CN103913133B - A kind of deep hole detection operation machine - Google Patents
A kind of deep hole detection operation machine Download PDFInfo
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- CN103913133B CN103913133B CN201410147675.9A CN201410147675A CN103913133B CN 103913133 B CN103913133 B CN 103913133B CN 201410147675 A CN201410147675 A CN 201410147675A CN 103913133 B CN103913133 B CN 103913133B
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- motor
- centering
- swing arm
- pose adjustment
- deep hole
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Abstract
The present invention provides a kind of deep hole detection operation machine, and including walking unit, mechanical arm unit and control unit, walking unit includes vehicle body, wheel and the movable motor driving it to move；Mechanical arm unit includes an electric rotating machine and at least two centering motor, is all connected by a middle-end centering swing arm between centering motor；The centering motor body of least significant end is fixed together with the vehicle body of walking unit, and centering motor transmission shaft foremost is fixing with electric rotating machine fuselage to be connected, and the power transmission shaft of electric rotating machine is connected with detection device；Walking unit and mechanical arm unit are connected with control unit by shielded multiconductor cable.It is capable of multiple detection function, has that simple in construction, easily operation, adjustability be good, strong adaptability, applied range and an advantage of low cost.
Description
Technical field
The present invention relates to a kind of deep hole detection operation machine, belong to class detection technique field, hole.
Background technology
Firepower, water conservancy, the steam turbine of nuclear power station and generator shaft are large forgings and other deep hole zero
Part, owing to structure needs there is the centre bore that machining accuracy is high more, aperture is that 80mm is with up to 380mm, shape
Formula has monolateral blind hole, bilateral blind hole, through hole, stepped hole etc., and the hundreds of millimeter of length is to 18 meters.Its
Form and position tolerance is had by different designs requirement: axiality, circularity, cylindricity, linearity, the requirement such as beat
And required precision is high, a little class errors use conventional method to be difficult to measure, or do not have means, often with technique
Ensure or indirect method estimation.
In prior art, laser tracker utilizes the space bit of laser interference high-acruracy survey respective objects target
Put and combine software processes, there is the feature being moved easily simultaneously, having in large-scale metrology field extensively
Application.The laser tracker knot survey calculation software utilized preferably solves commenting of all kinds of form and position tolerance
Fixed, but its difficult point is the placement in hole of the laser target ball and operation.
It addition, deep hole usually has endoporus to spy on inspection, it is judged that endoporus machining status and fault in material, existing skill
In art, use optical instrument or photoelectric conversion device, expensive, operation is difficult to for super-long hole.
For some important deep hole like members, Non-Destructive Testing need to be carried out in hole, used in the prior art
Detection device, the most costly, and is difficult in inner hole magnetic particle inspection, dye penetrant inspection and deep hole
Locally reconditioning etc..
Summary of the invention
The problem to be solved in the present invention is to provide one and can realize multiple detection function, simple in construction, easily grasp
Make, the deep hole of low cost detects operation machine.
For solving above-mentioned technical problem, the technical solution used in the present invention is: provide a kind of deep hole detection behaviour
Making machine, including walking unit, mechanical arm unit and control unit, described walking unit includes vehicle body, car
Take turns and drive its movable motor moved；
Described mechanical arm unit includes one for controlling electric rotating machine that swing arm rotates and at least
Two are used for the centering motor realizing mechanical arm with the centering of deep hole center, all pass through between described centering motor
One middle-end centering swing arm connects, and one end of middle-end centering swing arm is affixed with the centering motor body of its front end,
The other end is affixed with the centering motor transmission shaft of its end；The described centering motor body of least significant end passes through one
End centering swing arm is fixed together with the vehicle body of walking unit, described centering motor transmission shaft foremost
It is connected by a head end centering swing arm and electric rotating machine fuselage are fixing, the power transmission shaft of described electric rotating machine and inspection
Survey device connects；
Described walking unit and mechanical arm unit are connected with control unit by shielded multiconductor cable.
Walking unit and mechanical arm unit use shielded multiconductor cable to be connected with control unit, it is ensured that deep hole
Interior control signal is effectively transmitted.
In described control unit, power module provides corresponding power supply for circuit board and motor；Car body walking mould
Block, provides control signal for movable motor；Motor action module, provides control for each motor
Signal processed also drives each motor action；Remote control module, car body motor and step motor control signal by
Remote manipulation.
Further, also include at least two for adjust detection device attitude pose adjustment motor, described
All connected by a middle-end pose adjustment swing arm between pose adjustment motor, one end of middle-end pose adjustment swing arm
Affixed with the pose adjustment motor body of its front end, the other end and the pose adjustment motor transmission shaft of its end
Affixed；The described pose adjustment motor body of least significant end adjusts swing arm and electric rotating machine by a terminal angle
Power transmission shaft is affixed, described pose adjustment motor transmission shaft foremost by a head end pose adjustment swing arm with
Detection device connects.
Further, in described mechanical arm unit, described centering motor has two, the respectively first centering electricity
Machine and the second centering motor；Described first centering motor body is by an end centering swing arm and walking unit
Vehicle body be fixed together, the second centering motor transmission shaft is by a head end centering swing arm and electric rotating machine machine
Body is fixing to be connected；Between described first, second centering motor by one middle-end centering swing arm connect, described in
One end of end centering swing arm is affixed with the first centering motor transmission shaft, the other end and the second centering motor body
Affixed.
Further, described pose adjustment motor has two, the respectively first pose adjustment motor and the second appearance
State adjusts motor；Described first pose adjustment motor body adjusts swing arm and electric rotating by a terminal angle
Machine power transmission shaft is affixed, and described second pose adjustment motor is by a head end pose adjustment swing arm and detection device
Connect；Connected by a middle-end pose adjustment swing arm between described first, second pose adjustment motor, middle-end
One end of pose adjustment motor is affixed with the first pose adjustment motor transmission shaft, and the other end and second adjusts electricity
Machine fuselage is affixed.
Further, the body structure of described walking unit is provided with a cantilever, and described cantilever is fixed in a support
On block, described support block can upper and lower adjustably be arranged in the middle part of vehicle body, the machine of described first centering motor
Body is fixed on cantilever.So arrange and can regulate whole mechanical arm cell distance vehicle according to deep hole internal diameter
The vertical height of bottom landing ground, with the regulation that coordinates between two centering motors and transducer mechanical arm, expands
Adjusting range, its suitability have also been obtained effective enhancing.
Further, the wheel of described walking unit is soft material wheel, smoothly goes in can realizing deep hole
Walk.
Further, before described, end centering swing arm be one " C " font swing arm, described middle-end centering
Swing arm is one " H " font swing arm.Only need to by steel plate bending (or directly by C-type steel, H profile steel), then
Slightly making mechanical process, material is seen everywhere, and processing cost is low.
Further, before described, terminal angle adjusts swing arm and is one " C " font swing arm, described middle-end
Pose adjustment swing arm is one " H " font swing arm.Only need to be by steel plate bending (or directly with C-type steel, H
Shaped steel), more slightly make mechanical process, material is seen everywhere, and processing cost is low.
Further, described movable motor is big torsion reducing motor, and described centering motor is big torsion stepping
Motor.
Further, described pose adjustment motor is big torsion motor.
Utilizing the present invention to carry out in the real work of deep hole detection, some work only need to install respective numbers
Centering motor and electric rotating machine can realize the detection within deep hole, and some work is simultaneously need to certain
The pose adjustment motor of quantity just can complete deep hole detection, now only need to be by the pose adjustment electricity of respective numbers
Machine is connected with electric rotating machine, so the present invention can increase and decrease number of motors according to real work needs,
Thus realize the multiple corresponding detection function of deep hole detection；It addition, when the deep hole internal diameter needing detection is bigger
/ hour, can the quantity of add drop centering motor, or/and the quantity of add drop pose adjustment motor, or/and
Cantilever height in regulation walking unit, or/and the brachium of regulation centering swing arm, or/and regulation pose adjustment
The brachium of swing arm, to adapt to the deep hole detection of different-diameter scope, has well adapting to property, application model
Enclose wide.
It is to realize following multiple detection function that the present invention has the advantage that with good effect:
1) present invention can clamp laser tracker target ball, gathers and measures point, utilize tracker on inner hole wall
Measure function and realize the detection of the form and position tolerance to deep hole part, such as linearity, cylindricity, circularity, coaxial
Spend, beat；
2) present invention can clamp photographic head and moves in deep hole, realizes the observation to inner hole wall；
3) present invention can move by clamping ultrasonic probe contacts hole wall, realizes bore ultrasonic scanning；
4) present invention can assist magnetic powder, and dye penetrant inspection realizes bore area flaw detection；
5) present invention can clamp milling tools and realize the partial trim of bore area.
Also have that simple in construction, easily operation, adjustability be good, strong adaptability, applied range and low cost
Advantage.
Accompanying drawing explanation
Fig. 1 is the perspective view of the embodiment of the present invention 1；
Fig. 2 is walking unit three-dimensional structural representation in Fig. 1；
Fig. 3 is mechanical arm unit three-dimensional structural representation in Fig. 1；
Fig. 4 is control unit module diagram in Fig. 1；
Fig. 5 is to detect the use schematic diagram that device is photographic head in Fig. 1；
Fig. 6 is to detect the use schematic diagram that device is ultrasound probe in Fig. 1；
Fig. 7 is to detect the use schematic diagram that device is magnetic powder, penetrant inspection liquid container in Fig. 1；
Fig. 8 is the perspective view of the embodiment of the present invention 2；
Fig. 9 is mechanical arm unit three-dimensional structural representation in Fig. 8；
Figure 10 is to detect the use schematic diagram that device is laser tracker and laser target ball in Fig. 8.
In figure:
1. walking unit, 2. mechanical arm unit, 3. control unit, 4. photographic head, 5. ultrasound probe,
6. magnetic powder, penetrant inspection liquid container, 7. laser target ball, 8. laser tracker；
101. vehicle bodies, 102. wheels, 103. cantilevers, 104. support block, 105. studs；
201. first centering motors, 202. second centering motors, 203. electric rotating machines,
204. head end centering swing arms, 205. middle-end centering swing arms, 206. end centering swing arms,
207. first pose adjustment motors, 208. second pose adjustment motors,
209. terminal angles adjustment swing arms, 210. middle-end pose adjustment swing arms,
211. head end pose adjustment swing arms.
Wherein, CK represents elongated hole.
Detailed description of the invention
For the understanding more deep to the present invention, specific examples below is set forth below, and combines accompanying drawing,
The present invention is described in further detail.
Embodiment 1
The present embodiment is a kind of deep hole detection operation machine, as it is shown in figure 1, include walk unit 1, machinery
Arm unit 2 and control unit 3.
As in figure 2 it is shown, walking unit 1 includes long vehicle body 101, soft wheel 102 and drives it to move
Movable motor, the movable motor in the present embodiment is big torsion reducing motor；The vehicle body of walking unit 1
Front end is provided with a cantilever 103, and cantilever 103 is fixed on a support block 104, supports that block 104 is by two
Individual stud 105 can upper and lower adjustably be arranged in the middle part of vehicle body 101.
As it is shown on figure 3, mechanical arm unit 2 includes two centering motors (first, second centering motor)
With an electric rotating machine 203；First centering motor 201 fuselage is put by one " C " font end centering
Arm 206 is fixed together with the cantilever 103 on walking unit, and the second centering motor 202 power transmission shaft passes through
One " C " font head end centering swing arm 204 is fixing with electric rotating machine 203 fuselage to be connected；First, second
Connected by one " H " font middle-end centering swing arm 205 between centering motor, middle-end centering swing arm 205
One end is affixed with the first centering motor 201 power transmission shaft, and the other end and the second centering motor 202 fuselage are affixed,
The power transmission shaft of electric rotating machine 203 is connected with detection device.
Detection device in the present embodiment can be photographic head (as shown in Figure 5), and ultrasound probe is (such as figure
Shown in 6), magnetic powder, penetrant inspection liquid container (as shown in Figure 7) etc..
Wherein, as it is shown in figure 5, photographic head is arranged at the power transmission shaft of electric rotating machine, can realize feasible
Walk the function of introscope.
As shown in Figure 6, ultrasound probe is arranged at the power transmission shaft of electric rotating machine, makes probe and hole wall
Coupling, controls electric rotating machine rotation and movable motor and the walking position of walking unit i.e. be may be implemented in hole wall
Ultrasonic scan function.
As it is shown in fig. 7, be arranged at the power transmission shaft of electric rotating machine by defect detecting liquid container, flaw detection can be realized
Liquid spraying function in deep hole.
Wherein, two centering motors in the present embodiment are big torsion motor.
As shown in Figure 4, control unit 3 includes power module, circuit board, car body walking module, stepping
Motor action module and RCU.
As it is shown in figure 1, walking unit and mechanical arm unit are connected with control unit by shielded multiconductor cable.
Embodiment 2
As shown in Fig. 8 Figure 10, the present embodiment is a difference in that before electric rotating machine with embodiment 1
End is connected and installed with two for pose adjustment motor (first, second attitude adjusting detection device attitude
Adjust motor), the first pose adjustment motor 207 fuselage adjusts pendulum by one " C " font terminal angle
Arm 209 is affixed with electric rotating machine power transmission shaft, and the second pose adjustment motor 208 is first by one " C " font
End pose adjustment swing arm 211 is connected with detection device；By one " H " between first, second pose adjustment motor
Font middle-end pose adjustment swing arm 210 connects, one end of middle-end pose adjustment motor 210 and the first attitude
Adjusting motor 207 power transmission shaft affixed, it is affixed that the other end and second adjusts motor 208 fuselage.
Detection device in the present embodiment is laser tracker, as shown in Figure 10, described in the present embodiment
Deep hole detection operation machine put into deep hole to be checked.First, adjust the angle of first, second centering motor,
Make power transmission shaft and the deep hole coaxial line of electric rotating machine；Then, adjust first, second pose adjustment motor,
Make laser target ball 7 be close to inner walls of deep holes, and make laser target ball 7 target ball be connected with laser tracker 8 light path；
Then, electric rotating machine angle is adjusted so that it is turned by two pose adjustment driven by motor laser target ball circumferences
Dynamic；Finally, drive whole deep hole detection operation machine to move forward and backward in conjunction with movable motor, just can make laser target
Ball 7 is fitted in inner walls of deep holes various location, and laser tracker gathers hole wall point coordinates, at data
Reason, obtains the form and position tolerance result relevant to deep hole.
Wherein, in the present embodiment, two pose adjustment motors are big torsion motor.
Above embodiments of the invention are described in detail, but described content has been only the preferable of the present invention
Embodiment, it is impossible to be considered the practical range for limiting the present invention.All according to the scope of the invention made equal
Deng change and improvement etc., within all should still belonging to this patent covering scope.
Claims (10)
1. a deep hole detection operation machine, it is characterised in that: include walk unit, mechanical arm unit and control
Unit processed, described walking unit includes vehicle body, wheel and the movable motor driving it to move；
Described mechanical arm unit includes one for controlling electric rotating machine that swing arm rotates and at least
Two are used for the centering motor realizing mechanical arm with the centering of deep hole center；All pass through between described centering motor
One middle-end centering swing arm connects, and one end of middle-end centering swing arm is affixed with the centering motor body of its front end,
The other end is affixed with the centering motor transmission shaft of its end；The described centering motor body of least significant end passes through one
End centering swing arm is fixed together with the vehicle body of walking unit, described centering motor transmission shaft foremost
It is connected by a head end centering swing arm and electric rotating machine fuselage are fixing, the power transmission shaft of described electric rotating machine and inspection
Survey device connects；
Described walking unit and mechanical arm unit are connected with control unit by shielded multiconductor cable.
Deep hole the most according to claim 1 detection operation machine, it is characterised in that: also include at least two
The individual pose adjustment motor being used for adjusting detection device attitude, all by one between described pose adjustment motor
End pose adjustment swing arm connects, one end of middle-end pose adjustment swing arm and the pose adjustment motor machine of its front end
Body is affixed, and the other end is affixed with the pose adjustment motor transmission shaft of its end；The described attitude of least significant end is adjusted
It is affixed with electric rotating machine power transmission shaft that whole motor body adjusts swing arm by a terminal angle, foremost described
Pose adjustment motor transmission shaft is connected with detection device by a head end pose adjustment swing arm.
Deep hole the most according to claim 1 detection operation machine, it is characterised in that: described mechanical arm list
In unit, described centering motor has two, the respectively first centering motor and the second centering motor；Described
One centering motor body is fixed together by the vehicle body of an end centering swing arm with walking unit, and second is right
Middle motor transmission shaft is connected by a head end centering swing arm and electric rotating machine fuselage are fixing；Described first,
Being connected by a middle-end centering swing arm between two centering motors, one end of described middle-end centering swing arm is right with first
Middle motor transmission shaft is affixed, and the other end and the second centering motor body are affixed.
Deep hole the most according to claim 2 detection operation machine, it is characterised in that: described pose adjustment
Motor has two, the respectively first pose adjustment motor and the second pose adjustment motor；Described first attitude
Adjust motor body affixed with electric rotating machine power transmission shaft by a terminal angle adjustment swing arm, described second appearance
State is adjusted motor and is connected with detection device by a head end pose adjustment swing arm；Described first, second attitude
Adjust and connected by a middle-end pose adjustment swing arm between motor, one end and first of middle-end pose adjustment motor
Pose adjustment motor transmission shaft is affixed, and it is affixed that the other end and second adjusts motor body.
Deep hole the most according to claim 3 detection operation machine, it is characterised in that: described walking unit
Body structure be provided with a cantilever, described cantilever is fixed on a support block, and described support block can be upper and lower
Adjustably being arranged in the middle part of vehicle body, the fuselage of described first centering motor is fixed on cantilever.
6. detect operation machine according to the deep hole described in any one of Claims 1-4, it is characterised in that: institute
The wheel stating walking unit is soft material wheel.
7. detect operation machine according to the deep hole described in claim 1 or 3, it is characterised in that: described head,
End centering swing arm is one " C " font swing arm, and described middle-end centering swing arm is one " H " font swing arm.
8. detect operation machine according to the deep hole described in claim 2 or 4, it is characterised in that: described head,
Terminal angle adjusts swing arm and is one " C " font swing arm, and described middle-end pose adjustment swing arm is one " H "
Font swing arm.
9. detect operation machine according to the deep hole described in claim 1 or 3, it is characterised in that: described walking
Motor is big torsion reducing motor, and described centering motor is big torsion motor.
10. detect operation machine according to the deep hole described in claim 2 or 4, it is characterised in that: described appearance
State adjusts motor and is big torsion motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410147675.9A CN103913133B (en) | 2014-04-14 | 2014-04-14 | A kind of deep hole detection operation machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410147675.9A CN103913133B (en) | 2014-04-14 | 2014-04-14 | A kind of deep hole detection operation machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103913133A CN103913133A (en) | 2014-07-09 |
| CN103913133B true CN103913133B (en) | 2016-08-17 |
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ID=51039002
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410147675.9A Expired - Fee Related CN103913133B (en) | 2014-04-14 | 2014-04-14 | A kind of deep hole detection operation machine |
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| CN (1) | CN103913133B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108548509B (en) * | 2018-04-18 | 2023-07-25 | 洛阳理工学院 | Deep hole quality detection device |
| CN113340980B (en) * | 2021-06-18 | 2024-06-04 | 中海辉固地学服务（深圳）有限公司 | Nondestructive testing equipment for underwater steel cable |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506737B (en) * | 2011-10-31 | 2014-07-02 | 中国科学院深圳先进技术研究院 | Pipeline detection device |
| CN202379073U (en) * | 2011-12-22 | 2012-08-15 | 姜东超 | Multifunctional underwater operation robot device |
| CN203468632U (en) * | 2013-08-29 | 2014-03-12 | 中慧医学成像有限公司 | Medical imaging system with mechanical arm |
| CN203496595U (en) * | 2013-09-13 | 2014-03-26 | 东北大学 | Amphibiousness all-terrain rescue intelligent robot |
| CN203510208U (en) * | 2013-10-17 | 2014-04-02 | 上海海洋大学 | Multi-degree of freedom underwater operation mechanical arm |
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| CN103913133A (en) | 2014-07-09 |
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