CN114235823A - Spiral movement track crawling robot device for detection - Google Patents
Spiral movement track crawling robot device for detection Download PDFInfo
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- CN114235823A CN114235823A CN202111626878.2A CN202111626878A CN114235823A CN 114235823 A CN114235823 A CN 114235823A CN 202111626878 A CN202111626878 A CN 202111626878A CN 114235823 A CN114235823 A CN 114235823A
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- 238000001514 detection method Methods 0.000 title claims abstract description 70
- 230000009193 crawling Effects 0.000 title claims abstract description 45
- 230000033001 locomotion Effects 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 230000000007 visual effect Effects 0.000 claims abstract description 23
- 239000000523 sample Substances 0.000 claims abstract description 21
- 238000001179 sorption measurement Methods 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims description 6
- 238000011179 visual inspection Methods 0.000 claims 1
- 238000012360 testing method Methods 0.000 abstract description 2
- 238000003466 welding Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 7
- 230000005389 magnetism Effects 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 239000003208 petroleum Substances 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 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
- G01N21/8806—Specially adapted optical and illumination features
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- 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
- B62D57/022—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 consisting of members having both rotational and walking movements
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- 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
- B62D57/028—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 having wheels and mechanical legs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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Abstract
The invention discloses a spiral motion track crawling robot device for detection, and relates to the technical field of wall-climbing robots. This detection is with spiral motion orbit robot device that crawls includes: the vehicle body comprises a first vehicle body, a second vehicle body, a spiral hinged connecting shaft for connecting the first vehicle body and the second vehicle body, magnetic adsorption wheels arranged on the first vehicle body and the second vehicle body, a servo motor connected with the magnetic adsorption wheels, a passive counting wheel and an auxiliary supporting wheel which are respectively arranged on the left side and the right side of the first vehicle body, probe mounting frames arranged at the front ends of the first vehicle body and the second vehicle body, a visual detection device and an infrared auxiliary device which are arranged on the probe mounting frames, a wireless transmission module arranged on the second vehicle body, and a microprocessor connected with the wireless transmission module. This spiral movement track robot device of crawling can carry on different test probe, along the pipeline, carries out the spiral track and crawls, drives the probe and detects spiral weld.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a spiral motion track crawling robot device for detection.
Background
At present, pressure pipelines adopted by petroleum, gas, chemical industry and the like are mostly formed by spirally coiling and welding steel plates, and spiral submerged-arc welding seams on the pipelines have high requirements, so that the detection of the spiral welding seams is very important. The pipeline spiral weld joint detection mainly depends on manual detection, and the pipeline weld joint detection task usually requires that detection personnel have higher detection technology and often needs to climb to a high place for detection; while requiring detection at different heights. The detection has the conditions of high-altitude operation danger, high labor intensity, low detection efficiency and the like.
The publication number is CN101256173A entitled "spiral weld manual scanner", which mainly comprises a scanning frame, a probe frame, a rolling wheel mechanism and an encoder mechanism, wherein the rolling wheel mechanism is arranged at four corners of the rectangular scanning frame, the probe frame is arranged on probe frame moving tracks at two sides of the scanning frame, and the encoder mechanism is arranged at one side outside the scanning frame. The manual helical weld joint scanner has the following defects that when the helical weld joint of the steel pipeline in service is detected by the scanner, the scanner can stably and reliably move on the pipeline, the position of the probe can be always accurately parallel to the surface of the weld joint of the pipeline and a certain distance is ensured, and the manual helical weld joint scanner which is reliable and accurate in detection is provided for detecting the helical weld joint of the steel pipeline in service by combining phased array with TOFD ultrasonic waves: 1) the scanner is manual, and the operation effect greatly depends on the detection level of a detector; 2) the whole structure is simple and general.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a spiral movement track crawling robot device for detection, which can carry different detection probes, crawl along a spiral track along a pipeline and drive the probes to detect spiral welding seams.
In order to achieve the technical purpose, the invention adopts the following technical scheme: a robot apparatus for detecting a crawling motion of a spiral motion trajectory, comprising: the intelligent vehicle comprises a first vehicle body, a second vehicle body, a spiral hinged connecting shaft, a passive counting wheel device, auxiliary supporting wheels, a visual detection device, an infrared auxiliary device, a probe mounting frame, servo motors, a wireless transmission module and a microprocessor, wherein the first vehicle body and the second vehicle body are connected through the spiral hinged connecting shaft, the first vehicle body and the second vehicle body are respectively provided with a magnetic adsorption wheel, each magnetic adsorption wheel is connected with one servo motor, the passive counting wheel and the auxiliary supporting wheels are respectively arranged on the left side and the right side of the first vehicle body, the probe mounting frame is connected with the front end parts of the first vehicle body and the second vehicle body, the probe mounting frame is provided with the visual detection device and the infrared auxiliary device, the wireless transmission module is arranged on the second vehicle body, the passive counting wheel device, the visual detection device, the infrared auxiliary device and the servo motors are respectively in communication connection with the wireless transmission module, the wireless transmission module is in communication connection with the microprocessor.
Further, the spiral hinge connecting shaft includes: first flange, first connecting axle, second flange, first flange rotates with the one end of first connecting axle to be connected, second flange rotates with the one end of second connecting axle to be connected, the other end of first connecting axle is connected with the other end of second connecting axle.
Further, the first connecting flange is connected with the first vehicle body through a hinge.
Further, the second connecting flange is connected with the second vehicle body through hinge joint.
Furthermore, the other end of the first connecting shaft is connected with the other end of the second connecting shaft through a pin shaft.
Furthermore, the first connecting flange is rotatably connected with one end of the first connecting shaft through a shaft hole.
Furthermore, the second connecting flange is rotatably connected with one end of the second connecting shaft through a shaft hole.
Further, the passive counting wheel device is connected with the first vehicle body through a bolt.
Further, the auxiliary support wheel is connected with the first vehicle body through a bolt.
Further, the visual detection device is an anti-shake camera.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the spiral movement track crawling robot device for detection, the first vehicle body, the second vehicle body and the spiral hinged connecting shaft for connecting the first vehicle body and the second vehicle body are arranged, and the flexibility of the crawling robot device is enhanced through the spiral hinged connecting shaft, so that the crawling robot device can be in better contact with a pipeline;
(2) according to the spiral movement track crawling robot device for detection, the magnetic wheels are arranged on the first vehicle body and the second vehicle body, the crawling robot device can be safely and reliably adsorbed on a pipeline by arranging the magnetic wheels, each magnetic adsorption wheel is driven by one servo motor, and the crawling track of the crawling robot device in a crawling process is accurate and controllable;
(3) the spiral movement track crawling robot device for detection is provided with the visual detection device, so that a detection person can visually observe a welding seam; meanwhile, in the detection process, the visual detection device is used for feeding back whether the welding seam and the rays projected by the infrared auxiliary device have deviation or not, and the advancing route of the crawling robot is corrected through a servo motor if the deviation exists;
(4) the crawling robot device for the spiral movement track for detection is provided with the visual detection device which is mainly applied to pipeline spiral weld joint detection, overcomes the defects that a scaffold needs to be manually built and a manual handheld detection device is insufficient in the existing detection means, and meanwhile, aims at the fact that most of petroleum, gas and chemical pipelines are arranged side by side and the detection space is limited, and is small in overall size, capable of reaching places which cannot be manually reached and wide in application range.
Drawings
FIG. 1 is a top view of a spiral trajectory crawling robot device for detection according to the present invention;
FIG. 2 is a schematic structural diagram of a spiral trajectory crawling robot device for detection according to the present invention;
FIG. 3 is a schematic structural view of a spiral hinge connecting shaft according to the present invention;
in the drawings, each reference numeral denotes:
101. the device comprises a first vehicle body, a second vehicle body, a screw hinged connecting shaft, a driven counting wheel device, an auxiliary supporting wheel, 106 a visual detection device, 107 an infrared auxiliary device, 108 a probe mounting frame, 201 a first connecting flange, 202 a first connecting shaft, 203 a second connecting shaft and 204 a second connecting flange.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is to be understood that the embodiments are merely illustrative and not intended to limit the scope of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1-2, the present invention provides a crawling robot device for detecting a spiral motion trajectory, comprising: first automobile body 101, second automobile body 102, spiral articulated connecting axle 103, passive count wheel device 104, supplementary supporting wheel 105, visual detection device 106, infrared ray auxiliary device 107, probe mounting bracket 108, servo motor, wireless transmission module and microprocessor, first automobile body 101 and second automobile body 102 pass through spiral articulated connecting axle 103 and connect, have strengthened this flexibility of robot device of crawling through spiral articulated connecting axle 103 for this robot device of crawling can be better with the pipe contact. All be equipped with magnetism on first automobile body 101 and the second automobile body 102 and adsorb the wheel for the robot device of crawling can safe and reliable adsorb on the pipeline, and a servo motor is connected to every magnetism and adsorbs the wheel, for independent drive, through servo motor drive magnetism adsorption wheel, guarantees to crawl the accurate controllable in the orbit of crawling of robot device at the in-process of crawling. The passive counting wheels 104 and the auxiliary supporting wheels 105 are respectively arranged on the left side and the right side of the first vehicle body 101, the passive counting wheel devices 104 are connected with the first vehicle body 101 through bolts, the passive counting wheels 104 can ensure that the position of the crawling robot device is accurately fed back under the condition that the magnetic adsorption wheels slip, the motion posture of the crawling robot device is conveniently controlled through a servo motor, and meanwhile, the passive counting wheels 104 can also provide accurate detection position information; the auxiliary supporting wheels 105 are connected with the first vehicle body 101 through bolts, the crawling robot device is used in the pipeline crawling process, the first vehicle body 101 serves as a main vehicle body, the auxiliary supporting wheels 105 and the magnetic adsorption wheels on the first vehicle body 101 support together, stable contact of the first vehicle body 101 on the pipeline is guaranteed, the second vehicle body 102 is connected through the spiral hinged connecting shaft 103, the second vehicle body 102 can be in stable contact with the pipeline in a self-adaptive state, and reliable adsorption force is provided through the magnetic adsorption wheels. The probe mounting frame 108 is connected with the front end parts of the first vehicle body 101 and the second vehicle body 102, so that a visual detection device 106 and an infrared auxiliary device 107 can be conveniently mounted, the visual detection device 106 and the infrared auxiliary device 107 are arranged on the probe mounting frame 108, when the crawling robot device moves on a pipeline, a welding seam on the pipeline is detected through the infrared auxiliary device 107, and meanwhile, an image of the welding seam on the pipeline is acquired through the visual detection device 106. The wireless transmission module is arranged on a second vehicle body 102, the passive counting wheel device 104, the visual detection device 106, the infrared auxiliary device 107 and the servo motor are respectively in communication connection with the wireless transmission module, data information is transmitted through the wireless transmission module, the data information comprises position information of a crawling robot device detected by the passive counting wheel device 104, pipeline image information collected by the visual detection device 106, welding seam information on a pipeline detected by the infrared auxiliary device 107 and driving conditions of the servo motor, the wireless transmission module is in communication connection with the microprocessor and transmits the data information to an unprocessed device, and a worker analyzes the data information acquired from the microprocessor and transmits signals needing to be adjusted to the corresponding device through the wireless transmission module. The crawling robot device for the spiral movement track for detection is provided with the visual detection device which is mainly applied to pipeline spiral weld joint detection, overcomes the defects that a scaffold needs to be manually built and a manual handheld detection device is insufficient in the existing detection means, and meanwhile, aims at the fact that most of petroleum, gas and chemical pipelines are arranged side by side and the detection space is limited, and is small in overall size, capable of reaching places which cannot be manually reached and wide in application range.
As shown in fig. 3, the screw hinge connecting shaft 103 of the present invention includes: the connecting structure comprises a first connecting flange 201, a first connecting shaft 202, a second connecting shaft 203 and a second connecting flange 204, wherein the first connecting flange 201 is rotatably connected with one end of the first connecting shaft 202 through a shaft hole, so that the first connecting shaft 202 can rotate around the axis of the shaft hole; the second connecting flange 204 is rotatably connected with one end of the second connecting shaft 203 through a shaft hole, so that the second connecting shaft 203 can rotate around the axis of the shaft hole; the other end of the first connecting shaft 202 is connected with the other end of the second connecting shaft 203 through a pin shaft, so that the second connecting shaft 203 can rotate around the axis of the pin shaft; the first connecting flange 201 is connected to the first vehicle body 101 in an articulated manner, and the second connecting flange 204 is connected to the second vehicle body 102 in an articulated manner. According to the invention, the flexibility of the crawling robot is enhanced through three kinematic pairs on the spiral hinged connecting shaft 103, and when the first vehicle body 101 and the second vehicle body 102 move on the pipeline, the first vehicle body 101 and the second vehicle body 102 make spiral movement and hinged movement through the spiral hinged connecting shaft 103, so that magnetic adsorption wheels can be fully contacted with the pipeline in a dynamic self-adaption manner, and reliable adsorption force is provided for the crawling robot device.
The working process of the spiral movement track crawling robot device for detection is as follows: the staff places this robot of crawling on waiting to detect the pipeline of welding seam, and the reliable absorption of the magnetism of robot device of crawling this moment adsorbs on the pipeline, and every magnetism adsorbs the wheel by a servo motor drive, sends each servo motor's drive information to wireless transmission module through microprocessor, and rethread wireless transmission module conveys on each servo motor for the robot device of crawling advances on the pipeline, moves back or turns the motion. In the moving process of the crawling robot device, a welding seam on a pipeline is detected through the infrared auxiliary device 107 on the probe mounting frame 108 and is sent to the microprocessor through the wireless transmission module, the microprocessor transmits a signal for acquiring the positioning of the welding seam to the passive counting wheel device 104 through the wireless transmission module, the position of the crawling robot device is positioned through the passive counting wheel device 104, and therefore the position of the welding seam is obtained, and the welding seam position signal is sent to the microprocessor through the wireless transmission module; meanwhile, the microprocessor transmits the signal of the shot image to the visual detection device 106 through the wireless transmission module, the visual detection device shoots and sends the shot image to the microprocessor through the wireless transmission module, so that the staff can conveniently review and observe the surface condition of the detected pipeline, image data is provided for the detection structure report, and the detection report is richer and more visual. In addition, through the cooperation use of visual detection device 106 and infrared ray auxiliary device 107, whether the operation track that the staff can observe the robot device of crawling is skew, if take place to deviate, send adjustment servo motor drive signal through microprocessor through wireless transmission module and transmit and give each servo motor, through the direction of motion of servo motor drive adjustment magnetism adsorption wheel, revise the operation track, guarantee testing process's accuracy.
The application of the robot device for crawling the spiral movement track for detection enables the work of detecting the spiral weld joint of the pipeline to be simple and reliable, a scaffold does not need to be built, the detection efficiency is high, and the detection cost is low.
In the specific implementation mode of the invention, only pipeline weld joint detection is taken as an example, the pipeline spiral weld joint detection is detailed, and in addition, the invention is also suitable for longitudinal and transverse weld joint detection of tank bodies.
The above is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, and any technical solutions that fall under the spirit of the present invention fall within the scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. The utility model provides a detection is with spiral motion orbit robot device of crawling which characterized in that includes: the multifunctional vehicle comprises a first vehicle body (101), a second vehicle body (102), a spiral hinged connecting shaft (103), a passive counting wheel device (104), auxiliary supporting wheels (105), a visual detection device (106), an infrared auxiliary device (107), a probe mounting frame (108), servo motors, a wireless transmission module and a microprocessor, wherein the first vehicle body (101) and the second vehicle body (102) are connected through the spiral hinged connecting shaft (103), the first vehicle body (101) and the second vehicle body (102) are respectively provided with a magnetic adsorption wheel, each magnetic adsorption wheel is connected with one servo motor, the passive counting wheel (104) and the auxiliary supporting wheels (105) are respectively arranged at the left side and the right side of the first vehicle body (101), the probe mounting frame (108) is connected with the front end parts of the first vehicle body (101) and the second vehicle body (102), the probe mounting frame (108) is provided with the visual detection device (106) and the infrared auxiliary device (107), the wireless transmission module is arranged on the second vehicle body (102), the passive counting wheel device (104), the visual detection device (106), the infrared auxiliary device (107) and the servo motor are respectively in communication connection with the wireless transmission module, and the wireless transmission module is in communication connection with the microprocessor.
2. The apparatus for a spiral trajectory-crawling robot for detection according to claim 1, wherein said spiral hinge connection shaft (103) comprises: first flange (201), first connecting axle (202), second connecting axle (203), second flange (204), first flange (201) rotates with the one end of first connecting axle (202) to be connected, second flange (204) rotates with the one end of second connecting axle (203) to be connected, the other end and the other end of second connecting axle (203) of first connecting axle (202) are connected.
3. The device for detecting the spiral trajectory-crawling robot according to claim 2, wherein the first connecting flange (201) is connected with the first vehicle body (101) through a hinge.
4. The device for detecting the spiral trajectory crawling robot according to claim 2, wherein the second connecting flange (204) is hinged to the second vehicle body (102).
5. The device of claim 2, wherein the other end of the first connecting shaft (202) is connected to the other end of the second connecting shaft (203) by a pin.
6. The device for detecting the spiral trajectory-crawling robot according to claim 2, wherein the first connecting flange (201) is rotatably connected to one end of the first connecting shaft (202) through a shaft hole.
7. The device for detecting the spiral trajectory-crawling robot according to claim 2, wherein the second connecting flange (204) is rotatably connected to one end of the second connecting shaft (203) through a shaft hole.
8. The device for detecting the spiral trajectory-crawling robot according to claim 1, wherein the passive counting wheel device (104) is connected to the first vehicle body (101) by bolts.
9. The apparatus according to claim 1, wherein the auxiliary support wheel (105) is connected to the first vehicle body (101) by a bolt.
10. The apparatus of claim 1, wherein the visual inspection device (106) is an anti-shake camera.
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| CN202111626878.2A CN114235823A (en) | 2021-12-29 | 2021-12-29 | Spiral movement track crawling robot device for detection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115435764A (en) * | 2022-11-09 | 2022-12-06 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | A sucking disc formula walking robot for scanning of laser tracker target spot |
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|---|---|---|---|---|
| CN115435764A (en) * | 2022-11-09 | 2022-12-06 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | A sucking disc formula walking robot for scanning of laser tracker target spot |
| CN115435764B (en) * | 2022-11-09 | 2022-12-30 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | A sucking disc formula walking robot for scanning of laser tracker target spot |
| CN118046158A (en) * | 2024-04-15 | 2024-05-17 | 江苏勤业石化装备有限公司 | Pipeline spiral crawling welding robot with defect detection function |
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