Search

CN-121973868-A - Welding seam detects wall climbing robot

CN121973868ACN 121973868 ACN121973868 ACN 121973868ACN-121973868-A

Abstract

The invention relates to a welding seam detection wall climbing robot, which belongs to the technical field of pipeline welding seam detection and comprises a front frame, a rear frame, connecting pieces and a laser scanning module, wherein front permanent magnet electric locomotive wheels are respectively rotated on two sides of the front frame, rear permanent magnet electric locomotive wheels are respectively rotated on two sides of the rear frame, the connecting pieces are rotationally connected with the front frame by taking a height direction as an axis through a first rotating shaft and rotationally connected with the rear frame by taking a traveling direction as an axis through a second rotating shaft, so that the whole device can flexibly twist like a spine when the whole device spans the residual height of a welding seam or the surface of a pipeline is distorted, the two front permanent magnet electric locomotive wheels and the two rear permanent magnet electric locomotive wheels are ensured to be always in reliable contact with the surface of the pipeline, and the two front permanent magnet electric locomotive wheels and the two rear permanent magnet electric locomotive wheels can adaptively inwards converge and hug the surface of the pipeline like a claw in the traveling process, thereby obviously improving the adsorption stability and the trafficability of the pipeline welding seam detection device on a complex curved surface with a small radius.

Inventors

  • LI YANQIN
  • DUAN ZAN
  • SHI KANG
  • WEI ZIHAO
  • HUANG JUNYI

Assignees

  • 湘潭大学

Dates

Publication Date
20260505
Application Date
20260331

Claims (7)

  1. 1. The utility model provides a welding seam detects wall climbing robot which characterized in that includes: the front frame (1) and the rear frame (2) are distributed at intervals along the advancing direction, front permanent magnet electric locomotive wheels (6) are respectively rotated at two sides of the front frame (1), and rear permanent magnet electric locomotive wheels (7) are respectively rotated at two sides of the rear frame (2); The connecting piece (3) is positioned between the front frame (1) and the rear frame (2), the connecting piece (3) is rotationally connected with the front frame (1) by taking the height direction of the front frame (1) and the rear frame (2) as axes through a first rotating shaft (8), steering is realized in response to differential rotation of the two front permanent magnet motor wheels (6), and the connecting piece (3) is rotationally connected with the rear frame (2) by taking the travelling direction as an axis through a second rotating shaft (9), so that the two front permanent magnet motor wheels (6) and the two rear permanent magnet motor wheels (7) can keep reliable contact with the surface of a pipeline when crossing a weld seam residual height or travelling on the surface of the outer wall of the transportation pipeline; The device comprises a laser scanning module (4) and a controller (5), wherein the laser scanning module (4) and the controller (5) are fixed on a rear frame (2) at intervals, and the controller (5) is respectively electrically connected with two front permanent magnet electric locomotive wheels (6), two rear permanent magnet electric locomotive wheels (7) and the laser scanning module (4).
  2. 2. The welding seam detection wall climbing robot according to claim 1, wherein the two front permanent magnet electric locomotive wheels (6) and the two rear permanent magnet electric locomotive wheels (7) are identical in structure and comprise permanent magnet hub motors (10), magnetic absorption wheels (11) and permanent magnets, the permanent magnet hub motors (10) of the two front permanent magnet electric locomotive wheels (6) are respectively fixed on two sides of the front frame (1), the permanent magnet hub motors (10) of the two rear permanent magnet electric locomotive wheels (7) are respectively fixed on two sides of the rear frame (2), the magnetic absorption wheels (11) are fixed on output shafts of the permanent magnet hub motors (10), and the permanent magnets are fixed on the magnetic absorption wheels (11).
  3. 3. The welding seam detection wall climbing robot according to claim 1, further comprising an angle sensor (12) and a monitoring camera (13), wherein the angle sensor (12) is fixed at the front end of the front frame (1) in the traveling direction, the monitoring camera (13) is fixed on the angle sensor (12), and the controller (5) is electrically connected with the angle sensor (12) and the monitoring camera (13), respectively.
  4. 4. The welding seam detection wall climbing robot according to claim 1, further comprising an inertial measurement unit (14), wherein the inertial measurement unit (14) is fixed on the front frame (1) or the rear frame (2), and the controller (5) is electrically connected with the inertial measurement unit (14).
  5. 5. The welding seam detection wall climbing robot according to claim 1, further comprising a battery fixed to the rear frame (2), wherein the controller (5) is electrically connected to the battery.
  6. 6. The welding seam detection wall climbing robot according to claim 1, further comprising a front bar (15) and a rear bar (16), wherein the front bar (15) is fixed at the front end of the front frame (1) in the traveling direction, and the rear bar (16) is fixed at the rear end of the rear frame (2) in the traveling direction.
  7. 7. The welding seam detection wall climbing robot according to claim 1, wherein the front frame (1) and the rear frame (2) are made of light metal materials.

Description

Welding seam detects wall climbing robot Technical Field The invention relates to the technical field of pipeline welding seam detection, in particular to a welding seam detection wall climbing robot. Background In the current industrial system, a pipeline is used as core pressure-bearing equipment in the fields of energy, chemical industry and the like, and a welding seam area is a sensitive part for stress concentration and corrosion failure. The periodic and high-precision detection of the welding seam is a rigid requirement for preventing catastrophic accidents such as leakage and explosion. However, the manual detection mode mainly depends at present not only is faced with extremely high safety risks such as high-altitude falling and asphyxia in a closed space, but also has low operation efficiency, the quality of detection data is highly limited by the skill and physiological state of operators, and objective quantification and digital reservation of detection results are difficult to realize. Although various magnetic adsorption wall climbing robots are developed in the industry, the existing main flow technical scheme still faces a physical bottleneck which is difficult to break through in practical application, in the aspect of mechanical structure adaptability, the traditional robot mostly adopts a rigid frame and a fixed wheel train, when facing a small-diameter pipeline or a spherical tank surface with complex double curvature, flexible deformation cannot occur along with a curved surface, so that magnetic wheels and wall surfaces can only form 'line contact' or even are suspended, effective magnetic adsorption force decays exponentially, high-altitude slipping accidents of the robot are extremely easy to cause, the passing capability is severely limited, secondly, in the aspects of motion driving and control, the existing equipment generally faces the contradiction of heavy-load driving and flexible steering, in order to carry high-precision detection load vertical climbing, a huge traction force is needed by a system, but the common direct driving scheme is insufficient in torque density, easy to block rotation when crossing a weld seam surplus height, and the traditional sliding or mechanical steering mode not only greatly increases the weight and part abrasion of the system, but also causes huge steering resistance under the vertical adsorption working condition, and is difficult to realize accurate track tracking on a welding seam path. Therefore, how to design a pipeline welding seam detection device with curved surface self-adaptive adsorption capability and high flexibility and high load is a problem to be solved by those skilled in the art. Disclosure of Invention The invention provides a welding seam detection wall climbing robot, which solves the technical problems that the existing magnetic adsorption wall climbing robot is unstable in adsorption on the surface of a small-curvature pipeline and easy to fall and is difficult to turn under a heavy-load vertical working condition. The technical scheme includes that the welding seam detection wall climbing robot comprises a front frame, a rear frame, a connecting piece, a laser scanning module and a controller, wherein the front frame and the rear frame are distributed at intervals along the advancing direction, front permanent magnet electric locomotive wheels are respectively rotated on two sides of the front frame, rear permanent magnet electric locomotive wheels are respectively rotated on two sides of the rear frame, the connecting piece is located between the front frame and the rear frame, the connecting piece is rotationally connected with the front frame through a first rotating shaft by taking the height direction of the front frame and the rear frame as axes, steering is achieved in response to differential rotation of the two front permanent magnet electric locomotive wheels, the connecting piece is rotationally connected with the rear frame through a second rotating shaft by taking the advancing direction as axes, so that under two typical working conditions of freely advancing on the outer wall surface of a transportation pipeline with changing curvature and crossing the local protrusion of a weld bead height, the two front permanent magnet electric locomotive wheels and the two permanent magnet electric locomotive wheels can keep reliable contact with the surface of the pipeline, and the scanning module and the laser scanning module are fixed on the rear frame and the two permanent magnet electric locomotive wheels respectively. The invention has the advantages that the connecting piece is rotationally connected with the front frame in the height direction and rotationally connected with the rear frame in the advancing direction, so that the whole pipeline welding seam detection device can flexibly twist like a spine when the whole pipeline welding seam detection device spans the surplus height of a welding seam or the sur