CN109521020A - Pipeline outer wall climbing robot automatic control system for pipe detection - Google Patents
Pipeline outer wall climbing robot automatic control system for pipe detection Download PDFInfo
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- CN109521020A CN109521020A CN201811441435.4A CN201811441435A CN109521020A CN 109521020 A CN109521020 A CN 109521020A CN 201811441435 A CN201811441435 A CN 201811441435A CN 109521020 A CN109521020 A CN 109521020A
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- control module
- detection
- climbing robot
- pipeline outer
- wall climbing
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
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- Health & Medical Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of pipeline outer wall climbing robot automatic control system for pipe detection is provided, with pipeline outer wall climbing robot, it is equipped with the travel driving motor for driving driving wheel to rotate in the shell of the pipeline outer wall climbing robot and the driven wheel connecting rod for drive shell two sides is walked around dynamic steering engine, the travel driving motor and steering engine connect with the intracorporal control module of shell and connect with being set on shell and being used for the detection module that boiler tube in parallel detects with control module, the detection information of boiler tube in parallel is transferred in touch display module after connecting with the touch display module being set on shell and shows by the control module.The technical program is by the control module control pipeline outer wall climbing robot that is set in pipeline outer wall climbing robot on boiler tube after automatic creeping, the detection to boiler tube is realized by the detection module being set on pipeline outer wall climbing robot, structure is simple, it is easy to operate, both the manually controllable detection being automatically performed to boiler tube, operating mode can be converted mutually.
Description
Technical field
The invention belongs to boiler tube detection technique fields, and in particular to a kind of pipeline outer wall crawling machine for pipe detection
People's automatic control system.
Background technique
Robot many industries and field application all than wide, ring that not only can be severe in toxic, dust etc.
It carries out under border for people's working method, and in the place of some artificial inconveniences up and down, especially to the elongated townhouse furnace of small―gap suture
In the detection of pipe, robot has also played very big effect, and pipeline outer wall climbing robot 13, as shown in Figure 1, i.e. three-wheel is embraced
Tubular conduit outer wall climbing robot carries out in detection process boiler tube 9, when the boiler tube 9 for various outer diameter is detected,
It needs that the holding tube distance between driven wheel 10 and driving wheel 11 is adjusted, so that it be made to be applicable in the inspection of the boiler tube of different tube diameters 9
It surveys, and the adjusting of driven wheel 10 is realized by manually adjusting lead screw 12, while time-consuming and laborious, influences detection progress, and
Though and pipeline outer wall climbing robot starting after may be implemented in pipeline outer wall up and down creep after complete boiler tube 9 detection,
Whole process cannot achieve the automation display function of automation control and testing result, in view of the above-mentioned problems, it is necessary to carry out
It improves.
Summary of the invention
Present invention solves the technical problem that: a kind of pipeline outer wall climbing robot automatic control for pipe detection is provided
System is climbed on boiler tube automatically by the control module control pipeline outer wall climbing robot being set in pipeline outer wall climbing robot
After row, the detection to boiler tube is realized by the detection module being set on pipeline outer wall climbing robot, structure is simple, operation side
Just, both the manually controllable detection being automatically performed to boiler tube, operating mode can be converted mutually.
The technical solution adopted by the present invention: for the pipeline outer wall climbing robot automatic control system of pipe detection, tool
There is pipeline outer wall climbing robot, the row for driving driving wheel to rotate is equipped in the shell of the pipeline outer wall climbing robot
It walks driving motor and the driven wheel connecting rod for drive shell two sides is walked around dynamic steering engine, the travel driving motor and steering engine
Connect with the intracorporal control module of shell and be set to shell on and for boiler tube in parallel detect detection module and control module
The detection information of boiler tube in parallel is transferred to touching after connecting with the touch display module on the shell by connection, the control module
It touches and is shown on display module.
Wherein, the detection module includes carburized layer detection sensor, range sensor and position sensor, the position
Sensor be set in driven wheel connecting rod for detect driven wheel and the contact information of tested parallel connection boiler tube and control module according to
The start and stop of the detection information control steering engine of position sensor, the carburized layer detection sensor and range sensor are set to shell
It goes up and is respectively used to detect the location information of boiler tube defect in parallel and boiler tube defect in parallel.
Further, first input terminal of the control module is connect with the output end of carburized layer detection sensor, institute
State control module second input terminal and range sensor output end connect, the third input terminal of the control module and
The output end of position sensor connects, and the 4th input terminal of the control module and the output end of manual controller wirelessly connect
It connecing, the 5th input terminal of the control module and the output end of touch display module connect, and first of the control module
Output end and the input terminal of travel driving motor connect, and second output end of the control module and the input terminal of steering engine connect
It connecing, the third output end of the control module and the input terminal of touch display module connect, and the 4th of the control module
The input terminal of output end and manual controller is wirelessly connected.
The present invention compared with prior art the advantages of:
1, the driven wheel connecting rod for being used to adjust driven wheel position is connect by the technical program with steering engine, and by control module
The adjusting that driven wheel and driving wheel holding tube distance are realized after steering engine rotation is controlled, without manually adjusting between driving wheel and driven wheel
Holding tube spacing, holding tube spacing is easy to adjust quick, and degree of regulation is high；
2, the defect kind for the boiler tube in parallel that the technical program will test and the location information of defect are by touching display mould
Block shows that staff can define the defect kind and defective locations of boiler tube in parallel according to the information that touch display module is shown,
Convenience is provided for the further work of staff；
3, the technical program creeping by the manually controllable pipeline outer wall climbing robot of manual controller, can also make pipe
Pipeline outer wall climbing robot is automatically performed movement of creeping, and operating mode can be converted arbitrarily according to demand；
4, the technical program structure is simple, easy to operate, adjusts holding tube spacing by rotation driven wheel connecting rod, is applicable in not
With the small spacing parallel connection boiler tube automatic detection and display of caliber.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of pipeline outer wall climbing robot
Fig. 2 is schematic structural view of the invention.
Specific embodiment
2 a kind of embodiment of the invention is described with reference to the accompanying drawing.
For the pipeline outer wall climbing robot automatic control system of pipe detection, there is pipeline outer wall climbing robot,
Equipped with the travel driving motor 1 for driving driving wheel to rotate and for driving in the shell of the pipeline outer wall climbing robot
The steering engine 2 that the driven wheel connecting rod of shell two sides is walked around dynamic, the travel driving motor 1 and steering engine 2 with the intracorporal control of shell
Module 3 is connected and is connect with being set on shell and being used for the detection module that boiler tube in parallel detects with control module 3, the control mould
The detection information of boiler tube in parallel is transferred in touch display module 4 by block 3 after connecting with the touch display module 4 being set on shell
It is shown；Specifically, the detection module includes carburized layer detection sensor 5, range sensor 6 and position sensor 7, institute
Position sensor 7 is stated in driven wheel connecting rod for detecting driven wheel and the contact information of tested boiler tube in parallel and control mould
Block 3 controls the start and stop of steering engine 2, the carburized layer detection sensor 5 and range sensor according to the detection information of position sensor 7
6 are set on shell and are respectively used to detect the location information of boiler tube defect in parallel and boiler tube defect in parallel；Specifically, the control
First input terminal of molding block 3 is connect with the output end of carburized layer detection sensor 5, and second of the control module 3 is defeated
Enter end to connect with the output end of range sensor 6, the output of the third input terminal and position sensor 7 of the control module 3
End connection, the 4th input terminal of the control module 3 and the output end of manual controller 8 are wirelessly connected, the control module 3
The 5th input terminal connect with the output end of touch display module 4, first output end of the control module 3 and walking are driven
The input terminal connection of dynamic motor 1, second output end of the control module 3 are connect with the input terminal of steering engine 2, the control mould
The third output end of block 3 is connect with the input terminal of touch display module 4, the 4th output end and hand of the control module 3
The input terminal of dynamic remote controler 8 is wirelessly connected.
When needing to adjust holding tube spacing, the outer diameter of boiler tube in parallel to be measured, control can be inputted by touch display module 4
Molding block 3 controls after steering engine 2 rotates according to this parameter information and adjusts the position of driven wheel, so that the adjustment of holding tube spacing is completed,
When control module 3 receives the defect information of the detection of carburized layer detection sensor 5, control module 3 believes this information and defect
The location information that range sensor 6 is fed back when breath transmitting is transferred to touch display module 4 simultaneously and is shown, until pipeline outer wall
Climbing robot after hours, staff can according to the defect kind of the boiler tube in parallel shown in touch display module 4 and
Defective locations carry out further work；The technical program connects the driven wheel connecting rod for being used to adjust driven wheel position with steering engine 2
It connects, and controls the adjusting for realizing driven wheel and driving wheel holding tube distance after steering engine 2 rotates by control module 3, without manually adjusting
Holding tube spacing between driving wheel and driven wheel, holding tube spacing is easy to adjust quick, and degree of regulation is high, the boiler tube in parallel that will test
Defect kind and the location information of defect show that staff can be aobvious according to touch display module 4 by touch display module 4
The defect kind and defective locations of the clear boiler tube in parallel of the information shown, provide convenience for the further work of staff, pass through
Creeping for the manually controllable pipeline outer wall climbing robot of manual controller 8, can also make pipeline outer wall climbing robot automatically complete
At movement of creeping, operating mode can be converted arbitrarily according to demand, and structure is simple, easy to operate, by rotating driven wheel connecting rod
Holding tube spacing is adjusted, the small spacing parallel connection boiler tube automatic detection and display of different tube diameters are applicable in.
Above-described embodiment, only presently preferred embodiments of the present invention, is not intended to limit the invention practical range, therefore all with this
The equivalence changes that content described in invention claim is done should all be included within scope of the invention as claimed.
Claims (3)
1. being used for the pipeline outer wall climbing robot automatic control system of pipe detection, there is pipeline outer wall climbing robot,
It is characterized in that: being equipped with the travel driving motor for driving driving wheel to rotate in the shell of the pipeline outer wall climbing robot
(1) it walks around dynamic steering engine (2) with the driven wheel connecting rod for drive shell two sides, the travel driving motor (1) and steering engine
(2) connect with the intracorporal control module of shell (3) and be set to shell on and for boiler tube in parallel detect detection module and control
Molding block (3) connection, the control module (3) connect with the touch display module (4) on the shell after by boiler tube in parallel
Detection information is transferred on touch display module (4) and is shown.
2. the pipeline outer wall climbing robot automatic control system according to claim 1 for pipe detection, feature
Be: the detection module includes carburized layer detection sensor (5), range sensor (6) and position sensor (7), institute's rheme
Sensor (7) are set in driven wheel connecting rod for detecting the contact information and control module of driven wheel with tested boiler tube in parallel
(3) start and stop of steering engine (2), the carburized layer detection sensor (5) and distance are controlled according to the detection information of position sensor (7)
Sensor (6) is set on shell and is respectively used to detect the location information of boiler tube defect in parallel and boiler tube defect in parallel.
3. the pipeline outer wall climbing robot automatic control system according to claim 2 for pipe detection, feature
Be: first input terminal of the control module (3) is connect with the output end of carburized layer detection sensor (5), the control
Second input terminal of module (3) is connect with the output end of range sensor (6), the third input of the control module (3)
End is connect with the output end of position sensor (7), the 4th input terminal and manual controller (8) of the control module (3)
Output end is wirelessly connected, and the 5th input terminal of the control module (3) is connect with the output end of touch display module (4), institute
First output end for stating control module (3) is connect with the input terminal of travel driving motor (1), and the of the control module (3)
Two output ends are connect with the input terminal of steering engine (2), the third output end and touch display module of the control module (3)
(4) input terminal connection, the 4th output end of the control module (3) and the input terminal of manual controller (8) are wirelessly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811441435.4A CN109521020A (en) | 2018-11-29 | 2018-11-29 | Pipeline outer wall climbing robot automatic control system for pipe detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811441435.4A CN109521020A (en) | 2018-11-29 | 2018-11-29 | Pipeline outer wall climbing robot automatic control system for pipe detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109521020A true CN109521020A (en) | 2019-03-26 |
Family
ID=65794467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811441435.4A Withdrawn CN109521020A (en) | 2018-11-29 | 2018-11-29 | Pipeline outer wall climbing robot automatic control system for pipe detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109521020A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986860A (en) * | 2019-10-22 | 2020-04-10 | 武汉大学 | Tower column inclination determination method based on intelligent robot |
-
2018
- 2018-11-29 CN CN201811441435.4A patent/CN109521020A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986860A (en) * | 2019-10-22 | 2020-04-10 | 武汉大学 | Tower column inclination determination method based on intelligent robot |
| CN110986860B (en) * | 2019-10-22 | 2021-01-01 | 武汉大学 | Tower column inclination determination method based on intelligent robot |
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Application publication date: 20190326 |