Self-adaption pipeline crawling device and pipeline weld seam detecting method

A pipeline crawler, weld detection technology, applied in the direction of pipes/pipe joints/pipe fittings, instruments, pipe components, etc., can solve the problems of low detection efficiency, poor pipe adhesion ability, poor accommodation ability, etc., to achieve high efficiency, structural Simple, reliable detection of effects

Pending Publication Date: 2018-01-19
BEIJING INST OF TECH ZHUHAI CAMPUS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide an adaptive pipeline crawler, which solves the problems in the prior art that it cannot adapt to changes in pipeline diameter, works with cables, has limited travel, poor pipeline adhesion

Method used

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  • Self-adaption pipeline crawling device and pipeline weld seam detecting method
  • Self-adaption pipeline crawling device and pipeline weld seam detecting method
  • Self-adaption pipeline crawling device and pipeline weld seam detecting method

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Effect test

Embodiment 1

[0039] Such as figure 1 with figure 2 As shown, the present embodiment provides an adaptive pipeline crawler, which includes a front body 1, a rear body 2 and a platform 3, and the front body 1 and the rear body 2 are connected by a coupling 4 is connected, and the coupling 4 is preferably a flexible coupling, and the platform 3 is connected with the rear body 2.

[0040] The front body 1 includes a first casing 5, a first track wheel 6, a second track wheel 7, a third track wheel 8, a first parallelogram mechanism 9, a second parallelogram mechanism 10 and a third parallelogram mechanism 11. The size and structure of the first track wheel 6, the second track wheel 7 and the third track wheel 8 are the same, with built-in independent motors, and all of them are driving wheels. The three track wheels are evenly distributed around the first housing 5, That is, the angle between any two track wheels is 120 degrees; the two ends of the first parallelogram mechanism 9 are respec...

Embodiment 2

[0058] The main features of this embodiment are: the track wheels of the front car body can also be four or more, taking four as an example, the angle between any two track wheels is 90 degrees; The track wheels of the body can also be three or more. Taking three as an example, the angle between any two track wheels is 90 degrees, and the angle between the guide wheel and two adjacent track wheels is 90 degrees. . All the other are with embodiment 1.

Embodiment 3

[0060] The main features of this embodiment are: the number of ultrasonic sensors and cameras on the pan / tilt can be three or more, taking three as an example, the angle between the ultrasonic sensor and two adjacent cameras is 60 degrees . All the other are with embodiment 1.

[0061] In summary, the crawler of the present invention is provided with a front body, a rear body and a cloud platform, and a weld detection device is respectively arranged on the rear body and the platform, and the weld detection device of the rear body can crawl Send and receive detection signals during the forward process of the sensor to detect whether there is a weld. The weld detection device on the pan / tilt can reach the position of the weld when there is a weld to obtain weld information and further detect whether the weld information is In the presence of other damage conditions (such as cracks, corrosion, etc.), it can realize the comprehensive inspection of pipeline welds. It has a simple ...

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Abstract

The invention discloses a self-adaption pipeline crawling device and a pipeline weld seam detecting method. The self-adaption pipeline crawling device comprises a front vehicle body, a rear vehicle body and a cloud deck, wherein the front vehicle body is connected with the rear vehicle body through a coupling; a first weld seam detecting device is arranged on the rear vehicle body; the cloud deckis connected with the rear vehicle body; and a second weld seam detecting device is arranged on the cloud deck. The self-adaption pipeline crawling device solves the problems in the prior art that theexisting pipeline crawling device cannot be adapted to the diameter variation of a pipeline and works with an electric cable, the stroke is limited, the pipeline is poor in adhesive ability and accommodation ability, the detecting strength is high and the detecting efficiency is low. The self-adaption pipeline crawling device is simple in structure, reliable in detection, high in efficiency and suitable for occasions including a submarine pipeline, a natural gas pipeline, an urban pipeline and the like.

Description

technical field [0001] The invention relates to a crawler, in particular to an adaptive pipeline crawler and a pipeline weld seam detection method, belonging to the technical field of automation equipment. Background technique [0002] Pipeline transportation is widely used in petroleum, chemical industry, energy, food processing, urban water supply and drainage, agricultural irrigation and other fields. However, due to the influence of chemical corrosion, etc., the weld seam of the pipeline cracks and fails, which leads to the leakage of the transported material, causing serious environmental pollution, explosion of inflammable materials, energy waste and other serious accidents. Therefore, it is necessary to regularly inspect, repair and maintain the pipeline. At present, the inspection is carried out through the staff entering the pipeline, which has disadvantages such as heavy workload, low efficiency, and dangerous working environment. Especially for small pipelines, p...

Claims

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Application Information

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IPC IPC(8): F16L55/32G01N21/954G01N29/04F16L101/30
Inventor 李春李土福梁晨李嘉尧
Owner BEIJING INST OF TECH ZHUHAI CAMPUS
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