阅读说明：本技术 球罐焊缝检测机器人 (Spherical tank welding seam detection robot ) 是由 魏东坡 孟凡召 赵宏霞 张坤 魏红梅 郑冬冬 于 2021-09-08 设计创作，主要内容包括：球罐焊缝检测机器人,解决了现在探伤机器人对于复杂结构适应性较差,会出现吸附力不稳定,机器人有脱离壁面危险的问题。其包括机器人本体,机器人本体上方设有全方位可调节运动的机械手,机械手最前端设有探伤装置；所述机器人本体上方设有红外图像识别系统,红外图像识别系统与机器人本体转动连接；所述机器人本体下端设有行走轮,行走轮上设有多组负压吸盘。(Spherical tank welding seam inspection robot has solved present flaw detection robot relatively poor to the complex construction adaptability, can appear the adsorption affinity unstable, and the robot has the dangerous problem of breaking away from the wall. The robot comprises a robot body, wherein a manipulator capable of moving in an omnibearing and adjustable manner is arranged above the robot body, and a flaw detection device is arranged at the foremost end of the manipulator; an infrared image recognition system is arranged above the robot body and is rotationally connected with the robot body; the robot is characterized in that a walking wheel is arranged at the lower end of the robot body, and a plurality of groups of negative pressure suckers are arranged on the walking wheel.)

1. The spherical tank welding seam detection robot comprises a robot body (1) and is characterized in that a manipulator (2) capable of adjusting movement in all directions is arranged above the robot body (1), and a flaw detection device (3) is arranged at the foremost end of the manipulator (2);

an infrared image recognition system (4) is arranged above the robot body (1), and the infrared image recognition system (4) is rotatably connected with the robot body (1);

the robot is characterized in that a walking wheel (5) is arranged at the lower end of the robot body (1), and a plurality of groups of negative pressure suckers (6) are arranged on the walking wheel (5).

2. The spherical tank welding seam detection robot according to claim 1, characterized in that a positioning device (7) is arranged above the robot body (1);

the positioning device (7) comprises a plurality of positioning beacons which are fixed at four corners of the robot body (1).

3. The spherical tank welding seam detection robot according to claim 1, characterized in that the infrared image recognition system (4) comprises a camera (8) with an infrared function, a stand column (9) is fixed on the upper portion of the right end of the robot body (1), and the camera (8) is rotatably connected with the stand column (9).

4. The spherical tank welding seam detection robot according to claim 1, characterized in that the manipulator (2) comprises a rotating table (10) rotatably connected with the robot body, a first swing arm (11) is rotatably connected to the upper end of the rotating table (10), a second swing arm (12) is rotatably connected to the upper end of the first swing arm (11), a telescopic arm (13) is arranged at the right end of the second swing arm (12), and the flaw detection device (3) is connected with the right end of the telescopic arm (13).

5. The spherical tank welding seam detection robot according to claim 1, characterized in that first permanent magnets (14) are fixed on four corners of the lower end of the robot body (1), and second permanent magnets (15) are fixed in the middle of the lower end of the robot body (1).

Technical Field

The invention relates to the technical field of special robots, in particular to a spherical tank welding line detection robot.

Background

With the development of the industrial level, especially the petrochemical industry, more and more large spherical tanks are used for industrial production, and the spherical tanks are used for storing various flammable and combustible liquid and gas raw materials. Therefore, the requirement on the safety of the spherical tank is higher and higher, the production of the large spherical tank is carried out by welding each part, a plurality of welding seams can appear, and because a plurality of accidents are caused by the welding seams, the welding seams of the spherical tank need to be detected to check whether the interior of the spherical tank has defects or not in order to ensure the safety of the production process. LPG canisters also often need to be inspected in an internally enclosed area. The detection workload is large, the manual detection efficiency is low, the operation is required to be carried out at a high place, and certain dangerousness is realized.

Along with the development of the robot technology, the wall-climbing robot can be adsorbed on the wall surface to move, and high-altitude operation is completed instead of manual work. The prior technical scheme has two types of artificial flaw detection and robot flaw detection, wherein the artificial flaw detection is mainly adopted, the labor intensity of the artificial flaw detection is high, the danger coefficient is high, and particularly, the in-tank detection has great harm to the body. The existing flaw detection robot adopts permanent magnet adsorption and a wheel type structure, a flaw detection device is arranged at the front end, the adaptability of a complex structure is poor, the condition of unstable adsorption force can occur, and the robot has the danger of separating from the wall surface.

Disclosure of Invention

Aiming at the situation, in order to overcome the defects of the prior art, the invention provides the spherical tank weld joint detection robot, which effectively solves the problems that the existing flaw detection robot has poor adaptability to a complex structure, unstable adsorption force and danger of separating from the wall surface.

In order to achieve the purpose, the robot comprises a robot body, wherein a manipulator capable of adjusting movement in all directions is arranged above the robot body, and a flaw detection device is arranged at the forefront end of the manipulator;

an infrared image recognition system is arranged above the robot body and is rotationally connected with the robot body;

the robot is characterized in that a walking wheel is arranged at the lower end of the robot body, and a plurality of groups of negative pressure suckers are arranged on the walking wheel.

Preferably, a positioning device is arranged above the robot body;

the positioning device comprises a plurality of positioning beacons which are fixed at four corners of the robot body.

Preferably, the infrared image recognition system comprises a camera with an infrared function, an upright is fixed on the upper portion of the right end of the robot body, and the camera is rotatably connected with the upright.

Preferably, the manipulator includes the revolving stage of being connected with the robot rotation, and the revolving stage upper end rotates and is connected with first swing arm, and rotatable the being connected with second swing arm in first swing arm upper end, second swing arm right-hand member are equipped with telescopic boom, and the device of detecting a flaw is connected with telescopic boom right-hand member.

Preferably, first permanent magnets are fixed on four corners of the lower end of the robot body, and second permanent magnets are fixed in the middle of the lower end of the robot body.

Compared with the prior art, the invention has the following advantages: 1) the '1 + 4' permanent magnets are adopted to provide main adsorption force and adsorb on the surface of the steel spherical tank; 2) a large number of negative pressure suckers are arranged on the travelling wheels to provide auxiliary adsorption force, so that the robot is prevented from separating when the robot crosses the obstacle; 3) the tail end of the manipulator clamps the flaw detection device through the peripheral movement of the manipulator, so that the flaw detection requirement that the manipulator cannot directly reach a complex area by means of robot walking is met; 4) the control system is arranged in the robot body, controls the motion of each motor on the robot to realize the walking and steering functions of the robot and the motion function of each shaft of the manipulator, controls the flaw detection device to detect the weld joint, positions the robot and communicates with the remote control terminal through the wireless communication module. An operator can monitor the detection condition of the welding seam inside the spherical tank in real time outside the spherical tank.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic view of the overall structure of the present invention.

FIG. 2 is a schematic side view of the overall axial structure of the present invention.

Fig. 3 is an enlarged schematic view of a portion a in fig. 1.

FIG. 4 is a schematic diagram of a second axial side structure according to the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made in detail with reference to the accompanying drawings 1 to 4.

As shown in fig. 1-4, the invention comprises a robot body 1, a manipulator 2 capable of adjusting movement in all directions is arranged above the robot body 1, and a flaw detection device 3 is arranged at the forefront end of the manipulator 2;

an infrared image recognition system 4 is arranged above the robot body 1, and the infrared image recognition system 4 is rotatably connected with the robot body 1;

the lower end of the robot body 1 is provided with a walking wheel 5, and the walking wheel 5 is provided with a plurality of groups of negative pressure suckers 6.

The device comprises a wheeled robot body 1, an infrared image recognition system 4, a manipulator 2, a flaw detection device 3 and the like. Wheeled robot body 1 is a wall climbing robot, and it provides main adsorption affinity and plays the purpose of adsorbing to the steel spherical tank surface to install "1 + 4" piece permanent magnet on it, is equipped with a large amount of negative pressure suction cups 6 on the walking wheel 5 simultaneously, walks on the wall along with the robot and adsorbs in turn on the spherical tank surface and provide supplementary adsorption affinity, and its adsorption affinity can effectively avoid the robot to break away from the emergence of spherical tank wall accident when the robot surmounts the obstacle.

Positioning device 7 is equipped with above robot body 1, and positioning device 7 includes a plurality of location beacons, and a plurality of location beacons are fixed on four angles of robot body 1.

The infrared image recognition system 4 comprises a camera 8 with an infrared function, a stand column 9 is fixed on the upper portion of the right end of the robot body 1, and the camera 8 is rotatably connected with the stand column 9.

The robot body 1 is provided with an infrared image recognition system 4, a manipulator 2, a flaw detection device 3, a positioning device 7 and a control system. Infrared image recognition system 4 mainly is a take industrial camera 8 of infrared function, install on the anterior stand 9 of robot body 1, can be around the Z rotation of axes, scan the robot surrounding environment and give control system with information transfer, discernment includes the spherical tank inner structure including the welding seam, realize the robot along the main welding seam of wall with control system cooperation and walk the tracking function, detect other welding seam positions simultaneously, be convenient for detect comprehensively, manipulator 2 can realize the four-axis motion, send near the optional position of robot with the flaw detection device 3 of its terminal centre gripping, with the use can't rely on the robot to walk the complicated regional requirement of detecting a flaw that directly reachs, this flaw detection device 3 adopts ultrasonic diffraction time difference detection method nondestructive butt weld to carry out short-term test. The positioning system on the robot adopts a beacon type design, is respectively arranged at four corners of the robot and is matched with other mechanisms to realize the purposes of positioning the robot and recording the motion trail of the robot. The control system is arranged in the robot body 1, controls the motion of each motor on the robot so as to realize the walking and steering functions of the robot and the motion functions of each shaft of the manipulator 2, controls the flaw detection device 3 to detect the weld joint, positions the robot and communicates with the remote control terminal through the wireless communication module. An operator can monitor the detection condition of the welding seam inside the spherical tank in real time outside the spherical tank.

The manipulator 2 includes the revolving stage 10 of being connected with the robot rotation, and the revolving stage 10 upper end is rotated and is connected with first swing arm 11, and rotatable second swing arm 12 that is connected with in first swing arm 11 upper end, and second swing arm 12 right-hand member are equipped with telescopic boom 13, and the device of detecting a flaw 3 is connected with telescopic boom 13 right-hand member.

For the control and the specific structure of the manipulator 2, we do not describe here any more, and the manipulator 2 belongs to a more conventional manipulator 2, and can realize four-axis motion.

First permanent magnets 14 are fixed on four corners of the lower end of the robot body 1, and second permanent magnets 15 are fixed in the middle of the lower end of the robot body 1.

The number of the first permanent magnets 14 is four, and the number of the second permanent magnets 15 is one, so that a 1+4 mode is realized, and the main adsorption force is provided, so that the purpose of adsorbing the steel spherical tank surface is achieved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.