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CN-121993692-A - Dual-mode mobile paper folding robot and control method thereof

CN121993692ACN 121993692 ACN121993692 ACN 121993692ACN-121993692-A

Abstract

The invention discloses a dual-mode mobile paper folding robot and a control method thereof, which relate to the technical field of paper folding robots, wherein the robot consists of symmetrically arranged rolling anchoring modules and middle telescopic modules, the rolling anchoring module is provided with a circumferential sealing paper folding cavity, radial deformation can be realized through air pressure, and the telescopic module adopts a programmable spiral crease paper folding structure and is controlled to stretch and bend through a motor and a cable. The robot can realize two modes of ground rolling and pipeline creeping, wherein the ground mode realizes flexible movement through motor driving rolling, combining modes of differential speed and the like, can finish obstacle crossing and height limiting passing through air pressure adjustment, and the pipeline mode realizes overbending through differential deformation of a telescopic module through anchoring-telescopic alternating periodic gait creeping. The invention has the flexibility of ground movement and pipeline crawling, has high structural integration level and flexible mode switching, can adapt to the mixed operation environment of ground and pipeline interweaving, and can avoid damaging infrastructure by flexible contact.

Inventors

  • HU JUNFENG
  • XIE HAOLIN
  • Cheng Yuanfan
  • BAO JUNJIE
  • WANG CHUANFENG

Assignees

  • 江西理工大学

Dates

Publication Date
20260508
Application Date
20260310

Claims (10)

  1. 1. A dual-mode mobile sheet folding robot, comprising: The telescopic module comprises two end plates (3) and a plurality of paper folding telescopic components (4) connected between the two end plates (3), and the linear expansion and the bending of the telescopic module can be realized by controlling the synchronous expansion and the differential expansion of the paper folding telescopic components (4); The rolling anchoring device comprises two rolling anchoring modules (1), wherein the two rolling anchoring modules (1) are respectively arranged on the outer sides of two end plates (3), each rolling anchoring module (1) comprises a rotating motor (13), a mounting circular plate (11) and a plurality of first paper folding structures (12), the mounting end of the rotating motor (13) is fixed on the end plates (3), the mounting circular plate (11) is fixed at the rotating end of the rotating motor (13), each first paper folding structure (12) is provided with a sealed cylindrical cavity, and the plurality of first paper folding structures (12) are radially and circumferentially arranged on the outer side face of the mounting circular plate (11); And the air control part controls the first paper folding structure (12) to deform through the air passage (2).
  2. 2. The dual-mode mobile paper folding robot according to claim 1, wherein a plurality of first paper folding structures (12) in each rolling anchoring module (1) are divided into a plurality of groups, each group of paper folding structures (12) are mutually communicated, and one first paper folding structure (12) in each group of paper folding structures (12) is communicated with one air passage channel (2), so that independent control of air pressure inside a plurality of groups of first paper folding structures (12) is realized, and local differential radial deformation of a plurality of groups of first paper folding structures (12) is realized.
  3. 3. A dual mode mobile sheet folding robot according to claim 2, further comprising a plurality of friction washers (5), each friction washer (5) being fixed at an end of each first sheet folding structure (12) remote from the mounting circular plate (11) for increasing contact friction.
  4. 4. The dual-mode mobile paper folding robot according to claim 1, wherein each paper folding telescopic assembly (4) comprises a second paper folding structure (41), a driving cable (42) and a control piece (43), two ends of each second paper folding structure (41) are respectively fixed on two end plates (3), the driving cable (42) is located in an inner cavity of each second paper folding structure (41) and is fixed on one end plate (3), the mounting end of each control piece (43) is mounted on the other end plate (3), and the control end of each control piece (43) is connected with the second end of each driving cable (42) to realize the telescopic and bending of the paper folding telescopic assembly (4) by respectively controlling the retraction of each group of driving cables (42).
  5. 5. The dual-mode mobile paper folding robot as claimed in claim 4, wherein each control member (43) includes a control motor (431) and a wire spool (432), a mounting end of the control motor (431) is fixed to the end plate (3), the wire spool (432) is fixed to a rotating end of the rotating motor (431), and a second end of the driving cable (42) is fixed to the wire spool (432) and is wound around the wire spool (432) to synchronously control tensioning and stretching of the driving cable (42).
  6. 6. The dual-mode mobile sheet folding robot as claimed in claim 5, further comprising a controller fixed to the end plate (3) and electrically connected to the control motor (431) and the rotary motor (13) to control the actions of the control motor (431) and the rotary motor (13).
  7. 7. A control method based on the dual-mode mobile paper folding robot of any one of claims 1-6, characterized by comprising a ground walking mode and a pipeline walking mode; When the robot is in a ground walking mode, rolling of the paper folding robot is realized by controlling rotation of the rotating motors (13), and steering of the paper folding robot is realized by controlling rotation speed difference of the two rotating motors (13); When the rolling anchor module is in a pipeline walking mode, the pipeline walking mode comprises a peristaltic mode and an overbending mode, the peristaltic mode is in butt joint with the inner wall of a pipeline by controlling the first paper folding structures (12) in the two rolling anchor modules (1) to deform alternately, and the paper folding telescopic assemblies (4) are controlled to stretch in the alternating deformation so as to realize peristaltic motion in the pipeline, and the overbending mode is used for changing the bending direction and the curvature by controlling the differential shrinkage of a plurality of groups of the paper folding telescopic assemblies (4) so as to realize overbending under the cooperation of the peristaltic mode.
  8. 8. The control method of a dual-mode mobile paper folding robot according to claim 7, wherein when an obstacle is encountered in the ground walking mode, air pressure higher than rolling working pressure is rapidly filled into the first paper folding structure (12) close to the obstacle, so that the first paper folding structure (12) is expanded to form a local protrusion, the obstacle is assisted to surmount, and the first paper folding structure (12) is restored immediately after the obstacle surmount.
  9. 9. The control method of a dual mode mobile paper folding robot according to claim 8, wherein when a height-limiting scene is encountered in the ground walking mode, the air pressure in all the first paper folding structures (12) is reduced through the air passage (2), the diameter of the rolling anchor module (1) is reduced to reduce the overall height, and the preset working diameter is restored through post-inflation.
  10. 10. The control method of the dual-mode mobile paper folding robot according to claim 9, wherein the paper folding telescopic assembly (4) is controlled to bend back to the ground direction in the ground walking mode until two end plates (3) are slightly contacted with the ground, and friction torque is formed to prevent the paper folding telescopic assembly (4) from rolling along with the mounting circular plate (11).

Description

Dual-mode mobile paper folding robot and control method thereof Technical Field The invention relates to the technical field of paper folding robots, in particular to a dual-mode mobile paper folding robot and a control method thereof. Background In various fields of modern urban construction, large-scale industrial production operation and maintenance, emergency rescue of sudden disasters and the like, mixed operation environments where the ground and the pipeline structures are interwoven in various infrastructures exist widely, such as urban underground comprehensive pipe galleries, pipeline systems of industrial equipment, connection positions of narrow channels in post-disaster ruins and ground areas and the like. The scene provides strict requirements for operation equipment such as detection, maintenance, search and rescue, and the like, an operation unit needs to have the capability of rapidly moving from open ground to a target pipeline inlet and then entering the pipeline to finish the refining operation, and meanwhile, the equipment is required to flexibly switch motion states in two environments with obvious differences between the ground and the pipeline and adapt to motion constraints of different environments. At present, the mobile robot technology designed for a single environment of the ground and the pipeline is relatively mature, but a plurality of technical bottlenecks still exist for a dual-mode mobile robot capable of adapting to a mixed operation environment at the same time, the existing robot products are mainly divided into two main types of the ground mobile robot and the pipeline mobile robot, only a single scene can be adapted, the problems of obvious insufficient environment adaptability, poor scene cooperativity and the like in cross-environment operation are shown, and the operation requirements of the mixed operation environment cannot be met. The ground mobile robot mostly adopts a rigid mechanical structure design, and by virtue of the structural characteristics of the ground mobile robot, the robot has the advantages of high moving speed, strong loading capacity, high motion control precision and the like in an open ground scene, and can efficiently finish long-distance ground mobile operation. But is limited by a rigid body and a complex mechanical transmission structure, the adaptability of the rigid body to the change of the inner diameter of a pipeline is extremely poor, the movement is difficult to be completed in the pipeline with irregular pipe diameter and bending, meanwhile, the direct contact between the rigid structure and the inner wall of the pipeline is easy to cause the scratch of the pipe wall, the integrity of an infrastructure is damaged, and the problem is particularly remarkable in the operation of a precise pipeline system. The pipeline mobile robot is adapted to space constraint and complex environment in a pipeline, and multiple structural types such as crawler type, peristaltic type and wheel type are derived, wherein the pneumatic soft pipeline robot has the characteristics of continuous freedom degree by virtue of strong flexibility, and has unique advantages in the aspects of adapting to small-amplitude pipe diameter change through irregular pipelines, and the soft structure is in flexible contact with the pipe wall, so that the damage to the pipe wall can be effectively avoided. However, the existing pneumatic soft pipeline robots mostly take viscoelastic materials such as silica gel and the like as main structures, have the problems of low response speed and poor structural durability, have limited pipe diameter adaptation range and are difficult to cope with pipeline environments with large pipe diameter changes, and more importantly, the robots lack a movement mode for adapting to open ground, almost lose movement capability in ground scenes and cannot finish environment-crossing operation from the pipeline to the ground. Therefore, aiming at the existing problems, how to provide a dual-mode mobile paper folding robot, which can realize high integration of structure, has the capability of high-efficiency rolling on the ground and self-adaptive crawling of a pipeline, can rapidly switch between two modes, and can improve the autonomous operation capability of the robot in a complex mixed operation environment is a problem which needs to be solved by a person skilled in the art. Disclosure of Invention Therefore, the invention provides the dual-mode mobile paper folding robot which can realize high structural integration, has the ground efficient rolling and pipeline self-adaptive crawling capability, can rapidly switch between the two modes, and can also improve the autonomous operation capability of the robot in a complex mixed operation environment. In order to achieve the above purpose, the present invention adopts the following technical scheme: a dual mode mobile sheet folding robot comprising: the telescopic module comprises two end pl