A sludge cleaning device and control method for an underwater pipeline robot

Abstract

The present invention discloses a silt cleaning device and control method for an underwater pipeline robot, comprising a mobile chassis, a push rod motor assembly, a silt cleaning tool assembly, a torque sensor, and a control assembly. The mobile chassis is used to mount other components, sensors, and control circuits. The push rod motor assembly comprises a push rod motor, a push rod motor base, a push rod motor connector, a first fixing frame, a second fixing frame, a first connecting rod, a second connecting rod, and a third connecting rod. The silt cleaning tool assembly comprises a silt cleaning frame, a silt cleaning brush, a silt cleaning brush connector, a silt cleaning motor, and a silt cleaning motor connector. The control method is that the underwater pipeline robot detects the resistance torque M(t) of the silt cleaning brush based on the torque sensor, thereby controlling the distance between the silt cleaning brush and the silt, thereby achieving closed-loop control. The present invention solves the problem of turbid mud and water when silt is stirred during silt cleaning operations, making it difficult to visually detect the silt, and is of great significance for improving the operational safety of pipeline robots.

Description

Technical Field

[0001] The present invention relates to pipeline robot technology and the field of dredging, and in particular to a sludge cleaning device and a control method for an underwater pipeline robot. Background Art

[0002] Urban drainage pipeline systems are critical infrastructure for ensuring urban sanitation, environmental protection, and resident safety. Their proper operation and effective management are crucial for maintaining sustainable urban development. With the continuous advancement of robotics technology, more and more urban drainage pipeline maintenance operations are being replaced by pipeline robots, replacing traditional methods. However, the complex environment within pipelines is a major concern. Currently established pipeline closed-circuit television (CCTV) inspection methods use visual units to transmit images captured within the pipeline to a ground control station instead of humans. However, in complex pipeline environments, such as those with silt and obstacles, these methods have limited capacity and are unable to detect silt deposits beneath turbid, muddy water, posing a safety hazard. Therefore, designing a silt-clearing underwater pipeline robot capable of adaptively cleaning silt is of great significance.

[0003] Patent CN112627324A discloses a pipeline dredging robot that can scrape silt in the pipeline and has the ability to transport silt to avoid large sticking effects caused by the tracks.

[0004] Patent CN114289424A discloses an underwater pipeline desilting robot. The front end of the robot body is equipped with an image acquisition mechanism and an import mechanism. The robot can select and replace brush blades and stainless steel blades for different desilting media. The front end is equipped with a crushing blade and the rear end is equipped with a pump suction to complete the construction in one go. However, due to the high water level and turbid muddy water in the pipeline, the visual systems carried by the two robots cannot be used effectively. Therefore, the robot can only be operated by relying on the experience and feeling of the ground staff. Moreover, the lack of a feedback detection device makes it impossible to accurately judge the actual situation of underwater desilting. This seriously limits the performance of the pipeline robot in desilting operations and poses a great safety hazard.

[0005] Patent CN113026926B discloses a municipal pipeline dredging robot. It uses a multi-degree-of-freedom dredging assembly to solve the current situation where common dredging equipment can only pass through but cannot dredge the pipe elbows. However, the robot exposes a series of gear sets inside the pipeline. When there is a large amount of deposited silt in the pipeline, the silt blocks the gear transmission, rendering the device unusable. In addition, the robot has no perceptual detection sensors, and ground control staff can only operate it by feel, which is very likely to cause unnecessary accidents during actual operation. Moreover, the lack of a feedback detection device makes it impossible to accurately judge the actual situation of underwater dredging. Summary of the Invention

[0006] In order to solve the above problems, the present invention proposes a silt cleaning device and control method for an underwater pipeline robot, which detects the resistance torque of the silt cleaning brush based on a torque sensor, realizes closed-loop control, and improves the silt cleaning operation performance and safety of the pipeline robot.

[0007] To achieve the above object, the technical solution adopted by the present invention is:

[0008] The dredging tool assembly of the present invention is characterized in that it comprises a mobile chassis, a push rod motor assembly and a dredging tool assembly, the push rod motor assembly comprises a push rod motor and a push rod motor connecting piece, the push rod motor is installed in the mobile chassis and the telescopic push rod of the push rod motor passes through the front plate of the mobile chassis and is protruded, the dredging tool assembly comprises a dredging frame, a dredging brush, a dredging brush connecting piece and a dredging motor, one end of the push rod motor connecting piece is connected to the push rod motor, the other end is connected to the dredging frame, the dredging motor is respectively installed on both sides of the dredging frame, the dredging brush is installed on the dredging motor through the dredging brush connecting piece, and further comprises a torque sensor, the torque sensor is fixedly placed on the dredging brush connecting piece for measuring torque data when the dredging motor cleans the dredging mud, thereby controlling the distance between the dredging brush and the dredging mud to realize closed-loop control, and further comprises a control component, the control component comprises a controller, the push rod motor, the dredging motor and the torque sensor are respectively connected A controller is connected, and the controller is installed in a mobile chassis. The torque sensor collects the resistance torque M(t) of the dredging brush when cleaning silt in real time. When cleaning a small amount of pipeline silt, the resistance torque M(t) detected by the torque sensor is less than the manually set expected torque K(t). The control component controls the telescopic push rod of the extension push rod motor according to the PID controller result, driving the dredging tool assembly to move downward, so that the dredging brush reduces the distance from the small amount of pipeline silt. When cleaning a small amount of pipeline silt, the resistance torque M(t) detected by the torque sensor is within the range of the manually set expected torque K(t). The control component controls the telescopic push rod of the push rod motor to remain stationary according to the PID controller result. When cleaning a large amount of pipeline silt, the resistance torque M(t) detected by the torque sensor is greater than the manually set expected torque K(t). The control component controls the telescopic push rod of the push rod motor to shorten according to the PID controller result, driving the dredging tool assembly to move upward, so that the dredging brush increases the distance from the large amount of pipeline silt.

[0009] In the above structure: The dredging device of an underwater pipeline robot proposed in the present invention includes a mobile chassis, a push rod motor assembly and a dredging tool assembly. The movement of the robot and the installation and fixation of the push rod motor assembly and the dredging tool assembly are realized through the robot mobile chassis, wherein the push rod motor assembly includes a push rod motor and a push rod motor connector, and the dredging tool assembly includes a dredging skeleton, a dredging brush and a dredging motor. One end of the push rod motor connector is connected to the push rod motor, and the other end is connected to the dredging skeleton. The dredging motors are respectively installed on both sides of the dredging skeleton, and the dredging brush is installed on the dredging motor. A torque sensor is also provided, and the torque sensor is fixedly placed on the dredging brush connector for measuring the torque data of the dredging motor when cleaning sludge.

[0010] The present invention detects the resistance torque M(t) of the dredging brush during dredging based on a torque sensor, thereby controlling the distance between the dredging brush and the silt, realizing closed-loop control, and thus improving the safety of the dredging operation of the underwater pipeline robot.

[0011] The present invention performs dredging operations in a pipeline. A torque sensor collects in real time the resistance torque M(t) of the dredging brush when it cleans a small amount of pipeline silt. The detected resistance torque M(t) is less than the manually set expected torque K(t). The control component controls the telescopic push rod of the extension push rod motor according to the result of the PID controller, driving the dredging tool component to move downward, so that the dredging brush reduces the distance from the small amount of pipeline silt, thereby enhancing the dredging degree.

[0012] The present invention performs dredging operations in a pipeline. The torque sensor collects the resistance torque M(t) in real time when the dredging brush cleans a small amount of pipeline silt. The detected resistance torque M(t) is within the range of the manually set expected torque K(t). The control component keeps the telescopic push rod of the push rod motor stationary according to the result of the PID controller.

[0013] The present invention performs dredging operations in a pipeline. A torque sensor collects in real time the resistance torque M(t) of a dredging brush when it cleans a large amount of pipeline silt. The detected resistance torque M(t) is greater than the manually set expected torque K(t) range. The control component controls the shortening of the telescopic push rod of the push rod motor according to the result of the PID controller, driving the dredging tool component to move upward, so that the dredging brush increases the distance from the large amount of pipeline silt, preventing the dredging motor from being blocked and damaged, and improving the safety of the dredging operation of the underwater pipeline robot.

[0014] In the initial state of the present invention, the telescopic push rod of the push rod motor is at the minimum extension. When the control component sends a work instruction and the expected torque K(t) is manually set, the dredging motor starts to work, and the dredging brush connector fixedly connected to the motor shaft of the dredging motor drives the dredging brush to rotate. The torque sensor collects the resistance torque M(t) of the dredging brush when cleaning the silt in real time, and inputs the difference e(t) between the manually set expected torque K(t) and the actual torque M(t) detected by the torque sensor into the PID controller. The PID controller calculation result u(t) is output to the control circuit. The control circuit controls the push rod motor to extend or shorten, thereby driving the dredging tool component to adjust to the appropriate position, so that the dredging brush and the pipeline silt maintain a suitable dredging distance, thereby ensuring the dredging operation performance and safety.

[0015] Among them, the specific control algorithm of the PID controller is:

[0016] e(t)=M(t)-K(t)

[0017]

[0018] As a preferred technical solution of the present invention: the mobile chassis includes a robot mobile chassis and a robot driving wheel, the robot driving wheel is installed on the robot mobile chassis, an axial hole is provided in the front of the robot mobile chassis, and the telescopic push rod of the push rod motor is provided through the axial hole.

[0019] In the above structure: the mobile chassis includes a robot mobile chassis and a robot driving wheel, and the movement is achieved by driving the robot driving wheel. The robot mobile chassis is used for installing and fixing other components. An axial hole is provided in the front of the robot mobile chassis to facilitate the installation and operation of the telescopic push rod of the push rod motor.

[0020] As a preferred technical solution of the present invention: the push rod motor assembly further includes a push rod motor base, the push rod motor base is fixed in the mobile chassis, and the push rod motor is fixedly installed in the push rod motor base.

[0021] In the above structure, the push rod motor base is installed inside the robot mobile chassis, and the push rod motor is fixedly installed in the push rod motor base to achieve its installation and fixation.

[0022] As the preferred technical solution of the present invention: the push rod motor assembly also includes a fixing frame 1, a fixing frame 2, a connecting rod 1, a connecting rod 2 and a connecting rod 3, the fixing frame 1 is respectively installed in parallel below the shaft hole, the fixing frame 2 is respectively rotatably connected to the fixing frame 1, the connecting rod 1 is respectively connected to the push rod motor connecting piece and the fixing frame 1, the connecting rod 2 is respectively connected to the push rod motor connecting piece and the dredging frame, the connecting rod 3 is respectively connected to the dredging frame and the fixing frame 2, the push rod motor connecting piece, connecting rod 1, connecting rod 2 and the dredging frame all move with the telescopic push rod of the push rod motor, the fixing frame 1 and the fixing frame 2 are respectively provided with straight slots, the connecting rod 1 and the straight slot of the fixing frame 1 are notched together, and the connecting rod 3 and the straight slot of the fixing frame 2 are notched together.

[0023] As a preferred technical solution of the present invention: the installation angle between the fixing frame 1 and the fixing frame 2 is 90°.

[0024] In the above structure, the push rod motor assembly also includes a fixing frame 1, a fixing frame 2, a connecting rod 1, a connecting rod 2, and a connecting rod 3. The fixing frame 1 is respectively installed parallel to the lower portion of the shaft hole, and the fixing frame 2 is respectively rotatably connected to the fixing frame 1, facilitating the installation and fixation of the push rod motor connector and the dredging frame. The connecting rod 1 is respectively connected to the push rod motor connector and the fixing frame 1, the connecting rod 2 is respectively connected to the push rod motor connector and the dredging frame, and the connecting rod 3 is respectively connected to the dredging frame and the fixing frame 2. Therefore, the push rod motor connector, connecting rod 1, connecting rod 2, and the dredging frame all move with the telescopic push rod of the push rod motor. The fixing frames 1 and 2 are respectively provided with straight notches. The straight notches of connecting rod 1 and connecting rod 3 are respectively notched and matched with the straight notches of fixing frame 1, thereby achieving the installation and connection between the push rod motor assembly and the dredging tool assembly. The installation angle between the fixing frame 1 and the fixing frame 2 is 90 degrees, which facilitates operation.

[0025] As a preferred technical solution of the present invention: the dredging tool assembly also includes a dredging motor connector, the dredging brush connector is fixed to the motor shaft of the dredging motor through a top screw, the dredging brush is fixedly connected to the dredging brush connector and rotates synchronously with the motor shaft of the dredging motor, the dredging motor is fixedly connected to the dredging motor connector and fixedly connected to the dredging frame.

[0026] In the above structure: the dredging tool assembly also includes a dredging brush connector and a dredging motor connector. The dredging brush connector is fixed to the motor shaft of the dredging motor through a top screw to achieve its installation and fixation. The dredging brush is fixedly connected to the dredging brush connector and rotates synchronously with the motor shaft of the dredging motor to facilitate the dredging motor to drive the dredging brush to rotate together, thereby achieving cleaning of the silt in the pipeline. The dredging motor is fixedly connected to the dredging motor connector and fixedly connected to the dredging frame.

[0027] As a preferred technical solution of the present invention: the control component further includes a control circuit installed in conjunction with the controller, and the control circuit is installed in the mobile chassis.

[0028] In the above structure: the control component is also provided with a control circuit matched with the controller, and the control circuit and the controller can realize the control and signal transmission of the push rod motor component, the dredging tool component and the torque sensor.

[0029] As a preferred technical solution of the present invention, the difference e(t) between the manually set expected torque K(t) and the actual torque M(t) detected by the torque sensor is input into the PID controller. The specific algorithm of the PID controller is:

[0030] e(t)=M(t)-K(t)

[0031]

[0032] A control method for a sludge cleaning device of an underwater pipeline robot, characterized by comprising the following steps:

[0033] S1: The control component sends a work instruction, the telescopic push rod of the push rod motor is extended to the minimum, the desired torque K(t) is set manually, the dredging motor starts working, and the dredging brush rotates synchronously with the motor shaft of the dredging motor;

[0034] S2: The torque sensor collects the resistance torque M(t) of the silt removal brush in real time when it is cleaning the silt;

[0035] S3: The difference e(t) between the manually set desired torque K(t) and the actual torque M(t) detected by the torque sensor is input into the PID controller. The specific algorithm of the PID controller is:

[0036] e(t)=M(t)-K(t)

[0037]

[0038] S4: The control component outputs a control signal to the push rod motor according to the PID controller output operation result u(t);

[0039] S5: The push rod motor controls the telescopic push rod of the push rod motor to extend or shorten according to the control signal of the control component, and enters step S2.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The present invention proposes a sludge cleaning device for an underwater pipeline robot, which uses the telescopic movement of a push rod motor to realize the lifting and lowering motion control of a dredging brush, and has the advantages of simple and reliable structure. A torque sensor is installed on the dredging device to provide real-time feedback on the actual situation of underwater sludge, overcoming the problem that the visual system carried by the pipeline robot cannot be effectively used due to the high water level and turbid muddy water in the pipeline, thereby greatly improving the safety of the pipeline robot's dredging operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the overall structure of a sludge cleaning device of an underwater pipeline robot according to the present invention;

[0043] Figure 2 This is a schematic diagram of the structure of a sludge cleaning device of an underwater pipeline robot of the present invention. Figure 1 ;

[0044] Figure 3 This is a schematic diagram of the structure of a sludge cleaning device of an underwater pipeline robot of the present invention. Figure 2 ;

[0045] Figure 4 This is a schematic diagram of a control circuit of a sludge cleaning device of an underwater pipeline robot according to the present invention;

[0046] Figure 5 This is a schematic diagram of a control method for a sludge cleaning device of an underwater pipeline robot according to the present invention;

[0047] Figure 6 This is a schematic diagram of a silt cleaning device of an underwater pipeline robot installed on the pipeline robot during silt cleaning operation in the pipeline. Figure 1 ;

[0048] Figure 7 This is a schematic diagram of a silt cleaning device of an underwater pipeline robot installed on the pipeline robot during silt cleaning operation in the pipeline. Figure 2 ;

[0049] Figure 8 This is a schematic diagram of a silt cleaning device of an underwater pipeline robot installed on the pipeline robot during silt cleaning operation in the pipeline. Figure 3 ;

[0050] List of reference numerals:

[0051] 1. Robot mobile chassis; 2. Robot driving wheel; 3-1. Push rod motor assembly; 3-1-1. Push rod motor; 3-1-1-1. Telescopic push rod of push rod motor; 3-1-2. Push rod motor base; 3-1-3. Push rod motor connector; 3-1-4. Fixed frame 1; 3-1-5. Fixed frame 2; 3-1-6. Connecting rod 1; 3-1-7. Connecting rod 2; 3-1-8. Connecting rod 3; 3-2. Dredging tool assembly; 3-2-1. Dredging frame; 3-2-2. Dredging brush; 3-2-3. Dredging brush connector; 3-2-4. Dredging motor; 3-2-4-1. Motor shaft of dredging motor; 3-2-5. Dredging motor connector; 4. Torque sensor; 5. Control assembly; 6. Pipeline; 7. Small amount of pipeline sludge; 8. Large amount of pipeline sludge. DETAILED DESCRIPTION

[0052] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0053] like Figure 1 、 Figure 2 and Figure 3As shown: The present invention proposes a silt cleaning device for an underwater pipeline robot, comprising a mobile chassis, a push rod motor assembly 3-1 and a silt cleaning tool assembly 3-2, wherein the push rod motor assembly 3-1 comprises a push rod motor 3-1-1 and a push rod motor connector 3-1-3, wherein the push rod motor 3-1-1 is installed in the mobile chassis and the telescopic push rod 3-1-1-1 of the push rod motor passes through the front plate of the mobile chassis and is protrudingly arranged, wherein the silt cleaning tool assembly 3-2 comprises a silt cleaning frame 3-2-1, a silt cleaning brush 3-2-2, a silt cleaning brush 3-2-2 connector and a silt cleaning motor 3-2-4, wherein the push rod motor connector 3- One end of 1-3 is connected to the push rod motor 3-1-1, and the other end is connected to the dredging skeleton 3-2-1. The dredging motor 3-2-4 is respectively installed on both sides of the dredging skeleton 3-2-1. The dredging brush 3-2-2 is installed on the dredging motor 3-2-4 through the dredging brush 3-2-2 connector. It also includes a torque sensor 4, which is fixedly placed on the dredging brush 3-2-2 connector to measure the torque data of the dredging motor 3-2-4 when cleaning the silt, thereby controlling the distance between the dredging brush 3-2-2 and the silt to achieve closed-loop control. It also includes a control component 5, which includes The controller includes a push rod motor 3-1-1, a silt removal motor 3-2-4 and a torque sensor 4, which are respectively connected to the controller. The controller is installed in the mobile chassis. The torque sensor 4 collects the resistance torque M(t) of the silt removal brush 3-2-2 when cleaning the silt in real time. When cleaning a small amount of pipe silt 7, the resistance torque M(t) detected by the torque sensor 4 is less than the manually set expected torque K(t). The control component 5 controls the telescopic push rod 3-1-1-1 of the extension push rod motor according to the PID controller result, drives the silt removal tool component 3-2 to move downward, so that the silt removal brush 3-2-2 reduces the contact with the small amount of pipe silt 7. When cleaning a small amount of pipe silt 7, the resistance torque M(t) detected by the torque sensor 4 is within the range of the manually set desired torque K(t), and the control component 5 controls the telescopic push rod 3-1-1-1 of the push rod motor to remain stationary according to the PID controller result. When cleaning a large amount of pipe silt 8, the resistance torque M(t) detected by the torque sensor 4 is greater than the range of the manually set desired torque K(t), and the control component 5 controls the telescopic push rod 3-1-1-1 of the push rod motor to shorten according to the PID controller result, driving the dredging tool component 3-2 to move upward, so that the dredging brush 3-2-2 increases the distance from the large amount of pipe silt 8.

[0054] The present invention proposes a silt cleaning device for an underwater pipeline robot, comprising a mobile chassis, a push rod motor assembly 3-1 and a silt cleaning tool assembly 3-2. The robot's mobile chassis 1 is used to realize the movement of the robot and the installation and fixation of the push rod motor assembly 3-1 and the silt cleaning tool assembly 3-2. The push rod motor assembly 3-1 comprises a push rod motor 3-1-1 and a push rod motor connector 3-1-3, and the silt cleaning tool assembly 3-2 comprises a silt cleaning skeleton 3-2-1, a silt cleaning brush 3-2-2 and a silt cleaning brush. Machine 3-2-4, one end of the push rod motor connector 3-1-3 is connected to the push rod motor 3-1-1, and the other end is connected to the dredging frame 3-2-1. The dredging motors 3-2-4 are respectively installed on both sides of the dredging frame 3-2-1, and the dredging brush 3-2-2 is installed on the dredging motor 3-2-4. A torque sensor 4 is also provided, and the torque sensor 4 is fixedly placed on the dredging brush 3-2-2 connector for measuring the torque data of the dredging motor 3-2-4 when cleaning silt.

[0055] The present invention detects the resistance torque M(t) of the dredging brush 3-2-2 during dredging based on the torque sensor 4, thereby controlling the distance between the dredging brush 3-2-2 and the silt, realizing closed-loop control, and thus improving the safety of the underwater pipeline 6 robot dredging operation.

[0056] Reference Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 The present invention performs dredging operations in the pipeline 6. The torque sensor 4 collects the resistance torque M(t) of the dredging brush 3-2-2 when it cleans a small amount of pipeline silt 7 in real time. The detected resistance torque M(t) is less than the manually set expected torque K(t). The control component 5 should control the telescopic push rod 3-1-1-1 of the extension push rod motor according to the result of the PID controller, driving the dredging tool component 3-2 to move downward, so that the dredging brush 3-2-2 reduces the distance from the small amount of pipeline silt 7, thereby enhancing the dredging degree.

[0057] Reference Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 7 The present invention performs dredging operations in the pipeline 6. The torque sensor 4 collects the resistance torque M(t) when the dredging brush 3-2-2 cleans a small amount of pipeline silt 7 in real time. The detected resistance torque M(t) is within the range of the manually set expected torque K(t). The control component 5 keeps the telescopic push rod 3-1-1-1 of the push rod motor stationary according to the result of the PID controller.

[0058] Reference Figure 1 、 Figure 2、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 8 The present invention performs dredging operations in the pipeline 6. The torque sensor 4 collects the resistance torque M(t) of the dredging brush 3-2-2 when it cleans a large amount of pipeline silt 8 in real time. The detected resistance torque M(t) is greater than the manually set expected torque K(t) range. The control component 5 should control the telescopic push rod 3-1-1-1 of the push rod motor to shorten according to the result of the PID controller, drive the dredging tool component 3-2 to move upward, so that the dredging brush 3-2-2 increases the distance from the large amount of pipeline silt 8, prevent the dredging motor 3-2-4 from being blocked and damaged, and improve the safety of the dredging operation of the underwater pipeline 6 robot.

[0059] In the initial state of the present invention, the telescopic push rod 3-1-1-1 of the push rod motor is at the minimum extension. When the control component 5 sends a work instruction and the expected torque K(t) is manually set, the dredging motor 3-2-4 starts to work, and the dredging brush 3-2-2 connector fixedly connected to the motor shaft of the dredging motor 3-2-4 drives the dredging brush 3-2-2 to rotate. The torque sensor 4 collects the resistance torque M(t) of the dredging brush 3-2-2 when cleaning the silt in real time, and inputs the difference between the manually set expected torque K(t) and the actual torque detected by the torque sensor 4 into the PID controller. The PID controller calculation result is output to the control circuit. The control circuit controls the push rod motor 3-1-1 to extend or shorten, thereby driving the dredging tool component 3-2 to adjust to a suitable position, so that the dredging brush 3-2-2 maintains a suitable dredging distance with the silt in the pipeline 6, thereby ensuring the performance and safety of the dredging operation.

[0060] Among them, the specific control algorithm of the PID controller is:

[0061] e(t)=M(t)-K(t)

[0062]

[0063] In this embodiment, the mobile chassis includes a robot mobile chassis 1 and robot drive wheels 2. The robot drive wheels 2 are mounted on the robot mobile chassis 1. A shaft hole is provided in the front of the robot mobile chassis 1, through which the telescopic push rod 3-1-1-1 of the push rod motor is installed. The mobile chassis includes the robot mobile chassis 1 and the robot drive wheels 2. The robot drive wheels 2 drive the mobile chassis 1 to achieve movement. The robot mobile chassis 1 is used to mount and secure other components. A shaft hole is provided in the front of the robot mobile chassis 1 to facilitate the installation and operation of the telescopic push rod 3-1-1-1 of the push rod motor.

[0064] Reference Figure 2As shown, in this embodiment: the push rod motor assembly 3-1 also includes a push rod motor base 3-1-2, which is fixed to the mobile chassis, and the push rod motor 3-1-1 is fixedly installed in the push rod motor base 3-1-2. The push rod motor base 3-1-2 is installed inside the robot mobile chassis 1, and the push rod motor 3-1-1 is fixedly installed in the push rod motor base 3-1-2 to achieve its installation and fixation.

[0065] Reference Figure 2 As shown, in this embodiment: the push rod motor assembly 3-1 also includes a fixing frame 1 3-1-4, a fixing frame 2 3-1-5, a connecting rod 1 3-1-6, a connecting rod 2 3-1-7 and a connecting rod 3 3-1-8, the fixing frame 1 3-1-4 are respectively installed in parallel below the shaft hole, the fixing frame 2 3-1-5 are respectively rotatably connected to the fixing frame 1 3-1-4, the connecting rod 1 3-1-6 are respectively connected to the push rod motor connector 3-1-3 and the fixing frame 1 3-1-4, the connecting rod 2 3-1-7 are respectively connected to the push rod motor connector 3-1-3 and the dredging skeleton 3- 2-1, the connecting rod three 3-1-8 is connected to the dredging frame 3-2-1 and the fixed frame 2 3-1-5 respectively. The push rod motor connector 3-1-3, connecting rod one 3-1-6, connecting rod two 3-1-7, and dredging frame 3-2-1 all move with the telescopic push rod 3-1-1-1 of the push rod motor. The fixed frame 1 3-1-4 and the fixed frame 2 3-1-5 are respectively provided with straight notches. The connecting rod one 3-1-6 and the straight notch of the fixed frame one 3-1-4 are notched together, and the connecting rod three 3-1-8 and the straight notch of the fixed frame 2 3-1-5 are notched together. The installation angle between the fixed frame 1 3-1-4 and the fixed frame 2 3-1-5 is 90°.

[0066] The push rod motor assembly 3-1 also includes a fixing frame 1 3-1-4, a fixing frame 2 3-1-5, a connecting rod 1 3-1-6, a connecting rod 2 3-1-7 and a connecting rod 3 3-1-8. The fixing frame 1 3-1-4 is respectively installed parallel to the lower part of the shaft hole, and the fixing frame 2 3-1-5 is respectively rotatably connected to the fixing frame 1 3-1-4 to facilitate the installation and fixation of the push rod motor connector 3-1-3 and the dredging skeleton 3-2-1. The connecting rod 1 3-1-6 is respectively connected to the push rod motor connector 3-1-3 and the fixing frame 1 3-1-4, and the connecting rod 2 3-1-7 is respectively connected to the push rod motor connector 3-1-3 and the dredging skeleton 3-2-1. Connecting rod three 3-1-8 is connected to the dredging frame 3-2-1 and fixed frame two 3-1-5, respectively. Therefore, the push rod motor connector 3-1-3, connecting rod one 3-1-6, connecting rod two 3-1-7, and dredging frame 3-2-1 all move with the telescopic push rod 3-1-1-1 of the push rod motor. Straight notches are respectively provided on fixed frame one 3-1-4 and fixed frame two 3-1-5. Connecting rod one 3-1-6 and the straight notch of fixed frame one 3-1-4 are notched together, and connecting rod three 3-1-8 and the straight notch of fixed frame two 3-1-5 are notched together, thus achieving the installation connection between the push rod motor assembly 3-1 and the dredging tool assembly 3-2. The installation angle between fixed frame one 3-1-4 and fixed frame two 3-1-5 is 90 degrees, which facilitates operation.

[0067] Reference Figure 3 In this embodiment: the dredging tool assembly 3-2 also includes a dredging motor 3-2-4 connecting piece, the dredging brush 3-2-2 connecting piece is fixed to the motor shaft of the dredging motor 3-2-4 through a top screw, the dredging brush 3-2-2 is fixedly connected to the dredging brush 3-2-2 connecting piece, and rotates synchronously with the motor shaft of the dredging motor 3-2-4, the dredging motor 3-2-4 is fixedly connected to the dredging motor 3-2-4 connecting piece, and is fixedly connected to the dredging frame 3-2-1.

[0068] The dredging tool assembly 3-2 also includes a dredging brush 3-2-2 connecting piece and a dredging motor 3-2-4 connecting piece. The dredging brush 3-2-2 connecting piece is fixed to the motor shaft of the dredging motor 3-2-4 by a top screw to achieve its installation and fixation. The dredging brush 3-2-2 is fixedly connected to the dredging brush 3-2-2 connecting piece and rotates synchronously with the motor shaft of the dredging motor 3-2-4 to facilitate the dredging motor 3-2-4 to drive the dredging brush 3-2-2 to rotate together, thereby achieving cleaning of the silt in the pipeline 6. The dredging motor 3-2-4 is fixedly connected to the dredging motor 3-2-4 connecting piece and is also fixedly connected to the dredging skeleton 3-2-1.

[0069] Reference Figure 4As shown, in this embodiment, the control assembly 5 also includes a control circuit installed in conjunction with the controller, and the control circuit is installed in the mobile chassis. The control assembly 5 is also provided with a control circuit that is compatible with the controller. The control circuit and the controller can realize control and signal transmission of the push rod motor assembly 3-1, the dredging tool assembly 3-2, and the torque sensor 4.

[0070] In this embodiment, the difference e(t) between the manually set desired torque K(t) and the actual resistance torque M(t) detected by the torque sensor 4 is input into the PID controller. The specific algorithm of the PID controller is:

[0071] e(t)=M(t)-K(t)

[0072]

[0073] Reference Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 A control method for a sludge cleaning device of an underwater pipeline robot comprises the following steps:

[0074] S1: The control component 5 sends a work instruction, the telescopic push rod 3-1-1-1 of the push rod motor is extended to the minimum, the desired torque K(t) is set manually, the silt cleaning motor 3-2-4 starts working, and the silt cleaning brush 3-2-2 rotates synchronously with the motor shaft 3-2-4-1 of the silt cleaning motor;

[0075] S2: The torque sensor 4 collects the resistance torque M(t) of the silt-clearing brush 3-2-2 in real time when clearing the silt;

[0076] S3: The difference e(t) between the manually set desired torque K(t) and the actual resistance torque M(t) detected by the torque sensor 4 is input into the PID controller. The specific algorithm of the PID controller is:

[0077] e(t)=M(t)-K(t)

[0078]

[0079] S4: The control component 5 outputs a control signal to the push rod motor 3-1-1 according to the PID controller output operation result u(t);

[0080] S5: The push rod motor 3-1-1 controls the telescopic push rod 3-1-1-1 of the push rod motor to extend or shorten according to the control signal of the control component 5, and enters step S2.

[0081] The present invention proposes a silt cleaning device for an underwater pipeline robot, which uses the telescopic movement of a push rod motor 3-1-1 to realize the lifting and lowering movement control of a silt cleaning brush 3-2-2, and has the advantages of simple and reliable structure. A torque sensor 4 is installed on the silt cleaning device to provide real-time feedback on the actual situation of underwater silt, thereby overcoming the problem that the visual system carried by the pipeline 6 robot cannot be effectively used due to the high water level and turbid muddy water that may exist in the pipeline 6, thereby greatly improving the safety of the pipeline 6 robot's silt cleaning operation.

[0082] The above description is merely a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any modification or equivalent variation based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A sludge cleaning device for an underwater pipeline robot, characterized by: The invention comprises a mobile chassis, a push rod motor assembly (3-1) and a dredging tool assembly (3-2). The push rod motor assembly (3-1) comprises a push rod motor (3-1-1) and a push rod motor connector (3-1-3). The push rod motor (3-1-1) is installed in the mobile chassis, and the telescopic push rod (3-1-1-1) of the push rod motor passes through the front plate of the mobile chassis and is protrudingly arranged. The dredging tool assembly (3-2) comprises a dredging frame (3-2-1), a dredging brush (3-2-2), a dredging brush connector (3-2-3) and a dredging motor (3-2-4). One end of the push rod motor connector (3-1-3) is connected to the push rod motor (3-1-1), and the other end is connected to the dredging frame (3-2-1). The dredging motors (3-2-4) are respectively installed on the dredging frame (3-2-1). The invention relates to a mobile chassis, wherein the push rod motor (3-1-1), the silting brush (3-2-2) is mounted on the silting motor (3-2-4) via the silting brush connector (3-2-3), and further comprises a torque sensor (4). The torque sensor (4) is fixedly placed on the silting brush connector (3-2-3) and is used to measure the torque data of the silting motor (3-2-4) when cleaning silt, thereby controlling the distance between the silting brush (3-2-2) and the silt to achieve closed-loop control. The invention also comprises a control component (5). The control component (5) comprises a controller. The push rod motor (3-1-1), the silting motor (3-2-4) and the torque sensor (4) are respectively connected to the controller. The controller is mounted on the mobile chassis. The torque sensor (4) collects the resistance torque of the silting brush (3-2-2) when cleaning silt in real time. When cleaning a small amount of pipe sludge (7), the resistance torque detected by the torque sensor (4) is Less than the expected torque set by humans The control component (5) controls the telescopic push rod (3-1-1-1) of the extension push rod motor according to the result of the PID controller, driving the dredging tool component (3-2) to move downward, so that the dredging brush (3-2-2) reduces the distance from the small amount of pipeline silt (7). When cleaning a small amount of pipeline silt (7), the resistance torque detected by the torque sensor (4) Between artificially setting the expected torque Within the range, the control component (5) keeps the telescopic push rod (3-1-1-1) of the push rod motor stationary according to the result of the PID controller. When cleaning a large amount of pipe silt (8), the resistance torque detected by the torque sensor (4) Greater than the expected torque set by humans The control component (5) controls the telescopic push rod (3-1-1-1) of the push rod motor to shorten according to the result of the PID controller, thereby driving the dredging tool component (3-2) to move upward, so that the dredging brush (3-2-2) increases the distance from the large amount of pipeline silt (8); The mobile chassis comprises a robot mobile chassis (1) and a robot driving wheel (2), wherein the robot driving wheel (2) is mounted on the robot mobile chassis (1), and an axial hole is provided in front of the robot mobile chassis (1), and a telescopic push rod (3-1-1-1) of the push rod motor is provided through the axial hole; The push rod motor assembly (3-1) further comprises a push rod motor base (3-1-2), wherein the push rod motor base (3-1-2) is fixed in the mobile chassis, and the push rod motor (3-1-1) is fixedly installed in the push rod motor base (3-1-2); The push rod motor assembly (3-1) also includes a fixing frame 1 (3-1-4), a fixing frame 2 (3-1-5), a connecting rod 1 (3-1-6), a connecting rod 2 (3-1-7) and a connecting rod 3 (3-1-8). The fixing frame 1 (3-1-4) is respectively installed in parallel below the shaft hole. The fixing frame 2 (3-1-5) is respectively rotatably connected to the fixing frame 1 (3-1-4). The connecting rod 1 (3-1-6) is respectively connected to the push rod motor connecting piece (3-1-3) and the fixing frame 1 (3-1-4). The connecting rod 2 (3-1-7) is respectively connected to the push rod motor connecting piece (3-1-3) and the dredging skeleton (3-2-1). , the connecting rod three (3-1-8) is respectively connected to the dredging skeleton (3-2-1) and the fixed frame two (3-1-5), the push rod motor connector (3-1-3), the connecting rod one (3-1-6), the connecting rod two (3-1-7), and the dredging skeleton (3-2-1) all move with the telescopic push rod (3-1-1-1) of the push rod motor, and straight notches are respectively provided on the fixed frame one (3-1-4) and the fixed frame two (3-1-5), and the connecting rod one (3-1-6) and the straight notch of the fixed frame one (3-1-4) are notched together, and the connecting rod three (3-1-8) and the straight notch of the fixed frame two (3-1-5) are notched together; The artificially set desired torque The actual resistance torque detected by the torque sensor (4) The difference Input into the PID controller, the specific algorithm of the PID controller is: ； 。 2. The sludge cleaning device for an underwater pipeline robot according to claim 1, characterized in that: The installation angle between the fixing frame 1 (3-1-4) and the fixing frame 2 (3-1-5) is 90°.

3. The sludge cleaning device for an underwater pipeline robot according to claim 1, characterized in that: The dredging tool assembly (3-2) also includes a dredging motor connector (3-2-5); the dredging brush connector (3-2-3) is fixed to the motor shaft (3-2-4-1) of the dredging motor via a top screw; the dredging brush (3-2-2) is fixedly connected to the dredging brush connector (3-2-3) and rotates synchronously with the motor shaft (3-2-4-1) of the dredging motor; the dredging motor (3-2-4) is fixedly connected to the dredging motor connector (3-2-5) and fixedly connected to the dredging frame (3-2-1).

4. The sludge cleaning device for an underwater pipeline robot according to claim 1, characterized in that: The control component (5) further comprises a control circuit mounted in conjunction with the controller, and the control circuit is mounted in the mobile chassis.

5. The control method of the sludge cleaning device of the underwater pipeline robot according to any one of claims 1 to 4, characterized in that: The steps include: S1: The control component (5) sends a work instruction, the telescopic push rod (3-1-1-1) of the push rod motor is the minimum extension, and the desired torque is set manually. , the silt cleaning motor (3-2-4) starts to work, and the silt cleaning brush (3-2-2) and the motor shaft (3-2-4-1) of the silt cleaning motor rotate synchronously; S2: Torque sensor (4) collects the resistance torque of the silt removal brush (3-2-2) in real time when it is cleaning the silt ; S3: Artificially set the expected torque The actual resistance torque detected by the torque sensor (4) The difference Input into the PID controller, the specific algorithm of the PID controller is: ； ； S4: Control component (5) outputs the calculation result according to the PID controller Output control signal to push rod motor (3-1-1); S5: The push rod motor (3-1-1) controls the telescopic push rod (3-1-1-1) of the push rod motor to extend or shorten according to the control signal of the control component (5), and enters step S2.

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