基于网络远程控制的检测机器人系统

Inspecting Robot System Based on Nets Telecontrolling

介绍一种基于网络远程控制的检测机器人系统取代人工检测方式完成焊缝检测,该系统由检测机器人与控制系统两部分组成。机器人的设计原理,特别是机器人的固定支座设计具有创新性,可在直径变化范围为椎100mm—椎400mm的管道上安装和保证合适的夹紧,实现精确的自动定心;采用剖分式结构能快速定位安装和连接。采用分布式控制方式保证了机器人关节间运动的同步性,避免机器人各关节在运动过程中不同步造成的运动不协调。

This paper proposes a robot system to replace inspecting the weld line by manual. This robot consists of the inspecting robot and the control system. The structure and the fixing seat of the robot are initiativelydesigned. It can adapt to the diameter variance of the pipes from φ100 mm to φ400mm and it can be centered automatically and accurately. The fixing seat is a half structure and can be in position and installed quickly. The control system is a teleoperation based on Internet. The operator can control the robot far from the inspecting environments by the Intemet communication. The robot can finish inspecting the weld line. The joints of the robot are controlled in distribution method in order to be synchronized, which can avoid inconsistency of the joints in the movements.