CN-121990073-A - Electromagnetic adsorption type wall robot and working method thereof

CN121990073ACN 121990073 ACN121990073 ACN 121990073ACN-121990073-A

Abstract

The invention provides an electromagnetic adsorption type wall robot and a working method thereof, belonging to the technical field of wall climbing robots, the robot comprises two electromagnetic adsorption foot ends and a multi-degree-of-freedom serial joint group connected between the two electromagnetic adsorption foot ends, wherein the joint group at least comprises a bending servo joint and a rotating servo joint. The invention has a spiral climbing mode, and in the mode, the bending servo joint is unlocked and acts cooperatively with the rotating servo joint to drive the robot to perform circumferential spiral climbing along the pipe wall, so that the full-circumferential dead-angle-free detection is realized. The adsorption foot end adopts a power-down adsorption electromagnet, residual adsorption force is still maintained after power failure, and the adsorption state is monitored in real time by the integrated miniature pressure sensor, so that the safety is high. The invention can be simultaneously suitable for two operation scenes with obvious differences between the narrow gap of the communication iron tower and the curved surface of the small-diameter pipeline, has the advantages of strong curved surface adaptability, outstanding obstacle crossing capability, high detection efficiency, multiple purposes of one machine and the like, and can be widely applied to the automatic detection and maintenance operation of oil gas pipelines, chemical pipelines and iron tower structures.

Inventors

YAN JUAN
MA CUNHAO
ZUO JINFU
LI QIUGUO
YUAN QI
LIU GUILIN

Assignees

中国石油大学(北京)

Dates

Publication Date: 20260508
Application Date: 20260331

Claims (10)

1. An electromagnetic adsorption type wall robot, comprising: the first electromagnetic adsorption foot end and the second electromagnetic adsorption foot end are symmetrically arranged at two ends of the robot and are used for being adsorbed and fixed on a ferromagnetic wall surface; The multi-degree-of-freedom serial joint group is connected between the first electromagnetic adsorption foot end and the second electromagnetic adsorption foot end and used for driving the robot body to perform space motion, the multi-degree-of-freedom serial joint group at least comprises a bending servo joint and a rotating servo joint, the bending servo joint is used for driving the robot body to bend so as to adapt to curvature change of a pipeline, the rotating servo joint is used for driving the robot body to rotate along the circumferential direction of the pipeline, the robot is provided with a spiral climbing mode, and in the mode, the bending servo joint is unlocked and acts cooperatively with the rotating servo joint to drive the robot to perform circumferential spiral crawling along the pipeline wall.
2. The electromagnetic adsorption type wall robot of claim 1, wherein the multi-degree of freedom series joint set further comprises a first overturning servo joint and a second overturning servo joint, wherein the first overturning servo joint is connected between the first electromagnetic adsorption foot end and the multi-degree of freedom series joint set, and the second overturning servo joint is connected between the second electromagnetic adsorption foot end and the multi-degree of freedom series joint set, and is used for realizing pitching motion of the adsorption foot end relative to the robot body.
3. The electromagnetic adsorption type wall robot according to claim 1, wherein the bending servo joint is arranged in the middle of the multi-degree-of-freedom serial joint group, the joint group is divided into a front section and a rear section, and the robot body can be bent into an arc shape matched with the curvature of the pipeline by rotating the bending servo joint.
4. The electromagnetic adsorption type wall robot of claim 1, wherein the first electromagnetic adsorption foot end and the second electromagnetic adsorption foot end adopt power-down adsorption type electromagnets, the power-down adsorption type electromagnets comprise permanent magnets and electromagnetic coils, the permanent magnets are made of neodymium iron boron materials, the electromagnetic coils are wound on the peripheries of the permanent magnets, rated voltage is 12V, when the power is on, magnetic fields generated by the electromagnetic coils are overlapped with magnetic fields of the permanent magnets, adsorption force is enhanced, and when the power is off, the permanent magnets keep residual adsorption force, and the robot is prevented from falling.
5. The electromagnetic adsorption type wall robot according to claim 1 or 4, wherein miniature pressure sensors are arranged in the first electromagnetic adsorption foot end and the second electromagnetic adsorption foot end and used for monitoring contact pressure between the adsorption foot end and the wall in real time, the miniature pressure sensors are electrically connected with a controller of the robot, and when the monitored pressure value is lower than a preset threshold value, the controller automatically increases current of an electromagnetic coil or triggers audible and visual alarm.
6. The electromagnetic adsorption type wall surface robot of claim 5, wherein flexible buffer pads are arranged at the bottoms of the first electromagnetic adsorption foot end and the second electromagnetic adsorption foot end, the buffer pads are made of nitrile rubber materials, the Shore hardness A=60 and the thickness is 2mm, the bottoms of the buffer pads are smooth curved surfaces, and the buffer pads can be adaptively deformed along with the curvature of the pipe wall, so that the fitting rate of the adsorption foot end and the pipe wall is improved.
7. The electromagnetic adsorption type wall robot of claim 5, wherein the outer diameters of the first electromagnetic adsorption foot end and the second electromagnetic adsorption foot end are less than or equal to 35mm, and the thickness is less than or equal to 12mm so as to adapt to the operation requirements of narrow spaces such as communication towers.
8. The electromagnetic suction type wall robot according to claim 1, wherein edges of the brackets of the first electromagnetic suction foot end and the second electromagnetic suction foot end connected with the multi-degree-of-freedom series joint group are provided with 1mm chamfers so as to avoid scraping when the intensive bolt area moves.
9. A method of operating an electromagnetic adsorption wall robot according to any one of claims 1-8, comprising the steps of: S1, in a turnover mode, the bending servo joint and the rotating servo joint are locked, the first turnover servo joint and the second turnover servo joint are driven in a cooperative mode, the first electromagnetic adsorption foot end and the second electromagnetic adsorption foot end are alternately adsorbed, the driving robot axially and linearly walks along a pipeline, the single-step travel is 318mm, and obstacles with the height of 95.8mm or less can be spanned; s2, a stepping mode, wherein the bending servo joint is locked, the rotating servo joint is linked with the first overturning servo joint and the second overturning servo joint, obstacle crossing is realized according to the action logic of 'lifting foot-rotating-falling foot', the single-step stroke is 226mm, and a gap with the width of 82.7mm or less can be passed; And S3, in a spiral climbing mode, the bending servo joint is unlocked and cooperates with the rotary servo joint, the first overturning servo joint and the second overturning servo joint, the bending servo joint adjusts the bending angle in real time according to the diameter of the pipeline, so that the robot body is attached to the curvature of the pipeline, the rotary servo joint rotates at a preset stepping angle to drive the adsorption foot end to move along the circumferential direction of the pipeline, and continuous spiral crawling is realized.
10. The method of claim 9, wherein in the spiral climbing mode, the preset step angle of the rotary servo joint is 45 ° or 60 °, and the robot performs scanning detection in the full circumference direction of the pipe by multiple step rotations.

Description

Electromagnetic adsorption type wall robot and working method thereof Technical Field The invention relates to the technical field of robots, in particular to a mobile robot for climbing a ferromagnetic wall surface, which is particularly suitable for thin pipe surface detection and maintenance operations in the fields of communication towers, petrochemical industry and the like. Background In industrial scenes such as communication iron towers and petrochemical industry, the structural integrity of the pipeline is directly related to public safety, environmental protection and stable energy supply, and the pipeline which is in long-term service in complex geography and climate environments faces multiple threats such as corrosion, third party damage, material aging and the like, so that the periodic, efficient and full-coverage nondestructive detection of the outer wall of the pipeline is very important. At present, the detection of the outer wall of a pipeline mainly depends on manual inspection or a wheel/crawler type wall climbing robot. However, the prior art scheme has the inherent defects of low efficiency, poor safety and dependence on personnel experience of detection results, and is difficult to ensure the consistency and traceability of data. The adaptability of the wheel type/crawler type robot is insufficient, namely, the wheel type/crawler type platform cannot pass through or needs frequent disassembly and assembly due to the large turning radius and the fixed vehicle body configuration when facing typical complex geometric characteristics such as valve groups, pipe supports, reducing joints, flanges and the like, and the detection efficiency is seriously affected. The adaptability of the curved surface is poor, the wheel type structure is difficult to provide enough enveloping angle and positive pressure for a pipeline with smaller diameter (such as 200-1500 mm), the wheel type structure is easy to slip or even topple during climbing, the contact area of the crawler belt structure is large, the phenomenon of edge stress concentration and slip easily occurs on the arc-shaped pipe wall, and the dead weight is large. The detection blind area is a robot walking along the axis of the pipeline in a straight line, and the carried sensor can only cover partial areas of the outer wall of the pipeline. To achieve full circumferential detection, multiple passes or multiple sensor arrays are required, increasing system complexity and cost. The existing wall climbing robot has the limitation of the adsorption mode that the vacuum adsorption mode has high requirements on the light cleanliness of the wall surface, and is not suitable for rough or porous surfaces. The permanent magnet adsorption mode is reliable, but the adsorption force is uncontrollable, the energy consumption is high when desorption is needed, and the rapid gait switching is difficult to realize. The conventional electromagnetic adsorption mode has falling risk when power is suddenly cut off, and the safety is insufficient. In order to solve the above problems, the present scholars have proposed a wall climbing robot scheme using discrete point adsorption and gravity center alternating gait transfer. For example, chinese patent application CN202223203980.4 discloses a multi-axis magnetic adsorption climbing mechanical arm mechanism, which adopts electromagnetic chucks at two ends to cooperate with middle joint driving, so that linear climbing movement can be realized. Chinese patent 201020247874 discloses a modular bionic wall climbing robot, adopts five series joints to cooperate with two end adsorption modules, and realizes multi-degree-of-freedom motion. However, these prior approaches focus mainly on the basic configuration and rectilinear motion capabilities of the robots, however, the joint configurations of these robots tend to be relatively simple, lack the ability to actively accommodate changes in pipe curvature, and fail to achieve continuous motion in the circumferential direction of the pipe. Meanwhile, because the circumferential spiral crawling cannot be carried out, the detection coverage rate of the robot on a pipeline is limited, the comprehensive scanning task cannot be completed, and the robot is suitable for two operation scenes with obvious differences of a narrow gap of a communication iron tower and a curved surface of the pipeline at the same time, no effective solution is proposed. Disclosure of Invention Aiming at the problems of poor trafficability, insufficient curved surface adaptability, detection dead zone and poor multi-scene adaptability of the traditional wall climbing robot in a complex pipe wall environment, the electromagnetic adsorption type wall surface robot is provided, the robot can realize continuous spiral motion along the pipe wall through cooperative control of a bending joint and a rotary joint, and full circumferential coverage detection of the outer wall of a pipeline can be completed thro