CN1678937A - 工作工具或传感器的机器人定位技术和与之相关的技术的改进 - Google Patents
工作工具或传感器的机器人定位技术和与之相关的技术的改进 Download PDFInfo
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Abstract
本发明涉及冗余的机器人装置以及使用它们的方法。本说明书揭示了一个能进入某些机械和装置的机器人臂的成套方法和构造,若不使用所述机器人臂是难于进入这些机械和装置的内部去进行维护和修理的,因而该机器人臂在航空、涡轮机以及核工业中尤为有用。具体地说,本发明包括一种装置,它有一包括多个纵向臂段的支撑臂,每一臂段能相对彼此运动从而可形成一蛇形路径或形状;在或向着所述臂的末端的并适于装载一工作和/或检查工具的工作头运载装置;以及用于控制至少一些臂段的控制装置,所述控制装置能够对相关臂段的形状进行控制,以使构成臂的各不同臂段能形成不同的形状,籍此,所述臂就可以沿着一预定的进入路径纵向地前进,使所述工具到达所述现场。使用各个包括多个链节并且具有独立的控制装置的臂段的组合,就允许特别是这样的装置纵向地伸入到受限制的空间或通路中。
Description
技术领域
本发明涉及工作工具和传感器的机器人定位技术的改进,特别是涉及改进的用于定位工作工具和传感器的机械和软件工具和用于实现这样的装置的控制的控制算法。
背景技术
诸如发动机和由一壳体包围的机器之类的机械装置传统上是按照定期的维护时间表来加以维护。在发生故障时,操作者或者工程师将按照一个故障检测程序开动机器或发动机经过一系列的测试运行,并注意机器或发动机对每一测试运行的反应。从观察机器或发动机对一给定功能的动作或反应,就可以至少部分地诊断出机器发生故障的大致区域。之后将机器拆开到足以便于检查可能的故障和修理故障损坏的程度。
这样的工作是耗时的,且在许多情况中,用于机器的故障检测程序或可用的诊断功能的数量不足以准确地确定出故障的精确位置。在许多情况中,机器或发动机需要部分地拆开,这里面包含着许多白费的努力,尤其是当故障检测方式或程序给出了一个虚假的故障指示时。
迄今,机器或发动机的详细检查包括判断声音的变化、使用超声波检测装置中的裂纹和断裂以及对特定的零部件进行X射线分析。但在每一情况中,这些技术仅能用来辅助故障的诊断。只有在所关心的部件易于接近时或机器已经部分地拆开时才能真正进行对被怀疑的零部件的检查。
在诸如蒸汽或燃气涡轮发动机之类的复杂机器中,为了进行修理或更换,需要在开始拆开机器以便贴近地检查故障零部件之前确定机器内的故障并精确地确定故障的部位。
在医学领域中,已有多年使用内窥镜来检查的人体内腔的实践,检查点有时距离进入点相当远。典型地,一内窥镜可在其柔性支撑臂的末端处装有一检查光源和一光学接受装置。它它从身体的一孔口进入,并继续往里进直至到达所要达到的疾病/损坏部位,以进行体内检查。柔性支撑臂能采取一蛇形的路径,以便能沿着身体孔口的路径。这样,身体孔口的壁用来给内窥镜引导并协助内窥镜追循其蛇形的路径。使用内窥镜来检查机器和发动机取得了一定程度的成功。但这样的装置的一个主要难点是在机器内的内窥镜控制问题以及为了检查要在机器的正确部位设置的光源和光学传感器的布置问题。在机器的检查点靠近一进入口的情况中,内窥镜在复杂机器的内部检查方面已相当成功。同样,当维修也类似地位于靠近一进入口并且是一个诸如拧紧螺钉或磨削金属表面之类的简单修理时,就可以使用一个诸如管道镜之类的工作装置。
英国专利说明书No.2033973中提出了一个典型的现有技术的建议,它涉及一种检查燃气涡轮发动机的方法,涡轮发动机的机壳上设有至少一个进出孔,这些进出孔允许对发动机机壳内的部件进行检查,并且该方法包括:将引导装置插入到进出孔中,使引导装置的一端位于机壳的外面而使引导装置的另一端靠近所要检查的发动机部件,将引导装置固定在所述的位置上,将柔性内窥镜或其它遥视检查装置插入到引导装置中。在这一情况中,是用引导装置引导柔性的内窥镜,而不是像上述那样用身体孔路的引导方式。
欧洲专利说明书No.0907077中,描述了并要求保护一种用于在现场检查燃气涡轮发动机的一级中的涡轮发动机叶片的方法或装置,其作法是应用涡流电流,这种检查可以在远处的一个位置来进行。发动机有包围着其所要检查的那一级的机壳以及延伸穿过该机壳并伸入到所关心的涡轮机叶片所在那一级的一管道镜孔。可以通过将该专利的装置穿过涡轮机机壳上的管道镜孔来检查涡轮机叶片。在这一情况中,该发明的本质是使用传感器探测装置来握住涡流线圈,并且传感通过检测在诸如涡轮机叶片之类的被检查部件内的感应涡流电流来检测结构中的缺陷。
美国专利说明书No.5644394涉及用于修理损坏的燃气涡轮发动机的压气叶片的系统,它包括多个刚性的附属工具。每一附属工具单独地成形为能接近燃气涡轮发动机的一特点级的损坏了的叶片的前导边。这些附属工具能修理损坏的叶片,而无需拆卸燃气涡轮发动机。但在这一情况中,工具是刚性的并且设计成能并排地在伸入发动机机壳的管道镜开口中工作。
英国专利说明书No.2154335涉及一种用于诸如飞机发电单元之类的发电装置的内部检查的技术镜(technoscope),并且这种发电单元装有非圆形较佳地是带角部(例如方形)的壁孔口,该技术镜包括非圆形横截面并可插入到一个壁孔口中并具有一横向的末端出口的第一刚性引导轴以及穿过所述第一引导轴并具有一柔性的末端部分和用来控制所述柔性末端部分的一近端的控制系统的一引导件,柔性末端部分的横截面的中间部分与第一引导轴的中间部分相配合,引导件用来将一柔性内窥镜轴引导到所要检查的发电装置内的要求的位置上。而且,还用一刚性引导轴来插入壁孔口并用来以滑动配合方式为穿过所述引导轴的一柔性的引导件提供支撑。
美国专利说明书No.5803680也涉及一种诸如技术镜之类的用来机加工在正常情况中无法进入的内腔中的发动机叶片的表面的器械,该器械具有一在机加工位置能被用一光学器件观察到的机加工工具,该光学器件包括末端连接有头部的器械柄,所述头部带有工具且可相对于器械柄的纵向轴线枢转。为了创造能用这一器械测量要机加工的表面的损伤的可能性,该器械头部上装有一个带一测量样板的测量工具,并且当该器械的头部枢转进入光学器件的视域内时,可以将该测量工具以一种简单的方式连接到器械的头部上,以替代机加工工具。
因此,熟悉本技术领域的人从前面的叙述中会理解,现实需要不拆卸机器或发动机就能进行其内部检查和修理的功能。对熟悉本技术领域的人来说,以这种方式进行的维护所具有的相当大的优点是显而易见的,即无需将发动机或机器拆卸就能对其内部的部件进行修理和检查,将能节省时间耗费和成本。
但是,现有技术都存在这样的问题,即为了在一部件或零件上工作或者对其进行检查,所要于其上进行工作的区域或者所要观察的现场都必须视情况允许地靠近技术镜、管道镜或内窥镜的进入口,或者必须设置引导装置以在内窥镜/管道镜伸向工作/检查区域的路径上对其给予支撑。
因此有必要提供一种用来检查发动机的距离可用进入口更远和需以螺旋形路径才能接近的部件和/或在其上进行工作的装置。
发明内容
因此,本发明通过提供这样一种装置来解决发动机内远处零件的可达性这一问题,该装置能从发动机或机器上的一进入口沿着一螺旋形的路径到达机器内部的一工作位置或检查现场。本发明还设法提供这样一种装置,它可以由用于这类的装置的远程控制的适当算法来控制,籍此就可以通过对支撑臂进行计算机控制来将工作工具和/或光学器件引导到工作现场。本发明还提供以这样形式的装置,它的臂能从进入口进入而后沿着机器或发动机内部的一螺旋形路径纵向地伸入到工作现场。
这样的装置的优点在于,它能将工具、检查和测试装置带入发动机或机器的深入的内部,到达不拆卸通常就无法接近的位置上。一个突出的特征是,本发明不需要使用在进入口和工作/检查位置之间的引导或支撑装置,尽管也可以使用它们。这允许例如对诸如涡轮机叶片之类的部件从其前导边或后随边进入进行在位超声波检查,而无需到达其叶梢。
因此,根据本发明的一个方面,提供一种检查发动机或机器或者在其上进行工作的方法,其中工作/检查的现场远离一进入口,该方法包括:
确定一条在发动机或机器内的到达所述工作/检查现场的进入路径,
将一工作/检查工具安装在一具有多个关节连接件的支撑臂的末端;
为至少一些所述关节连接件设置控制装置,并且使得或允许所述臂进入所述发动机或机器并沿其自身的纵向前进而沿所述进入路径进入,使工具到达工作/检查现场。
在本发明的另一方面,提供一种利用本发明的方法来检查发动机或机器或者在其上进行工作的装置,该装置包括:
一包括多个纵向臂段的支撑臂,每一所述臂段能相对彼此运动以形成一蛇形路径或形状,
在或向着所述臂的末端的并适于装载一工作和/或检查工具的工作头运载装置,
以及用于控制至少一些所述臂段的控制装置,所述控制装置能够对相关臂段的形状进行控制,以使构成臂的各不同臂段能形成不同的形状,籍此,所述臂就可以沿着一预定的进入路径纵向地前进,使所述工具到达所述现场。
在本发明的一个具体的方面,臂中各臂段之间的关节连接保持受拉,以为每一关节连接点的提供刚度。通过以这种方式保持各链节的关节连接处于拉力下,就能在使臂沿着螺旋形的路径将工作工具引导到机器内的过程中精确地控制每一关节连接的空间定位。
在本发明的另一个方面中,可分别地控制每一臂段。独立的控制可包括伺服马达装置。伺服马达装置可安装在每一臂段上,或者它们可以远离它们所控制的臂段而通过金属线对臂段加以控制或驱动。马达可以是液压或气动马达。针对特定的发动机或机器,可以为本发明装置一提供一套数据,并且可以提供用于控制装置的算法,以使工作头到达与那一套数据相关的机器内的特定位置或部位。
在本发明的一个具体的方面,每一臂段包括多个链节,每一链节能至少二维地相对彼此相对运动。各链节可以是一个能在单个平面内操作的二维臂段或可以是一个三维臂段。每一链节可与其邻接的链节关节连接,关节连接装置在二维臂段的情况中可包括一滚柱,或者在三维臂段情况中可包括一滚珠。
在本发明的另一个方面,一个臂段中的各链节的关节连接可通过金属线保持受拉。这样做的优点是能保持接头的刚度,并使臂段能采用一种具有一定程度的刚度和控制的弯曲形状,这将使工作头能在工作现场施加一个力。一臂段中的各链节可以是“刚度加强的”,以提高臂段中每一接头的承载能力和位置确定性。当相对于臂的数据确定其位置时,以及在应用中在臂的端部要支撑一较大的质量时,这是很重要的。
刚度加强可以采用每一链节之间的空隙中加一个弹簧或多个弹簧的形式。弹簧的尺寸确定考虑两个因素:(1)弹簧的压缩力比控制线的总拉力稍小;和(2)所选择的“摇摆”刚度对每一接头给出一个特定的弯曲刚度。
这样大小的压缩力的好处在于可减小在链节球铰接头上的受压,并且即使在控制线拉力大的情况下,也可减少接头中的摩擦。弯曲刚度可使臂段有一种遵循一曲线或一圆弧的趋势(即使臂的载荷很大也如此),并减小将刚度不可预知的服务装置载送穿过本装置的中心的负面影响。
被刚度加强了的装置(用弹簧或者用一柔性表皮或外壳或者用某种其它技术来刚度加强)受重力的影响较小,但改变刚度加强了的装置的形状所需要的金属线装的拉力相当大。通过结合金属线的拉力改变刚度,就能使该装置以不同的方式运作而产生所需要的形状。
一个臂段内的链节配置可金属线来进行控制。可为每一链节设置至少两根金属线,籍以相对于一金属线调节另一金属线以控制一链节件相对于邻接链节件的姿态,从而使得或允许臂段产生“弯曲”。操作装置可包括用来操作支撑臂全长和用来操作一装在所述工作头上的一工件的驱动装置。臂段、各链节之间的关节连接以及空间布置的控制可由通过设在整个装置中的一个或多个伺服马达进行操作的计算机装置来控制。
在本发明的一个实施例中,每一臂段可包括多个仅能使臂段在二维内弯曲的链节。这是通过控制扁平带或细长条的拉力来进行操作,并且这些扁平带或细长条是用金属材料,典型地厚度为25微米或50微米的弹簧钢片制成。这种方式使得以采用叠起来的一组条带,并且用于为了控制多个臂段的一整叠条带仅需要一条容纳槽,所以简化了每一链节的设计结构。因此,在一个典型的实施例中,每一链节可包括一具有弧形边缘或表面的引导路径,各条带可绕这些引导路径弯曲同时弯曲的程度又受到约束。这样,我们就在一整叠控制带的两侧各设一个引导件,这使得结构比较简单,而从长远的观点来看,更为可靠和廉价。
熟悉本技术领域的人们会理解,遍布一表面的接触压力要比一等效的金属线对表面的接触压力低得多。这使得润滑得到改善,并使摩擦和磨损也随之降低。此外,在需要进入一狭窄但很高的空间的情况中,设计可偏向这样的一种结构。一个额外的优点是控制条带可一包括电线管,用以对沿着臂的长度方向间隔地设置的致动器进行额外的控制。这样,例如可以在一对臂段之间设置一旋转接头,以使臂的一部分可以被定向在与臂的其余部分不同的一平面内并能弯曲。
在本发明的另一实施例中,通过在每一情况中设置偏置于链节中心线的链节轴,或者使一个链节轴相对于其邻接的链节轴稍稍倾斜,就可产生一螺旋形的形状,这有助于进入一螺旋形的空隙。
控制装置可包括冗余的机器人控制装置。就本说明书而言,当一机器人的机械手可以借助于一种以上的链节结构到达一指定位置时,这一机器人就被称为是冗余的。
对所述控制装置的控制算法可包括轨迹规划技术,还可包括势场算法,这种势场算法典型地是基于适用拉普拉斯方程。
控制装置还可进一步改为能使一臂运动而使一工作头到达工作现场,而不与机器中的障碍物接触。在本发明的另一方面中,控制装置可包括一种在探查和分析过程中将机器内的运动着的障碍物考虑在内的算法。
在本发明的一个典型的方面,设有一个多链节的平面冗余的机器人,其中对各链节用设定数据进行伺服控制,这些数据取自于使用轨迹规划技术的实时或离线计算。以这一的方式,机器人就可以不撞击到障碍物或者沿着机器或发动机内各部件之间的空隙运动到预定的目标位置。
根据本发明的装置能检查和修理涡轮机叶片以及燃气涡轮及类似发动机的其它内部零件,并且是经由正常的空气路径来实现进入,也就是说,是通过沿着空气流路径穿过叶片之间空隙到达发动机的内部部件。该装置允许沿着一条非直线的路径接近发动机或机器的内部零件。
根据本发明的装置在医学外科领域是有意义的,例如可用在结肠镜检查和脑室镜检查中。
根据本发明的装置也可用于未爆炸弹处理领域,用于在炸弹上切割出一个孔,然后进入炸弹内部以冲洗掉或去除炸药和/或去掉炸弹的雷管。
本发明还设想用多个装置同时在一台发动机或机器上并行地进行检查和工作任务,也进行协调的工作,例如一边磨削、一边清除磨屑、一边观察磨削质量。
在本发明的另一方面,支撑臂包括一由多臂段组成的超冗余蛇形机器人控制路径管道镜。在每一臂段之间有一接头,并且每一臂段是相对于其在前的臂段独立地控制的。臂段的长度和各臂段之间的最大角度是设计的一个函数,并且可取决于需要臂执行的任务。装置的动作可由计算机控制,以使装置能沿一指定的路径一直向前走。这些装置可依据任务在二维或三维中工作,并且能合理的情况中具有任何长度。装置的横截面可沿着其长度变化,并且装置也可以是中空的且具有用于工具和服务装置及类似器件的通道。在本发明的一个方面,控制马达可安装在每一臂段上,或者每一马达都可以通过金属线远程地连接。
工作头可携带的工具包括观察仪器、超声波接头或者涡流电流传感器,并且这些是可更换的。工作头也可以采用张缩装置,用以将工作头夹紧于机器中的固定构件,借以给工作头上的工具根据夹紧定位所提供的数据进行工作提高了基础。
在本发明的一个具体实施例中,控制装置包括计算机控制装置,该计算机控制装置响应一种算法、结合发动机的CAD模型进行工作,这样可离线出计算进入路径的已知位置。这使本发明的装置能应用于一给定的发动机,并且臂可沿着一条按照预先设定的算法预先确定的路径伸入到发动机内,该预设算法是根据CAD建模对该特定发动机选定的。这使得该装置到其操作位置的调度更快。
附图简述
下文仅是举例方式的描述,并且是参照实现本发明的方法的非正式附图。
在这些附图中:
图1是根据本发明的一多段臂的一部分的简图;
图2是图1中的一臂段的一部分的简图,且示出了若干个链节;
图3a是图2的一个二维臂段的侧视图;
图3b是3a的平面图;
图3c是3b的一个细节;
图4a是图2中的一个三维臂段的侧视图;
图4b是图4a的平面图;
图4c是沿着图4b中的线IV-IV的横截面;
图5是沿着图3b中的线V-V的纵剖面;
图6a是一工作头在其工作位置上的示意图;
图6b是6a的一个可替代实施例;
图7a是用于相对于工作现场定位工作头的末端夹紧装置的示意图;
图7b是7a的另一个实施例;
图8是根据本发明的一个二维臂的立体图;
图9是图8的二维臂的俯视图;
图10所示的是穿过图9的装置的一截面;
图11是图10中“Z”部分的详图;
图12是表示出图8的臂段中的一控制条或带的安装方式的示意图;
图13是根据本发明的臂的操作流程图。
具体实施方式
本发明的一个方面包括一纵向延伸的多段臂,该多段臂的一部分总地以标号10标示。该臂包括多个链节11,每一链节11通过一关节接头12相互关节连接。该臂的末端13带有另一个臂段14,该臂段如下文所述结止于一工作头15。各臂段11是一多链节的部分,包括多个通过连接件21相互连接的链节20,且链节20能绕连接件21作幅度有限的左右摆动。该结构是每一链节20与各连接件21是一一交替连接的,这样一个臂段的各链节就都能在至少一个平面中摆转一个弧度。各链节20通过控制金属线22、23连接于一用来向所述金属线施加拉力的控制装置24。臂段在被拉直处于图2所示的静止位置上时,两金属线保持为向左的拉力相等。这使每一连接件21保持于一定程度的运动平衡。为了能使臂段弯曲,各链节的两根金属线中的一根应在一个方向上增大拉力而在另一根应相应地放松。这样,如图2所示,总地以标号22表示的上面那根金属线22的拉力增加,而下面那根金属线23的拉力相应放松,就会使臂段结构向上弯折或弯曲。
在一个二维的臂段中,每一连接件21大体上是垂直于臂段的轴线延伸的圆柱体,每一连接件还有大致沿着臂段11的纵向的一中心横向直径孔26。连接件21的在一侧设有一凸缘25,凸缘25沿着连接件的一表面延伸并包围孔26。每一链节20延伸于臂段的一定宽度,并且其形状为在横截面中有带有一中心孔32的中央本体部分31和两个外面部分50,后者形成外表面30和倾斜的侧面34,以允许各邻接接的链节绕连接件21“弯曲”,而各邻链节的表面之间又不会发生相互干涉,如图5中所示。各链节的中央本体部分具有一表面33,并且设有适于容纳圆柱形连接件21的圆弧表面的中心横向凹槽40,在结构布置上,圆柱形连接件21相对于与其邻接且接触的链节20放置成当链节保持成“笔直”的形状时,连接件21的中心孔大致和与其邻接的链节20的中心孔共轴线。在每一连接件21上的凸缘25是用来限制每一链节和与其邻接的连接件之间的相对转动幅度。
各链节的各外面部分50设有一大致与孔32的轴线成间隔平行关系的纵向贯通空腔体51。空腔体51用来容纳一根或多根用来控制链节组的控制金属线22、23。
图8示出了根据本发明的二维装置的另一个实施例。图8中,每一链节71大致是窄长的,并且一端部设有凸部72。每一链节部分的另一端有凹下的部分73,其适于接受邻接的链节的凸部72,该结构布置成邻接的链节71和71′(见图9)能在一个二维平面内相对彼此有限地枢转。每一链节71设有一总地以标号75标示的一中央本体部分,见图11,该本体部分带有两对竖直的引导件76和77。各引导件76和77有弧形表面78、79,以与从其上通过的一控制带相贴合。如图11所示,设置了多条控制带构件80,它们分别以一叠带子的形式穿过引导件76和77之间的空隙。每一链节71制成为如图12所示的两个半体零件。这使每一链节的单个构件能分开,以使带叠80在装配时能插入到臂段的各链节的引导件76和77之间的空隙中,并且在达到令人满意的定位之后,以与其邻接构件配合的关系装配上每一链节的“上面”部分。然后,将每一链节的两半体件固定在一起,而把多层带分别装入各对引导件76和77之间。这个设计在两对带子引导件76和77之间提供了相当大的内腔空间,以附近地允许通过该内腔空间提供诸如电力或压缩空气之类的服务,而不会受到控制带的太大干扰。
当需要对一特定的链节施加控制功能时,可使外带如图11所示地绕外引导件77向回弯,带子末端82可用销钉或螺钉或者使用适合的粘合剂固定在外引导件77的外表面83上。
熟悉本技术领域的人会理解,每一链节的设计中没有几个零件,并且由于各带内的任何拉力传遍引导件76、77的相当大的表面面积,所以各种情况下的摩擦载荷大大地减小了。这使润滑得以改善、摩擦显著减小并且经一个时期后的磨损也会相应地减小。在上述实施例的一个变型中,各链节之间的枢轴90可相互偏置或者倾斜大约一度或两度,从而可为臂提供一种弯扭或螺旋的效果。各层带子能接受凹点轴线中这样轻微的移位,并且装置能遵循与装置给定使用环境内所要求的路径相对应的螺旋路径。
三维臂段与前面结合图5叙述的两维臂段的不同之处在于,每一连接件21大体是球形的,因而可允许一链节在任一方向上相对于邻接的链节摆动过一有限的弧线。在这种情况中,链节自身需要大体是球形的,并且横截面具有如前的形状,即带有一倾斜的表面34。但在这种情况中,至少要设置三个金属线接纳孔51,以允许在所有的三维上控制臂段,见图4c。
穿过连接件21和链节20的中心贯穿通道32是用于为一工作头15的控制或供电装置提供通路。
工作头15可以设置在通常如图1所示的一个三维臂段的末端处。例如,为了能进行变角度成形加工,可为一具有成形工作表面81的成形工作头80提供一种使用方法。这样,就可通过相对于臂段14的末端83纵向地移动工作头来在工作现场82实现工作头的不同角度。
在本发明的一特定实施例中,臂段14可以在其末端设置一可张缩的元件90。当其沿着其蛇形路径向一发动机内进入时,张缩部分90被收缩起来而并形成末端臂段14的一部分。例如当进入到一对涡轮机叶片100之间、并沿着各叶片的长度定位在适当的位置上时,张缩部分90就可被操纵而张大,从而靠到叶片100上,并相对其夹紧臂段14的末端83,以使工作头15能在工作现场82的一适当部位上工作。
这样的一种结构以及相对于张缩部分90纵向和横向移动工作头15的能力使得可以在臂的末端处进行有限量的叶片改变角度和/或剥离转动。
在本说明书的附图13中,给出了一流程图,它相当详细地描述了根据本发明的一典型臂的动作。熟悉本技术领域的人会理解,流程图中的每一步骤的细节将取决于要求臂完成的任务的性质。
因此,从前面的叙述中人们会认识到,根据本发明的臂、控制机构以及算法允许根据本发明的臂伸入到发动机或者类似机械的内部,而无需用中间的引导装置。可将末端和工作头15伸入到发动机节流口内,并且可对各臂的各臂段进行控制,以使该装置能在工作头15的前导下在发动机内绕过各障碍物而一路前进。这一装置能进入发动机内部的程度几乎是不受限制的,当然这也取决于臂的设计程度和对各臂内的单个臂段或成组臂段的控制水平。各臂的马达可装在臂的链节自身上,或者可以如上所述地设置在远处进行远程驱动。尽管使用引导件能为实现更深地进入到要检查的机器内部提供帮助,但在发动机内安装用于引导内窥镜构件的引导装置的需要已大大减少了。
人们也会理解,尤其对涡轮机而言,该装置可以经由涡轮机内的正常的空气/蒸汽通道进入到机器内,而且,人们还会理解,在没有必要单为检查的目的而在发动机内的设置单独的进入口。这所带来的优点是,它能保持发动机壳体的强度和整体性,这样,万一发动机在高速下损坏,发动机内的诸构件仍能保持作为发动机设计中的密封策略的一部分,而不会因在绕发动机外周设置进入口而变得削弱。
根据本发明和如前所述的装置也可以与系统化的发动机监控系统一起使用。已经对通过检测排出气体中的离子成分来进行的发动机排气、尤其是燃气涡轮发动机的排气的例行监控提出了建议。通过保持发动机在工作中的离子排放量的记录,就可能构造出一幅说明发动机内可能发生磨损和/或问题的图表。将这些信息与接近发动机的各种零件的算法结合,就能在从发动机排气监控中得到一连串不可接受的离子成分测得值时,基本上自动地检测出可能已磨损的区域。
这样先进的办法将能缩短乃至几乎确实能消除发动机的维护性停车时间,并将最终会使这类发动机和机器、尤其是燃气涡轮发动机的运行效率更高。
Claims (21)
1.一种用于检查发动机或机器或者在其上进行工作的方法,其中工作/检查的现场远离一接进点,该方法包括:
确定一条在发动机或机器内的到达所述工作/检查现场的进入路径,
将一工作/检查工具安装在一具有多个关节连接件的支撑臂的末端;
为至少一些所述关节连接件设置控制装置,并且使或允许所述臂进入所述发动机或机器,并沿其自身的纵向前进而沿所述进入路径进入,使工具到达工作/检查现场。
2.一种利用如权利要求1所述的方法来检查发动机或机器或者在其上进行工作的装置,该装置包括:
一包括多个纵向臂段的支撑臂,每一所述臂段能相对彼此运动以形成一蛇形路径或形状,
在或向着所述臂的末端的并适于装载一工作和/或检查工具的工作头运载装置,
以及用于控制至少一些所述臂段的控制装置,所述控制装置能够对相关臂段的形状进行控制,以使构成臂的各不同臂段能形成不同的形状,籍此,所述臂就可以沿着一预定的进入路径纵向地前进,使所述工具到达所述现场。
3.如权利要求1或2所述的方法或装置,其特征在于,每一臂段包括多个链节,每一链节能至少二维地相对彼此相对运动。
4.如权利要求3所述的方法或装置,其特征在于,各链节和臂段保持于受拉状态。
5.如前述任一权利要求所述的方法或装置,其特征在于,分别地控制每一臂段,且特征还在于,控制装置包括用来分别和/或独立于其它臂段控制每一臂段的装置。
6.如前述任一权利要求所述的方法或装置,其特征在于,所述控制装置可包括一伺服马达。
7.如前述任一权利要求所述的方法或装置,其特征在于,伺服马达装置安装在每一臂段上,或者它们远离其所控制臂段,并且在后一种情况中,控制装置通过一根或多根保持于受拉状态的金属线来操纵臂段。
8.如权利要求7所述的方法或装置,其特征在于,马达是液压和/或气动马达。
9.如权利要求3至9中任一项所述的方法或装置,其特征在于,每一链节能相对于其邻接的链节关节转动,籍此,每一臂段能在至少二维上进行弯曲运动。
10.如权利要求8或9所述的方法或装置,其特征在于,邻接链节之间的关节连接包括二维运动,并且其中邻接链节之间的铰链件通常是圆柱形的。
11.如权利要求8至10中的任一项所述的方法或装置,其特征在于,控制装置包括一带子。
12.如权利要求8或9所述的方法或装置,其特征在于,邻接链节之间的关节连接包括三维运动,并且其中邻接链节之间的枢轴件通常是球形的。
13.如权利要求3至12中的任一项所述的方法或装置,其特征在于,一个臂段中的各链节之间的关节连接保持于受拉状态。
14.如权利要求13所述的方法或装置,其特征在于,一个臂段内的各链节是刚度加强的,以提高该臂段中每一链节接头的承载能力和位置确定性。
15.如权利要求14所述的方法或装置,其特征在于,刚度加强是通过设置在邻接链节之间的至少一个弹簧来实现的。
16.如权利要求15所述的方法或装置,其特征在于,所述弹簧的尺寸确定成弹簧的压缩力稍小于施加在链节接头上的总拉力,而且使“摇摆”刚度选择为对每一接头给予一预定的弯曲刚度。
17.如权利要求9至16中的任一项所述的方法或装置,其特征在于,臂段的控制通过金属线来实现,控制装置拉紧所述每一金属线,从而使一臂段内的各链节运动。
18.如前述权利要求中的任一项所述的方法或装置,其特征在于,控制装置包括采用一种轨迹规划技术的算法和一种基于适用拉普拉斯方程的势场算法。
19.如前述权利要求中的任一项所述的方法或装置,其特征在于,控制装置是一冗余的机器人控制装置。
20.如前述任一权利要求所述的方法或装置,其特征在于,工作头包括用来将工作头夹紧到工作环境中的周围结构上以相对于工件进一步稳定和/或定位工作头的夹紧装置。
21.如前述任一权利要求所述的装置,其特征在于,包括一多段臂,所述臂的每一臂段包括多个链节,所述每一链节通过关节接头相互关节连接并允许相对彼此能有限转动,每一臂段可操作地连接于其邻接的臂段而形成一纵向的臂;装载在臂的末端的一工作头;多根延伸穿过每一链节直至臂段的末端的金属线;以及用来调节每一根所述金属线中相对于其它金属线的拉力的控制装置,所述控制装置通过这种调节能使或允许臂段的各链节相对彼此运动以实现臂段的弯曲运动。
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CN103239261A (zh) * | 2012-02-06 | 2013-08-14 | 三星电子株式会社 | 链接单元、臂模块和包括该臂模块的外科手术装置 |
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CN116038625A (zh) * | 2020-03-10 | 2023-05-02 | 奥利弗克里斯宾机器人有限公司 | 插入工具 |
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CN113618775A (zh) * | 2021-08-05 | 2021-11-09 | 西安交通大学 | 一种连续体机器人关节及连续体机器人 |
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CN100367067C (zh) | 2008-02-06 |
JP2004507370A (ja) | 2004-03-11 |
EP1309892A2 (en) | 2003-05-14 |
CA2425043C (en) | 2010-11-30 |
WO2002016995A2 (en) | 2002-02-28 |
EP2267508A2 (en) | 2010-12-29 |
US7171279B2 (en) | 2007-01-30 |
US20030229420A1 (en) | 2003-12-11 |
AU2001279957A1 (en) | 2002-03-04 |
GB0020461D0 (en) | 2000-10-11 |
WO2002016995A3 (en) | 2002-11-14 |
CA2425043A1 (en) | 2002-02-28 |
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