CN212797143U

CN212797143U - AGV robot for detecting wall weld of nuclear power station

Info

Publication number: CN212797143U
Application number: CN202021225375.5U
Authority: CN
Inventors: 李龙; 黄振凤
Original assignee: Yangzhou Sigma Automation Equipment Co ltd
Current assignee: Yangzhou Sigma Automation Equipment Co ltd
Priority date: 2020-06-29
Filing date: 2020-06-29
Publication date: 2021-03-26
Anticipated expiration: 2030-06-29

Abstract

The utility model belongs to the technical field of robots, and discloses a nuclear power station wall welding seam detection AGV robot, which comprises an AGV robot main body, wherein Mecanum wheels are arranged at four ends of the bottom of the AGV robot main body, guide upright posts are fixed at two sides of the AGV robot main body, a fixing frame is arranged between the two guide upright posts and close to the upper part of the AGV robot main body, a flaw detector is fixed in the fixing frame, and a direct current brushless motor is arranged at one end of the inner part of the fixing frame and close to one side of the flaw detector, so that the AGV robot main body can move back and forth on the ground, move left and right transversely and rotate left and right in situ through the Mecanum wheels, thereby realizing the omnibearing dead-angle-free movement of the device, driving the flaw detector to stably lift along the guide upright posts through the fixing frame, climbing quickly and stably, having small volatility, and preventing the flaw detector from falling, the stability of the device is improved.

Description

AGV robot for detecting wall weld of nuclear power station

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to nuclear power station wall welding seam detects AGV robot.

Background

The robot is a common name of an automatic control machine, the automatic control machine comprises all machines (such as a robot dog, a robot cat and the like) for simulating human behaviors or ideas and other organisms, a plurality of taxonomies and disputes exist for the definition of the robot in a narrow sense, some computer programs are even called as the robot, in the modern industry, the robot refers to an artificial machine device capable of automatically executing tasks and used for replacing or assisting human work, the ideal high-simulation robot is a product of a high-level integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the scientific community is developing in the direction at present.

However, the AGV robot for detecting the wall weld of the nuclear power station in the current market still has some problems in the use process, for example, the device is inconvenient to move, is difficult to move without dead angles on the ground, and is difficult to climb by the flaw detector, unstable in the climbing process, large in volatility, and finally influences the detection efficiency of the device.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a nuclear power station wall welding seam detects AGV robot to the device that proposes removes inconveniently in solving above-mentioned background art, and the defectoscope difficulty of climbing, and the lower problem of factor of safety.

In order to achieve the above object, the utility model provides a following technical scheme: an AGV robot for detecting wall weld of a nuclear power station comprises an AGV robot main body, wherein four ends of the bottom of the AGV robot main body are respectively provided with a Mecanum wheel, and the two sides of the AGV robot main body are both fixed with guide columns, a fixed frame is arranged between the two guide columns and is close to the upper part of the AGV robot main body, a flaw detector is fixed inside the fixed frame, and one side of one end of the inner part of the fixed frame, which is close to the flaw detector, is provided with a direct current brushless motor, two guide wheels are respectively connected with two ends of the fixed frame, which are close to two sides of the guide upright post, and the two ends of the fixed frame close to the lower part of one of the guide wheels are movably connected with gears through rotating shafts, the output of DC brushless motor is connected with the reduction gear, the output shaft of reduction gear extends to the outside one end of fixed frame and is connected with one of them gear, two the rack with gear engaged with is all installed to one side of direction stand.

Preferably, two install the mount between the top of direction stand, the inboard of mount is connected with two proximity switch, two proximity switch keeps away from the one end of mount and all installs the telescopic link, two proximity switch's one end is kept away from to the telescopic link all is connected with vacuum chuck.

Preferably, a ray head is mounted at one end of the flaw detector, and the ray head is conical.

Preferably, the mount is the U type, and the wall universal wheel is all installed to one side that the both ends of mount are close to vacuum chuck.

Preferably, twelve glue applying wheels are mounted on the outer wall of the Mecanum wheel, and the twelve glue applying wheels are distributed in an annular array.

Preferably, the through-hole has all been seted up at the both ends of fixed frame, and the horizontal pole is all installed to the both sides of fixed frame.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the utility model discloses a mecanum wheel can make AGV robot main part at subaerial back-and-forth movement, control lateral shifting and original place left and right sides rotation to realize that the all-round no dead angle of device removes, can drive the defectoscope through fixed frame and go up and down along the stable going on of guide post, and it is steady fast to climb, and volatility is little, has prevented that the defectoscope from taking place to fall, the stability of improving device.

(2) The utility model discloses a proximity switch can make vacuum chuck adsorb on the wall body, and vacuum chuck's suction is great to but the stability of holding device has ensured that the defectoscope can not take place to tumble when climbing, has improved the factor of safety of device, and whole device modularization, normalized design, convenient operation is simple, and convenient to maintain overhauls has improved the efficiency that the wall welding seam detected greatly.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a side view of the present invention;

fig. 3 is a front view of the present invention;

in the figure: 1. a vacuum chuck; 2. wall universal wheels; 3. a telescopic rod; 4. a proximity switch; 5. a fixed mount; 6. a rack; 7. a guide upright post; 8. a fixing frame; 9. a guide wheel; 10. a gear; 11. a Mecanum wheel; 12. an AGV robot main body; 13. a flaw detector; 14. a speed reducer; 15. a brushless DC motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides the following technical solutions: a nuclear power station wall welding seam detection AGV robot comprises an AGV robot main body 12, wherein Mecanum wheels 11 are respectively arranged at four ends of the bottom of the AGV robot main body 12, when the AGV robot main body 12 is used, the AGV robot main body 12 can move forwards and backwards, move transversely left and right and rotate left and right in place on the ground by controlling the movement of the Mecanum wheels 11, so that the omnibearing dead-angle-free movement of the AGV robot main body 12 is realized, the AGV robot main body is very convenient to use in a nuclear power station stainless steel water tank, guide upright posts 7 are respectively fixed at two sides of the AGV robot main body 12, a fixed frame 8 is arranged between the two guide upright posts 7 and close to the upper part of the AGV robot main body 12, a flaw detector 13 is fixed inside the fixed frame 8, a direct-current brushless motor 15 is arranged at one end inside the fixed frame 8 and close to one side of the flaw detector, and the both ends of fixed frame 8 are close to the below of one of them guide pulley 9 and all have gear 10 through pivot swing joint, the output of DC brushless motor 15 is connected with reduction gear 14, the output shaft of reduction gear 14 extends to the outside one end of fixed frame 8 and is connected with one of them gear 10, rack 6 with gear 10 engaged with is all installed to one side of two direction stands 7, drive reduction gear 14 through DC brushless motor 15, then reduction gear 14 drive gear 10 removes on rack 6, simultaneously under the cooperation of guide pulley 9, can make fixed frame 8 drive defectoscope 13 and go up and down along the stable going on of direction stand 7, and climb fast and steadily, the volatility of device is little, the defectoscope 13 has been prevented to take place to fall, stability is greatly improved.

Further, install mount 5 between two guide post 7's the top, the inboard of mount 5 is connected with two proximity switch 4, two proximity switch 4 keep away from the one end of mount 5 and all install telescopic link 3, two telescopic link 3 keep away from the one end of proximity switch 4 and all are connected with vacuum chuck 1, can drive vacuum chuck 1 through proximity switch 4 and remove, make vacuum chuck 1 adsorb on the wall body, vacuum chuck 1's suction is great, thereby the holding device is stable, can not take place to tumble when guaranteeing that defectoscope 13 climbs, the factor of safety of device has been improved, and whole device modularization, standardized design, and convenient for operation is simple, and convenient for maintenance and repair, the efficiency that wall welding seam detected has been improved greatly.

Further, the ray head is installed to the one end of defectoscope 13, and the working distance of ray head and wall should be 600mm to realize accurate detection, and the ray head is coniform.

Specifically, mount 5 is the U type, and the wall universal wheel 2 is all installed to one side that the both ends of mount 5 are close to vacuum chuck 1, makes the device more reliable and more stable through the use of wall universal wheel 2.

Specifically, twelve glue applying wheels are mounted on the outer wall of mecanum wheel 11, and the twelve glue applying wheels are distributed in an annular array.

Specifically, the through-hole has all been seted up at the both ends of fixed frame 8, is convenient for carry out equipment fixing smoothly in fixed frame 8 through the through-hole, and the horizontal pole is all installed to the both sides of fixed frame 8, and the horizontal pole plays the effect of separating the fender protection.

The utility model discloses a theory of operation and use flow: when the utility model is used, the movement of the Mecanum wheel 11 can be moved back and forth on the ground, moved transversely left and right or rotated left and right in situ through the remote controller control device during the work, so that the omnibearing dead-angle-free movement of the AGV robot main body 12 can be realized, then the AGV robot main body 12 is moved to the wall, the vacuum chuck 1 is driven to move through the proximity switch 4, the vacuum chuck 1 is adsorbed on the wall, the suction force of the vacuum chuck 1 is larger, thereby the device is kept stable, the phenomenon that the flaw detector 13 is overturned when climbing is ensured, the safety factor of the device is improved,

afterwards through direct current brushless motor 15 drive reduction gear 14, make reduction gear 14 drive gear 10 remove on rack 6, simultaneously under the cooperation of guide pulley 9, can make fixed frame 8 drive defectoscope 13 along the stable going up and down that goes on of guide post 7, and it is fast steady to climb, the volatility of device is little, it falls to have prevented that defectoscope 13 from taking place, stability is greatly improved, then defectoscope 13 moves the welding seam and detects the position, thereby detect wall welding seam position through defectoscope 13, whole device modularization, standardized design, convenient operation is simple, and convenient for maintenance and repair, the efficiency that wall welding seam detected has been improved greatly.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a nuclear power station wall welding seam detects AGV robot which characterized in that: including AGV robot main part (12), mecanum wheel (11) are all installed to four ends in the bottom of AGV robot main part (12), and the both sides of AGV robot main part (12) all are fixed with direction stand (7), two fixed frame (8) are installed to the top of being close to AGV robot main part (12) between direction stand (7), the inside of fixed frame (8) is fixed with defectoscope (13), and one side that the inside one end of fixed frame (8) is close to defectoscope (13) installs direct current brushless motor (15), the both sides that the both ends of fixed frame (8) are close to direction stand (7) are connected with two guide pulleys (9) respectively, and the below that the both ends of fixed frame (8) are close to one of them guide pulley (9) all has gear (10) through pivot swing joint, the output of direct current brushless motor (15) is connected with reduction gear (14), the output shaft of reduction gear (14) extends to the outside one end of fixed frame (8) and is connected with one of them gear (10), two rack (6) with gear (10) looks meshing is all installed to one side of guide post (7).

2. The AGV robot for detecting the wall weld of the nuclear power plant according to claim 1, characterized in that: two install mount (5) between the top of direction stand (7), the inboard of mount (5) is connected with two proximity switch (4), two proximity switch (4) keep away from the one end of mount (5) and all install telescopic link (3), two the one end that proximity switch (4) were kept away from in telescopic link (3) all is connected with vacuum chuck (1).

3. The AGV robot for detecting the wall weld of the nuclear power plant according to claim 1, characterized in that: and a ray head is arranged at one end of the flaw detector (13), and the ray head is conical.

4. The AGV robot for detecting the wall weld of the nuclear power plant according to claim 2, characterized in that: the fixing frame (5) is U-shaped, and wall universal wheels (2) are installed on one side, close to the vacuum chuck (1), of the two ends of the fixing frame (5).

5. The AGV robot for detecting the wall weld of the nuclear power plant according to claim 1, characterized in that: twelve glue applying wheels are mounted on the outer wall of the Mecanum wheel (11), and the twelve glue applying wheels are distributed in an annular array.

6. The AGV robot for detecting the wall weld of the nuclear power plant according to claim 1, characterized in that: the through-hole has all been seted up at the both ends of fixed frame (8), and the horizontal pole is all installed to the both sides of fixed frame (8).