Industrial robot and industrial robot system

Abstract

The industrial robot comprises a machine body, the machine body is provided with an advancing assembly used for enabling a pipeline to advance inside, one side of the machine body is provided with a machine shell, one side of the machine shell is provided with a flaw detection mechanism, and the flaw detection mechanism is provided with a probe matched with the flaw detection mechanism; and an adjusting mechanism for adjusting the flaw detection angle of the flaw detection mechanism is arranged in the shell. Through the arrangement of the advancing assembly, each rolling wheel and each moving wheel can abut against the inner wall of the pipeline, the whole robot is more stable in the advancing process in the pipeline, meanwhile, by adjusting the distance between the moving wheels and the robot body, the robot can adapt to the requirements of pipelines with different diameters, advancing work in the pipeline is smooth, and the working efficiency is improved. The flaw detection work of the flaw detection mechanism and the visual module is facilitated; and point cloud data can be obtained and a three-dimensional model can be established through the curved surface image in the pipeline collected by the visual module, so that crack points and crack types in the pipeline can be analyzed conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline flaw detection robots, and in particular to an industrial robot and an industrial robot system. Background Art

[0002] Pipelines are essential for transporting common gases and liquids. Defects such as corrosion and damage to the inner wall and the loss of sealing rubber rings during use can seriously impact their safe operation. Therefore, regular inspections of the inner surface of pipelines are necessary to obtain 3D topographic information to understand the extent of corrosion, defect size, and deformation. Nondestructive testing of pipeline inner wall defects is crucial for early detection and minimizing accidents and economic losses.

[0003] For example, existing patent 202020320848.3 discloses a pipeline external flaw detection walking robot. When the sensor at the front end detects a weld point, the controller controls the pneumatic slider on the front ring bracket to move away from the pipeline, and the drive device at the other end drives the wheel to continue rotating, thereby driving the robot to continue moving forward. After the front ring bracket drives the wheel to completely pass the weld point, the controller drives the pneumatic slider to push the wheel into contact with the pipeline, and the wheel drives the robot to move. When the sensor on the rear ring bracket detects a weld point in front, the controller controls the pneumatic slider on the front ring bracket to move away from the pipeline, and the wheel at the front rotates to drive the robot to move outside the pipeline. After the rear ring bracket drives the wheel to completely pass the weld point, the controller drives the pneumatic slider to push the wheel into contact with the pipeline, and the wheel drives the robot to move, thereby enabling the robot of this utility model to walk normally on the outer surface of a pipeline with a weld point. However, the above-mentioned technology robot only detects problems such as pipeline welds, and it is difficult to detect problems such as cracks and perforations on the inner wall of the pipeline, and it will not be able to continue walking when encountering protrusions on the pipeline. When inspecting pipelines, there will inevitably be irregular protrusions and installed parts on the pipelines. If the inspection device is reinstalled every time an obstacle is encountered, the efficiency will be greatly reduced.

[0004] Currently, no effective solutions have been proposed for the problems in related technologies. Summary of the Invention

[0005] In response to the problems in the related art, the present invention proposes an industrial robot and an industrial robot system to overcome the above-mentioned technical problems existing in the existing related art.

[0006] To this end, the specific technical solutions adopted in the present invention are as follows: An industrial robot and an industrial robot system, comprising a body, the body being provided with a travel assembly for traveling within a pipe, a housing being provided on one side of the body, a flaw detection mechanism being provided on one side of the housing, the flaw detection mechanism being provided with a matching probe, and an adjustment mechanism being provided within the housing for adjusting the flaw detection angle of the flaw detection mechanism; The traveling assembly includes rollers evenly arranged around the outer surface of the body, a bracket is movably connected to the roller, a connecting shaft connected to the body is provided at the bottom end of the bracket, and a spring rod movably connected to the body is provided at the headquarters of the bracket.

[0007] Preferably, the number of the rollers is three groups, the machine body is provided with a travel hole at the rollers, and the travel hole is provided with a connecting plate movably connected to the spring rod.

[0008] Preferably, the travel component also includes a rotating shaft 1 movably connected to the travel hole, a worm gear is sleeved on the rotating shaft 1, and a movable rod extending outside the travel hole is movably connected to the side of the worm gear and located on the rotating shaft 1, and one end of the movable rod is provided with a movably connected moving wheel.

[0009] Preferably, a worm meshing with the three groups of worm wheels is provided in the machine body, and one end of the worm is connected to the output end of the servo motor in the machine body.

[0010] Preferably, a sprocket 1 is sleeved on the rotating shaft 1, a sprocket 2 is provided on one side of the moving wheel, and a chain connected to the sprocket 1 is provided on the sprocket 2.

[0011] Preferably, a shell is provided on the side of the body away from the flaw detection mechanism, a screw rod is movably connected to one side of the shell, a threaded sleeve block matching the screw rod is movably sleeved on the screw rod, and connecting rods corresponding to the three groups of movable rods are movably connected on the threaded sleeve blocks, and a motor for driving the screw rod is provided in the shell.

[0012] Preferably, the adjustment mechanism includes a gear disc movably connected to the casing, a bearing seat is provided on the side of the gear disc, a fixed shaft movably connected to the bearing seat is matched with it, a connecting column is provided on one side of the fixed shaft extending to the outside of the casing and connected to the flaw detection mechanism, a gear meshing with the gear disc is provided on one side of the gear disc, and a drive motor for driving the gear is provided in the casing.

[0013] Preferably, a limiting rod protruding outward is provided on one side of the gear disc, and a limiting column adapted to the limiting rod is symmetrically provided on one side inside the housing.

[0014] Preferably, the casing is provided with a vertically arranged bearing seat 2 located above the gear disc, and a fixed shaft 2 matching it is movably connected to the bearing seat 2, and four groups of evenly distributed shaft rods 1 are provided at the bottom end of the fixed shaft 2, and shaft rods 2 are provided at one end of the fixed shaft 1 away from the connecting column, and movable parts movably connected to the four groups of shaft rods 1 are provided at one end of the four groups of shaft rods 2, and a driving motor 2 for driving the fixed shaft 2 is provided in the casing.

[0015] According to another aspect of the present invention, there is provided an industrial robot system for the industrial robot, comprising a vision module, a drive module and a main control module; The visual module is used to scan and image the interior of the pipeline; The driving module is used to control the traveling component to move inside the pipeline; The main control module is used to control the adjustment mechanism to adjust the position of the flaw detection mechanism.

[0016] The beneficial effects of the present invention are as follows: through the arrangement of the traveling assembly, the robot can be rotatably connected to the machine body in a direction approaching or moving away from the machine body, and the distance between the traveling end and the machine body can be adjusted relative to the machine body, so that each roller and the moving wheel can abut against the inner wall of the pipe, making the movement of the entire robot in the pipe more stable. At the same time, by adjusting the distance between the moving wheel and the machine body, the robot can adapt to the needs of pipes of different diameters, and the movement work in the pipe is smooth, which facilitates the flaw detection work of the flaw detection mechanism and the visual module. The curved surface image in the pipe collected by the visual module can be used to obtain point cloud data and establish a three-dimensional model, which is convenient for analyzing the crack points and crack types in the pipe. The adjustment mechanism and the flaw detection mechanism are set up, and the adjustment mechanism can adjust the flaw detection position of the flaw detection mechanism, thereby realizing comprehensive scanning and flaw detection of the pipeline and improving detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 is a schematic structural diagram of an industrial robot according to an embodiment of the present invention; Figure 2 is a cross-sectional view of an industrial robot according to an embodiment of the present invention; Figure 3 is a top view of an industrial robot according to an embodiment of the present invention; Figure 4 is a schematic structural diagram of a flaw detection mechanism in an industrial robot according to an embodiment of the present invention; Figure 5 is a schematic structural diagram of an adjustment mechanism in an industrial robot according to an embodiment of the present invention; Figure 6 is a schematic structural diagram of a movable part in an industrial robot according to an embodiment of the present invention; Figure 7 is a cross-sectional view of a housing of an industrial robot according to an embodiment of the present invention.

[0019] In the picture: 1. Machine body; 2. Machine casing; 3. Flaw detection mechanism; 4. Probe; 5. Roller; 6. Bracket; 7. Connecting shaft; 8. Spring rod; 9. Stroke hole; 10. Connecting plate; 11. Rotating shaft 1; 12. Worm gear; 13. Movable rod; 14. Moving wheel; 15. Worm; 16. Servo motor; 17. Sprocket 1; 18. Sprocket 2; 19. Housing; 20. Screw; 21. Threaded sleeve; 22. Connecting rod; 23. Toothed disc; 24. Bearing seat 1; 25. Fixed shaft 1; 26. Connecting column; 27. Gear; 28. Drive motor 2; 29. Limit rod; 30. Limit column; 31. Bearing seat 2; 32. Fixed shaft 2; 33. Shaft rod 1; 34. Shaft rod 2; 35. Movable parts. DETAILED DESCRIPTION

[0020] To further illustrate each embodiment, the present invention provides drawings, which are part of the disclosure of the present invention. They are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. By referring to these contents, ordinary technicians in this field should be able to understand other possible implementation methods and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0021] According to an embodiment of the present invention, an industrial robot and an industrial robot system are provided. Example

[0022] like Figure 1-7 As shown, an industrial robot and an industrial robot system according to an embodiment of the present invention include a body 1, on which a traveling assembly for traveling in a pipeline is provided, a housing 2 is provided on one side of the body 1, a flaw detection mechanism 3 is provided on one side of the housing 2, the flaw detection mechanism 3 is provided with a probe 4 matching therewith, and an adjustment mechanism for adjusting the flaw detection angle of the flaw detection mechanism 3 is provided in the housing 2; The traveling assembly includes rollers 5 evenly arranged around the outer surface of the body 1, and a bracket 6 is movably connected to the roller 5. The bottom end of the bracket 6 is provided with a connecting shaft 7 connected to the body 1, and the headquarters of the bracket 6 is provided with a spring rod 8 movably connected to the body 1. Example

[0023] like Figure 1-7 As shown, there are three groups of rollers 5, a travel hole 9 is opened at the roller 5 of the machine body 1, and a connecting plate 10 movably connected to the spring rod 8 is provided at the travel hole 9. The travel component also includes a rotating shaft 11 movably connected to the travel hole 9, and a worm gear 12 is sleeved on the rotating shaft 11. A movable rod 13 extending to the outside of the travel hole 9 is movably connected to the side of the worm gear 12 and located on the rotating shaft 11. One end of the movable rod 13 is provided with a movably connected moving wheel 14, and a worm 15 meshing with the three groups of worm gears 12 is provided in the machine body 1. One end of the worm 15 is connected to the output end of the servo motor 16 in the machine body 1. Example

[0024] like Figure 1-7 As shown, a sprocket 17 is provided on the rotating shaft 11, a sprocket 2 18 is provided on one side of the moving wheel 14, and a chain connected to the sprocket 17 is provided on the sprocket 2 18. A shell 19 is provided on the side of the body 1 away from the flaw detection mechanism 3, and a screw rod 20 is movably connected to one side of the shell 19. A threaded sleeve 21 matching the screw rod 20 is movably provided on the screw rod 20, and the threaded sleeve 21 is respectively movably connected to the connecting rods 22 corresponding to the three groups of movable rods 13. A motor for driving the screw rod 20 is provided in the shell 19. Example

[0025] like Figure 1-7 As shown, the adjustment mechanism includes a gear disc 23 movably connected in the housing 2, a bearing seat 24 is provided on the side of the gear disc 23, a fixed shaft 25 movably connected to the bearing seat 24, a connecting column 26 extending to the outside of the housing 2 and connected to the flaw detection mechanism 3 is provided on one side of the fixed shaft 25, a gear 27 meshing with the gear disc 23 is provided on one side of the gear disc 23, a driving motor 1 for driving the gear 27 is provided in the housing 2, a limiting rod 29 protruding outward is provided on one side of the gear disc 23, and a symmetrical shaft 26 is provided on one side of the housing 2. The limiting rod 29 is adapted to the limiting column 30, and the casing 2 is provided with a vertically arranged bearing seat 2 31 above the gear disc 23. The bearing seat 2 is movably connected with a fixed shaft 2 32 that matches it. The bottom end of the fixed shaft 2 32 is provided with four groups of evenly distributed shaft rods 1 33, and the end of the fixed shaft 1 25 away from the connecting column 26 is provided with a shaft rod 2 34. One end of the four groups of shaft rods 2 34 is provided with a movable part 35 movably connected to the four groups of shaft rods 1 33. A driving motor 2 28 for driving the fixed shaft 2 32 is provided in the casing 2. Example

[0026] like Figure 1-7 As shown, an industrial robot system is provided, which is used for an industrial robot, including a vision module, a drive module and a main control module; The vision module is used to scan and image the interior of the pipeline; The driving module is used to control the traveling component to move inside the pipeline; The main control module is used to control the adjustment mechanism to adjust the position of the flaw detection mechanism 3.

[0027] In order to facilitate understanding of the above technical solutions of the present invention, the working principle or operation mode of the present invention in actual process is described in detail below.

[0028] In actual application, the motor drives the screw 20 to rotate, and the threaded sleeve 21 moves left and right with the forward and reverse rotation of the screw 20. When the threaded sleeve 21 moves to the left, it drives the movable rod 13 to move in the same direction with the rotating shaft 11 as the axis point through the connecting rod 22. On the contrary, when it moves to the right, the movable rod 13 moves in the opposite direction with the rotating shaft 11 as the axis point, thereby adjusting the distance between the moving wheel 14 and the body 1, so that the robot can adapt to the needs of pipes with different diameters and work smoothly in the pipe. The servo motor 16 is started to drive the worm 15 to rotate. The worm 15 drives the sprocket 17 to rotate through the rotating shaft 11. The sprocket 17 is engaged with the sprocket 2 18 through the chain to drive the moving wheel 14 to rotate, thereby leading the device to move in the pipe, which is convenient for the detection of the flaw detection mechanism 3 and the visual module. During the flaw detection work, when it is necessary to adjust the flaw detection angle, the drive motor 1 is started to drive the gear 27 to rotate forward and reverse, and the gear 27 is engaged with the toothed disc 23 for transmission, so that the toothed disc 23 drives the bearing seat 1 24 to move in a circle, and the bearing seat 1 24 drives the connecting column 26 to move in a circle through the fixed shaft 1 25, so that the connecting column 26 drives the flaw detection mechanism 3 to adjust the angle in the up and down directions, and the drive motor 2 28 drives the fixed shaft 2 32 to rotate in the bearing seat 2 31, so that the fixed shaft 2 32 drives the shaft rod 1 33 to rotate and drives the shaft rod 2 34 to rotate through the movable part 35, so that the shaft rod 2 34 drives the fixed shaft 1 25 to rotate, so that the fixed shaft 1 25 drives the flaw detection mechanism 3 to rotate through the connecting column 26, so as to realize comprehensive scanning flaw detection of the pipeline and improve the detection accuracy.

[0029] In summary, with the aid of the above technical solution of the present invention, through the setting of the traveling component, the robot can be rotatably connected to the body 1 in the direction of approaching or moving away from the body 1, and the distance from the traveling end to the body 1 can be adjusted relative to the body 1, so that each roller 5 and the moving wheel 14 can abut against the inner wall of the pipe, making the movement process of the entire robot in the pipe more stable. At the same time, by adjusting the distance from the moving wheel 14 to the body 1, the robot can adapt to the needs of pipes of different diameters, and the movement work in the pipe is smooth, which is convenient for the flaw detection work of the flaw detection mechanism 3 and the visual module. The surface image in the pipe collected by the visual module can be used to obtain point cloud data and establish a three-dimensional model, which is convenient for analyzing the crack points and crack types in the pipe. The arrangement of the adjustment mechanism and the flaw detection mechanism 3 allows the adjustment mechanism to adjust the flaw detection position of the flaw detection mechanism 3, thereby achieving comprehensive scanning flaw detection of the pipeline and improving detection accuracy.

[0030] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An industrial robot, characterized in that: The invention comprises a body (1), wherein the body (1) is provided with a moving assembly for the pipeline to move therein, a housing (2) is provided on one side of the body (1), a flaw detection mechanism (3) is provided on one side of the housing (2), a probe (4) matching the flaw detection mechanism (3) is provided on the flaw detection mechanism (3), and an adjustment mechanism for adjusting the flaw detection angle of the flaw detection mechanism (3) is provided in the housing (2); The traveling assembly comprises rollers (5) uniformly arranged around the outer surface of the body (1), a bracket (6) movably connected to the rollers (5), a connecting shaft (7) connected to the body (1) is provided at the bottom end of the bracket (6), and a spring rod (8) movably connected to the body (1) is provided at the top end of the bracket (6).

2. An industrial robot according to claim 1, characterized in that: The number of the rollers (5) is three groups. The machine body (1) is provided with a travel hole (9) at the rollers (5). The travel hole (9) is provided with a connecting plate (10) movably connected to the spring rod (8).

3. An industrial robot according to claim 2, characterized in that: The travel assembly further comprises a rotating shaft (11) movably connected to the travel hole (9), a worm gear (12) being sleeved on the rotating shaft (11), a movable rod (13) extending out of the travel hole (9) being movably connected to the side of the worm gear (12) and located on the rotating shaft (11), and a movable wheel (14) being movably connected at one end of the movable rod (13).

4. An industrial robot according to claim 3, characterized in that: A worm (15) meshing with the three sets of worm wheels (12) is provided in the machine body (1), and one end of the worm (15) is connected to the output end of the servo motor (16) in the machine body (1).

5. The industrial robot according to claim 4, characterized in that: The rotating shaft (11) is provided with a sprocket (17) on one side, and the moving wheel (14) is provided with a sprocket (18) on one side. The sprocket (18) is provided with a chain connected to the sprocket (17).

6. An industrial robot according to claim 5, characterized in that: A housing (19) is provided on a side of the machine body (1) away from the flaw detection mechanism (3), a screw rod (20) is movably connected to one side of the housing (19), a threaded sleeve (21) matching the screw rod (20) is movably sleeved on the screw rod (20), and connecting rods (22) corresponding to the three groups of movable rods (13) are movably connected to the threaded sleeve (21), and a motor for driving the screw rod (20) is provided in the housing (19).

7. An industrial machine according to claim 1, characterized in that: The adjustment mechanism includes a toothed disc (23) movably connected to the housing (2), a bearing seat (24) is provided on the side of the toothed disc (23), a fixed shaft (25) movably connected to the bearing seat (24), and a connecting column (26) extending to the outside of the housing (2) and connected to the flaw detection mechanism (3) is provided on one side of the fixed shaft (25), a gear (27) meshing with the toothed disc (23) is provided on one side, and a driving motor (27) for driving the gear (27) is provided in the housing (2).

8. An industrial robot according to claim 7, characterized in that: A limiting rod (29) protruding outward is provided on one side of the toothed disc (23), and a limiting column (30) adapted to the limiting rod (29) is symmetrically provided on one side inside the housing (2).

9. The industrial robot according to claim 8, characterized in that: The housing (2) is provided with a vertically arranged bearing seat 2 (31) located above the gear disc (23), and a fixed shaft 2 (32) matching the bearing seat 2 is movably connected to the bearing seat 2 (31), and four groups of evenly distributed shaft rods 1 (33) are provided at the bottom end of the fixed shaft 2 (32), and shaft rods 2 (34) are provided at one end of the fixed shaft 1 (25) away from the connecting column (26), and movable parts (35) movably connected to the four groups of shaft rods 1 (33) are provided at one end of the four groups of shaft rods 2 (34), and a driving motor 2 (28) for driving the fixed shaft 2 (32) is provided in the housing (2).

10. An industrial robot system, characterized in that: The industrial robot according to claim 8 comprises a vision module, a drive module and a main control module; The visual module is used to scan and image the interior of the pipeline; The driving module is used to control the traveling component to move inside the pipeline; The main control module is used to control the adjustment mechanism to adjust the position of the flaw detection mechanism (3).

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