Expansion mechanism based on random variable universe fuzzy controller

Abstract

The invention discloses an expansion mechanism based on a random variable universe fuzzy controller. The expansion mechanism is mainly composed of an expansion shell, an air cylinder, a pressing block, a supporting arm and other parts. The random variable universe fuzzy controller automatically obtains optimal parameters to adjust the pressure of the air cylinder in the middle of an air cylinder shell, at the moment, the air cylinder pushes a pushing block in the expansion mechanism, and then the supporting arm connected with the pushing block moves in the axial direction of the expansion mechanism, so that the pressing block connected with the supporting arm moves in the radial direction of the expansion mechanism to extend out of the expansion shell, the pressing block is tightly pressedon the inner walls of pipelines, corresponding expanding force is provided for a pipeline overlap removing robot when the different pipelines are machined, a robot body cannot rotate freely in the pipelines along with rotation of a tool bit part of a machining mechanism, so that the stability during work is guaranteed, the performance state of the pipeline overlap removing robot is improved, andthe random variable universe fuzzy controller has the advantages of being easy and convenient to operate, high in control precision, high in response speed and the like and can be widely applied to stability control over industrial robots.

Description

technical field [0001] The invention relates to the technical field of an industrial pipeline detumescence robot, in particular to a tensioning mechanism based on random variable domain fuzzy control technology. Background technique [0002] A pipeline tumor removal robot can achieve the effect of removing the oozing welding tumor formed on the inner wall of the pipeline due to welding, avoiding the occurrence of adverse situations such as debris, oil stains, silt and other hanging wall accumulations blocking the pipeline. In the prior art, when the pipeline debulking robot processes different pipelines, the stability of the robot body cannot be accurately controlled and adjusted. Moreover, the control process requires manual operation and control, and there are problems such as low control accuracy and cumbersome operation, which affects the work efficiency and use effect of the pipeline tumor removal robot. Contents of the invention [0003] The main technical problem t...

AI Technical Summary

Problems solved by technology

Under the existing technology, when the pipeline tumor removal robot processes different pipelines, the stability of the robot body cannot be accurately controlled and adjusted

Moreover, the control process requires manual control, which has problems such as low control accuracy and cumbersome operation, which affects the working efficiency and use effect of the pipeline tumor removal robot.

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