Inchworm-like pipeline robot structure based on universal joint

Abstract

The utility model discloses a universal joint-based inchworm pipeline imitating robot structure, which comprises an adsorption fixing device, a machine body device, a middle transmission device, a part fixing device and a sensing device, the machine body device comprises a machine body head part, a machine body tail part and a middle machine body, and the machine body head part is connected with the middle machine body through the middle transmission device; the middle machine body and the machine body tail are connected through the component fixing device, the middle transmission device comprises a cross shaft, a gear bearing support, a gear shaft, a bearing and a cylindrical gear, electromagnet fixing frames are assembled on the outer wall of the machine body head and the outer wall of the machine body tail, and electromagnets are assembled on the electromagnet fixing frames; according to the inchworm-imitating pipeline robot structure based on the universal joint, the pose of the robot trunk is adjusted through the universal joint, so that the robot can have the advancing and obstacle crossing capacity and conduct pipeline exploration work, the device is easy to operate, and the feasibility of movement is greatly improved through bionic gaits.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline robot operation, in particular to a structure of a ruler-looper pipeline robot based on a universal joint. Background Technique

[0002] In the field of machine automation, robot detection and exploration play a dominant role. In pipeline exploration operations, the mechanical structure and driving mode of the robot affect the universality, working quality and efficiency of the robot. At present, pipeline robots mainly draw on the movement mechanism of organisms, and through the combination of biology and mechanical technology, they achieve more flexible and efficient movement capabilities of the robot. Using horizontal and vertical serrated structures, straight-line movement and bending movement in two dimensions around the x-axis and z-axis are realized through a controllable magnetic field operation console.

[0003] For example, in the patent "A ruler-looper type magnetically controlled soft robot for small pipeline detection and its using method" (publication number: CN113236905A), the magnetic field console structure of this device is complex and cannot adapt to the changing magnetic field environment. A certain value of friction with the surrounding environment is required during driving. The operation of this device is relatively complex, with low universality and low working efficiency.

[0004] Therefore, in view of the above problems, a structure of a ruler-looper pipeline robot based on a universal joint is proposed. Content of the Utility Model

[0005] To solve the problems raised in the above background technique, the utility model provides a structure of a ruler-looper pipeline robot based on a universal joint to solve the problems raised in the above background technique.

[0006] To achieve the above object, the utility model provides the following technical solution: A structure of a ruler-looper pipeline robot based on a universal joint, including a plurality of body devices and an intermediate transmission device arranged between the plurality of body devices. The intermediate transmission device includes:

[0007] A cross shaft, on which cylindrical gears are respectively fixed on four rotating arms of the cross shaft, and the ends of the four rotating arms are rotationally connected to the side wall of a fixed bracket through bearings;

[0008] Two sets of transmission gear sets, distributed on both sides of the cross shaft, for respectively transmitting the angular rotational displacement of the steering gear to the four rotating arms of the cross shaft, and then forming the cross shaft to twist into a predetermined angle;

[0009] On the outer sides of the two sets of transmission gear sets, steering gears for rotational power input are respectively provided, and the steering gears are meshed with the gears on the transmission gear sets through cylindrical gears; the two steering gears are respectively connected to two body sections through connecting pieces;

[0010] The servo is communicatively connected to a remote controller via a signal line; the two servos respectively rotate a predetermined angular displacement, drive the transmission gear set and the cross shaft to deflect or twist to a predetermined angle, and thus complete the motion gait and steering gait of the robot.

[0011] Preferably, one set of transmission gear set meshes with the cylindrical gears on the two transverse transmission arms of the cross shaft, and the other set of transmission gear set meshes with the cylindrical gears on the two longitudinal arms of the cross shaft. The two ends of the gear shaft of the transmission gear set are rotatably connected to the side wall of the fixed bracket through bearings.

[0012] Preferably, the fixed bracket includes a transverse wheel bearing bracket and a longitudinal gear bearing bracket. The side wall of the transverse wheel bearing bracket is provided with slots for fixing the first gear shaft and the cross shaft's horizontal axis; the side wall of the longitudinal gear bearing bracket is provided with slots for fixing the second gear shaft and the cross shaft's vertical axis.

[0013] Preferably, the second micro digital servo is fixed on the longitudinal gear bearing bracket, used to drive the second servo gear to mesh with the first cylindrical gear, and drive the cross shaft to rotate a certain angle around the horizontal axis; the first micro digital servo is fixed on the first gear bearing bracket, used to drive the first servo gear to mesh with the first cylindrical gear on the first gear shaft, and drive the cross shaft to rotate a certain angle around the horizontal axis;

[0014] The first cylindrical gear on the first gear shaft meshes with the first servo gear driven by the first micro digital servo. The second cylindrical gear on the second gear shaft is fixedly connected to the first cylindrical gear and meshes with the third cylindrical gear on the cross shaft's horizontal axis, so as to realize the rotation of the upper half of the universal joint through the horizontal axis.

[0015] Preferably, by controlling the first micro digital servo installed above the first gear bearing bracket, driving the first gear shaft to mesh with the first cylindrical gear, the lower half of the universal joint rotates around the vertical axis, so as to realize the multi-angle rotation and swing of the robot on the horizontal axis and the vertical axis.

[0016] Preferably, the body device includes:

[0017] A body head, a body tail and a middle body,

[0018] The body head and the middle body are connected by an intermediate transmission device,

[0019] The middle body and the body tail are connected by a component fixing device.

[0020] Preferably, an adsorption fixing device is further provided on the body device, and the adsorption fixing device includes:

[0021] An electromagnet fixing bracket, assembled on the outer walls of the body head and the body tail,

[0022] The electromagnet is assembled on the electromagnet fixing bracket and is used to adsorb and fix the robot on the inner wall of the pipeline.

[0023] Preferably, the end of the body head is assembled with a body cover head, the end of the body tail is assembled with a body cover tail, and a camera is assembled on the side wall of the body cover head.

[0024] Preferably, the first micro digital servo and the second micro digital servo are controlled by an Arduino development board to transmit signals through Dupont wires and are used to drive the corresponding gimbal structure to complete the motion gait and steering gait of the robot.

[0025] Compared with the prior art, the beneficial effects of the present utility model are as follows: The structure of the inchworm-like pipeline robot based on the gimbal is reasonably designed;

[0026] 1. By adjusting the pose of the robot torso through the gimbal, the "Ω" - shaped motion gait and steering gait can be achieved, enabling the robot to have the ability to move forward and overcome obstacles, and conduct pipeline exploration work. The device is easy to operate, and the feasibility of motion is greatly improved through the bionic gait.

[0027] 2. Through the coordinated work of the electromagnets located at the head and the tail, the whole robot is adsorbed on cast iron or other magnetic pipelines, can adapt to various pipeline diameters, and minimizes the damage to the pipeline and the surrounding environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic structural diagram of the present utility model;

[0029] Figure 2 is an exploded view of the present utility model;

[0030] Figure 3 is a device diagram of the gimbal structure of the present utility model;

[0031] Figure 4 is a design diagram of the torso structure of the present utility model;

[0032] Figure 5 is Figure 3 an exploded view of;

[0033] Figure 6 is Figure 4 an exploded view of;

[0034] Figure 7 is an exploded view of the head and torso structure;

[0035] Figure 8 is an exploded view of the torso and torso structure.

[0036] In the figure: 1. Adsorption and fixing device; 2. Body device; 3. Intermediate transmission device; 4. Component fixing device; 5. Sensing device; 201. Body head; 202. Body tail; 203. Body cover head; 204. Body cover tail; 205. Intermediate body; 206. Intermediate body cover; 301. 9-gram micro digital servo; 302. Gear shaft; 303. Bearing; 304. Cylindrical gear; 305. Servo gear; 401. Gear bearing bracket; 402. Electromagnet fixing bracket; 403. Servo positioning plate; 404. Cross shaft; 501. Camera. Detailed implementation manners

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0038] As Figures 1 to 4 shown, the present invention provides a structure of a pipe robot imitating inchworm based on a universal joint, including an adsorption and fixing device 1, a body device 2, an intermediate transmission device 3, a component fixing device 4 and a sensing device 5. The body device 2 includes a body head 201, a body tail 202 and an intermediate body 205. The body head 201 and the intermediate body 205 are connected through the intermediate transmission device 3, and the intermediate body 205 and the body tail 202 are connected through the component fixing device 4. The intermediate transmission device 3 includes a cross shaft 404, a gear bearing bracket 401, a gear shaft 302, a bearing 303 and a cylindrical gear 304. Electromagnet fixing brackets 402 are assembled on the outer walls of the body head 201 and the body tail 202, and electromagnets 101 are assembled on the electromagnet fixing brackets 402. A 9-gram micro digital servo 301 is assembled on the side wall of the intermediate body 205, and a servo gear 305 is assembled on the 9-gram micro digital servo 301;

[0039] Specifically, the adsorption and fixation device consists of electromagnets located at the head and tail of the robot, which adsorb the robot body onto the cast iron pipeline. The working state of the electromagnets is controlled through a control algorithm to ultimately achieve the set motion gait objective. The body device consists of a body head, a body tail, a body cover head, a body cover tail, a middle body, and a middle body cover. This device forms the "exoskeleton" of the robot and supports the internal component devices of the robot. The intermediate transmission device consists of a 9-gram micro digital servo, a gear shaft, bearings, cylindrical gears, and servo gears. The servo serves as the power source for the entire robot, driving the robot to rotate and bend at multiple angles in two dimensions through a gear set to complete the "Ω"-shaped motion gait and steering gait. The component fixation device consists of a gear bearing bracket, an electromagnet fixing bracket, a servo positioning plate, and a cross fixing bracket. The fixed components are assembled into the body device to meet the assembly relationships of various parts in the design. The sensing device consists of a camera located at the head of the robot, which identifies the characteristics of the front pipeline and transmits the information inside the pipeline to the computer.

[0040] Furthermore, as Figures 1 to 4 shown, the end of the body head 201 is assembled with a body cover head 203, and the end of the body tail 202 is assembled with a body cover tail 204; a camera 501 is assembled on the side wall of the body cover head 203; cylindrical gears 304 are engaged in all four directions of the cross shaft 404, and the gear bearing bracket 401 is connected to the cross shaft 404 through a bearing 303; one side outer wall of the gear bearing bracket 401 is connected to the side wall of the middle body 205, and a middle body side cover 206 is installed on the side wall of the middle body 205. The other side outer wall of the gear bearing bracket 401 is connected to the middle body side cover 206.

[0041] Furthermore, in order to enable the robot steering mechanism to swing in two directions, up and down, and left and right, a universal joint rotation structure is designed. The main components include a cross shaft 404, a gear bearing bracket 401, a gear shaft 302, bearings 303, and cylindrical gears 304. Cylindrical gears 304 are engaged in all four directions of the cross shaft in the universal joint. The gear bearing bracket 401 is connected to the cross shaft 404 through a bearing 303. The servo 301 drives the cylindrical gear 304 to rotate, and then can drive the components connected to the base at the other end of the universal joint to rotate. Each output end of the two servos has a transmission servo gear 305. The servo drives the gear 305 to rotate, which in turn drives the horizontal frame to rotate around the horizontal axis and the vertical frame to rotate around the vertical axis. This structure is beneficial for driving as the active joint of the robot, facilitating the steering and travel control of the robot, enabling the inchworm-like robot to achieve a serpentine motion, and also adjusting the angle of the front end of the robot when crossing obstacles.

[0042] It should be noted that as Figures 1 to 4As shown, the sensing device 5 is a camera for identifying the characteristics of the front pipeline; one end of the middle body cover 206 is connected to the universal joint structure, and the other end of the middle body cover 206 is connected to the next torso.

[0043] It should be noted that the body of the robot is divided into two symmetrical parts, the front and the back. This part is equivalent to the abdomen of the inchworm and serves as the support structure of the robot. The main components include the middle body 205, the middle body cover plate 206, the gear bearing bracket 401, and the servo motor 301. The middle body 205 is the main support part of the robot. The servo motor 301 plays a key role in controlling the movement of the robot. The bracket on the middle body 205 supports the servo motor. The steering wheel is connected to the servo motor and then combined with the connecting chassis to form a rotating joint. One end of the middle body cover 206 is connected to the universal joint structure, and one end is connected to the next torso. The torso structure plays a role in protecting and fixing the components, ensuring the stable operation of the robot.

[0044] Appendix Figure 5 It is an exploded view of the universal joint structure. The second gear shaft 302-2 is fixed in the lower slot of the second gear bearing bracket 401-2, and the horizontal axis of the cross shaft 404 is fixed in the upper slot of the second gear bearing bracket 401-2. The vertical axis of the cross shaft 404 is fixed in the lower slot of the first gear bearing bracket 401-1, and the first gear shaft 302-1 is fixed in the upper slot of the second gear bearing bracket 401-2. The second 9-gram micro digital servo motor 301-2 drives the second servo gear 305-2 to rotate. The second servo gear 305-2 meshes with the first cylindrical gear 304-1. The first cylindrical gear 304-1 and the second cylindrical gear 304-2 are fixedly connected and move together. The second cylindrical gear 304-2 meshes with the third cylindrical gear 304-3 on the horizontal axis of the cross shaft 404, driving the cross shaft 404 to rotate around the horizontal axis, so that the upper half of the universal joint rotates a certain angle around the horizontal axis. If you want the universal joint to rotate a certain angle around the vertical axis, by controlling the first 9-gram micro digital servo motor above the first gear bearing bracket 401-1 and using the same principle as above, the lower half of the universal joint rotates a certain angle around the vertical axis. Finally, the movement gait and steering gait of the robot are completed.

[0045] Appendix Figure 6It is an exploded view of the torso structure. In the figure, the first 9-gram micro digital servo 301-1 and the second 9-gram micro digital servo 301-2 are controlled by an aduino development board to transmit signals through Dupont wires. The first 9-gram micro digital servo 301-1 is located at the position of the previous torso structure and is fixed by the first servo fixing plate 403-1, and is used to drive the lower universal joint structure to rotate around the longitudinal axis. The second 9-gram micro digital servo 301-2 is located at the position of this body structure and is fixed by the second servo fixing plate 403-2, and is used to drive the upper universal joint structure to rotate around the transverse axis. The middle body 205 and the middle body cover 206 are connected by screws to form the body structure. The first 9-gram micro digital servo 301-1 and the second 9-gram micro digital servo 301-2 are respectively fixed on the middle body cover 206 through the servo positioning plate 403, and the power output is carried out with the middle body cover 206 as the fixed end.

[0046] Working principle and process: The robot torso is in a horizontal state and is adsorbed on a cast iron or magnetic pipeline through the electromagnets at the head and the tail.

[0047] Step 1: The head electromagnet adsorbs and fixes, the tail electromagnet adsorbs and fixes, the head adsorbs, and the tail adsorbs. The inchworm-like robot adsorbs on a cast iron pipeline or a magnetic pipeline through the electromagnets at the head and the tail, and detects the surrounding environment through the camera located at the head to prepare for the next drive.

[0048] Step 2: The head electromagnet adsorbs and fixes, the tail electromagnet does not work, the head adsorbs, and the tail moves forward. The torso servo near the head drives the transmission device to bend the torso and move the tail forward.

[0049] Step 3: The head electromagnet does not work, the tail electromagnet adsorbs and fixes, the head moves forward, and the tail adsorbs. The servo in the tail body drives the transmission device to stretch the torso and restore the initial state, completing a displacement in a certain direction.

[0050] Through the above three-step periodic motion, the "Ω"-shaped motion gait is completed, and a displacement in a certain direction is achieved. Through the cyclic periodic motion, the instruction task is completed. By a similar principle, the torso servos of other parts are controlled to achieve the turning gait.

[0051] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0052] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A structure of a universal joint-based inchworm pipe robot, comprising a plurality of body devices (2) and an intermediate transmission device (3) arranged between the plurality of body devices (2), characterized in that, The intermediate transmission device (3) includes: A cross shaft (404) with cylindrical gears fixedly provided on the four rotating arms of the cross shaft (404), and the ends of the four rotating arms are rotatably connected to the side wall of the fixed bracket through bearings; Two sets of transmission gear sets, distributed on both sides of the cross shaft (404), for respectively transmitting the angular rotational displacement of the servo motor to the four rotating arms of the cross shaft, and then forming the cross shaft to twist into a predetermined angle; Servo motors for rotational power input are respectively provided on the outer sides of the two sets of transmission gear sets. The servo motors drive the gears on the transmission gear sets through cylindrical gears; the two servo motors are respectively connected to two sections of the body through connectors; The servo motors are communicatively connected to a remote controller through signal lines; the two servo motors respectively rotate a predetermined angular displacement, drive the transmission gear sets and the cross shaft (404) to deflect or twist to a predetermined angle, and then complete the movement gait and steering gait of the robot.

2. The structure of the gimbal-based inchworm pipeline robot according to claim 1, wherein: One set of transmission gear set meshes with the cylindrical gears on the two transverse transmission arms of the cross shaft, and the other set of transmission gear set meshes with the cylindrical gears on the two longitudinal arms of the cross shaft. The two ends of the gear shafts of the transmission gear sets are rotatably connected to the side wall of the fixed bracket through bearings.

3. The structure of the gimbal-based inchworm pipeline robot according to claim 1, characterized in that: The fixed bracket includes a transverse wheel bearing bracket and a longitudinal gear bearing bracket (401-2). The side wall of the transverse wheel bearing bracket is provided with slots for fixing the first gear shaft (302-1) and the transverse shaft of the cross shaft (404); the side wall of the longitudinal gear bearing bracket (401-2) is provided with slots for fixing the second gear shaft (302-2) and the longitudinal shaft of the cross shaft (404).

4. The structure of the gimbal-based inchworm pipeline robot according to claim 1, characterized in that: The second micro digital servo motor (301-2) is fixed on the longitudinal gear bearing bracket (401-2) and is used to drive the second servo gear (305-2) to mesh with the first cylindrical gear (304-1), and drive the cross shaft (404) to rotate a certain angle around the transverse shaft; the first micro digital servo motor (301-1) is fixed on the first gear bearing bracket (401-1) and is used to drive the first servo gear (305-1) to mesh with the first cylindrical gear (304-1) on the first gear shaft (302-1), and drive the cross shaft (404) to rotate a certain angle around the transverse shaft; The first cylindrical gear (304-1) on the first gear shaft (302-1) meshes with the first servo gear (305-1) driven by the first micro digital servo motor (301-1). The second cylindrical gear (304-2) on the second gear shaft (302-2) is fixedly connected to the first cylindrical gear (304-1) and meshes with the third cylindrical gear (304-3) on the transverse shaft of the cross shaft (404), so as to realize the rotation of the upper half of the universal joint through the transverse shaft.

5. The structure of the gimbal-based inchworm pipeline robot according to claim 1, characterized in that: By controlling the first micro digital servo motor installed above the first gear bearing bracket (401-1), driving the first gear shaft to mesh with the first cylindrical gear, the lower half of the universal joint rotates around the longitudinal axis, so as to realize the multi-angle rotation and swing of the robot on the transverse axis and the longitudinal axis.

6. The structure of the gimbal-based inchworm pipeline robot according to claim 1, characterized in that: The body device (2) includes: A body head (201), a body tail (202) and an intermediate body (205), The head (201) of the body and the middle body (205) are connected by an intermediate transmission device (3). The middle body (205) and the tail (202) of the body are connected by a component fixing device (4).

7. The gimbal-based inchworm pipeline robot structure according to claim 1 or 6, characterized in that: An adsorption fixing device (1) is also provided on the body device (2). The adsorption fixing device (1) comprises:[[]]END]] an electromagnet fixing bracket (402), which is assembled on the outer walls of the head (201) and the tail (202) of the body, an electromagnet (101) is assembled on the electromagnet fixing bracket (402) and is used to adsorb and fix the robot on the inner wall of the pipeline.

8. The structure of the gimbal-based inchworm pipeline robot according to claim 6, characterized in that: The end of the head (201) of the body is assembled with a body cover plate head (203), the end of the tail (202) of the body is assembled with a body cover plate tail (204), and a camera (501) is assembled on the side wall of the body cover plate head (203).

9. The gimbal-based inchworm pipeline robot structure according to claim 4, characterized in that: The first micro digital servo (301-1) and the second micro digital servo (301-2) are controlled by an Arduino development board to transmit signals, and are used to drive the corresponding gimbal structure to complete the movement gait and steering gait of the robot.

Images