Control method of wheel type tube climbing robot for tube bank inspection

Abstract

The invention discloses a control method of a wheel type tube climbing robot for tube bank inspection. The wheel type tube climbing robot for tube bank inspection comprises a base body part, a lifting clamping guide part, a clamping driving wheel part and a centralized electric control part. According to the invention, in a manner that the wheel type tube climbing robot climbs on a tube bank and crawls along the tube bank to carry out inspection operation, after the wheel type tube climbing robot is installed on the tube bank in clamping and positioned manner, the crawling movement along the tube relative to the tube bank in the axial direction of the tube bank is realized by synchronous control over the forward rotation action or reverse rotation action of all driving rolling wheels; obstacles in the front-back directions can be crossed, by cooperative coordination control over a left base body lifting control mechanism and a right base body lifting control mechanism; the tube bank operation in the left-right direction can be realized,by cooperative control over a sliding driving component I and a sliding driving component II, so that unattended automatic tube climbing movement can be achieved, and inspection can be achieved by additionally installing a sensor, and the wheel type tube climbing robot is particularly suitable for defrosting operation of refrigeration tube banks of large and medium-sized refrigeration houses.

Description

technical field [0001] The invention relates to a control method of an inspection robot, in particular to a control method of a wheeled pipe climbing robot suitable for automatic inspection of pipes, and belongs to the technical field of automatic inspection. Background technique [0002] The structure of multiple pipelines positioned side by side and arranged in parallel is referred to as the pipe arrangement structure. For example, in order to meet the requirements of the cable inlet and outlet channels of the substation and the overhead lines entering the ground, the power pipe arrangement that provides power channels for the power supply of the plots along the line; The cold storage pipes that form the flue effect in the channel and accelerate the heat exchange and convection to achieve rapid cooling are all pipe structures. The piping structure is usually erected and installed. For example, the electric pipe is usually erected and installed in the cable trench, and the ...

AI Technical Summary

Problems solved by technology

Although the hot air defrosting method is simple in construction and convenient in maintenance, it is easy to cause large fluctuations in the storage temperature and affect the quality of refrigeration and refrigeration; although the water spray defrosting method has a good defrosting effect, it is more suitable for air coolers, and it is difficult to operate for evaporative coils , and there are also problems that easily cause large fluctuations in storage temperature and affect the quality of refrigeration and refrigeration; electric heating and defrosting methods are mostly used in medium and small cold storage refrigeration pipes, but installing electric heating wires is not only difficult in construction, but also difficult in maintenance and management after installation , The safety factor is relatively low; the manual defrosting method is suitable for the refrigeration pipes of small-scale cold storage, but the operator not only has high labor intensity and incomplete defrosting, but also easily causes deformation of the refrigeration pipes, and even causes refrigerant leakage accidents

[0005] In the prior art, there are inspection and defrosting robots for large-scale cold storage, but most of them are ground-walking structures including a walking chassis that can walk along the ground. However, the items stored in the cold storage are usually densely stacked for effective use of space. This not only requires an additional passage for the defrosting robot to walk, which is uneconomical, but also the overhanging mechanical arm of the defrosting robot usually interferes with the stacked items during the operation, resulting in the failure of the operation The regional and overall defrosting effects are not ideal; however, the defrosting robot that can translate along the inner wall of the cold storage for inspection and defrosting needs to set additional guide rails on the inner wall of the cold storage for positioning The installation position, and the installation position of the guide rail often interferes with the position of the refrigeration pipes on the inner wall of the existing cold storage, which makes it inconvenient or even impossible to install this wall-mounted mobile inspection defrosting robot for the existing cold storage

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