基于冗余关节机器人的插接管道焊缝扫查系统设计

Design of weld inspection system for intersected pipe based on redundant manipulator

针对相贯线焊缝难以检测的问题,提出了一种新型的管道插接相贯线焊缝扫查机器人系统,通过管道夹紧装置使得机器人可附着于支管上作360°圆周运动,特别是通过冗余关节的设计实现了机器人末端探测器要求的空间相贯线扫查轨迹。该系统可实现两种管道扫查方式:一种是沿不同的扫查半径做360°周向扫查;另一种方式是沿径向呈"Z"字形进行扫查。可实现支管直径为100～400mm,被扫管道直径为600～1000mm范围内的相贯线焊缝扫查。系统设计分析和控制运行结果表明:扫查的周向步进精度≤0.2mm/m,径向步进精度≤0.5mm/m,轴向步进精度≤1mm/mm。

A robotic system was designed for the pipe intersected weld inspection. The manipulator can be hung on a branch pipe and rotates 360° according to a split pipe clamp device. The required inspection trajectory of the inspection probe on the manipulator's end-detector is finalized by using the redundancy joints. The robotic system has two inspection modes. One is the 360° circumferential inspection with different scanning radii. The other is the 'Z' shape inspection along the radial direction. The robotic system can perform intersected weld inspection when the radius range of the branch pipe and the inspected pipe are 100～400 mm and 600～1 000 mm,respectively. The results of the analysis of the designed system architecture and the operation under control algorithm show that the inspection accuracy of the robotic system can be: circumferential stepping accuracy≤0.2 mm/m, radial stepping accuracy≤0.5 mm/m, and axial stepping accuracy≤1 mm/mm.