CN110605719A - Robot, system and method for online pressurized leakage blocking - Google Patents
Robot, system and method for online pressurized leakage blocking Download PDFInfo
- Publication number
- CN110605719A CN110605719A CN201910914710.8A CN201910914710A CN110605719A CN 110605719 A CN110605719 A CN 110605719A CN 201910914710 A CN201910914710 A CN 201910914710A CN 110605719 A CN110605719 A CN 110605719A
- Authority
- CN
- China
- Prior art keywords
- module
- robot
- impact hammer
- twisting
- air impact
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000000903 blocking effect Effects 0.000 title claims description 6
- 239000000523 sample Substances 0.000 claims abstract description 59
- 230000008439 repair process Effects 0.000 claims abstract description 9
- 239000012636 effector Substances 0.000 claims description 57
- 238000004891 communication Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 238000002360 preparation method Methods 0.000 claims description 2
- 241000227287 Elliottia pyroliflora Species 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 12
- 230000001276 controlling effect Effects 0.000 description 8
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 4
- 229910052802 copper Inorganic materials 0.000 description 4
- 239000010949 copper Substances 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
Abstract
The embodiment of the invention discloses an online robot with pressure for leaking stoppage, which comprises a moving module, a power supply module and a bottom plate which are loaded on the moving module, and a tool rest, an execution module and a global image acquisition module which are arranged on the bottom plate. The embodiment of the invention also discloses a control system of the robot for online leaking stoppage under pressure. The embodiment of the invention also discloses a method for the robot control system for online leaking stoppage under pressure. By adopting the invention, the operation personnel can safely observe the leaking point situation from a remote place and carry out automatic twisting repair on the leaking point by using the global camera module and the local camera module; when in operation, the mechanical arm is used for replacing the tail end of the probe and the twisting tail end, so that the leakage point of the pipeline can be positioned more accurately, and the twisting repair effect is more ideal.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a robot, a system and a method for online leaking stoppage under pressure.
Background
The pressure leakage stoppage refers to that the pressure pipeline and the internal storage or conveying medium of the container tank are arbitrarily stopped in the process of splashing the internal medium without stopping conveying, wherein the pressure pipeline and the internal storage or conveying medium of the container tank are driven to leak due to corrosion perforation or leakage caused by artificial damage under the condition of more than one atmospheric pressure. At present, in the production process of enterprises, common leakage mainly occurs in leakage defects such as leakage points on pipelines, containers and valve bodies. Once a leak occurs, it is usually necessary to make and install a fixture to stop the leak, and for the leak caused by the leak point, the fixture is time-consuming to process compared with other leak stopping methods.
With the continuous development of industrial automation, robots are adopted in more and more industries to replace manual work to perform heavy, time-consuming and dangerous work so as to improve the production efficiency of enterprises. For the leakage of pipelines and containers in the production process of enterprises, the existing leakage defects are that the leakage is manually stopped, the efficiency is low, and leakage objects with high temperature, high pressure, corrosiveness and peculiar smell can cause certain potential safety hazards and body damage to leakage stopping operators. It is a development trend to adopt a robot mode to replace manual work for leaking stoppage.
The twist repairing of leakage defects such as leakage points of pipelines is one of the most common methods for pipeline maintenance. The leakage point of the pipeline can be blocked by twisting, so that the aim of temporarily repairing the pipeline is fulfilled, the fluid in the pipeline is prevented from further leaking, and the loss caused by accidents is reduced. Conventional twisting operations require the operator to be exposed to dangerous environments, such as toxic, flammable, and the like. Furthermore, the twisting work by workers is time consuming and inefficient.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide an online robot, a system and a method for leaking stoppage under pressure. The robot can realize efficient, accurate and safe pipeline leakage blocking operation under pressure under the control of the remote control terminal.
In order to solve the technical problem, an embodiment of the present invention provides an online robot for leaking stoppage under pressure, which includes a moving module, a power supply module and a bottom plate loaded on the moving module, and a tool rest, an execution module and a global image acquisition module mounted on the bottom plate;
the execution module comprises a mechanical arm, a probe end effector and a twisting and leaking stoppage end effector, wherein a main disc is installed at the end of the mechanical arm, auxiliary discs are installed on the probe end effector and the twisting and leaking stoppage end effector, and the main disc is detachably connected with the auxiliary discs;
the probe end effector is detachably arranged in the tool rest, and a local image acquisition module is arranged on the probe end effector;
the tool rest comprises a tool rest base, a locking clamping block, a tool rest cylinder and a locking spring, wherein the tool rest cylinder is a double-shaft cylinder, the locking spring is sleeved on an outer shaft of the tool rest cylinder to form self-resetting, and the locking clamping block is fixedly arranged on an inner shaft of the tool rest cylinder; the probe end effector has a locking slot that mates with the locking clamp block.
Further, the moving module is a bottom-layer crawler platform.
Further, the twisting and leaking stoppage end effector comprises a twisting module, a clamping module and a positioning module;
the twisting module comprises an air impact hammer, an air impact hammer base and an air impact hammer mounting seat, wherein the air impact hammer mounting seat is fixedly arranged on a lug on the air impact hammer base, and the air impact hammer is fixedly clamped between the air impact hammer mounting seats;
the clamping module comprises a cylinder and a clamping jaw, wherein the cylinder is fixedly installed on the air impact hammer base, the clamping jaw is arranged at the lower end of the cylinder, and the positioning module is arranged between the air impact hammer base and the clamping jaw.
Furthermore, the air impact hammer mounting seat comprises two aluminum alloy clamping blocks arranged on two sides of the protruding block, one side, in contact with the air impact hammer, of each aluminum alloy clamping block is V-shaped and used for fastening the air impact hammer, and an inclined plane is arranged on the protruding block and used for keeping the twisting angle of the air impact hammer.
Further, the cylinder is a guide bar cylinder, a threaded hole matched with the air impact hammer base is formed in the lower end of the cylinder, the air impact hammer base is fixedly arranged on the air impact hammer base through a matched screw, and the lower end of a piston rod of the cylinder is connected with the clamping jaw through a screw.
Furthermore, the positioning module comprises two positioning columns, a V-shaped block and a compression spring, the positioning module is connected below the air impact hammer base through a copper sleeve and the compression spring, and the lower end face of the V-shaped block is a V-shaped groove.
Further, the global image acquisition module comprises a telescopic rod, and a holder camera and a stereo camera which are arranged on the telescopic rod, wherein the holder camera comprises a holder, a visible light camera and an infrared camera.
The invention also provides a control system for the online robot with pressure leakage, which comprises a robot platform, a remote control terminal and a communication unit, wherein the robot platform comprises a mobile control unit, a control unit, an execution unit, a global image acquisition unit, a local image acquisition unit and a data acquisition and processing unit;
the remote control terminal is provided with visual control software and is used for sending out an operation instruction;
the control unit is connected with the remote control terminal through the communication unit, receives an operation instruction and controls the robot platform and the execution unit arranged on the robot platform;
the global image acquisition unit is used for transmitting the global position of the missing point to the remote control terminal;
the execution unit is used for controlling a probe end effector of the mechanical arm to match with the local image acquisition unit to search for a leaking point position, and the data acquisition and processing module records parameters of each current joint of the mechanical arm according to feedback of a pressure sensor mounted on the probe end effector to obtain a relative three-dimensional space coordinate position of the leaking point position relative to a bottom central point of the mechanical arm;
and the execution unit replaces the twisting and leaking stoppage end effector from the robot platform according to the operation instruction and operates the leaking point position according to the relative three-dimensional space coordinate position.
The global image acquisition unit comprises a visible light camera and an infrared image camera.
The invention also provides a method for the robot control system for online under-pressure leakage stoppage, which comprises the following steps:
s1: an operator moves the robot platform to a proper working area through the remote control terminal;
s2: acquiring coordinates of a pipeline leakage point, an operation plane of the mechanical arm and a probe preparation attitude according to the returned image information of the global image acquisition unit; according to the position of the manually marked pipeline, an operation plane A which passes through the central axis of the pipeline and is perpendicular to the ground is calculated, meanwhile, a point a on the operation plane A is selected according to the position of a leak point, the vector of the center origin of the mechanical arm base pointing to the point a is, at the moment, a is taken as the origin, a sphere B with the radius of 10 centimeters is expanded, and the intersection point B of the sphere B and the vector is the target point position of the tail end of the probe which the mechanical arm needs to plan to reach;
s3: controlling the mechanical arm to exchange for the probe end executor, carrying a probe end touch missing point and calculating a missing point position coordinate;
s4: and controlling the mechanical arm to replace the twisting and leaking stoppage end effector, and moving to the coordinates of the leaking point position to perform twisting and leaking repair until the repair is completed.
The embodiment of the invention has the following beneficial effects: the global camera module and the local camera module can enable operators to safely observe the leaking point situation from a remote place and carry out automatic twisting repair on the leaking point; during operation, the mechanical arm is used for replacing the tail end of the probe and the twisting leaking stoppage end actuator can enable the pipeline leaking point to be positioned more accurately, and the twisting repair effect is more ideal.
Drawings
FIG. 1 is a schematic view of the overall structure of the robot of the present invention;
wherein, 1-global camera module; 11-pan-tilt camera; 111-a visible light camera; 112-infrared camera; 113-a pan-tilt; 13-a telescopic rod; 15-a stereo camera; 2-an execution module; 21-a mechanical arm; 213-master; 25-twisting and beating the plugging end effector; 20-a pull-string type displacement sensor; 4-a bridge; 5-an electric box; 6-a bumper; 7-bottom layer crawler platform; 8-supporting leg push rods; 9-a bottom plate;
FIG. 2 is a top view of a robot platform configuration, wherein 10-base; 19-gas path quick plug; 3-an air supply module; 17-a tool holder; 26-a probe end effector; 16-a tool holder; 18-a tool holder;
FIG. 3 is a gas supply module;
wherein, 3-an air supply module; 31-pneumatic solenoid valve group A; 32-pressure regulating valve; 33-pressure gauge; 34-a cylinder; 35-a filter; 36-pneumatic solenoid valve group B; 37-a compressor; 38-air compressor safety valve;
FIG. 4 is a schematic view of the construction of the tool holder;
wherein, 16-tool holder; 161-locking the clamping block, 162-positioning the pin; 163-locking spring; 164-a tool holder cylinder; 165-a tool holder base; 166-tool holder pad;
FIG. 5 is a schematic structural view of a probe end effector;
FIG. 6 is a schematic view of a twist-to-beat lost circulation end-effector;
FIG. 7 is a schematic structural view of a twisting module;
fig. 8 is a schematic structural view of the gripping module;
FIG. 9 is a schematic structural view of a positioning module;
FIG. 10 is a schematic diagram of a robot arm attachment module;
fig. 11 is a schematic block diagram of a control system for an online belt pressure plugging robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-2, the robot for online leaking stoppage under pressure according to the embodiment of the present invention includes a moving module, a power supply module loaded on the moving module, a bottom plate 9, tool holders 16, 17, 18 installed on the bottom plate, an execution module 2, and a global image acquisition module.
The control module comprises an industrial personal computer, a relay control panel, a mechanical arm control box and a single chip microcomputer, the industrial personal computer receives an operation instruction transmitted from a user terminal through a wireless communication unit so as to control the bottom-layer crawler platform and the mechanical arm 21, and the relay control panel is used for controlling the supporting leg push rod 8, the telescopic rod 13, the indicating lamp and the electronic pneumatic valve after receiving the instruction of the industrial personal computer; the mechanical arm control box is used for controlling a mechanical arm to complete an instruction; the single chip microcomputer is used for reading data of the stay wire type distance sensor, transmitting the data to the industrial personal computer, receiving instructions of the industrial personal computer and generating corresponding PWM signals to drive the bottom-layer crawler platform to move correspondingly.
The execution module 2 comprises a mechanical arm 21, a probe end effector 26 and a twisting and leaking stoppage end effector 25, wherein the mechanical arm 21 is used for conveying the probe end effector or the twisting and leaking stoppage end effector to a specific position, the probe end effector is used for positioning a leaking point position before twisting, and the twisting and leaking stoppage end effector is used for twisting and leaking stoppage of a pipeline.
The end of the mechanical arm 21 is provided with a main disc, the probe end effector and the twisting and leaking stoppage end effector are provided with auxiliary discs, and the main disc is detachably connected with the auxiliary discs.
The global camera module 1 comprises a holder camera 11, a stereo camera 15 and a telescopic rod 13, wherein the stereo camera 15 is used for acquiring a depth image and determining coordinates, the holder camera 11 comprises a holder, a visible light camera 111 and an infrared image camera 112, the visible light camera 111 is used for acquiring a color image of a pipeline and observing the surrounding environment, and the infrared image camera 112 is used for generating an infrared image to assist in positioning a leakage position on the pipeline; the telescopic rod 13 is used for adjusting the height of the tripod head camera and expanding the observation range of the tripod head camera; the holder is used for adjusting the shooting angles of the visible light camera and the infrared image camera and expanding the observation range of the holder camera;
the local camera module includes a tip camera 265, the tip camera 265 being used for observation of a leakage area when the probe tip locates a leakage position.
The probe end effector is detachably arranged in the tool rest, and a local image acquisition module is arranged on the probe end effector.
As shown in fig. 4, the tool post comprises a tool post base 165, a locking clamping block 161, a tool post cylinder 164 and a locking spring 163, wherein the tool post cylinder 164 is a double-shaft cylinder, the locking spring 163 is sleeved on an outer shaft of the tool post cylinder to form self-resetting, and the locking clamping block 161 is fixedly mounted on an inner shaft of the tool post cylinder 164; the probe end effector has a locking slot that mates with the locking clamp block.
The moving module comprises a bottom layer crawler platform which is used for realizing the moving function of the robot platform.
As shown in fig. 5, the probe end effector 26 includes a probe module 261, a pressure sensor 262, and a data acquisition and processing module, is placed on the tool post 16 of the probe of the mobile platform through a probe base 263, sucks a sub-disc 264 on the end through a fast switching main disc mounted on the robot arm, and fixedly mounts the end effector on the robot arm using air pressure. The local image acquisition module 265 is disposed on the upper portion of the probe for directly observing the actual operation of the probe in a real environment without obstruction. When the tail end of the probe accurately touches a leakage point of the pipeline, the pressure sensor detects force feedback received by the tail end of the probe in real time, and the force feedback prompts a technician that the technician touches the pipeline. At the moment, the data acquisition and processing module can be used for recording the current parameters of each joint of the mechanical arm, so that the relative three-dimensional space coordinate position of the pipeline leakage point position based on the central point at the bottom of the mechanical arm is obtained through calculation.
The twisting and leaking stoppage end effector comprises a twisting module 22, a clamping module 23 and a positioning module 24.
As shown in fig. 6-9, the cabling module 22 is composed of an air impact hammer 221, an air impact hammer base 222 and an air impact hammer mounting base 223, wherein the air impact hammer mounting base 223 is mounted on a projection 2222 on the air impact hammer base 222 for fixing the air impact hammer 221; the clamping module 23 consists of an air cylinder 231 and a clamping jaw 232, and the air cylinder 231 is matched with the clamping jaw 232 to complete clamping movement through contraction of a piston rod; the positioning module 24 is used for assisting the air impact hammer striker 26 at the tail end of the air impact hammer 221 to be positioned to the pipeline leakage position 220; the mechanical arm connecting module 27 is composed of a main disk 271 and an auxiliary disk 272, the main disk 271 is used for being connected with the tail end of the mechanical arm, the auxiliary disk 272 is connected with the positioning module 24, multiple paths of pneumatic interfaces and electrical interfaces matched with the main disk 271 and the auxiliary disk 272 are arranged on the main disk 271 and the auxiliary disk 272, and the main disk 271 and the auxiliary disk 272 are fixedly connected.
Referring to fig. 7 to 10, the air impact hammer base 222 is provided with eight threaded holes 2223 for mounting the air cylinder 231 on the air impact hammer base 222 of the twisting module 22, and four threaded holes 2221, and two spacers are further provided on the air impact hammer base 222 to connect the air impact hammer base 222 with the positioning module 24 located below the twisting module 22 through four screws corresponding to the threaded holes 2221. The air impact hammer mounting seat 223 is composed of two aluminum alloy clamping blocks 2231 mounted on two sides of the protruding block 2222, one side of the air impact hammer 221, which is in contact with the two clamping blocks, is in a V shape and used for fastening the air impact hammer 221, the upper ends of the two clamping blocks are connected through two screws, and the lower ends of the two clamping blocks are connected with two sides of the protruding block 2222 through four screws and two positioning pins respectively. The protrusion 2222 is provided with a 45 ° inclined surface for ensuring that the twisting angle of the pneumatic hammer 11 is 45 °, it can be understood that in other embodiments, the protrusion 2222 may be provided with inclined surfaces with different angles for ensuring that the pneumatic hammer 221 has a reasonable twisting angle.
The clamping module 23 has two cylinders 231, both of which are guide bar cylinders, the lower ends of the two cylinders 231 are respectively provided with a threaded hole 2311 matched with the air impact hammer base 222, the clamping module 23 is fixed on the air impact hammer base 222 through eight screws, the lower ends of two piston rods in the two cylinders 231 are connected with two clamping jaws 232 through screws, and when the piston rods in the cylinders 231 contract, the clamping jaws 232 can be driven to be matched with the V-shaped block 241 to complete the clamping action. The clamping jaw 232 is rotatable through 90 ° to facilitate gripping of the leak apparatus, and in this embodiment, the clamping jaw 232 is rotatable to be horizontal to the pipe before gripping the pipe, and after gripping the pipe, the clamping jaw 232 is at 90 ° to the pipe to perform positioning and gripping operations in cooperation with the positioning module 24.
It is understood that the number of the cylinders 231 may be other numbers in other embodiments.
The positioning module 24 in the embodiment of the present invention is composed of two height positioning posts 242, a V-shaped block 241, four sets of copper sleeves 244 and compression springs 243, wherein the compression spring 243 is connected below the copper sleeve 244, the positioning module 24 is connected below the air hammer base 222 through the copper sleeves 244 and the compression springs 243, one side of the V-shaped block 241 is provided with a threaded hole 2411 for connecting the auxiliary plate 272 in the mechanical arm connecting module 27 with the V-shaped block, the lower end surface of the V-shaped block 241 is in a "V" shape to play a self-centering role for the clamped pipeline, the two height positioning posts 241 are respectively arranged at the front and rear sides of the V-shaped block, the upper end surfaces of the height positioning posts 242 are in contact with the lower end surface of the air hammer base 222, and in combination with the clamping action of the clamping module 23, so that the clamped pipelines with different pipe diameters are all in contact with the lower end surfaces of the height positioning posts 242, thereby ensuring that when clamping leakage pipelines with different pipe diameters, the air hammer striker 26 maintains the same height for the initial twist level of the leaking duct to ensure the quality of the twist.
As shown in FIG. 10, the main plate 271 can be connected with the end of the mechanical arm through screws, the sub plate 272 is connected with the V-shaped block 241 through a threaded hole 2721, and multiple paths of matched pneumatic and electrical interfaces are arranged on the main plate 271 and the sub plate 272.
The main disk 271 and the sub disk 272 form a quick change disk structure.
The embodiment of the invention also provides a control system of the robot for online leaking stoppage under pressure, which comprises a robot platform, a remote control terminal and a communication unit, wherein the robot platform comprises a mobile control unit, a control unit, an execution unit, a global image acquisition unit, a local image acquisition unit, an air source unit and a data acquisition and processing unit;
the remote control terminal is provided with visual control software and is used for sending out an operation instruction;
the control unit is connected with the remote control terminal through the communication unit, receives an operation instruction and controls the robot platform and the execution unit arranged on the robot platform;
the global image acquisition unit is used for transmitting the global position of the missing point to the remote control terminal;
the execution unit is used for controlling a probe end effector of the mechanical arm to match with the local image acquisition unit to search for a leaking point position, and the data acquisition and processing module records parameters of each current joint of the mechanical arm according to feedback of a pressure sensor mounted on the probe end effector to obtain a relative three-dimensional space coordinate position of the leaking point position relative to a bottom central point of the mechanical arm;
and the execution unit replaces the twisting and leaking stoppage end effector from the robot platform according to the operation instruction and operates the leaking point position according to the relative three-dimensional space coordinate position.
The remote control terminal comprises a man-machine interaction module and a first communication unit; the robot platform comprises a moving module, a control module, a global camera module, a local camera module, an air source module, an execution module and a second communication unit.
The human-computer interaction module comprises special visual control software and intelligent equipment with a display screen, the visual control software is used for issuing robot operation commands such as movement and executing certain actions, and the software is suitable for the UBUNTU16.04LTS system;
the first communication unit is connected with the man-machine interaction module and comprises a data transmission radio station and a network bridge. The network bridge is used for transmitting image data collected by the global camera module and the local camera module, and the data transfer radio station is used for receiving a control instruction from the client;
the second communication unit comprises bridges and data transmission radio stations with the same type and number as the first communication unit.
The mobile module is connected with an industrial personal computer through a single chip microcomputer, wherein the single chip microcomputer receives an instruction of the industrial personal computer and generates a corresponding PWM signal to enable the mobile module to operate;
the control module is communicated with the remote control terminal through a second communication unit, receives an instruction sent by an operator on the remote control terminal, and comprises an industrial personal computer, a relay control panel, a mechanical arm control box and a single chip microcomputer, wherein the industrial personal computer is arranged on the robot platform and is mainly used for receiving an operation instruction transmitted from a user end through a wireless communication unit so as to control the bottom-layer track platform and the mechanical arm, and the relay control panel is used for controlling a support leg push rod, a telescopic rod, an indicator lamp and an electronic pneumatic valve after receiving the instruction of the industrial personal computer; the mechanical arm control box is used for controlling a mechanical arm to complete an instruction; the single chip microcomputer is used for reading data of the stay wire type distance sensor, transmitting the data to the industrial personal computer, receiving instructions of the industrial personal computer and generating corresponding PWM signals to drive the bottom-layer crawler platform to move correspondingly.
The embodiment of the invention also provides a control method of the online under-pressure leakage repairing robot platform, which comprises the following steps:
s1: the remote control terminal is connected with the robot body through the first communication unit and the second communication unit;
s2: an operator moves the robot platform to a working area which is approximately parallel to the pipeline to be repaired, the mechanical arm and the pipeline to be repaired are positioned at the same side of the robot platform and within the operating radius of the robot platform through the remote control terminal.
S3: the remote control terminal controls the telescopic rod to ascend and descend, the cradle head rotates, raises and lowers, the optimal visual angle for observing the pipeline and the leakage point is found, the pipeline and the leakage point are photographed, the operator pulls out a transverse line along the pipeline growth direction on the remote control terminal according to the image information collected by the camera module, then clicks the leakage point, and an operation plane which passes through the central axis of the pipeline and is perpendicular to the ground is calculated according to the position of the pipeline marked manually. Meanwhile, a point a on the operation plane A is selected according to the position of the leakage point, and the vector of the center origin point a of the mechanical arm base isNow, a sphere B with a radius of 10 cm is expanded with a as an origin. Sphere B and vectorThe intersection point b is the target point position of the tail end of the probe which the mechanical arm needs to plan to reach.
S4: the mechanical arm moves from a working initial point to a tool rest at the tail end of the probe, vertically descends until a main disc is combined with an auxiliary disc at the tail end of the probe, a corresponding pneumatic electromagnetic valve in an air supply module receives a corresponding electric signal from a relay, the air supply mode of the air supply module to the main disc is changed, the main disc and the auxiliary disc are tightly fixed, then under the action of the air supply module, an air cylinder locking clamp of the tool rest at the tail end of the probe moves upwards by 20 centimeters vertically, the tail end of the probe is planned to reach S2 through mechanical arm movement, the mechanical arm is manually controlled by a remote control terminal to perform left-right translation, front-back movement, ascending-descending and pipeline front-back winding operation on an operation plane A according to image information returned by a local camera module until the needle point at the tail end of the probe touches a leakage point, and visual software, namely the accurate coordinates of the missing points.
S5: the mechanical arm carries the tail end of the probe to reach the position above the cutter frame at the tail end of the probe, the mechanical arm vertically descends until the tail end of the probe is placed back to the cutter frame at the tail end of the probe, a cylinder locking clamp of the cutter frame at the tail end of the probe locks the tail end of the probe under the action of an air supply module, a main disc and a sub-disc at the tail end of the probe are loosened under the action of the air supply module, the mechanical arm vertically moves upwards for 20 cm, the mechanical arm reaches the rear part of the cutter frame position of the twisting leakage-stopping end actuator, the mechanical arm moves forwards until the main disc is combined with the sub-disc on the twisting leakage-stopping end actuator, the main disc is tightly fixed with the sub-disc on the twisting leakage-stopping end actuator under the action of the air supply module, the cylinder locking clamp of the cutter.
S6: and (4) acquiring a twisting working point according to the accurate coordinates of the leaking point in S3, wherein the calculation method of the working point is to combine the accurate coordinates of the leaking point and the design size of the twisting leaking stoppage end effector, convert the working point by taking the end point of the air impact hammer of the twisting leaking stoppage end effector as the leaking point position, move the mechanical arm with the twisting leaking stoppage end effector to the twisting working point, vertically descend until the twisting leaking stoppage end effector contacts with the pipeline to be repaired, clamp the clamping jaw to clamp and hold the pipeline under the action of the air supply module, twist and repair the leaking point of the pipeline under the action of the air supply module by the air impact hammer of the twisting leaking stoppage end effector until the repairing is completed, and stop twisting by the air impact hammer.
S7: the clamping jaw of the twisting and leaking stoppage end effector loosens the repaired pipeline under the action of the air supply module, and the mechanical arm carries the twisting and leaking stoppage end effector to move to the position right above the tool rest of the twisting and leaking stoppage end effector; the mechanical arm carries the twisting and leaking stoppage end effector to vertically descend until the tail end of the probe is placed back to the tail end cutter frame of the probe, the air cylinder locking clamp of the cutter frame of the twisting and leaking stoppage end effector locks the twisting and leaking stoppage end effector under the action of the air supply module, the main disc and the auxiliary disc of the twisting and leaking stoppage end effector are loosened under the action of the air supply module, the mechanical arm vertically moves upwards for 20 centimeters and returns to an initial working point, and the operation is completed.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. The robot for online leaking stoppage under pressure is characterized by comprising a moving module, a power supply module, a bottom plate, a tool rest, an execution module and a global image acquisition module, wherein the power supply module and the bottom plate are loaded on the moving module;
the execution module comprises a mechanical arm, a probe end effector and a twisting and leaking stoppage end effector, wherein a main disc is installed at the end of the mechanical arm, auxiliary discs are installed on the probe end effector and the twisting and leaking stoppage end effector, and the main disc is detachably connected with the auxiliary discs;
the probe end effector is detachably arranged in the tool rest, and a local image acquisition module is arranged on the probe end effector;
the tool rest comprises a tool rest base, a locking clamping block, a tool rest cylinder and a locking spring, wherein the tool rest cylinder is a double-shaft cylinder, the locking spring is sleeved on an outer shaft of the tool rest cylinder to form self-resetting, and the locking clamping block is fixedly arranged on an inner shaft of the tool rest cylinder; the probe end effector has a locking slot that mates with the locking clamp block.
2. The online belt press leakage blocking robot of claim 1, wherein the moving module is a bottom-layer crawler platform.
3. The robot for online leak stoppage with pressure according to claim 1, wherein the twisting and leak stoppage end effector comprises a twisting module, a clamping module and a positioning module;
the twisting module comprises an air impact hammer, an air impact hammer base and an air impact hammer mounting seat, wherein the air impact hammer mounting seat is fixedly arranged on a lug on the air impact hammer base, and the air impact hammer is fixedly clamped between the air impact hammer mounting seats;
the clamping module comprises a cylinder and a clamping jaw, wherein the cylinder is fixedly installed on the air impact hammer base, the clamping jaw is arranged at the lower end of the cylinder, and the positioning module is arranged between the air impact hammer base and the clamping jaw.
4. The robot for online leakage stoppage with pressure according to claim 3, wherein the air impact hammer mounting seat comprises two aluminum alloy clamping blocks mounted on two sides of the projection, one side of the two aluminum alloy clamping blocks, which is in contact with the air impact hammer, is in a V shape for fastening the air impact hammer, and the projection is provided with an inclined surface for maintaining a twisting angle of the air impact hammer.
5. The robot for online leaking stoppage with pressure according to claim 4, wherein the cylinder is a guide bar cylinder, the lower end of the cylinder is provided with a threaded hole matched with the air impact hammer base, the threaded hole is fixedly arranged on the air impact hammer base through a matching screw, and the lower end of a piston rod of the cylinder is connected with the clamping jaw through a screw.
6. The robot for online leakage stoppage with pressure according to claim 5, wherein the positioning module comprises two positioning columns, a V-shaped block and a compression spring, the positioning module is connected below the air impact hammer base through a copper bush and the compression spring, and the lower end surface of the V-shaped block is a V-shaped groove.
7. The robot for online leaking stoppage with pressure according to claim 6, wherein the global image acquisition module comprises a telescopic rod, a pan-tilt camera and a stereo camera which are installed on the telescopic rod, and the pan-tilt camera comprises a pan-tilt, a visible light camera and an infrared camera.
8. A control system for the robot for online leakage blocking with pressure according to any one of claims 1 to 7 is characterized by comprising a robot platform, a remote control terminal and a communication unit, wherein the robot platform comprises a mobile control unit, a control unit, an execution unit, a global image acquisition unit, a local image acquisition unit and a data acquisition and processing unit;
the remote control terminal is provided with visual control software and is used for sending out an operation instruction;
the control unit is connected with the remote control terminal through the communication unit, receives an operation instruction and controls the robot platform and the execution unit arranged on the robot platform;
the global image acquisition unit is used for transmitting the global position of the missing point to the remote control terminal;
the execution unit is used for controlling a probe end effector of the mechanical arm to match with the local image acquisition unit to search for a leaking point position, and the data acquisition and processing module records parameters of each current joint of the mechanical arm according to feedback of a pressure sensor mounted on the probe end effector to obtain a relative three-dimensional space coordinate position of the leaking point position relative to a bottom central point of the mechanical arm;
and the execution unit replaces the twisting and leaking stoppage end effector from the robot platform according to the operation instruction and operates the leaking point position according to the relative three-dimensional space coordinate position.
9. The control system for the online belt pressure leakage blocking robot as claimed in claim 8, wherein the global image acquisition unit comprises a visible light camera and an infrared image camera.
10. A method for the on-line belt press leaking stoppage robot control system as set forth in claim 8, which is characterized by comprising the steps of:
s1: an operator moves the robot platform to a proper working area through the remote control terminal;
s2: acquiring coordinates of a pipeline leakage point, an operation plane of the mechanical arm and a probe preparation attitude according to the returned image information of the global image acquisition unit; according to the position of the manually marked pipeline, an operation plane A which passes through the central axis of the pipeline and is perpendicular to the ground is calculated, meanwhile, a point a on the operation plane A is selected according to the position of a leak point, the vector of the center origin of the mechanical arm base pointing to the point a is, at the moment, a is taken as the origin, a sphere B with the radius of 10 centimeters is expanded, and the intersection point B of the sphere B and the vector is the target point position of the tail end of the probe which the mechanical arm needs to plan to reach;
s3: controlling the mechanical arm to exchange for the probe end executor, carrying a probe end touch missing point and calculating a missing point position coordinate;
s4: and controlling the mechanical arm to replace the twisting and leaking stoppage end effector, and moving to the coordinates of the leaking point position to perform twisting and leaking repair until the repair is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910914710.8A CN110605719A (en) | 2019-09-25 | 2019-09-25 | Robot, system and method for online pressurized leakage blocking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910914710.8A CN110605719A (en) | 2019-09-25 | 2019-09-25 | Robot, system and method for online pressurized leakage blocking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110605719A true CN110605719A (en) | 2019-12-24 |
Family
ID=68893536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910914710.8A Pending CN110605719A (en) | 2019-09-25 | 2019-09-25 | Robot, system and method for online pressurized leakage blocking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110605719A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676830A (en) * | 2020-12-09 | 2021-04-20 | 中广核研究院有限公司 | Automatic filter element disassembling and transferring device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012008857A1 (en) * | 2012-04-28 | 2013-10-31 | Daimler Ag | Method for checking tightness of gas unit of motor vehicle involves moving sensing element arranged in robot arm of robot over tank connecting piece to filling of gas tank and components of gas unit of motor vehicle in test center |
| CN105035347A (en) * | 2014-04-30 | 2015-11-11 | 波音公司 | Crawler Robot and Supporting Platform |
| CN109732555A (en) * | 2019-01-30 | 2019-05-10 | 华能汕头海门发电有限责任公司 | A kind of robot system of robot arm end effector that playing leak stopping with twirl |
| CN109732634A (en) * | 2019-01-30 | 2019-05-10 | 华能汕头海门发电有限责任公司 | It is a kind of for twisting the robot arm end effector for playing leak stopping |
| CN210678717U (en) * | 2019-09-25 | 2020-06-05 | 汕头大学 | Composite robot for online pressurized leakage stoppage |
-
2019
- 2019-09-25 CN CN201910914710.8A patent/CN110605719A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012008857A1 (en) * | 2012-04-28 | 2013-10-31 | Daimler Ag | Method for checking tightness of gas unit of motor vehicle involves moving sensing element arranged in robot arm of robot over tank connecting piece to filling of gas tank and components of gas unit of motor vehicle in test center |
| CN105035347A (en) * | 2014-04-30 | 2015-11-11 | 波音公司 | Crawler Robot and Supporting Platform |
| CN109732555A (en) * | 2019-01-30 | 2019-05-10 | 华能汕头海门发电有限责任公司 | A kind of robot system of robot arm end effector that playing leak stopping with twirl |
| CN109732634A (en) * | 2019-01-30 | 2019-05-10 | 华能汕头海门发电有限责任公司 | It is a kind of for twisting the robot arm end effector for playing leak stopping |
| CN210678717U (en) * | 2019-09-25 | 2020-06-05 | 汕头大学 | Composite robot for online pressurized leakage stoppage |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676830A (en) * | 2020-12-09 | 2021-04-20 | 中广核研究院有限公司 | Automatic filter element disassembling and transferring device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102802883A (en) | Calibration of a base coordinate system for an industrial robot | |
| CN114434059B (en) | Automatic welding system and method for large structural part with combined robot and three-dimensional vision | |
| CN204771255U (en) | Welding jig of car front longitudinal sub -unit | |
| CN109732555B (en) | Robot system with twisting and plugging mechanical arm end effector | |
| CN110701423B (en) | Pipeline leakage point positioning and repairing equipment and method based on double ends | |
| CN110936369B (en) | Large-scale workpiece pose accurate measurement and grabbing method based on binocular vision and mechanical arm | |
| CN113246142B (en) | Measuring path planning method based on laser guidance | |
| CN103495807A (en) | Multi-robot fiber laser cutting system | |
| CN111546376A (en) | Rapid self-collision detection method of space combination mechanical arm | |
| CN110605719A (en) | Robot, system and method for online pressurized leakage blocking | |
| CN112139860A (en) | Flexible track output method based on power-controlled robot polishing and implementation device thereof | |
| CN114515924A (en) | Tower foot workpiece automatic welding system and method based on weld joint identification | |
| CN210678717U (en) | Composite robot for online pressurized leakage stoppage | |
| CN216463279U (en) | Numerical control disc type cutter head tool changing robot | |
| CN114347038A (en) | Intersection pipeline double-arm cooperative welding robot and control system | |
| CN117047237B (en) | Intelligent flexible welding system and method for special-shaped parts | |
| CN112270859A (en) | Aircraft avionics joint debugging testing device based on cooperative robot and testing method thereof | |
| CN113664431A (en) | Steel structural part welding arm capable of adjusting posture in real time and adjusting method | |
| US20230103159A1 (en) | A High-Precision Mobile Robot Management and Scheduling System | |
| CN106239487A (en) | Laser opposite-radiation industry mechanical arm operating point coordinate teaching display-tool with sticking plastic and teaching method thereof | |
| WO2014042668A2 (en) | Automatic and manual robot work finder calibration systems and methods | |
| CN212330878U (en) | Angle-adjustable pipeline assembling robot | |
| CN111022936A (en) | Pipeline leakage point positioning device, under-pressure leakage blocking device and pipeline leakage point positioning method | |
| CN111889951A (en) | Angle-adjustable pipeline assembly robot and pipeline assembly angle adjusting method | |
| JP3005404B2 (en) | Robot hand exchange device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |