CN110328566A - The detection repairing climbing robot and detection method for repairing and mending on overlength cylindrical structure surface - Google Patents
The detection repairing climbing robot and detection method for repairing and mending on overlength cylindrical structure surface Download PDFInfo
- Publication number
- CN110328566A CN110328566A CN201910513554.4A CN201910513554A CN110328566A CN 110328566 A CN110328566 A CN 110328566A CN 201910513554 A CN201910513554 A CN 201910513554A CN 110328566 A CN110328566 A CN 110328566A
- Authority
- CN
- China
- Prior art keywords
- electric pushrod
- cylindrical structure
- motor
- camera
- repaired
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
- B24B47/04—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by mechanical gearing only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/02—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work
- B24B5/04—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work for grinding cylindrical surfaces externally
- B24B5/045—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work for grinding cylindrical surfaces externally with the grinding wheel axis perpendicular to the workpiece axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8854—Grading and classifying of flaws
- G01N2021/8867—Grading and classifying of flaws using sequentially two or more inspection runs, e.g. coarse and fine, or detecting then analysing
- G01N2021/887—Grading and classifying of flaws using sequentially two or more inspection runs, e.g. coarse and fine, or detecting then analysing the measurements made in two or more directions, angles, positions
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Biochemistry (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Immunology (AREA)
- Signal Processing (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
Climbing robot is repaired in a kind of detection on overlength cylindrical structure surface, including climbing mechanism, the climbing mechanism includes annular gear ring, magnetic force adsorption apparatus, electric pushrod piston rod, electric pushrod cylinder barrel, electric pushrod rod piece, electric pushrod motor and magnetic-adsorption stepper motor；It further include camera carrier body, the camera carrier body is mounted on the annular gear ring, lead screw motor is installed on the camera carrier body, guide-rail plate is fixedly installed on the camera carrier body of the lead screw motor corresponding position, sliding has sliding block on the guide-rail plate, the sliding block is connected with the output screw rod of the lead screw motor, and detachable camera components or detachable repaired components are equipped on the sliding block；The present apparatus further includes that image receives split system and control system, electric system, is attached between them by circuit.The invention also includes a kind of methods for carrying out detection repairing using the climbing robot.
Description
Technical field
The invention belongs to construction robot technical fields, and in particular to a kind of detection repairing on overlength cylindrical structure surface is climbed
Climb robot and its detection method for repairing and mending.
Background technique
In construction, it is frequently encountered the construction of overlength cylinder mechanism part, such as the lifting cylinder of dam crane,
Piston rod is metal material, if its surface existing defects will will affect the normal work of lifting cylinder.
The detection mode of construction site mainstream is to use to set up bracket at present, by manually carrying out detection repairing, using people
The method of work detection, the time of cost is excessively long, and high altitude operation has certain personal injury risk again.Therefore it needs to design one
Kind can carry out the instrument of detection repairing to this overlength cylindrical structure of lifting cylinder piston rod automatically by controlling, to improve detection
Efficiency reduces cost of labor and personal injury risk.
For example, application for a patent for invention " a kind of overlength cylindrical structure surface detection robot " (application number:
CN201810731765.0) it discloses a kind of robots that can detecte overlength cylindrical structure surface, but the design is only
Have detection function, if it finds that cylindrical structure surface existing defects are still obtained by manually being repaired, is unable to complete certainly
Dynamic control repairing.
Summary of the invention
The object of the present invention is to provide one kind overlength cylindrical structure can be detected and be repaired automatically by control, keeps away
The direct high-altitude application of manpower-free.
In order to achieve the above objectives, the technical solution adopted by the present invention are as follows:
Climbing robot, including climbing mechanism, the climbing mechanism packet are repaired in a kind of detection on overlength cylindrical structure surface
Include annular gear ring, magnetic force adsorption apparatus, electric pushrod piston rod, electric pushrod cylinder barrel, electric pushrod rod piece, electric pushrod electricity
Machine and magnetic-adsorption stepper motor；The annular gear ring is mounted on electric pushrod rod piece top, the electric pushrod bar
Part is threadedly attached on the electric pushrod piston rod；The electric pushrod piston rod is mounted on the electric pushrod cylinder barrel
In, drive it to stretch out or pack up from the electric pushrod cylinder barrel by the electric pushrod driving motor；The magnetic force adsorption apparatus
It is separately mounted on the electric pushrod cylinder barrel and electric pushrod rod piece, to adsorb detected body；The magnetic-adsorption stepping
The change of magnetic force systems inside magnetic force adsorption apparatus described in motor control, to realize the absorption and release to detected body, also
Including the camera carrier body being mounted on annular gear ring；It is characterized by: being equipped with screw rod electricity on the camera carrier body
Machine is fixedly installed with guide-rail plate on the camera carrier body of the lead screw motor corresponding position, slides on the guide-rail plate
Have sliding block, the sliding block is connected with the output screw rod of the lead screw motor, be equipped on the sliding block detachable camera components or
Detachable repaired components；The present apparatus further includes that image receives split system and control system, electric system, is led between them
Oversampling circuit is attached.
Further, the detachable repaired components include emery wheel, emery wheel rotation axis, connection handle, and the emery wheel is mounted on
In the emery wheel rotation axis, the emery wheel rotation axis is mounted on the guide-rail plate, and described connection handle one end is eccentrically mounted at institute
It states on emery wheel, on sliding block described in the other end.
Further, the detachable camera components are cameras with fixed focus, when away from cylindrical structure surface distance difference, institute
Known to shooting angle range.
Further, the electric pushrod piston rod collapsing length can be surveyed.
Further, the annular gear ring is composed of two semi-ring shaped ring gears, and the annular gear ring outer rim is provided with
200 teeth, pinion gear is 25 teeth, in order to accurately control camera carrier present position, should ensure that transmission ratio is integer.
Further, the camera carrier includes support, and encoder motor, the encoder electricity are equipped on the support
Driving gear is provided on the output shaft of machine, the driving gear is engaged with the annular gear ring, the sliding tooth wheel rotation one
Known to its all rotational angle on the annular gear ring.
Further, it is connected between the magnetic force adsorption apparatus by magnetic connection axis, is arranged on the magnetic connection axis
There are two the magnet shaft rotary spacing switches in 90 ° of angles.
Detection repairing is carried out using the detection repairing climbing robot on overlength cylindrical structure surface the invention also includes a kind of
Method, include the following steps:
S1 measures principal length, the perimeter of overlength cylindrical structure, chooses climbing robot in overlength cylindrical structure main body
The initial makeup location and label of bottom；
Climbing robot is assembled and is installed in the main body of overlength cylindrical structure, installed detachable camera components, make by S2
Detachable camera components are located at the initial makeup location marked in S1, adjust detachable camera components by lead screw motor
Cameras with fixed focus shoots and locks shooting angle；
S3, control encoder motor operating, rotates the camera carrier around annular gear ring, is controlled by control system
Encoder motor turnning circle, it is ensured that shooting cameras with fixed focus next time has being overlapped for fixed angle with last time shooting, so rotates
One encloses to original position；
S4 controls climbing mechanism by control system and starts to rise after one circle of shooting of bottom, the electric pushrod motor
By pulse control, the electric pushrod piston rod is screw-type structure, and the pitch of thread is certain, the electric pushrod as described in pulse control
Motor operating circle number, operates circle number by it and learns the electric pushrod piston rod certain distance, thus can measure it and stretch out length
Degree and the camera carrier body climb, it is ensured that camera carrier body climb is the cameras with fixed focus in vertical side
In last time, shooting had the coincidence of regular length for upward shooting next time；After camera carrier body rises in place, ring is carried out again
Around shooting；
S5, according to repeating climbing motion the step of S1 to S4 and surrounding to shoot, until overlength cylindrical structure surface is shot
It completes, climbing robot is back to initial position；Image data is sent to image by circuit and receives spelling by detachable camera components
Collaboration system, described image receives split system and is spliced according to setting program to captured image, to form overlength cylinder
The configuration figure of body structure surface；And two dimension seat is drawn according to detachable camera components vertical shift distance and around move angle
It marks, defect present in artificial judgment overlength cylindrical structure surface simultaneously determines the defect in overlength cylindrical structure according to two-dimensional coordinate
Surface specific location；
S6 dismantles detachable camera components, installs detachable repaired components, controls climbing robot by control system and arrives
Up to there is rejected region determined by two-dimensional coordinate to be repaired.
The utility model has the advantages that
The present invention can automatically and accurately shoot overlength cylindrical structure surface, and receive spelling system by image and obtain
To the two-dimensional coordinate figure on accurately overlength cylindrical structure surface, so as to precisely judge the position of existing defects；The present apparatus
Auto-mending can also be carried out to existing defects position by replacing detachable repaired components, substitute manual operation, improve work
Efficiency reduces cost of labor.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is camera carrier body sectional view in the present invention；
Fig. 3 is that camera carrier body installs state diagram after cameras with fixed focus in the present invention；
Fig. 4 is that camera carrier body installs state diagram after detachable repaired components in the present invention；
Fig. 5 is guide-way plate mechanism schematic diagram in the present invention；
Fig. 6 is magnet shaft rotary spacing switch setting figure in the present invention；
Fig. 7 is slide block structure schematic diagram in the present invention；
Fig. 8 a control system is parameter interface；
Fig. 8 b is the manual interface of control system；
Fig. 8 c is the automatic interface of control system.
Fig. 9 is the big logotype of different images after image reception split system institute split in the present invention；
In figure: 1 electric pushrod cylinder barrel, 2 electric pushrod rod pieces, 3 electric pushrod piston rods, 4 electric pushrod motors, 5 annulars
Gear ring, 6 magnetic force adsorption apparatus, 7 magnetic-adsorption stepper motors, 8 magnetic connection axis, 801 magnet shaft rotary spacings switch, 9 cameras
Carrier body, 10 encoder motors, 11 lead screw motors, 12 cameras with fixed focus, 13 emery wheels, 14 connection handles, 15 sliding blocks, 151 camera shootings
Head mounting post, 152 threaded holes, 16 emery wheel rotation axis, 17 guide-rail plates, 18 screw rods, 19 motor supporting bases, 20 lead screw motors are fixed
Plate, 21 screw rod support plates, 22 shaft couplings, 23 emery wheel limited blocks, 24 gear shafts, 25 driving gears.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is described further the present invention.
It should be noted that main structure of the present invention and disclosing a kind of application for a patent for invention " overlength cylindrical structure Surface testing
The main structure of robot " (application number: CN201810731765.0) is essentially identical, to state convenient for simplifying with the clear present invention
Made improvement part content is not herein mainly described the two partially but.
Such as Fig. 1,2, climbing robot, including climbing mechanism are repaired in a kind of detection on overlength cylindrical structure surface, described to climb
Climbing mechanism includes annular gear ring 5, magnetic force adsorption apparatus 6, electric pushrod piston rod 3, electric pushrod cylinder barrel 1, electric pushrod rod piece
2, electric pushrod driving motor and magnetic-adsorption stepper motor 7；The annular gear ring 5 is mounted on the electric pushrod rod piece 2
Top, the electric pushrod rod piece 2 are threadedly attached on the electric pushrod piston rod 3；The electric pushrod piston rod 3
It is mounted in the electric pushrod cylinder barrel 1, drives it to stretch out from the electric pushrod cylinder barrel 1 by the electric pushrod driving motor
Or it packs up；The magnetic force adsorption apparatus 6 is separately mounted on the electric pushrod cylinder barrel 1 and electric pushrod rod piece 2, to adsorb
Detected body；The magnetic-adsorption stepper motor 7 controls the change of the 6 inside magnetic force systems of magnetic force adsorption apparatus, thus real
It further include the camera carrier body 9 being mounted on annular gear ring 5, the camera carrier now to the absorption of detected body and release
Encoder motor 10 is installed on component 9, driving gear 25, the driving are installed on the output shaft of the encoder motor 10
Gear 25 is engaged with the annular gear ring 5, wherein the annular gear ring 5 is outer ring shaped ring gear.On the driving gear 25
Gear is meshed with the gear on annular gear ring 5, when the encoder motor 10 rotates a fixing turn, the driving gear 25
Known to rotational angle around the annular gear ring 5, it is preferable that 5 outer rim of annular gear ring is provided with 200 teeth, and driving gear 25 is
25 teeth, in order to accurately control camera carrier present position, to guarantee transmission ratio as integer.
Such as Fig. 3,5, guide-rail plate 17 is installed on the camera carrier body 9, screw rod electricity is installed on the guide-rail plate 17
Machine fixed plate 20 is equipped with lead screw motor 11 in the lead screw motor fixed plate 20.Two are also equipped on the guide-rail plate 17
Screw rod support plate 21 spaced apart, screw rod 18 is connected on 11 output shaft of lead screw motor, and the screw rod 18 is installed
In the screw rod support plate 21, and can be in their inner rotations and detachable.It is also equipped with sliding block 15 on the guide-rail plate 17,
It is provided with the threaded hole 152 of perforation inside the sliding block 15, is slidably mounted on the sliding block 15 by the threaded hole 152 described
On screw rod 18, drive the rotation of screw rod 18 that the sliding block 15 is driven to move on guide-rail plate 17 by lead screw motor 11, it should
Understand, the lead screw motor 11 can be rotated forward or backwards, and then the sliding block 15 is driven to advance or retreat.The cunning
It is provided with camera mounting post 151 on block 15, by the installation of camera mounting post 151, dismantles the cameras with fixed focus 12.It should
Illustrate, installation site of the guide-rail plate 17 on the camera carrier body 9 is fixed；The sliding block 15 is located at two silks
Before bar support plate 21, initial position is located at the screw rod support plate 21 of lead screw motor 11, at this time cameras with fixed focus 12
Certain apart from overlength cylindrical structure surface distance, shooting visual angle is certain, and the overlength cylindrical structure surface area of shooting is certain, works as silk
It, can be according to the spiral shell for the circle number, screw rod 18 that lead screw motor 11 rotates when bar motor 11 drives sliding block 15 to travel forward by screw rod 18
Away from distance of the camera apart from piston rod surface is adjusted, its shooting visual angle is constant at this time, the overlength cylindrical structure table of shooting
Area can be calculated according to the distance that travels forward.
Such as Fig. 3,4,5, the cameras with fixed focus 12 is removed, by emery wheel rotation axis 16 and emery wheel limited block by emery wheel
13 are mounted on guide-rail plate 17, while 14 one end of connection handle being mounted on emery wheel 13, and the other end is mounted on the camera of sliding
In mounting post 151, installation of the connection handle 14 on emery wheel 13 is installed using centering type, thus forms a kind of eccentric wheel knot
Structure.When lead screw motor 11 drives sliding block 15 to move forward and backward by screw rod 18, due to using eccentric wheel structure, connection handle 14 is by band
Dynamic emery wheel 13 is rotated around emery wheel rotation axis 16 and then is polished overlength cylindrical structure surface.
Such as Fig. 6, it is connected between the magnetic force adsorption apparatus 6 by magnetic connection axis 8, is arranged on the magnetic connection axis 8
There are two magnet shaft rotary spacing switch 801, one of magnet shaft rotary spacing switch 801 is adsorbed with magnetic force adsorption apparatus 6
Surface tangent is parallel, and a magnet shaft rotary spacing switch 801 and 6 absorption surface tangent line of magnetic force adsorption apparatus are disposed, i.e., and two
It is in 90 ° of angles between magnet shaft rotary spacing switch 801, prevents stuck phenomenon to limit 8 rotational angle of magnetic connection axis.
The invention also includes control system, the control system passes through route and the encoder motor 10, lead screw motor
11 and electric pushrod motor 4, magnetic-adsorption stepper motor 7 be connected, and control the operating of these electrical components.The control system
System mainly uses PLC control system, i.e. programmable logic controller (PLC).
The invention also includes electric system, the electric system is connected to them by route and each electrical components and provides electricity
Source guarantees.
The present apparatus further includes that image receives split system, and described image receives split system and passes through route and cameras with fixed focus
12 are attached, and receive the image that cameras with fixed focus 12 is shot and the general image splicing operation for completing overlength cylindrical structure surface
The two-dimensional coordinate figure on overlength cylindrical structure surface is formed.Wherein image herein receives split system and uses prior art hand
Section, for example, authorized patent of invention " a kind of Panorama Mosaic device, method and monitoring system " (application number:
CN201510016487.7), authorized patent of invention " a kind of image split-joint method and system " (application number:
CN201510771828.1), authorized patent of invention " image split-joint method and device " (application number:
CN200810212183.8), it can be seen that, the split of correspondence image or splicing have been that one kind often has technological means.
Detection repairing is carried out using the detection repairing climbing robot on overlength cylindrical structure surface the invention also includes a kind of
Method, include the following steps:
S1 chooses climbing robot in the initial makeup location and label of overlength cylindrical structure bottom part body.Due to climbing
Robot is climbed to be completed so having certain vision dead zone by artificial detection with certain height.
Climbing robot is assembled and is installed in the main body of overlength cylindrical structure, installed detachable camera components, make by S2
Cameras with fixed focus 12 in detachable camera components is located at the initial makeup location marked in S1, is adjusted by lead screw motor 11
The cameras with fixed focus 12 of whole detachable camera components, shoots and locks shooting angle；It is necessary to ensure that cameras with fixed focus 12 is located at just
Beginning position, and the initial position being located on guide-rail plate 17, its shooting visual angle is certain at this time, and shooting area is certain.
S3, control encoder motor 10 operate, rotate the camera carrier around annular gear ring 5, pass through control system
Controlling 10 turnning circle of encoder motor, it is ensured that cameras with fixed focus 12 next time of shooting has being overlapped for fixed angle with last time shooting,
So rotation one is enclosed to original position.It is set in one embodiment in the present invention, driving gear 25 often turns an angle, around ring
Shaped ring gear 5 rotates 36 °, and cameras with fixed focus 12 can shoot a photo at this time, and driving gear 25 is rotated further by certain angle, and fixed-focus is taken the photograph
As first 12 shooting photo has being overlapped for fixed angle with the photo shot before.Thus when driving gear 25 is around annular gear ring 5
After one circle of rotation, cameras with fixed focus 12 can shoot 10 photos being overlapped with certain angle.Preferably, the encoder motor
10 using to six encoder motor ASLONG motors, being permanent magnetic DC speed-reducing motor, can test the speed and can positive and negative rotation, axis
Long, revolving speed and voltage can be customized.
S4 controls climbing mechanism by control system and starts to rise after one circle of shooting of bottom, heretofore described electronic
Push-rod piston bar 3 is designed using screw-type, sets its screw pitch as 2mm, it is assumed that cameras with fixed focus 12 needs to rise 12mm, then electronic
Push-rod piston bar 3 needs to rotate 6 circles.It is connected between the electric pushrod motor 4 and electric pushrod piston rod 3 by retarder,
The transmission ratio of retarder is set as 1:2, then electric pushrod motor 4 needs to rotate 12 circles.Preferably, the electric pushrod motor 4
Using pulse control type servo motor, the servo motor pulse equivalency is set as 1, arteries and veins needed for the above-mentioned 1mm of electric pushrod piston rod 3
Rushing number is 2000, therefore when needing makes cameras with fixed focus 12 rise certain distance, it is only necessary to give electric pushrod motor 4 one
Determine pulse number.The upper lift of cameras with fixed focus 12 can also be calculated by the pulse number for giving electric pushrod motor 4
From.Thus 3 extension elongation of electric pushrod piston rod and 9 climb of camera carrier body can be measured, it is ensured that camera carrier
9 climb of component is that shooting next time of the fixed-focus mirror image 12 in the vertical direction shot the weight for having regular length in last time
It closes；After camera carrier body 9 rises in place, carry out surrounding shooting again.
S5, according to repeating climbing motion the step of S1 to S4 and surrounding to shoot, until overlength cylindrical structure surface has been shot
At climbing robot is back to initial position；Image data is sent to image by circuit and receives split by detachable camera components
System, described image receives split system and is spliced according to setting program to captured image, to form overlength cylinder knot
The configuration figure on structure surface；And two dimension seat is drawn according to detachable camera components vertical shift distance and around move angle
The surface information of cylindrical structure is carried out two-dimensional development and determines the defect in overlength cylindrical structure table according to two-dimensional coordinate by mark
Mask body position；
S6 dismantles detachable camera components, installs detachable repaired components, controls climbing robot by control system and arrives
Up to there is rejected region determined by two-dimensional coordinate to be repaired.
Claims (8)
1. climbing robot is repaired in a kind of detection on overlength cylindrical structure surface, including climbing mechanism, the climbing mechanism include
Annular gear ring, magnetic force adsorption apparatus, electric pushrod piston rod, electric pushrod cylinder barrel, electric pushrod rod piece, electric pushrod driving electricity
Machine and magnetic-adsorption stepper motor；The annular gear ring is mounted on electric pushrod rod piece top, the electric pushrod bar
Part is threadedly attached on the electric pushrod piston rod；The electric pushrod piston rod is mounted on the electric pushrod cylinder barrel
In, drive it to stretch out or pack up from the electric pushrod cylinder barrel by the electric pushrod driving motor；The magnetic force adsorption apparatus
It is separately mounted on the electric pushrod cylinder barrel and electric pushrod rod piece, to adsorb detected body；The magnetic-adsorption stepping
The change of magnetic force systems inside magnetic force adsorption apparatus described in motor control, to realize the absorption and release to detected body, also
Including the camera carrier body being mounted on annular gear ring；
It is characterized by: lead screw motor is installed on the camera carrier body, the phase of the lead screw motor corresponding position
Guide-rail plate is fixedly installed on airborne body component, sliding has sliding block, the sliding block and the lead screw motor on the guide-rail plate
It exports screw rod to be connected, detachable camera components or detachable repaired components is installed on the sliding block；The present apparatus further includes image
Split system and control system, electric system are received, is attached by circuit between them.
2. climbing robot is repaired in a kind of detection on overlength cylindrical structure surface according to claim 1, it is characterised in that:
The detachable repaired components include emery wheel, emery wheel rotation axis, connection handle, and the emery wheel is mounted in the emery wheel rotation axis,
The emery wheel rotation axis is mounted on the guide-rail plate, and described connection handle one end is eccentrically mounted on the emery wheel, other end institute
It states on sliding block.
3. climbing robot is repaired in a kind of detection on overlength cylindrical structure surface according to claim 1, it is characterised in that:
The detachable camera components are cameras with fixed focus, when away from cylindrical structure surface distance difference, known to captured angular range.
4. climbing robot is repaired in a kind of detection on overlength cylindrical structure surface according to claim 1, it is characterised in that:
The electric pushrod piston rod collapsing length is adjustable.
5. climbing robot is repaired in a kind of detection on overlength cylindrical structure surface according to claim 1, it is characterised in that:
The annular gear ring is composed of two semi-ring shaped ring gears, in order to accurately control camera carrier present position, should ensure that transmission
Than for integer.
6. climbing robot is repaired in a kind of detection on overlength cylindrical structure surface according to claim 1, it is characterised in that:
The camera carrier includes support, and encoder motor is equipped on the support, is arranged on the output shaft of the encoder motor
There is driving gear, the driving gear is engaged with the annular gear ring.
7. climbing robot is repaired in a kind of detection on overlength cylindrical structure surface according to claim 1, it is characterised in that:
It is connected between the magnetic force adsorption apparatus by magnetic connection axis, there are two be in 90 ° of angles for setting on the magnetic connection axis
Magnet shaft rotary spacing switch.
8. utilizing a kind of detection repairing climbing machine on overlength cylindrical structure surface described in claim 1,2,3,4,5,6 or 7
The method that people carries out detection repairing, characterized by the following steps:
S1 chooses climbing robot in the initial makeup location and label of overlength cylindrical structure bottom part body, under camera
It is completed by artificial detection robot vision blind area；
Climbing robot is assembled and is installed in the main body of overlength cylindrical structure, install detachable camera components, made removable by S2
It unloads camera components to be located at the initial makeup location marked in S1, the fixed-focus of detachable camera components is adjusted by lead screw motor
Camera shoots and locks shooting angle；
S3, control encoder motor operating, rotates the camera carrier around annular gear ring, is controlled and encoded by control system
Device motor turnning circle, it is ensured that shooting cameras with fixed focus next time has being overlapped for fixed angle with last time shooting, so one circle of rotation
To original position；
S4 controls climbing mechanism by control system and starts to rise, the electric pushrod motor is by arteries and veins after one circle of shooting of bottom
Punching control, the electric pushrod piston rod are screw-type structure, and the pitch of thread is certain, the electric pushrod motor as described in pulse control
Operating circle number, by its operate circle number learn the electric pushrod piston rod certain distance, thus can measure its extension elongation and
The camera carrier body climb, it is ensured that camera carrier body climb be the cameras with fixed focus in the vertical direction
Shooting next time in last time, shooting had the coincidence of regular length；After camera carrier body rises in place, carry out surrounding bat again
It takes the photograph；
S5 is completed according to repeating climbing motion the step of S1 to S4 and surrounding to shoot until overlength cylindrical structure surface is shot,
Climbing robot is back to initial position；Image data is sent to image by circuit and receives split system by detachable camera components
System, described image receives split system and is spliced according to setting program to captured image, to form overlength cylindrical structure
The configuration figure on surface；And two-dimensional coordinate is drawn according to detachable camera components vertical shift distance and around move angle,
Defect present in artificial judgment overlength cylindrical structure surface simultaneously determines the defect in overlength cylindrical structure table according to two-dimensional coordinate
Mask body position；
S6 dismantles detachable camera components, installs detachable repaired components, and controlling climbing robot arrival by control system has
Rejected region determined by two-dimensional coordinate is repaired.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910513554.4A CN110328566B (en) | 2019-06-14 | 2019-06-14 | Detection, repair and climbing robot for surface of super-long cylindrical structure and detection and repair method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910513554.4A CN110328566B (en) | 2019-06-14 | 2019-06-14 | Detection, repair and climbing robot for surface of super-long cylindrical structure and detection and repair method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110328566A true CN110328566A (en) | 2019-10-15 |
| CN110328566B CN110328566B (en) | 2021-08-17 |
Family
ID=68141978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910513554.4A Expired - Fee Related CN110328566B (en) | 2019-06-14 | 2019-06-14 | Detection, repair and climbing robot for surface of super-long cylindrical structure and detection and repair method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110328566B (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110987967A (en) * | 2019-12-13 | 2020-04-10 | 中国科学院深圳先进技术研究院 | Piston rod detection mechanism |
| CN111255982A (en) * | 2020-03-17 | 2020-06-09 | 安徽誉特双节能技术有限公司 | Rotor detection device for steam turbine |
| CN111496586A (en) * | 2020-04-26 | 2020-08-07 | 中国石油天然气集团有限公司 | Pipeline grinding device |
| CN111560860A (en) * | 2020-04-14 | 2020-08-21 | 姚辉 | Construction method for measuring segmental prefabricated spliced single tower |
| CN111751384A (en) * | 2020-07-10 | 2020-10-09 | 宝武集团马钢轨交材料科技有限公司 | Online detection system and detection method for surface defects of round steel |
| CN112067621A (en) * | 2020-08-29 | 2020-12-11 | 杭州山立净化设备股份有限公司 | Intelligent barrel inspection equipment for chemical equipment and barrel inspection method |
| CN112077683A (en) * | 2020-09-10 | 2020-12-15 | 核电运行研究(上海)有限公司 | Automatic climbing, polishing and coating integrated machine |
| CN112290448A (en) * | 2020-10-16 | 2021-01-29 | 重庆浪尖智能科技研究院有限公司 | Climbing method of climbing robot |
| CN112643499A (en) * | 2020-12-24 | 2021-04-13 | 刘杰 | Steel pipe burnishing and polishing equipment for building materials |
| CN112903691A (en) * | 2021-01-14 | 2021-06-04 | 山东交通学院 | Bridge check out test set convenient to repair damaged cable outside |
| CN112986279A (en) * | 2021-03-15 | 2021-06-18 | 河北振创电子科技有限公司 | Conveying pipeline detection device |
| CN113073731A (en) * | 2021-04-07 | 2021-07-06 | 武汉合创四联科技发展有限公司 | High-rise building sewage pipeline cleaning device and using method thereof |
| CN113771980A (en) * | 2021-09-30 | 2021-12-10 | 国网四川省电力公司南充供电公司 | Toper pole is portable in succession and is scrambleed device |
| CN114486925A (en) * | 2021-12-25 | 2022-05-13 | 国网四川省电力公司电力科学研究院 | Panoramic information-based intelligent detection system and method for corrosion of inner side of power transmission line tower |
| CN114777669A (en) * | 2022-04-19 | 2022-07-22 | 绍兴文理学院 | Yarn three-dimensional detection device based on multi-camera system |
| CN115257990A (en) * | 2022-07-06 | 2022-11-01 | 广东科驭科技有限公司 | Lifting robot for maintaining street lamp |
| CN116223527A (en) * | 2023-03-31 | 2023-06-06 | 中国长江电力股份有限公司 | Corrosion detection device and detection method for hydraulic hoist piston rod |
| CN116698842A (en) * | 2023-03-31 | 2023-09-05 | 中国长江电力股份有限公司 | System and processing method of hydraulic hoist piston rod rust detection device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105628739A (en) * | 2015-12-25 | 2016-06-01 | 黑龙江科技大学 | Robot laser infrared nondestructive testing device for large workpiece and flaw detection method |
| US20180326651A1 (en) * | 2017-05-10 | 2018-11-15 | Sipp Technologies, Llc | Inverted Filament Winder for Pipeline Rehabilitation |
| CN108820062A (en) * | 2018-07-05 | 2018-11-16 | 武汉科技大学 | Super-long cylindrical structure surface detection robot |
| CN109237204A (en) * | 2018-10-25 | 2019-01-18 | 南通理工学院 | Pipeline outer wall coating detects and automatic robot of repairing |
| CN109591906A (en) * | 2019-01-28 | 2019-04-09 | 山东建筑大学 | A kind of transmission tower climbing robot control system and control method |
-
2019
- 2019-06-14 CN CN201910513554.4A patent/CN110328566B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105628739A (en) * | 2015-12-25 | 2016-06-01 | 黑龙江科技大学 | Robot laser infrared nondestructive testing device for large workpiece and flaw detection method |
| US20180326651A1 (en) * | 2017-05-10 | 2018-11-15 | Sipp Technologies, Llc | Inverted Filament Winder for Pipeline Rehabilitation |
| CN108820062A (en) * | 2018-07-05 | 2018-11-16 | 武汉科技大学 | Super-long cylindrical structure surface detection robot |
| CN109237204A (en) * | 2018-10-25 | 2019-01-18 | 南通理工学院 | Pipeline outer wall coating detects and automatic robot of repairing |
| CN109591906A (en) * | 2019-01-28 | 2019-04-09 | 山东建筑大学 | A kind of transmission tower climbing robot control system and control method |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110987967A (en) * | 2019-12-13 | 2020-04-10 | 中国科学院深圳先进技术研究院 | Piston rod detection mechanism |
| CN111255982A (en) * | 2020-03-17 | 2020-06-09 | 安徽誉特双节能技术有限公司 | Rotor detection device for steam turbine |
| CN111255982B (en) * | 2020-03-17 | 2024-06-11 | 安徽誉特双节能技术有限公司 | Rotor detection device for steam turbine |
| CN111560860A (en) * | 2020-04-14 | 2020-08-21 | 姚辉 | Construction method for measuring segmental prefabricated spliced single tower |
| CN111496586A (en) * | 2020-04-26 | 2020-08-07 | 中国石油天然气集团有限公司 | Pipeline grinding device |
| CN111751384B (en) * | 2020-07-10 | 2021-10-12 | 宝武集团马钢轨交材料科技有限公司 | Online detection system and detection method for surface defects of round steel |
| CN111751384A (en) * | 2020-07-10 | 2020-10-09 | 宝武集团马钢轨交材料科技有限公司 | Online detection system and detection method for surface defects of round steel |
| CN112067621A (en) * | 2020-08-29 | 2020-12-11 | 杭州山立净化设备股份有限公司 | Intelligent barrel inspection equipment for chemical equipment and barrel inspection method |
| CN112077683A (en) * | 2020-09-10 | 2020-12-15 | 核电运行研究(上海)有限公司 | Automatic climbing, polishing and coating integrated machine |
| CN112290448B (en) * | 2020-10-16 | 2021-12-03 | 重庆浪尖智能科技研究院有限公司 | Climbing method of climbing robot |
| CN112290448A (en) * | 2020-10-16 | 2021-01-29 | 重庆浪尖智能科技研究院有限公司 | Climbing method of climbing robot |
| CN112643499A (en) * | 2020-12-24 | 2021-04-13 | 刘杰 | Steel pipe burnishing and polishing equipment for building materials |
| CN112903691A (en) * | 2021-01-14 | 2021-06-04 | 山东交通学院 | Bridge check out test set convenient to repair damaged cable outside |
| CN112986279A (en) * | 2021-03-15 | 2021-06-18 | 河北振创电子科技有限公司 | Conveying pipeline detection device |
| CN113073731A (en) * | 2021-04-07 | 2021-07-06 | 武汉合创四联科技发展有限公司 | High-rise building sewage pipeline cleaning device and using method thereof |
| CN113771980A (en) * | 2021-09-30 | 2021-12-10 | 国网四川省电力公司南充供电公司 | Toper pole is portable in succession and is scrambleed device |
| CN113771980B (en) * | 2021-09-30 | 2022-04-08 | 国网四川省电力公司南充供电公司 | Toper pole is portable in succession and is scrambleed device |
| CN114486925B (en) * | 2021-12-25 | 2023-10-31 | 国网四川省电力公司电力科学研究院 | Intelligent detection method for corrosion on inner side of power transmission line pole tower based on panoramic information |
| CN114486925A (en) * | 2021-12-25 | 2022-05-13 | 国网四川省电力公司电力科学研究院 | Panoramic information-based intelligent detection system and method for corrosion of inner side of power transmission line tower |
| CN114777669A (en) * | 2022-04-19 | 2022-07-22 | 绍兴文理学院 | Yarn three-dimensional detection device based on multi-camera system |
| CN115257990A (en) * | 2022-07-06 | 2022-11-01 | 广东科驭科技有限公司 | Lifting robot for maintaining street lamp |
| CN115257990B (en) * | 2022-07-06 | 2024-01-12 | 广东科驭科技有限公司 | Lifting robot for maintaining street lamp |
| CN116223527A (en) * | 2023-03-31 | 2023-06-06 | 中国长江电力股份有限公司 | Corrosion detection device and detection method for hydraulic hoist piston rod |
| CN116698842A (en) * | 2023-03-31 | 2023-09-05 | 中国长江电力股份有限公司 | System and processing method of hydraulic hoist piston rod rust detection device |
| CN116223527B (en) * | 2023-03-31 | 2024-07-16 | 中国长江电力股份有限公司 | Corrosion detection device and detection method for hydraulic hoist piston rod |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110328566B (en) | 2021-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110328566A (en) | The detection repairing climbing robot and detection method for repairing and mending on overlength cylindrical structure surface | |
| US20120177350A1 (en) | Photography stand | |
| CN100503240C (en) | Badge coin transferring positioning system and positioning method thereof | |
| CN106645152A (en) | Image collection device | |
| CN107677689A (en) | Enamel inner container defect comprehensive detection system | |
| CN107363420A (en) | A kind of laser cutting device based on intelligent workshop | |
| CN206530847U (en) | Automatic transmission formula camera system | |
| CN105619058B (en) | A kind of light guide ring pressing method of automobile instrument dial plate | |
| CN108600569B (en) | A kind of three-dimensional image acquisition apparatus | |
| CN205350750U (en) | Automatic remove camera support | |
| CN109047456A (en) | A kind of three step self-test hole punched device of coordinated type | |
| CN208096557U (en) | A kind of intelligent panoramic camera show stand | |
| CN108760758A (en) | A kind of 360 ° of open defect detection devices in outer ring | |
| CN104090464B (en) | Portable self-adaptive three-dimensional image re-constructor | |
| CN106514192B (en) | High-precision automatic assembling machine | |
| CN203377767U (en) | Motor component applied to 3D camera focusing, zoom and aperture adjustment | |
| CN107843889A (en) | A kind of Intelligent laser distance-measuring equipment of safe anti-falling for indoor measurement | |
| CN107884421A (en) | A kind of tunnel monitoring device with fracture detection function based on Internet of Things | |
| CN208847664U (en) | A kind of multiangle visual defect detection platform | |
| CN206208772U (en) | A kind of image collecting device | |
| CN109237238A (en) | A kind of three-dimensional movie capture apparatus | |
| CN213082378U (en) | Light spot automatic regulating mechanism of SLA photocuring resin printer | |
| CN113804695A (en) | Automobile parts visual detection automation equipment | |
| CN208522837U (en) | A kind of three-dimensional image acquisition apparatus | |
| CN209230555U (en) | A kind of device for circular saw blade saw tooth parameter detecting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210817 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |