Pipe diameter self-adaptive pipeline detection robot

Abstract

The invention discloses a pipe diameter self-adaptive pipeline detection robot which comprises a main body rack, walking mechanisms, a reducing mechanism, a detection mechanism and a driving mechanism. The number of the walking mechanisms is at least three, and each walking mechanism comprises a crawler belt, a baffle and a connecting rod set. The reducing mechanism comprises a spring supporting rod, a nut frame, a polished rod and a lead screw, one end of the spring supporting rod is hinged to the middle end of the connecting rod, and the other end of the spring supporting rod is hinged to the nut frame; and the spring supporting rod is arranged in the circumferential direction of the nut frame. The detection mechanism comprises a stay wire sensor, a laser sensor and a gyroscope, and the laser sensor and the gyroscope are arranged at the front end of the main body rack and used for scanning and detecting the outline of the inner wall of a pipeline. The driving mechanism comprises a synchronous belt wheel, a driving wheel, a stepping motor and supporting plates, the supporting plates are symmetrically arranged, the synchronous belt wheel and the driving wheel are arranged at the front ends and the rear ends of the supporting plate, the driving wheel is connected with an output shaft of the stepping motor through a transmission gear, and the baffle is fixed to the supporting plates through bolts.

Description

technical field [0001] The invention relates to the technical field of pipeline detection, in particular to a pipeline robot. Background technique [0002] Due to its unique transportation advantages, pipelines are widely used in key fields such as nuclear power, petroleum, chemical industry and aerospace. During the production process and later operation of the pipeline, the pipeline often has a variety of geometric defects caused by processing or operation, such as initial ellipticity, inner wall wear and corrosion, and small cracks. For some key application areas, these Defects often seriously affect the structural safety and operational life of pipelines. The inner wall defects of pipelines are generally difficult to detect from the outside, and often need to be inspected internally. However, due to the limitation of its space and geometric size, the internal defects of industrial pipelines are generally difficult to detect or the detection accuracy is not high. At pre...

AI Technical Summary

Problems solved by technology

The inner wall defects of the pipeline are generally difficult to detect from the outside, and often need to be inspected on the spot inside. However, due to the limitation of its space and geometric size, the internal defects of industrial pipelines are generally

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