CN109732555A - A kind of robot system of robot arm end effector that playing leak stopping with twirl - Google Patents
A kind of robot system of robot arm end effector that playing leak stopping with twirl Download PDFInfo
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- CN109732555A CN109732555A CN201910095027.6A CN201910095027A CN109732555A CN 109732555 A CN109732555 A CN 109732555A CN 201910095027 A CN201910095027 A CN 201910095027A CN 109732555 A CN109732555 A CN 109732555A
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- robot
- leak stopping
- end effector
- mechanical arm
- twisting
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Abstract
The embodiment of the invention discloses a kind of robot systems of robot arm end effector that leak stopping is played with twirl, including for twisting the robot arm end effector for playing leak stopping, robot chassis, creeper undercarriage, control cabinet, mechanical arm, cradle head mechanism and camera, the two sides on robot chassis are arranged in the creeper undercarriage, the control cabinet is installed on the robot extreme end of chassis, the camera is mounted on the cradle head mechanism in the middle part of the robot chassis, the mechanical arm is set to the robot chassis front end, the mechanical arm tail end is connected with the robot arm end effector, twist for the leak source to leakage equipment and plays leak stopping.Using the present invention, can be suitably used for the leak source leak stopping of different size pipelines by robot arm end effector, the robot system of robot arm end effector composition has independent navigation and barrier avoiding function, can it is accurate, flexibly, be effectively carried out leak stopping operation.
Description
Technical field
The present invention relates to robotic technology fields more particularly to a kind of with twisting the robot arm end effector for playing leak stopping
Robot system.
Background technique
Pressure sealing is in the industrial trade for having continuous production demand, and in order to not influence production, and that takes is setting
A kind of technology of repairing leakage of pipeline is carried out under standby working condition with pressure.The technique functions are derived from Britain, and the country was opened from 1984
Begin to use blocking up under pressure technology, nowadays this technology is widely used in electric power, chemical company, becomes enterprise and realizes long week
Phase, No leakage important means, while avoid parking material excretion not only bring huge economic benefit, Er Qieyou to enterprise
Huge environment protection significance.
It in general, pressure sealing usually requires specially production and mounting fixture, and is by manually carrying out leakage defect mostly
Leak stopping.High-temperature steam is diffused in common pipe leakage in pipe network, pipe network moves towards changeable, causes leak stopping difficulty to increase, and hold
It easily causes danger, leak stopping is inefficient, needs the several technical staff with abundant pressure sealing operating experience to complete jointly stifled
Work is leaked, human cost is high.
It is big although having developed some leak stoppage tools for the leakage defect occurred in production process both at home and abroad at present
Most plugging operations are carried out there is still a need for artificial.With the continuous development of industrial automation, more and more industries all use machine
Device people come replace manually being engaged in it is some it is heavy, time-consuming, with dangerous work, to improve the production efficiency of enterprise.To improve
The efficiency and safety of plugging operation, it is necessary to design a next auxiliary suitable for the pressure sealing robot under high temperature and high pressure environment
Staff is helped to implement the leak stopping of leakage pipe.
Summary of the invention
It a kind of beat the mechanical arm tail end of leak stopping the technical problem to be solved by the embodiment of the invention is that providing and holds with twisting
The robot system of row device.Can replace be accomplished manually leakage pipe plugging operation, ancillary staff judges pipe leakage situation.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of mechanical arm tail ends for playing leak stopping with twirl to hold
The robot system of row device, including for twist the robot arm end effector for playing leak stopping, robot chassis, creeper undercarriage,
The two sides on robot chassis, the control is arranged in control cabinet, mechanical arm, cradle head mechanism and camera, the creeper undercarriage
Cabinet is installed on the robot extreme end of chassis, and the camera is mounted on the cradle head mechanism in the middle part of the robot chassis,
The mechanical arm is set to the robot chassis front end, and the mechanical arm tail end is connected with the robot arm end effector
It connects, twist for the leak source to leakage equipment and play leak stopping.
Wherein, power supply, industrial personal computer and mechanical arm control host are mounted in the control cabinet, which can be crawler travel machine
Structure, holder, camera, industrial personal computer, mechanical arm control host and mechanical arm power supply, the industrial personal computer respectively with creeper undercarriage, cloud
Platform, camera, mechanical arm control host electrical connection, and mechanical arm is controlled by controlling main-machine communication with mechanical arm.
Further, it is provided with fender bracket in the edge of robot, the rear and front end, chassis, pair on the fender bracket
Angle is provided with two laser radars.
Further, the holder and robot, junction, chassis device have a steering motor, can by the steering motor
Make 360 ° of holder rotations.
Further, the control cabinet upper surface is provided with an antenna, the antenna and the industry control mechatronics, for receiving
It signals, the industrial personal computer and external control devices is made to carry out information exchange, control mechanical arm is completed to leakage equipment leakage point
Twirl beats leak stopping task.
Further, robot arm end effector includes gas block stamp, makes core module and clamping module, the clamping mould by oneself
Block includes a pair of of claw, and the claw includes curved boom, cylinder, idler wheel, and the piston rod of the cylinder is installed on the upper of the curved boom
Downside is held, the idler wheel is installed on the lower end upper side of the curved boom, and the core module of making by oneself is set to the pair of claw
Between, the core module of making by oneself matches clamping leakage equipment with the idler wheel, and the core module of making by oneself is with a vertical direction
Through-hole, the gas block stamp is arranged in the through-hole, and gas block stamp lower end is equipped with striker, for letting out in leakage equipment
Leak source, which twist, plays leak stopping.
Further, the core module upper end of making by oneself is a connector for being equipped with circular through hole, and lower end is one in middle part
Position is equipped with the V-block of through-hole, the connector and the gas block stamp Joint；The V-block lower end is equipped with opening for inverted " V " font
Mouthful；The V-block lower end is additionally provided with the port of inverted " u " font.
Further, the V-block side is additionally provided with the connecting hole for being connected with mechanical arm tail end.
Further, be connected with the mechanical arm opposite side of side of the V-block is equipped with a camera, camera alignment
The port.
Further, the pair of claw is symmetrically arranged on the two sides of the V-block.
Further, the claw includes two thin arms of c-type.
Further, the claw is equipped with 2 idler wheels, and is horizontally installed between the thin arm of two c-types by roller bearing.
Further, the cylinder is guide rod cylinder, and the guide rod cylinder passes through the threaded hole set on cylinder side
It is connected with the V-block for making core module by oneself, the side that the V-block is connected with the guide rod cylinder is equipped with and the guide rod cylinder
The threaded hole to match.
The implementation of the embodiments of the present invention has the following beneficial effects: structure of the invention is novel in design rationally, due to mechanical arm end
End is mounted with for twisting the end effector for playing leak stopping, therefore neatly can carry out leak stopping by the pipeline to different tube diameters size, together
When, it makes the end effector of leak stopping for twisting camera is installed, leak source position can be accurately positioned, operator's leak stopping point can be given
Image information.Further, since robot system device has camera, therefore the case where surrounding can be observed, leak source can be tentatively confirmed
Position, meanwhile, be diagonally provided with two laser radars on fender bracket, can independent navigation, avoidance.Overall structure of the invention is tight
It gathers, stability is good, functional, and can be used for the leak stopping of different size pipe leakage defects, is conducive to wide popularization and application.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram for twisting the robot arm end effector for playing leak stopping；
Fig. 3 is shown in Fig. 2 for twisting the structural schematic diagram beaten in the robot arm end effector of leak stopping and make core module by oneself；
Fig. 4 is shown in Fig. 2 for twisting the claw structure schematic diagram for clamping module in the robot arm end effector for playing leak stopping.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give the preferred embodiment of the present invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is make it is more thorough and comprehensive to the disclosure.
It should be noted that it can directly on the other element when element is referred to as " being fixedly arranged on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
Referring to Fig.1 shown in, the embodiment of the present invention includes robot chassis 101, creeper undercarriage 103, control cabinet 105,
Six shaft mechanical arms 1010, cradle head mechanism 107 and camera 109, the creeper undercarriage 103 are arranged in the two of robot chassis 101
Side, the control cabinet 105 are mounted on robot, 101 tail portion, chassis, which is mounted on robot, 101 middle part, chassis, use
In the angle of adjustment camera 109, which is mounted on cradle head mechanism 107, is used for Primary Location leakage point, the six axis machine
Tool arm 1010 is mounted on robot, 101 head, chassis, and device has for twisting the robot arm end effector 20 for playing leak stopping.
The two sides on robot chassis 101 are arranged in the crawler travel structural mechanism crawler travel structure 103, and in crawler belt
There is damping device, which includes two linking arms 1013, pulley 1012 and spring 1014, and two linking arms 1013 are hinged on one
It rises, the upper end of two linking arms 1013 is connected with spring 1014, plays cushioning effect；The lower end of two linking arms 1013 is equipped with pulley
1012, for reducing the friction with crawler belt.
The rotation angle of cradle head mechanism 107 is 360 °, adjusts height appropriate, camera 109 is allowed to obtain more ambient enviroments
Image information, consequently facilitating the robot system that the twirl plays leak stopping realizes independent navigation and avoidance.The image that camera 109 obtains
The processing of row defogging, and by treated, image is shown on the display screen of control cabinet, allows operator to observe leakage situation, certainly
Determine the mode of leak stopping.
Six shaft mechanicals arm, 1010 end is equipped with for twisting the robot arm end effector 20 for playing leak stopping, can be neatly to not
Pipeline with pipe diameter size carries out leak stopping, beats the robot arm end effector 20 of leak stopping for twisting and is equipped with camera, accurately calmly
Position leak source position, and give operator's image information of leak stopping point.
For security consideration, in the embodiment of the present invention, fender bracket 102 is also mounted in the robot system which plays leak stopping,
Two laser radars 104 are diagonally provided with for avoidance on fender bracket, prevent the important feature of robot and equipment from being destroyed.
Further, when six shaft mechanical arms 1010 are hindered by the excessive moment of resistance, mechanical arm shuts down alarm.
Referring to Fig. 2, robot arm end effector of the invention, including gas block stamp 211, make core module 213, clamping mould by oneself
Block 215, clamping module 215 are made of two claws 2151, which includes the thin arm 21511 of c-type, cylinder 21513 and rolling
Wheel 21515, the cylinder 21513 are set to the upper end of the claw 2151 and are connected with thin 21511 one end of arm of the c-type, the idler wheel 21515
Set on the claw 2151 lower end and be connected with thin 21511 other end of arm of the c-type, this make by oneself core module 213 set on this two card
It between pawl 2151, and is matched with the idler wheel 21515 in the clamping module 215, for clamping leakage equipment, the gas block stamp 211
It is fixedly arranged on this to make by oneself on core module 213, the striker 217 installed by 211 lower end of gas block stamp, to the leakage in leakage equipment
Point 219, which twist, plays leak stopping.
Fig. 2 and Fig. 3 are please referred to, two claws 2151 of the clamping module 215 in first embodiment of the invention include that c-type is thin
Arm 21511, cylinder 21513 and idler wheel 21515 are assemblied on claw 2151 wherein each claw 2151 has 3 cylinders 21513
There are 4 threaded holes 21517 in portion, 21513 side of cylinder respectively to be fixed together with intermediate core module 213 of making by oneself, work as electronics
Valve cylinder 21513 extends, and can make claw 2151 and make 213 clamping pipe of core module by oneself, by under the thin arm 21511 of two c-types
Available two axis of rolling in the hole in portion, two idler wheels 21515 can be assemblied in above the two axis, install when on claw 2151
When having idler wheel 21515, end effector can be rotated around leakage pipe.
It should be understood that in other embodiments, the shape of claw 2151 can be in " C " font, can also to be semicircle or
The structure of other shapes.
It should be understood that the number of cylinder 21513 can also be 3 in other embodiments, or in addition to 3 other are several
It is a.
Fig. 3 and Fig. 4 are please referred to, the connector 2131 that core module 213 includes upper end of making by oneself in first embodiment of the invention
With the V-block 2133 of lower end, which is connected through a screw thread with the V-block 2133, the 2133 lower end two sides of V-block point
Not She You inverted " V " font opening, can be used for clamping and fixed leakage equipment；2133 lower end of V-block is additionally provided with 2 inverted " u "s
The port of font can be used for observing leak stopping situation, and 2133 pieces of sides of the V-type are additionally provided with 4 for being connected with mechanical arm tail end
A connecting hole 21331 for being fixed with mechanical arm tail end, while being equipped with one on the opposite of mechanical arm tail end mounting surface
Miniature webcam 21335, which can be used for finding leak source and the case where leaking is beaten in observation.
The present invention is a kind of for twisting the working principle for beating the robot arm end effector of leak stopping are as follows: when pipeline leaks
When, end effector is adjusted to appropriate location by mechanical arm, is then looked for according to the miniature webcam 21335 on end effector
To leak source 219, guide rod cylinder 21513 extends at this time, the rising of 2151 lower part of c-type block, until idler wheel 21515 and V-block 213
V-groove can perfectly clamp leakage pipeline, at this point, miniature webcam 21335 further looks at the specific location of leak source 219,
After observation finishes, adjustment gas block stamp striker 217 begins to use gas block stamp 211 to twist leak source 219 to 219 top of leak source
It beats, when twirl, which beats angle, to be needed to change, is rolled using idler wheel 21515, make entirely to clamp module without release conditions again
Under, mechanical arm tail end adjustment end effector can be made to be rotated, finished until twisting and playing leak stopping.
Structure of the invention is novel in design rationally dexterously to combine track structure 103 with six shaft mechanical arms 1010,
The technical solution of this kind of combining form has merged the various advantages of track structure 103 and six shaft mechanical arms 1010, such as crawler type
Structure 103 and bumper frame 102 can be used in twist and beat the robot system of leak stopping in operational process with good stability；Peace
The camera 109 of dress can be used for observing the ambient enviroment for leaking equipment, Primary Location leakage point and assist the robot obstacle-avoiding；?
Mechanical arm tail end is provided with for twisting the robot arm end effector 20 for playing leak stopping, and is mounted on this for twisting the machine for playing leak stopping
Camera 209 on tool arm end effector 20, the camera 209 can be such that this has very well for twisting the robot system for playing leak stopping
Object visual identity and vision twirl beat leak stopping function；Compared to single multi-degree-of-freemechanical mechanical arm, which makes the machine of leak stopping
Big stroke, a wide range of operation may be implemented in people's system.Compact overall structure of the invention, stability is good, functional, and can fit
It should be conducive to wide popularization and application in different application environments.
The above embodiment only expresses preferred embodiment of the invention, and the description thereof is more specific and detailed, but not
Limitations on the scope of the patent of the present invention therefore can be interpreted as.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of robot system for the robot arm end effector for playing leak stopping with twirl, which is characterized in that including being beaten for twisting
Robot arm end effector, robot chassis, creeper undercarriage, control cabinet, mechanical arm, cradle head mechanism and the camera of leak stopping,
The two sides on robot chassis are arranged in the creeper undercarriage, and the control cabinet is installed on the robot extreme end of chassis, institute
It states on the cradle head mechanism that camera is mounted in the middle part of the robot chassis, the mechanical arm is set to the robot chassis
Front end, the mechanical arm tail end are connected with the robot arm end effector, twist for the leak source to leakage equipment and beat
Leak stopping.
2. according to claim 1 have the robot system for twisting the robot arm end effector for playing leak stopping, feature exists
In, be mounted in the control cabinet power supply, industrial personal computer and mechanical arm control host, the power supply can be creeper undercarriage, cloud
Platform, camera, industrial personal computer, mechanical arm control host and mechanical arm power supply, the industrial personal computer respectively with creeper undercarriage, holder,
Camera, mechanical arm control host electrical connection, and mechanical arm is controlled by controlling main-machine communication with mechanical arm.
3. according to claim 2 have the robot system for twisting the robot arm end effector for playing leak stopping, feature exists
In the edge of robot chassis rear and front end is provided with fender bracket, is diagonally provided with laser on the fender bracket
Radar.
4. according to claim 3 have the robot system for twisting the robot arm end effector for playing leak stopping, feature exists
In the control cabinet upper surface is provided with an antenna, the antenna and the industry control mechatronics, is used for receiving and transmitting signal.
5. according to claim 1-4 have the robot system for twisting the robot arm end effector for playing leak stopping,
It is characterized in that, the robot arm end effector, including gas block stamp, make core module and clamping module, the clamping module by oneself
Including a pair of of claw, the claw includes curved boom, cylinder, idler wheel, and the piston rod of the cylinder is installed on the upper end of the curved boom
Downside, the idler wheel are installed on the lower end upper side of the curved boom, it is described make by oneself core module be set to the pair of claw it
Between, the core module of making by oneself matches clamping leakage equipment with the idler wheel, and the core module of making by oneself is with a vertical direction
Through-hole, the gas block stamp are arranged in the through-hole, and gas block stamp lower end is equipped with striker, for the leakage in leakage equipment
Point, which twist, plays leak stopping.
6. according to claim 5 have the robot system for twisting the robot arm end effector for playing leak stopping, feature exists
In the core module upper end of making by oneself is a connector for being equipped with circular through hole, and lower end is one in V-type of the intermediate position equipped with through-hole
Block, the connector and the gas block stamp Joint；The V-block lower end is equipped with the opening of inverted " V " font；Under the V-block
End is additionally provided with the port of inverted " u " font.
7. according to claim 6 have the robot system for twisting the robot arm end effector for playing leak stopping, feature exists
In the V-block side is additionally provided with the connecting hole for being connected with mechanical arm tail end.
8. according to claim 7 have the robot system for twisting the robot arm end effector for playing leak stopping, feature exists
It is equipped with a camera in be connected with the mechanical arm opposite side of side of, the V-block, the camera is directed at the port.
9. according to claim 8 have the robot system for twisting the robot arm end effector for playing leak stopping, feature exists
In the pair of claw is symmetrically arranged on the two sides of the V-block.
10. according to claim 9 have the robot system for twisting the robot arm end effector for playing leak stopping, feature exists
In the cylinder is guide rod cylinder, and the guide rod cylinder is by being set to the threaded hole of cylinder side and making the V-type of core module by oneself
Block is connected, and the side that the V-block is connected with the guide rod cylinder is equipped with the threaded hole to match with the guide rod cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910095027.6A CN109732555B (en) | 2019-01-30 | 2019-01-30 | Robot system with twisting and plugging mechanical arm end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910095027.6A CN109732555B (en) | 2019-01-30 | 2019-01-30 | Robot system with twisting and plugging mechanical arm end effector |
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| CN109732555A true CN109732555A (en) | 2019-05-10 |
| CN109732555B CN109732555B (en) | 2023-09-26 |
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Cited By (7)
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| CN110558196A (en) * | 2019-07-18 | 2019-12-13 | 北京理工华汇智能科技有限公司 | Rubber tapping robot |
| CN110605719A (en) * | 2019-09-25 | 2019-12-24 | 汕头大学 | Robot, system and method for online pressurized leakage blocking |
| CN110701423A (en) * | 2019-09-25 | 2020-01-17 | 汕头大学 | Pipeline leakage point positioning and repairing equipment and method based on double ends |
| CN111022936A (en) * | 2019-11-29 | 2020-04-17 | 汕头大学 | Pipeline leakage point positioning device, under-pressure leakage blocking device and pipeline leakage point positioning method |
| CN111895212A (en) * | 2020-08-05 | 2020-11-06 | 山东大学 | Pipeline leakage stoppage robot and working method |
| CN113702995A (en) * | 2021-09-01 | 2021-11-26 | 国网江苏省电力有限公司扬州供电分公司 | Space positioning system for assisting in hanging and placing grounding wire operation |
| CN115255884A (en) * | 2022-07-21 | 2022-11-01 | 南京工业职业技术大学 | Automatic robot roller assembling system and method based on OpenCV (open source computer vision library) vision processing |
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| CN111895212A (en) * | 2020-08-05 | 2020-11-06 | 山东大学 | Pipeline leakage stoppage robot and working method |
| CN111895212B (en) * | 2020-08-05 | 2021-07-16 | 山东大学 | Pipeline leakage stoppage robot and working method |
| CN113702995A (en) * | 2021-09-01 | 2021-11-26 | 国网江苏省电力有限公司扬州供电分公司 | Space positioning system for assisting in hanging and placing grounding wire operation |
| CN115255884A (en) * | 2022-07-21 | 2022-11-01 | 南京工业职业技术大学 | Automatic robot roller assembling system and method based on OpenCV (open source computer vision library) vision processing |
| CN115255884B (en) * | 2022-07-21 | 2023-12-05 | 南京工业职业技术大学 | Robot roller automatic assembly system and method based on OpenCV vision processing |
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