A control system and control method for the movement of a manipulator for inspection of container welds

A motion control and control method technology, applied in the directions of manipulators, welding equipment, manufacturing tools, etc., can solve the problems of high cost, economic loss, and unfavorable independent and rapid development of industries, and achieve the goal of saving resources, low inspection costs, and reducing maintenance costs. Effect

Active Publication Date: 2016-02-03
HARBIN INST OF TECH +1
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] With the rapid development of my country's nuclear power, chemical industry and other related industries with large-scale high-risk container equipment, my country's large-scale high-risk container inspection and maintenance technology and equipment with independent intellectual property rights are still very backward, and there is a large lack of guarantees for nuclear power, chemical and other large container equipment Safe operation The necessary inspection and maintenance equipment
At present, the maintenance of large-scale high-risk containers is expensive to purchase or rent special tools and equipment from abroad, which not only causes a lot of economic losses, but also is not conducive to the independent and rapid development of related industries in our country.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A control system and control method for the movement of a manipulator for inspection of container welds
  • A control system and control method for the movement of a manipulator for inspection of container welds
  • A control system and control method for the movement of a manipulator for inspection of container welds

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0028] Specific implementation mode 1: The motion control system of the inspection machine in this implementation mode includes:

[0029] The inspection machine motion control system is composed of human-computer interaction subsystem, power management subsystem, motion control subsystem and manipulator subsystem;

[0030] Wherein, the power management subsystem supplies power to the human-computer interaction subsystem and the motion control subsystem, and the motion control subsystem is connected to the manipulator subsystem through a special cable integrated with a dedicated power line, data line, and control signal line. The system includes a manipulator, and the manipulator transmits the data of the motor resolver feedback to the motion control subsystem through the data line, and the motion control subsystem transmits the current corresponding to the rotation angle to the motor in the manipulator through the control signal line; the movement The control subsystem is conn...

specific Embodiment approach 2

[0049] Embodiment 2: This embodiment is different from Embodiment 1 in that: a control method for the movement of a large-scale high-risk container weld inspection manipulator includes the following content:

[0050] Plan and design 5 kinds of inspection tracks: cylinder weld inspection track, joint weld inspection track, intersection surface weld inspection track, pipe fillet weld inspection track, and bottom head weld inspection track, and then pass these 5 tracks A movement track of the manipulator at the weld seam of the container is generated, and the human-computer interaction subsystem controls the manipulator to complete the detection task through the motion control subsystem according to the dense movement points on the movement track.

[0051] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0052] Specific embodiment 3: The difference between this embodiment and specific embodiment 2 is that the cylinder weld inspection track includes a circumferential inspection track and a radial inspection track;

[0053] Wherein, the cylinder weld inspection track formula is:

[0054] S i =Trans(0,0,R i )Rot(z,θ i )Trans(0,E R ,0)Rot(x,F A ·A T );

[0055] The above formula expands to:

[0056] S i = 1 0 0 0 0 1 0 0 0 0 1 - R ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a system and method for controlling the container welding line inspection mechanical arm movement. The system and method is used for inspecting the mechanical arm movement. The problem that in the prior art in China, a method for planning a container welding line inspection mechanical arm movement track is not provided is solved. The inspection machine movement control system is composed of a man-machine interaction subsystem, a power management subsystem, a movement control subsystem and a mechanical arm subsystem. Five inspection tracks including the barrel welding line inspection track, the connecting pipe welding line inspection track, the intersected pipe face welding line inspection track, the intersected pipe circular bead welding line inspection track and the bottom sealing head welding line inspection track are planed and designed, then the container welding line inspection mechanical arm movement track is generated through the five tracks, and the man-machine interaction subsystem enables the movement control subsystem to control a mechanical arm to complete an inspection task according to compact movement points on the container welding line inspection mechanical arm movement track. The system and method are applied to inspection on large-scale high-risk containers in the fields such as nuclear power and chemical engineering.

Description

technical field [0001] The invention relates to a control system and a control method for checking the movement of a manipulator. Background technique [0002] Nuclear energy, chemical industry and other industries have become strategic industries for national economic development. While benefiting mankind, it is accompanied by problems such as ionizing radiation, harmful gas pollution, and nuclear safety that endanger the safety of national life and property. In order to ensure the long-term safe operation of equipment, various technologically developed countries in the world have developed a large number of equipment inspection and maintenance robots, and use robots to replace operators to complete those extremely dangerous tasks in dangerous environments. According to incomplete statistics, hundreds of special robot systems have been developed around the world. With the rapid development of nuclear energy, chemical industry and other industries in the world, high-risk in...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/00B23K31/12
Inventor 赵杰李戈黄晓锋文斌闫继宏何秀权樊继壮
Owner HARBIN INST OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap