Adsorption performance testing device for pipeline wall-climbing robot

Abstract

The invention discloses an adsorption performance testing device for a wall-climbing robot, which comprises a support frame, a lifting platform and a self-stabilizing structure, and uses a plurality of tension sensors. The supporting frame sleeves the pipeline to support other functional modules, so that the safety of the device is ensured; the height of the lifting platform is adjusted within a certain range, and the pulling force on the wall-climbing robot is changed; the self-stabilizing structure can automatically balance the pulling force of the pulling rope on the wall-climbing robot, and can adapt to different postures of the wall-climbing robot on the curved surface of the pipeline in combination with the ball pair connecting piece, so that the measurement accuracy is improved. According to the invention, the overall adsorption performance does not need to be indirectly analyzed by measuring a single adsorption module, the overall adsorption performance can be directly tested by applying tension with stable direction and size to the wall-climbing robot, and the numerical value of the tension borne by the wall-climbing robot in the process from adsorption to separation and movement on the wall surface of the pipeline is recorded in real time; therefore, the adsorption performance of the wall-climbing robot can be analyzed when the wall-climbing robot encounters various interferences.

Description

Technical Field

[0001] The invention relates to the technical field of wall-climbing robots, in particular to an adsorption performance testing device for a pipeline wall-climbing robot. Background Art

[0002] A wall-climbing robot is a special robot designed to complete specific tasks in a space wall environment. It is widely used in high-altitude operations such as petrochemical, shipbuilding, and container terminals. It can carry different inspection equipment to perform flaw detection, thickness and corrosion inspection, etc., significantly improving the safety of workers working in dangerous environments, reducing operational risks, improving work efficiency, and bringing considerable economic and social benefits.

[0003] To ensure that the wall-climbing robot can move normally in the working environment, its adsorption performance must be analyzed and tested in detail. This process not only involves the evaluation of the adsorption module, but also needs to consider environmental factors such as wall material, inclination and surface roughness. These factors may significantly affect the robot's adsorption effect and stability.

[0004] At present, the existing technology usually uses the method of measuring the adsorption module of the wall-climbing robot separately to infer its overall adsorption state. However, since a wall-climbing robot may be equipped with multiple adsorption modules, and the adsorption performance of modules in different positions may be different, and the wall-climbing robot body affects the adsorption performance, the result of testing a certain module separately may be significantly different from the overall actual effect. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an adsorption performance testing device for a pipeline wall-climbing robot.

[0006] The present invention comprises a support frame, a lifting platform and a self-stabilizing structure;

[0007] The support frame is movably sleeved on the pipeline and supports the lifting platform and the self-stabilizing structure;

[0008] The lifting platform is movably connected to the top of the support frame and is used to change the pulling force on the wall-climbing robot on the pipeline;

[0009] The self-stabilizing structure is fixed to the lifting platform and connected to the wall-climbing robot via pulling ropes on all sides, so as to automatically balance the pulling force of the pulling ropes on the wall-climbing robot and measure the pulling force.

[0010] The above technical solution of the present invention has the following advantages compared with the prior art:

[0011] The present invention does not need to indirectly analyze the overall adsorption performance of the wall-climbing robot by measuring a single adsorption module, and can directly test the overall adsorption performance by applying a pulling force with a stable direction and magnitude to the robot, thereby facilitating verification of the feasibility of the robot as a whole.

[0012] The present invention combines the use of structures such as slide grooves and ball pairs with the designed self-stabilizing structure, which can avoid the influence of posture changes or shaking of the wall-climbing robot on the test results during the test. Under the action of tension, the slide grooves and ball pairs can ensure that the self-stabilizing structure is always facing the wall-climbing robot. The self-stabilizing structure can automatically balance the tension at the four corners when the wall-climbing robot shakes, avoiding the influence of uneven tension on the test results and improving the accuracy.

[0013] The present invention can follow the robot to move on the pipeline, and can realize dynamic adsorption performance testing to verify the adsorption performance and stability in a moving state. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 2 is a schematic diagram of the overall structure of an adsorption force detection device for a wall-climbing robot according to an embodiment of the present application;

[0015] Figure 2 is a schematic diagram of a support frame of an embodiment of the present application;

[0016] Figure 3 is a schematic diagram of a connecting member and a lifting platform of an embodiment of the present application;

[0017] Figure 4 Schematic diagram of the self-stabilizing structure and the wall-climbing robot to be tested in an embodiment of the present application;

[0018] Figure 5 is a test flow chart of an embodiment of the present application;

[0019] Figure 6 It is a test flow chart of the embodiment of the present application under disturbance force. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0021] Reference Figure 1 As shown, an embodiment of the present application discloses a platform device for testing the adsorption force of a wall-climbing robot, including a supporting frame 1, a lifting platform 2, a self-stabilizing structure 3, a wall-climbing robot to be tested 4 and a pipeline 5.

[0022] The support frame 1 fixes the position of the entire device by sleeve-connecting the pipe 5 in the two circular rings below; the lifting platform 2 is suspended on the top of the support frame 1, and the height can be adjusted within a certain range, thereby changing the pulling force on the wall-climbing robot 4; the self-stabilizing structure 3 is fixed to the bottom of the lifting platform and moves with the lifting platform 2. A rope extends from each of the four corners and is connected to the wall-climbing robot 4. The structure can automatically balance the pulling force of the pulling rope on the wall-climbing robot 4, thereby improving the measurement accuracy; the wall-climbing robot 4 is adsorbed on the wall of the pipe 5 as a device to be tested.

[0023] When the wall-climbing robot 4 is adsorbed on the surface of the pipe 5, the lifting platform 2 is adjusted to make the pulling rope taut. The pulling rope has pulling force on both ends. When acting on the wall-climbing robot 4, it is a normal force that forces it to break away from the pipe 5. For the test device, it is a pulling force that pulls it toward the pipe 5. Under the action of this pulling force, the test platform can stay stably on pipes with different inclinations and will not fall off or slide easily. When the wall-climbing robot 4 moves along the pipe 5, the test platform will follow the movement of the robot 4 under the action of the pulling rope to perform dynamic adsorption force measurement. When the wall-climbing robot 4 is not adsorbed or falls off, the pulling rope does not provide pressure to the test platform, and the two annular bases under the support frame 1 buckled on the pipe 5 can also ensure that the device does not fall off.

[0024] refer to Figure 2 In one example, the lower part of the support frame 1 is two annular bases for sleeve connection on the pipe 5. The radius of the annular base is related to the pipe. Each base is composed of two semicircular aluminum profiles (i.e., sleeve connection with the pipe through a detachable clamping ring). There is a short straight section extending from both sides of the semicircular aluminum profiles, which are fixed together by screws. The semicircular aluminum profiles 1-11 and 1-12 are a pair, and the semicircular aluminum profiles 1-21 and 1-22 are a pair. Each semicircular aluminum profile has three evenly spaced universal wheels at the bottom, which are installed on the side opposite to the pipe by screws to form a movable sleeve connection with the pipe.

[0025] Furthermore, on the semicircular aluminum profile 1-12, the universal wheel 1-52 is located in the middle of the arc of the semicircular aluminum profile 1-12, and the other two universal wheels 1-51 and 1-53 are located at both ends of the arc, separated from the universal wheel 1-52 by a central angle of 60°, and the structures of the remaining semicircular aluminum profiles 1-11, 1-21, and 1-22 are the same.

[0026] Furthermore, the semicircular aluminum profiles 1-12 and 1-22 are connected to the square aluminum profile frame 1-3, and a slide groove 1-4 is provided in the middle of the top of the square aluminum profile frame 1-3, which plays the role of strengthening the structure and suspending the lifting platform 2. When installing the support frame, the aluminum profiles 1-11 and 1-21 are detached from the corresponding other part, and the aluminum profiles 1-12 and 1-22 connected to the square aluminum profile frame 1-3 are first placed against the pipe, and after determining the approximate position, the other pair of aluminum profiles 1-11 and 1-21 are aligned and fixed with screws.

[0027] refer to Figure 3 In one example, the upper end of the ball-joint connector 2-1 is connected to the slide 1-4, and the lower end is successively connected to the ball-joint connector 2-2, the translation adapter plate 2-3, and the bottom plate 2-41 of the lifting platform. The slide 1-4 and the ball-joint connector 2-2 can adjust the orientation of the lifting platform 2. When the wall-climbing robot 4 is adsorbed, its posture is not necessarily the same as the orientation of the self-balancing structure 3. By adjusting the position of the ball-joint connector 2-1 on the slide 1-4 and the angle of the ball-joint connector 2-2, the self-balancing structure 3 can be adjusted to face the wall-climbing robot 4, ensuring that the tension on the four diagonal corners of the wall-climbing robot 4 is basically the same.

[0028] Furthermore, the stepper motor 2-6 is connected to the lifting mechanism 2-42 through the planetary reducer 2-5, and the lifting mechanism 2-42 converts the rotation of the stepper motor 2-6 into translation, thereby adjusting the height of the lifting table 2-43. The lifting table 2-43 is fixedly connected to the self-stabilizing structure 3. That is, when the stepper motor 2-6 rotates, the lifting table 2-43 of the lifting platform 3 immediately moves in a translational direction along the table surface, approaching or moving away from the wall-climbing robot, and correspondingly reducing or increasing the pulling force on the wall-climbing robot, thereby adjusting the pulling force.

[0029] refer to Figure 4 In one example, the upper fixing plate 3-1 of the self-balancing structure 3 is fixed to the lifting platform 2-43 by screws. When the lifting platform 2-43 moves, the self-stabilizing structure 3 also moves. There is a notch at the upper left and lower right corners of the upper fixing plate 3-1, and fixed pulleys 3-21 and 3-22 are installed. The extended part in the middle forms two swing pairs with the balancing rods 3-31 and 3-32 and the buckles 3-61 and 3-62, which can be regarded as two lever structures.

[0030] Furthermore, springs 3-51, 3-52, 3-53, and 3-54 are fixed at both ends of the two balance bars and connected to the upper fixed plate 3-1. When the two ends of the lever are unbalanced, the springs will provide compensation forces in opposite directions to the two ends. Tension sensors 3-41, 3-42, 3-43, and 3-44 are installed at the outermost positions at both ends of the balance bars, wherein the tension sensors 3-41 and 3-44 below the fixed pulleys 3-21 and 3-22 are installed on the upper surface of the balance bar, and the fixed pulleys 3-22 and 3-24 are installed on the lower surface of the balance bar. One end of the tension sensor is fixed to the balance bar, and the other end is connected to the pulling rope. When subjected to tension, the sensor deforms and outputs an analog signal for measuring the tension of the pulling rope. One end of the pulling rope 3-71, 3-74 is connected to the tension sensors 3-41, 3-44, and the other end is connected to the wall-climbing robot after passing through the fixed pulleys 3-21, 3-22 and changing the direction. The two ends of the pulling rope 3-72, 3-73 are directly connected to the tension sensors 3-42, 3-43 and the wall-climbing robot. The connection positions of the pulling rope on the wall-climbing robot are respectively located at the four diagonals of the robot, so that they are evenly distributed in the circumferential direction.

[0031] Furthermore, when the test platform is working normally, the pulling rope exerts a normal pulling force on the wall-climbing robot 4. Due to the action of the fixed pulley, two opposite pulling forces are reacted on the two ends of the balance bars 3-31 and 3-32. When the wall-climbing robot 4 changes its posture due to movement during the test, that is, the height and angle of the robot change, the self-balancing structure 3 will provide compensation force according to the height difference through the lever structure of the balance bars 3-31 and 3-32 under the action of the spring, and the ball pair 2-2 will change direction under the action of the pulling force to keep the front and rear pulling forces consistent, so as to keep the overall pulling force of the wall-climbing robot 4 stable and consistent during the test to the greatest extent.

[0032] The adsorption force test process of the wall-climbing robot in this embodiment is shown in Figure 5 In order to ensure accurate measurement, the pipeline is placed horizontally and the wall-climbing robot is attached directly above the pipeline.

[0033] If the initial pulling rope is in a relaxed state, control the stepper motor to adjust the height of the lifting platform, use the S-curve algorithm to plan the movement speed, avoid the impact caused by sudden acceleration changes, gradually raise the height of the lifting platform, straighten the pulling rope, and the value of the tension sensor at this time is the influence of the gravity of the pulling rope, and the sensor value is reset to zero.

[0034] The stepper motor works and the lifting platform continues to move away from the wall-climbing robot. During this process, the tension of the pulling rope increases accordingly, and the value of the tension sensor and the position of the lifting platform are read at all times.

[0035] When the wall-climbing robot detaches from the wall, the motor stops moving and the test ends. So far, four sets of tension data measured by four tension sensors have been obtained from the beginning of the robot's movement to the robot's detachment from the pipe wall. The tension at the same time is summed, and the maximum tension is equal to the sum of the maximum adsorption force of the wall-climbing robot and gravity. Subtracting gravity can get the adsorption force of the wall-climbing robot. At the same time, the change in tension during the wall-climbing robot's detachment from the wall is equal to the change in adsorption force.

[0036] If the test is to be repeated, reset the lift first to ensure consistent initial conditions.

[0037] This embodiment can also be tested when the wall-climbing robot is in motion, providing a pulling force as a disturbance force for the robot to test the stability of the robot under the interference force, and can also verify the results of the theoretical analysis of the wall-climbing robot. The specific embodiment test process is as follows: Figure 6 .

[0038] If the initial pulling rope is in a loose state, control the stepper motor to adjust the height of the lifting platform and straighten the pulling rope. At this time, the value of the tension sensor is the influence of the gravity of the pulling rope, and the sensor value is reset to zero.

[0039] Start the wall-climbing robot to move at a constant speed along the pipeline, record the value of the tension sensor during the constant speed movement, which is the tension required to drag the test platform, and then reset the wall-climbing robot.

[0040] The target tension is set on the test platform controller. In this test, the tension is used as the interference force. The size of the interference force on the wall-climbing robot is controlled by setting the target tension, and the stability of the movement and the adsorption performance of the wall-climbing robot under the tension interference of this size are tested.

[0041] The stepper motor works, gradually increases the pulling force, monitors the value of the pulling force sensor and the position of the lifting platform, and stops the motor movement when it is detected that the total pulling force reaches the target pulling force.

[0042] After the pulling force reaches the target value, the wall-climbing robot accelerates to the target speed along the pipeline, moves at a constant speed, and stops moving after reaching the target position. Obstacles may exist during this section of the journey. The acceleration and speed of the wall-climbing robot can be set according to actual needs. If the wall-climbing robot reaches the target position, it means that the adsorption performance of the wall-climbing robot can overcome this degree of interference. If the wall-climbing robot detaches from the pipe wall, it means that the wall-climbing robot cannot stably adsorb under the action of the pulling force, and the wall-climbing robot is stopped, ending this test.

[0043] If the test is to be repeated, the wall-climbing robot and the test device must be reset to ensure that the initial conditions are consistent.

[0044] In the above process, if the lifting platform moves to the maximum stroke and the pulling force cannot be further increased, and the pulling force still does not reach the target value, in order to avoid damaging the lifting mechanism, the motor is stopped and the test is stopped.

[0045] In summary, the present invention can be combined with a pipeline wall-climbing robot to complete the test of maximum adsorption force and the motion test under the action of interference force, helping to verify the theoretical results.

[0046] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An adsorption performance testing device for a pipeline climbing robot, characterized in that: Includes support frame, lifting platform and self-stabilizing structure; The support frame is movably sleeved on the pipeline and supports the lifting platform and the self-stabilizing structure; The lifting platform is movably connected to the top of the support frame and is used to change the pulling force on the wall-climbing robot on the pipeline; The self-stabilizing structure is fixed to the lifting platform and connected to the wall-climbing robot via pulling ropes on all sides, so as to automatically balance the pulling force of the pulling ropes on the wall-climbing robot and measure the pulling force.

2. The adsorption performance testing device for a pipeline wall-climbing robot according to claim 1, characterized in that: A slide groove is provided on the top of the support frame for connecting with the lifting platform.

3. The adsorption performance testing device for a pipeline wall-climbing robot according to claim 2, characterized in that: The lifting platform is provided with a ball pair, and the ball pair is movably connected with the slide groove through a ball pair connector; By adjusting the position of the ball-joint connector in the slide slot and adjusting the angle of the ball-joint connector, the posture of the self-balancing structure is adjusted so that the self-balancing structure faces the wall-climbing robot.

4. An adsorption performance testing device for a pipeline wall-climbing robot according to any one of claims 1 to 3, characterized in that: The support frame is sleeved with the pipeline via a detachable clamping ring.

5. The adsorption performance testing device for a pipeline wall-climbing robot according to claim 4, characterized in that: A universal wheel is arranged inside the clamping ring to form a movable sleeve connection.

6. The adsorption performance testing device for a pipeline wall-climbing robot according to claim 1, characterized in that: The lifting platform includes an upper fixed plate and swing pairs located on both sides of the upper fixed plate; a fixed pulley is set diagonally on the upper fixed plate, one end of the first pulling rope is fixed to one end of a balance rod in the swing pair, and the other end of the first pulling rope is fixedly connected to the pipeline wall-climbing robot after passing through the fixed pulley; one end of the second pulling rope is fixed to the other end of the balance rod; the other end of the second pulling rope is fixedly connected to the pipeline wall-climbing robot.

7. The adsorption performance testing device for a pipeline wall-climbing robot according to claim 6, characterized in that: The fixed ends of the pulling ropes on the pipeline wall-climbing robot are evenly distributed in the circumferential direction.

8. The adsorption performance testing device for a pipeline wall-climbing robot according to claim 6 or 7, characterized in that: Springs are also provided at both ends of the balance bar, wherein one end of the spring is connected to the balance bar, and the other end is connected to the upper fixed plate. When the two ends of the swing pair are unbalanced, the spring provides compensation forces in opposite directions to the two ends of the swing pair.

9. The adsorption performance testing device for a pipeline wall-climbing robot according to claim 8, characterized in that: The balance pole is also provided with a tension sensor for measuring the tension of the pulling rope.

10. The adsorption performance testing device for a pipeline wall-climbing robot according to claim 1, characterized in that: The method also includes testing the stability and adsorption performance of the wall-climbing robot under the interference of the tension by presetting the tension on the pulling rope.

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