Variable-Track Pipeline Inspection Robot for Pipe Wall Contact Control
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Solution Overview
Problem
Current pipeline patrol inspection robots face challenges in adapting to varying pipe diameters and ensuring consistent contact with the pipe wall, leading to inefficiencies and mechanical wear, particularly due to limitations in track angle adjustment mechanisms and motor selection.
Innovation Solution
A pipeline patrol inspection robot with variable tracks featuring a four-link mechanism, push rod motor, and three-dimensional force sensors, combined with gradient descent and PI control, allows for automatic adjustment of track camber angles to maintain optimal contact with the pipe wall, reducing wear and energy loss while adapting to varying pipeline environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If gear transmission mechanism is used to adjust track camber angle, then track angle adjustment is achieved, but the mechanism is vulnerable to erosion, has large mechanical wear, and affects reliability
Solution Approach 1:
The patent replaces the traditional gear transmission mechanism with a camber angle adjustment mechanism that uses a motor-driven screw rod and nut structure. This substitution eliminates the exposed gear teeth that are vulnerable to erosion and reduces mechanical wear significantly, while maintaining the ability to adjust track camber angles for adaptability to varying pipe diameters.
Solution Approach 2:
The patent extracts and removes the vulnerable gear transmission components from the track angle adjustment system. By eliminating the exposed gear mechanism, the design removes the source of mechanical wear and erosion susceptibility, while preserving the essential function of track angle adjustment through an alternative mechanism.
2Stability of the object's composition
If gear transmission adjusts track camber angle with equal outward angles for left and right tracks, then robot stability is improved, but contact between track and wall surface becomes insufficient in irregular pipelines
Solution Approach 1:
The patent implements dynamic track angle adjustment where the left and right track camber angles can be adjusted independently and asymmetrically. The control system calculates different target camber angles for each track based on pipeline irregularities, allowing the robot to adapt to varying pipe diameters and wall conditions while maintaining stability through controlled asymmetric configuration.
Solution Approach 2:
The patent employs asymmetric track angle adjustment where the left and right tracks can have different camber angles. This asymmetry allows the robot to compensate for pipeline irregularities and diameter variations by creating differential contact forces, improving track-wall contact in irregular pipelines while maintaining overall stability through balanced control.
3Ease of manufacture
If left track, right track and frame are designed as separate modules with stepper motor in track assembly, then modularity is achieved, but motor volume and torque are restricted and track assembly weight increases
Solution Approach 1:
The patent merges the camber angle adjustment function with the existing track assembly structure by integrating the screw rod and nut mechanism directly into the track module. This integration eliminates the need for separate adjustment mechanisms, reducing overall weight while maintaining modularity for ease of manufacture and assembly.
4Adaptability or versatility
If spring mechanism is used to adjust driving wheel position for diameter-varying area, then adaptability is improved, but complete contact between driving wheel and tube wall cannot be realized and driving wheel wear occurs
Solution Approach 1:
The patent replaces the passive spring mechanism with an active motor-driven camber angle adjustment system. This substitution enables precise control of track position and contact force, ensuring complete contact between the driving wheel and tube wall while adapting to diameter variations, thereby reducing wear and improving reliability.
Solution Approach 2:
The patent implements a control system that uses feedback from sensors to dynamically adjust track camber angles and positions. This feedback mechanism ensures optimal contact between the driving wheel and tube wall by continuously monitoring and adjusting the system response, preventing wear and maintaining adaptability to diameter variations.
Data Source
AI summary
The present invention discloses a pipeline patrol inspection robot having variable tracks and a control method therefor. The pipeline patrol inspection robot of the present invention includes a robot body, track assemblies symmetrically disposed on a left side and a right side of the robot body, and a movement driving mechanism. The robot body is connected to the track assemblies on the left side and the right side by track fixtures, and track angle adjusting mechanisms are respectively connected between the robot body and the track assemblies on the left side and the right side. By means of the present invention, a track camber angle can be adjusted. In addition, each track angle adjusting mechanism is independent, and has desirable flexibility to adapt to different pipeline environments.