CN108556944A - A kind of leak detection climbing robot and its system - Google Patents
A kind of leak detection climbing robot and its system Download PDFInfo
- Publication number
- CN108556944A CN108556944A CN201711453950.XA CN201711453950A CN108556944A CN 108556944 A CN108556944 A CN 108556944A CN 201711453950 A CN201711453950 A CN 201711453950A CN 108556944 A CN108556944 A CN 108556944A
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- robot
- crawler belt
- abdominal cavity
- sucker
- mobile mechanism
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- 238000001514 detection method Methods 0.000 title claims abstract description 51
- 230000009194 climbing Effects 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 210000000683 abdominal cavity Anatomy 0.000 claims abstract description 33
- 238000001179 sorption measurement Methods 0.000 claims abstract description 13
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 5
- 238000005286 illumination Methods 0.000 claims description 3
- 108010066114 cabin-2 Proteins 0.000 description 5
- 241000252254 Catostomidae Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007912 intraperitoneal administration Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
Abstract
The present invention relates to robot fields, more particularly to a kind of leak detection climbing robot and its system, including robot abdominal cavity, system cabin is equipped with above the robot abdominal cavity, detection device is equipped with above the system cabin, control centre is equipped in the room of the system cabin, the detection device is electrically connected with control centre, robot abdominal cavity both sides are arranged with the crawler-type mobile mechanism moved for climbing robot, the driving device for driving crawler-type mobile mechanism is equipped in the robot abdominal cavity, the driving device is electrically connected with control centre, vacuum adsorption mechanism is equipped on the outside of the crawler-type mobile mechanism, the present invention can solve the problems, such as that manual detection efficiency is low and with high costs in the prior art.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of leak detection climbing robot and its system.
Background technology
Over time, the body surfaces such as more and more skyscrapers, steel containment vessel, macrotype spherical metal need
It is detected and operation, such as in nuclear industry, large-scale nuclear waste tank, reactor pressure tank need to carry out crack inspection
It looks into, thickness measuring and seam inspection etc., in building trade, huge wall surface needs spraying, cleaning, and bridge needs flaw detection etc., in petrochemical industry
In industry, the inside and outside wall surface of round big tank or spherical tank is checked, measured and is maintained.
If the crack on large-scale nuclear waste tank cannot be found and repair in time, it is easy to cause pollutant and lets out
Dew, to influence the environment of the mankind depended on for existence；If if the slight crack on building cannot find and repair in time,
Accident is easy tod produce, for the detection maintenance work on this large-sized object surface, is completed by manual work, people
Work industry usually requires more people's cooperations, and working efficiency is low and entreprise cost is high, for operating personnel, work situation
Severe dangerous, personal safety cannot ensure, therefore carry out leak detection to large-sized object surface using automatic detecting machine device people
It is optimal selection.
Invention content
The purpose of the present invention is to provide a kind of leak detection climbing robot and its systems, to solve people in the prior art
The low and with high costs problem of work detection efficiency.
To achieve the above object, the present invention provides the following technical solutions：A kind of leak detection climbing robot, including machine
People abdominal cavity, the robot abdominal cavity top are equipped with system cabin, detection device, the system cabin are equipped with above the system cabin
Control centre is equipped in the room of room, the detection device is electrically connected with control centre, and robot abdominal cavity both sides are arranged with use
It is equipped in the crawler-type mobile mechanism of climbing robot movement, the robot abdominal cavity for driving crawler-type mobile mechanism
Driving device, the driving device are electrically connected with control centre, and vacuum adsorption mechanism is equipped on the outside of the crawler-type mobile mechanism.
Preferably, the crawler-type mobile mechanism is independently driven by two motors in driving device respectively, the crawler belt
Formula mobile mechanism includes Athey wheel and crawler belt, and the Athey wheel is engaged with crawler belt in a manner of simulating rack-and-pinion, the crawler belt
Wheel includes two driven wheels and a driving wheel, two driven wheels for not Wei Yu driving wheel both sides and engaged with driving wheel.
Preferably, the vacuum adsorption mechanism includes sucker, vacuum pump and the distribution being mounted in crawler-type mobile mechanism
Disk, the gas-guide tube of the sucker side and the distribution orifice of gas distribution plate, the gas distribution plate are connected to vacuum pump, the vacuum
Pump is located at system cabin interior, and the gas distribution plate is located at the outside of crawler-type mobile mechanism, two fixations on the gas distribution plate
Bar is each passed through Athey wheel and is fixedly connected with robot abdominal cavity.
Preferably, the sucker is installed on by sucker installation axle on the peripheral surface of crawler-type mobile mechanism, the active
Circumferentially face opens up fluted respectively for wheel and two driven wheels, and the width and depth of the groove are matched with sucker installation axle.
Preferably, the bottom of the sucker is fixedly connected with sucker fixing axle by spherical hinge, the peripheral surface of sucker bottom
On be also arranged with spring.
Preferably, the detection device includes binocular camera and provides the light source of illumination for binocular camera.
A kind of leak detection Climbing Robot System, including：
Robot body, the robot body include the system cabin above robot abdominal cavity and the robot abdominal cavity
Room；
Mobile and adsorbing mechanism subsystem, including the crawler-type mobile mechanism in robot abdominal cavity both sides and installation are set
Sucking disc mechanism on crawler-type mobile mechanism peripheral surface；
Power subsystem, including the power supply that is arranged on robot body, for providing electric power；
Detection ＆ Controling subsystem, including be arranged in the control centre of system cabin interior and setting above system cabin
Detection device, the detection device carries out Image Acquisition, control centre using the vision positioning method for having merged inertial navigation information
Image procossing is carried out to the image of acquisition；
Drives subsystem, including two driving motors intraperitoneal in robot are set, two driving motors are respectively used to
Drive the crawler-type mobile mechanism of robot abdominal cavity both sides.
Compared with prior art, the beneficial effects of the invention are as follows：The invention enables climbing robots can be in large-sized object
Adsorption is walked, and the state to large-sized object surface is realized by the detection device of integrated application inertial navigation and vision positioning
Detection and data processing and inversion find whether large-sized object surface has slight crack, if there are leakage scenarios, the present invention carries in time
The climbing robot of confession has many advantages, such as adsorption capacity is strong, load weight is big, work efficiency is high, wall surface is adaptable, energy
Have and adapt to various adverse circumstances, ship, large-scale dissolving, annular cement ground, spherical metal surface it can be used to be oozed
Leak detection.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the part-structure schematic diagram of the present invention；
Fig. 3 is the part-structure exploded view of the present invention；
Fig. 4 is the work flow diagram of detection device in the present invention.
In figure：1 robot abdominal cavity, 2 system cabins, 3 detection devices are 4 crawler-type mobile mechanisms, 41 driving wheels, 42 driven
Wheel, 43 crawler belts, 44 grooves, 5 driving devices, 6 suckers, 61 springs, 62 gas-guide tubes, 7 gas distribution plates.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution：A kind of leak detection climbing robot, including robot abdomen
Chamber 1,1 top of robot abdominal cavity are equipped with system cabin 2, and 2 top of system cabin is equipped with detection device 3, and system cabin is equipped in Room 2
Control centre, detection device 3 are electrically connected with control centre, and 1 both sides of robot abdominal cavity are arranged with moves for climbing robot
43 formula mobile mechanism 4 of crawler belt, the driving device 5 for driving 43 formula mobile mechanism 4 of crawler belt is equipped in robot abdominal cavity 1, is driven
Dynamic device 5 is electrically connected with control centre, and 43 formula mobile mechanism of crawler belt, 4 outside is equipped with vacuum adsorption mechanism.
As shown in Fig. 2, 43 formula mobile mechanism 4 of crawler belt is independently driven by two motors in driving device 5 respectively, a shoe
43 formula mobile mechanism 4 of band is driven by a motor, can change the rotating speed of a motor and two motors in detection process, to
The speed difference for adjusting both sides crawler belt 43 realizes that the turning function of climbing robot, 43 formula mobile mechanism 4 of crawler belt are taken turns including crawler belt 43
With crawler belt 43, the wheel of crawler belt 43 is engaged with crawler belt 43 in a manner of simulating rack-and-pinion, in order to ensure robot crawler belt when moving
43 will not kill with the wheel of crawler belt 43, and the thickness of tooth is relatively thin on crawler belt 43, and the wheel of crawler belt 43 includes two driven wheels 42 and one
Driving wheel 41, two driven wheels 42 are not to be located at the both sides of driving wheel 41 and engaged with driving wheel 41, and driving wheel 41 is arranged and is existed
Centre can make to reduce the damage to crawler belt 43 far from 43 turning of crawler belt at the stress concentration on crawler belt 43, improve crawler belt 43
Service life.
As shown in figure 3, vacuum adsorption mechanism includes the sucker 6 being mounted in 43 formula mobile mechanism 4 of crawler belt, vacuum pump and matches
Gas disk 7 is equipped with 6 suckers 6,6 adsorption site of sucker is using soft in the present embodiment in 43 formula mobile mechanism 4 of each crawler belt
Rubber, with the distribution orifice of gas distribution plate 7, gas distribution plate 7 is connected to vacuum pump for the gas-guide tube 62 of 6 side of each sucker, very
Sky pump is located inside system cabin 2, and gas distribution plate 7 is located at the outside of 43 formula mobile mechanism 4 of crawler belt, two fixations on gas distribution plate 7
Bar is each passed through the wheel of crawler belt 43 and is fixedly connected with robot abdominal cavity 1, and vacuum adsorption mechanism is matched with 43 formula mobile mechanism 4 of crawler belt
It closes, climbing robot can be made to overcome the effect of gravity, be adsorbed on the surface of object under test, specifically, gas distribution plate 7 is by true
Sky pump carries out pumping and air inlet to 6 component of sucker, and generating or destroy vacuum environment makes climbing robot adsorb or decontrol wall surface, place
It is smooth close to wall surface in 6 suckers 6 of working condition, it is that robot is adsorbed in wall surface by generating negative pressure of vacuum.
Further, seal felt is additionally provided on gas distribution plate 7, seal felt is tightly attached to the inner surface of 7 ontology of gas distribution plate.
Further, the bottom of sucker 6 is fixedly connected with 6 fixing axle of sucker by spherical hinge, the peripheral surface of 6 bottom of sucker
On be also arranged with spring 61, so that sucker 6 can generate small deformation, to adapt to the curvature of internal surface of column.
Specifically, sucker 6 is installed on by sucker installation axle on the peripheral surface of 43 formula mobile mechanism 4 of crawler belt, driving wheel 41
Circumferentially face opens up fluted 44 respectively with two driven wheels 42, as shown in figure 3, the width of groove 44 and depth are installed with sucker
Axis matches, and in the present embodiment, sucker installs shaft diameter 25mm or so, and the width of groove 44 is slightly larger than 25mm, the depth of groove 44
Degree is more than sucker installation axle and needs the length being inserted into, and can prevent 6 tail portion of sucker from being taken turns with crawler belt 43 in this way and generate interference.
Specifically, detection device 3 includes binocular camera and provides the light source of illumination for binocular camera, the detection device 3
Based on inertial navigation, the vision positioning method of inertial navigation information has been merged in research, and binocular camera is for acquiring image, in control
The image collected is carried out comparison pretreatment by the heart, if it find that leakage, further calculates leakage area etc., if do not oozed
Leakage, control climbing robot are advanced, and particular flow sheet is as shown in Figure 4.
The present invention also provides a kind of leak detection Climbing Robot Systems, including：
Robot body, robot body include the system cabin 2 of 1 top of robot abdominal cavity 1 and robot abdominal cavity；
It is mobile with adsorbing mechanism subsystem, including be arranged 1 both sides of robot abdominal cavity 43 formula mobile mechanism 4 of crawler belt and
6 mechanism of sucker on 43 formula mobile mechanism of crawler belt, 4 peripheral surface；
Power subsystem, including the power supply that is arranged on robot body, for providing electric power；
Detection ＆ Controling subsystem, including the control centre inside system cabin 2 is set and is arranged on system cabin 2
The detection device 3 of side, detection device 3 carry out Image Acquisition, control centre using the vision positioning method for having merged inertial navigation information
Image procossing is carried out to the image of acquisition, specifically, as shown in figure 4, control centre to the image of acquisition carry out pretreatment and with
Ne-leakage surface image carries out whether comparison leaks to judgment object surface, such as leaks, then further calculate leakage area with
Image and data are simultaneously transferred to backstage progress secondary-confirmation by position form, and such as non-leakage, control centre controls climbing robot
March to next position to be detected；
Drives subsystem, including two driving motors being arranged in robot abdominal cavity 1, two driving motors are respectively used to
Drive the 43 formula mobile mechanism 4 of crawler belt of 1 both sides of robot abdominal cavity.
The invention enables climbing robots to walk in large-sized object adsorption, by integrated application inertial navigation and
The detection device of vision positioning realizes the state-detection and data processing and inversion to large-sized object surface, finds large-scale object in time
Whether body surface face has slight crack, if there are leakage scenarios, climbing robot provided by the invention is strong with adsorption capacity, load is heavy
Many advantages, such as amount is big, work efficiency is high, wall surface is adaptable can have and adapt to various adverse circumstances, ship, large-scale dissolving,
It can be used to carry out leak detection for annular cement ground, spherical metal surface.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of leak detection climbing robot, it is characterised in that：Including robot abdominal cavity (1), on the robot abdominal cavity (1)
Side is equipped with system cabin (2), detection device (3) is equipped with above the system cabin (2), system cabin (2) interior is equipped with
Control centre, the detection device (3) are electrically connected with control centre, and robot abdominal cavity (1) both sides are arranged with for climbing
Crawler belt (43) formula mobile mechanism (4) of wall robot movement, is equipped with for driving crawler belt (43) formula in the robot abdominal cavity (1)
The driving device (5) of mobile mechanism (4), the driving device (5) are electrically connected with control centre, crawler belt (43) the formula moving machine
Vacuum adsorption mechanism is equipped on the outside of structure (4).
2. a kind of leak detection climbing robot according to claim 1, it is characterised in that：Crawler belt (43) the formula movement
Mechanism (4) is independently driven by two motors in driving device (5) respectively, and crawler belt (43) the formula mobile mechanism (4) includes carrying out
Band (43) wheel and crawler belt (43), crawler belt (43) wheel are engaged with crawler belt (43) in a manner of simulating rack-and-pinion, the crawler belt
(43) wheel includes two driven wheels (42) and a driving wheel (41), two driven wheels (42) for not Wei Yu driving wheel (41) two
It is simultaneously engaged with driving wheel (41) side.
3. a kind of leak detection climbing robot according to claim 2, it is characterised in that：The vacuum adsorption mechanism packet
Sucker (6), vacuum pump and the gas distribution plate (7) in crawler belt (43) formula mobile mechanism (4) are included, sucker (6) side
The distribution orifice of gas-guide tube (62) and gas distribution plate (7), the gas distribution plate (7) are connected to vacuum pump, and the vacuum pump is located at
System cabin (2) is internal, and the gas distribution plate (7) is located at the outside of crawler belt (43) formula mobile mechanism (4), on the gas distribution plate (7)
Two fixed links be each passed through crawler belt (43) wheel be fixedly connected with robot abdominal cavity (1).
4. a kind of leak detection climbing robot according to claim 3, it is characterised in that：The sucker (6) passes through suction
Disk (6) installation axle is installed on the peripheral surface of crawler belt (43) formula mobile mechanism (4), the driving wheel (41) and two driven wheels
(42) circumferentially face opens up fluted (44) respectively, and the width and depth of the groove (44) are matched with sucker (6) installation axle.
5. a kind of leak detection climbing robot according to claim 4, it is characterised in that：The bottom of the sucker (6)
It is fixedly connected by spherical hinge with sucker installation axle, spring (61) is also arranged on the peripheral surface of sucker (6) bottom.
6. a kind of leak detection climbing robot according to claim 1, it is characterised in that：Detection device (3) packet
It includes binocular camera and the light source of illumination is provided for binocular camera.
7. a kind of leak detection Climbing Robot System, it is characterised in that：Including：
Robot body, the robot body include the system cabin above robot abdominal cavity (1) and the robot abdominal cavity (1)
Room (2)；
It is mobile with adsorbing mechanism subsystem, including setting robot abdominal cavity (1) both sides crawler belt (43) formula mobile mechanism (4) with
And sucker (6) mechanism on crawler belt (43) formula mobile mechanism (4) peripheral surface；
Power subsystem, including the power supply that is arranged on robot body, for providing electric power；
Detection ＆ Controling subsystem, including setting in system cabin (2) internal control centre and are arranged on system cabin (2)
The detection device (3) of side, the detection device (3) carry out Image Acquisition using the vision positioning method for having merged inertial navigation information,
Control centre carries out image procossing to the image of acquisition；
Drives subsystem, includes two driving motors of the setting in robot abdominal cavity (1), and two driving motors are respectively used to drive
Crawler belt (43) formula mobile mechanism (4) of mobile robot abdominal cavity (1) both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711453950.XA CN108556944A (en) | 2017-12-28 | 2017-12-28 | A kind of leak detection climbing robot and its system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711453950.XA CN108556944A (en) | 2017-12-28 | 2017-12-28 | A kind of leak detection climbing robot and its system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108556944A true CN108556944A (en) | 2018-09-21 |
Family
ID=63530521
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711453950.XA Pending CN108556944A (en) | 2017-12-28 | 2017-12-28 | A kind of leak detection climbing robot and its system |
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| Country | Link |
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| CN (1) | CN108556944A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113155859A (en) * | 2020-01-07 | 2021-07-23 | 山东大学 | Tunnel lining structure disease detection device and method based on wall climbing robot |
| CN114544456A (en) * | 2022-01-10 | 2022-05-27 | 河海大学 | Non-contact space-time continuous monitoring and early warning method and system for leakage of earth-rock dam |
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| CN104029743A (en) * | 2014-05-21 | 2014-09-10 | 苏州工业园区职业技术学院 | Caterpillar band running system for wall-climbing robot |
| CN104071247A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Crawler belt sucker type wall-climbing robot |
| CN204021042U (en) * | 2014-05-21 | 2014-12-17 | 苏州工业园区职业技术学院 | A kind of endless track installation for climbing robot |
| CN205632715U (en) * | 2016-05-30 | 2016-10-12 | 哈工大机器人集团有限公司 | Crawler -type magnetism adsorbs wall climbing robot |
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2017
- 2017-12-28 CN CN201711453950.XA patent/CN108556944A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104071247A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Crawler belt sucker type wall-climbing robot |
| CN104029743A (en) * | 2014-05-21 | 2014-09-10 | 苏州工业园区职业技术学院 | Caterpillar band running system for wall-climbing robot |
| CN204021042U (en) * | 2014-05-21 | 2014-12-17 | 苏州工业园区职业技术学院 | A kind of endless track installation for climbing robot |
| CN205632715U (en) * | 2016-05-30 | 2016-10-12 | 哈工大机器人集团有限公司 | Crawler -type magnetism adsorbs wall climbing robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113155859A (en) * | 2020-01-07 | 2021-07-23 | 山东大学 | Tunnel lining structure disease detection device and method based on wall climbing robot |
| CN114544456A (en) * | 2022-01-10 | 2022-05-27 | 河海大学 | Non-contact space-time continuous monitoring and early warning method and system for leakage of earth-rock dam |
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Application publication date: 20180921 |