Design of composite robot system for penetration inspection of pipeline welds
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摘要:
为代替人工实施管道焊缝检测,设计了一套复合型管道焊缝渗透检测机器人,对机器人的系统组成等进行了介绍。为验证机械臂具备实施自动渗透检测的灵活性,建立了7自由度机械臂运动学模型,并采用归一化的方法对擦拭和喷涂工艺进行了圆弧轨迹规划,然后在仿真环境下进行了工艺实现能力验证。最后,通过机械臂规划与控制,实现了复合管道焊缝的机器人检测,并通过渗透工艺的灵敏度测试,验证了该机器人系统实施渗透检测工艺的可行性。
Abstract:To replace manual implementation of pipeline weld seam detection, a composite pipeline weld seam penetration detection robot was designed, and the system composition of the robot was introduced. The end tool of the system adopted a composite structure and had a quick change form. To verify the flexibility of the robotic arm in implementing automatic penetration technology, a 7-degree-of-freedom kinematic model of the robotic arm was established, and a normalized method was used to plan the arc trajectory of the wiping and spraying processes. The process implementation capability was verified in a simulation environment. Finally, the robot detection of composite pipeline welds was achieved through robotic arm planning and control, and the feasibility of the penetration detection process of the robot system was verified through sensitivity testing of the penetration process.
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Table 1 7自由度机械臂DH参数
关节 A/mm α/rad D/mm θ/rad 1 0 －π/2 341.5 0 2 0 π/2 0 0 3 0 －π/2 394.0 0 4 0 π/2 0 0 5 0 －π/2 366.0 0 6 0 π/2 0 0 7 0 0 250.3 0 
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