CN103286775A - Nondestructive testing robot for excavator - Google Patents
Nondestructive testing robot for excavator Download PDFInfo
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- CN103286775A CN103286775A CN2013101905622A CN201310190562A CN103286775A CN 103286775 A CN103286775 A CN 103286775A CN 2013101905622 A CN2013101905622 A CN 2013101905622A CN 201310190562 A CN201310190562 A CN 201310190562A CN 103286775 A CN103286775 A CN 103286775A
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Abstract
The invention discloses a nondestructive testing robot for an excavator. The nondestructive testing robot for the excavator comprises a robot body and a testing system, and is characterized in that the robot body comprises six joint modules and two electromagnetic chuck modules, the joint modules include two I-shaped joint modules and four T-shaped joint modules, the four T-shaped joint modules are sequentially serially connected to form two end portions, the two I-shaped joint modules are movably connected with the two end portions respectively and are movably connected with the two electromagnetic chuck modules respectively, the testing system comprises an ultrasonic probe, a data acquisition unit and a remote controller, and the ultrasonic probe is connected with one of the electromagnetic chuck modules via a rotating shaft. The nondestructive testing robot for the excavator is excellent in movement performance, high in testing efficiency and applicable to nondestructive testing of ferromagnetic object surfaces, and has the advantages of safety, reliability and practicality.
Description
Technical field
The present invention relates to the Robotics field, relate in particular to a kind of excavator Non-Destructive Testing robot.
Background technology
The amount of money of the old excavator of China's import accounts for excavator complete system import volume more than 90% at present, and quantity accounts for more than 35% of domestic Total sales volume.So the old excavator of enormous quantity will produce problems such as environmental pollution, energy consumption height thereupon, wherein have huge hidden danger most serious of all aspect production safety.The excavator check becomes one of important content of importing and exporting inspection and quarantine.A most important link was the detection to its structural member during excavator detected.Because the excavator work under bad environment, its structural member very easily corrodes, and is easy to generate fatigue simultaneously under the effect of stress, and production safety is caused very big hidden danger.Therefore, the detection that old excavator is carried out main and key structure spare is the important prerequisite of its production safety of assurance.
At present, the detection of old excavator is realized manually that all bigger limitation and deficiency are arranged, be mainly reflected in: 1) testing process is a kind of work high above the ground, exists huge potential safety hazard, as fall, crush, the hydraulic oil spray is hindered etc.2) manual detection speed is slow, and the uniformity that detects can't ensure.
Therefore, at above problem and shortage, develop a kind of excavator Non-Destructive Testing robot, replace manually detecting automatically, all be significant to improving detection efficiency, quality and solution safety problem.
Summary of the invention
The objective of the invention is to overcome the shortcoming and defect of above-mentioned prior art, provide a kind of simple in structure, configuration easily changes, small and exquisite flexibly, control excavator Non-Destructive Testing robot easy, with low cost.
The present invention is achieved through the following technical solutions:
A kind of excavator Non-Destructive Testing robot comprises robot body and detection system, and described robot body comprises six joint modules and two magnechuck modules; Described joint module is divided into two I type joint modules and four T type joint modules;
Described four T type joint modules are contacted successively and are formed two ends, and two I type joint modules flexibly connect with these two ends respectively;
Described two magnechuck modules flexibly connect with two I type joint modules respectively;
Described detection system comprises ultrasonic probe, data acquisition unit, the remote controllers that connect successively.
Ultrasonic probe is connected with one of them magnechuck module by a turning cylinder.
Described I type joint module comprises rotation auxiliary frame, output disk, I type steering wheel, bolt, nut, pedestal, the dish that is threaded, screw, rotating shaft;
I type steering wheel is fixed by screw bolt and nut by the installing hole on it and pedestal;
The output shaft of I type steering wheel is connected by the profile of tooth spline with output disk, and fastening with screw at the axle head of output shaft;
The rotation auxiliary frame has that forked end and fixedly is located on the output disk by screw, and round-meshed that end is movably set in the rotating shaft, and by the shaft shoulder in the rotating shaft and the dish axial restraint that is threaded;
The output shaft of I type steering wheel and rotating shaft are on same straight line, have corresponding unified screwed hole and unthreaded hole on output disk and the rotation auxiliary frame, the dish that is threaded is placed in the rotating shaft, its one side is relative with the rotation auxiliary frame, another side is close to pedestal, by screw, rotating shaft will rotate auxiliary frame, be threaded the dish and pedestal affixed;
Described T type joint module comprises swinging mounting, bolt, T type steering wheel output disk, last pedestal, following pedestal, screw, nut, pad, hollow rotating shaft, T type steering wheel;
The output shaft place end face of T type steering wheel is close to the pedestal inner face, and uses bolt affixed by the installing hole on it and last pedestal, following pedestal;
The output shaft of T type steering wheel is connected by the profile of tooth spline with output disk, and fastening with screw at the output axle head;
This forked end of swinging mounting band is fixed on the T type steering wheel output disk, the other end of band circular hole is movably set on the hollow rotating shaft, by the hollow rotating shaft shaft shoulder and pad axial restraint, the hollow rotating shaft other end is supported on down pedestal, is fixed in pedestal down by screw and nut;
T type steering wheel output disk axis and hollow rotating shaft axis are located along the same line;
The swinging mounting waist location has the unthreaded hole of eight circumference uniform distributions.
Described magnechuck module comprises D type steering wheel, magnechuck body and end cap; D type steering wheel is installed in the magnechuck body interior, and end cap links to each other with the I type joint module at robot body two ends by screw.
The present invention has following advantage and effect with respect to prior art:
1) six joint modules adopt cascaded structures, and each part connects successively, make robot head and the tail two ends symmetry, and head and the tail can be put mutually, are convenient to operation and control.
2) adopt two I type joint modules, four T type joint modules and two magnechuck modules, connection between these modules and fastening unified interface and the realization of bolt group by designing in each module obtain multiple robot configuration by connection and the combination that changes these modules.The structure of robot is simple, convenient and quick.
3) above-mentioned these modules are driven by identical steering wheel, and control is simple, and it is convenient to programme, debug.
4) detection system of excavator Non-Destructive Testing robot is connected with the magnechuck module by a cradle head, therefore the motion of ultrasonic sensor has 7 degree of freedom with respect to stiff end, can the optional position, implementation space and the detection of attitude, have the barrier of keeping away that a redundant degree of freedom is realized the end of robot or joint simultaneously.
Excavator Non-Destructive Testing Robotics means of the present invention are simple and easy to do, not only avoided testing staff's work high above the ground on excavator, reduced detection risk, also make the testing process Automatic Control, improved detection efficiency, reduce human factor error in the testing process simultaneously, improved detecting reliability.
Description of drawings
Fig. 1 is this excavator Non-Destructive Testing robot construction schematic diagram;
Fig. 2 is the simplified structure schematic diagram of this excavator Non-Destructive Testing robot;
Fig. 3 is the I type joint module schematic diagram of this excavator Non-Destructive Testing robot;
Fig. 4 is the exploded perspective view of Fig. 3;
Fig. 5 is the T type joint module schematic diagram of this excavator Non-Destructive Testing robot;
Fig. 6 is the exploded perspective view of Fig. 5;
Fig. 7 is magnechuck, the ultrasonic probe exploded perspective view of this excavator Non-Destructive Testing robot;
Fig. 8 is this excavator Non-Destructive Testing robot, the action reduced graph when the walking of upset gait side;
Fig. 9 is this excavator Non-Destructive Testing robot, the action reduced graph when reversing the walking of gait side;
Figure 10 is the electrical diagram of robot of the present invention detection system.
The specific embodiment
Below in conjunction with specific embodiment the present invention is done further concrete detailed description the in detail.
Embodiment
As shown in Figure 1 and Figure 2.Excavator Non-Destructive Testing of the present invention robot comprises robot body and detection system 0-4, and described robot body comprises six joint modules and two magnechuck module 0-3; Described joint module is divided into two I type joint module 0-2 and four T type joint module 0-1; Described four T type joint module 0-1 contact successively and form two ends, and two I type joint module 0-2 flexibly connect with these two ends respectively; Described two magnechuck module 0-3 flexibly connect with two I type joint module 0-2 respectively; Described detection system 0-4(is referring to Figure 10) comprise that successively the ultrasonic probe D-1(that connects is referring to Fig. 7), data acquisition unit, remote controllers, this ultrasonic probe D-1 is connected with one of them magnechuck module 0-3 by a turning cylinder.
Can be found out that by said structure this excavator Non-Destructive Testing robot has 7 degree of freedom, wherein robot body has six-freedom degree.
As shown in Figure 3, Figure 4.I type joint module comprises: rotate auxiliary frame I-1, output disk I-2, I type steering wheel I-3, bolt I-4, nut I-5, pedestal I-6, be threaded and coil I-7, screw I-8, rotating shaft I-9.It is the outsourcing standard component that power comes from I type steering wheel I-3, carries the output disk I-2 of steering wheel.I type steering wheel I-3 fixes by bolt I-4 and nut I-5 by the installing hole on it and pedestal I-6.The output shaft (not shown) of I type steering wheel I-3 is connected by the profile of tooth spline with output disk I-2, and fastening with screw at the axle head of output shaft.Rotation auxiliary frame I-1 has that forked end and fixedly is located on the output disk I-2 by screw, round-meshed that end is movably set on the rotating shaft I-9, and by the shaft shoulder on the rotating shaft I-9 and the dish I-7 axial restraint that is threaded, the output shaft (not shown) of I type steering wheel I-3 and rotating shaft I-9 rotate auxiliary frame I-1 and just can rotate under the drive of output disk I-2 around this straight line on same straight line.Rotate auxiliary frame I-1 and play auxiliary reinforcement effect.Have corresponding unified screwed hole and unthreaded hole on output disk I-2 and the rotation auxiliary frame I-1, as one of standard interface that is connected with other module.The dish I-7 that is threaded is placed on the rotating shaft I-9, and its one side is with to rotate auxiliary frame I-1 relative, and another side is close to pedestal I-6, by screw I-8 and rotating shaft I-9 will rotate auxiliary frame I-1, be threaded coil I-7 and pedestal I-6 affixed.Being threaded has corresponding screwed hole and unthreaded hole on dish I-7 and the pedestal I-6, as another standard interface that is connected with other module.Other module that is fixed in output disk I-2 rotates with respect to the steering wheel body with output disk I-2, has just realized the function of I type joint module.
As Fig. 5, shown in Figure 6.T type joint module comprises: swinging mounting T-1, bolt T-2, T type steering wheel output disk T-3, last pedestal T-4, following pedestal T-5, screw T-6, nut T-7, pad T-8, hollow rotating shaft T-9, T type steering wheel T-10.Power comes from T type steering wheel T-10, and it is the outsourcing standard component, carries T type steering wheel output disk T-3.The output shaft (not shown) place end face of T type steering wheel T-10 is close to pedestal T-4 inner face, and affixed with bolt by the installing hole on it and last pedestal T-4, following pedestal T-5.The output shaft (not shown) of T type steering wheel T-10 is connected by the profile of tooth spline with output disk T-3, and fastening with screw at the output axle head.Swinging mounting T-1 is fixed on (can pass through screw) T type steering wheel output disk T-3 with this forked end, the other end of band circular hole is movably set on the hollow rotating shaft T-9, by the hollow rotating shaft T-9 shaft shoulder and pad T-8 axial restraint, the hollow rotating shaft T-9 other end is supported on down pedestal T-5, is fixed in pedestal T-5 down by screw T-6 and nut T-7.T type steering wheel output disk T-3 axis and hollow rotating shaft T-9 axis are located along the same line, and swinging mounting T-1 just can be under the driving of T type steering wheel output disk T-3, around the rotation of this straight line do with respect to T type steering wheel T-10 body.Swinging mounting T-1 waist location has the unthreaded hole of eight circumference uniform distributions, as one of standard interface that is connected between the T type joint module, be combined to form the standard interface that another is connected with T type joint module (perhaps other modules) and go up pedestal T-4 with following pedestal T-5.When swinging mounting T-1 produces relative rotation under the driving of T type steering wheel output disk T-3, drive connected T type joint module and do corresponding the rotation, just realized the function of T type joint module.
As shown in Figure 7.Magnechuck module 0-3 comprises: D type steering wheel D-2, magnechuck body X-2 and end cap X-1, and the power that ultrasonic sensor D-1 rotates comes from D type steering wheel D-2, and it is the outsourcing standard component.D type steering wheel D-2 is installed in magnechuck body X-2 inside, mounts and dismounts by the end cap X-1 that opens its upper end.End cap X-1 links to each other with the I type joint module at robot body two ends by screw.
As shown in Figure 8.The climbing step is: 1) magnechuck module (refer among the figure upper end) is adsorbed on the excavator to support robot body, and another magnechuck module (refer among the figure lower end) is unclamped; 2) T type joint module (near especially those two the magnechuck module) rotates, make the magnechuck module (can be described as the magnechuck module of moving about) of unclamping withdraw the excavator surface, entire machine human body is wound from the nearest T type joint module axle upset of fixing magnechuck module, and the magnechuck block motion of moving about is to the target location of the opposite side of fixing magnechuck; The magnechuck module of 3) moving about adsorbs excavator after arriving the target location; 4) step of repetition front, cycle alternation, robot body are namely realized the climbing motion.In this gait, relative position alternately changes before and after two magnechuck modules of robot body.Utilize I type joint module to change the absorption direction of magnechuck module, action such as can realize between the Different Plane of excavator surface transition or turn round.
As shown in Figure 9.The climbing step is: 1) magnechuck module (refer among the figure upper end) is adsorbed on the excavator to support robot body, and another magnechuck module (refer among the figure lower end) is unclamped; 2) four T type joint modules in the middle of rotate, make the magnechuck module (can be described as the magnechuck module of moving about) of unclamping shorten spacing (moving on being shown as among the figure) between two magnechuck modules by assigned direction, required moment of torsion when reversing with minimizing; After the magnechuck module of 3) moving about arrived the target location, the angle of the I type joint module rotation appointment that links to each other with the magnechuck module of fixing (being 180 degree among the figure) arrived the place of expection, and is adsorbed on the excavator surface; 4) step of repetition front, cycle alternation, robot body are namely realized the climbing motion.In this gait, robot body utilizes the motion of I type joint module to move fast, and the required motion of other I type joint module is less, and the moment of bearing is less, is fit to robot body and rapidly moves to appointed positions at flat surfaces.
As shown in figure 10.Remote controllers are according to the detection position, and the climbing path of planning robot's body calculates the location track of each steering wheel (referring to Fig. 1 and Fig. 7: I type steering wheel, T type steering wheel, D type steering wheel).Arrive the position of expection when robot body after, remote controllers obtain the detection data of ultrasonic probe in real time by data acquisition unit, judge the degree of impairment at excavator position to be detected.
As mentioned above, just can realize the present invention preferably.
Embodiments of the present invention are not restricted to the described embodiments; other are any not to deviate from change, the modification done under spiritual essence of the present invention and the principle, substitute, combination, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (4)
1. an excavator Non-Destructive Testing robot comprises robot body and detection system, it is characterized in that: described robot body comprises six joint modules and two magnechuck modules; Described joint module is divided into two I type joint modules and four T type joint modules;
Described four T type joint modules are contacted successively and are formed two ends, and two I type joint modules flexibly connect with these two ends respectively;
Described two magnechuck modules flexibly connect with two I type joint modules respectively;
Described detection system comprises ultrasonic probe, data acquisition unit, the remote controllers that connect successively;
Described ultrasonic probe is connected with one of them magnechuck module by a turning cylinder.
2. excavator Non-Destructive Testing according to claim 1 robot is characterized in that:
Described I type joint module comprises rotation auxiliary frame, output disk, I type steering wheel, bolt, nut, pedestal, the dish that is threaded, screw, rotating shaft;
I type steering wheel is fixed by screw bolt and nut by the installing hole on it and pedestal;
The output shaft of I type steering wheel is connected by the profile of tooth spline with output disk, and fastening with screw at the axle head of output shaft;
The rotation auxiliary frame has that forked end and fixedly is located on the output disk by screw, and round-meshed that end is movably set in the rotating shaft, and by the shaft shoulder in the rotating shaft and the dish axial restraint that is threaded;
The output shaft of I type steering wheel and rotating shaft are on same straight line, have corresponding unified screwed hole and unthreaded hole on output disk and the rotation auxiliary frame, the dish that is threaded is placed in the rotating shaft, its one side is relative with the rotation auxiliary frame, another side is close to pedestal, by screw, rotating shaft will rotate auxiliary frame, be threaded the dish and pedestal affixed.
3. excavator Non-Destructive Testing according to claim 1 robot is characterized in that:
Described T type joint module comprises swinging mounting, bolt, T type steering wheel output disk, last pedestal, following pedestal, screw, nut, pad, hollow rotating shaft, T type steering wheel;
The output shaft place end face of T type steering wheel is close to the pedestal inner face, and uses bolt affixed by the installing hole on it and last pedestal, following pedestal;
The output shaft of T type steering wheel is connected by the profile of tooth spline with output disk, and fastening with screw at the output axle head;
This forked end of swinging mounting band is fixed on the T type steering wheel output disk, the other end of band circular hole is movably set on the hollow rotating shaft, by the hollow rotating shaft shaft shoulder and pad axial restraint, the hollow rotating shaft other end is supported on down pedestal, is fixed in pedestal down by screw and nut;
T type steering wheel output disk axis and hollow rotating shaft axis are located along the same line;
The swinging mounting waist location has the unthreaded hole of eight circumference uniform distributions.
4. excavator Non-Destructive Testing according to claim 1 robot, it is characterized in that: described magnechuck module comprises D type steering wheel, magnechuck body and end cap; D type steering wheel is installed in the magnechuck body interior, and end cap links to each other with the I type joint module at robot body two ends by screw.
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Cited By (11)
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| CN104908835A (en) * | 2015-06-10 | 2015-09-16 | 华南理工大学 | Climbing mechanism of climbing robot |
| CN105523094A (en) * | 2015-12-25 | 2016-04-27 | 国网重庆市电力公司电力科学研究院 | Climbing robot for iron towers |
| CN105539624A (en) * | 2015-12-30 | 2016-05-04 | 广东出入境检验检疫局检验检疫技术中心 | Metal surface climbing and detecting robot |
| CN106826831A (en) * | 2017-02-27 | 2017-06-13 | 武汉科技大学 | Detect the walking robot control system and control method of steel construction wall |
| CN107131912A (en) * | 2017-06-15 | 2017-09-05 | 中海油能源发展股份有限公司 | A kind of testing agency based on offshore platform spud leg inwall climbing robot sucker |
| CN107666990A (en) * | 2015-03-17 | 2018-02-06 | 韩国技术教育大学校 | Robot arm |
| CN108555891A (en) * | 2018-07-09 | 2018-09-21 | 杨程飞扬 | A kind of mine working machine people |
| CN108891387A (en) * | 2018-06-19 | 2018-11-27 | 哈尔滨工程大学 | A kind of portable intelligent carwash robot |
| CN110440903A (en) * | 2019-09-03 | 2019-11-12 | 皖西学院 | A kind of lathe viberation detector |
| CN111443308A (en) * | 2018-12-28 | 2020-07-24 | 深圳市优必选科技有限公司 | Magnetic type steering engine and hot plug detection circuit and orientation detection circuit thereof |
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| CN103991089A (en) * | 2014-05-22 | 2014-08-20 | 电子科技大学 | Body segment unit for multi-body-segment S-shaped robot |
| CN107666990A (en) * | 2015-03-17 | 2018-02-06 | 韩国技术教育大学校 | Robot arm |
| CN107666990B (en) * | 2015-03-17 | 2021-04-16 | 韩国技术教育大学校 | Robot arm |
| CN104908835A (en) * | 2015-06-10 | 2015-09-16 | 华南理工大学 | Climbing mechanism of climbing robot |
| CN105523094A (en) * | 2015-12-25 | 2016-04-27 | 国网重庆市电力公司电力科学研究院 | Climbing robot for iron towers |
| CN105539624A (en) * | 2015-12-30 | 2016-05-04 | 广东出入境检验检疫局检验检疫技术中心 | Metal surface climbing and detecting robot |
| CN106826831A (en) * | 2017-02-27 | 2017-06-13 | 武汉科技大学 | Detect the walking robot control system and control method of steel construction wall |
| CN107131912A (en) * | 2017-06-15 | 2017-09-05 | 中海油能源发展股份有限公司 | A kind of testing agency based on offshore platform spud leg inwall climbing robot sucker |
| CN108891387A (en) * | 2018-06-19 | 2018-11-27 | 哈尔滨工程大学 | A kind of portable intelligent carwash robot |
| CN108891387B (en) * | 2018-06-19 | 2021-07-13 | 哈尔滨工程大学 | Portable intelligent car washing robot |
| CN108555891A (en) * | 2018-07-09 | 2018-09-21 | 杨程飞扬 | A kind of mine working machine people |
| CN108555891B (en) * | 2018-07-09 | 2021-12-31 | 玉环市梓鑫机械有限公司 | Underground excavation robot |
| CN111443308A (en) * | 2018-12-28 | 2020-07-24 | 深圳市优必选科技有限公司 | Magnetic type steering engine and hot plug detection circuit and orientation detection circuit thereof |
| CN110440903A (en) * | 2019-09-03 | 2019-11-12 | 皖西学院 | A kind of lathe viberation detector |
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Application publication date: 20130911 |