CN108820062A - A kind of overlength cylindrical structure surface detection robot - Google Patents

A kind of overlength cylindrical structure surface detection robot Download PDF

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Publication number
CN108820062A
CN108820062A CN201810731765.0A CN201810731765A CN108820062A CN 108820062 A CN108820062 A CN 108820062A CN 201810731765 A CN201810731765 A CN 201810731765A CN 108820062 A CN108820062 A CN 108820062A
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CN
China
Prior art keywords
electric pushrod
permanent magnetic
magnetic chuck
gear ring
picture pick
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201810731765.0A
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Chinese (zh)
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CN108820062B (en
Inventor
詹瞩
陈新元
郭炜民
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan University of Science and Engineering WUSE
Wuhan University of Science and Technology WHUST
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Wuhan University of Science and Engineering WUSE
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Priority to CN201810731765.0A priority Critical patent/CN108820062B/en
Publication of CN108820062A publication Critical patent/CN108820062A/en
Application granted granted Critical
Publication of CN108820062B publication Critical patent/CN108820062B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating 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
    • G01N29/22Details, e.g. general constructional or apparatus details
    • G01N29/26Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material

Abstract

A kind of overlength cylindrical structure surface detection robot, it is characterised in that including testing agency and climbing mechanism;The testing agency includes picture pick-up device and gear ring, and the picture pick-up device is slidably mounted on the gear ring, and gear ring is composed of two semicircle gear rings, to be looped around in detected body;Climbing mechanism includes permanent magnetic chuck, electric pushrod piston rod, electric pushrod cylinder barrel, electric pushrod rod piece, electric pushrod driving motor and permanent magnetic chuck driving motor;Gear ring is mounted on electric pushrod rod piece top, and electric pushrod rod piece is threadedly attached on electric pushrod piston rod;Electric pushrod piston rod is mounted in electric pushrod cylinder barrel, drives it to stretch out or pack up from electric pushrod cylinder barrel by electric pushrod driving motor;Permanent magnetic chuck is separately mounted on electric pushrod cylinder barrel and electric pushrod rod piece, to adsorb detected body;Permanent magnetic chuck driving motor controls the change of magnetic force systems inside permanent magnetic chuck, to realize the absorption and release to detected body.

Description

A kind of overlength cylindrical structure surface detection robot
Technical field
The present invention relates to detection robotic technology field, in particular to a kind of overlength cylindrical structure surface detection robots.
Background technique
Such as the lifting cylinder of dam, whether piston rod surface has major defect, will determine whether lifting cylinder can work normally. And the detection method of mainstream is manually to build truss now, worker climbs on truss, detects by an unaided eye with the presence or absence of defect.In this way Engineering, detection is primary, at least to spend one month time, the normal work of dam is not only influenced, due also to operator Horizontal difference, there are notable differences for testing result.
Existing feasible detection method, mainly robot capable of climbing trees and unmanned machine testing in the market.Due to piston rod light Sliding and rapid wear, the fixing means that traditional robot capable of climbing trees clamps obviously is not suitable for, and unmanned plane is due to piston rod position Space is limited, can not shoot the defect situation at the back side, so the overlength cylindrical structure detection system of an automation control seems It is increasingly important.
Summary of the invention
The present invention provides a kind of overlength cylindrical structure surface detection robots, to solve in the prior art by artificial inspection Survey take long time and other detection methods be not suitable for problem.
In order to achieve the above objectives, the technical solution adopted in the present invention is as follows:
A kind of overlength cylindrical structure surface detection robot, it is characterised in that including testing agency and climbing mechanism;
The testing agency includes picture pick-up device and gear ring, and the picture pick-up device is slidably mounted on the gear ring, described Gear ring is composed of two semicircle gear rings, to be looped around in detected body;
The climbing mechanism includes permanent magnetic chuck, electric pushrod piston rod, electric pushrod cylinder barrel, electric pushrod rod piece, electricity Dynamic push rod driving motor and permanent magnetic chuck driving motor;
The gear ring is mounted on electric pushrod rod piece top, and the electric pushrod rod piece is threadedly attached in described On electric pushrod piston rod;
The electric pushrod piston rod is mounted in the electric pushrod cylinder barrel, is driven by the electric pushrod driving motor It stretches out or packs up from the electric pushrod cylinder barrel;
The permanent magnetic chuck is separately mounted on the electric pushrod cylinder barrel and electric pushrod rod piece, detected to adsorb Body;
The permanent magnetic chuck driving motor controls the change of magnetic force systems inside the permanent magnetic chuck, to realize to tested Survey the absorption and release of body.
Further, the permanent magnetic chuck at least there are four, be divided into two groups, every group two;
One group in the two groups of permanent magnetic chucks top and bottom for being separately mounted to the piston type electric push rod, it is another Group is separately mounted to the top and bottom of the electric pushrod rod piece.
Further, two groups of permanent magnetic chucks pass through a magnet contactor axis series connection, the permanent magnetic chuck driving respectively Motor is connected with the magnet contactor axis, drives the magnet contactor axis forward or reverse by the permanent magnetic chuck driving motor And then change magnetic force systems in the permanent magnetic chuck.
Further, institute's picture pick-up device is mounted on the gear ring by picture pick-up device support, the picture pick-up device support On encoder motor is installed, picture pick-up device support described in the encoder motor driven drives the picture pick-up device around institute in turn It states gear ring and carries out 360 ° of movements.
Due to the adoption of the above technical scheme, tool of invention has following good effect compared with existing tool:
(1) present invention stable can be adsorbed on smooth large cylindrical body structure surface, as creeped on Large Piston bar, Solves such technical vacancy.
(2) picture pick-up device used in the present invention stable can be rotated and be shot on gear ring, and detection is without dead angle, by figure As processing technique, available accurate testing result.
Detailed description of the invention
Fig. 1 is overall structure of the present invention
Fig. 2 is picture pick-up device and gear ring assembly structure diagram in the present invention
Fig. 3 is picture pick-up device and gear ring package assembly sectional view in the present invention
Fig. 4 is gear ring and electric pushrod rod connection structure schematic diagram in the present invention
L-type gear ring supporting plate structure schematic diagram at the top of electric pushrod rod piece in the present invention of the position Fig. 5
Piston type electric pusher structure schematic diagram in the present invention of the position Fig. 6
Fig. 7 is gear ring combination structural schematic diagram of the present invention
In figure:1 picture pick-up device, 2 picture pick-up device supports, 3 encoder motors, 4 gear shaft motor couplings, 5 is mutually airborne Body component one, 6 gear shafts, 7 upper bearing (metal) pressing plates, 8 bearings, 9 gears, 10 steel balls, 11 camera carrier bodies two, 12 steel ball baffles, 13 camera carrier bodies three, 14 lower bearing end caps, 15 gear rings, 151 semicircle gear rings, 152 gear ring connectors, the support of 16 gear rings Plate, 17 electric pushrod rod pieces, 18 locking nuts, 19 electric pushrod piston rods, 20 electric pushrod cylinder barrels, 21 electric pushrod motors, 22 permanent magnetic chuck driving motors, 23 retarders, 24 magnetic motor shaft couplings, 25 permanent magnetic chucks, 26 magnet contactor axis, 27 magnet Support, 28 overlength cylindrical structures
Specific embodiment
Below in conjunction with attached drawing, by specific embodiment, the present invention is described in detail.
As shown in Figure 1, 2, 3, a kind of overlength cylindrical structure surface detection robot of the present invention, testing agency and climbing machine Structure;The testing agency includes picture pick-up device 1, encoder motor 3 and gear ring 15.
The picture pick-up device 1 is mounted on picture pick-up device support 2, and 2 bottom of picture pick-up device support is mounted on mutually airborne On body;The camera carrier includes three parts, is camera carrier body 1, camera carrier body 2 11, camera carrier portion respectively Part 3 13, the camera carrier body 1 are rectangle straight panel, the camera carrier body 2 11, camera carrier body 3 13 It is L-type plate, the camera carrier body 2 11, camera carrier body 3 13 are fixed on the two of the camera carrier body 1 End.The gear ring 15 is mounted between the camera carrier body 1 and the camera carrier body 2 11, the camera carrier Curved groove, the gear ring 15 are had on the lower end surface of component 1 and the upper surface of the camera carrier body 2 11 Upper surface and lower end surface are provided with curved groove compatible with aforementioned curved groove for 15 1 weeks along the gear ring, in the groove Steel ball 10 is installed, one 5 two sides of camera carrier body are equipped with " door " font steel ball baffle 12, the steel ball 10 is limited In one 5 bottom of camera carrier body.
As shown in fig. 7, the gear ring 15 is composed of two semicircle gear rings 151 by gear ring connector 152.It is described Gear ring 15 be in circular ring shape, inside be evenly distributed with the gear teeth.
Again as shown in Figure 2,3, the encoder motor 3 is mounted on the picture pick-up device support 2, and bottom end passes through gear Axis motor coupling 4 is connected with gear 9, outer connected control system, and speciality with encoder guarantees it by pulse signal After can control gear 9 and angularly rotated on gear ring 15.The camera carrier body 1 is provided with through-hole, installs in the through-hole There is bearing 8, the 3 13 inside opposite position of camera carrier body is also equipped with bearing 8, and the gear 9 passes through gear shaft 6 It is mounted on described two bearings 8, the gear shaft motor coupling 4 is connected with the gear shaft 6.Described two bearings 8 outsides are respectively arranged with upper bearing (metal) pressing plate 7 and lower bearing end cap 14 to fixing bearing 8.
As a shown in Figure 6, the climbing mechanism includes permanent magnetic chuck 25, permanent magnetic chuck driving motor 22, magnet contactor Axis 26, piston type electric push rod, electric pushrod motor 21.
The piston type electric push rod includes electric pushrod rod piece 17, electric pushrod piston rod 19, electric pushrod cylinder barrel 20, The electric pushrod piston rod 19 is mounted in the electric pushrod cylinder barrel 20, is driven by the electric pushrod motor 21 described Electric pushrod piston rod 19 is stretched out or is packed up from the electric pushrod cylinder barrel 20.It is tapped at the top of the electric pushrod piston rod 19 outer Screw thread, 17 bottom of electric pushrod rod piece are tapped with internal screw thread, and the electric pushrod rod piece 17 is threadably mounted at institute by described State 19 top of electric pushrod piston rod.
Preferably, 19 head of electric pushrod piston rod is externally threaded, and vehicle spanner position, in the electric pushrod bar The peace of part 17 is gone to before the electric pushrod piston rod 19, is first screwed into locking nut 18 on the electric pushrod piston rod 19, It is fully threaded on electric pushrod piston rod 19 fastly to electric pushrod rod piece 17, and the permanent magnetism is inhaled on the electric pushrod rod piece 17 When the mounting surface of disk 25 is parallel with the mounting surface of permanent magnetic chuck 25 described on electric pushrod cylinder barrel 20, stopping turns electric pushrod bar Part 17, changing will twist on locking nut 18, and electric pushrod rod piece 17 is locked, to guarantee that electric pushrod rod piece 17 installs permanent magnetic chuck 25 mounting surface is parallel with the installation mounting surface of permanent magnetic chuck 25 of electric pushrod cylinder barrel 20.
The permanent magnetic chuck 25 at least there are four, be divided into two groups, every group two.Wherein one group of two permanent magnetic chucks 25 difference The top and bottom of the electric pushrod rod piece 17 are mounted on by magnet support 27, another group of two permanent magnetic chucks 25 lead to respectively Cross the top and bottom that magnet support 27 is mounted on the electric pushrod cylinder barrel 20.Described every group two permanent magnetic chucks 25 lead to respectively It crosses a magnet contactor axis 26 to be cascaded, 26 bottom of magnet contactor axis passes through the connection of magnetic motor shaft coupling 24 one A retarder 23, the retarder 23 connect permanent magnetic chuck driving motor 22.Just by the permanent magnetic chuck driving motor 22 Turn or invert, the magnet contactor axis 26 is driven to stir the magnet inside the permanent magnetic chuck 25, so that wherein magnetic force systems are sent out It is raw to change, so that 25 demagnetization of the permanent magnetic chuck or multiple magnetic, to adsorb overlength cylindrical structure 28.
As shown in Figure 4,5, the curved gear ring support plate 16 of L-type, the gear ring are installed at the top of the electric pushrod rod piece 17 15 bottoms are fixedly mounted in the gear ring support plate 16.
Working principle:Being fitted around on overlength cylindrical structure 28 after combining gear ring 15, system starts operator Work, originally, upper and lower two groups of permanent magnetic chucks 25 are in closure and suck state, under the driving of encoder motor 3, picture pick-up device 1 rotates specified angle around gear ring 15 after shooting the first sheet photo, and stop operating second photo of shooting later, recycles above-mentioned step Suddenly until around cylinder one week.Then, one group of permanent magnetic chuck 25 above is in permanent magnetic chuck driving motor 22 and magnet contactor axis Demagnetization is unclamped under the action of 26, and the electric pushrod motor 21 drives the electric pushrod piston rod 19 from the electric pushrod cylinder Cylinder 20 stretches out, and the testing agency on electric pushrod rod piece 17 and top is pushed to rise a stroke, and one group of permanent magnetism is inhaled above later Multiple magnetic under the action of permanent magnetic chuck driving motor 22 and magnet contactor axis 26 of disk 25 is tight, and picture pick-up device 1 is shot again at this time One week.Demagnetization pine under the action of permanent magnetic chuck driving motor 22 and magnet contactor axis 26 of following set permanent magnetic chuck 25 later It opens, one stroke of piston type electric push rod counter motion elevates its cylinder barrel part.In this way, by above-mentioned steps recycle into Row, 28 surface of overlength cylindrical structure can be all filmed, after image procossing, obtain testing result.

Claims (4)

1. a kind of overlength cylindrical structure surface detection robot, it is characterised in that including:Testing agency and climbing mechanism;
The testing agency includes picture pick-up device and gear ring, and the picture pick-up device is slidably mounted on the gear ring, the gear ring It is composed of two semicircle gear rings, to be looped around in detected body;
The climbing mechanism includes permanent magnetic chuck, electric pushrod piston rod, electric pushrod cylinder barrel, electric pushrod rod piece, electronic pushes away Bar driving motor and permanent magnetic chuck driving motor;
The gear ring is mounted on electric pushrod rod piece top, and the electric pushrod rod piece is threadedly attached in described electronic On push-rod piston bar;
The electric pushrod piston rod is mounted in the electric pushrod cylinder barrel, by the electric pushrod driving motor drive its from The electric pushrod cylinder barrel is stretched out or is packed up;
The permanent magnetic chuck is separately mounted on the electric pushrod cylinder barrel and electric pushrod rod piece, to adsorb detected body;
The permanent magnetic chuck driving motor controls the change of magnetic force systems inside the permanent magnetic chuck, to realize to detected body Absorption and release.
2. a kind of overlength cylindrical structure surface detection robot according to claim 1, it is characterised in that:The permanent magnetism is inhaled Disk at least there are four, be divided into two groups, every group two;
One group in the two groups of permanent magnetic chucks top and bottom for being separately mounted to the piston type electric push rod, another component It is not mounted on the top and bottom of the electric pushrod rod piece.
3. a kind of overlength cylindrical structure surface detection robot according to claim 2, it is characterised in that:Described two groups forever Magnetic-disc passes through a magnet contactor axis series connection respectively, and the permanent magnetic chuck driving motor is connected with the magnet contactor axis, leads to The permanent magnetic chuck driving motor is crossed to drive the magnet contactor axis forward or reverse and then change magnetic force in the permanent magnetic chuck System.
4. a kind of overlength cylindrical structure surface detection robot according to claim 1, it is characterised in that:Institute's picture pick-up device It is mounted on the gear ring by picture pick-up device support, encoder motor, the coding is installed on the picture pick-up device support Picture pick-up device support described in device motor driven drives the picture pick-up device to carry out 360 ° of movements around the gear ring in turn.
CN201810731765.0A 2018-07-05 2018-07-05 A kind of overlength cylindrical structure surface detection robot Active CN108820062B (en)

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CN201810731765.0A CN108820062B (en) 2018-07-05 2018-07-05 A kind of overlength cylindrical structure surface detection robot

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CN108820062B CN108820062B (en) 2019-08-02

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110328566A (en) * 2019-06-14 2019-10-15 武汉科技大学 The detection repairing climbing robot and detection method for repairing and mending on overlength cylindrical structure surface

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103950030A (en) * 2014-04-28 2014-07-30 东北大学 Four-footed climbing mobile robot
US20170313369A1 (en) * 2014-01-29 2017-11-02 Zhejiang University Climbing Robot Vehicle
CN107933724A (en) * 2017-11-07 2018-04-20 尹圣文 A kind of automatic climbing obstacle detouring environmental protection Work robot of municipal administration Road lamp for garden bar
CN108032922A (en) * 2017-12-13 2018-05-15 哈尔滨科能熔敷科技有限公司 A kind of water-cooling wall thickness measuring is special to climb wall trolley
CN108116521A (en) * 2017-12-15 2018-06-05 中国矿业大学 A kind of defect in rope inspection mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170313369A1 (en) * 2014-01-29 2017-11-02 Zhejiang University Climbing Robot Vehicle
CN103950030A (en) * 2014-04-28 2014-07-30 东北大学 Four-footed climbing mobile robot
CN107933724A (en) * 2017-11-07 2018-04-20 尹圣文 A kind of automatic climbing obstacle detouring environmental protection Work robot of municipal administration Road lamp for garden bar
CN108032922A (en) * 2017-12-13 2018-05-15 哈尔滨科能熔敷科技有限公司 A kind of water-cooling wall thickness measuring is special to climb wall trolley
CN108116521A (en) * 2017-12-15 2018-06-05 中国矿业大学 A kind of defect in rope inspection mechanism

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110328566A (en) * 2019-06-14 2019-10-15 武汉科技大学 The detection repairing climbing robot and detection method for repairing and mending on overlength cylindrical structure surface

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