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Multifunctional pipeline operation robot control system

A technology for working robots and control systems, applied in the field of robots, can solve the problems of small amount of wireless transmission data, complicated removal methods, collisions, etc., to achieve the effect of perfect alarm and protection, and unified hardware interface

Pending Publication Date: 2021-10-19
CHINA NUCLEAR POWER TECH RES INST CO LTD +2
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, for the application environment of pipelines, wireless transmission has the following problems: a. The pipeline body has certain attenuation and shielding of radio waves, and long-distance wireless transmission may cause a large delay in robot control, which may easily cause collisions and cause pipeline damage; b. The amount of wireless transmission data is small, which has great limitations on the robot’s functional design and subsequent expansion; c. If the robot fails, the removal method needs to dismantle the pipeline, and the removal method is more complicated

Method used

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  • Multifunctional pipeline operation robot control system
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  • Multifunctional pipeline operation robot control system

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Embodiment Construction

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0037] see figure 1 , the first embodiment of the present invention provides a multifunctional pipeline operation robot control system, which includes an upper computer 100 and a multifunctional pipeline robot as a lower computer connected to the upper computer 100 by wire; wherein, the upper computer 100 Through the Beckhoff controller 110, use the Ethercat bus 200 to connect and control each functional module of the multifunctional pipeline operation robot; ...

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Abstract

The invention discloses a multifunctional pipeline operation robot control system which comprises an upper computer and a multifunctional pipeline robot in wired connection with the upper computer. The upper computer is connected with and controls each functional module of the multifunctional pipeline operation robot by using an Ethercat bus through a Beckhoff controller; the functional modules comprise a rear drive module, a polishing module, a dust collection / rolling sweeping module, a front drive module, a probing module and a clamping module. According to the invention, the stable operation of exploration, detection, grinding, polishing, clamping, rolling, sweeping and collecting and the like of the robot in the pipeline can be ensured, and a technical guarantee is provided for the safe operation of a nuclear power pipeline.

Description

technical field [0001] The invention relates to the field of robots, in particular to a control system for a multifunctional pipeline operation robot. Background technique [0002] The control system of the multifunctional pipeline operation robot is one of the cores of the multifunctional pipeline operation robot, and its composition mainly includes hardware system and software system. [0003] Regarding the realization of the multifunctional pipeline operation robot, the existing patent 1 (CN201710218176.8) discloses a robot control system, which describes a multi-node EtherCAT communication method; however, its interface induction is not unified, and its applicability is not strong. [0004] Existing patent 2 (CN201610406266.5) discloses a two-core eight-axis wireless transmission crawler-type natural gas pipeline robot control system, and describes a control system using ARM+DSP dual-core control. [0005] The advantage of the existing patent 2 using wireless transmissi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042F16L55/26
CPCG05B19/0423F16L55/26F16L2101/12F16L2101/30G05B2219/25257
Inventor 李兵陈少南陈国栋王雪竹张美玲刘蕾权子奇
Owner CHINA NUCLEAR POWER TECH RES INST CO LTD
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