Variable pipe handling robot arm driven by multiple motors

Abstract

The application discloses a kind of variable pipeline operation mechanical arm of multi-motor drive, including base cylinder, power source, fixed seat, walking mechanism, mechanical arm, cleaning brush, visual sensor and controller, walking mechanism is formed variable diameter support structure by fixed ring, moving ring, support leg, spring telescopic strut and electric telescopic rod, mechanical arm is hinged by swing rod one and swing rod two, and first motor, second motor and third motor are configured respectively, first motor is used to adjust the overall operation direction of mechanical arm, second motor is used to change the included angle of two swing rods and end operation radius, third motor is used to drive cleaning brush to rotate, visual sensor is used to identify the relative distance of to-be-operated area and cleaning brush and pipe wall;The application can adjust the walking support size and the operation radius of mechanical arm according to different pipe diameters, improve the pipe diameter adaptation range and operation flexibility when cleaning the inner wall of pipeline.

Description

Technical Field

[0001] This invention relates to the field of pipeline robots and pipeline inner wall operation equipment, and in particular to a multi-motor driven variable pipeline operation robotic arm. Background Technology

[0002] During the maintenance of industrial pipelines, municipal pipe networks, and internal equipment pipelines, it is often necessary to inspect, clean, and remove rust from the inner walls of the pipelines. Due to factors such as the narrow space inside the pipeline, difficulty in manual entry, and long working distance, using a pipeline robot equipped with a working mechanism that can move inside the pipeline can reduce the operational limitations caused by direct manual entry into the pipeline. Therefore, pipeline robots usually need to have the ability to walk stably, adapt to pipe diameter, and adjust the position of the end tool. In existing pipeline internal working mechanisms, some robotic arms use fixed lengths or fixed extended dimensions, resulting in a small radial range that the end-effectors can cover. When the inner diameter of the pipeline changes, problems such as the tool failing to effectively contact the pipe wall or insufficient space for the robotic arm to extend can easily arise. Some variable-size mechanisms use a single linear telescopic method to change the working radius, and their size changes are limited by the installation length and effective stroke of the telescopic components. When facing a large range of pipe diameter changes, the adjustable range and posture flexibility of the robotic arm are still insufficient. In addition, when the pipeline robot moves in pipes of different inner diameters, if the support diameter of the wheels relative to the robot body is fixed, situations may arise where small-diameter pipes cannot be entered, large-diameter pipes are not adequately supported, or the stability of the robot at local diameter change locations decreases. Therefore, the above-mentioned technical problems need to be improved. Summary of the Invention

[0003] The purpose of this invention is to solve the problem that existing fixed-size pipe-operating robotic arms have limited adaptability to pipe diameter changes, and to provide a variable pipe-operating robotic arm driven by multiple motors.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a multi-motor driven variable pipeline operation robotic arm, comprising a base cylinder, a power source installed at the tail end of the base cylinder, a fixed base installed at the other end of the base cylinder, and a traveling mechanism installed on the base cylinder. The fixed base is equipped with a cleaning component for pipeline inner wall operation, the cleaning component comprising a robotic arm, a motor assembly, and a cleaning brush installed at the front end of the robotic arm.

[0005] Preferably, the robotic arm includes a first swing arm and a second swing arm. One end of the first swing arm is mounted on a mounting base at the fixed base. A first motor is fixedly mounted on the mounting base, and the output end of the first motor is driven to drive the first swing arm to rotate relative to the fixed base. One end of the second swing arm is movably hinged to the other end of the first swing arm. A second motor is mounted at the hinge position and driven to drive the second swing arm to swing relative to the first swing arm.

[0006] Preferably, the third motor is installed at the outer end of the second swing arm, and the output end of the third motor is coaxially connected to a mounting shaft that passes through the second swing arm. The cleaning brush is fixedly installed on the mounting shaft, so that the third motor can drive the cleaning brush to rotate through the mounting shaft.

[0007] Preferably, the walking mechanism includes a fixed ring fixedly sleeved at the tail end of the base cylinder and a movable ring slidably sleeved at the front end of the base cylinder. Both the fixed ring and the movable ring are movably hinged with multiple relatively inclined and staggered support legs, and each support leg is equipped with an electric walking wheel with dual-wheel drive at its outer end.

[0008] Preferably, multiple spring telescopic struts are also hinged to the fixed ring and the movable ring respectively. The outer end of the spring telescopic strut on the fixed ring is movably hinged to the support leg on the movable ring, and the outer end of the spring telescopic strut on the movable ring is movably hinged to the support leg on the fixed ring, so that the front and rear sets of support legs can expand or contract radially as the position of the movable ring changes while obtaining elastic support.

[0009] Preferably, multiple electric telescopic rods are installed on the fixed base. The electric telescopic rods are arranged along the axial direction of the base cylinder, and one end of the electric telescopic rod is connected to the moving ring. The telescopic movement of the electric telescopic rod drives the moving ring to slide along the axial direction of the base cylinder, thereby changing the distance between the moving ring and the fixed ring and adjusting the radial support dimension of the traveling mechanism.

[0010] Preferably, a controller electrically connected to a power source is installed inside the base cylinder. The power source supplies power to the electric walking wheels, electric telescopic pole, first motor, second motor, third motor, vision sensor and controller respectively. The controller is used to control the start and stop of each actuator and the sequence of actions.

[0011] Preferably, a vision sensor is mounted on one side of the fixed base via a bracket. The vision sensor is connected to the controller signal and is used to monitor the relative distance between the cleaning brush and the inner wall of the pipe and identify the location of the area to be worked on, so that the controller can adjust the operation of the first motor and the second motor according to the monitoring information.

[0012] Compared with the prior art, the beneficial effects of the present invention are: This invention comprises a fixed ring, a movable ring, support legs, a spring telescopic strut, and an electric telescopic rod to form a variable-diameter walking support structure. After the electric telescopic rod changes the axial position of the movable ring relative to the fixed ring, the support legs can change their radial expansion degree under the traction and elastic support of the spring telescopic strut, thereby enabling multiple electric walking wheels to form different support diameters. This allows the device to adapt to pipes with different inner diameters and maintain a relatively stable wall-hugging support state when there are slight undulations or local diameter changes in the pipe wall, thus improving the stability of the device when it moves and stops inside the pipe. This invention uses a jointed robotic arm composed of a swing rod one and a swing rod two. The first motor and the second motor are used to independently adjust the root rotation position and the included angle between the two swing rods. The working radius of the robotic arm end is obtained by the combination and change of multiple joint angles. It does not need to rely entirely on the effective stroke of a single linear telescopic component. Therefore, when the inner diameter of the pipe varies greatly, the position of the cleaning brush can still be adjusted by changing the degree of extension of the robotic arm, thereby expanding the radial working range that the end tool can cover and improving the flexibility of posture adjustment. The present invention has a third motor at the end of the robotic arm and drives the cleaning brush to rotate directly through the mounting shaft. The first motor is used to change the overall working direction of the robotic arm, the second motor is used to change the radial position between the cleaning brush and the pipe wall, and the third motor is used to provide the end-rotation cleaning power. The three motors perform different actions and can cooperate according to the operation process, so that the cleaning brush can approach different pipe wall positions and continue to rotate and clean after contacting the pipe wall, thereby facilitating continuous or zoned operations within the same pipe section. This invention uses a visual sensor to obtain the relative distance between the cleaning brush and the inner wall of the pipe, as well as the location of the area to be worked on. The controller controls the motors of the walking mechanism, the electric telescopic rod, and the robotic arm, enabling the device to complete the inner wall treatment of the pipe in the following sequence: pipe diameter adaptation, pipe walking, work area identification, robotic arm positioning, cleaning brush rotation, and post-work retraction and transfer. The overall structure takes into account changes in walking size and changes in robotic arm working size, making it suitable for pipe internal cleaning operations under different pipe diameter conditions. Attached Figure Description

[0013] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a first-view perspective three-dimensional schematic diagram of the overall structure of the present invention; Figure 2 This is a second-view perspective three-dimensional schematic diagram of the overall structure of the present invention; Figure 3 This is a third-view perspective stereoscopic diagram of the overall structure of the present invention; Figure 4This is a schematic diagram of the installation structure of the walking mechanism and the base cylinder of the present invention; Figure 5 This is a partially enlarged structural diagram of the robotic arm and cleaning brush of the present invention; Figure 6 This is a flowchart illustrating the execution logic of the control system of the present invention.

[0014] In the diagram: 1. Base cylinder; 2. Power source; 3. Fixed ring; 4. Support leg; 5. Electric walking wheel; 6. Spring telescopic strut; 7. Moving ring; 8. Fixed seat; 9. Electric telescopic rod; 10. Mounting seat; 11. First motor; 12. Swing rod one; 13. Second motor; 14. Swing rod two; 15. Third motor; 16. Cleaning brush; 17. Vision sensor; 18. Controller. Detailed Implementation

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the following embodiments are used to illustrate the technical solutions of the present invention, and not to limit the scope of protection of the present invention; equivalent substitutions or conventional adjustments that can be made by those skilled in the art without departing from the core structural relationship of the present invention are all extensions of the technical concept of the present invention.

[0016] Example 1: See Figures 1 to 5 As shown, a multi-motor driven variable pipeline cleaning robot of the present invention includes a base cylinder 1 as the main load-bearing structure, a power source 2 installed at the tail end of the base cylinder 1, a fixed seat 8 installed at the front end of the base cylinder 1, a walking mechanism arranged on the outside of the base cylinder 1, a robot arm installed on the fixed seat 8, a cleaning brush 16 installed at the end of the robot arm, a vision sensor 17 installed on one side of the fixed seat 8 via a bracket, and a controller 18 installed inside the base cylinder 1. The power source 2 is used to provide working power to the electric actuators, vision sensor 17 and controller 18 in the device, so that the walking mechanism, robot arm, cleaning brush 16, vision sensor 17 and controller 18 constitute an integral structure that can move inside the pipeline, adjust the working radius and perform internal wall cleaning.

[0017] The traveling mechanism includes a fixed ring 3 fixedly sleeved at the tail end of the base cylinder 1 and a sliding ring 7 slidably sleeved at the front end of the base cylinder 1. The fixed ring 3 and the sliding ring 7 are spaced back and forth along the axial direction of the base cylinder 1. Multiple support legs 4 are movably hinged on both the fixed ring 3 and the sliding ring 7. The support legs 4 on the fixed ring 3 and the support legs 4 on the sliding ring 7 are arranged in a relatively inclined and staggered manner, so that each support leg 4 can be dispersed around the base cylinder 1. Each support leg 4 is equipped with an electric traveling wheel 5 with dual-wheel drive at its outer end. The two wheels at the outer end of the same support leg 4 are in contact with the inner wall of the pipe. Multiple electric traveling wheels 5 form multi-point support around the base cylinder 1. When each electric traveling wheel 5 rotates in the same forward direction, it can drive the base cylinder 1 forward along the axial direction of the pipe. When the rotation direction is reversed, it can drive the device backward along the axial direction of the pipe.

[0018] Multiple spring-loaded telescopic struts 6 are hinged to the fixed ring 3 and the movable ring 7 respectively. The spring-loaded telescopic struts 6 on the fixed ring 3 extend forward and are hinged to the support leg 4 on the movable ring 7. The spring-loaded telescopic struts 6 on the movable ring 7 extend backward and are hinged to the support leg 4 on the fixed ring 3. Thus, a cross-type elastic support relationship is formed between the fixed ring 3, the movable ring 7 and the two sets of support legs 4. When a certain electric walking wheel 5 is squeezed by a local protrusion of the pipe wall, the corresponding support leg 4 can swing slightly around the hinge point. The spring-loaded telescopic struts 6 are compressed or extended accordingly and continuously provide elastic support to the support leg 4, so that the electric walking wheel 5 can keep in contact with the pipe wall while having a certain clearance ability.

[0019] Multiple electric telescopic rods 9 are installed on the fixed base 8. Each electric telescopic rod 9 is arranged along the axial direction of the base cylinder 1. One end of the electric telescopic rod 9 is connected to the fixed base 8, and the other end is connected to the moving ring 7. When the electric telescopic rod 9 extends or retracts, the moving ring 7 slides along the axial direction of the base cylinder 1 and changes the distance between it and the fixed ring 3. After the position of the moving ring 7 changes, the front and rear sets of support legs 4 change their tilt angle relative to the base cylinder 1 under the traction of the hinge relationship and the spring telescopic support rod 6, so that the radial distance of each electric traveling wheel 5 relative to the axis of the base cylinder 1 changes. When each support leg 4 retracts towards the base cylinder 1, the traveling mechanism forms a smaller outer support diameter. When each support leg 4 extends away from the base cylinder 1, the traveling mechanism forms a larger outer support diameter, thereby completing the adaptation to different pipe inner diameters.

[0020] A mounting base 10 is provided on the fixed base 8. The first motor 11 is fixedly mounted on the mounting base 10. The output end of the first motor 11 is connected to one end of the swing rod 12. The swing rod 12 serves as the first swing segment of the robotic arm. After the first motor 11 is started, it drives the swing rod 12 to rotate relative to the fixed base 8, thereby changing the overall orientation of the robotic arm. The other end of the swing rod 12 is movably hinged to one end of the swing rod 14. The second motor 13 is located at the hinge position between the swing rod 12 and the swing rod 14. The output end of the second motor 13 is connected to the swing rod 14. After the second motor 13 is started, it drives the swing rod 14 to swing around its hinge position with the swing rod 12, thereby changing the included angle between the swing rod 12 and the swing rod 14 and the radial distance of the end of the robotic arm relative to the axis of the base cylinder 1.

[0021] The third motor 15 is installed on the outer end of the second swing arm 14. The output end of the third motor 15 is coaxially connected to the mounting shaft that passes through the second swing arm 14. The cleaning brush 16 is fixed on the mounting shaft. When the third motor 15 is working, it drives the cleaning brush 16 to rotate continuously through the mounting shaft. Therefore, the first motor 11 is responsible for changing the overall rotation direction of the robotic arm, the second motor 13 is responsible for changing the extension degree and end-effector radius of the robotic arm, and the third motor 15 is responsible for driving the cleaning brush 16 to perform rotational cleaning actions. The three motors correspond to different degrees of freedom and different functions. After the first motor 11 and the second motor 13 cooperate, they can move the cleaning brush 16 to different radial positions. The third motor 15 provides end-effector power after the cleaning brush 16 reaches the working position.

[0022] The vision sensor 17 is positioned facing the front of the robotic arm and the work area near the cleaning brush 16 to acquire the position of the pipe wall area to be worked on and the relative distance between the cleaning brush 16 and the inner wall of the pipe. The vision sensor 17 is signal-connected to the controller 18. The controller 18 is connected to the electric walking wheel 5, the electric telescopic rod 9, the first motor 11, the second motor 13, and the third motor 15. During the operation of the device, the controller 18 controls the electric walking wheel 5 to move forward, backward, or stop according to the preset operation instructions. It controls the electric telescopic rod 9 to adjust the position of the moving ring 7 according to the pipe diameter adaptation requirements. It also controls the first motor 11 and the second motor 13 to adjust the posture of the robotic arm according to the work area and distance information obtained by the vision sensor 17. After the cleaning brush 16 reaches the work position, it controls the third motor 15 to start.

[0023] Power source 2 can be a power supply component that can meet the working voltage and power requirements of each electric component. Before use, ensure that the power supply connection between power source 2 and controller 18 and each electric component is in normal condition. Before the device enters the pipeline, first make the robotic arm in the retracted state and make the outer support diameter of the walking mechanism smaller than the inner diameter of the pipeline to be entered. After the device enters the pipeline, adjust the position of the moving ring 7 through the electric telescopic rod 9 so that multiple electric walking wheels 5 gradually contact the inner wall of the pipeline and form a stable support, so as to avoid the robotic arm from interfering with the pipe opening during the pipeline entry stage.

[0024] When the device reaches the section of pipe to be cleaned, the controller 18 stops the electric walking wheels 5, the vision sensor 17 monitors the pipe wall area ahead, the first motor 11 drives the first swing arm 12 to rotate, so that the first swing arm 12 drives the subsequent second swing arm 14 and the cleaning brush 16 to turn towards the target area. The second motor 13 then adjusts the angle between the second swing arm 14 and the first swing arm 12, so that the cleaning brush 16 gradually approaches the inner wall of the pipe. When the cleaning brush 16 reaches the appropriate contact position, the third motor 15 starts and drives the cleaning brush 16 to rotate. The cleaning of dirt or attachments is achieved through the rotational contact between the cleaning brush 16 and the inner wall of the pipe. When it is necessary to expand the working area at the same position, the first motor 11 can change the circumferential direction of the robotic arm, and the second motor 13 can continue to adjust the radial position of the cleaning brush 16 according to the change of the distance to the pipe wall, so that the cleaning brush 16 covers different areas within the same pipe section.

[0025] Example 2: Based on the structure of Example 1, this example further illustrates the variable-size process of the device under different pipe diameter conditions. When the device needs to enter a pipe with a smaller inner diameter, the controller 18 controls the electric telescopic rod 9 to move the moving ring 7 along the base cylinder 1 to a position where the support legs 4 can retract inward. Under the change in position of the moving ring 7 and the traction of the spring telescopic support rod 6, the radial expansion of each support leg 4 decreases, so that multiple electric traveling wheels 5 form a smaller support diameter. When the device enters a pipe with a larger inner diameter, the electric telescopic rod 9 adjusts the position of the moving ring 7 in the opposite direction, so that the radial expansion of the front and rear sets of support legs 4 increases and drives the electric traveling wheels 5 to move outward until each electric traveling wheel 5 re-establishes stable contact with the inner wall of the larger pipe diameter. Thus, the adaptation between different pipe diameters can be completed without changing the traveling mechanism.

[0026] Regarding the adjustment of the robotic arm's working radius, when the pipe's inner diameter is small, the second motor 13 causes the second swing arm 14 to be in a relatively retracted angle, and the first motor 11 turns the robotic arm toward the target area, so that the cleaning brush 16 completes the work near the base cylinder 1. When the pipe's inner diameter is large, the second motor 13 increases the degree of extension of the second swing arm 14 relative to the first swing arm 12, so that the cleaning brush 16 moves away from the axis of the base cylinder 1. Then, the first motor 11 changes the overall direction of the robotic arm to correspond to different pipe wall areas. Therefore, this invention changes the end working radius by combining the joint angles formed by the first motor 11 and the second motor 13. Compared with the structure that only relies on a single linear telescopic component to change the length, it can obtain a more flexible radial position adjustment capability within a limited axial installation space.

[0027] Example 3: Figure 6 As shown, based on the structures of Embodiment 1 and Embodiment 2, this embodiment further explains the automatic execution logic of the controller 18. The control system still consists of the power source 2, controller 18, vision sensor 17, electric walking wheel 5, electric telescopic rod 9, first motor 11, second motor 13, and third motor 15, without changing the above mechanical structure and connection relationship. The vision sensor 17 outputs the target center position of the area to be worked on in the current detection screen to the controller 18. Center reference position of the image And the real-time distance between the cleaning brush 16 and the inner wall of the pipe. The controller 18 pre-stores the effective width of the detection screen. Target working distance of cleaning brush 16 directional allowable deviation and distance tolerance The first motor 11, the second motor 13, and the third motor 15 are executed sequentially based on the target position deviation and the working distance deviation. To determine whether the cleaning brush 16 is aligned with the area to be worked in the circumferential direction, the controller 18 calculates the direction deviation factor based on the target center position output by the vision sensor 17. Direction deviation factor Calculate using the following formula:

[0028] In the formula, The horizontal position of the center of the area to be worked on in the detection screen, as identified by the vision sensor 17. To detect the center reference position of the image, To detect the effective width of the image, For directional normalized positional bias, when Greater than zero and its absolute value is greater than At that time, the controller 18 outputs a rotation command in the first direction to the first motor 11. Less than zero and its absolute value is greater than zero. At that time, the controller 18 outputs a rotation command to the first motor 11 in the opposite direction to the first direction. Not greater than At this time, the controller 18 stops the first motor 11 from continuing to rotate and determines that the robotic arm has been basically aligned with the work area; After the robotic arm completes the alignment in the circumferential direction, the controller 18 further calculates the distance deviation factor based on the real-time distance between the cleaning brush 16 and the inner wall of the pipe. Distance deviation factor Calculate using the following formula:

[0029] In the formula, The distance between the cleaning brush 16 and the inner wall of the pipe is detected by the vision sensor 17 in real time. For the pre-set target working distance, To normalize the distance bias, when Greater than When the cleaning brush 16 is far from the pipe wall, the controller 18 controls the second motor 13 to swing the swing arm 14 in a direction that increases the working radius of the robotic arm end effector. Less than When the cleaning brush 16 is too close to the tube wall, the controller 18 controls the second motor 13 to reverse and causes the swing arm 14 to swing back in the retracting direction. Not greater than At this time, the controller 18 stops the second motor 13 from continuing to adjust and determines that the cleaning brush 16 has entered the allowable working distance range; To prevent the third motor 15 from starting prematurely before the cleaning brush 16 has completed its positioning, this embodiment uses a dual-condition interlocking method to determine the cleaning execution status, and records the allowable cleaning amount of the third motor 15 as... The execution conditions are expressed as follows:

[0030] When both of the above conditions are met, controller 18 will Set to 1 and output a start command to the third motor 15, causing the third motor 15 to drive the cleaning brush 16 to rotate via the mounting shaft to perform cleaning. When any condition is not met, the controller 18 will... Set to 0 and keep the third motor 15 stopped, so that the first motor 11 is used to complete the target direction correction first, the second motor 13 is used to complete the working distance correction subsequently, and the third motor 15 only performs the cleaning action after both the direction and distance meet the allowable deviation, forming a sequential control logic of "direction positioning - distance positioning - cleaning execution". In practice, after the device moves from the electric walking wheel 5 to the section to be worked on, the controller 18 first stops the electric walking wheel 5 and reads the valid detection information from the vision sensor 17. Greater than Then, keep the second motor 13 and the third motor 15 stopped, and only control the first motor 11 according to... Rotate in both positive and negative directions until... Not greater than Subsequently, the controller 18 maintains the first motor 11 in its current position and determines... ,like Greater than Then keep the third motor 15 stopped and control the second motor 13 according to The positive and negative states of the swing lever 14 are adjusted to their extension extent until... Not greater than After both deviation factors are within the allowable range, the controller 18 starts the third motor 15 to perform cleaning. During the cleaning process, if the vision sensor 17 detects... or If the corresponding allowable deviation is exceeded again, the controller 18 will first stop the third motor 15, and then re-perform the direction correction or distance correction. After the correction is completed, cleaning will be restored. After the current area is cleaned, the controller 18 first stops the third motor 15, then controls the second motor 13 to move the swing arm 14 in the retracting direction, causing the cleaning brush 16 to detach from the pipe wall, and controls the first motor 11 to adjust the robotic arm to a posture that facilitates walking. Then, the stop interlock of the electric walking wheel 5 is released and the device is driven to the next work position. When the vision sensor 17 does not obtain a valid target position or does not obtain valid distance data, the controller 18 does not output a cleaning start command to the third motor 15, and keeps the robotic arm in a stopped adjustment or retraction state, thereby avoiding continued wall cleaning when the detection information is abnormal. The above control method directly utilizes the existing vision sensor 17, controller 18 and three independent motors in this solution, and does not require additional complex sensing components to form a judgment and control logic that can be actually executed.

[0031] Working principle: In conjunction with Embodiments 1 to 3, the multi-motor driven variable pipeline operation robotic arm of the present invention controls each execution component in the following order during operation: pipe diameter adaptation, in-pipe movement, visual positioning, direction correction, distance correction, dual-condition interlocking cleaning, and retraction and transfer. Specifically, it includes the following steps: Step 1, matching the pipe entry and travel dimensions: When in use, first put the swing rod 12 and swing rod 24 in the retracted state, bring the cleaning brush 16 close to the main body of the device, and adjust the travel mechanism to a smaller external support state that is convenient for entering the pipe opening. Then, send the device into the pipe to be worked. The power source 2 supplies power to the controller 18, vision sensor 17, electric travel wheel 5, electric telescopic rod 9, and first motor 11, second motor 13 and third motor 15. The controller 18 controls the extension and retraction of the electric telescopic rod 9. The electric telescopic rod 9 drives the moving ring 7 to slide along the axial direction of the base cylinder 1. After the distance between the moving ring 7 and the fixed ring 3 changes, each support leg 4 will generate radial swing under the traction of the hinge relationship and the spring telescopic support rod 6, so that multiple electric travel wheels 5 gradually approach the pipe wall until each electric travel wheel 5 forms a stable multi-point contact with the inner wall of the pipe, thus completing the matching of the external support dimension of the travel mechanism with the current pipe diameter. Step 2, Pipe travel and elastic wall contact: After pipe diameter matching is completed, controller 18 controls each electric travel wheel 5 to rotate in the same direction of travel. Multiple electric travel wheels 5 together drive the base cylinder 1 and the front fixed seat 8 to move along the pipe axis. Fixed ring 3 and moving ring 7 respectively support and limit the front and rear sets of support legs 4. Spring telescopic strut 6 continuously applies elastic support to the corresponding support leg 4 during travel. When a certain electric travel wheel 5 passes through a local protrusion, depression or slight diameter change position of the pipe wall, the corresponding support leg 4 can swing slightly around the hinge point. Spring telescopic strut 6 synchronously compresses or extends to absorb the position change, so that the electric travel wheel 5 continues to stick to the pipe wall while allowing a certain radial clearance, thereby reducing the impact of local size changes on the stability of the main body's travel. Step 3, Identification of the work area and correction of both direction and distance deviations: After the device moves to the section of pipe to be cleaned, the controller 18 first stops all the electric walking wheels 5, and the vision sensor 17 collects the lateral position of the center of the work area in the current detection screen. Detect the center reference position of the image Detect the effective width of the image. Simultaneously, the real-time distance between the cleaning brush 16 and the inner wall of the pipe is obtained. The controller 18 first calculates the direction deviation factor based on the target center position and the reference position of the screen center. The calculation formula is as follows:

[0032] In the formula, The horizontal position of the center of the area to be worked is identified by the vision sensor 17. To detect the center reference position of the image, To detect the effective width of the image, For the directional normalized position deviation, controller 18 will The absolute value of the deviation from the preset direction Compare, when its absolute value is greater than At that time, the controller 18 keeps the second motor 13 and the third motor 15 stopped, and according to... The positive or negative direction control of the first motor 11 rotates in the forward or reverse direction. The first motor 11 drives the first swing rod 12, together with the second swing rod 14 and the cleaning brush 16, to adjust along the circumference of the pipe until... The absolute value is not greater than At this point, controller 18 stops the first motor 11 from continuing to rotate; after completing the direction alignment, controller 18 adjusts the direction based on the real-time distance. Working distance from the preset target The distance deviation factor is calculated using the following formula:

[0033] In the formula, The distance between the cleaning brush 16 and the inner wall of the pipe is detected by the vision sensor 17 in real time. For the pre-set target working distance, To normalize the distance deviation, controller 18 will The absolute value of the distance is subject to the preset allowable deviation. In comparison, when Greater than At that time, the second motor 13 drives the second swing arm 14 to swing in the direction of increasing the working radius of the robotic arm end effector. Less than At that time, control the second motor 13 to reverse the action and cause the swing arm 14 to swing back in the retracting direction until... The absolute value is not greater than This allows the cleaning brush 16 to enter the permissible working distance range; Step 4, Dual-condition interlocking cleaning and real-time correction during operation: After direction correction and distance correction are completed, controller 18 adjusts the direction deviation factor. and distance deviation factor Perform a dual-condition interlock determination and record the allowable cleanliness level of the third motor 15 as follows: Its execution conditions are:

[0034] when The absolute value is not greater than and The absolute value is not greater than At that time, controller 18 will The controller is set to 1 and outputs a start command to the third motor 15. The third motor 15 drives the cleaning brush 16 to rotate continuously via the mounting shaft, so that the cleaning brush 16 contacts the inner wall of the pipe and performs cleaning. During the cleaning process, the vision sensor 17 continuously collects the target position and real-time distance, and the controller 18 calculates the data cyclically. and If the absolute value of any deviation factor exceeds the corresponding allowable deviation again, then immediately... Set the value to 0 and stop the third motor 15. Then, depending on the type of over-limit, re-control the first motor 11 to perform direction correction or control the second motor 13 to perform distance correction. After the two deviation factors return to the allowable range, then... Set to 1 and resume the cleaning action of the third motor 15 to avoid the cleaning brush 16 from continuously rotating and sticking to the wall when it is not properly aligned or at an abnormal distance; Step 5, Collection and Transfer After Work Completion and Next Cycle: After the current area is cleaned, controller 18 first sets the cleaning allowance... Set the value to 0 and stop the third motor 15. Then control the second motor 13 to drive the swing arm 14 to swing back in the retracting direction, so that the cleaning brush 16 is disengaged from the inner wall of the pipe. Control the first motor 11 to adjust the swing arm 12 to a posture that facilitates the movement of the main body. Then release the stop interlock of each electric walking wheel 5 and drive the device to move to the next pipe section to be worked on. When entering a pipe section with a significant change in inner diameter, the controller 18 controls the electric telescopic rod 9 to drive the moving ring 7 to slide along the axial direction of the base cylinder 1, so that the support leg 4 and the electric walking wheel 5 are re-adapted to the new pipe diameter. Then re-execute the visual acquisition, direction deviation factor calculation, distance deviation factor calculation and dual-condition interlock judgment. When the visual sensor 17 does not obtain a valid target position or does not obtain valid distance data, the controller 18 maintains If the value is 0, no cleaning start command will be output to the third motor 15, and the robotic arm will remain in a stopped adjustment or retraction state until valid detection information is obtained before entering the next execution cycle.

[0035] The above description is merely a preferred embodiment of the present invention, used to illustrate the structural composition, connection relationship, and working process of the present invention, and is not intended to limit the scope of protection of the present invention; any equivalent substitutions, conventional transformations, or structural adjustments made based on the technical concept of the present invention and according to the specification and drawings shall fall within the scope of protection of the present invention.

Claims

1. A multi-motor driven variable pipeline operation robotic arm, comprising a base cylinder, a power source mounted at the tail end of the base cylinder, a fixed base mounted at the other end of the base cylinder, and a traveling mechanism mounted on the base cylinder, characterized in that: The mounting base is equipped with a cleaning component for working on the inner wall of the pipe. The cleaning component includes a robotic arm, a motor assembly, and a cleaning brush mounted on the front end of the robotic arm.

2. The multi-motor driven variable pipeline operation robotic arm according to claim 1, characterized in that: The motor assembly includes a first motor, a second motor, and a third motor for driving the robotic arm to move; the robotic arm includes a first swing arm and a second swing arm, one end of the first swing arm is rotatably engaged with a mounting base at a fixed base, the first motor is fixedly mounted on the mounting base, and the output end of the first motor is connected to one end of the first swing arm for driving the first swing arm to rotate relative to the fixed base.

3. The multi-motor driven variable pipeline operation robotic arm according to claim 2, characterized in that: One end of the second swing rod is movably hinged to the other end of the first swing rod. The second motor is installed at the hinge position between the first and the second swing rod, and the output end of the second motor is connected to the second swing rod for driving the second swing rod to swing relative to the first swing rod.

4. The multi-motor driven variable pipeline operation robotic arm according to claim 3, characterized in that: The third motor is installed at the outer end of the second swing arm, and the output end of the third motor is coaxially connected to a mounting shaft that passes through the second swing arm. The cleaning brush is fixedly installed on the mounting shaft.

5. A multi-motor driven variable pipeline operation robotic arm according to claim 1, characterized in that: The walking mechanism includes a fixed ring fixedly sleeved at the tail end of the base cylinder and a movable ring slidably sleeved at the front end of the base cylinder. Both the fixed ring and the movable ring are movably hinged with multiple relatively inclined and staggered support legs. Each support leg is equipped with an electric walking wheel with dual-wheel drive at its outer end.

6. A multi-motor driven variable pipeline operation robotic arm according to claim 5, characterized in that: Multiple spring telescopic support rods are also hinged to the fixed ring and the movable ring respectively. The outer end of the spring telescopic support rod on the fixed ring is movably hinged to the support leg on the movable ring, and the outer end of the spring telescopic support rod on the movable ring is movably hinged to the support leg on the fixed ring.

7. A multi-motor driven variable pipeline operation robotic arm according to claim 5, characterized in that: Multiple electric telescopic rods are installed on the fixed base. The electric telescopic rods are arranged along the axial direction of the base cylinder, and one end of the electric telescopic rod is connected to the moving ring to drive the moving ring to slide along the axial direction of the base cylinder.

8. A multi-motor driven variable pipeline operation robotic arm according to claim 1, characterized in that: The base cylinder is equipped with a controller that is electrically connected to the power source. The power source is electrically connected to the electric walking wheels, the electric telescopic pole, the first motor, the second motor, the third motor, the vision sensor, and the controller. The controller is connected to the electric walking wheels, the electric telescopic pole, the first motor, the second motor, and the third motor for control.

9. A multi-motor driven variable pipeline operation robotic arm according to claim 8, characterized in that: A vision sensor is mounted on one side of the fixed base via a bracket. The vision sensor is connected to the controller signal and is used to monitor the relative distance between the cleaning brush and the inner wall of the pipe and to identify the location of the area to be worked on.

10. A multi-motor driven variable pipeline operation robotic arm according to claim 9, characterized in that: The controller is configured to determine the lateral position of the center of the work area based on the output of the vision sensor. Detect the center reference position of the image Detect the effective width of the screen Real-time distance between the cleaning brush and the inner wall of the pipe and preset target working distance Calculate the direction deviation factor respectively. and distance deviation factor And allowable deviation according to preset direction and distance tolerance A dual-condition interlocking determination is performed, and the cleanliness allowable limit of the third motor is met. ; When the absolute value of the direction deviation factor is greater than the allowable direction deviation, the controller controls the first motor to correct the circumferential position of the robotic arm according to the sign of the direction deviation factor. When the absolute value of the distance deviation factor is greater than the allowable distance deviation, the controller controls the second motor to adjust the extension degree of the swing arm II according to the sign of the distance deviation factor. When the cleaning allowable amount is 1, the controller outputs a start command to the third motor. When any deviation factor exceeds the corresponding allowable deviation during the cleaning process, the controller stops the third motor and re-executes the direction correction or distance correction.

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