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Suspended-cable parallel robot for coal bunker inner wall defect detection and control method

A technology of defect detection and robotics, applied in the direction of program control manipulators, instruments, manipulators, etc.

Active Publication Date: 2019-09-10
SHANTOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

It can be used for visual detection of defects such as cracks on the inner walls of large spaces such as coal bunkers and power plant chimneys

Method used

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  • Suspended-cable parallel robot for coal bunker inner wall defect detection and control method
  • Suspended-cable parallel robot for coal bunker inner wall defect detection and control method
  • Suspended-cable parallel robot for coal bunker inner wall defect detection and control method

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Embodiment Construction

[0083] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0084] A cable-suspended parallel robot for detecting defects on the inner wall of a coal bunker according to an embodiment of the present invention, such as figure 1 installed as shown.

[0085] 4 pulley mechanisms (300) are fixed on 4 corners of the coal bunker (400), such as figure 1 . The winding drum (201) is connected with the servo motor (211) through a coupling (212).

[0086]The four servo mechanisms (200) all include a winding drum (201), a linear bearing (205), an installation base plate (208), a crimping mechanism (210), an encoder (2013), an encoder wheel (209), Servomotor (211), described winding drum (201) is connected with servomotor (211) by shaft coupling (212), and flexible rope winds through described crimping mechanism (210), encoder wheel ...

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Abstract

The embodiment of the invention discloses a suspended-cable parallel robot for coal bunker inner wall defect detection. The suspended-cable parallel robot for coal bunker inner wall defect detection comprises a visual detection movable platform, four servo mechanisms, four pulley mechanisms and four flexible cables, the four pulley mechanisms are fixed to the four corners of a coal bunker correspondingly, and the visual detection movable platform is connected with the four flexible cables and connected with the four servo mechanisms through the four pulley mechanisms in a winding manner. The embodiment of the invention further discloses a control method of the suspended-cable parallel robot for coal bunker inner wall defect detection. By adopting the suspended-cable parallel robot for coalbunker inner wall defect detection and the control method, precise space positioning and real-time visual image processing of a visual detection pan-tilt are achieved, a traditional manual detectionmode is replaced, the working efficiency is greatly improved, and the maintenance cost of equipment overhauling is reduced. The suspended-cable parallel robot for coal bunker inner wall defect detection has the characteristic that in the moving process, even though a cable installing plate is uneven, a camera still can keep horizontal operation, and a novel solution is provided for unstability ofan end effector in the moving process of the suspended-cable parallel robot.

Description

technical field [0001] The present invention relates to the field of large-space inner wall defect detection and the field of flexible cable parallel robots, in particular to a visual detection method for defects such as cracks, rust, pits, liner warping, and missing bolts on the inner walls of large spaces such as coal bunkers and power plant chimneys. The cable-suspended parallel robot and its control method. Background technique [0002] The coal bunker is a container for storing coal in the production process of coal-fired power plants. The lining board of the coal bunker is generally made of stainless steel or ultra-high molecular weight polyethylene board. Because the stainless steel lining board is cheap, has good toughness, simple installation and production, and is impact-resistant, it is currently in It is widely used in coal-fired power plants. However, stainless steel will corrode due to contact with chlorine and sulfur in coal combustion due to welding, surface...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/16G01N21/954
CPCB25J9/16B25J9/1679B25J11/00G01N21/954
Inventor 朱龙飞包能胜邝慧玲
Owner SHANTOU UNIV
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