An adsorption performance testing device for a pipeline climbing robot

Abstract

The present invention discloses an adsorption performance test device for a wall-climbing robot, comprising a support frame, a lifting platform and a self-stabilizing structure, and using a plurality of tension sensors. The support frame is sleeved on a pipeline to support other functional modules and ensure the safety of the device; the lifting platform adjusts its height within a certain range to change the tension on the wall-climbing robot; the self-stabilizing structure can automatically balance the tension of the pulling rope on the wall-climbing robot, and combined with a ball-joint connector, it can adapt to different postures of the wall-climbing robot on the curved surface of the pipeline, thereby improving the accuracy of the measurement. The present invention does not need to indirectly analyze the overall adsorption performance by measuring a single adsorption module, and can directly test the overall adsorption performance by applying a tension with a stable direction and magnitude to the wall-climbing robot, and records in real time the value of the tension received by the wall-climbing robot during the process of adsorption to detachment from the pipeline wall and movement, so as to analyze the adsorption performance of the wall-climbing robot when encountering various interferences.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, and in particular to an adsorption performance testing device for a pipe-climbing robot. Background Art

[0002] Wall-climbing robots are specialized robots designed to perform specific tasks in high-altitude environments, such as petrochemical, shipbuilding, and container terminals. They can carry various inspection equipment to perform flaw detection, thickness and corrosion testing, significantly improving worker safety in hazardous environments, reducing operational risks, increasing work efficiency, and bringing considerable economic and social benefits.

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

[0004] Currently, existing technologies typically use individual measurements of the adsorption modules of a wall-climbing robot 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 locations may vary, coupled with the influence of the wall-climbing robot itself on the adsorption performance, the results of testing a single module may differ significantly from the overall actual effect. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an adsorption performance testing device for pipe-climbing robots.

[0006] This invention includes a support frame, a lifting platform, and a self-stabilizing structure;

[0007] The support frame is movably fitted onto the pipe and supports the lifting platform and the self-stabilizing structure;

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

[0009] The self-stabilizing structure is fixed to the lifting platform and connected to the wall-climbing robot around its perimeter by traction ropes. This structure is used to automatically balance the tension of the traction ropes on the wall-climbing robot and to measure the tension.

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

[0011] This invention eliminates the need to indirectly analyze the overall adsorption performance of the wall-climbing robot by measuring individual adsorption modules. Instead, it allows for direct testing of the overall adsorption performance by applying a stable pulling force to the robot, thus facilitating the verification of the robot's overall feasibility.

[0012] This invention combines the use of sliding grooves, ball joints, and other structures with a self-stabilizing structure, which can avoid the influence of posture changes or swaying of the wall-climbing robot on the test results during the test. Under the action of tension, the sliding grooves and ball joints can ensure that the self-stabilizing structure always faces the wall-climbing robot. The self-stabilizing structure can automatically balance the tension at the four corners when the wall-climbing robot sways, avoiding uneven tension from affecting the test results and improving accuracy.

[0013] This invention can follow a robot moving on a pipeline, enabling dynamic adsorption performance testing and verifying the adsorption performance and stability under motion. Attached Figure Description

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

[0015] Figure 2 This is a schematic diagram of the support framework of an embodiment of this application;

[0016] Figure 3 This is a schematic diagram of the connector and lifting platform according to an embodiment of this application;

[0017] Figure 4 This is a schematic diagram of the self-stabilizing structure and the wall-climbing robot under test according to an embodiment of this application;

[0018] Figure 5 This is a test flowchart of an embodiment of this application;

[0019] Figure 6 This is a flowchart of the test under disturbance force according to an embodiment of this application. Detailed Implementation

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

[0021] Reference Figure 1 As shown in the figure, this application discloses a platform device for testing the adhesion force of a wall-climbing robot, including a support frame 1, a lifting platform 2, a self-stabilizing structure 3, a wall-climbing robot to be tested 4, and a pipe 5.

[0022] The support frame 1 fixes the overall position of the device by fitting the pipe 5 into the two lower rings; the lifting platform 2 is suspended from the top of the support frame 1 and can adjust its height 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, with a rope extending from each of the four corners and connected to the wall-climbing robot 4. Its structure can automatically balance the pulling force of the rope on the wall-climbing robot 4, improving the accuracy of the measurement; the wall-climbing robot 4 is attached to the wall of the pipe 5 as the device to be tested.

[0023] When the wall-climbing robot 4 adheres to the surface of pipe 5, the lifting platform 2 is adjusted to tighten the pull rope. The pull rope exerts tension at both ends. When acting on the wall-climbing robot 4, it is a normal force that forces it to detach from pipe 5. For the testing device, it is a pulling force that pulls it towards pipe 5. Under this tension, the testing platform can stably remain on pipes at different inclination angles without easily detaching or sliding. As the wall-climbing robot 4 moves along pipe 5, the testing platform will follow the robot 4 under the action of the pull rope, allowing for dynamic adhesion force measurement. When the wall-climbing robot 4 is not adhering or has detached, the pull rope does not provide pressure to the testing platform, and the two annular bases under the support frame 1, fastened to pipe 5, also ensure that the device does not detach.

[0024] refer to Figure 2 In one example, the lower part of the support frame 1 consists of two annular bases for fitting onto the pipe 5. The radius of the annular bases is related to the pipe. Each base consists of two semi-circular aluminum profiles (i.e., fitted onto the pipe via detachable snap rings). Each semi-circular aluminum profile has a short, straight section extending from both sides, which is fixed together by screws. Semi-circular aluminum profiles 1-11 and 1-12 form a pair, and semi-circular aluminum profiles 1-21 and 1-22 form a pair. Each semi-circular aluminum profile has three evenly spaced casters at its bottom, which are screwed onto the side opposite the pipe, forming a movable fit with the pipe.

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

[0026] Furthermore, the semi-circular aluminum profiles 1-12 and 1-22 are connected to the square aluminum profile frame 1-3. The top center of the square aluminum profile frame 1-3 has a groove 1-4, which serves to strengthen the structure and suspend the lifting platform 2. When installing the support frame, aluminum profiles 1-11 and 1-21 are detached from their corresponding counterparts. The aluminum profiles 1-12 and 1-22 connected to the square aluminum profile frame 1-3 are first placed against the pipe. After determining the approximate position, the other pair of aluminum profiles 1-11 and 1-21 are aligned and secured 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 groove 1-4, and the lower end is successively connected to the ball joint 2-2, the translation transition plate 2-3, and the lifting platform base plate 2-41. The slide groove 1-4 and the ball joint 2-2 can adjust the orientation of the lifting platform 2. When the wall-climbing robot 4 is adsorbed, its posture may not be 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 groove 1-4 and the angle of the ball joint 2-2, the self-balancing structure 3 can be adjusted to face the wall-climbing robot 4, ensuring that the tension on the four opposite 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 via the planetary reducer 2-5. The lifting mechanism 2-42 converts the rotation of the stepper motor 2-6 into translational motion, thereby adjusting the height of the lifting platform 2-43. The lifting platform 2-43 is also fixedly connected to the self-stabilizing structure 3. That is, when the stepper motor 2-6 rotates, the lifting platform 2-43 of the lifting platform 3 translates along the normal direction of the platform, moving closer to or further away from the wall-climbing robot, correspondingly reducing or increasing the pulling force on the wall-climbing robot, thus adjusting the pulling force.

[0029] refer to Figure 4 In one example, the upper fixed 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 accordingly. The upper fixed plate 3-1 has a notch at the upper left and lower right corners, where fixed pulleys 3-21 and 3-22 are installed. The middle extension, together with the balance bars 3-31 and 3-32 and the buckles 3-61 and 3-62, forms two swing pairs, which can be regarded as two lever structures.

[0030] Furthermore, springs 3-51, 3-52, 3-53, and 3-54 are fixed to 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 compensating forces in opposite directions to both ends. Tension sensors 3-41, 3-42, 3-43, and 3-44 are installed at the outermost positions of both ends of the balance bars. 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 bars, while fixed pulleys 3-22 and 3-24 are installed on the lower surface of the balance bars. One end of each tension sensor is fixed to the balance bar, and the other end is connected to the pull rope. When subjected to tension, the sensor deforms and outputs an analog signal to measure the tension of the pull rope. One end of the pull ropes 3-71 and 3-74 is connected to the force sensors 3-41 and 3-44, and the other end passes over the fixed pulleys 3-21 and 3-22 to change direction and connect to the wall-climbing robot. The two ends of the pull ropes 3-72 and 3-73 are directly connected to the force sensors 3-42 and 3-43 and the wall-climbing robot. The connection positions of the pull ropes on the wall-climbing robot are located at the four opposite corners of the robot, so that they are evenly distributed in the circumferential direction.

[0031] Furthermore, when the test platform is working normally, the pull rope exerts a normal pulling force on the wall-climbing robot 4. Due to the action of the fixed pulley, two opposing pulling forces act on the 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 a compensating 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. The ball joint 2-2 will change its orientation under the action of the pulling force to maintain the consistency of the front and rear pulling force, so as to keep the overall pulling force on the wall-climbing robot 4 stable and consistent to the greatest extent during the test.

[0032] The adhesion test procedure for the wall-climbing robot in this embodiment can be found in [link to documentation]. Figure 5 To ensure accurate measurements, the pipe was placed horizontally, and the wall-climbing robot was attached to the top of the pipe.

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

[0034] The stepper motor operates, and the lifting platform continuously moves away from the wall-climbing robot. During this process, the tension of the traction rope increases accordingly, and the tension sensor value 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, ending the test. Four sets of tension data were obtained from four tension sensors throughout the entire process from the robot's initiation of movement to its detachment from the pipe wall. Summing the tension at the same points in time, the maximum tension equals the sum of the robot's maximum suction force and its weight. Subtracting the weight gives the magnitude of the robot's suction force. Furthermore, the change in tension experienced by the robot during detachment from the wall equals the change in suction force.

[0036] If you want to repeat the test, first reset the lifting platform to ensure that the initial conditions are the same.

[0037] This embodiment can also be tested while the wall-climbing robot is in motion. A pulling force is provided to the robot as a disturbance force to test the stability of the robot's motion under the influence of the disturbance force. This also verifies the results of the theoretical analysis of the wall-climbing robot. The specific test procedure for this embodiment is as follows: Figure 6 .

[0038] If the initial tension rope is in a slack state, control the stepper motor to adjust the height of the lifting platform and straighten the tension rope. At this time, the value of the tension sensor is affected by the weight of the tension rope. Then, reset the sensor value to zero.

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

[0040] A target pulling force is set on the test platform controller. In this test, the pulling force is used as a disturbance force. By setting the target pulling force, the magnitude of the disturbance force on the wall-climbing robot is controlled, and the stability and adsorption performance of the wall-climbing robot under this magnitude of pulling force disturbance are tested.

[0041] The stepper motor operates, gradually increasing the tension, monitoring the tension sensor values ​​and the position of the lifting platform. When the total tension reaches the target tension, the motor stops moving.

[0042] Once the pulling force reaches the target value, the wall-climbing robot accelerates along the pipe to the target speed and moves at a constant speed until it reaches the target position, at which point it stops. Obstacles may exist along this route. 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 indicates that its adsorption performance can overcome this level of interference. If the wall-climbing robot detaches from the pipe wall, it indicates that the robot cannot stably adhere under the pulling force; in this case, the robot should be stopped, and the test should end.

[0043] If you want to repeat the test, you need to reset the wall-climbing robot and the test device to ensure that the initial conditions are the same.

[0044] If, during the above process, the lifting platform reaches its maximum travel and the pulling force cannot be increased further, and the pulling force still does not reach the target value, then to avoid damaging the lifting mechanism, the motor should be stopped and the test should be stopped.

[0045] In summary, this invention can be combined with a pipe-climbing robot to complete tests of maximum adsorption force and motion under interference, helping to verify theoretical results.

[0046] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection 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, and is used to automatically balance the pulling force of the pulling rope on the wall-climbing robot and measure the pulling force; The self-stabilizing structure comprises an upper fixed plate and swinging pairs located on both sides of the upper fixed plate; wherein fixed pulleys are arranged diagonally on the upper fixed plate, one end of a first pulling rope is fixed to one end of a balancing pole in the swinging pair, and the other end of the first pulling rope is fixedly connected to the wall-climbing robot after passing through the fixed pulley; one end of a second pulling rope is fixed to the other end of the balancing pole; and the other end of the second pulling rope is fixedly connected to the wall-climbing robot; 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.

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 joint, and the ball joint is movably connected with the slide groove through a ball joint connector; by adjusting the position of the ball joint connector in the slide groove and adjusting the angle of the ball joint, the posture of the self-stabilizing structure is adjusted so that it 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 fixed ends of the pulling ropes on the wall-climbing robot are evenly distributed in the circumferential direction.

7. The adsorption performance testing device for a pipeline wall-climbing robot according to claim 1, characterized in that: The balance pole is also provided with a tension sensor for measuring the tension of the pulling rope.

8. 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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