CN112171679B - Method for cleaning industrial pipeline group by positioning robot at pipe end of industrial pipeline group - Google Patents
Method for cleaning industrial pipeline group by positioning robot at pipe end of industrial pipeline group Download PDFInfo
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- CN112171679B CN112171679B CN202011077798.1A CN202011077798A CN112171679B CN 112171679 B CN112171679 B CN 112171679B CN 202011077798 A CN202011077798 A CN 202011077798A CN 112171679 B CN112171679 B CN 112171679B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004804 winding Methods 0.000 claims abstract description 36
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 24
- 239000010959 steel Substances 0.000 claims abstract description 24
- 239000007788 liquid Substances 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 21
- 230000000149 penetrating effect Effects 0.000 claims description 16
- 239000012530 fluid Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 2
- 239000010935 stainless steel Substances 0.000 claims description 2
- 229910001220 stainless steel Inorganic materials 0.000 claims description 2
- 230000007797 corrosion Effects 0.000 description 5
- 238000005260 corrosion Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
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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
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- 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
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention discloses a method for cleaning an industrial pipeline group by an industrial pipeline group pipe end positioning robot. The pipe end positioning robot is a new research. A first joint arm of the present invention connects a first revolute joint and a second revolute joint; the second joint arm is connected with the second rotating joint and the pipe cleaner collecting and delivering mechanism; the pipe cleaner take-up and delivery mechanism drives the winding wheel through a winding motor, the steel wire soft rope passes through a through hole at the upper end of the three-way pipe, and two ends of the steel wire soft rope are respectively fixed with the pipe cleaner and the winding wheel; the lower end of the three-way pipe is sleeved outside the pipe cleaner and fixed on the tail end shell; the hydraulic pipeline passes through the first rotating joint, the first joint arm, the second rotating joint and the second joint arm and is communicated with a liquid through port at the side part of the three-way pipe; the linear motor drives the guide sleeve; the wire distributor and the tail end shell form a rotating pair; the three stay wire sensors are respectively connected with the three stay wire connectors on the distributor through stay wires. The invention can realize the accurate positioning of the pipe cleaner collecting and delivering mechanism and realize the cleaning of the small industrial pipeline group through the pipe cleaner collecting and delivering mechanism.
Description
Technical Field
The invention belongs to the field of industrial pipeline cleaning, and particularly relates to a method for cleaning an industrial pipeline group by a positioning robot at a group pipe end of a small industrial pipeline.
Background
The small industrial pipeline group is a pipeline system which is formed by a plurality of pipelines with small pipe diameters and densely distributed according to a certain rule, and is widely applied to places such as condensers of power station equipment, heat exchangers, steam generators in nuclear power industry and the like. In the actual use process, as the medium flows in the pipeline for a long time, the inner pipe wall of the pipeline system is scaled, so that the section of the internal channel of the pipeline is reduced or even blocked, the effective working area of the pipeline is greatly reduced, the pipeline conveying efficiency is influenced, and the transportation cost is increased; in addition, the deposition of the dirt may cause corrosion under the dirt, leading to phenomena such as corrosion and crack of the pipeline, causing paralysis of the pipeline system and causing great economic loss.
At present, the cleaning method aiming at the small pipeline group is divided into an off-line cleaning method and an on-line cleaning method. The off-line cleaning needs to be carried out manually after the shutdown, which wastes time and labor and seriously influences the normal operation period of the equipment; the on-line cleaning method mostly adopts rubber ball cleaning or chemical cleaning, the rubber ball cleaning is cleaning without stopping by utilizing the flow of water and the pressure between the rubber ball and the wall surface, mainly aiming at the condition of small scale formation degree, but has the defects of low recovery rate of the rubber ball, easy blockage of a pipeline and the like, and can not achieve the ideal effect at present; chemical cleaning is a method for dissolving, dropping and stripping dirt by utilizing chemical reaction between chemical cleaning liquid and the dirt, is the most widely applied cleaning method in China, has good cleaning effect, but has the defects of complex system, high operation cost, easy corrosion of equipment, environmental pollution and the like.
At present, in the field of small industrial pipeline groups, the research work of pipeline robots is mainly concentrated on cleaning or detecting robots in a single pipeline, and pipe end positioning robots are rarely researched. The pipe end positioning robot is a robot which works at the end part of a pipeline system and can move and accurately position according to a control program, in the aspect of cleaning of a small industrial pipeline group, the pipe end positioning robot is mainly used for accurately positioning and moving a pipe cleaning robot or a cleaning head, accurately conveying the pipe cleaning robot to an inlet of a cleaning pipeline, and finally enabling the pipe cleaning robot to pass through a pipe bundle to complete cleaning operation under the driving of a driving force; in addition, the pipe end positioning robot has important application significance in the field of cleaning and overhauling of pipe discs, and can complete tasks such as defect detection, crack welding and the like when equipment runs by carrying one or more sensors and operators. Therefore, the research on the positioning robot system for the group pipe ends of the small industrial pipelines has important application value.
Disclosure of Invention
The invention aims to provide a method for cleaning an industrial pipeline group by a positioning robot at the pipe end of the small industrial pipeline group aiming at the defects in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a method for cleaning industrial pipeline groups by an industrial pipeline group pipe end positioning robot. The positioning mechanism comprises a first rotating joint, a first joint arm, a second rotating joint and a second joint arm which are sequentially connected; the joint shell of the first rotating joint is fixed on the external frame; the output end of the rotating part of the first rotating joint is fixed with one end of a first joint arm, and the other end of the first joint arm is fixed with a joint shell of the second rotating joint; the output end of the rotating part of the second rotating joint is fixed with one end of the second joint arm. The pipe cleaner receiving and sending mechanism comprises a tail end shell, a winding wheel, a steel wire soft rope, a three-way pipe, a guide sleeve connecting piece, a guide sleeve, a wire distributor, a stay wire connector, a linear motor, a winding motor and a pipe cleaner. The tail end shell is fixed with the other end of the second joint arm; the base of the winding motor is fixed on the tail end shell; two ends of the steel wire soft rope are respectively fixed with the top of the pipe cleaner and the winding wheel and are wound on the winding wheel; the winding wheel is fixed with an output shaft of the winding motor; the lower end of the three-way pipe is sleeved outside the pipe cleaner and fixed on the tail end shell; the steel wire soft rope passes through a through hole formed in the upper end of the three-way pipe; the hydraulic pipeline sequentially passes through the first rotating joint, the first joint arm, the second rotating joint and the second joint arm and is communicated with a liquid through port on the side part of the three-way pipe; the guide sleeve and the outer wall of the lower end of the three-way pipe form a sliding pair and are fixed with a guide sleeve connecting piece sleeved outside the three-way pipe; the guide sleeve connecting piece is fixed with an output shaft of the linear motor, and a base of the linear motor is fixed on the tail end shell; the bottom of the tail end shell is provided with an integrally formed cylindrical channel, and the guide sleeve extends into the cylindrical channel; the wire distributor and the outer wall of the cylindrical channel form a revolute pair; the wire distributor consists of an outer arc-shaped block, a middle arc-shaped block and an inner arc-shaped block which form a revolute pair in pairs; a stay wire connector is fixed outside the outer arc block, the middle arc block and the inner arc block; the linear motor and the winding motor are controlled by a controller. The three stay wire sensors are uniformly distributed and fixed on the periphery of the pipeline group along the circumference; the signal output end of the pull wire sensor is connected with the controller; each stay wire sensor is connected with one stay wire connector of the distributor through a stay wire.
The first rotating joint and the second rotating joint are completely the same in structure and respectively comprise an encoder, a joint motor, a transmission shaft, a motor shaft gear, a flat key I, a joint transmission gear, a joint hollow thread penetrating shaft, a hydraulic pipeline, a harmonic reducer, an angular contact ball bearing I, a key II, a brake gear, a key III, an angular contact ball bearing II and a brake. The joint motor is provided with an encoder, and the signal output end of the encoder is connected with the controller; an output shaft of the joint motor is fixed with the transmission shaft; the base of the joint motor is fixed on the joint shell; the motor shaft gear is connected with the transmission shaft through a first key; the joint transmission gear is connected with the joint hollow thread penetrating shaft through a second key and is meshed with a motor shaft gear and a brake gear simultaneously; the top end of the joint hollow thread penetrating shaft is supported on the joint shell through an angular contact ball bearing II, and the bottom end of the joint hollow thread penetrating shaft is supported on the end cover through the angular contact ball bearing I and is connected with the input end of the harmonic reducer; the end cover is fixed at the end part of the joint shell; the brake gear is connected with an output shaft of the brake through a third key; the base of the brake is fixed with the joint shell; the joint motor and the brake are controlled by the controller. The output end of the harmonic reducer in the first rotary joint is fixed with the first joint arm, and the output end of the harmonic reducer in the second rotary joint is fixed with the second joint arm; the hydraulic pipeline sequentially penetrates through the joint hollow thread penetrating shaft of the first rotating joint, the first joint arm, the joint hollow thread penetrating shaft of the second rotating joint and the second joint arm.
The method for cleaning the industrial pipeline group by the positioning robot for the pipe ends of the industrial pipeline group comprises the following specific steps:
inputting the position information of each pipeline to be cleaned and each pull wire sensor in the controller in advance; the controller judges the current position of the guide sleeve in the pipe cleaner receiving and sending mechanism according to the tension signal of each pull wire sensor, calculates the joint angle increment required by the first rotating joint and the second rotating joint when reaching the position of the pipeline to be cleaned, then controls the brakes of the first rotating joint and the second rotating joint in the positioning mechanism to be powered off and unlocked, and controls the first rotating joint and the second rotating joint to rotate in a combined manner, so that the pipe cleaner receiving and sending mechanism reaches the position right above the pipeline to be cleaned, and the pipeline to be cleaned is cleaned. After the complete pipeline is cleaned, the positioning mechanism is reset.
The cleaning process is as follows: the wire winding motor is enabled to rotate to release the steel wire soft rope, meanwhile, the linear motor pushes the guide sleeve connecting piece and the guide sleeve to be close to the pipeline to be cleaned until the guide sleeve is buckled and pressed on the pipe orifice of the pipeline to be cleaned to form a seal, and in the process, the speed of the wire winding motor for rotating to release the steel wire soft rope is ensured to be greater than the speed of the linear motor for pushing the guide sleeve to move forwards, so that the steel wire soft rope is ensured to have no pulling force on the pipe cleaner; then, introducing fluid with pressure into the three-way pipe through a hydraulic pipeline, so as to drive a pipe cleaner to move forwards, and the pipe cleaner enters the pipeline to be cleaned from the lower end of the three-way pipe for cleaning; after the cleaning is finished, the coiling motor pulls the steel wire soft rope to recover the pipe cleaner, so that the pipe cleaner enters the three-way pipe, the output shaft of the linear motor retracts, and the guide sleeve is pulled to ascend.
The process that the pipe cleaner collecting and sending mechanism moves to the position right above the pipeline to be cleaned is as follows: under the control of the controller, joint motors of the first rotating joint and the second rotating joint rotate to drive a motor shaft gear and a joint transmission gear to rotate, the joint transmission gear transmits power to a harmonic reducer, the harmonic reducer of the first rotating joint drives a first joint arm to rotate, and the harmonic reducer of the second rotating joint drives a second joint arm to rotate; when the encoder of the first rotary joint detects that the joint motor of the first rotary joint rotates the joint angle increment required by the first rotary joint calculated by the controller, and the encoder of the second rotary joint detects that the joint motor of the second rotary joint rotates the joint angle increment required by the second rotary joint calculated by the controller, the controller judges that the guide sleeve of the pipeline cleaner receiving and conveying mechanism moves to be coaxial with a pipeline to be cleaned, controls the brakes of the first rotary joint and the second rotary joint to be electrified, and controls the joint motors of the first rotary joint and the second rotary joint to be powered off.
Preferably, the first joint arm and the second joint arm are made of aluminum alloy with an anticorrosive material coated on the surface.
Preferably, the materials of the winding wheel, the three-way pipe, the guide sleeve connecting piece, the guide sleeve and the distributor are all stainless steel, and the winding wheel, the three-way pipe, the guide sleeve connecting piece, the guide sleeve and the distributor are high in corrosion resistance.
The invention has the following beneficial effects:
1. the controller judges the current position of the pipe cleaner receiving and sending mechanism according to signals of the three pull wire sensors, calculates joint angle increment required by the first rotating joint and the second rotating joint when reaching the position of a pipeline to be cleaned, and then controls the first rotating joint and the second rotating joint to rotate in a combined manner to realize accurate positioning of the pipe cleaner receiving and sending mechanism; the cleaning of the small industrial pipeline group is realized through the pipe cleaner receiving and delivering mechanism; the invention has the advantages of ingenious and simple structure, convenient installation and high flexibility, can replace manpower to carry out online cleaning, does not need equipment shutdown, and improves the production efficiency.
2. The invention controls the release and recovery of the pipe cleaner by using the motor and the rope, has high recovery rate of the pipe cleaner, and is not easy to block the pipeline.
3. The pressurized fluid introduced into the hydraulic pipeline can adopt the same medium as that in the pipeline, other impurities cannot be introduced, and the hydraulic pipeline is energy-saving, environment-friendly and low in equipment corrosion.
4. The invention can also complete the tasks of defect detection, crack welding and the like when the equipment runs by carrying other types of sensors and operators.
Drawings
FIG. 1 is a perspective view of the overall construction of the present invention;
FIG. 2 is a cross-sectional view of the first rotary joint or the second rotary joint of the present invention;
fig. 3 is a cross-sectional view of a pig picking mechanism according to the present invention;
fig. 4 is another structural cross-sectional view of the pig picking mechanism of the present invention.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
Referring to the attached figure 1, the pipe end positioning robot for the industrial pipe group comprises a positioning mechanism, a pipe cleaner collecting and sending mechanism 2 and a pull wire sensor 3.
Referring to fig. 1 and 2, the positioning mechanism includes a first rotary joint 1-1, a first articulated arm 1-2, a second rotary joint 1-3, and a second articulated arm 1-4 connected in this order. The first rotary joint 1-1 and the second rotary joint 1-3 are completely identical in structure and respectively comprise an encoder 1-1-1, a joint motor 1-1-2, a transmission shaft 1-1-3, a motor shaft gear 1-1-4, a flat key I1-1-5, a joint transmission gear 1-1-6, a joint hollow thread penetrating shaft 1-1-7, a hydraulic pipeline 1-1-8, a harmonic reducer 1-1-9, an angular contact ball bearing I1-1-10, a key II 1-1-11, a brake gear 1-1-12, a key III 1-1-13, an angular contact ball bearing II 1-1-14 and a brake 1-1-15. The joint motor 1-1-2 is provided with an encoder 1-1-1 for detecting angular displacement, and the signal output end of the encoder 1-1-1 is connected with the controller; an output shaft of the joint motor 1-1-2 is fixed with the transmission shaft 1-1-3; the base of the joint motor 1-1-2 is fixed on the joint shell; the motor shaft gear 1-1-4 is connected with the transmission shaft 1-1-3 through a key I1-1-5; the joint transmission gear 1-1-6 is connected with the joint hollow thread penetrating shaft 1-1-7 through a second key 1-1-11 and is meshed with the motor shaft gear 1-1-4 and the brake gear 1-1-12 simultaneously; the top end of the joint hollow thread penetrating shaft 1-1-7 is supported on the joint shell through an angular contact ball bearing II 1-1-14, and the bottom end of the joint hollow thread penetrating shaft is supported on the end cover through an angular contact ball bearing I1-1-10 and is connected with the input end of the harmonic reducer 1-1-9; the end cover is fixed at the end part of the joint shell; the brake gear 1-1-12 is connected with the output shaft of the brake through a key III 1-1-13; the base of the brake 1-1-15 is fixedly connected with the joint shell through a bolt; the joint motor 1-1-2 and the brake 1-1-15 are controlled by a controller. The joint shell of the first rotary joint 1-1 is fixed on an external frame; the output end of a harmonic reducer 1-1-9 in the first rotary joint 1-1 is fixedly connected with one end of a first joint arm 1-2; the other end of the first joint arm 1-2 is fixedly connected with a joint shell of the second rotary joint 1-3; the output end of a harmonic reducer 1-1-9 in the second rotary joint 1-3 is fixedly connected with one end of a second joint arm 1-4; when the brake 1-1-15 is powered off, the output shaft of the brake can freely rotate, so that the brake gear 1-1-12 can freely rotate, and the positioning mechanism is in a pipe hole position finding state; after the positioning mechanism finds the correct pipe hole position, the controller energizes the brake 1-1-15, the output shaft of the brake is locked, the brake gear 1-1-12 is locked, the joint transmission gear 1-1-6 meshed with the brake gear is locked, the space position of the positioning mechanism is not changed any more, and the pipe cleaner collecting and delivering mechanism enters the pipe cleaner collecting and delivering operation.
Referring to attached drawings 3 and 4, the pipe cleaner collecting and sending mechanism comprises a tail end shell 2-1, a winding wheel 2-2, a steel wire soft rope 2-3, a three-way pipe 2-4, a guide sleeve connecting piece 2-5, a guide sleeve 2-6, a distributor 2-7, a pull wire connecting head 2-8, a linear motor 2-9, a winding motor 2-10 and a pipe cleaner 2-11. The tail end shell 2-1 is fixed with the other end of the second joint arm 1-4; the base of the winding motor 2-10 is fixed on the tail end shell 2-1; two ends of the steel wire soft rope 2-3 are respectively fixed with the top of the pipe cleaner 2-11 and the winding wheel 2-2 and are wound on the winding wheel 2-2; the steel wire soft rope 2-3 can be wound up and paid off through the winding wheel 2-2; the winding wheel 2-2 is fixed with an output shaft of a winding motor 2-10; the lower end of the three-way pipe 2-4 is sleeved outside the pipe cleaner 2-11 and is fixed on the tail end shell 2-1; the steel wire soft rope 2-3 passes through a through hole formed in the upper end of the three-way pipe 2-4; the hydraulic pipeline 1-1-8 sequentially passes through a joint hollow thread passing shaft 1-1-7 of the first rotary joint 1-1, a first joint arm 1-2, a joint hollow thread passing shaft 1-1-7 of the second rotary joint 1-3 and a second joint arm 1-4 and is communicated with a liquid through port at the side part of the three-way pipe 2-4; when the pipe cleaner 2-11 is not in operation, the pipe cleaner is accommodated in the three-way pipe 2-4; the guide sleeve 2-6 and the outer wall of the lower end of the three-way pipe 2-4 form a sliding pair and are fixedly connected with a guide sleeve connecting piece 2-5 sleeved outside the three-way pipe 2-4 through a bolt; the guide sleeve connecting piece 2-5 is fixed with an output shaft of the linear motor 2-9, and a base of the linear motor 2-9 is fixed on the tail end shell 2-1; under the drive of the linear motor 2-9, the guide sleeve connecting piece 2-5 and the guide sleeve 2-6 can generate relative linear sliding with the lower end of the three-way pipe 2-4; the bottom of the tail end shell 2-1 is provided with an integrally formed cylindrical channel, and the guide sleeve 2-6 extends into the cylindrical channel; the wiring device 2-7 and the outer wall of the cylindrical channel form a revolute pair; the wire distributor 2-7 consists of an outer arc block, a middle arc block and an inner arc block which form a revolute pair in pairs; a stay wire connector 2-8 is fixed outside the outer arc block, the middle arc block and the inner arc block; the linear motors 2-9 and the winding motors 2-10 are controlled by a controller.
The three stay wire sensors 3 are uniformly distributed and fixed on the periphery of the pipeline group 4 along the circumference; the signal output end of the pull sensor 3 is connected with the controller; each stay wire sensor 3 is connected with one stay wire connector 2-8 of the distributor through a stay wire; when the positioning mechanism moves, the pull sensors 3 output tension signals to the controller, and the controller judges the positions of the guide sleeves 2-6 according to the tension signals of the pull sensors 3, so that the guide sleeves 2-6 are accurately positioned.
The method for cleaning the industrial pipeline group by the positioning robot for the pipe ends of the industrial pipeline group comprises the following specific steps:
the position information of each pipeline to be cleaned and each pull wire sensor 3 is input in the controller in advance; the controller judges the current position of a guide sleeve 2-6 in the pipe cleaner receiving and sending mechanism according to the tension signal of each pull wire sensor 3, calculates the joint angle increment required by the first rotary joint 1-1 and the second rotary joint 1-3 when reaching the position of the pipeline to be cleaned, then controls the brakes of the first rotary joint 1-1 and the second rotary joint 1-2 in the positioning mechanism to be powered off and unlocked, and controls the first rotary joint 1-1 and the second rotary joint 1-3 to rotate jointly, so that the pipe cleaner receiving and sending mechanism reaches the position right above the pipeline to be cleaned, and the pipeline to be cleaned is cleaned. After the complete pipeline is cleaned, the positioning mechanism resets to wait for the next operation.
The process that the pipe cleaner collecting and sending mechanism moves to the position right above the pipeline to be cleaned is as follows: under the control of a controller, joint motors 1-1-2 of a first rotary joint 1-1 and a second rotary joint 1-2 rotate to drive motor shaft gears 1-1-4 and joint transmission gears 1-1-6 to rotate, the joint transmission gears 1-1-6 transmit power to harmonic reducers 1-1-9, the harmonic reducers 1-1-9 of the first rotary joint 1-1 drive a first joint arm 1-2 to rotate, and the harmonic reducers 1-1-9 of the second rotary joint 1-3 drive a second joint arm 1-4 to rotate; when the encoder 1-1-1 of the first rotary joint 1-1 measures that the joint motor 1-1-2 of the first rotary joint 1-1 rotates the joint angle increment required by the first rotary joint 1-1 calculated by the controller, and the encoder 1-1-1 of the second rotary joint 1-2 measures that the joint motor 1-1-2 of the second rotary joint 1-2 rotates the joint angle increment required by the second rotary joint 1-2 calculated by the controller, the controller judges that the guide sleeve 2-6 of the receiving and conveying mechanism moves to be coaxial with the pipeline to be cleaned, controls the brake 1-1-16 of the first rotary joint 1-1 and the brake 1-1-16 of the second rotary joint 1-2 to be electrified, and controls the joint motor 1-1-2 of the first rotary joint 1-1 and the second rotary joint 1-2 to be powered off, the positioning mechanism is locked in position.
The cleaning operation is as follows: enabling the wire coiling motor 2-10 to rotate to release the steel wire soft rope 2-3, and simultaneously enabling the linear motor 2-9 to push the guide sleeve connecting piece 2-5 and the guide sleeve 2-6 to be close to the pipeline to be cleaned until the guide sleeve 2-6 is buckled and pressed on the pipe orifice of the pipeline to be cleaned to form a seal, wherein in the process, the speed of the wire coiling motor 2-10 to rotate to release the steel wire soft rope 2-3 is ensured to be greater than the speed of the linear motor 2-9 to push the guide sleeve 2-6 to move forwards, so that the steel wire soft rope 2-3 is ensured not to have a pulling force effect on the pipe cleaner 2-11; then, introducing fluid with pressure into the three-way pipe through the hydraulic pipeline 1-1-8, so as to drive the pipe cleaner 2-11 to move forwards, and enabling the pipe cleaner 2-11 to enter the pipeline to be cleaned from the lower end of the three-way pipe 2-4 for cleaning; after cleaning, the winding motor 2-10 pulls the steel wire soft rope 2-3 to recover the pipe cleaner 2-11, so that the pipe cleaner 2-11 enters the tee pipe, an output shaft of the linear motor 2-9 retracts, and the guide sleeve 2-6 is pulled to ascend.
Claims (3)
1. The method for cleaning the industrial pipeline group by the positioning robot at the pipe end of the industrial pipeline group is characterized in that: the industrial pipeline group pipe end positioning robot adopted by the method comprises a positioning mechanism, a pipe cleaner collecting and delivering mechanism and a pull wire sensor; the positioning mechanism comprises a first rotating joint, a first joint arm, a second rotating joint and a second joint arm which are sequentially connected; the joint shell of the first rotating joint is fixed on the external frame; the output end of the rotating part of the first rotating joint is fixed with one end of a first joint arm, and the other end of the first joint arm is fixed with a joint shell of the second rotating joint; the output end of the rotating part of the second rotating joint is fixed with one end of the second joint arm; the pipe cleaner receiving and sending mechanism comprises a tail end shell, a winding wheel, a steel wire soft rope, a three-way pipe, a guide sleeve connecting piece, a guide sleeve, a wire distributor, a stay wire connector, a linear motor, a winding motor and a pipe cleaner; the tail end shell is fixed with the other end of the second joint arm; the base of the winding motor is fixed on the tail end shell; two ends of the steel wire soft rope are respectively fixed with the top of the pipe cleaner and the winding wheel and are wound on the winding wheel; the winding wheel is fixed with an output shaft of the winding motor; the lower end of the three-way pipe is sleeved outside the pipe cleaner and fixed on the tail end shell; the steel wire soft rope passes through a through hole formed in the upper end of the three-way pipe; the hydraulic pipeline sequentially passes through the first rotating joint, the first joint arm, the second rotating joint and the second joint arm and is communicated with a liquid through port on the side part of the three-way pipe; the guide sleeve and the outer wall of the lower end of the three-way pipe form a sliding pair and are fixed with a guide sleeve connecting piece sleeved outside the three-way pipe; the guide sleeve connecting piece is fixed with an output shaft of the linear motor, and a base of the linear motor is fixed on the tail end shell; the bottom of the tail end shell is provided with an integrally formed cylindrical channel, and the guide sleeve extends into the cylindrical channel; the wire distributor and the outer wall of the cylindrical channel form a revolute pair; the wire distributor consists of an outer arc-shaped block, a middle arc-shaped block and an inner arc-shaped block which form a revolute pair in pairs; a stay wire connector is fixed outside the outer arc block, the middle arc block and the inner arc block; the linear motor and the winding motor are controlled by a controller; the three stay wire sensors are uniformly distributed and fixed on the periphery of the pipeline group along the circumference; the signal output end of the pull wire sensor is connected with the controller; each stay wire sensor is connected with one stay wire connector of the wire distributor through a stay wire;
the first rotary joint and the second rotary joint have the same structure and respectively comprise an encoder, a joint motor, a transmission shaft, a motor shaft gear, a flat key I, a joint transmission gear, a joint hollow thread penetrating shaft, a hydraulic pipeline, a harmonic reducer, an angular contact ball bearing I, a key II, a brake gear, a key III, an angular contact ball bearing II and a brake; the joint motor is provided with an encoder, and the signal output end of the encoder is connected with the controller; an output shaft of the joint motor is fixed with the transmission shaft; the base of the joint motor is fixed on the joint shell; the motor shaft gear is connected with the transmission shaft through a first key; the joint transmission gear is connected with the joint hollow thread penetrating shaft through a second key and is meshed with a motor shaft gear and a brake gear simultaneously; the top end of the joint hollow thread penetrating shaft is supported on the joint shell through an angular contact ball bearing II, and the bottom end of the joint hollow thread penetrating shaft is supported on the end cover through the angular contact ball bearing I and is connected with the input end of the harmonic reducer; the end cover is fixed at the end part of the joint shell; the brake gear is connected with an output shaft of the brake through a third key; the base of the brake is fixed with the joint shell; the joint motor and the brake are controlled by the controller; the output end of the harmonic reducer in the first rotary joint is fixed with the first joint arm, and the output end of the harmonic reducer in the second rotary joint is fixed with the second joint arm; the hydraulic pipeline sequentially penetrates through a joint hollow thread penetrating shaft of the first rotating joint, the first joint arm, a joint hollow thread penetrating shaft of the second rotating joint and the second joint arm;
the method comprises the following specific steps:
inputting the position information of each pipeline to be cleaned and each pull wire sensor in the controller in advance; the controller judges the current position of a guide sleeve in the pipe cleaner receiving and sending mechanism according to the tension signal of each pull wire sensor, calculates the joint angle increment required by a first rotating joint and a second rotating joint when reaching the position of a pipeline to be cleaned, then controls the brakes of the first rotating joint and the second rotating joint in the positioning mechanism to be powered off and unlocked, and controls the first rotating joint and the second rotating joint to rotate in a combined manner, so that the pipe cleaner receiving and sending mechanism reaches the position right above the pipeline to be cleaned, and the pipeline to be cleaned is cleaned; after the complete pipeline is cleaned, the positioning mechanism is reset;
the cleaning process is as follows: the wire winding motor is enabled to rotate to release the steel wire soft rope, meanwhile, the linear motor pushes the guide sleeve connecting piece and the guide sleeve to be close to the pipeline to be cleaned until the guide sleeve is buckled and pressed on the pipe orifice of the pipeline to be cleaned to form a seal, and in the process, the speed of the wire winding motor for rotating to release the steel wire soft rope is ensured to be greater than the speed of the linear motor for pushing the guide sleeve to move forwards, so that the steel wire soft rope is ensured to have no pulling force on the pipe cleaner; then, introducing fluid with pressure into the three-way pipe through a hydraulic pipeline, so as to drive a pipe cleaner to move forwards, and the pipe cleaner enters the pipeline to be cleaned from the lower end of the three-way pipe for cleaning; after the cleaning is finished, the coiling motor pulls the steel wire flexible rope to recover the pipe cleaner, so that the pipe cleaner enters the three-way pipe, the output shaft of the linear motor retracts, and the guide sleeve is pulled to ascend;
the process that the pipe cleaner collecting and sending mechanism moves to the position right above the pipeline to be cleaned is as follows: under the control of the controller, joint motors of the first rotating joint and the second rotating joint rotate to drive a motor shaft gear and a joint transmission gear to rotate, the joint transmission gear transmits power to a harmonic reducer, the harmonic reducer of the first rotating joint drives a first joint arm to rotate, and the harmonic reducer of the second rotating joint drives a second joint arm to rotate; when the encoder of the first rotary joint detects that the joint motor of the first rotary joint rotates the joint angle increment required by the first rotary joint calculated by the controller, and the encoder of the second rotary joint detects that the joint motor of the second rotary joint rotates the joint angle increment required by the second rotary joint calculated by the controller, the controller judges that the guide sleeve of the pipeline cleaner receiving and conveying mechanism moves to be coaxial with a pipeline to be cleaned, controls the brakes of the first rotary joint and the second rotary joint to be electrified, and controls the joint motors of the first rotary joint and the second rotary joint to be powered off.
2. The industrial pipe cluster pipe end positioning robot cleaning industrial pipe cluster method according to claim 1, characterized in that: the first joint arm and the second joint arm are made of aluminum alloy coated with anticorrosive materials on the surfaces.
3. The industrial pipe cluster pipe end positioning robot cleaning industrial pipe cluster method according to claim 1, characterized in that: the materials of the winding wheel, the three-way pipe, the guide sleeve connecting piece, the guide sleeve and the distributor are all stainless steel.
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| CN202011077798.1A CN112171679B (en) | 2020-10-10 | 2020-10-10 | Method for cleaning industrial pipeline group by positioning robot at pipe end of industrial pipeline group |
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| TW463028B (en) * | 1998-04-21 | 2001-11-11 | Hitachi Shipbuilding Eng Co | Working robot for heat exchangers and operating method thereof |
| JP5462064B2 (en) * | 2010-04-28 | 2014-04-02 | 日本電産サンキョー株式会社 | Industrial robot |
| US20140316571A1 (en) * | 2013-04-22 | 2014-10-23 | Quanta Storage Inc. | Articulation module for a robot and control method for the same |
| US10024612B2 (en) * | 2014-10-24 | 2018-07-17 | King Fahd University Of Petroleum And Minerals | Cleaning system for tube and shell heat exchanger |
| CN204974627U (en) * | 2015-07-27 | 2016-01-20 | 周浩 | Automatic device of wash line inner wall dirt |
| CN105538341B (en) * | 2016-01-12 | 2017-12-22 | 昆明理工大学 | A kind of Robot calibration system and method based on end olonomic coordinate information |
| CN108705531A (en) * | 2018-04-17 | 2018-10-26 | 上海达野智能科技有限公司 | The kinematic calibration method of industrial robot, calibration system, electronic equipment |
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