CN110328566B - Detection, repair and climbing robot for surface of super-long cylindrical structure and detection and repair method - Google Patents
Detection, repair and climbing robot for surface of super-long cylindrical structure and detection and repair method Download PDFInfo
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- CN110328566B CN110328566B CN201910513554.4A CN201910513554A CN110328566B CN 110328566 B CN110328566 B CN 110328566B CN 201910513554 A CN201910513554 A CN 201910513554A CN 110328566 B CN110328566 B CN 110328566B
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- push rod
- electric push
- camera
- motor
- component
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
- B24B47/04—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by mechanical gearing only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/02—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work
- B24B5/04—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work for grinding cylindrical surfaces externally
- B24B5/045—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work for grinding cylindrical surfaces externally with the grinding wheel axis perpendicular to the workpiece axis
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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
- 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
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- 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
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- 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
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
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- 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
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8854—Grading and classifying of flaws
- G01N2021/8867—Grading and classifying of flaws using sequentially two or more inspection runs, e.g. coarse and fine, or detecting then analysing
- G01N2021/887—Grading and classifying of flaws using sequentially two or more inspection runs, e.g. coarse and fine, or detecting then analysing the measurements made in two or more directions, angles, positions
Abstract
A climbing robot for detecting and repairing the surface of an overlong cylindrical structure comprises a climbing mechanism, wherein the climbing mechanism comprises an annular gear ring, a magnetic adsorption device, an electric push rod piston rod, an electric push rod cylinder, an electric push rod piece, an electric push rod motor and a magnetic adsorption stepping motor; the camera carrier component is arranged on the annular gear ring, a lead screw motor is arranged on the camera carrier component, a guide rail plate is fixedly arranged on the camera carrier component at the position corresponding to the lead screw motor, a sliding block slides on the guide rail plate, the sliding block is connected with an output lead screw of the lead screw motor, and a detachable camera component or a detachable repairing component is arranged on the sliding block; the device also comprises an image receiving and splicing system, a control system and an electric system which are connected through a circuit. The invention also comprises a method for detecting and repairing by using the climbing robot.
Description
Technical Field
The invention belongs to the technical field of construction robots, and particularly relates to a climbing robot for detecting and repairing the surface of an ultralong cylindrical structure and a detection and repair method thereof.
Background
In building construction, the construction of super-long cylindrical machine components is often encountered, for example, a lifting cylinder of a dam crane, a piston rod of the lifting cylinder is made of metal, and if defects exist on the surface of the lifting cylinder, the normal operation of the lifting cylinder is affected.
At present, a mainstream detection mode of a construction site is to erect a support, manually detect and repair the support and use a manual detection method, so that the time is too long, and certain personal injury risk exists during high-altitude operation. Therefore, an instrument capable of automatically detecting and repairing the overlong cylindrical structure of the piston rod of the lifting cylinder through control is needed to be designed, so that the detection efficiency is improved, and the labor cost and the personal injury risk are reduced.
For example, the invention patent application "a robot for detecting surface of super-long cylindrical structure" (application number: CN201810731765.0) discloses a robot capable of detecting surface of super-long cylindrical structure, but the design only has detection function, if it finds that there is defect on the surface of cylindrical structure or it must be repaired manually, it cannot complete automatic control repairing.
Disclosure of Invention
The invention aims to provide a method for automatically detecting and repairing an ultra-long cylindrical structure by controlling, so that manual direct high-altitude operation is avoided.
In order to achieve the purpose, the invention adopts the technical scheme that:
a climbing robot for detecting and repairing the surface of an overlong cylindrical structure comprises a climbing mechanism, wherein the climbing mechanism comprises an annular gear ring, a magnetic adsorption device, an electric push rod piston rod, an electric push rod cylinder, an electric push rod piece, an electric push rod motor and a magnetic adsorption stepping motor; the annular gear ring is arranged on the upper part of the electric push rod piece, and the electric push rod piece is connected to the electric push rod piston rod through threads; the electric push rod piston rod is arranged in the electric push rod cylinder barrel and is driven by the electric push rod driving motor to extend out of or retract from the electric push rod cylinder barrel; the magnetic adsorption device is respectively arranged on the electric push rod cylinder and the electric push rod piece and is used for adsorbing the detected body; the magnetic adsorption stepping motor controls the change of a magnetic system in the magnetic adsorption device so as to realize the adsorption and the release of a detected body, and the magnetic adsorption stepping motor also comprises a camera carrier component arranged on the annular gear ring; the method is characterized in that: the camera carrier component is provided with a screw motor, a guide rail plate is fixedly arranged on the camera carrier component at the position corresponding to the screw motor, a slide block slides on the guide rail plate, the slide block is connected with an output screw of the screw motor, and the slide block is provided with a detachable camera component or a detachable repairing component; the device also comprises an image receiving and splicing system, a control system and an electric system which are connected through a circuit.
Further, the detachable repairing component comprises a grinding wheel, a grinding wheel rotating shaft and a connecting handle, wherein the grinding wheel is installed on the grinding wheel rotating shaft, the grinding wheel rotating shaft is installed on the guide rail plate, one end of the connecting handle is eccentrically installed on the grinding wheel, and the other end of the connecting handle is installed on the sliding block.
Furthermore, the detachable camera component is a fixed-focus camera, and the shooting angle range can be known when the distance between the detachable camera component and the surface of the cylindrical structure is different.
Further, the telescopic length of the piston rod of the electric push rod can be measured.
Further, the annular gear ring is formed by combining two semi-annular gear rings, 200 teeth are arranged on the outer edge of the annular gear ring, 25 teeth are arranged on the pinion, and in order to accurately control the position of the camera carrier, the transmission ratio is an integer.
Further, the camera carrier comprises a support, an encoder motor is installed on the support, a driving gear is arranged on an output shaft of the encoder motor, the driving gear is meshed with the annular gear ring, and the rotating angle of the driving gear on the annular gear ring can be known after the driving gear rotates for a circle.
Furthermore, the magnetic adsorption devices are connected through a magnetic connecting shaft, and two magnet shaft rotation limit switches with 90-degree included angles are arranged on the magnetic connecting shaft.
The invention also comprises a method for detecting and repairing by using the detecting and repairing climbing robot with the surface of the super-long cylindrical structure, which comprises the following steps:
s1, measuring the length and the perimeter of the main body of the super-long cylindrical structure, selecting and marking the initial installation position of the climbing robot at the bottom of the main body of the super-long cylindrical structure;
s2, assembling and installing the climbing robot on the main body of the super-long cylindrical structure, installing a detachable camera component, enabling the detachable camera component to be located at the initial installation position marked in the S1, adjusting a fixed-focus camera of the detachable camera component through a lead screw motor, and shooting and locking a shooting angle;
s3, controlling the operation of the encoder motor to enable the camera carrier to rotate around the annular gear ring, controlling the number of rotation turns of the encoder motor through the control system to ensure that the next shooting and the last shooting of the fixed-focus camera are overlapped at a fixed angle, and rotating the fixed-focus camera for one turn to the original position;
s4, after a circle of bottom shooting is carried out, the climbing mechanism is controlled to climb through the control system, the electric push rod motor is controlled by pulses, the electric push rod piston rod is of a screw rod type structure, the thread pitch is constant, the number of running turns of the electric push rod motor is controlled by pulses, and the constant distance of the electric push rod piston rod is known through the number of running turns, so that the extending length of the electric push rod piston rod and the ascending distance of the camera carrier component can be measured, and the ascending distance of the camera carrier component is ensured to be the coincidence of the fixed length of the next shooting of the fixed-focus camera in the vertical direction at the last shooting; when the camera carrier component rises to the right position, performing surrounding shooting again;
s5, repeating the climbing action and the surrounding shooting according to the steps from S1 to S4 until the shooting of the surface of the ultra-long cylindrical structure is completed, and returning the climbing robot to the initial position; the detachable camera component transmits image data to an image receiving and splicing system through a circuit, and the image receiving and splicing system splices shot images according to a set program so as to form an integral form map of the surface of the super-long cylindrical structure; drawing a two-dimensional coordinate according to the vertical moving distance and the surrounding moving angle of the detachable camera component, manually judging the defects on the surface of the super-long cylindrical structure, and judging the specific positions of the defects on the surface of the super-long cylindrical structure according to the two-dimensional coordinate;
and S6, detaching the detachable camera component, installing the detachable repairing component, and controlling the climbing robot to reach the defect position determined by the two-dimensional coordinates through the control system to repair.
Has the advantages that:
the invention can automatically and accurately shoot the surface of the super-long cylindrical structure, and an accurate two-dimensional coordinate graph of the surface of the super-long cylindrical structure is obtained through the image receiving and splicing system, so that the position with defects can be accurately judged; the device can also be used for automatically repairing the defect part by replacing the detachable repairing component, so that manual operation is replaced, the working efficiency is improved, and the labor cost is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a cross-sectional view of a camera carrier body component according to the present invention;
FIG. 3 is a diagram of a camera carrier assembly with a fixed focus camera according to the present invention;
FIG. 4 is a view of a camera carrier assembly with a removable repair assembly installed in accordance with the present invention;
FIG. 5 is a schematic view of a guide rail plate mechanism according to the present invention;
FIG. 6 is a view showing the arrangement of a magnet shaft rotation limit switch according to the present invention;
FIG. 7 is a schematic view of a slider structure according to the present invention;
FIG. 8a is a parameter interface of the control system;
FIG. 8b is a manual interface of the control system;
fig. 8c is an automated interface for the control system.
FIG. 9 is a schematic diagram showing different sizes of images spliced by the image receiving and splicing system according to the present invention;
in the figure: 1 electric putter cylinder, 2 electric putter member, 3 electric putter piston rod, 4 electric putter motors, 5 annular ring gears, 6 magnetic force adsorption device, 7 magnetic force adsorption step motor, 8 magnetic force connecting shafts, 801 magnet shaft rotation limit switch, 9 camera carrier parts, 10 encoder motors, 11 lead screw motors, 12 fixed focus cameras, 13 emery wheels, 14 connecting handles, 15 sliders, 151 camera erection columns, 152 threaded holes, 16 emery wheel axis of rotation, 17 guide rail plates, 18 lead screws, 19 motor supporting seats, 20 lead screw motor fixed plates, 21 lead screw supporting plates, 22 couplings, 23 emery wheel stoppers, 24 driving gear shafts, 25 driving gears.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description.
It should be noted that the main structure of the present invention is substantially the same as the main structure of the published patent application "a surface inspection robot with super-long cylindrical structure" (application number: CN201810731765.0), and for the convenience of simplifying the description to clarify the content of the improvement made by the present invention, the description of the two parts is mainly provided herein.
Referring to fig. 1 and 2, the climbing robot for detecting and repairing the surface of the ultra-long cylindrical structure comprises a climbing mechanism, wherein the climbing mechanism comprises an annular gear ring 5, a magnetic adsorption device 6, an electric push rod piston rod 3, an electric push rod cylinder 1, an electric push rod piece 2, an electric push rod driving motor and a magnetic adsorption stepping motor 7; the annular gear ring 5 is arranged on the upper part of the electric push rod piece 2, and the electric push rod piece 2 is connected to the electric push rod piston rod 3 through threads; the electric push rod piston rod 3 is arranged in the electric push rod cylinder barrel 1 and is driven by the electric push rod driving motor to extend out of or retract from the electric push rod cylinder barrel 1; the magnetic adsorption device 6 is respectively arranged on the electric push rod cylinder 1 and the electric push rod piece 2 and is used for adsorbing the detected body; magnetic force adsorbs step motor 7 control the change of the inside magnetic force system of magnetic force adsorption equipment 6 to the realization is to the absorption and the release of detected body, still including installing camera carrier part 9 on annular ring gear 5, install encoder motor 10 on the camera carrier part 9, install drive gear 25 on the output shaft of encoder motor 10, drive gear 25 with annular ring gear 5 meshes, wherein annular ring gear 5 be outer annular ring gear. The gear on the driving gear 25 is meshed with the gear on the annular gear ring 5, when the encoder motor 10 rotates for a certain number of times, the rotation angle of the driving gear 25 around the annular gear ring 5 is known, preferably, 200 teeth are arranged on the outer edge of the annular gear ring 5, the number of the driving gear 25 is 25 teeth, and in order to accurately control the position of the camera carrier, the transmission ratio is guaranteed to be an integer.
As shown in fig. 3 and 5, a guide rail plate 17 is mounted on the camera carrier part 9, a lead screw motor fixing plate 20 is mounted on the guide rail plate 17, and a lead screw motor 11 is mounted on the lead screw motor fixing plate 20. The guide rail plate 17 is further provided with two screw rod supporting plates 21 which are spaced at a certain distance, an output shaft of the screw rod motor 11 is connected with a screw rod 18, and the screw rod 18 is arranged on the screw rod supporting plates 21, can rotate in the screw rod supporting plates and can be detached. The guide rail plate 17 is further provided with a slide block 15, a through threaded hole 152 is formed in the slide block 15, the slide block 15 is slidably mounted on the screw rod 18 through the threaded hole 152, and the screw rod motor 11 drives the screw rod 18 to rotate so as to drive the slide block 15 to move on the guide rail plate 17. The slider 15 is provided with a camera mounting column 151, and the fixed-focus camera 12 is mounted and dismounted through the camera mounting column 151. It should be noted that the mounting position of the rail plate 17 on the camera carrier part 9 is fixed; the slider 15 is located before two lead screw backup pads 21, its initial position is located the lead screw backup pad 21 department that is close to lead screw motor 11, it is certain apart from the surface distance of overlength cylinder structure that the focus camera 12 is fixed this moment, it shoots the visual angle certain, the overlength cylinder structure surface area of shooting is certain, when lead screw motor 11 passes through lead screw 18 drive slider 15 forward motion, can adjust the camera apart from the distance on piston rod surface according to lead screw motor 11 pivoted number of turns, the pitch of lead screw 18, it shoots the visual angle unchangeable this moment, the overlength cylinder structure surface area of its shooting can calculate according to the distance of moving forward.
As shown in fig. 3, 4 and 5, the fixed-focus camera 12 is removed, the grinding wheel 13 is mounted on the guide rail plate 17 through the grinding wheel rotating shaft 16 and the grinding wheel limiting block, one end of the connecting handle 14 is mounted on the grinding wheel 13, the other end of the connecting handle is mounted on the sliding camera mounting column 151, and the connecting handle 14 is mounted on the grinding wheel 13 in an eccentric manner, thereby forming an eccentric wheel structure. When the screw motor 11 drives the slide block 15 to move back and forth through the screw 18, the connecting handle 14 will drive the grinding wheel 13 to rotate around the grinding wheel rotating shaft 16 due to the eccentric wheel structure, so as to grind the surface of the super-long cylindrical structure.
As shown in fig. 6, the magnetic force adsorption device 6 is connected with the magnetic force connecting shaft 8, two magnet shaft rotation limit switches 801 are arranged on the magnetic force connecting shaft 8, one of the magnet shaft rotation limit switches 801 is parallel to the tangent line of the adsorption surface of the magnetic force adsorption device 6, and one magnet shaft rotation limit switch 801 is disposed with the tangent line of the adsorption surface of the magnetic force adsorption device 6, i.e., two magnet shaft rotation limit switches 801 form a 90-degree included angle therebetween to limit the rotation angle of the magnetic force connecting shaft 8 to prevent the occurrence of the clamping phenomenon.
The invention also comprises a control system which is connected with the encoder motor 10, the screw rod motor 11, the electric push rod motor 4 and the magnetic adsorption stepping motor 7 through lines and controls the operation of the electric components. The control system mainly adopts a PLC control system, namely a programmable logic controller.
The invention also includes an electrical power system that is connected to the electrically powered components by wiring to provide power to them.
The device also comprises an image receiving and splicing system, wherein the image receiving and splicing system is connected with the fixed-focus camera 12 through a circuit, receives an image shot by the fixed-focus camera 12 and completes the whole image splicing work of the surface of the ultra-long cylindrical structure to form a two-dimensional coordinate graph of the surface of the ultra-long cylindrical structure. The image receiving and splicing system adopts the prior art means, such as the granted patent of invention, "a panoramic image splicing device, method and monitoring system" (application number: CN201510016487.7), the granted patent of invention, "an image splicing method and system" (application number: CN201510771828.1), and the granted patent of invention, "image splicing method and device" (application number: CN200810212183.8), so that the splicing or splicing technology of the corresponding images is a common technical means.
The invention also comprises a method for detecting and repairing by using the detecting and repairing climbing robot with the surface of the super-long cylindrical structure, which comprises the following steps:
and S1, selecting and marking the initial installation position of the climbing robot at the bottom of the super-long cylindrical structure main body. Because the climbing robot has certain height, so have certain vision blind area, accomplish by artifical the detection.
S2, assembling and installing the climbing robot on the main body of the super-long cylindrical structure, installing a detachable camera part, enabling a fixed-focus camera 12 in the detachable camera part to be located at the initial installation position marked in the S1, adjusting the fixed-focus camera 12 of the detachable camera part through the lead screw motor 11, and shooting and locking a shooting angle; the fixed-focus camera 12 needs to be ensured to be located at an initial position and an initial position on the guide rail plate 17, and at this time, the shooting angle and the shooting area are fixed.
And S3, controlling the operation of the encoder motor 10 to enable the camera carrier to rotate around the annular gear ring 5, controlling the number of rotation turns of the encoder motor 10 through a control system, ensuring that the fixed-focus camera 12 is coincided with the last shooting at a fixed angle in the next shooting, and rotating for one turn to the original position. In one embodiment of the present invention, it is set that, when the driving gear 25 rotates by a certain angle, it rotates by 36 ° around the annular gear ring 5, and at this time, the fixed-focus camera 12 can take a picture, and when the driving gear 25 rotates by a certain angle, the fixed-focus camera 12 takes a picture which is overlapped with a previously taken picture by a fixed angle. Thus, after the driving gear 25 rotates around the annular gear ring 5 for one circle, the fixed-focus camera 12 can take 10 pictures with certain angle coincidence. Preferably, the encoder motor 10 is an ASLONG motor which is a six-encoder motor, and is a permanent magnet direct current speed reduction motor, and the motor can measure speed and rotate forward and backward, and the shaft length, the rotating speed and the voltage of the motor can be customized.
S4, after shooting a circle at the bottom, controlling the climbing mechanism to climb through the control system, wherein the electric push rod piston rod 3 adopts a screw rod type design, the screw pitch is set to be 2mm, and if the fixed-focus camera 12 needs to ascend by 12mm, the electric push rod piston rod 3 needs to rotate by 6 circles. The electric push rod motor 4 is connected with the electric push rod piston rod 3 through a speed reducer, the transmission ratio of the speed reducer is set to be 1:2, and then the electric push rod motor 4 needs to rotate for 12 circles. Preferably, the electric push rod motor 4 is a pulse control type servo motor, the pulse equivalent of the servo motor is set to be 1, and the number of pulses required by the electric push rod piston rod 3 for 1mm is 2000, so that when the fixed-focus camera 12 needs to be lifted for a certain distance, only a certain number of pulses need to be given to the electric push rod motor 4. The rising distance of the fixed focus camera 12 can also be calculated from the number of pulses given to the electric putter motor 4. Therefore, the extension length of the electric push rod piston rod 3 and the ascending distance of the camera carrier component 9 can be measured, and the ascending distance of the camera carrier component 9 is ensured to be the superposition of the fixed length of the next shooting of the fixed-focus mirror image 12 in the vertical direction and the last shooting; when the camera carrier section 9 is raised in position, the surround photographing is performed again.
S5, repeating the climbing action and the surrounding shooting according to the steps from S1 to S4 until the shooting of the surface of the super-long cylindrical structure is completed, and returning the climbing robot to the initial position; the detachable camera component transmits image data to an image receiving and splicing system through a circuit, and the image receiving and splicing system splices shot images according to a set program so as to form an integral form map of the surface of the super-long cylindrical structure; drawing a two-dimensional coordinate according to the vertical moving distance and the surrounding moving angle of the detachable camera component, performing two-dimensional expansion on the surface information of the cylindrical structure, and judging the specific position of the defect on the surface of the ultra-long cylindrical structure according to the two-dimensional coordinate;
and S6, detaching the detachable camera component, installing the detachable repairing component, and controlling the climbing robot to reach the defect position determined by the two-dimensional coordinates through the control system to repair.
Claims (1)
1. A method for detecting and repairing a climbing robot by utilizing a detecting and repairing climbing robot with an ultra-long cylindrical structure surface comprises a climbing mechanism, wherein the climbing mechanism comprises an annular gear ring, a magnetic force adsorption device, an electric push rod piston rod, an electric push rod cylinder barrel, an electric push rod piece, an electric push rod driving motor, an encoder motor and a magnetic force adsorption stepping motor; the annular gear ring is arranged on the upper part of the electric push rod piece, and the electric push rod piece is connected to the electric push rod piston rod through threads; the electric push rod piston rod is arranged in the electric push rod cylinder barrel and is driven by the electric push rod driving motor to extend out of or retract from the electric push rod cylinder barrel; the magnetic adsorption device is respectively arranged on the electric push rod cylinder and the electric push rod piece and is used for adsorbing the detected body; the magnetic adsorption stepping motor controls the change of a magnetic system in the magnetic adsorption device so as to realize the adsorption and the release of a detected body, and the magnetic adsorption stepping motor also comprises a camera carrier component arranged on the annular gear ring;
the camera carrier component moves on the annular gear ring through the encoder motor, a lead screw motor is installed on the camera carrier component, a guide rail plate is fixedly installed on the camera carrier component at the position corresponding to the lead screw motor, a sliding block slides on the guide rail plate, the sliding block is connected with an output lead screw of the lead screw motor, a detachable camera component or a detachable repairing component is installed on the sliding block, and the detachable camera component comprises a fixed-focus camera; the climbing robot also comprises an image receiving and splicing system, a control system and an electric power system which are connected through a circuit;
the method is characterized in that: comprises the following steps of (a) carrying out,
s1, selecting and marking an initial installation position of the climbing robot at the bottom of the super-long cylindrical structure main body, and completing manual detection of a robot vision blind area under the fixed-focus camera;
s2, assembling and installing the climbing robot on the main body of the super-long cylindrical structure, installing a detachable camera component, enabling the detachable camera component to be located at the initial installation position marked in the S1, adjusting a fixed-focus camera of the detachable camera component through a lead screw motor, and shooting and locking a shooting angle;
s3, controlling the operation of the encoder motor to enable the camera carrier to rotate around the annular gear ring, controlling the number of rotation turns of the encoder motor through the control system to ensure that the next shooting and the last shooting of the fixed-focus camera are overlapped at a fixed angle, and rotating the fixed-focus camera for one turn to the original position;
s4, after a circle of bottom shooting is carried out, the climbing mechanism is controlled to climb through the control system, the electric push rod motor is controlled by pulses, the electric push rod piston rod is of a screw rod type structure, the thread pitch is constant, the number of running turns of the electric push rod motor is controlled by pulses, and the constant distance of the electric push rod piston rod is known through the number of running turns, so that the extending length of the electric push rod piston rod and the ascending distance of the camera carrier component can be measured, and the ascending distance of the camera carrier component is ensured to be the coincidence of the fixed length of the next shooting of the fixed-focus camera in the vertical direction at the last shooting; when the camera carrier component rises to the right position, performing surrounding shooting again;
s5, repeating the climbing action and the surrounding shooting according to the steps from S1 to S4 until the shooting of the surface of the ultra-long cylindrical structure is completed, and returning the climbing robot to the initial position; the detachable camera component transmits image data to an image receiving and splicing system through a circuit, and the image receiving and splicing system splices shot images according to a set program so as to form an integral form map of the surface of the super-long cylindrical structure; drawing a two-dimensional coordinate according to the vertical moving distance and the surrounding moving angle of the detachable camera component, manually judging the defects on the surface of the super-long cylindrical structure, and judging the specific positions of the defects on the surface of the super-long cylindrical structure according to the two-dimensional coordinate;
and S6, detaching the detachable camera component, installing the detachable repairing component, and controlling the climbing robot to reach the defect position determined by the two-dimensional coordinates through the control system to repair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910513554.4A CN110328566B (en) | 2019-06-14 | 2019-06-14 | Detection, repair and climbing robot for surface of super-long cylindrical structure and detection and repair method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910513554.4A CN110328566B (en) | 2019-06-14 | 2019-06-14 | Detection, repair and climbing robot for surface of super-long cylindrical structure and detection and repair method |
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| Publication Number | Publication Date |
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| CN110328566A CN110328566A (en) | 2019-10-15 |
| CN110328566B true CN110328566B (en) | 2021-08-17 |
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| CN110987967A (en) * | 2019-12-13 | 2020-04-10 | 中国科学院深圳先进技术研究院 | Piston rod detection mechanism |
| CN111560860B (en) * | 2020-04-14 | 2022-02-01 | 周立翔 | Construction method for measuring segmental prefabricated spliced single tower |
| CN111496586B (en) * | 2020-04-26 | 2021-09-03 | 中国石油天然气集团有限公司 | Pipeline grinding device |
| CN111751384B (en) * | 2020-07-10 | 2021-10-12 | 宝武集团马钢轨交材料科技有限公司 | Online detection system and detection method for surface defects of round steel |
| CN112290448B (en) * | 2020-10-16 | 2021-12-03 | 重庆浪尖智能科技研究院有限公司 | Climbing method of climbing robot |
| CN112643499A (en) * | 2020-12-24 | 2021-04-13 | 刘杰 | Steel pipe burnishing and polishing equipment for building materials |
| CN112903691A (en) * | 2021-01-14 | 2021-06-04 | 山东交通学院 | Bridge check out test set convenient to repair damaged cable outside |
| CN112986279B (en) * | 2021-03-15 | 2022-07-26 | 河北振创电子科技有限公司 | Conveying pipeline detection device |
| CN113073731A (en) * | 2021-04-07 | 2021-07-06 | 武汉合创四联科技发展有限公司 | High-rise building sewage pipeline cleaning device and using method thereof |
| CN113771980B (en) * | 2021-09-30 | 2022-04-08 | 国网四川省电力公司南充供电公司 | Toper pole is portable in succession and is scrambleed device |
| CN114486925B (en) * | 2021-12-25 | 2023-10-31 | 国网四川省电力公司电力科学研究院 | Intelligent detection method for corrosion on inner side of power transmission line pole tower based on panoramic information |
| CN115257990B (en) * | 2022-07-06 | 2024-01-12 | 广东科驭科技有限公司 | Lifting robot for maintaining street lamp |
| CN116698842A (en) * | 2023-03-31 | 2023-09-05 | 中国长江电力股份有限公司 | System and processing method of hydraulic hoist piston rod rust detection device |
| CN116223527A (en) * | 2023-03-31 | 2023-06-06 | 中国长江电力股份有限公司 | Corrosion detection device and detection method for hydraulic hoist piston rod |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105628739A (en) * | 2015-12-25 | 2016-06-01 | 黑龙江科技大学 | Robot laser infrared nondestructive testing device for large workpiece and flaw detection method |
| US10377078B2 (en) * | 2017-05-10 | 2019-08-13 | Sipp Technologies, Llc | Inverted filament winder for pipeline rehabilitation |
| CN108820062B (en) * | 2018-07-05 | 2019-08-02 | 武汉科技大学 | Super-long cylindrical structure surface detection robot |
| CN109237204B (en) * | 2018-10-25 | 2023-10-20 | 南通理工学院 | Robot for detecting and automatically repairing coating on outer wall of pipeline |
| CN109591906B (en) * | 2019-01-28 | 2021-05-04 | 山东建筑大学 | Control system and control method for transmission tower climbing robot |
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