Industrial piping systems have been widely used in the fields of chemical, petroleum and urban plumbing supply. Weld quality is an important internal defect in industrial pipelines. Its quality is a decisive factor in the safety, reliability and service life of pipeline transportation.
In some developed countries abroad, pipeline inspection robots have been born and put into use, but imported equipment is expensive and maintenance costs are high, requiring training to be used correctly. In China, research work in this area started late. At present, there are no formed and commercialized products in China, so the research and development of the project can be developed in the direction of industrialization, and the inspection and management of industrial pipelines will be strengthened.
The robot moves along a fixed trajectory outside the pipe, and the operator monitors the operation of the robot through an external monitor. When the monitor screen displays the weld, the operator controls the robot to click in and out to accurately position the weld. Manual operation has high accuracy but low efficiency. In order to improve the automation degree of the pipe weld inspection robot, this paper adopts a DSP-based pipe weld inspection robot system, and designs a weld detection robot system, which can reliably, accurately and quickly pull the robot to the weld. , thus completing the automatic seam positioning task. Since the robot can move in the X and Y directions, the weld can be viewed from multiple angles when the weld is found to determine the size and shape of the weld.
The shape of the robot is shown in Figure 1:
Figure 1 Robot outline drawing
1. Working principle of pipe weld detection robot system
The pipeline weld detection robot is composed of a moving trolley, a CCD image acquisition system, an image acquisition card, a driving device and a control system. Among them, the mobile trolley is a professional platform for the detection and control part, and all the detection and control devices are loaded by the trolley.
The working principle of the system: the robot is placed on the fixed rail of the external pipeline, and the computer is commanded to let the robot run at a certain speed in the pipeline. At this time, the CCD sensor on the axis of the robot is driven to collect signals and the defect signals stored in the existing computer. When matching, the computer issues an instruction to record the image at this time and transfer it to the human-machine interface, using the programmed software to give the location and image of the defect. This will continue until the computer issues a stop command. The working principle is shown in Figure 2:
Figure 2 Robot working principle diagram
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