The invention discloses a multi-driving-wheel combined curved surface self-adaptive spherical tank detection robot which comprises a main frame, four sets of self-adaptive suspension mechanisms, four sets of walking mechanisms and an industrial camera. Each group of walking mechanism comprises an adsorption wheel mounting frame, two permanent magnet adsorption wheels and an adsorption wheel driving device; the two permanent magnet adsorption wheels can roll and walk along the inner wall surface or the outer wall surface of the spherical tank; each group of self-adaptive suspension mechanism comprises an X-direction self-adaptive suspension and a Y-direction self-adaptive suspension; the X-direction self-adaptive suspension comprises an X-direction rotating shaft, an X-direction connecting plate and an X-direction tension spring; the Y-direction self-adaptive suspension comprises a Y-direction rotating shaft and two groups of Y-direction tension springs; the industrial camera can collect spherical tank welding seam images in real time. The device has curvature adaptation in multiple directions, can automatically detect the welding seams of the inner and outer walls of the spherical tanks with multiple sizes, can solve the problems of long time consumption, high cost, poor personnel safety and the like of traditional spherical tank welding seam detection, improves the adaptability and stability of spherical surface operation of a detection robot, and improves the detection efficiency and reliability.
本发明公开了一种多驱动轮组合曲面自适应球罐检测机器人,包括主车架、四组自适应悬架机构、四组行走机构和工业相机;每组行走机构均包括吸附轮安装架、两个永磁吸附轮和吸附轮驱动装置;两个永磁吸附轮能沿球罐的内或外壁面进行滚动行走;每组自适应悬架机构均包括X、Y向自适应悬架;X向自适应悬架包括X向旋转轴、X向连板和X向拉紧弹簧;Y向自适应悬架包括Y向旋转轴和两组Y向拉紧弹簧;工业相机能实时采集球罐焊缝图像。本发明具有多个方向的曲率适应,能够进行多种尺寸球罐内外壁焊缝的自动检测,能够解决传统球罐焊缝检测耗时长、费用高、人员安全性差等问题,提升检测机器人的球面运行的适应性与稳定性,提高检测效率和可靠性。
Multi-driving-wheel combined curved surface self-adaptive spherical tank detection robot
多驱动轮组合曲面自适应球罐检测机器人
2023-10-27
Patent
Electronic Resource
Chinese
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