Pipeline anti-corrosion operation device with double-robot cooperation

Abstract

The invention belongs to operation devices, and particularly relates to a double-robot collaborative pipeline anti-corrosion operation device. The double-robot collaborative pipeline corrosion prevention operation device comprises a main body grinding robot and an auxiliary movement robot, the main body grinding robot is arranged on the auxiliary movement robot, and the auxiliary movement robot can drive the main body grinding robot to move. The robot has the remarkable effects that the robot body is lifted through the body lifting mechanism, the operation space of the robot arm is greatly increased, and meanwhile the obstacle crossing capacity of the robot chassis is improved. The front, middle and rear control boxes have excellent load space. The controllable camera protection device can control on-off of the camera, and the camera is prevented from being polluted by grinding scraps.

Description

Technical Field

[0001] The present invention belongs to operating devices, and particularly relates to a pipeline anti-corrosion operating device for dual-robot collaboration. Background Art

[0002] With the development of technology, more and more intelligent mobile robots appear in our lives, bringing convenience to our lives. When an intelligent mobile robot is working, it mainly drives the intelligent mobile robot to move by controlling the driving wheels through a walking motor. When the intelligent mobile robot crosses an obstacle with a relatively low height, it mainly uses a universal wheel to cross the obstacle. However, in the existing technology, there is still a lack of a robot that can work in complex pipelines including vertical pipes and special-shaped pipes. Summary of the Invention

[0003] Aiming at the defects of the existing technology, the present invention provides a pipeline anti-corrosion operating device for dual-robot collaboration.

[0004] The present invention is implemented as follows: A pipeline anti-corrosion operating device for dual-robot collaboration, which includes a main body grinding robot and an auxiliary motion robot. The main body grinding robot is arranged below the auxiliary motion robot, and the auxiliary motion robot can drive the main body grinding robot to move.

[0005] For the pipeline anti-corrosion operating device for dual-robot collaboration as described above, the main body grinding robot includes a main body lifting mechanism, a jaw positioning module, a control box, a controllable camera protection device, a grinding robotic arm, and a grinding execution mechanism with a buffering function. The grinding execution mechanism with a buffering function is connected to the main body lifting mechanism through the grinding robotic arm, and the controllable camera protection device is arranged on the grinding execution mechanism with a buffering function.

[0006] For the pipeline anti-corrosion operating device for dual-robot collaboration as described above, the main body lifting mechanism is composed of a chassis main frame, a scissor plate, a pulley, a hinge pin, a synchronous rod, and a linear module. The chassis main frame is a hollow cubic part. An articulated action mechanism is arranged inside the chassis main frame. The articulated action mechanism includes scissor plates for fixing and limiting. There are two groups of scissor plates arranged on the corresponding side walls of the chassis main frame. Pulleys are arranged at corresponding positions of the scissor plates. One arm of the scissor plate can slide along a reserved groove. A synchronous rod is arranged on the pulley, and a joint servo motor is arranged on the synchronous rod. The pulley is controlled by the linear module.

[0007] As described above, a dual-robot collaborative pipeline anti-corrosion operation device, wherein the grinding robot arm is composed of a joint servo motor 1, a joint servo motor 2, a lightweight and high-strength robot arm one, a robot arm two, and a robot arm three, wherein the joint servo motor 1 is used to control the position of the grinding robot arm, and the joint servo motor 2 is used to control the extension and retraction of the robot arm, and the robot arm one, the robot arm two, and the robot arm three are connected in sequence to form a structure similar to a nunchaku.

[0008] A dual-robot collaborative pipeline anti-corrosion operation device as described above, wherein the grinding actuator with a buffer function is composed of a connecting plate one, a connecting plate two, a universal floating joint, a grinding motor, a grinding motor mounting plate, a bearing seat, a motor flange shaft, a grinding wheel connecting shaft, a grinding wheel, a grinding wheel gasket, and a locking nut; wherein the connecting plate one is used to connect with the grinding robot arm, a universal floating joint is arranged on the connecting plate one, a grinding motor mounting plate is arranged on the universal floating joint, a bearing seat and a motor flange shaft are arranged on the grinding motor mounting plate, the motor flange shaft passes through the connecting plate two and is connected to the grinding wheel connecting shaft, a grinding wheel is arranged on the grinding wheel connecting shaft, and the grinding wheel is fixed by a grinding wheel gasket and a locking nut.

[0009] A dual-robot collaborative pipeline anti-corrosion operation device as described above, wherein the controllable camera protection device is composed of a hollow cup reduction motor, a switch support rod, an outer protective shell, and a depth camera; wherein the depth camera is arranged in the outer protective shell, a switch is arranged on the outer protective shell, the switch is connected to the switch support rod, and the hollow cup reduction motor is connected to the switch support rod.

[0010] As described above, a dual-robot collaborative pipeline anti-corrosion operation device is provided, wherein a magnetic adsorption walking and steering module is arranged below the main lifting mechanism, and the magnetic adsorption walking and steering module is composed of an external detachable rubber tire, a detachable variable magnetic array device, a supporting wheel hub, a magnetic isolation barrel, a walking and steering module, and a vehicle body connector; wherein the detachable variable magnetic array device is arranged outside the supporting wheel hub, the detachable rubber tire is arranged outside the detachable variable magnetic array device, the detachable variable magnetic array device is controlled by the walking and steering module, and the vehicle body connector is used for connecting the magnetic adsorption walking and steering module with the main lifting mechanism.

[0011] A dual-robot collaborative pipeline anti-corrosion operation device as described above, wherein the auxiliary motion robot includes a modular chassis, a cable winch, a leveling mechanism, a tightening mechanism, a clamping mechanism and a corresponding control system; the modular chassis is a modular device arranged at the bottom, and is used to adjust different widths according to different pipe diameters to tighten the pipeline; the modular chassis is tightened to the center of the pipe diameter by the tightening mechanism; the cable winch is located behind the robot, and is used to drag power supply and control cables; the leveling mechanism is used to ensure that the robot remains level at the center of the pipe diameter.

[0012] A pipeline anti-corrosion operation device with dual-robot collaboration as described above, wherein the modular chassis is composed of aluminum profiles and is connected through aluminum profile fixing seats.

[0013] The remarkable effects of the present invention are as follows: The robot lifts the robot body through the main body lifting mechanism, greatly increasing the working space of the robotic arm and at the same time enhancing the obstacle-crossing ability of the robot chassis. The front, middle, and rear control boxes have excellent load spaces. The controllable camera protection device can control the switch of the camera to prevent grinding debris from contaminating the camera. The grinding robotic arm uses a high-torque servo motor to achieve precise positioning at the end of the robotic arm and meet the load requirements of the end effector. The grinding actuator with a buffering function can quickly change grinding discs of different sizes, and the grinding mechanism has a certain degree of floating to avoid damaging the object being ground. The magnetic adsorption walking and steering module enables the robot to have a certain adsorption force when crawling on the pipeline wall, and the cooperation of the steering and walking motors can complete the walking and steering of the robot. The auxiliary robot can carry cables, ensuring that the robot has sufficient endurance. The two robots can cooperate through the gripper above the robot to pass through complex vertical pipelines, and the auxiliary robot can also level itself and press tightly against the pipeline wall through its own functions, having a certain positioning function and anti-interference ability. Brief Description of the Drawings

[0014] Figure 1 Schematic structural diagram of the main body grinding robot according to the embodiment of the present invention;

[0015] Figure 2 Schematic structural diagram of the main body lifting mechanism according to the embodiment of the present invention;

[0016] Figure 3 Schematic structural diagram of the grinding robotic arm;

[0017] Figure 4 Schematic structural diagram of the grinding actuator with a buffering function;

[0018] Figure 5 Schematic structural diagram of the controllable camera protection device;

[0019] Figure 6a Schematic structural diagram of the magnetic adsorption walking and steering module;

[0020] Figure 6b For Figure 6a Back view;

[0021] Figure 7 Schematic structural diagram of the auxiliary motion robot according to the embodiment of the present invention;

[0022] Figure 8 Schematic external structural diagram of the leveling and pressing mechanism;

[0023] Figure 9Schematic diagram of the internal structure of the leveling and clamping mechanism;

[0024] Figure 10 Schematic diagram of the structure of the winch.

[0025] Figure 11 Schematic diagram of the structure of the jaw mechanism;

[0026] Figure 12 Schematic diagram of the structure of the clamping device;

[0027] Figure 13 Schematic diagram of the combined structure of dual robots

[0028] Figure 14 Schematic diagram of the structure of the robot combination crossing a pit;

[0029] Explanation of reference numerals: Main body grinding robot and auxiliary motion robot

[0030] 1 - Main body lifting mechanism, 2 - Grinding robotic arm, 3 - Grinding execution mechanism with buffering function, 4 - Controllable camera protection device, 5 - Magnetic adsorption walking and steering module, 6 - Chassis main frame, 7 - Scissor plate, 8 - Pulley, 9 - Hinge pin, 10 - Linear module, 11 - Synchronous rod, 12 - Joint servo motor 1, 13 - Joint servo motor 2, 14 - Robotic arm 1, 15 - Robotic arm 2, 16 - Robotic arm 3, 17 - Connecting plate 1, 18 - Universal floating joint, 19 - Grinding motor mounting plate, 20 - Grinding motor, 21 - Bearing seat, 22 - Motor flange shaft, 23 - Connecting plate 2, 24 - Grinding wheel connecting shaft, 25 - Grinding wheel, 26 - Grinding wheel gasket, 27 - Locking nut, 28 - Hollow cup reduction motor, 29 - Switch support rod, 30 - Outer protective shell, 31 - Depth camera, 32 - Removable rubber tire, 33 - Removable variable magnetic array device, 34 - Support hub, 35 - Magnetic isolation barrel, 36 - Walking and steering module, 37 - Body connecting piece. 38 - Clamping mechanism, 39 - Aluminum profile, 40 - Electric winch, 41 - Leveling and clamping mechanism, 42 - Jaw mechanism, 43 - Aluminum profile, 44 - Aluminum profile fixing seat, 45 - Pipe driving wheel, 46 - Motor fixing seat, 47 - Joint motor 1, 48 - Joint motor 2, 49 - Leveling and clamping mechanism housing, 50 - Motor fixing seat, 51 - Electric push rod, 52 - Pressure sensor, 53 - Slide rail module, 54 - Connecting seat, 55 - Sensor connecting piece, 56 - Pin shaft, 57 - Cable guide, 58 - Slip ring, 59 - Drum, 60 - Joint motor, 61 - Stepper motor, 62 - Lead screw motor, 63 - Bidirectional lead screw, 64 - Jaw, 65 - Depth camera 3, 66 - Linear module, 67 - Wall clamping support foot, 68 - Clamping mechanism frame. Detailed implementation method

[0031] A pipeline anti-corrosion operation device with dual-robot collaboration: It includes a main body grinding robot and an auxiliary movement robot.

[0032] Among them, the main body grinding robot consists of a lifting mechanism, a jaw positioning module, a control box, a controllable camera protection device, a grinding robotic arm, and a grinding execution mechanism with a buffering function. The operation is executed by the robotic arm in front of the robot, and different operation tools such as grinding wheels, thousand-leaf wheels, and airless spray guns can be mounted on it.

[0033] The auxiliary movement robot consists of a modular chassis, a cable winch, a leveling mechanism, a tightening mechanism, a clamping mechanism, various sensors, and a control system, etc. The modular chassis can adjust different widths according to different pipe diameters and then be tightened to the center of the pipe diameter by the tightening mechanism. The cable winch is located behind the robot for dragging power supply and control cables. The leveling mechanism can ensure that the robot remains horizontal at the center of the pipe diameter.

[0034] The main body lifting mechanism consists of a chassis main frame, a scissor plate, pulleys, hinge pins, synchronizing rods, and linear modules.

[0035] The grinding robotic arm consists of joint servo motor 1, joint servo motor 2, lightweight and high-strength robotic arm 1, robotic arm 2, and robotic arm 3.

[0036] The grinding execution mechanism with a buffering function consists of connecting plate 1, connecting plate 2, a universal floating joint, a grinding motor, a grinding motor mounting plate, a bearing seat, a motor flange shaft, a grinding wheel connecting shaft, a grinding wheel, a grinding wheel gasket, and a locking nut.

[0037] The controllable camera protection device consists of a coreless DC motor, a switch support rod, an outer protection shell, and a depth camera.

[0038] The magnetic adsorption walking and steering module consists of an external detachable rubber tire, a detachable variable magnetic array device, a support hub, a magnetic isolation barrel, a walking and steering module, and a vehicle body connecting piece.

[0039] The modular chassis is composed of aluminum profiles and is connected through aluminum profile fixing seats.

[0040] In the tightening mechanism, the leveling and tightening mechanism housing and the slide table are fixed. The guide rail is fixed to the connecting seat, and the electric push rod is fixed on the tightening mechanism housing.

[0041] In the leveling mechanism, the leveling and tightening mechanism housing and the aluminum profile are connected through an aluminum profile fixing seat.

[0042] The electric winch consists of a joint motor, a drum, a cable, a slip ring, a stepping motor, a lead screw, and a slide table cable guide.

[0043] The clamping mechanism consists of two linear modules, wall clamping support feet, and a clamping mechanism frame.

[0044] A specific example is given below.

[0045] The robotic arm is installed on the front chassis and adopts the structure of a 3-joint SCARA robot. An operating tool is installed at the end of the robotic arm, and a force sensor is installed at the connection between the end of the robotic arm and the operating tool. The operating tools include a wire wheel for paint removal, a grinding wheel for rust removal, a brush disc for dust removal, a high-pressure gas nozzle for cleaning, etc. The positioning mechanism is used to assist the gripper 64 on the auxiliary robot to clamp and position when the main robot encounters a vertical pipe while walking in the pipe. The two robots cooperate to cross the vertical pipe and detect and operate on the pipe wall at the same time.

[0046] The grinding robot moves in the pipe, crosses the vertical pipe, avoids obstacles, and turns into another horizontal pipe through the main body lifting mechanism 1 and the magnetic adsorption walking and steering module 5. The robot reaches the end of the pipe all the time, and the information detected by the camera on the robot head is sent to the main computer outside the pipe in a timely manner. The cameras are all installed in the controllable camera protection device 4 and are only opened when in use to prevent contamination. The main computer outside the pipe issues an instruction to drive the grinding robotic arm to drive the grinding wheel 25 to work.

[0047] In the described tightening mechanism, the leveling and tightening mechanism housing 49 and the slide table 53 are fixed. The guide rail is fixed to the connecting seat 54, and the electric push rod is fixed on the tightening mechanism housing 49. During operation, the connecting seat 54, the pressure sensor 52, the motor bracket 46, the joint motor 48, the pipe rubber wheel 45, etc. are all pushed out by the electric push rod 51. The pressure sensor 52 monitors the thrust in real time, and the electric push rod 13 stops pushing after reaching the predetermined value. When the tire retracts, the pressure sensor 52 is separated from the connecting seat 54, and the connecting seat 16 is driven by the pin shaft 56 to retract the driving wheel.

[0048] In the described leveling mechanism, the leveling and tightening mechanism housing 49 and the aluminum profile 43 are connected by an aluminum profile fixing seat 44. The joint motor 47 and the joint motor 48 are connected by a motor bracket 50, and the joint motor 48 drives the pipe rubber wheel 45. When the leveling mechanism works, a certain angle is generated by the rotation of the joint motor 48, and as the robot advances in the pipe, the robot can return to the horizontal position.

[0049] The electric winch is driven by the joint motor 60 to drive the drum 59 to rotate and wind the wire. The wire needs to be connected to the slip ring 58 in advance. While the drum 59 rotates, the lead screw of the stepper motor 61 moves the cable guide 57 above the slide table left and right, so that the wire is tightly wound on the drum.

[0050] The described gripper mechanism is driven by a lead screw motor 62 to drive a bidirectional lead screw 63, and then drives the two grippers connected to the four bars to achieve the gripping action.

[0051] The described clamping device is driven by two linear modules 66 to drive the wall clamping feet 67 to complete the wall clamping work.

Claims

1. A dual-robot collaborative pipeline anti-corrosion operation device, Features: It comprises a main body polishing robot and an auxiliary motion robot, wherein the main body polishing robot is arranged on the auxiliary motion robot, and the auxiliary motion robot can drive the main body polishing robot to move.

2. A dual-robot collaborative pipeline anti-corrosion operation device as claimed in claim 1, Features: The main body polishing robot comprises a main body lifting mechanism (1), a gripper positioning module, a control box, a controllable camera protection device (4), a polishing mechanical arm (2), and a polishing actuator with a buffer function (3), wherein the polishing actuator with a buffer function (3) is connected to the main body lifting mechanism (1) through the polishing mechanical arm (2), and the controllable camera protection device (4) is arranged on the polishing actuator with a buffer function (3).

3. A dual-robot cooperative pipeline anti-corrosion operation device as claimed in claim 2, Features: The main body lifting mechanism (1) is composed of a chassis main frame (6), a scissor plate (7), a pulley (8), a hinge pin (9), a synchronization rod (11), and a linear module (10), wherein the chassis main frame (6) is a hollow cubic part, and a joint action mechanism is arranged in the chassis main frame (6), and the joint action mechanism includes a scissor plate (7) for fixing and limiting. There are two groups of scissor plates (7) arranged on the corresponding side walls of the chassis main frame (6), and a pulley (8) is arranged at a corresponding position of the scissor plate (7). One arm of the scissor plate (7) can slide along a reserved groove, and a synchronization rod (11) is arranged on the pulley (8), and a joint servo motor is arranged on the synchronization rod (11). The pulley (8) is controlled by the linear module (10).

4. A dual-robot cooperative pipeline anti-corrosion operation device as claimed in claim 3, Features: The grinding robot arm (2) is composed of a joint servo motor 1 (12), a joint servo motor 2 (13), a lightweight and high-strength robot arm 1 (14), a robot arm 2 (15), and a robot arm 3 (16), wherein the joint servo motor 1 (12) is used to control the position of the grinding robot arm (2), and the joint servo motor 2 (13) is used to control the extension and retraction of the robot arm. The robot arm 1 (14), the robot arm 2 (15), and the robot arm 3 (16) are connected in sequence at the end to form a structure similar to a nunchaku.

5. A dual-robot cooperative pipeline anti-corrosion operation device as claimed in claim 4, Features: The grinding actuator (3) with a buffering function is composed of a first connecting plate (17), a second connecting plate (23), a universal floating joint (18), a grinding motor (20), a grinding motor mounting plate (19), a bearing seat (21), a motor flange shaft (22), a grinding wheel connecting shaft (24), a grinding wheel (25), a grinding wheel gasket (26), and a locking nut (27). Among them, the first connecting plate (17) is used to connect with the grinding robot arm (2). A universal floating joint (18) is arranged on the first connecting plate (17). A grinding motor mounting plate (19) is arranged on the universal floating joint (18). A bearing seat (21) and a motor flange shaft (22) are arranged on the grinding motor mounting plate (19). The motor flange shaft (22) passes through the second connecting plate (23) and is connected to the grinding wheel connecting shaft (24). A grinding wheel (25) is arranged on the grinding wheel connecting shaft (24). The grinding wheel (25) is fixed by a grinding wheel gasket (26) and a locking nut (27).

6. A pipeline anti-corrosion operation device with dual-robot collaboration as described in claim 5, characterized in that: The controllable camera protection device (4) is composed of a coreless DC motor (28), a switch support rod (29), an outer protective shell (30), and a depth camera (31). Among them, the depth camera (31) is arranged in the outer protective shell (30). A switch is arranged on the outer protective shell (30). The switch is connected to the switch support rod (29), and the coreless DC motor (28) is connected to the switch support rod (29).

7. A pipeline anti-corrosion operation device with dual-robot collaboration as described in claim 6, characterized in that: A magnetic adsorption walking and steering module (5) is arranged below the main body lifting mechanism (1). The magnetic adsorption walking and steering module (5) is composed of an external detachable rubber tire (32), a detachable variable magnetic array device (33), a support wheel hub (34), a magnetic isolation barrel (35), a walking and steering module (36), and a vehicle body connecting piece (37). Among them, the detachable variable magnetic array device (33) is arranged outside the support wheel hub (34). The detachable rubber tire (32) is arranged outside the detachable variable magnetic array device (33). The detachable variable magnetic array device (33) is controlled by the walking and steering module (36). The vehicle body connecting piece (37) is used for connecting the magnetic adsorption walking and steering module (5) and the main body lifting mechanism (1).

8. A pipeline anti-corrosion operation device with dual-robot collaboration as described in claim 1 or 7, characterized in that: The auxiliary motion robot includes a modular chassis, a cable winch, a leveling and clamping mechanism (41), a clamping mechanism (38), and a corresponding control system. The modular chassis is a bottom modular device used to adjust different widths according to different pipe diameters for pipe bundling. The modular chassis is tightened to the center of the pipe diameter by the clamping mechanism (41). The cable winch is located behind the robot and is used to drag the power supply and control cables. The leveling mechanism is used to ensure that the robot remains horizontal at the center of the pipe diameter.

9. A pipeline anti-corrosion operation device with dual-robot collaboration as described in claim 8, characterized in that: The modular chassis is composed of aluminum profiles and is connected by aluminum profile fixing seats.

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