CN103395064B - A kind of Rack pipe detection robot based on supersonic guide-wave technology - Google Patents
A kind of Rack pipe detection robot based on supersonic guide-wave technology Download PDFInfo
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- CN103395064B CN103395064B CN201310325642.4A CN201310325642A CN103395064B CN 103395064 B CN103395064 B CN 103395064B CN 201310325642 A CN201310325642 A CN 201310325642A CN 103395064 B CN103395064 B CN 103395064B
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Abstract
The present invention relates to a kind of Rack pipe detection robot based on supersonic guide-wave technology.Its principal character is based on modular construction, is connected with two clampers by five rotary modules by series system; Two clampers can be changed according to different tube diameters, and its paw is equipped with guided wave probe clamp assemblies, can install the guided wave probe of different structure and quantity; Realized the pose adjustment of end clamper by the stretching, extension of rotary module and contraction, two paws are clamping alternately, coordinates rotary module to realize various climbing sports.The present invention adopts the control system of Based PC/104 bussing technique, is made up of servomotor, embedded computer board, sensor and tele-control system.The present invention has that volume is little, quality is light, structure is simple, the feature that flexibility is strong, can realize that straight tube is creeped, bend pipe is creeped, manage between the multiple detection motion such as to creep, integrated by guided wave detection technology and Robotics, realizes the comb Non-Destructive Testing based on supersonic guide-wave technology.
Description
Technical field
The invention belongs to Robotics and ultrasonic guided wave detection technology field, relate to a kind of Rack pipe detection robot based on supersonic guide-wave technology.
Background technology
Industrial pipeline is widely used in the industries such as oil, chemical industry, metallurgy, pharmacy, the energy and environmental protection, is responsible for the conveying task of high temperature, high pressure, the medium such as inflammable, explosive and poisonous, once occur to leak or blast, likely causes catastrophic accident.Therefore, realize seeming particularly important to quick, effective detection of defect of pipeline.
For the Non-Destructive Testing of defect of pipeline, technical way has: ultrasonic, magnetic, the methods such as ray.Wherein, ultrasonic guided wave detecting is a kind of effective technological approaches.As the novel detection technique of one, ultrasonic guided wave detecting is compared with traditional ultrasound detection, and have two obvious features: one, the energy attenuation of supersonic guide-wave is less, disposable long transmission distance; Its two, detection efficiency is high, because supersonic guide-wave has particle vibration at pipeline surfaces externally and internally and middle part, sound field is throughout whole tube wall, and thus whole wall thickness range all can be detected, can simultaneously testing pipes internal flaw and external defects.So, adopt supersonic guide-wave technology to carry out the Non-Destructive Testing of pipeline, have broad application prospects and huge development potentiality.But, also there is following technical bottleneck in applying of ultrasonic guided wave detecting: first, detection efficiency is low, in most pipe-line system environment, pipeline is of a great variety, and pipeline is densely distributed, move towards intricate, and operating environment is severe, there is certain difficulty in the installation of guided wave probe, limits the efficiency of Guided waves.The second, in testing process, the factor such as detection experience of operating personnel, directly affects Detection results, comprises recall rate, defect type and fault location etc.3rd, during work high above the ground, there is certain danger in testing staff.For power plant's comb, wherein comb is intensive, system complex, and service requirements is frequent; Manual detection efficiency is low, can not realize full inspection, with high costs, and there is personal safety hidden danger etc.In sum, Guided waves equipment can be carried, the Rack pipe detection robot realizing Detection task is that the solution of the problems referred to above provides an effective way, measuring robots is as the carrier of guided wave detection technology, the multiple reptile fashion in comb space can be realized: single tube is kept straight on, bend pipe creeps, manage between switch, switch between tube panel, integrated by guided wave detection technology and Robotics, realizes the comb Non-Destructive Testing based on supersonic guide-wave technology.
For the research of detecting robot of pipe, China achieves certain achievement in research in multiple application in recent years.Patent of invention CN 102135221 A discloses a kind of detecting robot of pipe based on probe in detecting, its structure comprises fuselage, battery, pressure balance contraction air bag, walking mechanism etc., the leak source of inner-walls of duct is checked by the probe of device for detecting leak point, by the displacement during record device for detecting leak point action of mileage wheel, and then judge leak source position, be mainly used in the detection of oil, natural gas line.Patent of invention CN 1745985 A discloses a kind of heating surface pipeline inspecting robot of heat exchanger, its structure comprises walking mechanism, workbench, computer, wireless communication apparatus, working rig mechanical arm, driver etc., be characterized in that walking mechanism is made up of four leg traveling vehicle frames, roller and traveling crawler, can realize along pipeline longitudinally walking and horizontal translation walking.Patent of invention CN 101364452 A discloses a kind of nuclear power steam generator pipe detection robot, its structure comprises two paw mechanisms, two paws by driving shaft and upper cantilever hinged, by driven shaft and lower cantalever hinged, whole device is driven by motor, driving shaft upper end is provided with potentiometer, and is connected with sensor leading arm.Its great advantage is that structure is little, is convenient to it to put into steam generator by narrow and small entrance.Patent of invention CN102878436A discloses one and is applicable to a kind of caliduct measuring robots, the shape of robot is human-like, determines position, direction and barrier, pass image back industrial controlled machine by camera, by industrial controlled machine analyzing and processing, completed the action of movement by mobile device.Measured temperature and the distance distribution condition of pipeline by digital temperature sensor, launch ultrasonic wave by the ultrasonic transmitter of upper limbs operator, have the ultrasonic receiver Received signal strength of belly.Pass temperature sensor and hyperacoustic detection data back industrial controlled machine simultaneously, determined whether that heating installation leaks.
On the whole, current achievement in research is mainly for the detection of single pipe duty, there is the defects such as complex structure, detection efficiency be low in part achievement, for structure and the complicated operating environment of comb, relevant robot architecture and motion planning still immature, achievement in research based on the Rack pipe detection robot of guided wave technology is few, and does not obtain practical application.
Summary of the invention
The present invention mainly solves the technical problem existing for prior art; Provide and propose a kind of Rack pipe detection robot is combined with Robotics by guided wave detection technology, and the multiple reptile fashion in comb space can be realized: single tube craspedodrome, bend pipe are creeped, manage between switching, switch between tube panel.The present invention realizes the autokinetic movement planning of testing process, people can be replaced to carry out the pipe detection operation of complexity and danger, effectively can improve detection efficiency, ensure the safety of industrial piping system, there is a kind of Rack pipe detection robot based on supersonic guide-wave technology of good economic worth and social value.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
Based on a Rack pipe detection robot for supersonic guide-wave technology, it is characterized in that, comprise at least five rotary modules, and two clampers; Namely the first rotary module, the second rotary module, the 3rd rotary module, the 4th rotary module, the 5th rotary module, the first clamper and the second clamper is comprised; Described second rotary module, the 3rd rotary module and the 4th rotary module adopt axis being parallel to arrange; With the axes normal of the second rotary module, the 3rd rotary module and the 4th rotary module while of described first rotary module and the 5th rotary module; Described first clamper and the second clamper are arranged on the first rotary module and the 5th rotary module respectively, and the first clamper and the first rotary module, the second clamper adopt coaxial setting with the 5th rotary module; Described first rotary module, the second rotary module, the 3rd rotary module, the 4th rotary module, the 5th rotary module all adopt rotary module connector to be connected in series; Described first clamper adopts clamper connector to be connected with between the first rotary module, between the second clamper with the 5th rotary module.Order is followed successively by: the first clamper, the first rotary module, the second rotary module, the 3rd rotary module, the 4th rotary module, the 5th rotary module, the second clamper.
In above-mentioned a kind of Rack pipe detection robot based on supersonic guide-wave technology, described first rotary module, the second rotary module, the 3rd rotary module, the 4th rotary module, the 5th rotary module structure are identical, include: fixed electrical machinery shell, be arranged on the matched first planet decelerator of the first DC servo motor in fixed electrical machinery shell and encoder component, power shaft and the first DC servo motor and encoder component output shaft, rotational shell and be arranged on hexagonal flush end in the rotary module transmission component, first in rotational shell and mark closely screw; Described fixed electrical machinery shell is fastenedly connected by screw and transmission component; First planet reducer output shaft drives rotational shell to rotate by transmission component; First planet decelerator marks closely screw by hexagonal flush end in first and rotational shell is fastenedly connected.
In above-mentioned a kind of Rack pipe detection robot based on supersonic guide-wave technology, described rotary module transmission component comprises: clutch shaft bearing end cap, the first pad, the first angular contact ball bearing, bearing block; Described bearing sleeve on first planet decelerator, and is fastenedly connected by screw and fixed electrical machinery shell; First angular contact ball bearing to be enclosed within bearing block and to support rotational shell; Clutch shaft bearing end cap is fastenedly connected by screw and rotational shell.
In above-mentioned a kind of Rack pipe detection robot based on supersonic guide-wave technology, described first clamper and the second holder structure identical, include: the second planetary reducer that the second DC servo motor and encoder component, power shaft connect with the second DC servo motor and encoder component output shaft, motor cabinet, clamper platform, clamp transmission component, clip claw assembly, the guided wave that is connected with clip claw assembly pop one's head in clamp assemblies; Described second planetary reducer is fastenedly connected by motor cabinet and clamper platform; Clamper transmission component is provided with in clamper platform; Second DC servo motor and encoder component drive clip claw assembly to carry out clamping and detecting by the second planetary reducer and clamper transmission component.
In above-mentioned a kind of Rack pipe detection robot based on supersonic guide-wave technology, described clamper transmission component comprises: the shaft coupling connected with the second planetary reducer output shaft, bearing pin, the first gear shaft connected with shaft coupling, the first travelling gear be fixedly connected with the first gear shaft, the second bearing (ball) cover, key, to nibble merga pass key be assemblied in hexagonal flush end in the second travelling gear on the second gear shaft, the second angular contact ball bearing, the second pad, locating ring, second and mark closely screw with the first travelling gear; Described shaft coupling one end and the second planetary reducer are marked closely screw fastening by hexagonal flush end in second and are connected, and the other end and the first gear shaft are fixed by axis hole profile; First gear shaft and the second gear shaft two ends are all bearing in clamper platform by the second angular contact ball bearing; Second bearing (ball) cover is fastenedly connected by screw and clamper platform.
In the above-mentioned a kind of Rack pipe detection robot based on supersonic guide-wave technology, described clip claw assembly comprises at least two inside connecting rods, at least two outside connecting rods and two paws; Inside connecting rod one end is fastenedly connected with the first travelling gear and the second travelling gear respectively by screw, and the other end is hinged with two paws respectively; Two outside connecting rod one end are hinged with clamper platform respectively, and the other end is hinged with paw respectively;
In above-mentioned a kind of Rack pipe detection robot based on supersonic guide-wave technology, described guided wave probe clamp assemblies comprises: hexagonal flush end holding screw, guided wave probe grip block in spring leaf, the 3rd; Guided wave probe grip block is connected with spring leaf by screw; Spring leaf is affixed by the paw of screw and robot gripper; Guided wave probe grip block on be equipped be used for fixing guided wave probe the 3rd in hexagonal flush end holding screw.
In above-mentioned a kind of Rack pipe detection robot based on supersonic guide-wave technology, described two paw inwalls and tube contacts position are also provided with rubber blanket.
Therefore, tool of the present invention has the following advantages: 1. modular method for designing, and robot structure and dismounting are simply, convenient and swift; 2. cascaded structure, each module adopts series system to connect successively, and configuration is symmetrical.Only need two kinds of modules can realize the structure of Rack pipe detection robot, the structure of this measuring robots conveniently can carry out the Kinematic Model of robot, can obtain Robotic inverse kinematics solution by Directly solution, make the control of robot simple; 3. can realize Detection task when clamper paw clamps, climbing and Detection task carry out simultaneously, and two clamper paws all can install Guided waves probe, can improve detection efficiency; 4. flexibility is good, can realize that straight tube is creeped, bend pipe is creeped, manage between creep, the climbing such as switching, obstacle leap between tube panel; 5. clamper paw itself has certain caliber adaptability, again because adopt pinned connection conveniently can carry out the replacing of paw to adapt to climbing and to detect different calibers.
Accompanying drawing explanation
The structural scheme of mechanism of Fig. 1 Rack pipe detection robot based on supersonic guide-wave technology of the present invention.
The outside drawing of Fig. 2 Rack pipe detection robot based on supersonic guide-wave technology of the present invention.
The rotary module outside drawing of Fig. 3 Rack pipe detection robot based on supersonic guide-wave technology of the present invention.
The rotary module profile of Fig. 4 Rack pipe detection robot based on supersonic guide-wave technology of the present invention.
The clamper module outside drawing of Fig. 5 Rack pipe detection robot based on supersonic guide-wave technology of the present invention.
The main pseudosection of clamper module of Fig. 6 a Rack pipe detection robot based on supersonic guide-wave technology of the present invention.
The clamper module top plan view of Fig. 6 b Rack pipe detection robot based on supersonic guide-wave technology of the present invention.
The clamper module stereogram of Fig. 6 c Rack pipe detection robot based on supersonic guide-wave technology of the present invention.
The clamping piping schematic of Fig. 7 Rack pipe detection robot based on supersonic guide-wave technology of the present invention.
The control system the general frame of Fig. 8 Rack pipe detection robot of the present invention.
The control system hardware the general frame of Fig. 9 Rack pipe detection robot of the present invention.
The straight tube climbing schematic diagram (climbing step 1, in figure, hand A refers to the first clamper, and hand B refers to the second clamper) of Figure 10 a Rack pipe detection robot of the present invention.
The straight tube climbing schematic diagram (climbing step 2) of Figure 10 b Rack pipe detection robot of the present invention.
Straight tube climbing schematic diagram (the climbing step 3) of Figure 10 c Rack pipe detection robot of the present invention.
Schematic diagram (climb first element in step 1, in figure, hand A refers to the first clamper, and hand B refers to the second clamper) is climbed between the pipe of Figure 11 a Rack pipe detection robot of the present invention.
Schematic diagram (second action in climbing step 1) is climbed between the pipe of Figure 11 b Rack pipe detection robot of the present invention.
Schematic diagram (climbing step 2) is climbed between the pipe of Figure 11 c Rack pipe detection robot of the present invention.
Schematic diagram (climbing step 3) is climbed between the pipe of Figure 11 d Rack pipe detection robot of the present invention.
Schematic diagram (climbing step 4) is climbed between the pipe of Figure 11 e Rack pipe detection robot of the present invention.
The bend pipe climbing schematic diagram (climb first element in step 1, in figure, hand A refers to the first clamper, and hand B refers to the second clamper) of Figure 12 a Rack pipe detection robot of the present invention.
The bend pipe climbing schematic diagram (second action in climbing step 1) of Figure 12 b Rack pipe detection robot of the present invention.
The bend pipe climbing schematic diagram (climbing step 2,3,4) of Figure 12 c Rack pipe detection robot of the present invention.
Schematic diagram (climb first element in step 1, in figure, hand A refers to the first clamper, and hand B refers to the second clamper) is climbed between two tube panels of Figure 13 a Rack pipe detection robot of the present invention.
Schematic diagram (second action in climbing step 1) is climbed between two tube panels of Figure 13 b Rack pipe detection robot of the present invention.
Schematic diagram (climbing step 2) is climbed between two tube panels of Figure 13 c Rack pipe detection robot of the present invention.
Schematic diagram (climbing step 3) is climbed between two tube panels of Figure 13 d Rack pipe detection robot of the present invention.
Schematic diagram (climb first element in step 1, in figure, hand A refers to the first clamper, and hand B refers to the second clamper) is climbed between the multitube screen of Figure 14 a Rack pipe detection robot of the present invention.
Schematic diagram (second action in climbing step 1) is climbed between the multitube screen of Figure 14 b Rack pipe detection robot of the present invention.
Schematic diagram (climbing step 2) is climbed between the multitube screen of Figure 14 c Rack pipe detection robot of the present invention.
Schematic diagram (climbing step 3) is climbed between the multitube screen of Figure 14 d Rack pipe detection robot of the present invention.
Schematic diagram (climbing step 4) is climbed between the multitube screen of Figure 14 e Rack pipe detection robot of the present invention.
Schematic diagram (in climbing step 5 first element) is climbed between the multitube screen of Figure 14 f Rack pipe detection robot of the present invention.
Schematic diagram (second action in climbing step 5) is climbed between the multitube screen of Figure 14 g Rack pipe detection robot of the present invention.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment:
The present invention is in overall construction design, a kind of modular both hands pawl climbing robot is provided, as depicted in figs. 1 and 2, robot adopts modular construction, Rack pipe detection robot adopts five rotary freedoms and two clampers, totally two kinds of seven modules, each module adopts series system to connect, order is followed successively by: the first clamper A-first rotary module A1-second rotary module A2-the 3rd rotary module C-the 4th rotary module B2-the 5th rotary module B1-second clamper B, two clampers can install detection probe, first clamper A and the first rotary module A1 dead in line, second clamper B and the 5th rotary module B1 dead in line, second rotary module A2, 3rd rotary module C, 4th rotary module B2 tri-module axle line parallel, first rotary module A1, 5th rotary module B1 and the second rotary module A2, 3rd rotary module C, the axes normal of the 4th rotary module B2.
In the present invention, three rotary modules in the middle of Rack pipe detection robot can realize stretching, extension and the contraction of robot.First rotary module A1 coordinates middle three rotary modules can realize position and the pose adjustment of end clamper with the 5th rotary module B1.In climbing process, the alternately clamping of robot two hand gripper jaws, coordinates rotary module to realize various climbing.
The present invention is at rotary module design aspect, and described rotary module has a rotational freedom, pivot center and rotary module dead in line.Rotary joint is driven by DC servo motor, output torque after being slowed down by planetary reduction gear, drives rotational shell to rotate, has the simple feature of structure.
In the present invention, the modularized joint basic element of character of robot is made up of motor, decelerator, feedback element.According to the difference of groups of reducers, modularized joint is designed with three kinds of schemes: planetary reducer, worm type of reduction gearing, harmonic speed reducer.Wherein use the required precision of planet wheel decelerator to decelerator and mounting structure relatively stricter, and decelerator quality is bigger than normal, but its compact conformation, and backhaul gap is less.Worm type of reduction gearing lighter weight, but when big speed ratio, system effectiveness is lower, increases power and the quality of motor.Harmonic speed reducer quality is little, gearratio is large, easy for installation, but mostly be foreign well-known company produce, expensive.The application requirement of the modularized joint designed by considering herein and economy, therefore select planetary reducer.In joint of robot control system, due to DC servo motor have that volume is little, response is fast, overload capacity large, speed-regulating range width, fluctuation are little, rear end can be carried encoder and form the advantages such as semiclosed loop, so joint drive of the present invention is adopted DC servo motor.Drive motors and encoder integrated, namely motor rear end directly connects encoder, becomes DC servo motor and encoder component.
In the present invention, the outward appearance of rotary module and structure are respectively as shown in Figure 3 and Figure 4.This joint module has a rotational freedom, realizes motion and Torque Control by control system.Rotary module main parts size comprises: in fixed electrical machinery shell 1, first DC servo motor and encoder component 2, first planet gear reduction unit 3, clutch shaft bearing end cap 4, first pad 5, first angular contact ball bearing 6, bearing block 7, rotational shell 8, first, hexagonal flush end is marked closely screw 9 and formed.Fixed electrical machinery shell 1 is enclosed within first planet gear reduction unit 3, and is connected by screw on bearing block 7.First DC servo motor and encoder component 2 connect with first planet gear reduction unit 3.The output shaft of first planet gear reduction unit 3 and rotational shell 8 are marked closely screw 9 by hexagonal flush end in first and are fastenedly connected.First angular contact ball bearing 6 to be enclosed within bearing block 7 and to support rotational shell 8.Clutch shaft bearing end cap 4 is fastenedly connected by screw and rotational shell 8.Rotational shell 8 is that space has been reserved in the installation of the driver of the first DC servo motor and encoder component 2.
The present invention, in clamper modular design, in order to meet operating environment requirements and detection demand, simplified design, is convenient to the manufacture of model machine, determines to use DC servo motor, planetary reducer, gear drive, parallelogram lindage to realize holding function.Described in it, clamper module is driven by DC servo motor, after planetary reduction gear, transmitting torque is to gear, by the engagement of two gears, drive the inside connecting rod be fixed on gear to rotate, inside connecting rod, outside connecting rod, platform, paw form clamping and the release function that parallel-crank mechanism realizes paw.This transmission mechanism makes clamper when clamping and releasing, and plane and straight line motion done by two clips, and its clamping face remains parallel.And the structural design of V-arrangement opening is have employed at the clip of end, make it can adapt to difformity and size tubulars within the specific limits.
In the present invention, the outward appearance of clamper module and structure are respectively as shown in Fig. 5, Fig. 6 a, Fig. 6 b and Fig. 6 c.Clamper module main parts size comprises: the second DC servo motor and encoder component 10, second planetary reducer 11, motor cabinet 12, shaft coupling 13, bearing pin 14, clamper platform 15, first travelling gear 16, first gear shaft 17, second bearing (ball) cover 18, key 19, second travelling gear 20, second angular contact ball bearing 21, second gear shaft 22, second pad 23, locating ring 24, in second, hexagonal flush end marks closely screw 25, paw 26, outside connecting rod 27, inside connecting rod 28, spring leaf 29, hexagonal flush end holding screw 30 in 3rd, guided wave probe grip block 31.Second DC servo motor and encoder component 10 and the second planetary reducer 11 connect.Second planetary reducer 11 is fixed by motor cabinet 12 and clamper platform 15.Shaft coupling 13 one end and the second planetary reducer 11 are fixed, and the other end and the first gear shaft 17 are fixed by axis hole profile.First travelling gear 16 and the second travelling gear 20 engage.Two travelling gears are assemblied on the first gear shaft 17 and the second gear shaft 22 respectively.Inside connecting rod 28 is fixedly connected with the first travelling gear 16 by screw, and hinged with paw 26, outside connecting rod 27 and paw 26 and clamper platform 15 hinged.Paw 26, inside connecting rod 28, outside connecting rod 27 form parallel-crank mechanism with clamper platform 15.Two clamper paws keep being synchronized with the movement by two meshed transmission gear, and realize the clamping of clamper paw and loosen.Clamper paw can install rubber with tube contacts position, strengthen the Stability and adaptability of paw clamping.Guided wave probe grip block 31 is connected with spring leaf 29 by screw; Spring leaf 29 by screw and robot gripper paw 26 affixed; Guided wave probe grip block 31 on be equipped be used for fixing guided wave probe the 3rd in hexagonal flush end holding screw 30.
In the present invention, adopt probe to insert in the square groove of guided wave probe self-clamping module 31, its launch guided wave one facing to robot hand clamping direction.This probe is arranged symmetrically with on robot gripper paw 26, is fixed by screws on guided wave probe grip block 31, completes the installation of probe.What in the present invention, guided wave probe adopted is PZT (piezoelectric transducer), because setting testing pipes diameter is less, according to robot gripper paw structure, has been arranged symmetrically with two groups of probes.By robot hand clamping, realize equidistant annular configuration.With Guided waves probe robotic gripper's pipeline conditions as shown in Figure 7: during the clamping of robot hand module, by controlling, realize paw F face and H face and pipeline tangent, now paw G face and paw are had an appointment 2mm gap; Because preassembled guided wave probe self-clamping module D face (namely launching guided wave face) exceedes distance paw D face 2mm, now, because probe D face and spring leaf 29 are connected, coordinating of Automatic adjusument and pipeline enclosure can be realized by the spring leaf 29 be fixed in probe self-clamping module during clamping, ensure that probe face is fitted pipeline.Meanwhile, when pipe surface has uneven projection, the adaptivity of guided wave probe clamp assemblies also better can ensure the laminating of probe face D and pipeline.
In the present invention, the hand based on the Rack pipe detection robot clamper module of supersonic guide-wave technology grabs assembly and guided wave probe clamp assemblies has convertibility.In real work, due to required excitation and the difference receiving guided wave modal, the factors such as pipe diameter size, often need the probe combination arranging varying number to be equidistantly arranged on pipeline.In the present invention, robot gripper paw 26 and guided wave probe grip block 31 have convertibility, can change paw 26 and guided wave probe grip block 31 vibrational power flow and install and organize probe, practical requirement more.Robot gripper paw 26 exchonge step is as follows: disassemble the bearing pin 14 between two paws 26 and clamper platform 15, and more transducing meets the clamper paw of clamping requirement different arc or structure; Guided wave probe grip block 31 exchonge step is as follows: disassemble the screw that grip block 31 that spring leaf 29 pop one's head in guided wave is affixed, unload guided wave probe grip block 31, and the many slots changing circumference are popped one's head in self-clamping modules, can realize the replacing of probe group quantity.About guided wave detection technology, the medium that guided wave is carried in propagation characteristic and the sensor that adopts and arrangement thereof, guided wave modal, driving frequency, pipeline physical dimension, pipeline in the duct and pipeline overwrap etc. have substantial connection.According to actual needs, ensure sufficient amount, equidistantly, etc. the probe of characteristic symmetrical, equably along the circumferential layout of institute's testing pipes, could realize encouraging and the guided wave of mode needed for reception, give full play to guided wave detection technology advantage.
In the present invention, the Rack pipe detection robot based on supersonic guide-wave technology adopts distributed control mode.This control mode adopts the thought of centralized management and decentralised control, has good opening and autgmentability, more can adapt to the multi-functional application requirement of Rack pipe detection robot.The core concept of dcs is centralized management, distributed controll, namely controls to be separated with management.Host computer is used for centralized watch management function, and slave computer is distributed to scene and realizes distributed controll, interconnects to realize information transmission between upper and lower computer by net control.Because controlling functions realizes in slave computer dispersion, each slave computer can realize concurrent working, substantially increases processing speed and the ability of whole system.Obviously, dcs has following significantly advantage: realize Centralized Monitoring and management, manage and be separated with scene, and management more can synthesization and systematization; Realize decentralised control, can make the design of each functional module, assembling, debugging, maintenance independently, the danger dispersion of Systematical control, reliability improves, and investment reduces; Adopt the network communications technology, can increase as required with microprocessor is the functional module of core, has good systemic openness, autgmentability and upgrade feature.
In the present invention, based on supersonic guide-wave technology Rack pipe detection robot control system overall framework as shown in Figure 8, this control system forms primarily of DC servo-motor, motor driver, embedded computer board, sensor assembly and tele-control system.
In the present invention, the control level that the CAN2.0 bus of described control system exports drives actuating unit to rotate by driver drives servomotor.Serve Motor Control plate is received from embedded computer board control instruction by CAN2.0 bus, sends the instruction of various control letter to servomotor, completes and controls the FEEDBACK CONTROL of servomotor and the start-stop of actuating unit.Capture card will to these signals carry out algorithm process the Signal transmissions that sensor gathers to PCM3362, PCM3362 by PC/104 bus.Letter communication between tele-control system and PCM3362 adopts WLAN to realize.
In the present invention, the embedded computer board of described control system is the core that Rack pipe detection robot controls, and completes all controlling functions, by PC/104 bus, the signal that various sensor gathers is returned to PCM3362.
In the present invention, described control system, its hardware platform mainly comprises system power supply, microprocessor, driver, executing agency and sensor five parts.Its general frame as shown in Figure 9.Fig. 9 dotted line frame inside is the core of whole control system, and the system power supply outside dotted line frame provides working power to whole control system, and controlled device refers to Rack pipe detection robot.The microprocessor of dotted line frame inside mainly performs the transmission of instruction and the collection of feedback data, and carries out the computing of gait planning.Driver mainly completes the level conversion between microprocessor and drive circuit and completes the effect of power amplification.If sensor main carries out data acquisition to controlled device, data are sent to microprocessor and carries out error op compensation.Executing agency selects motor, and controlled device is the joint of Rack pipe detection robot.
In the present invention, based on the Rack pipe detection robot of supersonic guide-wave technology in functional realiey, single tube climbing is climbing gait the most basic, and clamper paw is distributed in robot two ends, and intermediate body member then can bend and stretch, and carries out climbing motion.As shown in Figure 10 a, Figure 10 b and Figure 10 c, the climbing step of straight tube climbing gait is:
First 1 robot is positioned at initial position, without loss of generality, supposes first by the first whole robot of clamper A independent support.Then the second clamper B comes up.Then robot starts to shrink three middle cradle heads, makes the second clamper B move to precalculated position, as as-shown-in figures 10 a and 10b.
2 second clamper B slowly clamp, and after the second clamper B clamps completely, the first clamper A then comes up, and completes the conversion of mobile clamper.
3 three cradle heads A2, C, B2 in the middle of robots drive bodies slowly to stretch, until the first clamper A arrives a new precalculated position, as shown in figure l oc.
4 first clamper A slowly clamp, and now initial bit-type is got back to by robot, by the load of two clamper shared robots.
5 repeat above-mentioned steps.
When adopting straight tube climbing gait, three rotary joints in the middle of robot play a key role, and two of its two ends rotary joints can not do any rotation, and robot is in a plane when climbing always.Because in this climbing gait, robot is in the state of a relative constriction all the time, make the climbing space required for it less.Under this gait, two clampers of robot are in the state constantly changing clamping and unclamp, but the tandem of two clampers remains constant.
In the present invention, Rack pipe detection robot is in functional realiey, and between pipe, climbing ability is the key character of Rack pipe detection robot, significant to the detection efficiency improving comb.
In the present invention, based on the Rack pipe detection robot of supersonic guide-wave technology in functional realiey, between pipe, climbing is one of its principal character.As shown in Figure 11 a, Figure 11 b, Figure 11 c, Figure 11 d and Figure 11 e, the climbing step of climbing gait between pipe is:
First 1 robot is positioned at initial position, without loss of generality, supposes first by the first whole robot of clamper A independent support.Then the second clamper B comes up.Then robot starts to shrink three middle cradle heads, makes the second clamper B move to precalculated position, as shown in Figure 11 a and Figure 11 b;
2 A1 joints rotate, and arrive position as shown in fig. live;
3 B1 joints rotate, and reach position as illustrated in fig. 1 ld;
In the middle of 4, three rotary joints A2, C, B2 rotate, and arrive position as illustrated in fig. 1 le, and the second clamper B clamping reaches the state that two hands support simultaneously;
5 repeat above-mentioned steps.
In the present invention, based on the Rack pipe detection robot of supersonic guide-wave technology in functional realiey, it is one of its principal character that bend pipe is creeped, its gait and straight tube reptiles seemingly, but many motions in two joints.As shown in Figure 12 a, Figure 12 b and Figure 12 c, the climbing step of bend pipe climbing gait is:
First 1 robot is positioned at initial position, without loss of generality, supposes first by the first whole robot of clamper A independent support.Then the second clamper B comes up.Then robot starts to shrink three middle cradle heads, makes the second clamper B move to precalculated position, as depicted in figs. 12 a and 12b;
2 second clamper B slowly clamp, and after the second clamper B clamps completely, the first clamper A then comes up, and completes the conversion between clamper;
3 A1, B1 joints rotate, and make the first clamper A arrive predetermined bend pipe position;
Three cradle heads A2, B2, C in the middle of 4 rotate, and drive body slowly to stretch, until the first clamper A accommodates bend pipe, as shown in fig. 12 c;
5 repeat above-mentioned steps.
In the present invention, Rack pipe detection robot is in functional realiey, and between two tube panels, climbing is one of its principal character.As shown in Figure 13 a, Figure 13 b, Figure 13 c and Figure 13 d, the climbing step of climbing gait between two tube panels is:
First 1 robot is positioned at initial position, without loss of generality, supposes first by the first whole robot of clamper A independent support.Then the second clamper B comes up.Then robot starts to shrink three middle cradle heads, makes the second clamper B move to precalculated position, as shown in Figure 13 a and Figure 13 b;
2 B2, C joints rotate, until the second clamper B arrives a precalculated position, i.e. second row tube panel, accommodates device B clamping, position as shown in figure 13 c;
3 A2, C joints rotate, until the first clamper A arrives a precalculated position, i.e. second row tube panel, completes the climbing between two tube panels, as shown in figure 13d position;
4 repeat above-mentioned steps.
In the present invention, Rack pipe detection robot is in functional realiey, and between multitube screen, climbing is one of its principal character.As shown in Figure 14 a, Figure 14 b, Figure 14 c, Figure 14 d, Figure 14 e, Figure 14 f and Figure 14 g, the climbing step of climbing gait between multitube screen is:
First 1 robot is positioned at initial position, without loss of generality, supposes first by the first whole robot of clamper A independent support.Then the second clamper B comes up.Then robot starts to shrink three middle cradle heads, makes the second clamper B move to precalculated position, as shown in Figure 14 a and Figure 14 b;
2 A1 joints rotate, and arrive position as shown in figure 14 c;
Three cradle head A2 in the middle of 3, C, B2 rotate, until the second clamper B arrives a new precalculated position, i.e. second row tube panel, second accommodates device B clamping, as shown in Figure 14 d;
4 first clamper A come up, middle three cradle head A2, and C, B2 rotate, until the first clamper A arrives the symmetric position of opposite side, i.e. and the 3rd comb screen, the first clamper A steps up, as shown in figure 14e;
Three cradle head A2 in the middle of 5, C, B2 rotate, and rotate A1 joint, until robot arrives comb between the 3rd comb screen, second accommodates device B clamping, as shown in Figure 14 f and Figure 14 g;
6 repeat above-mentioned steps.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Claims (6)
1. based on a Rack pipe detection robot for supersonic guide-wave technology, it is characterized in that, comprise five rotary modules, and two clampers; Namely the first rotary module, the second rotary module, the 3rd rotary module, the 4th rotary module, the 5th rotary module, the first clamper and the second clamper is comprised; Described second rotary module, the 3rd rotary module and the 4th rotary module adopt axis being parallel to arrange; With the axes normal of the second rotary module, the 3rd rotary module and the 4th rotary module while of described first rotary module and the 5th rotary module; Described first clamper and the second clamper are arranged on the first rotary module and the 5th rotary module respectively, and the first clamper and the first rotary module, the second clamper adopt coaxial setting with the 5th rotary module; Described first rotary module, the second rotary module, the 3rd rotary module, the 4th rotary module, the 5th rotary module all adopt rotary module connector to be connected in series; Described first clamper adopts clamper connector to be connected with between the first rotary module, between the second clamper with the 5th rotary module, and order is followed successively by: the first clamper, the first rotary module, the second rotary module, the 3rd rotary module, the 4th rotary module, the 5th rotary module, the second clamper;
Described first rotary module, second rotary module, 3rd rotary module, 4th rotary module, 5th rotary module structure is identical, include: fixed electrical machinery shell (1), be arranged on the first DC servo motor in fixed electrical machinery shell (1) and encoder component (2), power shaft and the first DC servo motor and the matched first planet decelerator (3) of encoder component (2) output shaft, rotational shell (8) and the rotary module transmission component be arranged in rotational shell (8), in first, hexagonal flush end marks closely screw (9), described fixed electrical machinery shell (1) is fastenedly connected by screw and transmission component, first planet decelerator (3) output shaft drives rotational shell (8) to rotate by transmission component, first planet decelerator (3) is marked closely screw (9) by hexagonal flush end in first and is fastenedly connected with rotational shell (8),
Described rotary module transmission component comprises: clutch shaft bearing end cap (4), the first pad (5), the first angular contact ball bearing (6), bearing block (7); Described bearing block (7) is enclosed within first planet decelerator (3), and is fastenedly connected by screw and fixed electrical machinery shell (1); First angular contact ball bearing (6) is enclosed within bearing block (7) and goes up and support rotational shell (8); Clutch shaft bearing end cap (4) is fastenedly connected by screw and rotational shell (8).
2. a kind of Rack pipe detection robot based on supersonic guide-wave technology according to claim 1, it is characterized in that, described first clamper and the second holder structure identical, include: the second planetary reducer (11) that the second DC servo motor and encoder component (10), power shaft connect with the second DC servo motor and encoder component (10) output shaft, motor cabinet (12), clamper platform (15), clamp transmission component, clip claw assembly, the guided wave that is connected with clip claw assembly pop one's head in clamp assemblies; Described second planetary reducer (11) is fastenedly connected by motor cabinet (12) and clamper platform (15); Clamper platform is provided with clamper transmission component in (15); Second DC servo motor and encoder component (10) drive clip claw assembly to carry out clamping and detecting by the second planetary reducer (11) and clamper transmission component.
3. a kind of Rack pipe detection robot based on supersonic guide-wave technology according to claim 2, it is characterized in that, described clamper transmission component comprises: the shaft coupling (13) connected with the second planetary reducer (11) output shaft, bearing pin (14), the first gear shaft (17) connected with shaft coupling (13), the first travelling gear (16) be fixedly connected with the first gear shaft (17), second bearing (ball) cover (18), key (19), nibble merga pass key (19) with the first travelling gear (16) and be assemblied in the second travelling gear (20) on the second gear shaft (22), second angular contact ball bearing (21), second pad (23), locating ring (24), in second, hexagonal flush end marks closely screw (25), described shaft coupling (13) one end and the second planetary reducer (11) are marked closely screw (25) by hexagonal flush end in second and are fastenedly connected, and the other end and the first gear shaft (17) are fixed by axis hole profile, first gear shaft (17) and the second gear shaft (22) two ends are all bearing in clamper platform (15) by the second angular contact ball bearing (21), second bearing (ball) cover (18) is fastenedly connected by screw and clamper platform (15).
4. a kind of Rack pipe detection robot based on supersonic guide-wave technology according to claim 3, it is characterized in that, described clip claw assembly comprises: two inside connecting rods (28), two outside connecting rods (27) and two paws (26); Two inside connecting rod (28) one end are fastenedly connected with the first travelling gear (16) and the second travelling gear (20) respectively by screw, and the other end is hinged with two paws (26) respectively; Two outside connecting rod (27) one end are hinged with clamper platform (15) respectively, and the other end is hinged with paw (26) respectively.
5. a kind of Rack pipe detection robot based on supersonic guide-wave technology according to claim 4, it is characterized in that, described guided wave probe clamp assemblies comprises: hexagonal flush end holding screw (30), guided wave probe grip block (31) in spring leaf (29), the 3rd; Guided wave probe grip block (31) is connected with spring leaf (29) by screw; Spring leaf (29) is affixed by the paw (26) of screw and robot gripper; Guided wave probe grip block (31) is equipped be used for fixing guided wave probe the 3rd in hexagonal flush end holding screw (30).
6. a kind of Rack pipe detection robot based on supersonic guide-wave technology according to claim 5, is characterized in that, described two paw (26) inwalls and tube contacts position are also provided with rubber blanket.
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| CN103615664A (en) * | 2013-11-28 | 2014-03-05 | 昆山泰顺自动化设备有限公司 | Pipeline detection equipment |
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| GB201415334D0 (en) * | 2014-08-29 | 2014-10-15 | Reece Innovation Ct Ltd | Improvement in or relating to crawlers |
| CN104908835B (en) * | 2015-06-10 | 2017-03-01 | 华南理工大学 | A kind of climbing mechanism of climbing robot |
| EP3386863A4 (en) * | 2015-12-10 | 2019-05-08 | VANRX Pharmasystems Inc. | Method for protecting and unprotecting the fluid path in a controlled environment enclosure |
| CN106926224A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of bionical mechanical arm climbed and operate |
| CN105620571B (en) * | 2016-02-23 | 2017-09-05 | 广西大学 | A kind of climbing robot mechanism |
| GB2553271B (en) | 2016-07-19 | 2019-03-13 | Kongsberg Ferrotech As | Pipeline maintenance and inspection vehicle |
| ES2657833B1 (en) * | 2016-09-06 | 2018-12-14 | Universidad De Castilla La Mancha | SYSTEM TO INSPECT A SURFACE BY GUIDED WAVES |
| CN106671074A (en) * | 2016-12-13 | 2017-05-17 | 昆山奥迪尔智能科技有限公司 | Six-axis mechanical arm effectively improving installing speed and precision |
| CN108332781B (en) * | 2018-01-15 | 2020-11-13 | 合肥工业大学 | Detection device based on integrated reed |
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| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
| CN111426749A (en) * | 2019-09-05 | 2020-07-17 | 湖南工业大学 | Anchor hole grouting quality detection device capable of being quickly installed and positioned |
| CN111442195B (en) * | 2020-05-18 | 2020-11-24 | 石娟娟 | Robot technology for industrial detection |
| CN111590556A (en) * | 2020-06-24 | 2020-08-28 | 南京工业职业技术学院 | Multi-degree-of-freedom and multi-section intelligent pipe climbing robot |
| CN112894750B (en) * | 2021-01-15 | 2022-02-22 | 燕山大学 | Backpack climbing robot |
| CN117842228A (en) * | 2024-03-08 | 2024-04-09 | 西安热工研究院有限公司 | Pipe climbing operation robot for superheater |
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