CN109676627A - A kind of posture correction intelligent inspection robot - Google Patents
A kind of posture correction intelligent inspection robot Download PDFInfo
- Publication number
- CN109676627A CN109676627A CN201910135264.0A CN201910135264A CN109676627A CN 109676627 A CN109676627 A CN 109676627A CN 201910135264 A CN201910135264 A CN 201910135264A CN 109676627 A CN109676627 A CN 109676627A
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- Prior art keywords
- module
- robot
- defect
- intelligent inspection
- posture correction
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
A kind of posture correction intelligent inspection robot, belongs to cable detecting robot technical field.The present invention is poor in order to solve the problems, such as existing cable detecting robot system control flexibility ratio.The present invention includes climbing module, defects detection module, posture correction module, robot controller, wireless module, human-computer interaction module and data processing module, the robot controller is used to transmit the signal for receiving human-computer interaction module by wireless module, and climbing module, defects detection module and posture correction module are transmitted a signal to, corresponding posture movement is completed to control posture correction intelligent inspection robot；The data processing module is handled by the monitoring data that wireless module feeds back robot.Robot control system robot of the invention runs smoothly, reliability, highly-safe.
Description
Technical field
The present invention relates to a kind of cable defects detection machine people's systems, belong to cable inspection technical field.
Background technique
Cableway plays important carrying effect in the building such as bridge.Cableway is chronically exposed in atmosphere, bad environments, table
Face is easily damaged.The damage of cableway sheath is the one of the major reasons for causing bridge cableway system endurance issues, and the corrosion of cableway is disconnected
It splits, the overwhelming majority is the breakage since sheath, cracking, aging.To guarantee that safety and the normal use of bridge structure need to determine
Phase carries out visual examination to cableway, and highway bridge and culvert Maintenance specification requires to inspect periodically with the progress of visual observations combination Instrument observation,
It must be close to each component and go through its defect situation.Therefore the performance stabilization of cableway plays the safety of building most important
Effect, be Support Equipment safe handling, countries in the world need to put into a large amount of manpower and material resources every year and periodically open these equipments
Exhibition detection, upkeep operation.
Currently, traditional manual work method is widely used in world wide carries out corresponding detection operation, not there is only
Large labor intensity, operating efficiency are low, the duty cycle is long, at high cost, problem investigation is not thorough, and when be often accompanied by safety accident hair
It is raw.
Therefore it is badly in need of a kind of robot detection system, can be realized manual intelligent cable inspection.
Summary of the invention
The present invention provides a kind of posture correction intelligent inspection robot for deficiency above-mentioned in the prior art.Below
In give about brief overview of the invention, in order to provide a basic understanding of certain aspects of the invention.It should be appreciated that
This summary is not an exhaustive overview of the invention.It is not intended to determine key or pith of the invention,
Nor is it intended to limit the scope of the present invention.
Technical solution of the present invention:
A kind of posture correction intelligent inspection robot, including climbing module, defects detection module, posture correction module, machine
Device people controller, wireless module, human-computer interaction module and data processing module, the robot controller are used for by wireless
Module transfer receives the signal of human-computer interaction module, and transmits a signal to climbing module, defects detection module and posture correction
Module completes corresponding posture movement to control posture correction intelligent inspection robot；The data processing module passes through nothing
The monitoring data that wire module feeds back robot are handled.
Further, the climbing module includes driving motor, and driving motor is for driving robot to realize climbing.
Further, the defects detection module includes open defect detection module and Inner Defect Testing module, institute
The appearance detection module stated includes high definition network head, and appearance detection module is for detecting cable surface defect；Described is interior
Portion's defects detection module includes pulsed field magnetization sensor, and Inner Defect Testing module is lacked for detecting corrosion and fracture of wire inside cable
It falls into.
Further, the described posture correction module include the earth inductor being mounted in robot, gyroscope and after
Accurately spatial position positioning and 3 d pose capture for realizing robot for dynamic device, the earth inductor and gyroscope,
The relay is for realizing robot ambulation pose compensation.
Further, the human-computer interaction module includes robot remote control terminal, user instruction input module, defect
Alarm module and defect display module, the user instruction input module are remote by robot by position command and speed command
Process control end is transferred to robot controller, and the cable that the defect display module receives robot remote control terminal feedback lacks
It falls into information and realizes that cable open defect and internal flaw are shown, the defect alarm module is for realizing cable defect information
Alarm.
Further, posture correction intelligent inspection robot includes upper body, lower body and Inner Defect Testing
Device mounting rack, upper body and lower body are established by Inner Defect Testing device mounting rack and install and be clamped on cable；
The upper body is identical with the structure of lower body, and upper body and lower body include vehicle frame, driving motor and row
Into wheel, driving motor mounting rack and travel wheel mounting rack are installed on the vehicle frame, are fixedly mounted on driving motor mounting rack
There is driving motor, driving pulley is installed, there are two flat for installation on the travel wheel mounting rack on the output shaft of driving motor
The balance relay of row setting balances and is rotatably equipped with travel wheel shaft on relay, and the travel wheel, which is coupled, is expert at
Into in wheel shaft, driven pulley is also equipped in the travel wheel shaft, the driving pulley and driven pulley pass through skin
Band is coupled；
The balance relay includes sleeve, stepper motor, helical axis, tabletting, spring and connecting rod, the sleeve
Inside is equipped with stepper motor, and the output end of stepper motor is equipped with helical axis, and tabletting is coupled with helical axis, the company
Bar is slidably mounted in sleeve, is connected with spring between the upper surface of connecting rod and the lower end surface of tabletting；
The center of tabletting is machined with the threaded hole with helical axis cooperation；
The lower end surface of the connecting rod is equipped with travel wheel mounting base, and travel wheel shaft is mounted on travel wheel by bearing and installs
In seat；
Director's circular hole is machined on the sleeve, the connecting rod is equipped with retention bead at one, connecting rod cooperation peace
In sleeve, the retention bead on connecting rod is arranged in the slotted hole of sleeve；
The Inner Defect Testing device mounting rack includes that two arcs of mirror settings each other clamp frame, and arc clamps frame
Upper and lower ends be respectively provided with clamping portion；
Cable defects detection camera is installed on the vehicle frame.
The invention has the following advantages: the intelligent inspection robot can be applied to all kinds of bridges (cable-stayed bridge, suspension bridge
Deng), cableway, special equipment, elevator etc., can be realized and appearance and performance are walked and carried out on the cableway, pipe fitting of various sizes
Detection, simultaneously because it uses posture correction design method, in inspection, no matter what kind of variation occurs for spatial position, can
Make robot keep whole posture and running track constant, realizes robot and run smoothly, it is reliability, highly-safe.
Detailed description of the invention
Fig. 1 is system structure annexation figure of the invention；
Fig. 2 is a kind of topology view of lightweight intelligent inspection robot；
Fig. 3 is a kind of main view of lightweight intelligent inspection robot；
Fig. 4 is the topology view of Inner Defect Testing device mounting rack；
Fig. 5 is the structure scheme of installation for balancing relay.
Specific embodiment
Specific embodiment 1: embodiment is described with reference to Fig. 1, a kind of posture correction intelligent patrol detection of present embodiment
Robot, including climbing module, defects detection module, posture correction module, robot controller, wireless module, human-computer interaction
Module and data processing module, the robot controller are used to transmit the letter for receiving human-computer interaction module by wireless module
Number, and climbing module, defects detection module and posture correction module are transmitted a signal to, to control posture correction Intelligent inspection machine
Device people completes corresponding posture movement；The monitoring data that the data processing module feeds back robot by wireless module into
Row processing.
Specific embodiment 2: embodiment is described with reference to Fig. 1, a kind of posture correction intelligent patrol detection of present embodiment
Robot, the climbing module include driving motor, and driving motor is for driving robot to realize climbing.
Specific embodiment 3: embodiment is described with reference to Fig. 1, a kind of posture correction intelligent patrol detection of present embodiment
Robot, the defects detection module include open defect detection module and Inner Defect Testing module, the appearance inspection
Surveying module includes high definition network head, and appearance detection module is for detecting cable surface defect；The Inner Defect Testing
Module includes pulsed field magnetization sensor, and Inner Defect Testing module is for detecting corrosion and fracture of wire defect inside cable.
Specific embodiment 4: embodiment is described with reference to Fig. 1, a kind of posture correction intelligent patrol detection of present embodiment
Robot, the posture correction module includes the earth inductor, gyroscope and relay being mounted in robot, described
Accurately spatial position positioning and 3 d pose capture for realizing robot for earth inductor and gyroscope, the relay
For realizing robot ambulation pose compensation.
Specific embodiment 5: embodiment is described with reference to Fig. 1, a kind of posture correction intelligent patrol detection of present embodiment
Robot, the human-computer interaction module include robot remote control terminal, user instruction input module, defect alarm module and
Defect display module, the user instruction input module pass position command and speed command by robot remote control terminal
It is defeated by robot controller, the cable defect information of the defect display module reception robot remote control terminal feedback is simultaneously real
Existing cable open defect and internal flaw show that the defect alarm module is for realizing cable defect information alarm.
Specific embodiment 6: illustrating that present embodiment, a kind of posture of present embodiment are rectified a deviation intelligent in conjunction with Fig. 2-Fig. 5
Crusing robot, including upper body 1, lower body 2 and Inner Defect Testing device mounting rack 3, upper body 1 and lower body 2 pass through interior
Portion's defect detector mounting rack 3, which is established, to be installed and is clamped on cable 19；The upper body 1 is identical with the structure of lower body 2,
Upper body 1 and lower body 2 include vehicle frame 4, driving motor 5 and travel wheel 6, and driving motor peace is equipped on the vehicle frame 4
7 and travel wheel mounting rack 8 are shelved, are fixedly installed with driving motor 5 on driving motor mounting rack 7, on the output shaft of driving motor 5
Driving pulley 9 is installed, on the travel wheel mounting rack 8 installation there are two balance relay 10 disposed in parallel, balance after
It is rotatably equipped with travel wheel shaft 11 on dynamic device 10, the travel wheel 6 is fitted in travel wheel shaft 11, the row
It is also equipped with driven pulley 12 on into wheel shaft 11, the driving pulley 9 is coupled with driven pulley 12 by belt；
Balancing relay 10 includes sleeve 101, stepper motor 102, helical axis 103, tabletting 104, spring 105 and connecting rod
106, the inside of the sleeve 101 is equipped with stepper motor 102, and the output end of stepper motor 102 is equipped with helical axis 103,
Tabletting 104 is coupled with helical axis 103, and the connecting rod 106 is slidably mounted in sleeve 101, the upper surface of connecting rod 106 with
Spring 105 is connected between the lower end surface of tabletting 104；
The lower end surface of the connecting rod 106 is equipped with travel wheel mounting base 20, and travel wheel shaft 11 is expert at by bearing installation
Into in wheel mounting base 20；
Director's circular hole 107 is machined on the sleeve 101, the connecting rod 106 is equipped with retention bead at one
108, connecting rod 106 is fitted in sleeve 101, and the slotted hole 107 of sleeve 101 is arranged in the retention bead 108 on connecting rod 106
It is interior；
The Inner Defect Testing device mounting rack 3 includes that two arcs of mirror settings each other clamp frame 16, arc card
The upper and lower ends for shelving 16 are respectively provided with clamping portion 17；
Cable defects detection camera 18 is installed on the vehicle frame 4.
In the present embodiment, upper body 1 and lower body 2 are mounted on cable 19, then pass through Inner Defect Testing device
Upper body 1 and lower body 2 are established connection by mounting rack 3, when in use, are rotated by control driving motor 5, driving motor 5 is logical
Crossing driving pulley 9 drives driven pulley 12 to rotate, and travel wheel shaft 11 is able to drive travel wheel 6 under the action of driven pulley 12
Rotation, and then travel wheel 6 realizes walking on cable 19, completion to the real-time detection of cable defect, present embodiment it is novel
Modular Structure Design can have very big adaptability to the cable of different-diameter, it can be achieved that multistep speed regulation control, can carry a variety of
Non-destructive testing sensor.Optimized attachable module can allow robot to adapt to the cable of different-diameter, cross different rulers
Very little obstacle, and the phenomenon that fit closely robot in crawling process with cable, be not in corkscrew climb；
Balance relay 10 can be implemented to correct a kind of walking posture of lightweight intelligent inspection robot, when robot exists
It when track route offset occurs for walking on cable, balances in relay 10, the rotation band dynamic pressure of stepper motor 102 in sleeve 101
For piece 104 to bottom offset inside sleeve 101, tabletting at this time 104 presses the compression of spring 105, so that 106 slide downward of connecting rod, this
When, it is mounted on the unilateral generation positional shift of the travel wheel shaft 11 turned on balance relay 10, the offset on this position is realized
Travel wheel walks bit shift compensation in cable uplink, therefore enables to entire inspection by the balance relay 10 of present embodiment
Robot ambulation stability is increased dramatically, and meets crusing robot inspection durability requirements on cable.Present embodiment
The center of middle tabletting 104 is machined with the threaded hole cooperated with helical axis 103；
The arc of Inner Defect Testing device mounting rack 3, which clamps frame 16, can clamp Inner Defect Testing device, and then realization pair
Cable internal flaw (corrosion/fracture of wire) is monitored；
Inner Defect Testing device is the pulsed field magnetization leakage field sensor based on pulsed field magnetization principle, obtains cable wide scope
Frequency content realizes the detection and space orientation of internal flaw in conjunction with intelligent algorithm.
This embodiment is just an exemplary description of this patent, does not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (5)
- The intelligent inspection robot 1. a kind of posture is rectified a deviation, it is characterised in that: entangled including climbing module, defects detection module, posture Inclined module, robot controller, wireless module, human-computer interaction module and data processing module, the robot controller are used In the signal by wireless module transmission reception human-computer interaction module, and transmit a signal to climbing module, defects detection module With posture correction module, corresponding posture movement is completed to control posture correction intelligent inspection robot；The data processing Module is handled by the monitoring data that wireless module feeds back robot.
- 2. a kind of lightweight intelligent inspection robot according to claim 1, it is characterised in that: the climbing module packet Driving motor is included, driving motor is for driving robot to realize climbing.
- 3. a kind of lightweight intelligent inspection robot according to claim 1, it is characterised in that: the defects detection mould Block includes open defect detection module and Inner Defect Testing module, and the appearance detection module includes high definition network Head, appearance detection module is for detecting cable surface defect；The Inner Defect Testing module includes pulsed field magnetization sensor, Inner Defect Testing module is for detecting corrosion and fracture of wire defect inside cable.
- 4. a kind of lightweight intelligent inspection robot according to claim 1, it is characterised in that: the posture correction mould Block includes the earth inductor, gyroscope and relay being mounted in robot, and the earth inductor and gyroscope are used for Realize that accurately spatial position positioning and 3 d pose capture for robot, the relay is for realizing robot ambulation posture Compensation.
- 5. a kind of lightweight intelligent inspection robot according to claim 1, it is characterised in that: the human-computer interaction mould Block includes robot remote control terminal, user instruction input module, defect alarm module and defect display module, the user Position command and speed command are transferred to robot controller by robot remote control terminal by instruction input module, described Defect display module receives the cable defect information of robot remote control terminal feedback and realizes that cable open defect and inside lack Display is fallen into, the defect alarm module is for realizing cable defect information alarm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910135264.0A CN109676627A (en) | 2019-02-22 | 2019-02-22 | A kind of posture correction intelligent inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910135264.0A CN109676627A (en) | 2019-02-22 | 2019-02-22 | A kind of posture correction intelligent inspection robot |
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| CN109676627A true CN109676627A (en) | 2019-04-26 |
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| CN201910135264.0A Pending CN109676627A (en) | 2019-02-22 | 2019-02-22 | A kind of posture correction intelligent inspection robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113189860A (en) * | 2020-12-30 | 2021-07-30 | 北京精密机电控制设备研究所 | Control method, device and system of climbing device |
| CN113622299A (en) * | 2021-09-08 | 2021-11-09 | 天津城建大学 | Accurate positioning and climbing device and method for bridge cable detection device |
| CN113686948A (en) * | 2021-09-08 | 2021-11-23 | 江西交通职业技术学院 | Detection method of magnetic memory bridge cable detection device |
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Effective date of registration: 20191104 Address after: Room 301-21, building 16, no.1616, Chuangxin Road, Songbei District, Harbin City, Heilongjiang Province Applicant after: Harbin Hezheng Technology Co.,Ltd. Address before: 314000 Institute of Applied Technology, Academy of Chinese Sciences, Asia-Pacific Road, Daqiao Town, Nanhu District, Jiaxing City, Zhejiang Province, 778 Applicant before: Liu Xingchao |
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Application publication date: 20190426 |