Rack pipe detection robot based on ultrasonic guided wave technology

Abstract

The invention relates to a rack pipe detection robot based on the ultrasonic guided wave technology. The robot is mainly characterized in that five rotary modules and two clamps are connected in a series manner on the basis of modular structure; the two clamps can be changed according to different pipe diameters, and a claw of each clamp is provided with a guided-wave probe clamping component on which guided-wave probes different in structure and quantity can be mounted; the rotary modules expand and retract to adjust the pose of terminal clamps, the two claws hold alternately to coordinate with the rotary modules to allow for various climbs. A control system based on PC/104 bus technology is used and comprises a servo motor, an embedded computer main board, a sensor and a remote control system. The robot has the advantages of small size, light weight, simple structure and high flexibility, can detect in such manners of creeping on straight pipes and bent pipes and creeping among the pipes, and allows for rack pipe nondestructive detection on the basis of the ultrasonic guided wave technology by integrating the guided wave detection technology and the robot technology.

Description

[0001] technical field [0002] The invention belongs to the technical fields of robot technology and ultrasonic guided wave detection, and relates to a pipe arrangement detection robot based on ultrasonic guided wave technology. Background technique [0003] Industrial pipelines are widely used in petroleum, chemical, metallurgy, pharmaceutical, energy and environmental protection industries. They are responsible for the transportation of high temperature, high pressure, flammable, explosive and toxic media. Once leakage or explosion occurs, it may cause catastrophic damage. ACCIDENT. Therefore, it is particularly important to realize rapid and effective detection of pipeline defects. [0004] For the non-destructive testing of pipeline defects, the main technical means are: ultrasonic, magnetic particle, ray and other methods. Among them, ultrasonic guided wave testing is an effective technical approach. As a new detection technology, ultrasonic guided wave detection ha...

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Problems solved by technology

Third, when working at heights, there is a certain danger for the inspectors

[0006] Generally speaking, the current research results are mainly aimed at the detection of the working state of a single pipe, and some of the results have defects such as complex structure and low detection efficiency. For the structure of the pipe arrangement and the complex operating environment, the relevant robot structure and motion planning are not yet available. Immature, there are very few research results on pipe inspection robots based on guided wave technology, and they have not been practically applied

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