CN210678717U - Composite robot for online pressurized leakage stoppage - Google Patents
Composite robot for online pressurized leakage stoppage Download PDFInfo
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- CN210678717U CN210678717U CN201921611044.2U CN201921611044U CN210678717U CN 210678717 U CN210678717 U CN 210678717U CN 201921611044 U CN201921611044 U CN 201921611044U CN 210678717 U CN210678717 U CN 210678717U
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Abstract
The embodiment of the utility model discloses a compound type robot for online area is pressed leaking stoppage, including the mobile module, load in power module, bottom plate on the mobile module install in knife rest, execution module, global image acquisition module above the bottom plate. By adopting the utility model, the use of the global camera module and the local camera module can ensure that the operator can safely observe the leaking point condition from a remote place and carry out automatic twisting repair on the leaking point; when in operation, the mechanical arm is used for replacing the tail end of the probe and the twisting tail end, so that the leakage point of the pipeline can be positioned more accurately, and the twisting repair effect is more ideal.
Description
Technical Field
The utility model relates to an intelligent robot's technical field, concretely relates to a composite robot for online area is pressed leaking stoppage.
Background
The pressure leakage stoppage refers to that the pressure pipeline and the internal storage or conveying medium of the container tank are arbitrarily stopped in the process of splashing the internal medium without stopping conveying, wherein the pressure pipeline and the internal storage or conveying medium of the container tank are driven to leak due to corrosion perforation or leakage caused by artificial damage under the condition of more than one atmospheric pressure. At present, in the production process of enterprises, common leakage mainly occurs in leakage defects such as leakage points on pipelines, containers and valve bodies. Once a leak occurs, it is usually necessary to make and install a fixture to stop the leak, and for the leak caused by the leak point, the fixture is time-consuming to process compared with other leak stopping methods.
With the continuous development of industrial automation, robots are adopted in more and more industries to replace manual work to perform heavy, time-consuming and dangerous work so as to improve the production efficiency of enterprises. For the leakage of pipelines and containers in the production process of enterprises, the existing leakage defects are that the leakage is manually stopped, the efficiency is low, and leakage objects with high temperature, high pressure, corrosiveness and peculiar smell can cause certain potential safety hazards and body damage to leakage stopping operators. It is a development trend to adopt a robot mode to replace manual work for leaking stoppage.
The twist repairing of leakage defects such as leakage points of pipelines is one of the most common methods for pipeline maintenance. The leakage point of the pipeline can be blocked by twisting, so that the aim of temporarily repairing the pipeline is fulfilled, the fluid in the pipeline is prevented from further leaking, and the loss caused by accidents is reduced. Conventional twisting operations require the operator to be exposed to dangerous environments, such as toxic, flammable, and the like. Furthermore, the twisting work by workers is time consuming and inefficient.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a technical problem that will solve lies in, provides a compound type robot that is used for online area to press leaking stoppage. The robot can realize efficient, accurate and safe pipeline leakage blocking operation under pressure under the control of the remote control terminal.
In order to solve the technical problem, an embodiment of the present invention provides a composite robot for online leaking stoppage under pressure, which includes a moving module, a power supply module and a bottom plate loaded on the moving module, and a tool rest, an execution module and a global image acquisition module mounted on the bottom plate;
the execution module comprises a mechanical arm, a probe end effector and a twisting and leaking stoppage end effector, wherein a main disc is installed at the end of the mechanical arm, auxiliary discs are installed on the probe end effector and the twisting and leaking stoppage end effector, and the main disc is detachably connected with the auxiliary discs;
the probe end effector is detachably arranged in the tool rest, and a local image acquisition module is arranged on the probe end effector;
the tool rest comprises a tool rest base, a locking clamping block, a tool rest cylinder and a locking spring, wherein the tool rest cylinder is a double-shaft cylinder, the locking spring is sleeved on an outer shaft of the tool rest cylinder to form self-resetting, and the locking clamping block is fixedly arranged on an inner shaft of the tool rest cylinder; the probe end effector has a locking slot that mates with the locking clamp block.
Further, the moving module is a bottom-layer crawler platform.
Further, the twisting and leaking stoppage end effector comprises a twisting module, a clamping module and a positioning module;
the twisting module comprises an air impact hammer, an air impact hammer base and an air impact hammer mounting seat, wherein the air impact hammer mounting seat is fixedly arranged on a lug on the air impact hammer base, and the air impact hammer is fixedly clamped between the air impact hammer mounting seats;
the clamping module comprises a cylinder and a clamping jaw, wherein the cylinder is fixedly installed on the air impact hammer base, the clamping jaw is arranged at the lower end of the cylinder, and the positioning module is arranged between the air impact hammer base and the clamping jaw.
Furthermore, the air impact hammer mounting seat comprises two aluminum alloy clamping blocks arranged on two sides of the protruding block, one side, in contact with the air impact hammer, of each aluminum alloy clamping block is V-shaped and used for fastening the air impact hammer, and an inclined plane is arranged on the protruding block and used for keeping the twisting angle of the air impact hammer.
Further, the cylinder is a guide bar cylinder, a threaded hole matched with the air impact hammer base is formed in the lower end of the cylinder, the air impact hammer base is fixedly arranged on the air impact hammer base through a matched screw, and the lower end of a piston rod of the cylinder is connected with the clamping jaw through a screw.
Furthermore, the positioning module comprises two positioning columns, a V-shaped block and a compression spring, the positioning module is connected below the air impact hammer base through a copper sleeve and the compression spring, and the lower end face of the V-shaped block is a V-shaped groove.
Further, the global image acquisition module comprises a telescopic rod, and a holder camera and a stereo camera which are arranged on the telescopic rod, wherein the holder camera comprises a holder, a visible light camera and an infrared camera.
Implement the embodiment of the utility model provides a, following beneficial effect has: the global camera module and the local camera module can enable operators to safely observe the leaking point situation from a remote place and carry out automatic twisting repair on the leaking point; during operation, the mechanical arm is used for replacing the tail end of the probe and the twisting leaking stoppage end actuator can enable the pipeline leaking point to be positioned more accurately, and the twisting repair effect is more ideal.
Drawings
Fig. 1 is a schematic view of the overall structure of the robot of the present invention;
wherein, 1-global camera module; 11-pan-tilt camera; 111-a visible light camera; 112-infrared camera; 113-a pan-tilt; 13-a telescopic rod; 15-a stereo camera; 2-an execution module; 21-a mechanical arm; 213-master; 25-twisting and beating the plugging end effector; 20-a pull-string type displacement sensor; 4-a bridge; 5-an electric box; 6-a bumper; 7-bottom layer crawler platform; 8-supporting leg push rods; 9-a bottom plate;
FIG. 2 is a top view of a robot platform configuration, wherein 10-base; 19-gas path quick plug; 3-an air supply module; 17-a tool holder; 26-a probe end effector; 16-a tool holder; 18-a tool holder;
FIG. 3 is a gas supply module;
wherein, 3-an air supply module; 31-pneumatic solenoid valve group A; 32-pressure regulating valve; 33-pressure gauge; 34-a cylinder; 35-a filter; 36-pneumatic solenoid valve group B; 37-a compressor; 38-air compressor safety valve;
FIG. 4 is a schematic view of the construction of the tool holder;
wherein, 16-tool holder; 161-locking the clamping block, 162-positioning the pin; 163-locking spring; 164-a tool holder cylinder; 165-a tool holder base; 166-tool holder pad;
FIG. 5 is a schematic structural view of a probe end effector;
FIG. 6 is a schematic view of a twist-to-beat lost circulation end-effector;
FIG. 7 is a schematic structural view of a twisting module;
fig. 8 is a schematic structural view of the gripping module;
FIG. 9 is a schematic structural view of a positioning module;
figure 10 is a schematic diagram of the construction of the robot arm attachment module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the utility model provides a compound type robot for online area is pressed leaking stoppage, including the mobile module, load in power module, bottom plate 9 on the mobile module, install in knife rest 16, 17, 18, execution module 2, the global image acquisition module on the bottom plate.
The control module comprises an industrial personal computer, a relay control panel, a mechanical arm control box and a single chip microcomputer, the industrial personal computer receives an operation instruction transmitted from a user terminal through a wireless communication unit so as to control the bottom-layer crawler platform and the mechanical arm 21, and the relay control panel is used for controlling the supporting leg push rod 8, the telescopic rod 13, the indicating lamp and the electronic pneumatic valve after receiving the instruction of the industrial personal computer; the mechanical arm control box is used for controlling a mechanical arm to complete an instruction; the single chip microcomputer is used for reading data of the stay wire type distance sensor, transmitting the data to the industrial personal computer, receiving instructions of the industrial personal computer and generating corresponding PWM signals to drive the bottom-layer crawler platform to move correspondingly.
The execution module 2 comprises a mechanical arm 21, a probe end effector 26 and a twisting and leaking stoppage end effector 25, wherein the mechanical arm 21 is used for conveying the probe end effector or the twisting and leaking stoppage end effector to a specific position, the probe end effector is used for positioning a leaking point position before twisting, and the twisting and leaking stoppage end effector is used for twisting and leaking stoppage of a pipeline.
The end of the mechanical arm 21 is provided with a main disc, the probe end effector and the twisting and leaking stoppage end effector are provided with auxiliary discs, and the main disc is detachably connected with the auxiliary discs.
The global camera module 1 comprises a holder camera 11, a stereo camera 15 and a telescopic rod 13, wherein the stereo camera 15 is used for acquiring a depth image and determining coordinates, the holder camera 11 comprises a holder, a visible light camera 111 and an infrared image camera 112, the visible light camera 111 is used for acquiring a color image of a pipeline and observing the surrounding environment, and the infrared image camera 112 is used for generating an infrared image to assist in positioning a leakage position on the pipeline; the telescopic rod 13 is used for adjusting the height of the tripod head camera and expanding the observation range of the tripod head camera; the holder is used for adjusting the shooting angles of the visible light camera and the infrared image camera and expanding the observation range of the holder camera;
the local camera module includes a tip camera 265, the tip camera 265 being used for observation of a leakage area when the probe tip locates a leakage position.
The probe end effector is detachably arranged in the tool rest, and a local image acquisition module is arranged on the probe end effector.
As shown in fig. 4, the tool post comprises a tool post base 165, a locking clamping block 161, a tool post cylinder 164 and a locking spring 163, wherein the tool post cylinder 164 is a double-shaft cylinder, the locking spring 163 is sleeved on an outer shaft of the tool post cylinder to form self-resetting, and the locking clamping block 161 is fixedly mounted on an inner shaft of the tool post cylinder 164; the probe end effector has a locking slot that mates with the locking clamp block.
The moving module comprises a bottom layer crawler platform which is used for realizing the moving function of the robot platform.
As shown in fig. 5, the probe end effector 26 includes a probe module 261, a pressure sensor 262, and a data acquisition and processing module, is placed on the tool post 16 of the probe of the mobile platform through a probe base 263, sucks a sub-disc 264 on the end through a fast switching main disc mounted on the robot arm, and fixedly mounts the end effector on the robot arm using air pressure. The local image acquisition module 265 is disposed on the upper portion of the probe for directly observing the actual operation of the probe in a real environment without obstruction. When the tail end of the probe accurately touches a leakage point of the pipeline, the pressure sensor detects force feedback received by the tail end of the probe in real time, and the force feedback prompts a technician that the technician touches the pipeline. At the moment, the data acquisition and processing module can be used for recording the current parameters of each joint of the mechanical arm, so that the relative three-dimensional space coordinate position of the pipeline leakage point position based on the central point at the bottom of the mechanical arm is obtained through calculation.
The twisting and leaking stoppage end effector comprises a twisting module 22, a clamping module 23 and a positioning module 24.
As shown in fig. 6-9, the cabling module 22 is composed of an air impact hammer 221, an air impact hammer base 222 and an air impact hammer mounting base 223, wherein the air impact hammer mounting base 223 is mounted on a projection 2222 on the air impact hammer base 222 for fixing the air impact hammer 221; the clamping module 23 consists of an air cylinder 231 and a clamping jaw 232, and the air cylinder 231 is matched with the clamping jaw 232 to complete clamping movement through contraction of a piston rod; the positioning module 24 is used for assisting the air impact hammer striker 26 at the tail end of the air impact hammer 221 to be positioned to the pipeline leakage position 220; the mechanical arm connecting module 27 is composed of a main disk 271 and an auxiliary disk 272, the main disk 271 is used for being connected with the tail end of the mechanical arm, the auxiliary disk 272 is connected with the positioning module 24, multiple paths of pneumatic interfaces and electrical interfaces matched with the main disk 271 and the auxiliary disk 272 are arranged on the main disk 271 and the auxiliary disk 272, and the main disk 271 and the auxiliary disk 272 are fixedly connected.
Referring to fig. 7 to 10, the air impact hammer base 222 is provided with eight threaded holes 2223 for mounting the air cylinder 231 on the air impact hammer base 222 of the twisting module 22, and four threaded holes 2221, and two spacers are further provided on the air impact hammer base 222 to connect the air impact hammer base 222 with the positioning module 24 located below the twisting module 22 through four screws corresponding to the threaded holes 2221. The air impact hammer mounting seat 223 is composed of two aluminum alloy clamping blocks 2231 mounted on two sides of the protruding block 2222, one side of the air impact hammer 221, which is in contact with the two clamping blocks, is in a V shape and used for fastening the air impact hammer 221, the upper ends of the two clamping blocks are connected through two screws, and the lower ends of the two clamping blocks are connected with two sides of the protruding block 2222 through four screws and two positioning pins respectively. The protrusion 2222 is provided with a 45 ° inclined surface for ensuring that the twisting angle of the pneumatic hammer 11 is 45 °, it can be understood that in other embodiments, the protrusion 2222 may be provided with inclined surfaces with different angles for ensuring that the pneumatic hammer 221 has a reasonable twisting angle.
The clamping module 23 has two cylinders 231, both of which are guide bar cylinders, the lower ends of the two cylinders 231 are respectively provided with a threaded hole 2311 matched with the air impact hammer base 222, the clamping module 23 is fixed on the air impact hammer base 222 through eight screws, the lower ends of two piston rods in the two cylinders 231 are connected with two clamping jaws 232 through screws, and when the piston rods in the cylinders 231 contract, the clamping jaws 232 can be driven to be matched with the V-shaped block 241 to complete the clamping action. The clamping jaw 232 is rotatable through 90 ° to facilitate gripping of the leak apparatus, and in this embodiment, the clamping jaw 232 is rotatable to be horizontal to the pipe before gripping the pipe, and after gripping the pipe, the clamping jaw 232 is at 90 ° to the pipe to perform positioning and gripping operations in cooperation with the positioning module 24.
It is understood that the number of the cylinders 231 may be other numbers in other embodiments.
The positioning module 24 in the embodiment of the present invention is composed of two height positioning posts 242, a V-shaped block 241, four sets of copper sleeves 244 and compression springs 243, wherein the compression spring 243 is connected below the copper sleeve 244, the positioning module 24 is connected below the air hammer base 222 through the copper sleeves 244 and the compression springs 243, one side of the V-shaped block 241 is provided with a threaded hole 2411 for connecting the auxiliary plate 272 in the mechanical arm connecting module 27 with the V-shaped block, the lower end surface of the V-shaped block 241 is in a "V" shape, which plays a self-centering role for the clamped pipeline, the two height positioning posts 242 are respectively arranged at the front and rear sides of the V-shaped block 241, the upper end surface of the height positioning post 242 is in contact with the lower end surface of the air hammer base 222, in combination with the clamping action of the clamping module 23, so that the clamped pipelines with different pipe diameters are all in contact with the lower end surface of the height positioning post 242, thereby ensuring that when clamping leakage pipelines with different pipe diameters, the air hammer striker 26 maintains the same height for the initial twist level of the leaking duct to ensure the quality of the twist.
As shown in FIG. 10, the main plate 271 can be connected with the end of the mechanical arm through screws, the sub plate 272 is connected with the V-shaped block 241 through a threaded hole 2721, and multiple paths of matched pneumatic and electrical interfaces are arranged on the main plate 271 and the sub plate 272.
The main disk 271 and the sub disk 272 form a quick change disk structure.
The above disclosure is only a preferred embodiment of the present invention, and certainly should not be taken as limiting the scope of the invention, which is defined by the claims and their equivalents.
Claims (7)
1. The composite robot for online pressurized leakage stoppage is characterized by comprising a moving module, a power supply module and a bottom plate which are loaded on the moving module, and a tool rest, an execution module and a global image acquisition module which are arranged on the bottom plate;
the execution module comprises a mechanical arm, a probe end effector and a twisting and leaking stoppage end effector, wherein a main disc is installed at the end of the mechanical arm, auxiliary discs are installed on the probe end effector and the twisting and leaking stoppage end effector, and the main disc is detachably connected with the auxiliary discs;
the probe end effector is detachably arranged in the tool rest, and a local image acquisition module is arranged on the probe end effector;
the tool rest comprises a tool rest base, a locking clamping block, a tool rest cylinder and a locking spring, wherein the tool rest cylinder is a double-shaft cylinder, the locking spring is sleeved on an outer shaft of the tool rest cylinder to form self-resetting, and the locking clamping block is fixedly arranged on an inner shaft of the tool rest cylinder; the probe end effector has a locking slot that mates with the locking clamp block.
2. The composite robot for online belt press plugging according to claim 1, wherein the moving module is a bottom-layer crawler platform.
3. The composite robot for online lost circulation under pressure according to claim 1, wherein the twisting and leaking stoppage end effector comprises a twisting module, a clamping module and a positioning module;
the twisting module comprises an air impact hammer, an air impact hammer base and an air impact hammer mounting seat, wherein the air impact hammer mounting seat is fixedly arranged on a lug on the air impact hammer base, and the air impact hammer is fixedly clamped between the air impact hammer mounting seats;
the clamping module comprises a cylinder and a clamping jaw, wherein the cylinder is fixedly installed on the air impact hammer base, the clamping jaw is arranged at the lower end of the cylinder, and the positioning module is arranged between the air impact hammer base and the clamping jaw.
4. The composite robot for online leak stoppage with pressure according to claim 3, wherein the air impact hammer mounting seat comprises two aluminum alloy clamping blocks mounted on two sides of the projection, one side of the two aluminum alloy clamping blocks, which is in contact with the air impact hammer, is in a V shape for fastening the air impact hammer, and the projection is provided with an inclined surface for maintaining the twisting angle of the air impact hammer.
5. The composite robot for online leak stoppage with pressure according to claim 4, wherein the cylinder is a guide bar cylinder, the lower end of the cylinder is provided with a threaded hole matched with the air impact hammer base, the threaded hole is fixedly arranged on the air impact hammer base through a matching screw, and the lower end of a piston rod of the cylinder is connected with the clamping jaw through a screw.
6. The composite robot for online pressure leakage stoppage according to claim 5, wherein the positioning module comprises two positioning columns, a V-shaped block and a compression spring, the positioning module is connected below the air impact hammer base through a copper sleeve and the compression spring, and the lower end surface of the V-shaped block is a V-shaped groove.
7. The composite robot for online belt pressure leakage stoppage according to claim 6, wherein the global image acquisition module comprises a telescopic rod, and a pan-tilt camera and a stereo camera which are mounted on the telescopic rod, wherein the pan-tilt camera comprises a pan-tilt, a visible light camera and an infrared camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921611044.2U CN210678717U (en) | 2019-09-25 | 2019-09-25 | Composite robot for online pressurized leakage stoppage |
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| CN201921611044.2U CN210678717U (en) | 2019-09-25 | 2019-09-25 | Composite robot for online pressurized leakage stoppage |
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| CN210678717U true CN210678717U (en) | 2020-06-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605719A (en) * | 2019-09-25 | 2019-12-24 | 汕头大学 | Robot, system and method for online pressurized leakage blocking |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605719A (en) * | 2019-09-25 | 2019-12-24 | 汕头大学 | Robot, system and method for online pressurized leakage blocking |
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