Clamping device of multi-wheel intelligent mobile platform in annular pipeline

Abstract

The utility model discloses a clamping device of a multi-wheel intelligent mobile platform in an annular pipeline. The clamping device comprises a power telescopic mechanism arranged on an intelligent mobile platform main body, a multi-leg supporting device arranged on the power telescopic mechanism and far away from one side of the intelligent mobile platform main body, and a pressure controller arranged in the intelligent mobile platform main body, the multi-leg supporting device is used for making contact with the inner wall of a pressing pipeline so as to support the intelligent mobile platform body, and the pressure controller is used for adjusting the pressure generated when the multi-leg supporting device makes contact with the inner wall of the pressing pipeline. The pipeline robot overcomes the defects that in the prior art, the application degree of the pipeline robot in a large-diameter pipeline is low, an independent clamping self-locking mechanism is lacked, and supporting pressure control research is not available.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline internal robot support equipment technical field, especially a clamping device of annular pipeline internal multi -wheel intelligent mobile platform. BACKGROUND

[0002] Pipeline is one of the indispensable facilities in the industrial field, with the development and innovation of science and technology, pipeline robot gradually popularizes in various pipeline operations, and the driving walking mechanism of the pipeline robot usually simultaneously executes the supporting clamping and driving functions in the pipeline. For example, the Chinese utility model patent with the announcement number CN211574524U discloses a "pipeline robot", which realizes the centering walking and supporting functions in the pipeline through a plurality of telescopic walking mechanisms connected to the front support wall. This kind of supporting clamping mode through the driving wheel has defects, because the walking mechanism structure is complex, the supporting force is limited, when the pipeline robot quality is larger, it cannot be used in large-diameter pipeline operation scenes such as hydroelectric power generation, natural gas transportation, oil and gas transportation. In addition, when working in the inclined pipe, because the pipe slope is large, the robot without self-locking function will cause sliding and slope sliding, which affects the operation. At the same time, the pressure of the robot and the inner wall of the pipeline is not stably controlled, although the robot can adapt to the change of small pipe diameter, but the fluctuation of the supporting wheel pressure will also affect the stability performance of the robot during work. SUMMARY

[0003] The utility model aims at overcoming the above -mentioned insufficient, provides a clamping device of annular pipeline internal multi -wheel intelligent mobile platform, overcomes the problem that the pipeline robot in the prior art is low in application degree in large -diameter pipeline, lacks independent clamping self -locking mechanism and has no supporting pressure control.

[0004] In order to solve the above technical problems, the utility model adopts the technical scheme of a clamping device of annular pipeline internal multi -wheel intelligent mobile platform, which comprises a power telescopic mechanism arranged on the intelligent mobile platform main body, a multi -leg supporting device arranged on the power telescopic mechanism and away from the intelligent mobile platform main body side, and a pressure controller arranged in the intelligent mobile platform main body. The multi -leg supporting device is used for contacting and pressing the inner wall of the pipeline to support the intelligent mobile platform main body, and the pressure controller is used for adjusting the pressure when the multi -leg supporting mechanism contacts and presses the inner wall of the pipeline.

[0005] Preferably, the front end, the center and the rear end of the intelligent mobile platform main body are respectively provided with a front driving walking mechanism, a central follow-up walking mechanism and a rear driving walking mechanism.

[0006] Preferably, two driving wheels are arranged in the front driving walking mechanism, and the two driving wheels are symmetrically installed on the front end of the intelligent mobile platform main body.

[0007] Preferably, the central follow-up walking mechanism is provided with two follow-up wheels, which are symmetrically installed in the center of the intelligent mobile platform body.

[0008] Preferably, the rear-drive walking mechanism has two drive wheels, which are symmetrically installed at the rear end of the intelligent mobile platform body.

[0009] Preferably, the power telescopic mechanism includes an electro-hydraulic push rod support mounted on the main body of the intelligent mobile platform. The electro-hydraulic push rod support is hinged to one end of the electro-hydraulic push rod, the other end of the electro-hydraulic push rod is hinged to the middle area of ​​the adjustable leg, one end of the adjustable leg is hinged to the adjustable leg support, and the other end of the adjustable leg is hinged to the multi-leg support device.

[0010] Preferably, the multi-leg support device includes an angle adjustment rod, one end of which is hinged to the middle of the adjusting leg, the other end of which is hinged to the middle of the supporting leg, and one end of the supporting leg is hinged to the other end of the adjusting leg.

[0011] More preferably, the surface of the supporting leg is also fixedly connected to elastic rubber.

[0012] More preferably, a pressure sensor is provided inside the supporting leg or elastic rubber, the signal output end of the pressure sensor is connected to the input end of the pressure controller, and the control signal output end of the pressure controller is connected to the control end of the electro-hydraulic push rod.

[0013] More preferably, the angle adjusting rod includes a double-threaded sleeve, the lower end of which is threadedly engaged with the lower screw, and the upper end of which is threadedly engaged with the upper screw. The threads of the lower screw and the upper screw are opposite in direction. The outer end of the lower screw is hinged to the middle of the adjusting leg, and the outer end of the upper screw is hinged to the middle of the supporting leg.

[0014] The beneficial effects of this utility model are:

[0015] 1. This utility model enables the intelligent mobile platform to adapt to different pipe diameters by extending and retracting the electric hydraulic push rod on the power telescopic mechanism, effectively increasing the application scenarios of the intelligent mobile platform.

[0016] 2. By collecting pressure sensor data, this utility model changes the shape of each support leg and adjusts the supporting pressure of each support leg on the pipe wall, thereby enabling the intelligent mobile platform to be positioned, aligned, and operated stably within the pipeline.

[0017] 3. This utility model proposes a pressure control method based on fuzzy PID, which can improve the working stability of the pipeline robot propulsion device and enhance the robot's coordination and controllability.

[0018] 4. This utility model overcomes the shortcomings of existing technologies, such as the low application of pipeline robots in large-diameter pipelines, the lack of independent clamping and self-locking mechanisms, and the lack of research on support pressure control. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the main structure of a clamping device for a multi-wheel intelligent mobile platform inside a ring-shaped pipe.

[0020] Figure 2 This is a schematic diagram of the main structure of the power telescopic mechanism and the multi-leg clamping device.

[0021] Figure 3 This is a schematic diagram of the internal structure of the angle adjustment rod;

[0022] Figure 4 for Figure 1 A schematic diagram of the right-side view structure;

[0023] Figure 5 A three-dimensional structural diagram of a clamping device for a multi-wheel intelligent mobile platform inside an annular pipe;

[0024] Figure 6 This is a flowchart of the pressure control process of this utility model;

[0025] Figure 7 The transfer function of the electro-hydraulic actuator;

[0026] Figure 8 This is a fuzzy PID control flowchart for the clamping device of this utility model. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0028] Example 1: As Figures 1-4 As shown, a clamping device for a multi-wheel intelligent mobile platform inside an annular pipe includes a power telescopic mechanism disposed on the main body 1 of the intelligent mobile platform, a multi-leg support device disposed on the power telescopic mechanism on the side away from the main body of the intelligent mobile platform, and a pressure controller disposed inside the main body 1 of the intelligent mobile platform; the multi-leg support device is used to contact and press against the inner wall of the pipe to support the main body 1 of the intelligent mobile platform, and the pressure controller is used to adjust the pressure when the multi-leg support mechanism contacts and presses against the inner wall of the pipe.

[0029] Preferably, the intelligent mobile platform body 1 is provided with a front drive walking mechanism 2, a central follow-up walking mechanism 3, and a rear drive walking mechanism 4 at its front end, center, and rear end, respectively.

[0030] Preferably, the front drive mechanism 2 has two drive wheels, symmetrically installed at the front end of the intelligent mobile platform body 1; the central follow-up mechanism 3 has two follower wheels, symmetrically installed at the center of the intelligent mobile platform body 1; and the rear drive mechanism 4 has two drive wheels, symmetrically installed at the rear end of the intelligent mobile platform body 1. In this embodiment, the front drive mechanism 2 has two drive wheels, symmetrically installed at 60° (the angle between the two drive wheels and the line connecting the center of the pipe) at the front end of the intelligent mobile platform body. The central follow-up mechanism has two follower wheels, symmetrically installed at 60° (the angle between the two follower wheels and the line connecting the center of the pipe) at the front end of the intelligent mobile platform body. The follower wheels have no drive device and only serve a supporting and following function. The rear drive mechanism has two drive wheels, symmetrically installed at 60° (the angle between the two drive wheels and the line connecting the center of the pipe) at the rear end of the intelligent mobile platform body. Each drive wheel serves an auxiliary supporting function.

[0031] Preferably, the power telescopic mechanism includes an electro-hydraulic push rod support 5 mounted on the main body 1 of the intelligent mobile platform. The electro-hydraulic push rod support 5 is hinged to one end of an electro-hydraulic push rod 6, and the other end of the electro-hydraulic push rod 6 is hinged to the middle region of an adjustable leg 8. One end of the adjustable leg 8 is hinged to an adjustable leg support 7, and the other end of the adjustable leg 8 is hinged to a multi-leg support device. The electro-hydraulic push rod can generate a large thrust, making it suitable for lifting large, heavy objects. Furthermore, the clamping pressure can be adjusted by regulating the thrust.

[0032] Preferably, the multi-leg support device includes an angle adjustment rod 9, one end of which is hinged to the middle of the adjusting leg 8, and the other end of which is hinged to the middle of the supporting leg 10, and one end of the supporting leg 10 is hinged to the other end of the adjusting leg 8.

[0033] Preferably, the surface of the support leg 10 is also fixedly connected to the elastic rubber 11.

[0034] In the above technical solution, the length of the angle adjustment rod can adapt to pipes of different diameters, and the elastic rubber can compensate for changes in the cylindricity of the pipe. In this embodiment, before the intelligent mobile platform 1 has reached the inside of the pipe, the angle between the adjusting leg 8 and the supporting leg 10 is pre-adjusted by adjusting the length of the angle adjustment rod 9, thereby adapting to different pipe diameters. Specifically, the length of the angle adjustment rod 9 can be changed by rotating the screw and nut.

[0035] Preferably, a pressure sensor is provided inside the support leg 10 or the elastic rubber 11, the signal output end of the pressure sensor is connected to the input end of the pressure controller, and the control signal output end of the pressure controller is connected to the control end of the electric hydraulic push rod 6.

[0036] More preferably, the angle adjusting rod 9 includes a double-threaded sleeve 9.1, the lower end of which is threadedly engaged with a lower screw 9.2, and the upper end of which is threadedly engaged with an upper screw 9.3. The threads of the lower screw 9.2 and the upper screw 9.3 are in opposite directions. The outer end of the lower screw 9.2 is hinged to the middle of the adjusting leg 8, and the outer end of the upper screw 9.3 is hinged to the middle of the supporting leg 10. With this design, by rotating the double-threaded sleeve 9.1 in the forward or reverse direction, the lower screw 9.2 and the upper screw 9.3 at both ends can be brought closer together or separated, thereby changing the length of the entire angle adjusting rod 9, and thus adjusting the angle between the adjusting leg 8 and the supporting leg 10.

[0037] The working principle of this embodiment is as follows:

[0038] Before the intelligent mobile platform 1 reaches the inside of the pipeline, the angle between the adjusting leg 8 and the supporting leg 10 is pre-adjusted by adjusting the length of the angle adjusting rod 9, thus adapting to different pipeline diameters. When the intelligent mobile platform 1 reaches the inside of the pipeline and is ready to operate, the front drive mechanism 2 and the rear drive mechanism 4 stop driving, and the electro-hydraulic push rod 6 pushes the adjusting leg 8 to make the supporting leg 10 and its surface elastic rubber 11 fit tightly against the pipe wall. The thrust of each electro-hydraulic push rod 6 is controlled by the pressure controller to achieve stable operation of the intelligent mobile platform 1 inside the pipeline.

[0039] Example 2: When the intelligent mobile platform performs related operations, the supporting legs of the multi-leg support device tightly support the inner wall of the pipe, providing clamping force to the working platform. However, during the movement or alignment adjustment of the intelligent mobile platform, pressure fluctuations may occur between the drive wheel and the clamping mechanism and the inner wall of the pipe. It can be seen that whether the pressure between the supporting legs and the inner wall of the pipe is stable is a key factor in determining the stable operation of the mobile platform.

[0040] To ensure the stable operation of the propulsion device and achieve stable control of the pressure between the supporting legs and the inner wall of the pipe, this embodiment proposes a pressure control method based on fuzzy PID to improve the working stability of the pipeline robot propulsion device and enhance the robot's coordination and controllability.

[0041] In terms of control method, to improve control accuracy, pressure sensors are installed inside the support legs, forming a closed-loop control based on pressure feedback. After the support legs contact the inner wall of the pipe, the pressure sensors detect and transmit the pressure in real time, sending the detected pressure value to the pressure controller. Upon receiving the detected pressure value, the pressure controller compares it with the pressure setpoint and uses a fuzzy PID algorithm to adjust the on / off state of the solenoid valve of the electro-hydraulic actuator in real time, causing the electro-hydraulic actuator to output different magnitudes of thrust, thereby ensuring that the pressure between the support legs and the inner wall of the pipe remains stable near the pressure setpoint. The pressure control flowchart of this utility model is shown below.Figure 6 .

[0042] Specifically, this embodiment discloses a pressure control method between the multi-leg support device and the inner wall of the pipe in the clamping device of the above-mentioned multi-wheel intelligent mobile platform in an annular pipe, which includes the following steps:

[0043] S1. Controlling the pressure of the multi-leg support device starts with controlling the thrust of the electro-hydraulic actuator, which in turn starts with controlling the voltage across the electro-hydraulic actuator motor. For the electro-hydraulic actuator motor, this is controlled by the input voltage... Gradually converted into current quantity Torque Finally, it transforms into output thrust. After Laplace transform, the transfer function is obtained, such as Figure 7 As shown;

[0044] Input voltage of the electro-hydraulic linear actuator motor With current The parameter relationships between them are as follows:

[0045] (1);

[0046] Current of the electro-hydraulic linear actuator motor With torque The relationship between the parameters is as follows:

[0047] (2);

[0048] Torque of the electro-hydraulic linear actuator motor With output thrust The parameter relationships between them are as follows:

[0049] (3);

[0050] Combine equations (1), (2), and (3). and The relationship is as follows:

[0051] (4);

[0052] Right now:

[0053] (5);

[0054] In the formula: This is the torque coefficient; Armature resistance; It is an inductor; For the lead of the electro-hydraulic actuator; To improve the efficiency of the electro-hydraulic push rod transmission.s For the complex number after the Laplace transformation;

[0055] Theoretical pressure of a single support leg on the inner wall of the pipe Total output thrust of the electro-hydraulic actuator The relationship between them is as follows:

[0056] (6);

[0057] In summary, by combining equations (5) and (6), the actual pressure of a single supporting leg can be obtained. Input voltage of the electro-hydraulic linear actuator motor The functional expression for the relationship between them is as follows:

[0058] (7);

[0059] S2. Due to the nonlinearity and complex control environment of the outrigger pressure control system, the PID controller parameters cannot be adjusted in real time when the control environment changes. This results in the limitation of the traditional PID controller in the stable control of the outrigger pressure. Based on the above, a fuzzy control algorithm is introduced on the basis of the traditional PID controller to adjust the control parameters of the PID controller online to improve the control effect.

[0060] S3, such as Figure 8 As shown, a fuzzy control algorithm is introduced into the front end of the traditional PID controller. The inputs of the fuzzy PID controller are the deviation e between the support leg pressure feedback value and the set value, and the deviation rate ec. Then, the output of the fuzzy PID controller is used as the voltage control quantity of the electro-hydraulic actuator. The electric hydraulic push rod motor converts the voltage control quantity into push rod thrust, which is then converted into support leg pressure through a multi-link mechanism. Finally, through continuous feedback and adjustment, the support leg pressure can be kept near the target pressure value.

[0061] Furthermore, the specific process of S3 is as follows:

[0062] 3.1 Calculation of Deviation and Deviation Rate: First, the deviation e and deviation rate ec of the system are calculated using the PID controller; deviation is the difference between the expected output and the actual output, while deviation rate is the change of deviation over time;

[0063] 3.2 Fuzzification Processing: Convert the two precise values ​​of deviation and deviation rate into membership degrees in a fuzzy set; this step is called fuzzification, which maps continuous input values ​​to membership functions in a fuzzy set; this embodiment uses triangular membership functions.

[0064] 3.3 Fuzzy Rule Base: The fuzzy rule base contains a series of if-then rules, which define the relationship between input and output quantities. The input quantities are deviation and deviation rate, and the output quantities are the proportional change value ΔKp, the integral change value ΔKi, and the derivative change value ΔKd. For example, if the deviation is large and the deviation rate is small, the control strength is increased.

[0065] 3.4 Fuzzy Reasoning: Based on the fuzzy rule base and the fuzzified input, a fuzzy reasoning process is performed to determine the fuzzy set of control actions;

[0066] 3.5 Defuzzification Processing: Converting fuzzy control actions back to precise numerical values ​​for actual control; the defuzzification method used in this embodiment is the maximum membership method.

[0067] 3.6 Adjustment of PID parameters: Based on the results of fuzzy inference, the proportional Kp, integral Ki, and derivative Kd parameters of the PID controller are adjusted to achieve better control performance.

[0068] The above embodiments are merely preferred technical solutions of this utility model and should not be considered as limitations on this utility model. The protection scope of this utility model should be the technical solution described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the protection scope of this utility model.

Claims

1. A clamping device for a multi-wheel intelligent mobile platform inside an annular pipe, comprising a power telescopic mechanism disposed on the main body (1) of the intelligent mobile platform, a multi-leg support device disposed on the power telescopic mechanism on the side away from the main body of the intelligent mobile platform, and a pressure controller disposed inside the main body (1) of the intelligent mobile platform; characterized in that: The multi-leg support device is used to contact and press the inner wall of the pipe to support the main body of the intelligent mobile platform (1), and the pressure controller is used to adjust the pressure when the multi-leg support mechanism contacts and presses the inner wall of the pipe.

2. The clamping device for the multi-wheel intelligent moving platform inside the annular pipe according to claim 1, characterized in that: The main body (1) of the intelligent mobile platform is provided with a front drive walking mechanism (2), a central follow-up walking mechanism (3) and a rear drive walking mechanism (4) at the front, center and rear ends respectively.

3. The clamping device for the multi-wheel intelligent moving platform inside the annular pipe according to claim 2, characterized in that: The front drive walking mechanism (2) is provided with two drive wheels, which are symmetrically installed at the front end of the intelligent mobile platform body (1).

4. The clamping device for the multi-wheel intelligent moving platform inside the annular pipe according to claim 2, characterized in that: The central follow-up walking mechanism (3) is equipped with two follow-up wheels, which are symmetrically installed in the center of the main body (1) of the intelligent mobile platform.

5. The clamping device for the multi-wheel intelligent moving platform inside the annular pipe according to claim 2, characterized in that: The rear drive walking mechanism (4) is provided with two drive wheels, which are symmetrically installed at the rear end of the main body (1) of the intelligent mobile platform.

6. The clamping device for the multi-wheel intelligent moving platform inside the annular pipe according to claim 1, characterized in that: The power telescopic mechanism includes an electric hydraulic push rod support (5) installed on the main body (1) of the intelligent mobile platform. The electric hydraulic push rod support (5) is hinged to one end of the electric hydraulic push rod (6), and the other end of the electric hydraulic push rod (6) is hinged to the middle area of ​​the adjustable leg (8). One end of the adjustable leg (8) is hinged to the adjustable leg support (7), and the other end of the adjustable leg (8) is hinged to the multi-leg support device.

7. The clamping device for the multi-wheel intelligent moving platform inside the annular pipe according to claim 1, characterized in that: The multi-leg support device includes an angle adjustment rod (9), one end of which is hinged to the middle of the adjustment leg (8), and the other end of which is hinged to the middle of the support leg (10). One end of the support leg (10) is hinged to the other end of the adjustment leg (8).

8. The clamping device for the multi-wheel intelligent moving platform inside the annular pipe according to claim 7, characterized in that: The surface of the supporting leg (10) is also fixedly connected to the elastic rubber (11).

9. The clamping device for the multi-wheel intelligent moving platform inside the annular pipe according to claim 8, characterized in that: A pressure sensor is provided inside the support leg (10) or elastic rubber (11). The signal output end of the pressure sensor is connected to the input end of the pressure controller, and the control signal output end of the pressure controller is connected to the control end of the electric hydraulic push rod (6).

10. The clamping device for the multi-wheel intelligent moving platform inside the annular pipe according to claim 7, characterized in that: The angle adjustment rod (9) includes a double-ended threaded sleeve (9.1), the lower end of which is threadedly engaged with the lower screw (9.2), the upper end of which is threadedly engaged with the upper screw (9.3), and the threads of the lower screw (9.2) and the upper screw (9.3) are opposite in direction; the outer end of the lower screw (9.2) is hinged to the middle of the adjusting leg (8), and the outer end of the upper screw (9.3) is hinged to the middle of the supporting leg (10).

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