CN105424732B - Digital radial detection digital flat-panel detector end robot based on Mecanum wheels - Google Patents
Digital radial detection digital flat-panel detector end robot based on Mecanum wheels Download PDFInfo
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Abstract
The present invention provides a kind of digital radial detection digital flat-panel detector end robot based on Mecanum wheels, including vehicle frame two, Mecanum wheels two, servomotor two, preceding tracking sensor two, tracking sensor two afterwards, digital flat panel, permanent magnetic iron two and motion control box two, motion control box two is on vehicle frame two, preceding tracking sensor two is located at the front end of vehicle frame two, tracking sensor two is located at the rear end of vehicle frame two afterwards, the middle part of vehicle frame two is provided with digital flat panel, digital flat panel is located at the bottom of vehicle frame two, the both sides of vehicle frame two are respectively equipped with Mecanum wheels two, servomotor two connects motion control box two, the two bottom sides of vehicle frame two are respectively equipped with permanent magnetic iron two；The robot can carry out omnirange movement, i.e. in addition to it can realize advance and retreat, traversing, pivot turn, it can also realize and be rotated around any point, especially in the large-scale in-service pressure-bearing special equipment such as station boiler, spherical tank, vertical storage tank, flexibility of the robot to weld seam detection in equipment curved surface can be greatly improved.
Description
Technical field
The present invention relates to a kind of digital radial detection digital flat-panel detector end robot based on Mecanum wheels.
Background technology
China is pressure-bearing special equipment manufacture big country, and pressure-bearing special equipment manufacture quantity ranks first in the world.Pressure-bearing special type is set
Standby is the industry-by-industry such as basic equipment, petrochemical industry, electric power, Aero-Space of industry, and national defence, people's livelihood every field are required to respectively
Kind pressure-bearing special equipment.The international competitiveness of China's pressure-bearing special equipment, manufacturing capacity and product quality are improved, there is strategy meaning
Justice.
Non-Destructive Testing is the key means that pressure-bearing special equipment workmanship is checked on, and is the bottleneck for restricting production capacity again.
At present in domestic pressure-bearing special equipment manufacture, the 70% of weld seam Non-Destructive Testing uses film radiography method.This method detects the duration
Long, efficiency is low, and image archive and duplication are difficult, and consume bulk petroleum, silver-colored resource, also produce darkroom waste liquor contamination environment, because
This need to improve and improves.
Digital flat panel radiography is the Non-Destructive Testing new technology of last decade development, fast with detection speed, efficiency high, spirit
Sensitivity is high, and it is convenient that image is preserved, replicates and called, the advantages that energy-conserving and environment-protective.But due to the number of digital flat panel radiography techniques
Word flat panel detector is equally attached to container inner wall without image of Buddha film, so the technology can not use single wall arrangement medium straight
Footpath is applied in being detected to major diameter container welding, can only use double-walled arrangement detection below diameter 1m pipeline gentle at present
The weld seam of bottle.
In recent years, special equipment quantity constantly grows at top speed.This is just to ensureing special equipment high quality, high efficiency, Gao Shui
Flat inspection detection proposes new challenge.At present, the in-service pressure-bearing special equipment such as domestic and international large-size spherical tank, vertical storage tank from
Blank be present in dynamicization digital radial characterization processes equipment, and existing detection robot on equipment curved surface weld seam detection it is flexible
Property relative deficiency, it is impossible to meet demand.
A kind of detection robot as disclosed in Patent No. ZL200510018933.4, for large-size spherical tank, vertical storage tank
Due to that can not be positioned on detected object body, detection can not be realized.
A kind of X-ray detection robot for weld seam of storage tank as disclosed in Application No. 201410005169.6, is merely able to realize
Laterally and longitudinally move, it is impossible to which any direction is mobile or rotates, flexibility deficiency, and needs extra part to aid in realize
The movement and positioning of robot.
Pressure-bearing special equipment is related to public safety, to quality requirement height, it is necessary to which advanced non-destructive testing technology escorts,
Pressure-bearing special equipment manufacturing capacity and quality level should be improved, while it is horizontal to improve China's non-destructive testing technology.
The content of the invention
It is an object of the invention to provide a kind of digital radial based on Mecanum wheels to detect digital flat-panel detector terminal device
Blank be present in the automation digital radial characterization processes equipment of the in-service pressurized equipment such as large-size spherical tank, vertical storage tank existing for people,
And existing detection robot is to the flexibility relative deficiency of weld seam detection on equipment curved surface, it is impossible to the problems such as meet demand.
The present invention technical solution be：
A kind of digital radial detection digital flat-panel detector end robot based on Mecanum wheels, including vehicle frame two,
Mecanum wheels two, servomotor two, preceding tracking sensor two, rear tracking sensor two, digital flat panel, permanent magnetic iron two and fortune
Dynamic control box two, for motion control box two on vehicle frame two, preceding tracking sensor two is located at the front end of vehicle frame two, rear tracking sensing
Device two is located at the rear end of vehicle frame two, and the middle part of vehicle frame two is provided with digital flat panel, and digital flat panel is located at the bottom of vehicle frame two, vehicle frame two
Both sides be respectively equipped with Mecanum and take turns two, Mecanum wheels two and be connected with servomotor two, servomotor two connects motion control
Box two, the two bottom sides of vehicle frame two are respectively equipped with permanent magnetic iron two.
Further, the quantity of Mecanum wheels two is four, and Mecanum wheels two are respectively arranged on four ends of vehicle frame two
Portion.
Further, the digital flat-panel detector end robot is arranged on the side of detected object, and detected object is such as
It is that entrance is provided with WiFi repeaters at the manholes such as spherical tank.
Further, vehicle frame two is the square structure being vertically arranged by some vertical muscle and some horizontal bars.
Further, gap is respectively equipped between permanent magnetic iron two and detected object, i.e. the most bottom surface of permanent magnetic iron two is high
In the most bottom surface of Mecanum wheels two, the distance of permanent magnetic iron two and detected object is more than Mecanum wheels two and detected object
Distance.
Further, vehicle frame two is provided with suspension isolation mounting, including flexible unit, horizontal mechanism, one end of flexible unit
Located at the top platform of magnet fixed seat, the other end of flexible unit is flexibly connected vehicle frame fixed seat, the bottom of magnet fixed seat
Permanent magnetic iron two is connected with, vehicle frame fixed seat connects the boss of bearing block, bearing block and magnet fixed seat point by horizontal mechanism
Servomotor two is not bolted, and motor fixing plate, servomotor two-way are provided between magnet fixed seat and servomotor two
Third wheel axis connection Mecanum wheels two.
Further, horizontal mechanism uses more than one H types connecting rod, the parallel installation of more than one H types connecting rod and position
In forming parallel four-bar linkage on same vertical plane, the both ends of H type connecting rods pass through the convex of bearing pin connecting vehicle frame fixed seat respectively
The boss of platform, bearing block.
Further, flexible unit is bolted between the top platform and pressing plate of magnet fixed seat, flexible unit
It is made up of the superposition of some flat springs, flat spring includes being passed to both ends from long leaf spring located at middle long leaf spring, the length of flat spring
Subtract, long leaf spring gap coordinates in the dead slot of fixed seat.
The beneficial effects of the invention are as follows：
First, the digital radial detection digital flat-panel detector end robot that this kind is taken turns based on Mecanum, use are comprehensive
Mecanum wheel constructions, all directionally movable robot based on four Mecanum wheel, on spherical tank surface, and are carried by magnetic suck
Digital radial detecting system detects to weld seam, can realize the omnirange movement on the detected object such as spherical tank surface, machine
Device people can neatly detect the weld seam of various trends.
2nd, the digital radial detection digital flat-panel detector end robot that this kind is taken turns based on Mecanum, being capable of multiple degrees of freedom
Automatic tracking welding seam, high sensitivity high reliability can be realized, high efficiency, low cost, energy-conserving and environment-protective, film camera can be substituted,
Realize the detection technique upgrading of pressure-bearing special equipment manufacture.
3rd, this kind of detection robot, omnirange movement can be carried out, i.e., in addition to it can realize advance and retreat, traversing, pivot turn,
It can also realize and be rotated around any point, it is especially special in the large-scale in-service pressure-bearing such as station boiler, spherical tank, vertical storage tank
In kind equipment, flexibility of the robot to weld seam detection on equipment curved surface can be greatly improved.
4th, the detection robot can realize application of the digital flat panel X-ray Testing Technology in 4m diameter above bearing devices,
The detection of various forms weld seam is completed using single wall arrangement, and realizes detection automation, detection efficiency can improve five times, inspection
1/10th of film camera can be shortened to by surveying the duration, and testing cost can be reduced to 1/3rd of film camera, and can make
The manufacturing schedule and cost of pressure-bearing special equipment decrease.
5th, the annual value of production of the ray detection of domestic bearing device manufacture at present is more than 1,000,000,000 yuan, film and chemical consumption into
This about 400,000,000 yuan, film is without the use of using digital flat panel X-ray Testing Technology, not only saves a large amount of expenses, and is saved a large amount of
Polyester fiber（Chip base material）And noble silver（Photosensitive material）, and a large amount of chemicals（Darkroom disposal is used）, saving energy
There is great social benefit in terms of source and environmental protection.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the structural representation of radiographic source end robot in embodiment；
Fig. 3 is the structural representation of digital flat-panel detector end robot in embodiment；
Fig. 4 is the connection relationship diagram of suspension isolation mounting and vehicle frame one in embodiment；
Fig. 5 is the structural representation of suspension isolation mounting in embodiment；
Fig. 6 is the direction view of bowing of suspension isolation mounting in embodiment；
Fig. 7 is the rear direction view of suspension isolation mounting in embodiment；
Fig. 8 is the dextrad view of suspension isolation mounting in embodiment；
Fig. 9 is that the communication connection of embodiment radiographic source end robot, digital flat-panel detector end robot and host computer is shown
It is intended to；
Figure 10 is that radiographic source end robot in embodiment, digital flat-panel detector end robot realize the flow of synchronized tracking
Illustrate schematic diagram；
Figure 11 is the explanation schematic diagram of examining report generation module in embodiment；
Wherein：1- radiographic sources end robot, 2- digital flat-panel detectors end robot, 3- host computers, 4- spherical tanks, 5- suspensions
Isolation mounting；
Tracking sensor one before 11-, 12- permanent magnetic irons one, 13- Mecanum take turns one, 14- vehicle frames one, and tracking passes after 15-
Sensor one, 16- servomotors one, 17- x-ray sources, 18- motion control box one；
Tracking sensor two before 21-, 22- permanent magnetic irons two, 23- Mecanum take turns two, 24- vehicle frames two, and tracking passes after 25-
Sensor two, 26- servomotors two, 27- digital flat panels, 28- motion control box two；
51- flexible units, 52- motor fixing plates, 53- bearing blocks, 54- wheel shafts, 55-H type connecting rods, 56- vehicle frame fixed seats,
57- magnet fixed seats, 58 pressing plates.
Embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment
A kind of digital flat panel ray detection system based on Mecanum wheels, such as Fig. 1, including host computer 3, radiographic source terminal
Device people 1, digital flat-panel detector end robot 2, radiographic source end robot 1 use with digital flat-panel detector end robot 2
Comprehensive Mecanum wheel constructions, radiographic source end robot 1 are provided with motion control box 1, and motion control box 1 is by wireless
Communication module one is connected with host computer 3, digital flat-panel detector end robot 2, and motion control box 1 passes through CAN communication module
One connection servomotor 1, digital flat-panel detector end robot 2 are provided with motion control box 2 28, and motion control box 2 28 is logical
Cross wireless communication module two to be connected with host computer 3, radiographic source end robot 1, motion control box 2 28 passes through CAN communication module two
Connect servomotor 2 26.
Radiographic source end robot 1 includes vehicle frame 1, Mecanum wheels 1, servomotor 1, preceding tracking sensor one
11st, rear tracking sensor 1, x-ray source 17, permanent magnetic iron 1 and motion control box 1, such as Fig. 2, preceding tracking sensor
One 11 are located at the front end of vehicle frame 1, and rear tracking sensor 1 is located at the rear end of vehicle frame 1, and the middle part of vehicle frame 1 is provided with
Motion control box 1 and x-ray source 17, the both sides of vehicle frame 1 are respectively equipped with Mecanum and take turns the company of one 13, Mecanum wheels 1
The rotating shaft of servomotor 1 is connected to, the two bottom sides of vehicle frame 1 are respectively equipped with permanent magnetic iron 1.
Digital flat-panel detector end robot 2 includes vehicle frame 2 24, Mecanum wheels 2 23, servomotor 2 26, preceding tracking
Sensor 2 21, rear tracking sensor 2 25, digital flat panel 27, permanent magnetic iron 2 22 and motion control box 1, it is preceding such as Fig. 3
Tracking sensor 2 21 is located at the front end of vehicle frame 2 24, and rear tracking sensor 2 25 is located at the rear end of vehicle frame 2 24, vehicle frame 2 24
Middle part be provided with motion control box 2 28 and digital flat panel 27, digital flat panel 27 is located at the bottom of vehicle frame 2 24, vehicle frame 2 24
Both sides are respectively equipped with Mecanum and take turns the rotating shaft that 2 23, Mecanum wheels 2 23 are connected with servomotor 2 26, the bottom of vehicle frame 2 24
Portion both sides are respectively equipped with permanent magnetic iron 2 22.
X-ray source 17, compared to pulsed x-ray source, can be obtained apparent more high using continous way x-ray source 17
The imaging of level, detection imaging can be made to reach JB/T 4730.2-2005：AB levels, go in pressure-bearing special equipment weld seam
Portion's defects detection.Such as：For the steel workpiece of 25mm thickness, image quality indicator is used：IQI EN 462-W6 FE, AB level technologies etc.
Level requires：O.11 filament is high-visible, meets the requirement of industrial grade AB levels using continous way x-ray source 17.Pulsed X ray
Source technology grade is relatively low, is unable to reach JB/T 4730.2-2005：AB levels, it can not generally meet that pressure-bearing special equipment welds
The needs of Inner Defect Testing are stitched, are mainly used in the automatic scanning of metal dangerous material in airport, the safety check of high ferro station.
Embodiment uses single wall transillumination shown in Fig. 1, including radiographic source, digital flat panel outside, two carrying robot cars
By magnetic-adsorption on the surface of spherical tank 4, Liang Ge robots are divided into radiographic source end robot 1 and digital flat-panel detector end robot
2, radiographic source end robot 1 is walked by itself weld seam tracking or distal end remote control, digital flat-panel detector end robot 2
Radiographic source end robot 1 is tracked, ensures digital flat-panel detector end robot 2 and the synchronous walking of radiographic source end robot 1.
Such as Figure 10, the autonomous of radiographic source end robot 1, and encoder information is recorded, obtain what each wheel was turned over
The number of turns, then by the information by being wirelessly sent to digital flat-panel detector end robot 2, digital flat-panel detector end robot
2 encoder informations sent according to radiographic source end robot 1 control the rotation of 1 each wheel of digital flat-panel detector end robot,
And the elimination that digital flat-panel detector end robot 2 moves caused accumulated error can use two schemes：
Scheme one, the picture obtained from the exposure of each digital flat panel 27, which can see on square digital flat panel 27, one
Circular exposure area, circular exposure area is the position of radiographic source, i.e., obtains digital flat-panel detector terminal by picture
Device people 2 relative to radiographic source end robot 1 position offset distance, and next time walk during to flat panel detector end
The motion of robot 2 is corrected, so as to realize digital flat-panel detector end robot 2 it is synchronous with radiographic source end robot 1 with
Track.
Resistance wire is equipped by scheme two, radiographic source end robot 1, and radiographic source end robot 1 is by resistance wire or infrared penetrates
Line heats to the tank body region of thermal source face, and when heating to a certain extent, heated region can form face hot source point
Four symmetrical heat are then distributed with temperature highest, the feature gradually reduced to ambient temperature, digital flat-panel detector end robot 2
Dependent sensor, the temperature difference of four heat-sensitive sensor face points can produce piezoelectric signal, if in the case of without centering, four
Individual heat-sensitive sensor face point temperature is different, and caused piezoelectric signal can have pressure difference, and digital flat panel detection is controlled according to pressure difference
Qi Duan robots move towards thermal self-restraint stress, so as to realize synchronized tracking.
Each robot motion's structure uses comprehensive Mecanum wheel constructions, i.e., more than the three of robot position adopts
It is Mecanum wheel with Mecanum wheels, preferably four positions.All directionally movable robot based on four Mecanum wheels leads to
Magnetic suck is crossed on the surface of spherical tank 4, and carries digital radial detecting system and weld seam is detected, all directionally movable robot can be with
Neatly detect the weld seam of various trends.Wherein, robot absorption passes through four pieces of permanent-magnet magnetics of installation on vehicle frame on the surface of spherical tank 4
Iron and it is arranged symmetrically to realize.
The most bottom surface of permanent magnetic iron 1 is higher than the most bottom surface of Mecanum wheels 1, the most bottom surface height of permanent magnetic iron 2 22
In the most bottom surface of Mecanum wheels 2 23, while the permanent magnetic iron 1, permanent magnetic iron 2 22 is provided absorption affinity and spherical tank
Tank skin keeps a determining deviation, and resistance Mrs influences walking when avoiding adsorbing completely, to ensure that Mecanum wheels 1, Mecanum are taken turns
2 23 smooth walking.Permanent magnetic iron 1, permanent magnetic iron 2 22 can also use reversible structure, by adjusting permanent-magnet magnetic
The absorption angle of iron 1, permanent magnetic iron 2 22, realizes the regulation of different absorption affinities.
Preceding tracking sensor 1, rear tracking sensor 1 connect motion control box 1, motion control box one respectively
18 are connected by wireless WIFI module with host computer 3.Preceding tracking sensor 2 21, rear tracking sensor 2 25 connect motion respectively
Control box 2 28, motion control box 2 28 are connected by wireless WIFI module with host computer 3.The weld seam of radiographic source end robot 1 follows
Mark, to weld seam memory captured in real-time, then obtains robot relative to weld seam by robot two cameras of head and the tail after image procossing
Position, then according to position deviation carry out in time adjustment speed.
Continous way x-ray source 17 is fixed on the center of vehicle frame 1 in radiographic source end robot 1, and radioactive source is downward, and numeral is flat
Digital flat panel is fixed on the bottom center of vehicle frame 2 24 in partitioned detector end robot 2, and digital flat panel is digital imagery flat board
Receive downwards, when radiographic source end robot 1, digital flat-panel detector end robot 2 are run, respectively two inside and outside spherical tank 4
Side, radiographic source end robot 1 radioactive source radiation X ray, the numeral of digital flat panel 27 of digital flat-panel detector end robot 2 into
Picture, so as to realize the automation Non-Destructive Testing to weld seam.
The far-end remote control control of radiographic source end robot 1 with robot by installing wireless communication module one, in spherical tank 4
It is that entrance installs wireless WiFi relayings at manhole, then passes through WiFi connections distal end host computer 3 and radiographic source terminal device
People 1, and radiographic source end robot 1 transmits regarding for captured in real-time with digital flat-panel detector end robot 2 by wireless WiFi
Frequency information.Host computer 3 can be with the motion and work of remote control radiographic source end robot 1, digital flat-panel detector end robot 2
Pattern.
Radiographic source end robot 1, digital flat-panel detector end robot 2 are respectively equipped with level meter, and level meter connects respectively
Motion control box one, motion control box two, radiographic source end robot 1, digital flat-panel detector terminal are calibrated by level meter
The posture of device people 2, make radiographic source end robot 1, the keeping parallelism of digital flat-panel detector end robot 2.
Vehicle frame 1, the vehicle frame 2 15 of digital flat-panel detector end robot 2 of radiographic source end robot 1 are respectively equipped with knot
Structure identical suspension isolation mounting 5.Such as Fig. 4, illustrated exemplified by digital flat-panel detector end robot 2.
Such as Fig. 5, suspension isolation mounting 5 includes flexible unit 51, horizontal mechanism, and one end of flexible unit 51 is consolidated located at magnet
The top platform of reservation 57, the other end of flexible unit 51 are flexibly connected vehicle frame fixed seat 56, and the bottom of magnet fixed seat 57 connects
Permanent magnetic iron 2 22 is connected to, vehicle frame fixed seat 56 connects the boss of bearing block 53 by horizontal mechanism, and bearing block 53 is consolidated with magnet
Reservation 57 is bolted servomotor 2 26 respectively, and motor fixing plate is provided between magnet fixed seat 57 and servomotor 2 26
52, servomotor 2 26 connects Mecanum wheels 2 23 by wheel shaft 54.
Horizontal mechanism uses more than one H types connecting rod 55, such as Fig. 8, more than one 55 parallel installation of H types connecting rod and position
In on same vertical plane, the both ends of H types connecting rod 55 respectively by the boss of bearing pin connecting vehicle frame fixed seat 56, bearing block 53 it is convex
Platform.
Flexible unit 51 is bolted between the top platform of magnet fixed seat 57 and pressing plate 58, flexible single such as Fig. 6
Member 51 is made up of the superposition of some flat springs, and flat spring is included located at middle long leaf spring, and the length of flat spring is from long leaf spring to two
End is successively decreased, and long leaf spring gap coordinates in the dead slot of fixed seat, and such as Fig. 7, long leaf spring can slidably reciprocate in groove.
Flexible unit 51 is made up of five leaf spring, two panels short-movie spring flat spring superpositions in a piece of long leaf spring, two panels, long leaf spring
Both sides be symmetrically distributed with a piece of middle leaf spring and a piece of short-movie spring.
Permanent magnetic iron 2 22 is centrally located on the place vertical plane of wheel shaft 54, permanent magnetic iron 2 22 and Mecanum wheels 2 23
Walkway surface be arranged in parallel.
As shown in figure 4, the Mecanum wheeled vehicles in radiographic source end robot 1, digital flat-panel detector end robot 2 fill
During with suspension isolation mounting 5, the top surface of vehicle frame fixed seat 56 and vehicle frame 1 or vehicle frame 2 24 are connected in one piece, four suspensions
Isolation mounting 5 is taken turns 2 23 Kinematics Laws and is symmetrically installed according to Mecanum wheels 2 23, Mecanum.
When Mecanum wheeled vehicles are in permeability magnetic material surface creep, permanent magnetic iron 2 22 and Mecanum wheeled vehicles itself weight
The offer normal pressure of making a concerted effort of amount, when some Mecanum wheels 2 23 run into obstacle, Mecanum wheels 2 23 lift, permanent-magnet magnetic
Iron 2 22 and Mecanum wheels 2 23 lift simultaneously, and keep magnet lower surface parallel with absorption surface, other Mecanum wheels
2 23 are still close to absorption surface, permanent magnetic iron 2 22 and Mecanum wheels 2 23 surmount obstacles simultaneously after, adsorb again in magnetic conduction material
Expect surface.
When Mecanum wheeled vehicles are in permeability magnetic material surface creep, gravity suffered by Mecanum wheeled vehicles points to absorption table
Flat spring stress deformation between face, long leaf spring and the top platform of long leaf spring and magnet fixed seat 57, there is provided damping effect；
When gravity is backwards to absorption surface suffered by Mecanum wheeled vehicles, flat spring between long leaf spring and long leaf spring and pressing plate 58 by
Force deformation, there is provided damping effect, to realize Mecanum wheeled vehicles in the damping creeped at any angle on adsorbing plane.
The suspension isolation mounting 5 disclosure satisfy that the absorption stability and kinetic stability of Mecanum wheels, ensure Mecanum
Take turns the contact with permeability magnetic material surface and pressure, the distance and the depth of parallelism of guarantee permanent magnetic iron absorption surface, make adsorption effect with
It is stable, while shock insulation unit can realize the shock insulation of upper and lower both direction, the robot that can meet to install the suspension system exists
The isolating affection of the absorption surface of all angles.
Two H types connecting rods 55 and the boss of vehicle frame fixed seat 56, the boss composition parallelogram connection-rod machine of bearing block 53
Structure, ensure that Mecanum wheels and the grade of permanent magnetic iron 2 22 are in translation, it is ensured that permanent magnetic iron 2 22 and Mecanum wheels connect
Contacting surface is parallel, and then ensures that 2 22 pairs of magnetic conduction absorption surface absorption affinities of permanent magnetic iron are stable.
Flexible unit 51 has that five flat springs are symmetrical, and it is existing flexible well to fold spring, there is stronger bearing capacity again,
Larger deformation can be both produced when Mecanum wheels surmount obstacles, will not be failed again because deforming excessive, symmetrical is folded
Spring can make the robot equipped with the suspension system to have damping effect being creeped at any angle in plane.
Permanent magnetic iron 2 22 is arranged on independent suspension position, even if the suspension equipped with Mecanum wheels can be made to creep
Remained to when obstacle obstacle detouring is run into journey into patch absorption surface, ensure the kinetic characteristic of the robot equipped with Mecanum wheels, Er Qieyong
Magnetic magnet 2 22 is taken turns close to Mecanum, and the physical dimension of suspension can ensure the distance of magnet and absorption surface, ensures magnet pair
The absorption affinity of absorption surface is stable, and magnet can take turns with Mecanum and rise and fall simultaneously when running into obstacle, prevent because of magnet and
Absorption surface is in small distance and bumps against with obstacle.
Fig. 9 is whole control system operating diagram, radiographic source end robot 1, digital flat-panel detector end robot 2,
Host computer 3 is mutually communicated by WiFi and transmission information, and radiographic source end robot 1, digital flat-panel detector end robot 2 are distinguished
Provided with wireless communication module, preceding tracking sensor, rear tracking sensor, CAN communication module, the motion control box of controlled motor,
The modules such as servomotor, realize function described above.
Control system is included in radiographic source end robot 1, digital flat-panel detector end robot 2, host computer 3 i.e. operation
The heart, three units are connected by wireless communication module one, wireless communication module two, and radiographic source end robot 1 is visited with digital flat panel
The control system component units of Ce Qiduan robots 2 are much the same, and the preceding tracking sensor 11 of radiographic source end robot 1 follows with after
Mark sensor 15 is digital camera, by carrying out picture processing to the picture photographed, for automatic tracking, radiographic source terminal device
Communicated between people 1 and motor, level meter by CAN, radiographic source end robot 1 is according to remote control or automatic tracking order meter
Each motor speed is calculated, control command is sent to by each motor by CAN, the encoder information of each motor and level meter
Information passes the motion control box 1 of radiographic source end robot 1, the motion control of radiographic source end robot 1 back by CAN
The information analysis that one 18 pairs of box is passed back calculates, and then sends information to digital flat-panel detector terminal by wireless communication module
Device people 2, the information that digital flat-panel detector end robot 2 transmits according to radiographic source end robot 1, to displacement order memory
Adjustment, the motion command finally calculated are sent to motor by CAN.
The Mecanum wheel weld seam detections robot of embodiment uses Mecanum wheel all-directionals mobile platform and AGV systems
System, the digital radial automatic detection technique dress of the in-service pressure-bearing special equipment such as domestic and international large-size spherical tank 4, vertical storage tank is filled up
Standby blank.The detection robot of embodiment is in addition to it can realize advance and retreat, traversing, pivot turn, moreover it is possible to realize around any one
Point is rotated, can be significantly especially in the large-scale in-service pressure-bearing special equipment such as station boiler, spherical tank, vertical storage tank
Improve flexibility of the robot to weld seam detection on equipment curved surface.
Digital flat panel ray detection machine people's imaging system that this kind is taken turns based on Mecanum, in addition to examining report generation
Module, examining report generation module：By the processing to ray detection image, the defects of carrying out feature based qualitative recognition, and
Defect quantitative and grading are carried out, it is automatic raw with reference to computer database technology according to relevant criterions such as JB/T 4730.2-2005
Into examining report, such as Figure 11.
Embodiment is applied to the detection of the large-scale various weld seams of bearing device equipment such as spherical tank, storage tank, including longitudinal joint, circumferential weld,
Embedded nozzle weld, end socket piece etc.；Robot motion and the free degree meet weld seam detection technological requirement, robot motion's essence
Degree meets accuracy of detection requirement；Soldering joint automatic tracking technology meets onsite application requirement；The digital radiography skill that system uses
Art meets examination criteria requirement with technique.Embodiment is eventually into a set of practical robot digital flat panel for being capable of automatic tracking welding seam
Ray detection system, the weld seam automatic detection available for large-scale pressure-bearing special equipment of the diameter more than 4m.
Claims (6)
- A kind of 1. digital radial detection digital flat-panel detector end robot based on Mecanum wheels, it is characterised in that：Including car Frame two, Mecanum wheels two, servomotor two, preceding tracking sensor two, rear tracking sensor two, digital flat panel, permanent magnetic iron two With motion control box two, for motion control box two on vehicle frame two, preceding tracking sensor two is located at the front end of vehicle frame two, rear tracking Sensor two is located at the rear end of vehicle frame two, and the middle part of vehicle frame two is provided with digital flat-panel detector, and digital flat-panel detector is located at car The bottom of frame two, the both sides of vehicle frame two are respectively equipped with Mecanum two, Mecanum of wheel wheels two and are connected with servomotor two, servo electricity Machine two connects motion control box two, and the two bottom sides of vehicle frame two are respectively equipped with permanent magnetic iron two；The digital flat-panel detector terminal Device people is arranged on the side of detected object, and vehicle frame two is provided with suspension isolation mounting, including flexible unit, horizontal mechanism, flexible One end of unit is located at the top platform of magnet fixed seat, and the other end of flexible unit is flexibly connected vehicle frame fixed seat, and magnet is solid The bottom of reservation is connected with permanent magnetic iron two, and vehicle frame fixed seat connects the boss of bearing block, bearing block and magnetic by horizontal mechanism Ferropexy seat is bolted servomotor two respectively, and motor fixing plate is provided between magnet fixed seat and servomotor two, is watched Take motor two-way third wheel axis connection Mecanum wheels two.
- 2. the digital radial detection digital flat-panel detector end robot based on Mecanum wheels as claimed in claim 1, it is special Sign is：The quantity of Mecanum wheels two is four, and Mecanum wheels two are respectively arranged on four ends of vehicle frame two.
- 3. the digital radial detection digital flat-panel detector end robot based on Mecanum wheels as claimed in claim 1, it is special Sign is：Vehicle frame two is the square structure being vertically arranged by some vertical muscle and some horizontal bars.
- 4. the digital radial based on Mecanum wheels as described in claim any one of 1-3 detects digital flat-panel detector terminal Device people, it is characterised in that：Gap is provided between permanent magnetic iron two and detected object.
- 5. the digital radial detection digital flat-panel detector end robot based on Mecanum wheels as claimed in claim 1, it is special Sign is：Horizontal mechanism uses more than one H types connecting rod, and more than one H types connecting rod is parallel to be installed and positioned at same vertical On face, the both ends of H type connecting rods pass through the boss of bearing pin connecting vehicle frame fixed seat, the boss of bearing block respectively.
- 6. the digital radial detection digital flat-panel detector end robot based on Mecanum wheels as claimed in claim 1, it is special Sign is：Flexible unit is bolted between the top platform and pressing plate of magnet fixed seat, if flexible unit is by dry plate bullet Spring superposition is formed, and flat spring is included located at middle long leaf spring, and the length of flat spring is successively decreased from long leaf spring to both ends, between long leaf spring Gap coordinates in the dead slot of vehicle frame fixed seat.
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| CN105856188B (en) * | 2016-05-06 | 2017-11-07 | 简燕梅 | Portable Flexible Building Structures detect robot |
| CN107226146B (en) * | 2017-04-28 | 2019-03-12 | 东南大学 | A kind of adjustable suspension fork mechanism of three axis for robot |
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Inventor after: Xu Jianqin Inventor after: Yu Yanping Inventor after: Tu Chunlei Inventor after: Wang Xingsong Inventor before: Xu Jianqin Inventor before: Yu Yanping Inventor before: Tu Chunlei Inventor before: Wang Xingsong |