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A pipe inspection robot

A robot and gripper technology, applied in the field of robots, can solve the problems of immature robot structure and motion planning, complex structure, low detection efficiency, etc. Effect

Active Publication Date: 2015-11-04
WUHAN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] 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

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Embodiment

[0049] In terms of overall structural design, the present invention provides a modular two-hand claw climbing robot, such as figure 1 and figure 2 As shown, the robot adopts a modular structure. The pipe inspection robot adopts five rotational degrees of freedom and two grippers. There are two types of seven modules in total. Each module is connected in series, and the order is as follows: the first gripper A -First Rotation Module A1-Second Rotation Module A2-Third Rotation Module C-Fourth Rotation Module B2-Fifth Rotation Module B1-Second Holder B, detection probes can be installed on the two holders, the first One holder A coincides with the axis of the first rotation module A1, the second holder B coincides with the axis of the fifth rotation module B1, and the axis of the second rotation module A2, the third rotation module C, and the fourth rotation module B2 In parallel, the axes of the first rotating module A1 and the fifth rotating module B1 are perpendicular to the...

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Abstract

The invention relates to a tube bank detection robot which moves in a mode of double-gripper climbing. The tube bank detection robot is mainly characterized in that based on a modular design method, the tube bank detection robot is of a modular structure and comprises seven models including five rotating modules and two clamps, and the modules are mutually connected in a series mode. The two clamps can be replaced according to different tube diameters. The two terminal rotating modules match with the middle three rotating modules to extend and retract, and accordingly postures of the end clamp can be adjusted. In the clamping process, two grippers clamp alternatively to match the rotating modules to realize various climbing movements. A control system based on a PC / 104 bus technology is adopted, and a hardware system mainly consists of servo motors, an embedded computer mainboard, sensors and a remote control system. The tube bank detection robot has the advantages of small size, light weight, simple structure and high flexibility, and can achieve detection movements such as straight tube crawling, bent tube crawling, inter-tube crawling, switching among tube panels and barrier crossing.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a pipe arrangement detection robot. Background technique [0002] 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. [0003] For the non-destructive testing of pipeline defects, the main technical means are: ultrasonic, magnetic particle, ray and other methods. However, for small-diameter and densely arranged pipelines, manual inspection is mainly used at present, that is, inspectors patrol or carry inspection equipment for inspection. In most pipeline system environments, there are many types of pipel...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00F17D5/02
Inventor 肖晓晖吴松林宋云超游凡
Owner WUHAN UNIV
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