An integrated in-pipe robot for guided wave detection

Abstract

The invention discloses an integrated in-pipe robot for guided wave detection. The integrated in-pipe robot comprises a telescopic mechanism and two sets of supporting mechanisms. The two ends of the telescopic mechanism are connected with the supporting mechanisms respectively. An air cylinder serves as the telescopic mechanism. A reset spring for piston resetting is arranged in the air cylinder. Each supporting mechanism comprises a cone, wedge blocks, permanent magnets A and permanent magnets B. The two cones are coaxially arranged in the same direction. One cone is connected with a piston rod of the air cylinder. The other cone is connected with a cylinder body of the air cylinder. Every three wedge blocks are arranged on the cone face of the corresponding cone in a sliding mode. The outer side faces of the wedge blocks are arc-shaped faces capable of being matched with the inner side face of a pipeline. The permanent magnets B are fixedly arranged in the wedge blocks respectively. Three permanent magnets A are fixedly arranged at one end of the corresponding cone and correspond to the corresponding permanent magnets B. The magnetism of the adjacent magnetic poles of the permanent magnets A and the permanent magnets B is identical. Piezoelectric probes with certain vibration modes are embedded into the wedge blocks or cones of the supporting mechanisms.

Description

technical field [0001] The invention relates to an integrated in-pipe robot for guided wave detection, which is mainly used for non-destructive detection of online pipelines. Background technique [0002] As one of the five major means of transportation, pipelines have been widely used in various fields of human life and national defense and military industry. With the increase of service time, defects such as cracks, corrosion pits, scaling, perforation, and fractures have appeared on the surface of the pipeline. Social production and life and national defense security have posed a huge threat. In order to solve this problem, researches on in-pipe robot and non-destructive testing technology for pipeline condition monitoring have been carried out. According to the location of the non-destructive testing equipment, the existing detection methods are divided into external detection and internal detection. The former is easily affected by the covering, coating, flange, etc. ...

AI Technical Summary

Problems solved by technology

How to give full play to the strengths of the in-pipe robot while maintaining the advantages of guided wave technology in pipeline inspection, change the excitation position from outside the pipe to inside the pipe, enhance the detection ability of guided wave for thick-walled pipes, and realize the combination of in-pipe robot technology and guided wave technology The effective combination of these is a problem that has not been solved both in theory and technology at home and abroad.

Images