CN105539624A - Metal surface climbing and detecting robot - Google Patents
Metal surface climbing and detecting robot Download PDFInfo
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- CN105539624A CN105539624A CN201511032221.8A CN201511032221A CN105539624A CN 105539624 A CN105539624 A CN 105539624A CN 201511032221 A CN201511032221 A CN 201511032221A CN 105539624 A CN105539624 A CN 105539624A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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Abstract
The invention relates to a metal surface climbing and detecting robot. A robot body of the metal surface climbing and detecting robot comprises a plurality of joint modules, two electromagnetic attraction modules and a plurality of walking steering engines, and all the modules are sequentially connected in a series mode. Rotating shafts of all the T-shaped joint modules are parallel to one another, the rotating shafts of the I-shaped joint modules at the two ends are perpendicular to the rotating shafts of the T-shaped joint modules, and the electromagnetic attraction modules are arranged at the tail ends of the I-shaped joint modules at the two ends respectively. The robot can climb on the surface of magnetic conductive metal through coordinate movement of joints and alternate attraction of the electromagnetic attraction modules. An ultrasound sensor on a detection system is fixedly connected to the edge of one electromagnetic attraction module and connected with a remote controller in a bus mode. When the end, without the ultrasound sensor, of the robot is fixed in an attraction mode, the ultrasound sensor can move along the surface of the metal to carry out nondestructive inspection under driving of all the joint modules. The robot has the climbing and detecting functions, is suitable for replacing manpower to work on the surface of a magnetic conductive object and has the advantages of being simple, practical, convenient to use, safe and the like.
Description
Technical field
The present invention relates to robotics, in particular to a kind of metal surface climbing detection robot.
Background technology
It is very general and operation widely and a task that flaw detection is detected in metal surface.Various band large-scale metal framing member (such as steel tower, bridge and other steel building etc.) often needs this operation.Construction machinery industry needs to detect flaw detection.Only for excavating machine, the amount of money of the old excavating machine of current China import accounts for excavating machine complete system import volume more than 90%, and quantity accounts for more than 35% of domestic total sales volume.The old excavating machine of enormous quantity like this will produce the problems such as environmental pollution, energy consumption height, there is hidden danger most serious of all in production safety.Excavating machine inspection becomes one of important content importing and exporting inspection and quarantine, and wherein a most important link is the detection to its framing member.Due to excavating machine work under bad environment, its framing member very easily corrodes, and easily produces fatigue simultaneously, cause very large hidden danger to production safety under the effect of stress.Therefore, carrying out detection that is main and key structure part to old excavating machine is the important prerequisite ensureing its production safety.Current detection is all artificial realization, has larger limitation and deficiency, is mainly reflected in: 1) testing process is a kind of aloft work, there is larger potential safety hazard, as fallen, crushing, hydraulic oil spray wound etc.; 2) manual detection speed is slow, efficiency is low, 3) Detection job depends on the experience of checker, technical merit and conscientious degree, and conformability cannot ensure.Therefore, for above problem and shortage, develop a kind of excavating machine non-destructive test robot system, replace manually automatically detecting, raising detection efficiency, quality and solution safety problem are all significant.
The robot of climbing metal wall surface has wheeled and crawler type etc. both at home and abroad at present, and suction type comprises magneto and suction type.They are general huger, be adapted at creeping continuously and on smooth nothing serious large-scale metope (such as large-sized boiler and marine surface), climbing speed is fast, but turn to, obstacle detouring, more weak across aspect abilities such as ditches, to be not suitable in steel tower, bridge and other structure of steel product building and construction machinery and equipment climbing and to detect.
Summary of the invention
Task of the present invention be towards on steel tower, bridge and construction machinery and equipment surface high-altitude detect operation, develop a kind of can climb at magnet conductivity body surface and implement non-destructive flaw detection detection small scale robot.According to bionics principle, by imitating the climbing motion of looper, build that a kind of structure is simple, configuration easily changes, small and exquisite flexibly, control biped climbing robot easy, with low cost, and mounting ultrasonic sensor thereon, realize Detection task, the new opplication for expansion robot explores a simple approach.
For achieving the above object, the present invention adopts following technical scheme.
A kind of metal surface climbing detection robot, comprise robot body and checking system, it is characterized in that, described robot body comprises several joint modules, two electromagnetic adsorption modules and several walking steering wheels, joint module is connected successively in series with electromagnetic adsorption module, wherein electromagnetic adsorption module is positioned at two ends, walking steering wheel is connected with joint module, for the rotating shaft of driving joint module, described checking system comprises ultrasonic transduter, remote controllers and sensor steering wheel, ultrasonic transduter is fixedly connected on one of them electromagnetic adsorption module limit, be connected with institute remote controllers, sensor steering wheel is connected with remote controllers, rotate for driving ultrasonic transduter.
Metal surface according to claim 1 climbing detection robot, is characterized in that, described joint module comprises T-shaped joint module and I type joint module, T-shaped joint module is positioned at centre, its rotating shaft is parallel to each other, and I type joint module is positioned at two ends, and its rotating shaft is vertical with T-shaped joint module rotating shaft.
Preferably, described joint module quantity is identical with the quantity of described walking steering wheel.
Preferably, described sensor steering wheel is arranged on magnetic chuck inside.
Preferably, described joint module quantity is six.
Preferably, described electromagnetic adsorption module passes through the break-make implement device of wherein electric current to the adsorption and desorption on magnetic conductive metal surface.
T-shaped joint module can be described as swinging joint module, and I type joint module can be described as revolute joint module.Robot body can be bent and stretch by middle T-shaped joint module, and by the coordinated movement of various economic factors in each joint and the alternating sorbent of electromagnetic adsorption module, this robot can be climbed on the surface at magnetic conductive metal.When robot is fixing without one end absorption of ultrasonic transduter, ultrasonic transduter can move along metal surface and carry out non-destructive flaw detection under the driving of each joint module.
Preferably, described I type joint module is by servo driving of walking, motion and power are by the output shaft of walking steering wheel and are exported by the output disk on it, and then drive another joint module be anchored on walking steering wheel output disk, produce the rotary motion of the steering wheel output shaft axis that detours away.
Preferably, described T-shaped joint module is by servo driving of walking, motion and power by steering wheel of walking output shaft and by the output of output disk on it, and then the swinging mounting making to be anchored on walking steering wheel output disk detours away steering wheel output shaft rotation, drive other joint modules, the output shaft of walking steering wheel and its output disk are by profile of tooth spline joint.
Preferably, to connect between described T-shaped module or the interface that is connected between T-shaped module with I pattern block and bolt group are same standards.
Preferably, the described rotating shaft of I type joint module and the dead in line or parallel of joint link lever, the rotating shaft of described T-shaped joint module and the axis of joint link lever orthogonal.
In the middle of robot of the present invention, T-shaped articulation can make robot body stretch or bend, and the I type articulation at two ends then can change the orientation of end electromagnetic adsorption module.First firmly adsorb on the metal surface to support whole robot by an electromagnetic adsorption module during detection, the other end moves, behind target location, corresponding electromagnetic adsorption module is adsorbed, then previous electromagnetic adsorption module is unclamped and is discharged, and move to new target location, circulation like this, alternating sorbent, robot just can climb to the work place of specifying on the metal surface.Subsequently, the electromagnetic adsorption module of one end (not connecting ultrasonic transduter) is fixed on metal covering, ultrasonic transduter in other end electromagnetic adsorption module is by the rotation of robot body and detection head, check point is detected a flaw, and real-time for the data of detection is sent to remote controller.
Robot of the present invention has following features:
Robot body adopts cascaded structure, and each component part connects successively, and robot head and the tail two ends are symmetrical, and head and the tail can be put mutually, convenient operation and control.
Robot body main modular forms, the connection between module and fasteningly to be realized by the unified interface that designs in each module and bolt group, obtains multiple robot modeling by the connection and combination changing module.The structure of robot is simple, convenient and quick.
All modules of robot, by steering wheel and the sensor servo driving of walking, control simple, and programming, debugging are conveniently.
Accompanying drawing explanation
Fig. 1 is robot External view of the present invention;
Fig. 2 is I type joint module External view of the present invention;
Fig. 3 is I type joint module exploded view of the present invention;
Fig. 4 is T-shaped joint module External view of the present invention;
Fig. 5 is T-shaped joint module exploded view of the present invention;
Fig. 6 is electromagnetic adsorption module of the present invention and checking system exploded view;
Fig. 7 is robot control system schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with drawings and embodiments, the invention will be further described, but protection scope of the present invention is not limited to the scope of embodiment statement.
Fig. 1 shows External view and the structural scheme of mechanism of small scale robot of the present invention.As shown in the figure, robot comprises robot body and checking system, wherein robot body has six modules, be made up of two I type joint module 0-2 and four T-shaped joint module 0-1, two ends respectively meet an electromagnetic adsorption module 0-3, each module connects successively in a series arrangement, order is: electromagnetic adsorption module-I type joint module-T-shaped joint module-T-shaped joint module-T-shaped joint module-T-shaped joint module-I type joint module-electromagnetic adsorption module, namely be four T-shaped joint module 0-1 in the middle of, two ends are that I type joint module 0-2 meets electromagnetic adsorption module 0-3 again, checking system 0-4 is connected with electromagnetic adsorption module 0-3 by a rotary joint.
I type joint by servo driving of walking, motion and power by steering wheel of walking output shaft and exported by output disk on it, and then drive another joint module be anchored on walking steering wheel output disk, generation is detoured away the rotary motion of steering wheel output shaft axis.T-shaped joint is also by walking servo driving, motion and power by steering wheel of walking output shaft and by the output of output disk on it, and then the swinging mounting making to be anchored on walking steering wheel output disk detours away steering wheel output shaft rotation, drive other joint module be fixed thereon by bolt group.
Fig. 2 and Fig. 3 is respectively External view and the exploded view of I type joint module.Rotating shaft and the joint link lever dead in line or parallel of I type joint module.Parts comprise: rotate auxiliary frame I-1, walking steering wheel output disk I-2, walking steering wheel I-3, bolt I-4, nut I-5, pedestal I-6, be threaded dish I-7, screw I-8, rotating shaft I-9.Power comes from walking steering wheel I-3, is outsourcing gauge member, carries walking steering wheel output disk I-2.Walking steering wheel I-3 is fixed by the mounting hole on it and pedestal I-6 bolt.Walking steering wheel I-3 output shaft and output disk I-2 pass through profile of tooth spline joint, and at axle head screw fastening.The fork end rotating auxiliary frame I-1 is fixed on walking steering wheel output disk I-2 by screw, the other end is enclosed within rotating shaft I-9, for free-running fit, and by the shaft shoulder on rotating shaft I-9 and the dish I-7 axial restraint that is threaded, the output shaft of walking steering wheel I-3 and rotating shaft I-9 are on the same line, rotate auxiliary frame I-1 just around this straight line, to rotate under the drive of walking steering wheel output disk I-2.Rotate auxiliary frame I-1 and play additional reinforcement effect.Walking steering wheel output disk I-2 and rotation auxiliary frame I-1 has corresponding unified tapped bore and unthreaded hole, as one of standard interface be connected with other module.The dish I-7 that is threaded is placed on rotating shaft I-9, and its one side is relative with rotation auxiliary frame I-1, and another side is close to pedestal I-6, by screw I-8 and rotating shaft I-9 by rotation auxiliary frame I-1, be threaded that it is affixed to coil I-7 and pedestal I-6.The dish I-7 that is threaded has corresponding tapped bore and unthreaded hole with on pedestal I-6, as another standard interface be connected with other module.Other module being fixed on walking steering wheel output disk I-2 produces rotation with walking steering wheel output disk I-2 relative to walking steering wheel body, just achieves the function of I module.
Fig. 4 and Fig. 5 is respectively External view and the exploded view of T-shaped joint module.The rotating shaft of T-shaped joint module and the axis of joint link lever orthogonal.Parts comprise: swinging mounting T-1, bolt T-2, walking steering wheel output disk T-3, upper pedestal T-4, lower pedestal T-5, screw T-6, nut T-7, pad T-8, hollow rotating shaft T-9, walking steering wheel T-10.Power comes from walking steering wheel T-10, and it is outsourcing gauge member, carries walking steering wheel output disk T-3.Walking steering wheel T-10 output shaft place end face is close to pedestal T-4 inner face, and affixed by the mounting hole on it and upper pedestal T-4, lower pedestal T-5 bolt.Walking steering wheel T-10 output shaft and output disk T-3 pass through profile of tooth spline joint, and at axle head screw fastening.The fork end of swinging mounting T-1 is fixed on walking steering wheel output disk T-3 by screw, the other end is placed on hollow rotating shaft T-9, for free-running fit, by the hollow rotating shaft T-9 shaft shoulder and pad T-8 axial restraint, the hollow rotating shaft T-9 other end is supported on lower pedestal T-5, is fixed on lower pedestal T-5 by screw T-6 and nut T-7.Walking steering wheel output disk T-3 axis and hollow rotating shaft T-9 axis are located along the same line, and swinging mounting T-1 just under the driving of walking steering wheel output disk T-3, can do the rotation relative to walking steering wheel T-10 body around this straight line.Swinging mounting T-1 waist location has the unthreaded hole of eight circumference uniform distributions, and as one of standard interface that T joint is connected with other joint module, and upper pedestal T-4 is combined to form another standard interface be connected with other joint module with lower pedestal T-5.When swinging mounting T-1 produces relative rotation under the driving of the steering wheel output disk T-3 that walks, drive other joint module connected thereon to do corresponding rotation, just achieve the function of T module.
Fig. 6 is External view and the part exploded view thereof of electromagnetic adsorption module and checking system.Parts comprise: ultrasonic transduter D-1, sensor steering wheel D-2, magnetic chuck X-2 and end cap X-1.The power that ultrasonic transduter rotates comes from sensor steering wheel D-2, and it is outsourcing gauge member.Sensor steering wheel is arranged on magnetic chuck inside, carries out Assembly &Disassembly by the end cap X-1 opening its upper end.End cap X-1 is connected with the I type joint at robot body two ends by screw.
Fig. 7 is robot control system schematic diagram.Remote controllers are according to detection position, and the climbing path of planning robot, calculates the location track of seven steering wheels.After robot arrives the position of expection, Long-distance Control, by data acquisition unit Real-time Obtaining ultrasonic test data, judges the degree of impairment at excavating machine position to be detected.
More than describe and be only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art are to be understood that, invention scope involved in the application, be not limited to the technical scheme of the particular combination of above-mentioned technical characteristic, also should be encompassed in when not departing from described inventive concept, other technical scheme of being carried out combination in any by above-mentioned technical characteristic or its equivalent feature and being formed simultaneously.The technical characteristic that such as, disclosed in above-mentioned feature and the application (but being not limited to) has similar functions is replaced mutually and the technical scheme formed.
Claims (10)
1. a metal surface climbing detection robot, comprise robot body and checking system, it is characterized in that, described robot body comprises several joint modules, two electromagnetic adsorption modules and several walking steering wheels, joint module is connected successively in series with electromagnetic adsorption module, wherein electromagnetic adsorption module is positioned at two ends, walking steering wheel is connected with joint module, for the rotating shaft of driving joint module, described checking system comprises ultrasonic transduter, remote controllers and sensor steering wheel, ultrasonic transduter is fixedly connected on one of them electromagnetic adsorption module limit, be connected with institute remote controllers, sensor steering wheel is connected with remote controllers, rotate for driving ultrasonic transduter.
2. metal surface according to claim 1 climbing detection robot, it is characterized in that, described joint module comprises T-shaped joint module and I type joint module, T-shaped joint module is positioned at centre, its rotating shaft is parallel to each other, I type joint module is positioned at two ends, and its rotating shaft is vertical with T-shaped joint module rotating shaft.
3. metal surface according to claim 2 climbing detection robot, is characterized in that, described joint module quantity is identical with the quantity of described walking steering wheel.
4. metal surface according to claim 2 climbing detection robot, described sensor steering wheel is arranged on magnetic chuck inside.
5. metal surface according to claim 2 climbing detection robot, is characterized in that, described joint module quantity is six.
6. metal surface according to claim 5 climbing detection robot, is characterized in that, described electromagnetic adsorption module passes through the break-make implement device of wherein electric current to the adsorption and desorption on magnetic conductive metal surface.
7. metal surface according to claim 6 climbing detection robot, it is characterized in that, described I type joint module is by servo driving of walking, motion and power are by the output shaft of walking steering wheel and are exported by the output disk on it, and then drive another joint module be anchored on walking steering wheel output disk, produce the rotary motion of the steering wheel output shaft axis that detours away.
8. metal surface according to claim 7 climbing detection robot, it is characterized in that, described T-shaped joint module is by servo driving of walking, motion and power by steering wheel of walking output shaft and by the output of output disk on it, and then the swinging mounting making to be anchored on walking steering wheel output disk detours away steering wheel output shaft rotation, drive other joint modules, the output shaft of walking steering wheel and its output disk are by profile of tooth spline joint.
9. according to the metal surface climbing detection robot of claim arbitrary in claim 2-8, it is characterized in that, the interface connecting between described T-shaped module or be connected between T-shaped module with I pattern block and bolt group are same standards.
10. metal surface according to claim 9 climbing detection robot, is characterized in that, the described rotating shaft of I type joint module and the dead in line or parallel of joint link lever, the rotating shaft of described T-shaped joint module and the axis of joint link lever orthogonal.
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| CN201511032221.8A CN105539624A (en) | 2015-12-30 | 2015-12-30 | Metal surface climbing and detecting robot |
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| CN201511032221.8A CN105539624A (en) | 2015-12-30 | 2015-12-30 | Metal surface climbing and detecting robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080823A (en) * | 2016-06-22 | 2016-11-09 | 国网山东省电力公司荣成市供电公司 | A kind of imitative Gekko Swinhonis Zu Shipa steel tower robot |
| CN106184452A (en) * | 2016-08-10 | 2016-12-07 | 西安交通大学 | A kind of all fours type electromagnetic adsorption climbing robot |
| CN107402139A (en) * | 2017-08-07 | 2017-11-28 | 清华大学天津高端装备研究院 | A kind of magnetic adsorption wall climbing robot performance detecting platform |
| CN107450374A (en) * | 2017-09-06 | 2017-12-08 | 哈尔滨工业大学 | A kind of bionic adhesion formula inchworm-like robot electric-control system |
| CN108248714A (en) * | 2017-12-01 | 2018-07-06 | 上海大学 | A kind of sole of the climbing robot based on electromagnetic adsorption mode |
| CN108302395A (en) * | 2018-03-28 | 2018-07-20 | 郑得川 | A kind of eye-protecting lamp fixing device |
| CN108593782A (en) * | 2018-03-14 | 2018-09-28 | 陈建江 | A kind of novel high-performance supersonic diagnostic appts |
| CN109131622A (en) * | 2018-09-28 | 2019-01-04 | 南京信息职业技术学院 | A kind of climbing robot |
| CN109131621A (en) * | 2018-09-04 | 2019-01-04 | 洛阳清展智能科技有限公司 | A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot |
| CN109533075A (en) * | 2018-12-04 | 2019-03-29 | 深圳信息职业技术学院 | Biped climbing robot |
| CN109649520A (en) * | 2019-01-15 | 2019-04-19 | 北京史河科技有限公司 | A kind of robot |
| CN109959756A (en) * | 2017-12-14 | 2019-07-02 | 湘潭宏远电子科技有限公司 | A kind of non-destructive testing device |
| CN110501421A (en) * | 2019-07-24 | 2019-11-26 | 武汉大学 | A kind of track profiling method of detection based on mechanical arm |
| CN112026950A (en) * | 2020-09-10 | 2020-12-04 | 广东工业大学 | Wheel-leg composite climbing robot |
| CN113276106A (en) * | 2021-04-06 | 2021-08-20 | 广东工业大学 | Climbing robot space positioning method and space positioning system |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080823A (en) * | 2016-06-22 | 2016-11-09 | 国网山东省电力公司荣成市供电公司 | A kind of imitative Gekko Swinhonis Zu Shipa steel tower robot |
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| CN106184452A (en) * | 2016-08-10 | 2016-12-07 | 西安交通大学 | A kind of all fours type electromagnetic adsorption climbing robot |
| CN107402139A (en) * | 2017-08-07 | 2017-11-28 | 清华大学天津高端装备研究院 | A kind of magnetic adsorption wall climbing robot performance detecting platform |
| CN107450374A (en) * | 2017-09-06 | 2017-12-08 | 哈尔滨工业大学 | A kind of bionic adhesion formula inchworm-like robot electric-control system |
| CN108248714A (en) * | 2017-12-01 | 2018-07-06 | 上海大学 | A kind of sole of the climbing robot based on electromagnetic adsorption mode |
| CN109959756A (en) * | 2017-12-14 | 2019-07-02 | 湘潭宏远电子科技有限公司 | A kind of non-destructive testing device |
| CN108593782B (en) * | 2018-03-14 | 2019-08-13 | 磐安西昂电子有限公司 | A kind of novel high-performance supersonic diagnostic appts |
| CN108593782A (en) * | 2018-03-14 | 2018-09-28 | 陈建江 | A kind of novel high-performance supersonic diagnostic appts |
| CN108302395A (en) * | 2018-03-28 | 2018-07-20 | 郑得川 | A kind of eye-protecting lamp fixing device |
| CN109131621A (en) * | 2018-09-04 | 2019-01-04 | 洛阳清展智能科技有限公司 | A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot |
| CN109131622B (en) * | 2018-09-28 | 2024-02-09 | 南京信息职业技术学院 | Climbing robot |
| CN109131622A (en) * | 2018-09-28 | 2019-01-04 | 南京信息职业技术学院 | A kind of climbing robot |
| CN109533075A (en) * | 2018-12-04 | 2019-03-29 | 深圳信息职业技术学院 | Biped climbing robot |
| CN109533075B (en) * | 2018-12-04 | 2023-10-03 | 深圳信息职业技术学院 | Biped wall climbing robot |
| CN109649520A (en) * | 2019-01-15 | 2019-04-19 | 北京史河科技有限公司 | A kind of robot |
| CN110501421A (en) * | 2019-07-24 | 2019-11-26 | 武汉大学 | A kind of track profiling method of detection based on mechanical arm |
| CN112026950A (en) * | 2020-09-10 | 2020-12-04 | 广东工业大学 | Wheel-leg composite climbing robot |
| CN112026950B (en) * | 2020-09-10 | 2023-08-18 | 广东工业大学 | Wheel leg composite climbing robot |
| CN113276106A (en) * | 2021-04-06 | 2021-08-20 | 广东工业大学 | Climbing robot space positioning method and space positioning system |
| CN113276106B (en) * | 2021-04-06 | 2022-06-03 | 广东工业大学 | Climbing robot space positioning method and space positioning system |
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