An embracing pipe crawling robot and its crawling, obstacle avoiding and turning method

Abstract

The present invention relates to the technical field of pipeline robot equipment, and specifically to an embracing pipeline outer crawling robot and its crawling, obstacle avoidance and turning methods. The present invention constructs a basic framework through two clamping components through a connecting component; wherein, on the one hand, the clamping component adjusts the position of the arc-shaped telescopic arm mechanism through a telescopic mechanism to form an adjustable area A through which the target pipeline passes, and on the other hand, the telescopic structure is formed by controlling the arc-shaped inner arm and the arc-shaped outer cylinder to achieve telescopic expansion to form an adjustable opening B, and on the other hand, an adjustable four-point distribution is formed in area A by arranging independently driven Mecanum wheels on the arc-shaped inner arm and the arc-shaped outer cylinder; the present invention can not only adapt to the disassembly and assembly and crawling of target pipelines of different specifications, but also form an embracing clamping of the target pipeline to improve the stability of crawling. The present invention solves the problem that the existing pipeline outer crawling robot adopts an embracing design that is inconvenient to disassemble and assemble.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline robot equipment, and in particular to: 1. an embracing pipeline external crawling robot; 2. a method for the external pipeline crawler to crawl in a pipeline; 3. a method for the external pipeline crawler to avoid obstacles in a pipeline; 4. a method for the external pipeline crawler to turn in a pipeline. Background Art

[0002] The outer pipe crawling robot is a mechatronic device that can automatically walk along the pipeline.

[0003] Most existing pipeline crawling robots adopt a two-point clamping design. For round devices such as pipelines, the two-point clamping method is prone to falling off. Therefore, the inventor considered replacing the layer-encircling design, but the existing encircling design is not convenient for disassembly and assembly; and due to the increase in contact points, the existing encircling design is not convenient for obstacle avoidance or turning when crawling in the pipeline, making the function of the pipeline crawling robot relatively single. Summary of the invention

[0004] Based on this, it is necessary to provide an embracing type outer-pipe crawling robot and its crawling, obstacle avoidance and turning methods in order to address the problem that the existing outer-pipe crawling robot adopts an embracing type design and is inconvenient to disassemble and assemble.

[0005] The present invention is implemented by the following technical solutions:

[0006] In a first aspect, the present invention discloses an embracing pipe outer crawling robot, comprising: 2 clamping assemblies, 8 sets of Mecanum wheels, and a connecting assembly.

[0007] The two clamping assemblies have the same structure. One of the clamping assemblies is used for encircling and clamping one part of the target pipe, and the other clamping assemblies is used for encircling and clamping another part of the target pipe.

[0008] For any clamping assembly, it includes: a mounting plate, two clamping jaw mechanisms with adjustable spacing, the two clamping jaw mechanisms are spaced apart on the mounting plate and have a middle line M therebetween; the middle lines M of the two clamping assemblies are in the same plane N.

[0009] Any clamping claw mechanism comprises: a telescopic mechanism and an arc-shaped telescopic arm mechanism, and the telescopic mechanism is connected to the arc-shaped telescopic arm mechanism.

[0010] The telescopic mechanism is used to adjust the position of the arc-shaped telescopic arm mechanism by telescoping, and to form an adjustable area A for the target pipeline to pass through between two arc-shaped telescopic arm mechanisms located in the same clamping assembly.

[0011] Any arc-shaped telescopic arm mechanism comprises: an arc-shaped inner arm, an arc-shaped outer tube, and a control mechanism. The arc-shaped inner arm and the arc-shaped outer tube form a telescopic structure, and the control mechanism is arranged in coordination with the arc-shaped inner arm and the arc-shaped outer tube.

[0012] The control mechanism is used to adjust the extent to which the arc-shaped inner arm extends out of the arc-shaped outer cylinder, and to form an opening B with an adjustable size between two arc-shaped inner arms located in the same clamping assembly.

[0013] All 8 sets of Mecanum wheels are equipped with drive parts.

[0014] One set of Mecanum wheels is arranged on the arc-shaped outer cylinder, and one set of Mecanum wheels is arranged on the arc-shaped inner arm; the four sets of Mecanum wheels in the same clamping assembly form an adjustable four-point distribution in area A; the Mecanum wheels in the same clamping mechanism are of the same type; the Mecanum wheels in the same clamping assembly but in different clamping mechanisms are of opposite types.

[0015] The connecting component is arranged between the two clamping components and connects the two clamping components.

[0016] The connection assembly is used to keep the two clamping assemblies synchronized when they move circumferentially around the target pipeline, so that the embracing pipeline outer crawling robot has the freedom to bend parallel to the plane N.

[0017] The implementation of this type of embracing pipe outer crawling robot is based on the method or process of an embodiment of the present disclosure.

[0018] In a second aspect, the present invention discloses a crawling method of the embracing-type external-pipe crawling robot disclosed in the first aspect, which is applied to the embracing-type external-pipe crawling robot disclosed in the first aspect.

[0019] The crawling methods of the embracing pipeline outer crawling robot include:

[0020] The distribution of the four groups of Mecanum wheels in the clamping component 1 is adjusted, and the distribution of the four groups of Mecanum wheels in the clamping component 2 is adjusted until the target pipe is clamped in an embracing manner;

[0021] The rotation states of the eight groups of Mecanum wheels are adjusted to enable the embracing pipeline outer crawling robot to move along the axial direction of the target pipeline.

[0022] The crawling method is implemented according to the method or process of the embodiment of the present disclosure.

[0023] In a third aspect, the present invention discloses an obstacle avoidance method for the embracing pipe outer crawling robot disclosed in the first aspect, comprising:

[0024] The crawling method of the robot crawling outside the encircling pipe disclosed in the second aspect is adopted to make the robot crawl along the axial direction of the target pipe, and detect whether there is an obstacle in the forward direction of the target pipe;

[0025] If there is an obstacle, analyze and determine whether the obstacle can be avoided;

[0026] If the obstacle can be avoided, avoid it according to the preset rule 1;

[0027] Among them, the preset rule 1 includes:

[0028] Adjust the rotation state of the 8 sets of Mecanum wheels to make the embracing pipeline external crawling robot rotate along the circumference of the target pipeline until the obstacle is aligned with the openings B of the two clamping components along the axial direction;

[0029] The control mechanism is used to reduce the extension of the arc-shaped inner arm from the arc-shaped outer cylinder to increase the opening B until it is larger than the obstacle.

[0030] The rotation states of the eight Mecanum wheels are adjusted so that the embracing pipeline external crawling robot moves along the axis of the target pipeline until it passes the obstacle as a whole.

[0031] The obstacle avoidance method is implemented according to the method or process of the embodiment of the present disclosure.

[0032] In a fourth aspect, the present invention discloses a turning method of an embracing pipe outer crawling robot, comprising:

[0033] Adopting the crawling method of the robot crawling outside the enveloping pipe disclosed in the second aspect, the robot crawls along the axial direction of the target pipe, and detects whether there is a turn in the forward direction of the target pipe;

[0034] If there is a turn, analyze and determine whether the turn is passable;

[0035] If the turning point is passable, the turning is performed according to preset rule 2;

[0036] Among them, preset rule 2 includes:

[0037] Adjust the rotation state of the 8 sets of Mecanum wheels to make the embracing pipeline crawling robot rotate along the circumference of the target pipeline until the plane N is parallel to the central symmetry plane P of the turning point;

[0038] Adjust the rotation status of the 8 sets of Mecanum wheels to make the embracing pipeline external crawling robot move along the axis of the target pipeline until it passes the bend as a whole.

[0039] The turning method is implemented according to the method or process of an embodiment of the present disclosure.

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

[0041] 1. The present invention designs an embracing pipeline outer crawling robot, which constructs a basic structure through two clamping components and connecting components; wherein, the clamping component adjusts the position of the arc-shaped telescopic arm mechanism through a telescopic mechanism to form an adjustable area A through which the target pipeline passes, and on the other hand, controls the arc-shaped inner arm and the arc-shaped outer cylinder to form a telescopic structure to achieve telescoping to form an adjustable opening B, and on the other hand, independently driven Mecanum wheels are set on the arc-shaped inner arm and the arc-shaped outer cylinder to form an adjustable four-point distribution in the area A; the present invention can not only adapt to the disassembly and assembly and crawling of target pipelines of different specifications, but also form an embracing clamping of the target pipeline to improve the stability of crawling.

[0042] 2. The present invention utilizes the motion characteristics of the Mecanum wheel and can realize axial movement and circumferential rotation on the target pipe by adjusting the rotation of 8 sets of Mecanum wheels. The present invention has strong functionality and can smoothly pass through the diameter change of the target pipe by adjusting the clamping assembly; it can also avoid obstacles while maintaining the embracing state by adjusting the opening B; it can also turn while maintaining the embracing state by cooperating with the bending freedom provided by the connecting assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A state diagram of the encircling pipe outer crawling robot provided in Example 1 of the present invention crawling on a straight pipe;

[0045] Figure 2 A state diagram of the embracing pipe outer crawling robot provided in Example 1 of the present invention passing through a bend on a curved pipe;

[0046] Figure 3 for Figure 1 , Figure 2 Structural diagram of the middle clamping assembly when closed;

[0047] Figure 4 for Figure 1 , Figure 2 Structural diagram of the middle clamping assembly when it is opened;

[0048] Figure 5 for Figure 3 , Figure 4 Structural diagram of a single claw structure;

[0049] Figure 6 for Figure 5 Structural diagram of the middle telescopic mechanism;

[0050] Figure 7 for Figure 3 , Figure 4 The structural diagram of the Mecanum wheel;

[0051] Figure 8 A schematic diagram of a type of allocation of eight groups of Mecanum wheels provided in Example 1 of the present invention;

[0052] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0053] 1. Mounting plate, 101, appearance collector;

[0054] 2. telescopic mechanism, 201. screw motor, 202. ball screw, 203. fixed seat, 204. moving rod, 205. connecting plate, 206. connecting frame;

[0055] 3. arc-shaped telescopic arm mechanism, 301, arc-shaped outer cylinder, 302, arc-shaped inner arm, 303, dynamic mounting seat, 304, mounting platform, 305, wire driver, 3051, winding motor, 3052, winding drum, 306, steel wire, 307, fixed mounting seat;

[0056] 4. Connecting assembly, 401, telescopic rod, 402, hinged seat 1, 403, hinged seat 2;

[0057] 5. Straight pipe;

[0058] 6. Pipe bending;

[0059] 7. Mecanum wheel, 701, wheel motor. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] It should be noted that when a component is referred to as being "mounted on" another component, it can be directly on the other component or there can be a component centered. When a component is considered to be "set on" another component, it can be directly set on the other component or there can be a component centered. When a component is considered to be "fixed to" another component, it can be directly fixed to the other component or there can be a component centered.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more of the related listed items.

[0063] Example 1

[0064] See also Figure 1~Figure 2 , this embodiment 1 discloses an embracing pipe crawling robot. Among them, Figure 1 The state of the encircling pipeline crawling robot crawling on the straight pipe 5 is shown. Figure 2 The state of the embracing pipeline outer crawling robot passing through a bend on the curved pipe 6 is shown.

[0065] like Figure 1 As shown, the embracing pipeline outer crawling robot includes: 2 clamping components, 8 sets of Mecanum wheels 7, and a connecting component 4.

[0066] The following explains them one by one:

[0067] Ⅰ. The two clamping components have the same structure.

[0068] One of the clamping components is clamping component 1, which is used for encircling and clamping a portion of the target pipe.

[0069] Another clamping assembly is used as clamping assembly 2, which is used for clamping another part of the target pipe in an embracing manner.

[0070] See also Figure 3 , Figure 4 For any clamping assembly, it includes: a mounting plate 1, two clamping jaw mechanisms with adjustable spacing, the two clamping jaw mechanisms are spaced apart on the mounting plate 1 and have a middle line M between them; see Figure 1 , the middle lines M of the two clamping components are in the same plane N.

[0071] Any clamping claw mechanism comprises: a telescopic mechanism 2 and an arc-shaped telescopic arm mechanism 3 , and the telescopic mechanism 2 is connected to the arc-shaped telescopic arm mechanism 3 .

[0072] The telescopic mechanism 2 is used to adjust the position of the arc-shaped telescopic arm mechanism 3 by telescoping, and to form an adjustable area A for the target pipeline to pass through between two arc-shaped telescopic arm mechanisms 3 located in the same clamping assembly.

[0073] In this embodiment 1, see 5, Figure 6The telescopic mechanism 2 can be designed as follows: the telescopic mechanism 2 includes: a screw motor 201, a ball screw 202, a fixed seat 203, at least one moving rod 204 (considering symmetry, it is recommended to set two moving rods 204), a connecting plate 205, and a connecting frame 206;

[0074] The fixed seat 203 is fixedly connected to the mounting plate 1; the connecting plate 205 is located on one side of the fixed seat 203; the screw motor 201 is arranged on the connecting plate 205, and its output end passes through the connecting plate 205 and is connected to the ball screw 202; the ball screw 202 passes through the fixed seat 203; the moving rod 204 is arranged parallel to the ball screw 202; one end of the moving rod 204 is connected to the connecting rod plate, and the other end passes through the fixed seat 203 and is connected to the connecting frame 206; the connecting frame 206 is connected to the arc telescopic arm mechanism 3.

[0075] In this way, the control screw motor 201 drives the ball screw 202 to rotate, and the ball screw 202 is guided by the moving rod 204 and moves relative to the fixed seat 203 together with the moving rod 204, thereby driving the connecting frame 206 to move, that is, telescopic. Since the arc-shaped telescopic arm mechanism 3 is connected to the connecting frame 206, it will naturally move together. Then, in any clamping assembly, the two arc-shaped telescopic arm mechanisms 3 form an area A, the size of which can be adjusted by the telescopic assembly.

[0076] Of course, the telescopic mechanism 2 may also adopt other controllable telescopic designs, such as an electric push rod, an electric hydraulic rod, etc., as long as its telescopic end is ensured to be in contact with the arc-shaped telescopic arm mechanism 3.

[0077] In addition, in any clamping assembly, the telescopic directions of the two telescopic mechanisms 2 form an angle C, and the telescopic direction of any telescopic mechanism 2 forms an angle C / 2 with the middle line M; C∈[60°,120°]. In this embodiment 1, C is 90°.

[0078] Any arc-shaped telescopic arm mechanism 3 comprises: an arc-shaped inner arm 302 , an arc-shaped outer cylinder 301 , and a control mechanism. The arc-shaped inner arm 302 and the arc-shaped outer cylinder 301 form a telescopic structure, and the control mechanism is arranged in coordination with the arc-shaped inner arm 302 and the arc-shaped outer cylinder 301 .

[0079] For any clamping jaw assembly, the connecting frame 206 is connected to the arc-shaped outer cylinder 301 , so that the entire arc-shaped telescopic arm mechanism 3 is driven to move through the arc-shaped outer cylinder 301 .

[0080] Among them, in any arc-shaped telescopic arm mechanism 3, the arc-shaped inner arm 302 and the arc-shaped outer cylinder 301 have the same arc. The arc-shaped outer cylinder 301 is sealed at one end and provided with an outlet at the other end; the inner end of the arc-shaped inner arm 302 is input into the arc-shaped outer cylinder 301 from the outlet of the arc-shaped outer cylinder 301. The arc-shaped outer cylinder 301 is provided with a fixed mounting seat 307 for mounting a set of Mecanum wheels 7; the outer end of the arc-shaped inner arm 302 is provided with a movable mounting seat 303 for mounting a set of Mecanum wheels 7.

[0081] The control mechanism is used to adjust the extent to which the arc-shaped inner arm 302 extends out of the arc-shaped outer tube 301 and to form an opening B of adjustable size between two arc-shaped inner arms 302 located in the same clamping assembly; wherein, in any clamping assembly, the outer ends of the two arc-shaped inner arms 302 form an opening B.

[0082] In this way, when the extent to which the arc-shaped inner arm 302 extends out of the arc-shaped outer cylinder 301 changes, the size of the opening B will also change accordingly, and the movable mounting seat 303 will also deflect relative to the fixed mounting seat 307 .

[0083] See also Figure 5 In this embodiment 1, the control mechanism can be designed as follows:

[0084] The control mechanism includes: a mounting platform 304 , a wire driver 305 , and a steel wire 306 ; the wire driver 305 is arranged on the arc-shaped outer cylinder 301 through the mounting platform 304 ; one end of the steel wire 306 is connected to the wire driver 305 , and the other end is connected to the outer end of the arc-shaped inner arm 302 .

[0085] In addition, a return spring is arranged in the arc-shaped outer cylinder 301; the inner end of the arc-shaped inner arm 302 abuts against the return spring - when the return spring is released, the arc-shaped inner arm 302 tends to increase its extension range.

[0086] The wire driver 305 includes: a winding motor 3051 and a winding drum 3052. The winding motor 3051 is fixed on the mounting platform 304. The winding drum 3052 is connected to the output end of the winding motor 3051. One end of the steel wire 306 is connected to and wound on the winding drum 3052. In this way, when the wire driver 305 is winding, the arc-shaped inner arm 302 is gradually retracted into the arc-shaped outer cylinder 301, and the deformation of the return spring is increased; when the wire driver 305 is unwinding, the arc-shaped inner arm 302 will increase the amplitude of extending out of the arc-shaped outer cylinder 301 under the deformation recovery effect of the return spring.

[0087] Of course, the control mechanism may also adopt other controllable telescopic designs, such as an electric push rod, an electric hydraulic rod, etc., as long as it can adapt to the relative movement of the arc-shaped inner arm 302 and the arc-shaped outer cylinder 301 - if an electric push rod is used, one end of the electric push rod must be hinged to the arc-shaped outer cylinder 301, and the other end must be hinged to the outer end of the arc-shaped inner arm 302; other designs are similar to this.

[0088] Ⅱ, 8 sets of Mecanum wheels 7 are equipped with drive parts. Figure 7 The driving member can be a wheel motor 701.

[0089] One set of Mecanum wheels 7 is disposed on the arc-shaped outer cylinder 301, and one set of Mecanum wheels 7 is disposed on the arc-shaped inner arm 302. In this way, the four sets of Mecanum wheels 7 in the same clamping assembly form an adjustable four-point distribution in area A - because A is adjustable and B is also adjustable, the relative positions of the four sets of Mecanum wheels 7 are also adjustable, so as to adapt to target pipes of different specifications.

[0090] The Mecanum wheel 7 has the characteristic of being omnidirectionally movable, and the force generated by the rotation of the Mecanum wheel 7 is different for different types. The crawler outside the tube utilizes this characteristic of the Mecanum wheel 7 to achieve crawling, obstacle avoidance and turning.

[0091] It is important to note that the configuration relationship of the 8 sets of Mecanum wheels 7 is as follows:

[0092] ① The Mecanum wheels 7 in the same clamping mechanism are of the same type;

[0093] ② The Mecanum wheels 7 located in the same clamping assembly but in different clamping mechanisms are of opposite types.

[0094] by Figure 8 For example, Figure 8 The four groups of Mecanum wheels 7 at the upper portion correspond to the four groups of Mecanum wheels 7 in one of the clamping assemblies: the two groups of Mecanum wheels 7 at the upper left portion correspond to the two groups of Mecanum wheels 7 of one clamping mechanism in the clamping assembly, and the two groups of Mecanum wheels 7 at the upper right portion correspond to the two groups of Mecanum wheels 7 of another clamping mechanism in the clamping assembly; Figure 8 The four groups of Mecanum wheels 7 at the bottom correspond to the four groups of Mecanum wheels 7 in another clamping assembly - the two groups of Mecanum wheels 7 at the bottom left correspond to the two groups of Mecanum wheels 7 of one clamping mechanism in the clamping assembly, and the two groups of Mecanum wheels 7 at the bottom right correspond to the two groups of Mecanum wheels 7 of another clamping mechanism in the clamping assembly.

[0095] Then, according to the above regulations, it is required that:

[0096] The 2 sets of Mecanum wheels 7 in the upper left are of the same type;

[0097] The 2 sets of Mecanum wheels 7 in the upper right are of the same type;

[0098] The 2 sets of Mecanum wheels 7 on the lower left are of the same type;

[0099] The 2 sets of Mecanum wheels 7 in the lower right are of the same type;

[0100] The Mecanum wheel 7 on the upper left and the Mecanum wheel 7 on the upper right are of opposite types;

[0101] The Mecanum wheel 7 at the lower left and the Mecanum wheel 7 at the lower right are of opposite types.

[0102] like Figure 8 As shown, in the order of 2 groups of Mecanum wheels 7 on the upper left, 2 groups of Mecanum wheels 7 on the upper right, 2 groups of Mecanum wheels 7 on the lower left, and 2 groups of Mecanum wheels 7 on the lower right, the 8 groups of Mecanum wheels 7 can be designed as follows:

[0103] AA, BB, AA, BB;

[0104] AA, BB, BB, AA;

[0105] BB, AA, AA, BB;

[0106] BB, AA, BB, AA.

[0107] Among them, A indicates that the Mecanum wheel 7 is of type A, and B indicates that the Mecanum wheel 7 is of type B.

[0108] III. The connecting component 4 is arranged between the two clamping components and connects the two clamping components.

[0109] The connecting component 4 is used to keep the two clamping components synchronized when they move circumferentially around the target pipeline, so that the embracing pipeline outer crawling robot has the freedom to bend parallel to the plane N.

[0110] In this embodiment 1, the connection component 4 can be designed as follows:

[0111] The connection assembly 4 includes at least one set of connection mechanisms (considering stability, it is recommended to set two sets of connection mechanisms).

[0112] The connecting mechanism includes: a telescopic rod 401, an articulated seat 1 402, and an articulated seat 2 403; the articulated seat 1 402 is arranged on a side of the clamping component 1 facing the clamping component 2; the articulated seat 2 403 is arranged on a side of the clamping component 2 facing the clamping component 1; one end of the telescopic rod 401 is hinged to the articulated seat 1 402, and the plane where the end rotates is parallel to the plane N; the other end of the telescopic rod 401 is hinged to the articulated seat 2 403, and the plane where the end rotates is parallel to the plane N.

[0113] In this way, the hinge design at both ends of the telescopic rod 401 not only allows the two clamping components to bend parallel to the plane N, but also allows the two clamping components to remain synchronized. In addition, the telescopic amount of the telescopic rod 401 also provides the necessary length change margin for bending.

[0114] Of course, the connecting component 4 may also adopt other designs, but it needs to meet the above requirements - to keep the two clamping components synchronized when moving circumferentially around the target pipe and to allow the embracing pipe outer crawling robot to have the freedom to bend parallel to the plane N.

[0115] In addition, an appearance collector 101 (such as a laser radar, a camera, etc.) can be added and installed on the mounting plate 1 to collect the appearance of the target pipe in real time to determine whether the outer diameter of the target pipe changes, whether there are obstacles, and whether there are turns, thereby assisting crawling, obstacle avoidance, turning, etc.

[0116] Example 2

[0117] See also Figure 1 Based on the embracing pipe crawling robot disclosed in Example 1, this Example 2 discloses a crawling method thereof, including:

[0118] Step 1, adjusting the distribution of the four groups of Mecanum wheels 7 in the clamping component 1 and the distribution of the four groups of Mecanum wheels 7 in the clamping component 2 until the target pipe is clamped in an embracing manner;

[0119] Among them, the adjustment methods of clamping assembly 1 and clamping assembly 2 are the same - for any clamping assembly, the adjustment method is:

[0120] S1, adjusting the extension amount of the telescopic assembly to enlarge the area A, and adjusting the extension range of the arc-shaped inner arm 302 to enlarge the opening B;

[0121] S2, passing the target pipe through the area A through the opening B and being located between the four groups of Mecanum wheels 7 in the clamping assembly;

[0122] S3, reversely adjust the extension range of the arc-shaped inner arm 302 to reduce the opening B, reversely adjust the extension amount of the telescopic assembly to reduce the area A, and enable the four groups of Mecanum wheels 7 in the clamping assembly to achieve an embracing clamping of the target pipe.

[0123] Step 2: Adjust the rotation state of the 8 groups of Mecanum wheels 7 so that the embracing pipeline outer crawling robot moves along the axial direction of the target pipeline.

[0124] The adjustment principle of the 8 sets of Mecanum wheels 7 here is:

[0125] 1. The speed of 8 sets of Mecanum wheels 7 is the same;

[0126] 2. The steering of 8 sets of Mecanum wheels 7 is the same.

[0127] by Figure 8 Take the AA, BB, AA, BB situation shown as an example:

[0128] AA, BB, AA, BB have the same rotation speed;

[0129] When AA, BB, AA, BB are rotating in the positive direction, the embracing pipeline outer crawling robot moves upward along the axial direction;

[0130] When AA, BB, AA, BB rotate in opposite directions, the embracing pipeline outer crawling robot moves downward along the axial direction.

[0131] For other situations, please refer to this situation and will not be repeated here.

[0132] In addition, this embodiment 2 also discloses a control method for encountering a variable diameter during crawling:

[0133] Check whether there is a diameter change in the target pipeline in the forward direction; for the convenience of explanation, the forward direction is assumed to be from clamping component two to clamping component one.

[0134] If there is a diameter change, analyze and determine whether the diameter change is passable.

[0135] For an embracing pipe outer crawling robot, the passable diameter change point needs to satisfy the requirement that it can be within a four-point distribution formed by four groups of Mecanum wheels 7.

[0136] Ⅰ. If the diameter change is passable and the diameter change is from a small tube to a large tube, then:

[0137] First, keep the 4 sets of Mecanum wheels 7 encircling the small tube in the clamping assembly 2;

[0138] Then, the distribution of the four groups of Mecanum wheels 7 in the clamping assembly 1 is adjusted to adapt to the change of the diameter change until the clamping assembly 1 passes through the diameter change;

[0139] Then, the distribution of the four groups of Mecanum wheels 7 in the clamping assembly 1 is adjusted to clamp the large pipe in an embracing manner;

[0140] Then, the distribution of the four groups of Mecanum wheels 7 in the clamping assembly 2 is adjusted to adapt to the change of the diameter change until the clamping assembly 2 passes through the diameter change;

[0141] Finally, the distribution of the four groups of Mecanum wheels 7 in the clamping assembly 2 is adjusted to clamp the large pipe in an embracing manner.

[0142] According to the above control, the embracing pipe outer crawling robot can smoothly pass through the diameter change point from the small pipe to the large pipe.

[0143] Ⅱ. If the diameter change is passable and the diameter change is from a large pipe to a small pipe, then:

[0144] First, keep the 4 sets of Mecanum wheels 7 in the clamping assembly 2 to clamp the large pipe in an embracing manner;

[0145] When the clamping assembly 1 passes through the diameter change point, the distribution of the four groups of Mecanum wheels 7 in the clamping assembly 1 is adjusted to clamp the small tube in an embracing manner;

[0146] When the clamping component 2 passes through the diameter reducing portion, the distribution of the four groups of Mecanum wheels 7 in the clamping component 2 is adjusted to clamp the small tube in an embracing manner.

[0147] According to the above control, the embracing pipe outer crawling robot can smoothly pass through the diameter change point.

[0148] Of course, if the forward direction is: from clamping component one to clamping component two, the control method is similar and will not be repeated here.

[0149] Example 3

[0150] Based on the embracing pipe crawling robot disclosed in Example 1 and the crawling method disclosed in Example 2, this Example 3 discloses an obstacle avoidance method thereof, including:

[0151] The crawling method of the robot crawling outside a pipe disclosed in Example 2 is adopted to enable the robot crawling outside a pipe to crawl along the axial direction of the target pipe and detect whether there are any obstacles in the target pipe in the forward direction.

[0152] An obstacle refers to a protrusion on the outer wall of a certain part of the target pipeline, such as a valve, branch pipe or other obstacle.

[0153] As in Example 1, a component capable of detecting such as an appearance collector 101 may be provided on the robot crawling outside the encircling pipe to determine whether there is an obstacle. A camera or other equipment may also be provided near the target pipe to detect the position of the robot crawling outside the encircling pipe on the target pipe in real time to determine whether there is an obstacle.

[0154] If there is an obstacle, analyze and determine whether the obstacle can be avoided.

[0155] For an embracing pipe crawling robot, the obstacles that can be avoided need to be smaller than the maximum range that the opening B can reach.

[0156] It should be noted that the maximum amplitude that opening B can reach must meet the following requirements:

[0157] At this time, the four groups of Mecanum wheels 7 clamp the target pipe, and the four-point distribution can form a superior arc to avoid separation from the target pipe.

[0158] Then, if the obstacle can be avoided, it is avoided according to the preset rule 1;

[0159] The default rule 1 includes:

[0160] S101, adjusting the rotation state of the eight groups of Mecanum wheels 7 so that the encircling pipeline external crawling robot rotates along the circumference of the target pipeline until the obstacle is aligned with the openings B of the two clamping assemblies along the axial direction;

[0161] The adjustment principle of the 8 sets of Mecanum wheels 7 here is:

[0162] 1. The speed of 8 sets of Mecanum wheels 7 is the same;

[0163] 2. Different types of Mecanum wheels 7 in the same clamping assembly rotate in opposite directions;

[0164] 3. The same type of Mecanum wheels 7 located in different clamping assemblies have the same direction of rotation.

[0165] Or Figure 8 Take the AA, BB, AA, BB situation shown as an example:

[0166] AA, BB, AA, BB have the same rotation speed;

[0167] When AA is in reverse rotation and BB is in forward rotation, the encircling pipe outer crawling robot rotates to the left along the circumferential direction;

[0168] When AA rotates forward and BB rotates reversely, the embracing pipe outer crawling robot rotates rightward along the circumferential direction.

[0169] For other situations, please refer to this situation and will not be repeated here.

[0170] S102, reducing the extension of the arc-shaped inner arm 302 from the arc-shaped outer cylinder 301 through the control mechanism to increase the opening B until it is larger than the obstacle.

[0171] S103, adjusting the rotation states of the eight groups of Mecanum wheels 7 so that the embracing pipeline outer crawling robot moves along the axial direction of the target pipeline until the entire robot passes through the obstacle.

[0172] The adjustment principles of the 8 sets of Mecanum wheels 7 here are the corresponding principles of the crawling method and will not be repeated.

[0173] Example 4

[0174] See also Figure 2 Based on the embracing pipe crawling robot disclosed in Example 1 and the crawling method disclosed in Example 2, this Example 4 discloses a turning method thereof, including:

[0175] The crawling method of the robot crawling outside a pipe disclosed in Example 2 is adopted to enable the robot crawling outside a pipe to crawl along the axial direction of the target pipe and detect whether there is a turn in the target pipe in the forward direction.

[0176] The bend is where the target pipeline turns.

[0177] Similar to Example 3, as in Example 1, a component capable of detecting such as an appearance collector 101 can be provided on the outer crawling robot of the embracing pipe to determine whether there is a turn. Alternatively, a camera or other equipment can be provided near the target pipe to detect the position of the outer crawling robot of the embracing pipe on the target pipe in real time, thereby determining whether there is a turn.

[0178] If there is a turn, analyze and determine whether the turn is passable.

[0179] For an embracing pipe crawling robot, the passable turning point needs to be smaller than the maximum bending angle that the connecting component 4 can provide.

[0180] If the turning point is passable, the turning is performed according to preset rule 2;

[0181] Among them, preset rule 2 includes:

[0182] S1, adjusting the rotation state of the 8 sets of Mecanum wheels 7, so that the embracing pipeline outer crawling robot rotates along the circumference of the target pipeline until the plane N is parallel to the central symmetry plane P at the turning point.

[0183] The adjustment principle of the 8 sets of Mecanum wheels 7 here is the same as the principle of S101 in the obstacle avoidance method, and will not be repeated.

[0184] S2, adjusting the rotation state of the eight groups of Mecanum wheels 7 so that the embracing pipeline outer crawling robot moves along the axial direction of the target pipeline until the entire robot passes through the turning point.

[0185] The adjustment principles of the 8 sets of Mecanum wheels 7 here are the corresponding principles of the crawling method and will not be repeated.

[0186] It should be noted that when the robot crawling outside the embracing pipe passes through a bend, the connecting component 4 will not only bend, but the telescopic rod 401 therein will also adaptively change the amount of telescopic movement to adapt to the change in travel at the bend, thereby ensuring that the robot crawling outside the embracing pipe can pass smoothly.

[0187] Example 5

[0188] This embodiment 5 discloses a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of the crawling method disclosed in embodiment 2, or / and the steps of the obstacle avoidance method disclosed in embodiment 3, or / and the steps of the turning method disclosed in embodiment 4 are implemented.

[0189] This embodiment 5 also discloses a readable storage medium, in which computer program instructions are stored. When the computer program instructions are read and executed by a processor, the steps of the crawling method disclosed in embodiment 2, or / and the steps of the obstacle avoidance method disclosed in embodiment 3, or / and the steps of the turning method disclosed in embodiment 4 are executed.

[0190] This embodiment 5 also discloses a computer program product, including a computer program. When the computer program is executed by a processor, the steps of the crawling method disclosed in embodiment 2, or / and the steps of the obstacle avoidance method disclosed in embodiment 3, or / and the steps of the turning method disclosed in embodiment 4 are implemented.

[0191] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0192] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An embracing pipeline crawling robot, characterized in that: include: Two clamping assemblies, which have the same structure; one of the clamping assemblies is clamping assembly 1, which is used for encircling and clamping one part of the target pipe; Another clamping assembly is used as clamping assembly 2, and is used for clamping another part of the target pipe in an embracing manner; For any clamping assembly, it includes: a mounting plate, two clamping jaw mechanisms with adjustable spacing, the two clamping jaw mechanisms are spaced apart on the mounting plate and have a middle line M between them; the middle lines M of the two clamping assemblies are in the same plane N; for any clamping jaw mechanism, it includes: a telescopic mechanism, an arc-shaped telescopic arm mechanism, the telescopic mechanism is connected to the arc-shaped telescopic arm mechanism; the telescopic mechanism is used to adjust the position of the arc-shaped telescopic arm mechanism by telescoping, and to form an adjustable area A for the target pipeline to pass through between the two arc-shaped telescopic arm mechanisms located in the same clamping assembly; for any arc-shaped telescopic arm mechanism, it includes: an arc-shaped inner arm, an arc-shaped outer tube, and a control mechanism, the arc-shaped inner arm and the arc-shaped outer tube form a telescopic structure, and the control mechanism is arranged in cooperation with the arc-shaped inner arm and the arc-shaped outer tube; the control mechanism is used to adjust the amplitude of the arc-shaped inner arm extending out of the arc-shaped outer tube, and to form an adjustable opening B between the two arc-shaped inner arms located in the same clamping assembly; In any arc-shaped telescopic arm mechanism, the arc-shaped inner arm and the arc-shaped outer cylinder have the same arc; one end of the arc-shaped outer cylinder is sealed and the other end is provided with an outlet; the inner end of the arc-shaped inner arm is input into the arc-shaped outer cylinder from the outlet of the arc-shaped outer cylinder; a fixed mounting seat is provided on the arc-shaped outer cylinder for mounting a set of Mecanum wheels; a movable mounting seat is provided on the outer end of the arc-shaped inner arm for mounting a set of Mecanum wheels; In any clamping assembly, the outer ends of the two arc-shaped inner arms form an opening B; in any clamping assembly, the telescopic directions of the two telescopic mechanisms form an angle C, and the telescopic direction of any telescopic mechanism forms an angle C / 2 with the middle line M; C∈[60°,120°]; The control mechanism comprises: a mounting platform, a wire driver, and a steel wire; the wire driver is arranged on the arc-shaped outer cylinder through the mounting platform; one end of the steel wire is connected to the wire driver, and the other end is connected to the outer end of the arc-shaped inner arm; A return spring is arranged in the arc-shaped outer cylinder; the inner end of the arc-shaped inner arm abuts against the return spring; 8 sets of Mecanum wheels are all equipped with a driving member; wherein, 1 set of Mecanum wheels is arranged on the arc-shaped outer cylinder, and 1 set of Mecanum wheels is arranged on the arc-shaped inner arm; 4 sets of Mecanum wheels in the same clamping assembly form an adjustable four-point distribution in area A; Mecanum wheels in the same clamping mechanism are of the same type; Mecanum wheels in the same clamping assembly but in different clamping mechanisms are of opposite types; and A connecting assembly is arranged between the two clamping assemblies and connects the two clamping assemblies; the connecting assembly is used to keep the two clamping assemblies synchronized when moving circumferentially around the target pipeline, so that the embracing pipeline outer crawling robot has the freedom to bend parallel to the plane N; The connection assembly comprises: at least one set of connection mechanisms; The connecting mechanism comprises: a telescopic rod, an articulated seat 1, and an articulated seat 2; the articulated seat 1 is arranged on a side of the clamping component 1 facing the clamping component 2; the articulated seat 2 is arranged on a side of the clamping component 2 facing the clamping component 1; one end of the telescopic rod is hinged to the articulated seat 1, and the plane where the end rotates is parallel to the plane N; the other end of the telescopic rod is hinged to the articulated seat 2, and the plane where the end rotates is parallel to the plane N; Wherein, when the embracing pipe outer crawling robot encounters a turn while crawling in the target pipe, if the turn is passable, it turns according to preset rule 2; Among them, preset rule 2 includes: Adjust the rotation state of the 8 sets of Mecanum wheels to make the embracing pipeline crawling robot rotate along the circumference of the target pipeline until the plane N is parallel to the central symmetry plane P of the turning point; The rotation states of the eight Mecanum wheels are adjusted so that the embracing pipeline external crawling robot moves along the axis of the target pipeline until it passes the bend as a whole.

2. The embracing pipe crawling robot according to claim 1, characterized in that: The telescopic mechanism comprises: a screw motor, a ball screw, a fixed seat, at least one moving rod, a connecting plate, and a connecting frame; The fixing seat is fixedly connected to the mounting plate; the connecting plate is located on one side of the fixing seat; the screw motor is arranged on the connecting plate, and its output end passes through the connecting plate and is connected to the ball screw; the ball screw passes through the fixing seat; the moving rod is arranged parallel to the ball screw; one end of the moving rod is connected to the connecting rod plate, and the other end passes through the fixing seat and is connected to the connecting frame; the connecting frame is connected to the arc-shaped outer cylinder.

3. The embracing pipe crawling robot according to claim 1, characterized in that: Also includes: The appearance collector is arranged on the mounting plate and is used for collecting the appearance of the target pipeline in real time.

4. A crawling method of an embracing pipeline outer crawling robot, characterized in that: It is applied to the embracing pipe outer crawling robot as described in any one of claims 1 to 3; The crawling method of the embracing type pipeline outer crawling robot comprises: The distribution of the four groups of Mecanum wheels in the clamping component 1 is adjusted, and the distribution of the four groups of Mecanum wheels in the clamping component 2 is adjusted until the target pipe is clamped in an embracing manner; The rotation states of the eight groups of Mecanum wheels are adjusted to enable the embracing pipeline outer crawling robot to move along the axial direction of the target pipeline.

5. An obstacle avoidance method for an embracing pipe outer crawling robot, characterized in that: include: Adopting the crawling method of the robot crawling outside the encircling pipe as claimed in claim 4, the robot crawls along the axial direction of the target pipe and detects whether there is an obstacle in the forward direction of the target pipe; If there is an obstacle, analyze and determine whether the obstacle can be avoided; If the obstacle can be avoided, avoid it according to the preset rule 1; Among them, the preset rule 1 includes: Adjust the rotation state of the 8 sets of Mecanum wheels to make the embracing pipeline external crawling robot rotate along the circumference of the target pipeline until the obstacle is aligned with the openings B of the two clamping components along the axial direction; The control mechanism is used to reduce the extension of the arc-shaped inner arm from the arc-shaped outer cylinder to increase the opening B until it is larger than the obstacle. The rotation states of the eight Mecanum wheels are adjusted so that the embracing pipeline external crawling robot moves along the axis of the target pipeline until it passes the obstacle as a whole.

6. A turning method for an embracing pipe outer crawling robot, characterized in that: include: Adopting the crawling method of the robot crawling outside the encircling pipe as claimed in claim 4, the robot crawls along the axial direction of the target pipe, and detects whether there is a turn in the forward direction of the target pipe; If there is a turn, analyze and determine whether the turn is passable; If the turning point is passable, the turning is performed according to preset rule 2; Among them, preset rule 2 includes: Adjust the rotation state of the 8 sets of Mecanum wheels to make the embracing pipeline crawling robot rotate along the circumference of the target pipeline until the plane N is parallel to the central symmetry plane P of the turning point; Adjust the rotation status of the 8 sets of Mecanum wheels to make the embracing pipeline external crawling robot move along the axis of the target pipeline until it passes the bend as a whole.

Images