Pump monitoring inspection robot provided with non-contact laser vibration measurement sensor

Abstract

According to the utility model, the high-precision laser vibration measurement sensor is integrated, and the non-contact laser vibration measurement sensor is used for measuring the vibration value of pump equipment; and the data processing terminal is used for processing and analyzing the vibration value measured by the non-contact laser vibration measurement sensor to obtain a final monitoring result, so that non-contact vibration monitoring of the pump equipment is realized, and the monitoring precision is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of vibration monitoring, in particular to a machine pump monitoring and inspection robot equipped with a non-contact laser vibration sensor. Background Art

[0002] During the operation of machine pump equipment, certain vibrations will be generated. Through vibration monitoring, vibration data during the operation of the machine pump, including amplitude, frequency, etc., can be captured regularly, so as to timely detect abnormal phenomena during the operation of the machine pump.

[0003] Most of the commonly used vibration monitoring devices for machine pump equipment are contact vibration sensors. By directly installing the vibration sensor on the machine pump equipment, the vibration state is detected. However, it is found in actual use that since the vibration sensor is directly installed on the machine pump equipment, the vibration sensor vibrates synchronously with the machine pump equipment for a long time. During this vibration process, continuous vibration is likely to cause damage to the vibration sensor, and then lose the detection ability. Eventually, the vibration monitoring of the machine pump equipment is inaccurate during the period when the vibration sensor is damaged and needs to be replaced in time.

[0004] It can be seen that the currently used contact vibration sensors cannot well meet the monitoring tasks with high efficiency for a long time. Therefore, it is necessary to develop a device that can meet the long-term and efficient vibration monitoring. Summary of the Utility Model

[0005] In order to avoid and overcome the technical problems existing in the prior art, the utility model provides a machine pump monitoring and inspection robot equipped with a non-contact laser vibration sensor. The utility model detects the vibration state of the machine pump equipment through a non-contact vibration sensor, which can effectively reduce the problem that the vibration sensor is damaged due to long-term vibration, and then improve the accuracy of vibration monitoring of the machine pump equipment.

[0006] To achieve the above object, the utility model provides the following technical solutions:

[0007] A machine pump monitoring and inspection robot equipped with a non-contact laser vibration sensor includes an electric carrier vehicle that can move in a machine pump room. A laser vibration sensor for detecting the vibration state of the machine pump equipment is installed on the electric carrier vehicle; and an elastic anti-collision beam for pushing away sundries appearing on its forward route is installed on the front side of the electric carrier vehicle.

[0008] As a further scheme of the utility model: the elastic anti-collision beam includes an L-shaped connecting rod. The vertical rod of the connecting rod is fixed on the electric carrier vehicle, and the front end of the horizontal rod of the connecting rod is fixedly installed with an elastic rod arranged along the width direction of the electric carrier vehicle and used for colliding with obstacles; the horizontal rod is located in front of the front wheels of the electric carrier vehicle, and the vertical height of the horizontal rod is lower than the vertical height of the front wheel axis.

[0009] As a further solution of the utility model: The cross bar is fixedly installed at the middle position of the elastic rod.

[0010] As a further solution of the utility model: The length of the elastic rod is greater than the width of the electric carrier vehicle.

[0011] As a further solution of the utility model: A camera for photographing the forward route and the pump equipment to be detected is installed at the front end of the electric carrier vehicle, and a data processing terminal for processing the images taken by the camera to correct the forward route of the electric carrier vehicle is connected to the camera.

[0012] As a further solution of the utility model: The laser emission direction of the laser vibration sensor is the same as the photographing direction of the camera.

[0013] As a further solution of the utility model: The laser vibration sensor and the data processing terminal are connected to each other.

[0014] As a further solution of the utility model: The data processing terminal includes a wireless data collector that is simultaneously connected to the camera and the laser vibrometer, and the wireless data collector is connected to a computer for processing data through wireless data transmission.

[0015] As a further solution of the utility model: The electric carrier vehicle has a total of four wheels, which are arranged in pairs on both sides of the vehicle body.

[0016] As a further solution of the utility model: The laser vibration sensor is fixedly installed on the electric carrier vehicle through a base.

[0017] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0018] 1. By integrating a high-precision laser vibration sensor, the non-contact laser vibration sensor of the utility model is used to measure the vibration value of pump equipment; the data processing terminal is used to process and analyze the vibration value measured by the non-contact laser vibration sensor to obtain the final monitoring result, so as to realize the non-contact vibration monitoring of pump equipment and improve the monitoring accuracy.

[0019] 2. The laser vibration sensor of the utility model adopts a non-contact measurement method and will not vibrate synchronously with the pump equipment, avoiding premature damage of the laser vibration sensor due to vibration. While extending the service life of the laser vibration sensor, it also has high measurement accuracy and stability. The data processing terminal can perform processing such as filtering and amplification on the vibration value measured by the non-contact laser vibration sensor to improve the accuracy of the monitoring result. The equipped display module can display the monitoring result in the form of graphics, text, etc., which is convenient for users to intuitively understand the operating state of the pump equipment. Description of the Drawings

[0020] Figure 1 This is a schematic diagram of the overall structure of the present utility model.

[0021] Figure 2 This is a schematic diagram of the structure of the elastic anti-collision beam in the present utility model.

[0022] In the figure: 1, electric carrier vehicle; 2, elastic anti-collision beam; 21, connecting rod; 211, vertical rod; 212, horizontal rod; 22, elastic rod; 3, base; 31, six-degree-of-freedom robotic arm; 32, laser vibration sensor; 4, camera; 5, data processing terminal. Specific embodiments

[0023] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0024] Please refer to Figure 1 and Figure 2 , in the embodiments of the present utility model, a pump monitoring and inspection robot equipped with a non-contact laser vibration sensor 32 includes a four-wheel drive electric carrier vehicle 1. A camera 4 is installed on the electric carrier vehicle 1. The camera 4 is used to identify the objects in the forward direction of the electric carrier vehicle 1 and the route of the electric carrier vehicle 1 moving forward, and transmit the taken photos to a wireless data collector, and then the wireless data collector transmits the pictures to a computer for processing to identify the objects, and at the same time calibrate the forward route of the electric carrier vehicle 1 so that the electric carrier vehicle 1 moves along the pre-set route.

[0025] Elastic anti-collision beams 2 are installed on both the front and rear sides of the electric carrier vehicle 1. The elastic anti-collision beam 2 includes an L-shaped connecting rod 21. The vertical rod 211 of the connecting rod 21 is fixed on the electric carrier vehicle 1. The front end of the horizontal rod 212 of the connecting rod 21 is fixedly installed with an elastic rod 22 arranged along the width direction of the electric carrier vehicle 1 and used for colliding with obstacles, and the horizontal rod 212 is fixedly installed at the middle position of the elastic rod 22.

[0026] Since it belongs to the machine pump room, there is a possibility that maintenance workers may leave maintenance tools or other items in the machine pump room after the maintenance is completed. During the movement of the electric carrier vehicle 1, if there are items left on its forward path, the elastic rod 22 will collide with the object for buffering, minimizing the damage to the electric carrier vehicle 1. At the same time, for larger objects, the cross bar 212 will abut against the object and push the object to move. Therefore, the cross bar 212 can also be set to be inclined to one side. In this way, during the forward movement of the electric carrier vehicle 1, the larger object will gradually move to the inclined side of the cross bar 212 and then move out of the moving path of the electric carrier vehicle 1, thereby eliminating the interference of the obstacle to the movement of the electric carrier vehicle 1.

[0027] The cross bar 212 can also be set as a rectangular cross plate and block in front of the front wheels. The vertical height of the cross bar 212 is lower than the vertical height of the front wheel axle, and the vertical height of the chassis of the electric carrier vehicle 1 is higher than the vertical height of the cross bar 212. There are two reasons: First, when the size of the obstacle is too large, the cross bar 212 will push the obstacle to prevent the obstacle from getting under the electric carrier vehicle 1 and then jamming the electric carrier vehicle 1, resulting in the electric carrier vehicle 1 being unable to move forward. Second, to avoid the electric carrier vehicle 1 having a large vibration or even tipping over due to the wheels directly rolling onto an obstacle with too large a size, thereby reducing the vibration of the electric carrier vehicle 1 and improving the stability of the movement of the electric carrier vehicle 1.

[0028] At the same time, when the obstacle comes into contact with the electric carrier vehicle 1, the electric carrier vehicle 1 will issue an alarm and notify the staff to remove the obstacle.

[0029] On the electric carrier vehicle 1, a laser vibration sensor 32 is also installed through the base 3. The base 3 includes a six-degree-of-freedom robotic arm 31 installed on the top of the electric carrier vehicle 1, and multiple end effectors are installed on the six-degree-of-freedom robotic arm 31. The end effectors include a depth camera, a laser vibration sensor 32, an ultrasonic sensor, etc., which are used to detect information such as the shape, size, distance, and color of objects, monitor the vibration of the pump body, and analyze the gas leakage situation in the pipe gallery. In addition, the end effector can also include other types of sensors, such as a temperature sensor, a vision sensor, etc., to meet different detection requirements.

[0030] During the use of the present utility model, the moving path of the electric carrier vehicle 1 will be planned in the computer according to the internal structure of the machine pump room and the equipment to be detected. Then, the program is set, and the electric trolley moves in the machine pump room according to the set path. And during the movement, the six-degree-of-freedom robotic arm 31 will, according to the set program, align the laser vibration sensor 32, the ultrasonic sensor, etc. with the equipment to be detected, and then obtain the corresponding vibration data, temperature and other data, and transmit them to the computer for analysis by the computer to determine whether the current equipment is operating normally.

[0031] After the electric carrier vehicle 1 finishes moving along the set path, it will report the devices with abnormalities to the staff for maintenance. The electric carrier vehicle 1 will conduct patrol inspections at set time intervals to accurately monitor the operation status of each object.

[0032] The above is only a preferred specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution and the inventive concept of the present utility model, making equivalent substitutions or changes should be covered within the protection scope of the present utility model.

Claims

1. A pump monitoring inspection robot equipped with a non-contact laser vibration sensor, characterized in that: The invention comprises an electric transport vehicle (1) movable in a pump room, the electric transport vehicle (1) being equipped with a laser vibration sensor (32) capable of detecting the vibration state of the pump equipment, and an elastic anti-collision beam (2) capable of pushing away debris on its forward path being equipped at the front side of the electric transport vehicle (1); the elastic anti-collision beam (2) comprising an L-shaped connecting rod (21), the vertical rod (211) of the connecting rod (21) being fixed on the electric transport vehicle (1), and the front end of the cross rod (212) of the connecting rod (21) being fixed with an elastic rod (22) arranged along the width direction of the electric transport vehicle (1) and used for colliding with obstacles; the cross rod (212) being located in front of the front wheel of the electric transport vehicle (1), and the vertical height of the cross rod (212) being lower than the vertical height of the front wheel axis.

2. The pump monitoring and inspection robot equipped with a non-contact laser vibration sensor according to claim 1 is characterized in that: The cross bar (212) is fixedly mounted at the middle position of the elastic bar (22).

3. The pump monitoring and inspection robot equipped with a non-contact laser vibration sensor according to claim 2 is characterized in that: The length of the elastic rod (22) is greater than the width of the electric vehicle (1).

4. The pump monitoring and inspection robot equipped with a non-contact laser vibration sensor according to claim 3 is characterized in that: A camera (4) for photographing a forward route and the pump equipment to be inspected is installed at the front end of the electric transport vehicle (1), and a data processing terminal (5) is connected to the camera (4) for processing images photographed by the camera (4) to correct the forward route of the electric transport vehicle (1).

5. The pump monitoring and inspection robot equipped with a non-contact laser vibration sensor according to claim 4 is characterized in that: The laser generating direction of the laser vibration sensor (32) is the same as the shooting direction of the camera (4).

6. The pump monitoring and inspection robot equipped with a non-contact laser vibration sensor according to claim 5 is characterized in that: The laser vibration sensor (32) and the data processing terminal (5) are connected to each other.

7. The pump monitoring and inspection robot equipped with a non-contact laser vibration sensor according to claim 6 is characterized in that: The data processing terminal (5) comprises a wireless data collector connected to the camera (4) and the laser vibrometer at the same time, and the wireless data collector is connected to the computer for processing data by means of wireless data transmission.

8. The pump monitoring and inspection robot equipped with a non-contact laser vibration sensor according to claim 7 is characterized in that: The electric transport vehicle (1) has four wheels in total, which are arranged in pairs on both sides of the vehicle body.

9. The pump monitoring and inspection robot equipped with a non-contact laser vibration sensor according to claim 8, characterized in that: The laser vibration sensor (32) is fixedly mounted on the electric carrier (1) via a base (3).

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