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CN-122014953-A - Robot suitable for narrow pipeline obstacle section

CN122014953ACN 122014953 ACN122014953 ACN 122014953ACN-122014953-A

Abstract

The invention provides a robot suitable for a narrow pipeline barrier section, which relates to the technical field of robots and comprises a robot body, a contact structure, a driving unit and a control module, wherein the robot body is provided with a main wall surface used for being abutted against a pipe wall, the contact structure comprises a first contact member and a second contact member, the first contact member and the second contact member are arranged on the main wall surface along the axial direction of the robot body, the driving unit is arranged on the robot body and is electrically connected with the contact structure and used for driving the robot to move, the control module is electrically connected with the driving unit, and the control module is configured to control the driving state of the driving unit so that the first contact member and the second contact member are in an anchoring state and a sliding state between the first contact member and the pipe wall in an asynchronous mode in a movement period, and the robot body is enabled to form axial displacement. The invention improves the completion rate and the safety of the inspection operation of the robot in the narrow pipeline.

Inventors

  • GAO JINLIANG
  • WANG ZHAOSHUN
  • SHI QINGLIN
  • QIU WEI
  • CAO HUIZHE
  • ZHANG TIANTIAN
  • DIAO MEILING

Assignees

  • 哈尔滨工业大学

Dates

Publication Date
20260512
Application Date
20260410

Claims (10)

  1. 1. A robot adapted for use in a stenotic duct obstruction, comprising: a robot body (10) having a dimension in a width direction thereof larger than a dimension in a height direction thereof, and having a main adhesion surface (13) for abutting against a pipe wall; A contact structure (22) comprising a first contact member (22 a) and a second contact member (22 b), the first contact member (22 a) and the second contact member (22 b) being disposed on the main adherence surface (13) along an axial direction of the robot body (10) and differing in physical characteristics, wherein the physical characteristics include at least one of bending stiffness characteristics, normal compression response characteristics, contact area variation characteristics, and surface friction texture characteristics; A driving unit (21) which is arranged on the robot body (10) and is electrically connected with the contact structure (22) for driving the robot to move; The control module (30) is electrically connected with the driving unit (21), the control module (30) is configured to control the driving state of the driving unit (21), the first contact member (22 a) and the second contact member (22 b) are in an anchoring state and a sliding state between the first contact member and the pipe wall in a non-synchronous mode in a movement period, so that the robot body (10) forms axial displacement, and the control module (30) is further used for adjusting the time sequence relation between the anchoring state and the sliding state of the first contact member (22 a) and the second contact member (22 b) respectively, so that the movement direction of the robot is switched.
  2. 2. The robot adapted for a narrow pipe obstruction section according to claim 1, wherein the first contact member (22 a) is at the front side of the second contact member (22 b), the bending stiffness of the first contact member (22 a) being smaller than the bending stiffness of the second contact member (22 b).
  3. 3. The robot adapted for use in a narrow pipe obstruction section according to claim 1, wherein the first contact member (22 a) and/or the second contact member (22 b) each comprise a member base and a friction contact layer, the member base being fixed to the main adherence surface (13) of the robot body (10), the friction contact layer being provided at a side of the member base remote from the main adherence surface (13); the friction contact layer has a friction texture extending in an axial direction of the robot body (10), the friction texture including at least one of directional ratchet threads, inclined microfiber threads, and scaly ridges.
  4. 4. A robot adapted for a stenotic duct obstacle according to claim 3, characterised in that the friction texture of the first contact member (22 a) is different from the friction texture of the second contact member (22 b) in at least one of texture direction, texture density and texture inclination.
  5. 5. The robot adapted for use in a stenotic duct obstacle section according to claim 1, wherein the control module (30) is configured to switch the timing relationship of the respective anchored states and the slipped states of the first and second contact members (22 a, 22 b) upon detection of obstacle information, such that the robot switches from forward to reverse or from reverse to forward, wherein the obstacle information comprises at least one of movement blockage, increased resistance to propulsion, and axial displacement anomalies.
  6. 6. The robot for use in a narrow pipe obstruction section according to claim 1, wherein the robot body (10) further has a drag reducing surface (14) disposed opposite the main abutment surface (13), the friction coefficient of the drag reducing surface (14) being smaller than the friction coefficient of the main abutment surface (13).
  7. 7. The robot suitable for a stenotic duct obstacle according to any of claims 1 to 6, characterized in that the robot body (10) comprises a head section (101) and a main section (102) connected in sequence along its axial direction, the driving unit (21) being provided to the main section (102); The head section (101) is provided with gesture limiting guide edges (12) along two ends of the width direction of the head section, and the diameter of the gesture limiting guide edges (12) gradually expands from the front end to the rear end of the head section (101).
  8. 8. The robot suitable for a narrow pipe obstacle section according to claim 7, characterized in that the head section (101) comprises a front-end leading-in obstacle surmounting structure (11), the front-end leading-in obstacle surmounting structure (11) comprises an upturned guide slope (11 a) and an antifriction transition zone which are sequentially connected along the axial direction of the robot body (10), and the front edge thickness of the upturned guide slope (11 a) is smaller than the thickness of the main body section (102); the gesture limiting guide edge (12) is connected with the front end leading-in obstacle crossing structure (11) and forms a continuous guide profile.
  9. 9. The robot adapted for a stenotic tubing obstacle segment according to claim 7, further comprising a reconnaissance module for obtaining information of the internal environment of the tube wall, the reconnaissance module comprising a first connector (41) and a reconnaissance assembly (42), the reconnaissance assembly (42) being connected with the first connector (41), the body segment (102) being provided with a second connector at a position close to the head segment (101), the reconnaissance assembly (42) being detachably connected with the second connector via the first connector (41).
  10. 10. The robot adapted for a narrow pipe obstacle section according to claim 7, wherein the robot body (10) further comprises a cable module (103), the cable module (103) comprises a flexible connection section (1031) and a cable body (1032), the flexible connection section (1031) is detachably connected with the main section (102), one end of the cable body (1032) is penetrated through the flexible connection section (1031) and electrically connected with the control module (30) and the driving unit (21), and the other end of the cable body (1032) is used for connecting an external control terminal.

Description

Robot suitable for narrow pipeline obstacle section Technical Field The invention relates to the technical field of robots for detecting the inside of a pipeline, in particular to a robot suitable for a barrier section of a narrow pipeline. Background After the building water supply pipeline runs for a long time, scaling, rust and sediment accumulation are easy to occur on the pipe wall, and the water supply safety is affected. Mechanical or hydraulic flushing is often adopted for cleaning in engineering, but sediment or peeled rust pieces which remain in scraps and are not completely peeled off can still exist after flushing, and particularly, residual aggregation is easy to form in the areas with local complex structures such as valves, joints, reducing pipes, elbows and the like, and if the problems of subsequent blockage or water quality can not be found in time. Therefore, the internal condition of the pipeline is checked after flushing, and the method is an important link for guaranteeing the cleaning quality and the operation safety. In the building water supply system, the pipe diameter is more in the range of DN100 and below, the pipe space is narrow, the pipe fittings such as elbow, tee joint, reducing joint and the like are more in number, and the characteristics of the barrier sections such as steps, reducing diameter, side cavities and the like are locally present. The existing pipeline inspection robot mainly adopts a wheel type, crawler type, tightening type or integral telescopic structure, is large in size generally, high in mechanism rigidity, difficult to enter or stably pass through the narrow and complex-structure pipeline obstacle section, and particularly is easy to be blocked, slip or incapable of retracting at an elbow, a step, a shrinkage and residual accumulation position, so that the obstacle crossing capability is insufficient, and the robot is difficult to actively escape after being blocked, so that an inspection blind area is formed, and the completion rate and the safety of the inspection operation of the robot in a narrow pipeline are reduced. Disclosure of Invention The invention solves the problem of how to improve the completion rate and the safety of the inspection operation of the robot in a narrow pipeline. In order to solve the above problems, the present invention provides a robot adapted to a narrow pipe obstacle section, comprising: The robot body is larger in size along the width direction than the height direction and is provided with a main adherence surface for being abutted against the pipe wall; The contact structure comprises a first contact member and a second contact member, wherein the first contact member and the second contact member are arranged on the main adherence surface along the axial direction of the robot body and are different in physical characteristics, and the physical characteristics comprise at least one of bending rigidity characteristics, normal compression response characteristics, contact area change characteristics and surface friction texture characteristics; The driving unit is arranged on the robot body and is electrically connected with the contact structure and used for driving the robot to move; The control module is electrically connected with the driving unit, is configured to control the driving state of the driving unit, enables the first contact member and the second contact member to be in an anchoring state and a sliding state between the first contact member and the pipe wall in a non-synchronous mode in a movement period so as to enable the robot body to form axial displacement, and is further used for adjusting the time sequence relation between the first contact member and the second contact member, which corresponds to the anchoring state and the sliding state, respectively, and achieving movement direction switching of the robot. Optionally, the first contact member is located on a front side of the second contact member, and a bending stiffness of the first contact member is smaller than a bending stiffness of the second contact member. Optionally, each of the first contact member and the second contact member includes a member base and a friction contact layer, the member base is fixed on the main adhesion surface of the robot body, and the friction contact layer is disposed on a side surface of the member base away from the main adhesion surface; the friction contact layer has a friction texture extending in an axial direction of the robot body, the friction texture including at least one of directional ratchet threads, inclined microfiber threads, and scaly ribs. Optionally, the friction texture of the first contact member is different from the friction texture of the second contact member in at least one of texture direction, texture density, and texture inclination. Optionally, the control module is configured to switch the timing relationship of the anchor state and the slip state of each of the first conta