0026] Furthermore, the front body and the rear body of the robot are connected by a universal hinge.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0028] This invention provides a structural design method for a pipeline robot capable of traversing 90° bends. Utilizing planar research theory, this method simplifies the robot into a single-rectangular front body model and a double-rectangular connected full-body model within the pipeline. Based on the planar passability model, mathematical models for traversing 90° bends in both models are derived, along with the relationships between model parameters, i.e., the pipeline's geometric constraints. These constraints are then combined with the robot's structural constraints to determine the overall dimensions through which the robot can pass in a pipeline of a specified diameter. The robot's structural design is then completed based on these determined dimensions. The pipeline robot manufactured using this method can freely walk, turn, climb walls, and traverse 90° right-angle bends within the pipeline, thus enabling pipeline inspection. This method is simple in its design principles and derivation process, easy to implement, and has significant potential for widespread application.

[0029] The present invention also provides a pipeline robot capable of crossing obstacles with a 90° bend angle. The robot is manufactured using the above-mentioned structural design method and employs a hinged front and rear body, a detection device, and a control drive device. The control drive device receives control signals and then controls the wheels to move the front and rear bodies within the pipeline, thereby completing the pipeline inspection.

[0030] Preferably, the detection device of the present invention employs an ultrasonic phased array and an ultrasonic thickness gauge, which together can be used to inspect the inner and outer surfaces of the pipe as well as the weld.

[0031] Preferably, the control drive device of the present invention includes a brushless motor, which allows the front and rear bodies to move freely in the pipe.

[0032] Preferably, the wheels of the present invention are magnetic adsorption wheels. The wheels adsorbed by permanent magnets can greatly improve the stability of the robot. Combined with a brushless motor, the robot can walk freely, turn, climb walls and pass through 90° right angle bends in the pipeline.

[0033] Preferably, the front and rear bodies of the present invention are connected by a universal hinge, which greatly improves the robot's freedom of movement. Attached Figure Description

[0034] Figure 1 A schematic diagram of the critical state of the front body of a pipeline robot capable of crossing a 90° bend obstacle, provided as an embodiment of the present invention;

[0035] Figure 2A schematic diagram of the critical state of the entire body of a pipeline robot capable of crossing a 90° bend obstacle, provided for an embodiment of the present invention;

[0036] Figure 3(a) is a simplified model diagram of the front body of a pipe robot that can cross a 90° bend obstacle provided in an embodiment of the present invention;

[0037] Figure 3(b) is a simplified model of the entire body of a pipe robot that can cross a 90° bend obstacle provided in an embodiment of the present invention;

[0038] Figure 4(a) is a diagram showing the front body dimensions of a pipe robot capable of crossing a 90° bend obstacle according to an embodiment of the present invention;

[0039] Figure 4(b) is a diagram showing the overall dimensions of a pipe robot capable of crossing a 90° bend obstacle according to an embodiment of the present invention.

[0040] Figure 5 A schematic diagram of a pipeline robot capable of crossing obstacles with a 90° bend angle, provided as an embodiment of the present invention;

[0041] Figure 6(a) is a schematic diagram of the structure of a pipe robot that can cross a 90° bend obstacle provided in an embodiment of the present invention;

[0042] Figure 6(b) is a front view of a pipe robot capable of crossing a 90° bend obstacle provided in an embodiment of the present invention;

[0043] Figure 6(c) is a side view of a pipe robot that can cross a 90° bend obstacle provided by an embodiment of the present invention;

[0044] Figure 6(d) is a top view of a pipe robot that can cross a 90° bend obstacle according to an embodiment of the present invention;

[0045] Figure 7 A flowchart illustrating a structural design method for a pipeline robot capable of traversing obstacles at a 90° bend, provided as an embodiment of the present invention. Detailed Implementation

[0046] This invention provides a structural design method for a pipeline robot capable of traversing obstacles at a 90° bend, characterized by comprising:

[0047] S1: Based on the planar research theory, construct a single rectangular model of the front body and a double rectangular connection model of the entire body of the pipeline robot;

[0048] S2: Obtain model parameters based on the single rectangular model of the robot's front body and the double rectangular connected model of the entire body, and calculate the geometric constraint relationship of the pipeline based on the model parameters; the model parameters include the inner diameter of the pipeline, the robot length, the robot width, and the angle between the robot's front body and the 45° centerline.

[0049] The geometric constraints of the pipeline include the relationship between the robot height d, the robot front body length L, and the pipeline inner diameter D, as follows:

[0050]

[0051] The robot height d, the robot front body length L, and the pipe inner diameter D also satisfy the following relationship:

[0052]

[0053] Where θ represents the angle between the robot's front body and the 45° centerline.

[0054] S3: Obtain the structural constraints of the pipeline robot based on its structural requirements;

[0055] Robot structural constraints include:

[0056]

[0057] Where, d 轮 Indicates the diameter of the robot's wheels; b 轮 Indicates the width of the robot's wheels; L max This indicates the maximum length of the robot's front body when it contacts the pipe wall.

[0058] S4: Based on the geometric constraints of the pipeline and the structural constraints of the robot, obtain the overall dimensions through which the robot can pass in the pipeline, and complete the structural design of the pipeline robot.

[0059] This invention also provides a pipeline robot capable of traversing obstacles at a 90° angle. Based on the above-mentioned structural design method for a pipeline robot capable of traversing obstacles at a 90° angle, the method includes:

[0060] The robot has a front body and a rear body, which are connected by a universal hinge.

[0061] The robot's front and rear bodies are each equipped with wheels (magnetic adsorption wheels) at their bottoms; a detection device is installed on the robot's front body and / or rear body.

[0062] The control drive device is used to receive control signals and drive the front and rear bodies of the robot to move in the pipe according to the control signals.

[0063] The inspection device includes an ultrasonic phased array and an ultrasonic thickness gauge. The ultrasonic phased array and the ultrasonic thickness gauge work together to inspect the inner and outer surfaces of the pipe and the weld seams.

[0064] The control drive unit includes a brushless motor connected to the wheel, which is connected to the wheel via a drive shaft.

[0065] The present invention will be further explained and described below with reference to the accompanying drawings and embodiments:

[0066] Example

[0067] This embodiment proposes a magnetic wheel-type double-section pipe inspection robot capable of navigating obstacles at a 90° angle, and analyzes the robot's passability in a 90° angled pipe. The specific design process is as follows:

[0068] Small to medium-sized pipelines require a compact robot structure. To ensure the robot can navigate smoothly within the pipeline, calculations and measurements of its specific dimensions and angles at certain positions are necessary. After clarifying the relevant data, the overall dimensions of the robot are determined. Following the overall dimensions, the dimensions of non-standard components are then determined based on the dimensions of standard parts. The overall design must consider the rationality of the robot's overall mechanism and the manufacturability of the designed parts to ensure the robot can navigate smoothly within the pipeline and perform its programmed actions.

[0069] When analyzing the passability of a pipeline robot, it is necessary to analyze two extreme postures: the passability of the robot's front body and the passability of the overall body. The overall size of the robot can be determined when both extreme postures are satisfied.

[0070] The front planar model of the pipeline robot is simplified to a rectangle to accurately analyze its ability to navigate through a 90° bend in a pipeline obstacle. Its bending characteristics are studied at the bend, where navigating the most challenging section is most difficult.

[0071] like Figure 1 As shown, the critical state for the robot's front body to pass through a bend is: when the robot's front body passes through a right angle, it is tangent to the bend of the inner tube wall and tangent to the two corners of the rectangle by the outer tube wall. O is a point at a distance D from the two tube walls, D is the inner diameter of the tube, d is the height of the robot, and L is the length of the robot's front body. The robot's front and rear bodies are symmetrical structures, and the overall length is 2L.

[0072] Figure 1 In the diagram, the thick solid rectangle represents the cross-sectional outline of the robot. The robot's front body is tangent to the inner tube wall at point C and to the outer tube wall at points A and B. At this point, the angle between the robot body and each tube wall is 45°. From the relationships between the triangles, the relationship between d and L can be obtained as follows:

[0073]

[0074] Based on the cross-sectional model, it can be seen that in a bend in the pipe, the four corners of the robot body are most likely to collide with the pipe wall. Therefore, whether the front body of the pipe robot contacts the inner wall of the pipe can be used as a condition to judge the rationality of the selected robot height and front body length. For the robot to pass through the pipe, the following must be true: Therefore, we can conclude that:

[0075]

[0076] The overall planar model of the pipeline robot is simplified into two connected rectangles. The overall passability of the pipeline robot in a 90° angled obstacle pipeline is analyzed.

[0077] like Figure 2 As shown, the critical state for the robot to pass through a bend is: when the robot passes through a right angle, it is tangent to two points on the inner tube wall and two points on the outer tube wall.

[0078] Figure 2 In the diagram, two thick solid rectangles represent the cross-sectional outline of the robot. The front and rear bodies of the robot are symmetrical along the centerlines at the two bends through the pipe wall, allowing for a comprehensive study of the entire robot. The front body is selected as the object of study. It is tangent to the inner pipe wall at point C and to the outer pipe wall at point B. Point E is the connection point between the two bodies. The angle between the body and the 45° centerline is θ. From the relationships between the triangles, the relationship between d and L can be obtained as follows:

[0079]

[0080] In the design, the robot's height d in the bend is determined based on the robot's front body length L and the included angle θ. By calculating the reasonable range of values ​​for each parameter, the rationality of the design of each parameter is determined, thereby ensuring the robot's passage through the pipe.

[0081] The robot's parameters must satisfy not only the geometric constraints of the pipeline (pipeline geometric constraints) but also the structural design requirements (robot structural constraints). The relevant constraints are as follows:

[0082] (1) In order for the pipeline robot to pass through the pipeline smoothly, the height of the robot should be less than the diameter of the pipeline and the height should be greater than 0;

[0083] (2) The length of the robot's front body should not be less than the wheel diameter (d). 轮 And not greater than the maximum length L when the robot's front body contacts the pipe wall. max ;

[0084] (3) The robot width (b) should not be less than the width of the two wheels (b) 轮 The sum of these two values ​​is less than the pipe diameter.

[0085]

[0086] Equations (1) and (3) are mainly used to determine the relationship between the length and height of the robot's front body; (2) is mainly used to judge the rationality of the selected robot's front body length and height; inequality (4) is used to constrain the length, height and width of the robot's front body.

[0087] like Figure 5 As shown, based on passability analysis, a pipeline robot capable of crossing 90° bend obstacles is designed to meet the following technical indicators.

[0088] Table 1 shows the technical specifications of the pipeline robot.

[0089]

[0090] As shown in Figures 3(a) and 3(b), the robot's front body and overall model are simplified when passing through a bend in the pipeline.

[0091] Substitute the pipe parameters to calculate and verify the passability of the robot's front body: that is, D = 350mm. When the robot's front body is tangent to the inner wall of the pipe, Ld can be obtained from equation (1), as shown in Figure 4(a). The range of L is 0-250mm for drawing.

[0092] Substitute the pipe parameters to calculate and verify the overall passability of the robot: that is, D = 350mm. When the robot body is tangent to the inner wall of the pipe, L-θ-d can be obtained from equation (3), as shown in Figure 4(b). The range of L is 0-250mm and the range of θ is 0°-45° for drawing.

[0093] According to equation (4), the range of the robot's front body length L is 150-250mm. The rationality of selecting the robot's front body length is shown in the table below:

[0094] Table 2 is a rationality analysis table for the robot's selected length.

[0095]

[0096] As shown in the table above, a front body length L of 200mm is more reasonable for the robot.

[0097] When the length L of the robot's front body is 200mm, the robot height d = 395mm can be obtained from equation (1). According to the constraint (4), the maximum height of the robot is 350mm.

[0098] Since the maximum value of the robot height d calculated by the rectangular model is the length L of the robot's front body, the robot height can be reasonably designed under the constraint conditions. When the robot moves in a straight line in the pipe, there is still a distance between the point where the wheel contacts the pipe and the bottom inner wall of the pipe, and other detection instruments need to be mounted on the upper part of the robot. Taking all the above factors into consideration, according to the limited range of formula (4), the robot height d is determined to be 210mm; the wheel diameter needs to be smaller than the robot height, that is, less than 210mm, and its diameter d is determined. 轮 150mm, width b 轮The width of the robot is determined to be 40mm. To minimize the robot's width while meeting the constraints and the capability to carry the detection equipment, the robot width b is determined to be 160mm according to equation (4). Brushless motors are installed on the wheels to drive the entire robot body, and permanent magnets are installed on the wheels to provide adsorption force, achieving both adsorption and ensuring the robot's stability when changing posture. The robot's overall structure consists of two parts, front and rear, connected by a central universal hinge.

[0099] As shown in Figure 6(a), this embodiment also provides a pipeline robot capable of crossing 90° bends. Designed and manufactured using the above-mentioned structural design method, as shown in Figures 6(b), 6(c), and 6(d), its specific structure includes a front body and a rear body of the robot, which are connected by a universal hinge, greatly improving the robot's freedom of movement and facilitating bends within the pipeline. The front and rear bodies of the robot are respectively equipped with an ultrasonic phased array and an ultrasonic thickness gauge, mainly suitable for inspecting the outer surface and welds of magnetic pipes such as carbon steel. Each body is equipped with a set of wheels, which are magnetic adsorption wheels. In conjunction with a brushless motor, after receiving a control movement signal, the brushless motor drives the magnetic adsorption wheels to enable the robot to move freely, turn, climb walls, and pass through 90° right-angle bends within the pipeline.

[0100] This embodiment provides a pipeline robot that can cross 90° bends. It has a load-bearing function and the ability to pass through 90° right-angle bends. It can meet the inspection needs of various pipelines, easily achieve right-angle turns, and improve work efficiency.

Claims

1. A structural design method of a pipe robot capable of crossing a 90° corner obstacle, characterized by, include: S1: Based on the planar research theory, construct a single rectangular model of the front body and a double rectangular connection model of the entire body of the pipeline robot; S2: Obtain model parameters based on the single rectangular model of the robot's front body and the double rectangular connection model of the entire body, and calculate the geometric constraint relationship of the pipeline based on the model parameters; S3: Obtain the structural constraints of the pipeline robot based on its own structural requirements; S4: By combining the geometric constraints of the pipeline with the structural constraints of the robot, the overall dimensions through which the robot can pass in the pipeline are obtained, and the structural design of the pipeline robot is completed. In S2, the geometric constraints of the pipeline include the relationship between the robot height d, the robot front body length L, and the pipeline inner diameter D, as follows: The robot height d, the robot front body length L, and the pipe inner diameter D also satisfy the following relationship: Where ɵ represents the angle between the robot's front body and the 45° centerline.

2. The method according to claim 1, wherein, In S2, the model parameters include the inner diameter of the pipe, the length of the robot's front body, the width of the robot, and the angle between the robot's front body and the 45° centerline.

3. The method of claim 1, wherein the method further comprises: In S3, the robot's structural constraints include: in, d represents the maximum length of the robot's front body when it contacts the pipe wall; d represents the robot's height; L is the length of the robot's front body; 轮 Indicates the diameter of the robot's wheels; b 轮 D represents the width of the robot's wheels; D is the inner diameter of the pipe. This indicates the robot's width.

4. A pipe robot capable of crossing a 90° corner obstacle, based on the structural design method of the pipe robot capable of crossing a 90° corner obstacle according to any one of claims 1 to 3, characterized in that, include: The robot has a front body and a rear body; the front body and the rear body are hinged; wheels are installed at the bottom of the front body and the rear body; detection devices are installed on the front body and the rear body. The control drive device is used to receive control signals and drive the front and rear bodies of the robot to move in the pipe according to the control signals.

5. The pipe robot capable of crossing a 90° corner obstacle according to claim 4, wherein, The detection device includes an ultrasonic phased array and an ultrasonic thickness gauge, which work together to inspect the inner and outer surfaces of the pipe and the weld seams.

6. The pipe robot capable of crossing a 90° corner obstacle according to claim 4, wherein, The control drive device includes a brushless motor connected to the wheel, which is connected to the wheel via a drive shaft.

7. The pipe robot capable of crossing a 90° corner obstacle according to claim 6, wherein, The wheels are magnetically attached.

8. A pipeline robot capable of traversing obstacles at a 90° bend, as described in claim 4, is characterized in that... The front body and the rear body of the robot are connected by a universal hinge.

Images