CN209502082U - A kind of semiconductor layer people of view-based access control model - Google Patents
A kind of semiconductor layer people of view-based access control model Download PDFInfo
- Publication number
- CN209502082U CN209502082U CN201920015265.7U CN201920015265U CN209502082U CN 209502082 U CN209502082 U CN 209502082U CN 201920015265 U CN201920015265 U CN 201920015265U CN 209502082 U CN209502082 U CN 209502082U
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- China
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- spray head
- sun gear
- semiconductor layer
- planetary gear
- gear
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Abstract
The utility model discloses a kind of semiconductor layer people of view-based access control model.Obliquity sensor and high-definition camera co-located transfer data to control system and carry out position feedback and phase deflection.Using fixed sun gear stepper motor output torque, planetary gear engages the anticorrosion material spraying that deceleration transmission completes inner wall of the pipe by gear.Wherein vision camera is mainly used for acquisition early period of real-time image processing, and vision camera is carried out data transmission by XBee wireless module.Wherein XBee module is set in camera locating rack.The ZigBee-network comprising two nodes may be implemented in a pair of of Arduino-XBee module, completes the wireless communication between Arduino.The idler wheel is connected by support rod, using articulated connection between support rod and connecting rod.The utility model improves robot to the adaptive ability and inner tube coating efficiency of different tube diameters.
Description
Technical field
The utility model belongs to pipe robot field, and in particular to a kind of semiconductor layer people of view-based access control model.
Background technique
It is explored towards national marine, deep-well scientific investigation, pipeline corrosion protection process is the important of guarantee long distance pipeline structural intergrity
One ring, at present, the media such as conveying oil, gas and water mainly use steel pipe.The long-term erosion corrosion of fluid will lead in pipeline
Occurs impurity in pipe, the pipeline needs stringent for some pairs of tube fluid quality requirements carry out anti-corrosion treatment in pipe.
The current most economical method used is the spraying to anticorrosion material is carried out in pipe, and due to narrow space in pipe, hand spray is difficult
Degree is big, it would be highly desirable to which the novel inner tube coating robot of one kind can carry out coated inside anticorrosion work to the pipeline of different-diameter.
China causes huge economic loss because corrosive pipeline is perforated every year, or even various accidents occur.In pipeliner
In Cheng Jianshe, anti-corrosion is improved conscientiously, is of great significance for pipe protection.Therefore a kind of pipe of view-based access control model technology is devised
Inner coating robot can effectively improve the adaptability of robot different tube diameters using the adaptive support construction of designed, designed,
And the mechanical flexibility and working efficiency of robot are largely provided by collaborative feedback.
Summary of the invention
The utility model includes outer gear ring, sun gear, planetary gear, idler wheel, slide bar, support rod, slide bar spring, sliding block, outer
Locations of contours frame, vision camera, drive system and control system.The idler wheel is connected by support rod, support rod and connecting rod
Between using articulated connection.
The storage Qi Guanke installed in the spray head is compressed under rotating centrifugal effect and is opened, and can be according to pipeline material and interior
Wall situation difference is sprayed, storage paint pipe nozzle diameter can be replaced according to demand, spray head coating according to needed for inner wall into
Row rotation adjustment.Wherein spray head is controllable carries out rotating in a circumferential direction for friction speed, the coating layer thickness of friction speed difference.
The high-definition camera carries out needing to feed back specific location in real time in spraying process in robot to host computer,
To carry out monitoring position, and location information can be judged in time in the event of a failure, to avoid robot itself pair of rollers rigid
The inside pipe wall sprayed damages, using spray head in the setting at rear, it can be achieved that disposable spray.
Wherein vision camera is mainly used for spraying process in the collection tube implemented, after vision camera is converted by A/D
Carry out data transmission into XBee wireless module is crossed.Wherein XBee module is set in camera locating rack.Particularly use
A pair of of Arduino-XBee module, may be implemented one it is simplest include two nodes ZigBee-network, complete Arduino
Between wireless communication.
Monitor Computer Control System uses cylinder unwrapping, color space conversion and image to by the image information of camera shooting overhead pass
After dividing processing algorithm is handled, Monitor Computer Control System independently judges whether pipe interior coatings are defective, and by image
Information and related data are shown in Monitor Computer Control System interface.
The inner tube coating robot, wherein outer gear ring is fixed on positioning seat by locating rod, positioning seat and robot
Main structure is fixedly connected, and wherein sun gear stepper motor is fixed on motor control module, and motor control module is fixed and machine
On the master control borad of people, wherein motor output shaft carries out torque output by shaft coupling and by flat key.In the course of work, sun gear
High speed rotation, planetary gear engage transmitting torque by gear and accelerate to rotate, and the number of teeth for designing sun gear is greater than planetary gear, transmission
Inner-wall spraying can be made more uniform than less than 1, reducing transmission speed.
The spray head mainly passes through the planet wheel key way being arranged in spray head support frame upper planet wheel connecting key and planetary gear and connects
Transmitting torque is connect, wherein connected in the design using flat key because stress is smaller, if caliber is larger, the working face of spray head
Load is larger, it is contemplated that is attached using spline.
The support rod bottom end and outer profile locating rack is hinged, and outer profile locating rack is provided with corresponding hinged end.Branch
Strut end is idler wheel, is to be provided with hinged end in the middle part of support rod, connecting rod is hinged with support rod.It is provided on outer profile locating rack
The location hole of slide bar, slide bar are connect by location hole with outer profile locating rack.The connecting rod connects outer profile locating rack.
The semiconductor layer people, wherein outer gear ring is fixed on positioning seat by locating rack, positioning seat and the main knot of robot
Structure is fixedly connected, and wherein sun gear stepper motor is fixed on motor control module, motor control module fixation and robot
On master control borad, wherein motor output shaft carries out torque output by shaft coupling and by flat key.
Detailed description of the invention
Fig. 1 is that semiconductor layer people retreats side main structure schematic diagram.
Fig. 2 be semiconductor layer people before move back side main structure schematic diagram.
Fig. 3 is the side view of semiconductor layer people structure.
In figure: 4, brake puck, 5, slide bar spring, 8, storage paint pipe, 9, planet wheel key way, 10, sun gear, 11, outer gear ring,
12, planetary gear, 13, sun wheel key way, 15, idler wheel, 16, high-definition camera, 17, locating rod, 18, spray head, 19, inclination angle sensing
Device, 20, outer profile locating rack, 21, spray head support frame, 22, vision camera, 23, camera locating rack, 24, shaft coupling, 25,
Motor control module, 26, sun gear stepper motor, 28, connecting rod, 30, connecting rod, 31, sliding block, 32, support rod, 33, positioning seat,
34, slide bar, 42, planetary gear connecting key, 43, signal processing module.
Specific embodiment
A kind of pipeline coatings robot system for being designed to provide view-based access control model technology of the design, it uses connecting rod
Diameter-changing wheel construction machine body design, monitoring system jointly control mode using STM32 single-chip microcontroller and host computer, can be according to pipe
Interior carry out coating spraying, and it is furnished with high performance deceleration system, the deficiencies in the prior art are overcome, are a kind of easy to operate machines
Device people's system.
The utility model includes outer gear ring 11, sun gear 10, planetary gear 12, idler wheel 15, slide bar 34, support rod 32, slide bar
Spring 5, sliding block 31, outer profile locating rack 20, vision camera 22, drive system and control system.The idler wheel 15 passes through branch
Strut 32 connects, using articulated connection between support rod 32 and connecting rod 30.30 other end of connecting rod is connect with sliding block 31, and sliding block 31 is logical
The tension for crossing slide bar spring 5, which stretches, may be implemented in moving horizontally for slide bar 18, and original state idler wheel 15 is not affected by inner wall of the pipe and squeezes
When pressure, 5 tension force effect sliding block 31 of slide bar spring reaches maximum path position.When by different-diameter pipeline, idler wheel 15 by
To the equilibrant force of interaction, difference, band movable slider 31 generate different tracks to the corresponding pressure of slide bar spring 5.
The storage paint pipe 8 installed in the spray head 18 can be compressed under rotating centrifugal effect and be opened, and can be according to pipeline material
And inner wall situation difference is sprayed, storage paint 8 nozzle diameter of pipe can be replaced according to demand, and spray head 18 can be according to needed for inner wall
Coating carries out rotation adjustment.Wherein spray head 18 is controllable carries out rotating in a circumferential direction for friction speed, and the coating layer thickness of friction speed has
Institute's difference.
The high-definition camera 16 carries out needing to feed back specific location to signal in real time in spraying process in robot
Processing module 43 to carry out monitoring position, and can judge location information in time in the event of a failure, to avoid robot certainly
Body idler wheel 15 damages the inside pipe wall just sprayed, using spray head 18 in the setting at rear, it can be achieved that disposable spray.
Wherein vision camera 22 is mainly used for spraying process in the collection tube implemented, and the fixation of vision camera 22 passes through A/
The laggard XBee wireless module of crossing of D conversion carries out data transmission.Wherein XBee module is set in camera locating rack 23.Specifically
To may be implemented using a pair of Arduino-XBee module one it is simplest include two nodes ZigBee-network, it is complete
At the wireless communication between Arduino.
The XBee module needs to be arranged accordingly before normal work.Wherein both to the setting of XBee module
It can instruct according to the AT in XBee handbook, be completed by serial terminal, can also be completed by this tool of X-CTU.With
After USB cable connects Arduino and PC machine, X-CTU software is run.It is selected in " PC Settings " corresponding
Communication port, and set the parameters such as baud rate.
Arduino-XBee expansion board is connected on Arduino motherboard, two in Arduino-XBee expansion board jump
Line is placed in the one end USB, and X-CTU can configure XBee module by the USB interface of Arduino, need to another
Arduino-XBee module does identical setting.After two Arduino-XBee modules are all set, two X- are run
CTU and the different communication interface of selection in " PC-Settings ", respectively control two Arduino XBee modules.
The serial communication interface that data mainly pass through Arduino is sent to XBee module, then passes through in another Arduino module
Serial line interface carries out reception reading.
The characteristics of for inner tube coating image, using piecemeal+Otsu+K-means image segmentation algorithm, specific steps are as follows:
A. variances sigma a^2, the σ b^2 of image entirety is calculated on a, b component of color space respectively, and counts σ I^2=σ a^2
+ σ b^2, wherein a, b respectively represent red green color, blue yellow color.
B. i equal part is divided into image, is divided into 2i subgraph.
C. internal solution calculates the σ j^2 variance of every block of image after piecemeal, wherein (j=1,2,3...).
If D. max σ j^2- σ I^2 > 10% σ I^2, piecemeal terminate.Otherwise B-C is repeated.
After above-mentioned blocking step, optimal piecemeal number and the subgraph with maximum variance are obtained, to this figure
Mean value is sought as K-means clustering algorithm below as being split processing on the space lab, and to two class images after segmentation
Cluster centre.
Monitor Computer Control System uses cylinder unwrapping, color space conversion and image to by the image information of camera shooting overhead pass
After dividing processing algorithm is handled, Monitor Computer Control System independently judges whether pipe interior coatings are defective, and by image
Information and related data are shown in Monitor Computer Control System interface.
The inner tube coating robot, the main planetary gear 12 that passes through complete the process that high speed rotation derusts, wherein outer gear ring
11 are fixed on positioning seat 33 by locating rod 17, and positioning seat 33 is fixedly connected with robot main structure, wherein sun gear stepping
Motor 26 is fixed on motor control module 25, and on the fixed master control borad with robot of motor control module 25, wherein motor is defeated
Shaft carries out torque output by shaft coupling 24 and by flat key.In the course of work, 10 high speed rotation of sun gear, planetary gear 12 leads to
It crosses gear engagement transmitting torque and accelerates to rotate, the number of teeth of design sun gear 10 is greater than planetary gear 12, and transmission ratio is reduced less than 1
Transmission speed can make inner-wall spraying more uniform.
The spray head 18 mainly passes through the planet being arranged in 21 upper planet wheel connecting key 42 of spray head support frame and planetary gear 12
The connection transmitting torque of wheel key way 9, wherein connected in the design using flat key because stress is smaller, if caliber is larger, spray head
18 working face load is larger, it is contemplated that is attached using spline.
32 bottom end of support rod and outer profile locating rack 20 is hinged, and outer profile locating rack 20 is provided with corresponding hinged
End.32 end of support rod is idler wheel 15, is to be provided with hinged end in the middle part of support rod 32, connecting rod 30 and support rod 32 are hinged.Foreign steamer
The location hole of slide bar 34 is provided on wide locating rack 20, slide bar 34 is connect by location hole with outer profile locating rack 20.Described
Connecting rod 28 connects outer profile locating rack 20, has and is mainly used for increasing the rigidity of structure and stability.
The obliquity sensor 19 cooperates the collaboration of high-definition camera 16 to use, and robot can be fed in pipe, works as high definition
Camera 16 identifies when having obstruction in outlet pipe, can transmit information to control system, and control system can make idler wheel 15 occur one
The deflection of angle is determined, to guarantee that semiconductor layer people can reasonable avoidance.
The brake puck 4, it is ensured that robot, which needs to slow down or brake during advance, to be used.When robot captures
It when defective to coating surface, is transferred signals in control system by position Recognition feedback, can effectively complete robot
Timely braking in target position.
The adaptive support construction for the designed, designed that the utility model uses can effectively improve the suitable of robot different tube diameters
Should be able to power, anticorrosion material spraying is realized to inside pipe wall, and posture of the robot in pipe can be adjusted during the motion, improved
Reliability of operation, and the mechanical flexibility and working efficiency of robot are largely provided by collaborative feedback.
Scheme in embodiment is not the protection scope to limit this patent, all without departing from the so-called equivalent reality of this patent
It applies or changes, be both contained in the scope of the patents of this case.
Claims (3)
1. a kind of semiconductor layer people of view-based access control model, it is characterised in that: including outer gear ring (11), sun gear (10), planetary gear
(12), idler wheel (15), slide bar (34), support rod (32), slide bar spring (5), sliding block (31), outer profile locating rack (20), storage paint
(8), brake puck (4), spray head (18), shaft coupling (24), spray head support frame (21) are managed, vision camera (22) is fixed on camera shooting
On head locating rack (23), camera locating rack (23) and spray head support frame (21) plastic joining, spray head support frame (21) pass through row
Star-wheel keyway (9) is connected on planetary gear (12).
2. the semiconductor layer people of a kind of view-based access control model according to claim 1, it is characterized in that the idler wheel (15) passes through branch
Strut (32) connection, using articulated connection between support rod (32) and connecting rod (30), connecting rod (30) other end and sliding block (31) are even
It connects, sun gear (10) is connect by flat key with sun gear stepper motor (26), and planetary gear (12) is engaged with sun gear (10), planet
Wheel (12) is connect with spray head support frame (21).
3. a kind of semiconductor layer people of view-based access control model according to claim 1, it is characterized in that the planetary gear (12) with too
Sun wheel (10) engaged transmission, sun gear (10) and planetary gear (12) transmission ratio are less than 1 deceleration transmission, sun gear stepper motor (26)
It is fixed on motor control module (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920015265.7U CN209502082U (en) | 2019-01-07 | 2019-01-07 | A kind of semiconductor layer people of view-based access control model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920015265.7U CN209502082U (en) | 2019-01-07 | 2019-01-07 | A kind of semiconductor layer people of view-based access control model |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209502082U true CN209502082U (en) | 2019-10-18 |
Family
ID=68199607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920015265.7U Expired - Fee Related CN209502082U (en) | 2019-01-07 | 2019-01-07 | A kind of semiconductor layer people of view-based access control model |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209502082U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110756361A (en) * | 2019-12-11 | 2020-02-07 | 天津君诚管道实业集团有限公司 | Inner wall plastic coating equipment for large-diameter steel pipe |
| CN111841971A (en) * | 2020-08-04 | 2020-10-30 | 史代波 | Inner wall spraying device for pipeline machining |
| WO2020238305A1 (en) * | 2019-05-29 | 2020-12-03 | 南京灵雀智能制造有限公司 | Pipeline type intelligent spraying robot and working method thereof |
| CN113510028A (en) * | 2021-05-25 | 2021-10-19 | 哈尔滨工业大学 | Pipeline spraying robot and spraying method for inner wall of special-shaped variable-cross-section bent pipeline |
| CN113606425A (en) * | 2021-07-05 | 2021-11-05 | 宝宇(武汉)激光技术有限公司 | Pipeline robot |
| CN113733064A (en) * | 2021-09-17 | 2021-12-03 | 廊坊中油朗威工程项目管理有限公司 | Pipeline welding supervision robot |
-
2019
- 2019-01-07 CN CN201920015265.7U patent/CN209502082U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020238305A1 (en) * | 2019-05-29 | 2020-12-03 | 南京灵雀智能制造有限公司 | Pipeline type intelligent spraying robot and working method thereof |
| CN110756361A (en) * | 2019-12-11 | 2020-02-07 | 天津君诚管道实业集团有限公司 | Inner wall plastic coating equipment for large-diameter steel pipe |
| CN111841971A (en) * | 2020-08-04 | 2020-10-30 | 史代波 | Inner wall spraying device for pipeline machining |
| CN113510028A (en) * | 2021-05-25 | 2021-10-19 | 哈尔滨工业大学 | Pipeline spraying robot and spraying method for inner wall of special-shaped variable-cross-section bent pipeline |
| CN113510028B (en) * | 2021-05-25 | 2022-07-29 | 哈尔滨工业大学 | Pipeline spraying robot and spraying method for inner wall of special-shaped variable-cross-section bent pipeline |
| CN113606425A (en) * | 2021-07-05 | 2021-11-05 | 宝宇(武汉)激光技术有限公司 | Pipeline robot |
| CN113733064A (en) * | 2021-09-17 | 2021-12-03 | 廊坊中油朗威工程项目管理有限公司 | Pipeline welding supervision robot |
| CN113733064B (en) * | 2021-09-17 | 2024-03-15 | 廊坊中油朗威工程项目管理有限公司 | Pipeline welding supervision robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191018 Termination date: 20210107 |