CN109732555B - Robot system with twisting and plugging mechanical arm end effector - Google Patents
Robot system with twisting and plugging mechanical arm end effector Download PDFInfo
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- CN109732555B CN109732555B CN201910095027.6A CN201910095027A CN109732555B CN 109732555 B CN109732555 B CN 109732555B CN 201910095027 A CN201910095027 A CN 201910095027A CN 109732555 B CN109732555 B CN 109732555B
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Abstract
The embodiment of the invention discloses a robot system with a twisting and plugging mechanical arm end effector, which comprises the mechanical arm end effector for twisting and plugging, a robot chassis, a crawler traveling mechanism, a control cabinet, a mechanical arm, a cradle head mechanism and a camera, wherein the crawler traveling mechanism is arranged on two sides of the robot chassis, the control cabinet is arranged at the rear end of the robot chassis, the camera is arranged on the cradle head mechanism arranged in the middle of the robot chassis, the mechanical arm is arranged at the front end of the robot chassis, and the tail end of the mechanical arm is connected with the mechanical arm end effector and is used for twisting and plugging a leakage point of leakage equipment. By adopting the invention, the mechanical arm end effector can be suitable for plugging leakage points of pipelines with different sizes, and the robot system formed by the mechanical arm end effector has autonomous navigation and obstacle avoidance functions, and can accurately, flexibly and efficiently execute plugging operation.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot system with a twisting and plugging mechanical arm end effector.
Background
The pressure leakage blocking is a technology for repairing pipeline leakage under the pressure working state of equipment in order not to influence production in the industrial industry with continuous production requirement. The technology originates from the United kingdom, and the non-stop pressurized plugging technology is used from 1984 in China, and is widely applied to electric power and chemical enterprises nowadays, and becomes an important means for realizing long period and no leakage for the enterprises, and meanwhile, avoiding the discharge of stopped materials brings great economic benefit to the enterprises and has great significance for environmental protection.
In general, pressurized plugging typically requires special manufacturing and installation fixtures, and is mostly performed manually to plug leakage defects. The high-temperature steam is diffused in the pipe network in common pipeline leakage, the pipe network has a changeable trend, so that the leakage blocking difficulty is increased, danger is easy to occur, the leakage blocking efficiency is low, a plurality of technicians with abundant pressurized leakage blocking operation experience are required to jointly complete the leakage blocking work, and the labor cost is high.
Although some plugging tools are developed at present for the leakage defect in the production process at home and abroad, most plugging work still needs to be manually performed. With the continuous development of industrial automation, more and more industries adopt robots to replace manpower to perform heavy, time-consuming and dangerous work so as to improve the production efficiency of enterprises. In order to improve the efficiency and safety of the plugging operation, it is necessary to design a pressurized plugging robot suitable for high-temperature and high-pressure environments to assist workers in plugging a leaking pipeline.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide a robot system with a twisting and plugging mechanical arm end effector. The leakage blocking device can replace manual work to complete leakage blocking work of a leakage pipeline and assist workers in judging leakage conditions of the pipeline.
In order to solve the technical problems, the embodiment of the invention provides a robot system with a twisting and plugging mechanical arm end effector, which comprises the mechanical arm end effector for twisting and plugging, a robot chassis, a crawler traveling mechanism, a control cabinet, mechanical arms, a cradle head mechanism and a camera, wherein the crawler traveling mechanism is arranged on two sides of the robot chassis, the control cabinet is arranged at the rear end of the robot chassis, the camera is arranged on the cradle head mechanism arranged in the middle of the robot chassis, the mechanical arm is arranged at the front end of the robot chassis, and the tail end of the mechanical arm is connected with the mechanical arm end effector and is used for twisting and plugging a leakage point of leakage equipment.
The control cabinet is internally provided with a power supply, an industrial personal computer and a mechanical arm control host, wherein the power supply can supply power for the crawler travelling mechanism, the cradle head, the camera, the industrial personal computer, the mechanical arm control host and the mechanical arm, and the industrial personal computer is respectively and electrically connected with the crawler travelling mechanism, the cradle head, the camera and the mechanical arm control host and controls the mechanical arm through communication with the mechanical arm control host.
Furthermore, the edges of the front end and the rear end of the robot chassis are respectively provided with a protection frame, and two laser radars are arranged on opposite angles of the protection frames.
Furthermore, a steering motor is arranged at the joint of the cradle head and the robot chassis, and the cradle head can rotate 360 degrees through the steering motor.
Furthermore, an antenna is arranged on the upper end face of the control cabinet, the antenna is electrically connected with the industrial control computer and used for receiving and transmitting signals, so that the industrial control computer and external control equipment can perform information interaction, and the mechanical arm is controlled to complete the task of twisting and plugging leakage points of leakage equipment.
Still further, arm end effector includes the air impulse hammer, from centering module and presss from both sides and get the module, press from both sides and get the module and include a pair of jack catch, the jack catch includes curved boom, cylinder, gyro wheel, the piston rod of cylinder install in the upper end downside of curved boom, the gyro wheel install in the lower extreme upside of curved boom, from centering module set up in between a pair of jack catch, from centering module with the gyro wheel cooperatees and presss from both sides and get leakage equipment, from centering module has a through-hole of vertical direction, the air impulse hammer wears to locate the through-hole, the firing pin is installed to the air impulse hammer lower extreme for twist with fingers leakage blocking to leakage point on the leakage equipment.
Further, the upper end of the self-centering module is a connector provided with a circular through hole, the lower end of the self-centering module is a V-shaped block provided with a through hole in the middle part, and the connector is fixedly connected with the pneumatic hammer; the lower end of the V-shaped block is provided with an inverted V-shaped opening; the lower end of the V-shaped block is also provided with an inverted U-shaped through opening.
Furthermore, a connecting hole for connecting with the tail end of the mechanical arm is further formed in one side of the V-shaped block.
Furthermore, a camera is arranged on the opposite side of one side, connected with the mechanical arm, of the V-shaped block, and the camera is aligned with the through hole.
Further, the pair of jaws are symmetrically installed at both sides of the V-block.
Still further, the jaws each comprise two C-shaped thin arms.
Further, the claw is provided with 2 rollers, and is horizontally arranged between the two C-shaped thin arms through the rollers.
Still further, the cylinder is the guide arm cylinder, the guide arm cylinder is connected with the V type piece of self-centering module through the spiral hole that locates cylinder one side, V type piece with the side that the guide arm cylinder links to each other is equipped with guide arm cylinder assorted screw hole.
The embodiment of the invention has the following beneficial effects: the invention has novel and reasonable structural design, and because the tail end of the mechanical arm is provided with the tail end actuator for twisting and plugging, the pipeline with different pipe diameters can be plugged flexibly, and meanwhile, the tail end actuator for twisting and plugging is provided with the camera, so that the position of a leakage point can be positioned accurately, and the image information of the leakage point can be given to an operator. In addition, because the robot system device has the camera, consequently can observe the condition around, can preliminarily confirm the position of leak source, simultaneously, the diagonal angle on the fender bracket is provided with two lidars, can autonomous navigation, avoid the barrier. The invention has compact integral structure, good stability and strong functionality, can be used for plugging the leakage defects of pipelines with different sizes, and is favorable for wide popularization and application.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a mechanical arm end effector for lay-up plugging;
FIG. 3 is a schematic view of a self-centering module in the end effector of the robotic arm shown in FIG. 2 for lay-up plugging;
fig. 4 is a schematic diagram of a jaw structure of a gripping module in the end effector of the mechanical arm for plugging by twisting shown in fig. 2.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, the embodiment of the invention includes a robot chassis 101, a crawler running mechanism 103, a control cabinet 105, a six-axis mechanical arm 1010, a pan-tilt mechanism 107 and a camera 109, wherein the crawler running mechanism 103 is arranged at two sides of the robot chassis 101, the control cabinet 105 is installed at the tail of the robot chassis 101, the pan-tilt mechanism 107 is installed at the middle of the robot chassis 101 and is used for adjusting the angle of the camera 109, the camera 109 is installed on the pan-tilt mechanism 107 and is used for primarily positioning a leakage point, the six-axis mechanical arm 1010 is installed at the head of the robot chassis 101, and a mechanical arm end effector 20 for twisting and plugging is arranged.
The crawler travel structure 103 of the crawler travel structure mechanism is arranged on two sides of the robot chassis 101, and a damping device is arranged in a crawler, the damping device comprises two connecting arms 1013, a pulley 1012 and a spring 1014, the two connecting arms 1013 are hinged together, and the upper ends of the two connecting arms 1013 are connected by the spring 1014 to play a damping role; the lower ends of the two connecting arms 1013 are fitted with pulleys 1012 for reducing friction with the tracks.
The rotation angle of the cradle head mechanism 107 is 360 degrees, and the proper height is adjusted, so that the camera 109 can acquire more image information of the surrounding environment, and the robot system for twisting and plugging is convenient to realize autonomous navigation and obstacle avoidance. The image line acquired by the camera 109 is defogged, and the processed image is displayed on a display screen of the control cabinet, so that an operator observes the leakage condition and decides the leakage blocking mode.
The tail end of the six-axis mechanical arm 1010 is provided with a mechanical arm tail end actuator 20 for twisting and plugging, so that pipelines with different pipe diameters can be plugged flexibly, the mechanical arm tail end actuator 20 for twisting and plugging is provided with a camera, the position of a leakage point is positioned accurately, and the operator is given with image information of the leakage point.
For safety, in the embodiment of the invention, the twisting and plugging robot system is also provided with a protection frame 102, and two laser radars 104 are arranged on opposite angles of the protection frame for avoiding barriers, so as to prevent important structures and equipment of the robot from being damaged. Further, when the six-axis mechanical arm 1010 is hindered by excessive resistance moment, the mechanical arm will alarm to stop.
Referring to fig. 2, the mechanical arm end effector of the present invention includes a pneumatic ram 211, a self-centering module 213, and a clamping module 215, wherein the clamping module 215 is composed of two clamping jaws 2151, the clamping jaws 2151 include a C-shaped thin arm 21511, an air cylinder 21513, and a roller 21515, the air cylinder 21513 is disposed at an upper end of the clamping jaws 2151 and connected to one end of the C-shaped thin arm 21511, the roller 21515 is disposed at a lower end of the clamping jaws 2151 and connected to another end of the C-shaped thin arm 21511, the self-centering module 213 is disposed between the two clamping jaws 2151 and cooperates with the roller 21515 on the clamping module 215 to clamp a leakage device, the pneumatic ram 211 is fixedly disposed on the self-centering module 213, and a leakage point 219 on the leakage device is plugged by twisting the striker 217 mounted at the lower end of the pneumatic ram 211.
Referring to fig. 2 and 3, two jaws 2151 of the clamping module 215 according to the first embodiment of the invention include C-shaped thin arms 21511, cylinders 21513 and rollers 21515, wherein each jaw 2151 has 3 cylinders 21513 mounted on the upper portion of the jaw 2151, and each cylinder 21513 has 4 threaded holes 21517 on the sides to be fixed with the middle self-centering module 213, so that when the electronic valve cylinder 21513 is extended, the jaw 2151 and the self-centering module 213 can clamp a pipe, two rolling shafts can be obtained through the holes on the lower portion of the two C-shaped thin arms 21511, and two rollers 21515 can be mounted on the two shafts, so that when the rollers 21515 are mounted on the jaw 2151, the end effector can rotate around the leakage pipe.
It will be appreciated that in other embodiments, the pawl 2151 may have a "C" shape, or may have a semi-circular or other shaped configuration.
It will be appreciated that in other embodiments the number of cylinders 21513 may be 3, or several other than 3.
Referring to fig. 3 and 4, the self-centering module 213 in the first embodiment of the present invention includes a connecting head 2131 at an upper end and a V-shaped block 2133 at a lower end, wherein the connecting head 2131 is connected with the V-shaped block 2133 through threads, and two sides of the lower end of the V-shaped block 2133 are respectively provided with an inverted V-shaped opening for clamping and fixing a leakage device; the lower end of the V-shaped block 2133 is also provided with 2 inverted U-shaped through holes which can be used for observing leakage blocking conditions, one side of the V-shaped block 2133 is also provided with 4 connecting holes 21331 which are used for being connected with the tail end of the mechanical arm and used for being fixed with the tail end of the mechanical arm, and meanwhile, the opposite surface of the mounting surface of the tail end of the mechanical arm is provided with a miniature camera 21335, and the camera 21335 can be used for finding leakage points and observing leakage blocking conditions.
The invention relates to a working principle of a mechanical arm end effector for plugging by twisting, which comprises the following steps: when the pipeline leaks, the end effector is adjusted to a proper position through the mechanical arm, then the leakage point 219 is found according to the miniature camera 21335 on the end effector, at the moment, the guide rod cylinder 21513 is extended, the lower part of the C-shaped block 2151 is lifted until the roller 21515 and the V-shaped groove of the V-shaped block 213 can perfectly clamp the leakage pipeline, at the moment, the miniature camera 21335 further observes the specific position of the leakage point 219, after the observation is finished, the pneumatic hammer firing pin 217 is adjusted to be above the leakage point 219, the pneumatic hammer 211 starts to twist the leakage point 219, when the twisting angle needs to be changed, the roller 21515 can be utilized to roll, so that the whole clamping module can rotate the mechanical arm end effector until the twisting and leaking stoppage is finished under the condition that the whole clamping module does not need to be loosened again.
The invention has novel and reasonable structural design, skillfully combines the crawler-type structure 103 with the six-axis mechanical arm 1010, and the combined technical scheme combines various advantages of the crawler-type structure 103 and the six-axis mechanical arm 1010, for example, the crawler-type structure 103 and the anti-collision frame 102 can ensure that a robot system for twisting and plugging has good stability in the running process; the installed camera 109 can be used to observe the surrounding of the leak device, to initially locate the leak and to assist the robot in avoiding obstacles; the tail end of the mechanical arm is provided with a mechanical arm tail end actuator 20 for twisting and plugging and a camera 209 arranged on the mechanical arm tail end actuator 20 for twisting and plugging, and the camera 209 can enable the robot system for twisting and plugging to have good object visual identification and visual twisting and plugging functions; compared with a single multi-degree-of-freedom mechanical arm, the twisting and plugging robot system can realize large-stroke and large-range operation. The invention has compact integral structure, good stability and strong functionality, can be suitable for different application environments, and is favorable for wide popularization and application.
The foregoing examples only represent preferred embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (7)
1. The robot system is characterized by comprising a mechanical arm end effector for twisting and plugging, a robot chassis, a crawler traveling mechanism, a control cabinet, a mechanical arm, a tripod head mechanism and a camera, wherein the crawler traveling mechanism is arranged on two sides of the robot chassis; the mechanical arm end effector comprises an air impulse hammer, a self-centering module and a clamping module, wherein the clamping module comprises a pair of clamping claws, the clamping claws comprise a bent arm, an air cylinder and a roller, a piston rod of the air cylinder is arranged on the lower side surface of the upper end of the bent arm, the roller is arranged on the upper side surface of the lower end of the bent arm, the self-centering module is arranged between the pair of clamping claws, the self-centering module is matched with the roller to clamp leakage equipment, the self-centering module is provided with a through hole in the vertical direction, the air impulse hammer is arranged through the through hole, and the lower end of the air impulse hammer is provided with a firing pin for twisting leakage points on the leakage equipment; the upper end of the self-centering module is provided with a connector provided with a circular through hole, the lower end of the self-centering module is provided with a V-shaped block provided with a through hole in the middle part, and the connector is fixedly connected with the pneumatic hammer; the lower end of the V-shaped block is provided with an inverted V-shaped opening; the lower end of the V-shaped block is also provided with an inverted U-shaped through hole; and a camera is arranged on the opposite side of one side, connected with the mechanical arm, of the V-shaped block, and the camera is aligned with the through hole.
2. The robotic system with a twisting and plugging mechanical arm end effector according to claim 1, wherein the control cabinet is equipped with a power supply, an industrial personal computer and a mechanical arm control host, wherein the power supply can supply power to the crawler running mechanism, the cradle head, the camera, the industrial personal computer, the mechanical arm control host and the mechanical arm, and the industrial personal computer is electrically connected with the crawler running mechanism, the cradle head, the camera and the mechanical arm control host respectively and controls the mechanical arm by communicating with the mechanical arm control host.
3. The robot system with the mechanical arm end effector for plugging by twisting according to claim 2, wherein the edges of the front and rear ends of the robot chassis are provided with protective frames, and the diagonal angles on the protective frames are provided with laser radars.
4. The robotic system with a twisting and plugging mechanical arm end effector according to claim 3, wherein an antenna is disposed on an upper end surface of the control cabinet, and the antenna is electrically connected with the industrial control computer and is used for receiving and transmitting signals.
5. The robotic system with a twisting and plugging mechanical arm end effector according to claim 1, wherein one side of the V-shaped block is further provided with a connecting hole for connecting with the end of the mechanical arm.
6. The robotic system with a twisting and plugging mechanical arm end effector of claim 1, wherein the pair of jaws are symmetrically mounted on both sides of the V-block.
7. The robotic system with a twisting and plugging mechanical arm end effector according to claim 6, wherein the cylinders are guide rod cylinders, the guide rod cylinders are connected with a V-shaped block of the self-centering module through screw holes formed in one side of the cylinders, and threaded holes matched with the guide rod cylinders are formed in one side of the V-shaped block connected with the guide rod cylinders.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910095027.6A CN109732555B (en) | 2019-01-30 | 2019-01-30 | Robot system with twisting and plugging mechanical arm end effector |
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| CN201910095027.6A CN109732555B (en) | 2019-01-30 | 2019-01-30 | Robot system with twisting and plugging mechanical arm end effector |
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| CN109732555A CN109732555A (en) | 2019-05-10 |
| CN109732555B true CN109732555B (en) | 2023-09-26 |
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