Piston rod drive-by-wire non-contact type surrounding detection and maintenance robot

Abstract

The invention discloses a piston rod drive-by-wire non-contact type surrounding detection and maintenance robot, and belongs to the technical field of piston rod detection and maintenance, the robot comprises a robot main body, the robot main body is composed of a plurality of reducing mechanisms connected in sequence, each reducing mechanism comprises a reducing main body, and a detection mechanism is arranged on the inner side of each reducing main body; rope tensioning mechanisms are symmetrically arranged on the reducing main body, the rope tensioning mechanisms are fixedly connected with the working platform at the upper end and the lower end of the piston rod respectively, and a maintenance mechanism is arranged in the reducing main body. The to-be-detected piston rod is located in the robot body defined by the diameter changing mechanisms, the rope tensioning mechanisms are arranged at the top and the bottom of the border body respectively, and the rope tensioning mechanisms are fixedly connected with the working platform at the upper end and the lower end of the piston rod so that the robot body can adapt to axial movement of the piston rods with different diameters. The detection mechanism can detect surface defects of the piston rod in all directions, and detection blind areas are avoided. And after the detection is finished, the piston rod is maintained through the maintenance module.

Description

Technical Field

[0001] The invention belongs to the technical field of piston rod detection and maintenance, and in particular relates to a piston rod wire-controlled non-contact surrounding detection and maintenance robot. Background Art

[0002] As a key mechanical component, the piston rod must maintain a good surface condition to ensure its performance and life. Various defects may appear on the surface of the piston rod, such as white spots, coating shedding and bulging, which will affect its normal operation and efficiency. At the same time, dust, oil or other impurities on the surface of the piston rod may cause performance degradation. The piston rod surface needs to be thoroughly cleaned regularly. After cleaning, oiling and other maintenance measures should be taken on the piston rod to reduce friction and improve durability. And extend its service life. Because the piston rod needs to detect piston rods of different diameters and the surrounding environment space is small, the robot can achieve variable diameter as a whole, and it is lightweight and easy to move and transport.

[0003] There are currently three types of robots with similar functions on the market. The wire pole climbing robot moves on the pole by grasping or magnetic adsorption, but some wire pole climbing robots have limited adaptability to harsh environments. The manufacturing, purchase and maintenance costs of wire pole climbing robots are relatively high, and usually require batteries or other energy supplies, so there is a problem of insufficient energy supply in some cases. The other is a sling detection robot, which moves by means of slings and cables. When encountering complex environments or special circumstances, manual intervention or auxiliary operation may be required. Sling detection robots usually have complex operating systems and sensor technology, and require professionally trained operators to operate and maintain. Both of these require contact with the surface of the piston rod to work. If non-contact detection is to be achieved, a drone equipped with a detection module must be used to work, but drones are unstable in flight in a small space, prone to collisions, and difficult to work with, and are not suitable for operations in a small space environment. Summary of the invention

[0004] The purpose of the present invention is to provide a piston rod wire-controlled non-contact surrounding detection and maintenance robot to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following solution: The present invention provides a piston rod wire-controlled non-contact surrounding detection and maintenance robot, including a robot body, the robot body is composed of a plurality of variable diameter mechanisms connected in sequence, the variable diameter mechanism includes a variable diameter body, a detection mechanism is provided on the inner side of the variable diameter body, a rope tensioning mechanism is symmetrically provided on the variable diameter body, the rope tensioning mechanism is respectively fixed to the upper and lower end working platforms of the piston rod, and a maintenance mechanism is provided inside the variable diameter body.

[0006] Preferably, a steel bar socket is provided on one side of the diameter-changing body, and a steel bar plug is provided on the other side of the diameter-changing body, and the steel bar plug is connected to the steel bar socket adjacent thereto.

[0007] Preferably, the detection mechanism comprises a camera arranged on the inner side of the variable diameter body, and a distance sensor is provided on one side of the camera.

[0008] Preferably, the rope tensioning mechanism includes tension sensors respectively fixed to the top and bottom of the variable diameter body, one end of a steel rope is fixed to the tension sensor, the other end of the steel rope is fixed to a rope tensioning seat, and the rope tensioning seat is respectively fixed to the upper and lower end working platforms of the piston rod.

[0009] Preferably, the maintenance mechanism comprises a scraper fixedly connected to the top of the variable diameter body, and an oiling portion is fixedly connected to the bottom of the variable diameter body.

[0010] Preferably, the oil coating portion comprises a connecting plate fixedly connected to the diameter-changing body, and an oil coating member is mounted on the connecting plate.

[0011] The present invention discloses the following technical effects: the piston rod to be inspected is located inside a robot body surrounded by a plurality of diameter-changing mechanisms, and a rope tensioning mechanism is provided at the top and bottom of the border body, and the rope tensioning mechanism is fixedly connected to the upper and lower working platforms of the piston rod, so as to make the robot body adapt to the axial movement of piston rods with different diameters, and the inspection mechanism can detect the surface defects of the piston rod in all directions to avoid the inspection blind area. After the inspection is completed, the piston rod is maintained by the maintenance module. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0013] Figure 1 It is a schematic diagram of the working state structure of the piston rod wire-controlled non-contact surrounding detection and maintenance robot of the present invention;

[0014] Figure 2 The structural diagram of the diameter-changing mechanism of the present invention is

[0015] Figure 3 This is a schematic diagram of the structure of the maintenance organization.

[0016] In the figure: 1. reducer body; 2. steel bar socket; 3. steel bar plug; 4. camera; 5. distance sensor; 6. tension sensor; 7. steel rope; 8. rope tensioning seat; 9. scraper; 10. connecting plate. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] Reference Figure 1-Figure 3 As shown, this embodiment provides a piston rod wire-controlled non-contact surrounding detection and maintenance robot, including a robot body, the robot body is composed of a plurality of reducing mechanisms connected in sequence, the reducing mechanism includes a reducing body 1, a detection mechanism is provided on the inner side of the reducing body 1, a rope tensioning mechanism is symmetrically provided on the reducing body 1, the rope tensioning mechanism is respectively fixed to the upper and lower end working platforms of the piston rod, and a maintenance mechanism is provided inside the reducing body 1.

[0020] The piston rod to be inspected is located inside the robot body surrounded by multiple diameter-changing mechanisms. Rope tensioning mechanisms are provided at the top and bottom of the robot body, and the rope tensioning mechanisms are fixed to the upper and lower working platforms of the piston rod, so that the robot body can adapt to the axial movement of piston rods with different diameters. The inspection mechanism can detect surface defects of the piston rod in all directions and avoid blind areas. After the inspection, the piston rod is maintained through the maintenance module.

[0021] According to a further optimized solution, a steel bar socket 2 is provided on one side of the reducer body 1, and a steel bar plug 3 is provided on the other side of the reducer body 1, and the steel bar plug 3 is connected to the adjacent steel bar socket 2.

[0022] The robot body is composed of four reducer bodies 1. The four reducer bodies 1 are manually spliced ​​with steel bar plugs 3 and steel bar sockets 2 to surround the piston rod. The distance sensor 5 identifies the distance between the robot body and the piston rod, and feeds back to the reducer mechanism for distance adjustment, so that the robot body can autonomously adapt to piston rods of different diameters.

[0023] In a further optimized solution, the detection mechanism includes a camera 4 arranged inside the diameter-changing body 1, and a distance sensor 5 is arranged on one side of the camera 4. The surface defects of the piston rod can be detected by visual recognition, and the distance from the piston rod can be adjusted along with the diameter-changing mechanism to ensure the accuracy of visual recognition.

[0024] To further optimize the solution, the rope tensioning mechanism includes a tension sensor 6 respectively fixed to the top and bottom of the variable diameter body 1, one end of a steel rope 7 is fixed to the tension sensor 6, and the other end of the steel rope 7 is fixed to a rope tensioning seat 8, and the rope tensioning seat 8 is respectively fixed to the upper and lower end working platforms of the piston rod.

[0025] The steel rope 7 is connected to the tension sensor 6 to ensure that after the detection mechanism adjusts the spacing, the tension from the rope tensioning seat 8 is equal, so that it can operate stably. At the same time, the distance sensor 5 detects the distance between the robot body and the piston rod, which can be further adjusted to ensure that the distance between the robot body and the piston rod is constant.

[0026] According to a further optimized solution, the maintenance mechanism includes a scraper 9 fixedly connected to the top of the reducer body 1, and an oiling portion is fixedly connected to the bottom of the reducer body 1.

[0027] In a further optimized solution, the oiling part includes a connecting plate 10 fixedly connected to the reducer body 1, and an oiling piece is installed on the connecting plate 10. The scraper 9 is used to clean the oil and dust on the surface of the piston rod, and the oiling piece can oil and maintain the surface of the piston rod.

[0028] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0029] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A piston rod wire-controlled non-contact surrounding detection and maintenance robot, characterized in that: The invention comprises a robot body, wherein the robot body is composed of a plurality of variable diameter mechanisms connected in sequence, wherein the variable diameter mechanism comprises a variable diameter body (1), wherein a detection mechanism is arranged on the inner side of the variable diameter body (1), wherein a rope tensioning mechanism is symmetrically arranged on the variable diameter body (1), wherein the rope tensioning mechanism is respectively fixedly connected to the upper and lower working platforms of the piston rod, and wherein a maintenance mechanism is arranged inside the variable diameter body (1).

2. The piston rod wire-controlled non-contact surrounding detection and maintenance robot according to claim 1, characterized in that: A steel bar socket (2) is provided on one side of the diameter-changing body (1), and a steel bar plug (3) is provided on the other side of the diameter-changing body (1), wherein the steel bar plug (3) is connected to the adjacent steel bar socket (2).

3. The piston rod wire-controlled non-contact surrounding detection and maintenance robot according to claim 1, characterized in that: The detection mechanism comprises a camera (4) arranged on the inner side of the diameter-changing body (1), and a distance sensor (5) is provided on one side of the camera (4).

4. The piston rod wire-controlled non-contact surrounding detection and maintenance robot according to claim 1, characterized in that: The rope tensioning mechanism comprises tension sensors (6) respectively fixed to the top and bottom of the variable diameter body (1); one end of a steel rope (7) is fixed to the tension sensor (6); the other end of the steel rope (7) is fixed to a rope tensioning seat (8); and the rope tensioning seat (8) is respectively fixed to the upper and lower working platforms of the piston rod.

5. The piston rod wire-controlled non-contact surrounding detection and maintenance robot according to claim 1, characterized in that: The maintenance mechanism comprises a scraper (9) fixedly connected to the top of the variable diameter body (1), and an oiling portion is fixedly connected to the bottom of the variable diameter body (1).

6. The piston rod wire-controlled non-contact surrounding detection and maintenance robot according to claim 5, characterized in that: The oil coating portion comprises a connecting plate (10) fixedly connected to the diameter-changing body (1), and an oil coating member is mounted on the connecting plate (10).

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