Hydraulic telescopic small-diameter pipeline eddy current internal detection robot

Abstract

The invention relates to a hydraulic telescopic small-diameter pipeline eddy current internal detection robot, which comprises a front end supporting structure, a front end righting structure, a main body telescopic structure, a rear end righting structure, a rear end supporting structure and three electric hydraulic pumps, the front-end righting structure and the rear-end righting structure are symmetrically installed at the front end and the rear end of the main body telescopic structure respectively, the two electric hydraulic pumps are installed in the front-end righting structure, and the other electric hydraulic pump is installed in the rear-end righting structure; an electric hydraulic pump of the front end righting structure is used for driving a first hydraulic cylinder in the front end supporting structure and a second hydraulic cylinder in the main body telescopic structure; an electric hydraulic pump in the rear end righting structure is used for driving a first hydraulic cylinder in the rear end supporting structure; the front-end supporting structure and the rear-end supporting structure are mounted on the outer sides of the front-end righting structure and the rear-end righting structure respectively; the device can work in a small-diameter complex pipeline, is suitable for a vertical pipeline or a pipeline with a smooth pipe wall, and is suitable for pipelines with different sizes to a certain extent.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline robots, and in particular to a hydraulic telescopic eddy current internal detection robot for small-diameter pipelines. Background Art

[0002] As pipelines age, liquids, gases, and loose solids inevitably accumulate and clog the pipes during long transport times. Furthermore, corrosion, heavy pressure, and other factors can lead to cracks, leaks, and other safety issues on the inner walls of pipelines, severely impacting transmission efficiency. Therefore, regular pipeline inspection and maintenance are crucial. Traditional manual inspection methods are not only time-consuming and labor-intensive, but also pose safety risks and are no longer able to meet the demands of efficiency and precision. Pipeline robots, on the other hand, can operate within pipelines, replacing humans in various tasks such as inspection, unblocking, repair, and maintenance.

[0003] Eddy current testing technology is a technology based on the principle of electromagnetic induction. It has high sensitivity to surface and near-surface defects and does not require direct contact and coupling, and can perform non-destructive testing on pipelines.

[0004] Existing pipeline inspection and maintenance equipment generally suffers from poor adaptability and slippage when working with vertical pipelines or smooth pipe walls. For example, the towed CCTV endoscopy inspection robot developed by Guangzhou Puyuan Technology Co., Ltd. (DOI:10.3969 / j.issn.1004-9614.2023.05.008) can only navigate a 30° slope, making it suitable only for the mostly straight and clean surfaces of oil and gas pipelines. Summary of the Invention

[0005] In order to overcome the defects of the above-mentioned prior art, the purpose of the present invention is to provide a hydraulic telescopic small-diameter pipeline eddy current inspection robot, which can operate in small-diameter complex pipelines, adapt to vertical pipelines or pipelines with smooth walls, and can adapt to pipelines of different sizes to a certain extent.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A hydraulic telescopic small-diameter pipeline eddy current internal inspection robot includes a front-end support structure 5, a front-end straightening structure 4, a main telescopic structure 3, a rear-end straightening structure 2, a rear-end support structure 1, and three electric hydraulic pumps 14;

[0008] The front end centralizing structure 4 and the rear end centralizing structure 2 are symmetrically mounted on the front and rear ends of the main telescopic structure 3, respectively. Two electric hydraulic pumps 14 are mounted inside the front end centralizing structure 4, and one electric hydraulic pump 14 is mounted inside the rear end centralizing structure 2.

[0009] The two electric hydraulic pumps 14 inside the front end straightening structure 4 are used to drive the first hydraulic cylinder 9 in the front end support structure 5 and the second hydraulic cylinder 32 in the main telescopic structure 3 respectively;

[0010] The electric hydraulic pump 14 inside the rear end righting structure 2 is used to drive the first hydraulic cylinder 9 in the rear end support structure 1;

[0011] The front end support structure 5 and the rear end support structure 1 are respectively installed on the outside of the front end centralizing structure 4 and the rear end centralizing structure 2;

[0012] The front end support structure 5 , the main telescopic structure 3 , and the rear end support structure 1 are hydraulically driven by independent electric hydraulic pumps 14 .

[0013] The front-end support structure 5 and the rear-end support structure 1 are both composed of a first hydraulic cylinder 9 and an elliptical support frame 15, which are used to keep the front and rear support frames 15 in an expanded and fixed state or contracted and restored to a free state when the pipeline robot is to be displaced. The main telescopic structure 3 is composed of two universal joints and a second hydraulic cylinder 32, which is used to change its own length by telescoping the second hydraulic cylinder 32 to cooperate with the front-end support structure 5 and the rear-end support structure 1 to produce displacement. The front-end righting structure 4 and the rear-end righting structure 2 are used to maintain the stability of the movement direction when the pipeline robot is displaced.

[0014] The righting structure is in the shape of a triangular prism with rounded corners.

[0015] The support frame 15 includes a long sleeve 6, six spring plates 7, six anti-slip sleeves 8, and a short sleeve 10. The six spring plates 7 are equidistantly installed in a ring at the center of the hexagonal side of the long sleeve 6 and the short sleeve 8. The six anti-slip sleeves 8 are respectively fixed to the middle of the six spring plates 7. The short sleeve 8 is interference fit in the cylinder barrel of the first hydraulic cylinder 9. The long sleeve 6 is connected to the piston rod of the first hydraulic cylinder 9. The bottom of the first hydraulic cylinder 9 is fixedly installed on the outside of the front end straightening structure 4 and the rear end straightening structure 2.

[0016] The long sleeve 6 is a long hexagonal sleeve with one end not through, the spring plate 7 is a long arc-shaped spring steel with a rectangular cross-section, the anti-slip sleeve 8 is a rubber sleeve with a hollow cross-section shape consistent with the spring plate, and the short sleeve 10 is a through short hexagonal sleeve.

[0017] The front end straightening structure 4 and the rear end straightening structure 2 are both composed of a shell 11 and three groups of shock-absorbing and diameter-changing structures 12 . The three groups of shock-absorbing and diameter-changing structures 12 are respectively installed on three plate surfaces of the shell 11 .

[0018] The three groups of shock-absorbing and variable-diameter mechanisms 12 each include two 124 straightening wheels, a connecting rod 125, a bearing, a support rod 121, a telescopic rod 122, and a spring 123. One end of the support rod 121 is connected to the shell 11, and the other end is installed with the connecting rod 125 through a bearing. The two straightening wheels 124 are installed at both ends of the connecting rod 125. One end of the telescopic rod 122 is connected to the shell 11, and the other end is connected to the upper part of the support rod 121. The spring 123 is installed in the middle of the telescopic rod 122.

[0019] The front end centering structure 4 and the rear end centering structure 2 are connected to the front and rear ends of the main telescopic structure 3 on their inner sides.

[0020] The main telescopic structure 3 includes a front universal joint 31, a second hydraulic cylinder 32, and a rear universal joint 33. The ball heads of the front universal joint 31 and the rear universal joint 33 are respectively connected to the front and rear ends of the second hydraulic cylinder 32, and the head seats of the front universal joint 31 and the rear universal joint ball 33 are respectively connected to the inner sides of the front righting structure 4 and the rear righting structure 2.

[0021] Through holes are provided on both sides of the front end righting structure 4 and the rear end righting structure 2. The two electric hydraulic pumps 14 are installed inside the housing 11 of the front end righting structure 4, and are connected to the first hydraulic cylinder 9 and the second hydraulic cylinder 32 respectively through the hydraulic oil pipe 13 passing through the through holes. One electric hydraulic pump 14 is fixedly installed inside the housing 11 of the rear end righting structure 2, and is connected to the first hydraulic cylinder 9 through the hydraulic oil pipe 14 passing through the through hole.

[0022] Beneficial effects of the present invention:

[0023] The present invention drives the first hydraulic cylinder of the front-end support structure to contract through an electric hydraulic pump, and the two ends of the spring plate fixed on the sleeve in the support frame contract with the movement of the hydraulic cylinder, and the middle part arches outwards and deforms, and is closely attached to the pipe wall. The main telescopic structure and the rear-end support structure remain unchanged, so that the front end of the pipeline robot is in a fixed state, the second hydraulic cylinder contracts, and the main telescopic structure contracts and deforms, so that the main body length of the pipeline robot is shortened, the first hydraulic cylinder of the rear-end support structure contracts, and the two ends of the spring plate fixed on the sleeve in the support frame contract with the movement of the hydraulic cylinder, and the middle part arches outwards and deforms, and is closely attached to the pipe wall, so that the rear end of the pipeline robot is in a fixed state, the first hydraulic cylinder of the front-end support structure extends, and the front end of the pipeline robot returns to a free state, the second hydraulic cylinder of the main telescopic structure extends, and the main body length of the pipeline robot is extended, so that the whole body moves forward, the first hydraulic cylinder of the front-end support structure contracts, and the support The two ends of the spring plate fixed on the sleeve in the frame shrink as the hydraulic cylinder moves, and the middle part arches outward and deforms, tightly fitting to the pipe wall, so that the front end of the pipeline robot is in a fixed state, and the first hydraulic cylinder of the rear end support structure is extended, and the rear end of the pipeline robot returns to a free state. Repeating the above steps, the pipeline robot can continue to crawl forward. The present invention connects the front and rear end righting structures through the universal joint in the main telescopic structure to achieve free steering of the robot to adapt to pipelines of different arrangements. The righting structure is a triangular prism with rounded corners and has stronger longitudinal support force. A retractable shock-absorbing variable diameter structure is also provided on the righting structure to adapt to pipelines of different diameters. The support frame in the front end support structure and the rear end support structure has a simple structure, reliable operation, and easy maintenance. Sufficient support force is provided by the hydraulic cylinder, and it can move in a curved, vertical or smooth pipeline environment with strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the structure of a hydraulically retractable small-diameter pipeline eddy current internal inspection robot in an embodiment of the present invention.

[0025] Figure 2 Schematic diagram of the structure of the righting structure in an embodiment of the present invention.

[0026] Figure 3 The figure is a side view of a hydraulically retractable small-diameter pipe eddy current in-line inspection robot according to an embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 1. Rear-end support structure; 2. Rear-end righting structure; 3. Main telescopic structure; 31. Front-end universal joint; 32. Second hydraulic cylinder; 33. Rear-end universal joint; 4. Front-end righting structure; 5. Front-end support structure; 6. Long sleeve; 7. Spring plate; 8. Anti-slip sleeve; 9. First hydraulic cylinder; 10. Short sleeve; 11. Shell; 12. Shock-absorbing variable-diameter structure; 121. Support rod; 122. Telescopic rod; 123. Spring; 124. Righting wheel; 125. Connecting rod; 13. Hydraulic oil pipe; 14. Electric hydraulic pump; 15. Support frame. DETAILED DESCRIPTION

[0029] The present invention will be described in further detail below with reference to the accompanying drawings.

[0030] like Figure 1 、 Figure 2 As shown, this embodiment provides a hydraulic telescopic small-diameter pipeline eddy current internal detection robot, including a front-end support structure 5, a front-end straightening structure 4, a main telescopic structure 3, a rear-end straightening structure 2, a rear-end support structure 1, and three electric hydraulic pumps 14. The front-end straightening structure 4 and the rear-end straightening structure 2 are symmetrically installed at the front and rear ends of the main telescopic structure 3, respectively. Two of the electric hydraulic pumps 14 are installed inside the front-end straightening structure 4, and one of the electric hydraulic pumps 14 is installed inside the rear-end straightening structure 2. The front-end support structure 5 and the rear-end support structure 1 are respectively installed on the front-end straightening structure 4 and the rear-end straightening structure 2. On the outside of the structure 2, the front-end supporting structure 5, the main telescopic structure 3, and the rear-end supporting structure 1 are respectively hydraulically driven by independent electric hydraulic pumps 14. The front-end supporting structure 5 and the rear-end supporting structure 1 are used to make the front and rear first hydraulic cylinders 9 be in a state of being retracted and fixed at one end and extended and restored to a free state when the pipeline robot is to be displaced. The main telescopic structure 3 is used to change its own length by extending and retracting the second hydraulic cylinder 32 to cooperate with the front-end supporting structure 5 and the rear-end supporting structure 1 to produce displacement. The front-end straightening structure 4 and the rear-end straightening structure 2 are used to maintain the stability of the movement direction when the pipeline robot is displaced.

[0031] like Figure 3 As shown, the front end support structure 5 and the rear end support structure 1 are both composed of a first hydraulic cylinder 9 and a support frame 15 .

[0032] The support frame 15 is composed of a long sleeve 6, six spring plates 7, six anti-slip sleeves 8, and a short sleeve 10. The six spring plates 7 are annularly installed on the long sleeve 6 and the short sleeve 8. The six anti-slip sleeves are respectively fixed to the middle of the six spring plates 7. The short sleeve 8 is interference fit in the cylinder barrel of the first hydraulic cylinder 9. The long sleeve 6 is connected to the piston rod of the first hydraulic cylinder 9. The bottom of the first hydraulic cylinder 9 is fixedly installed on the outside of the front end straightening structure 4 and the rear end straightening structure 2.

[0033] The front end straightening structure 4 and the rear end straightening structure 2 are both composed of a shell 11 and three groups of shock-absorbing and variable diameter structures. The three groups of shock-absorbing and variable diameter structures 12 are respectively installed on the three plate surfaces of the shell 11.

[0034] The three groups of shock-absorbing and variable-diameter mechanisms 12 are composed of two 124 straightening wheels, a connecting rod 125, a bearing, a support rod 121, a telescopic rod 122, and a spring 123. One end of the support rod 121 is connected to the shell 11, and the other end is installed with the connecting rod 125 through a bearing. The two straightening wheels 124 are installed at both ends of the connecting rod 125, one end of the telescopic rod 122 is connected to the shell 11, and the other end is connected to the upper part of the support rod 121, and the spring 123 is installed in the middle of the telescopic rod 122.

[0035] The front end centering structure 4 and the rear end centering structure 2 are connected to the front and rear ends of the main telescopic structure 3 on their inner sides.

[0036] The main telescopic structure 3 is composed of a front end universal joint 31, a second hydraulic cylinder 32, and a rear end universal joint 33. The ball heads of the front end universal joint 31 and the rear end universal joint 33 are respectively connected to the front and rear ends of the second hydraulic cylinder 32, and the head seats of the front end universal joint 31 and the rear end universal joint ball 33 are respectively connected to the inner sides of the front end straightening structure 4 and the rear end straightening structure 2.

[0037] Through holes are provided on both sides of the front-end righting structure 4 and the rear-end righting structure 2. The two electric hydraulic pumps 14 are installed inside the housing 11 of the front-end righting structure 4, and are connected to the first hydraulic cylinder 9 and the second hydraulic cylinder 32 respectively through the hydraulic oil pipe 13 passing through the through holes. One electric hydraulic pump 14 is fixedly installed inside the housing 11 of the rear-end righting structure 2, and is connected to the first hydraulic cylinder 9 through the hydraulic oil pipe 13 passing through the through hole.

[0038] Working principle of the present invention:

[0039] The electric hydraulic pump 14 drives the first hydraulic cylinder 9 of the front support structure 5 to contract, and the two ends of the spring plate 7 fixed on the sleeve in the support frame 15 contract with the movement of the hydraulic cylinder, and the middle part is arched outward and deformed, close to the pipe wall. The main telescopic structure 3 and the rear end support structure 1 remain unchanged, so that the front end of the pipeline robot is in a fixed state, the second hydraulic cylinder 32 contracts, and the main telescopic structure 3 is shortened with the contraction of the second hydraulic cylinder 32, so that the length of the pipeline robot body is shortened, and the first hydraulic cylinder 9 of the rear end support structure 1 contracts, and the two ends of the spring plate 7 fixed on the sleeve in the support frame 15 contract with the movement of the hydraulic cylinder, and the middle part is arched outward and deformed, close to the pipe wall. The rear end of the pipeline robot is in a fixed state, the first hydraulic cylinder 9 of the front end support structure 5 is extended, and the front end of the pipeline robot returns to a free state. The second hydraulic cylinder 32 of the main telescopic structure 3 is extended, and the length of the pipeline robot body is extended, so that it moves forward as a whole. The first hydraulic cylinder 9 of the front end support structure 5 contracts, and the two ends of the spring plate 7 fixed on the sleeve in the support frame 15 contract with the movement of the hydraulic cylinder, and the middle part is arched outward and deformed, and is close to the pipe wall, so that the front end of the pipeline robot is in a fixed state, the first hydraulic cylinder 9 of the rear end support structure 1 is extended, and the rear end of the pipeline robot returns to a free state. Repeat the above steps, and the pipeline robot can continue to crawl forward.

[0040] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any other form. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A hydraulic telescopic eddy current internal inspection robot for small-diameter pipelines, characterized in that: It includes a front end support structure (5), a front end straightening structure (4), a main telescopic structure (3), a rear end straightening structure (2), a rear end support structure (1), and three electric hydraulic pumps (14); The front end centering structure (4) and the rear end centering structure (2) are symmetrically mounted at the front and rear ends of the main telescopic structure (3), respectively; two electric hydraulic pumps (14) are mounted inside the front end centering structure (4), and one electric hydraulic pump (14) is mounted inside the rear end centering structure (2); Two electric hydraulic pumps (14) inside the front end straightening structure (4) are used to drive the first hydraulic cylinder (9) in the front end support structure (5) and the second hydraulic cylinder (32) in the main telescopic structure (3) respectively; The electric hydraulic pump (14) inside the rear end straightening structure (2) is used to drive the first hydraulic cylinder (9) in the rear end supporting structure (1).

2. The hydraulic telescopic small-diameter pipeline eddy current internal inspection robot according to claim 1, characterized in that: The front end support structure (5) and the rear end support structure (1) are respectively installed on the outside of the front end centralizing structure (4) and the rear end centralizing structure (2); The front end support structure (5), the main telescopic structure (3), and the rear end support structure (1) are hydraulically driven by independent electric hydraulic pumps (14).

3. The hydraulic telescopic small-diameter pipeline eddy current internal inspection robot according to claim 1, characterized in that: The front end support structure (5) and the rear end support structure (1) are both composed of a first hydraulic cylinder (9) and an elliptical support frame (15), and are used to place the front and rear support frames (15) in an expanded fixed state or a contracted and free state when the pipeline robot is to be displaced; The main telescopic structure (3) is composed of two universal joints and a second hydraulic cylinder (32), and is used to change its own length by telescoping the second hydraulic cylinder (32) to coordinate with the front support structure (5) and the rear support structure (1) to produce displacement; The front end straightening structure (4) and the rear end straightening structure (2) are used to maintain the stability of the movement direction when the pipeline robot is displaced; The righting structure is in the shape of a triangular prism with rounded corners.

4. The hydraulic telescopic small-diameter pipeline eddy current internal inspection robot according to claim 3, characterized in that: The support frame (15) includes a long sleeve (6), six spring plates (7), six anti-slip sleeves (8), and a short sleeve (10). The six spring plates (7) are annularly installed at equal intervals at the center position of the hexagonal side of the long sleeve (6) and the short sleeve (8). The six anti-slip sleeves (8) are respectively fixed to the middle of the six spring plates (7). The short sleeve (8) is interference-fitted with the cylinder of the first hydraulic cylinder (9). The long sleeve (6) is connected to the piston rod of the first hydraulic cylinder (9). The bottom of the first hydraulic cylinder (9) is fixedly installed on the outside of the front end straightening structure (4) and the rear end straightening structure (2).

5. The hydraulic telescopic small-diameter pipeline eddy current internal inspection robot according to claim 4, characterized in that: The long sleeve (6) is a long hexagonal sleeve with one end not through, the spring plate (7) is a long arc spring steel with a rectangular cross section, the anti-slip sleeve (8) is a rubber sleeve with a hollow cross section consistent with the spring plate, and the short sleeve (10) is a through short hexagonal sleeve.

6. The hydraulic telescopic small-diameter pipeline eddy current internal inspection robot according to claim 1, characterized in that: The front end straightening structure (4) and the rear end straightening structure (2) are both composed of a shell (11) and three groups of shock-absorbing and variable diameter structures (12). The three groups of shock-absorbing and variable diameter structures (12) are respectively installed on three plate surfaces of the shell (11).

7. The hydraulic telescopic small-diameter pipeline eddy current internal inspection robot according to claim 6, characterized in that: The three groups of shock-absorbing and diameter-changing mechanisms (12) each include two (124) straightening wheels, a connecting rod (125), a bearing, a support rod (121), a telescopic rod (122), and a spring (123). One end of the support rod (121) is connected to the housing (11), and the other end is mounted on the connecting rod (125) through a bearing. The two straightening wheels (124) are mounted on both ends of the connecting rod (125). One end of the telescopic rod (122) is connected to the housing (11), and the other end is connected to the upper part of the support rod (121). The spring (123) is mounted on the middle part of the telescopic rod (122).

8. The hydraulic telescopic small-diameter pipeline eddy current internal inspection robot according to claim 1, characterized in that: The main telescopic structure (3) comprises a front universal joint (31), a second hydraulic cylinder (32), and a rear universal joint (33); the ball heads of the front universal joint (31) and the rear universal joint (33) are respectively connected to the front and rear ends of the second hydraulic cylinder (32); and the head seats of the front universal joint (31) and the rear universal joint ball (33) are respectively connected to the inner sides of the front righting structure (4) and the rear righting structure (2).

9. The hydraulic telescopic small-diameter pipeline eddy current internal inspection robot according to claim 1, characterized in that: Through holes are provided on both sides of the front-end righting structure (4) and the rear-end righting structure (2); two electric hydraulic pumps (14) are installed inside the housing (11) of the front-end righting structure (4), and are respectively connected to the first hydraulic cylinder (9) and the second hydraulic cylinder (32) through the through holes through the hydraulic oil pipe (13); one electric hydraulic pump (14) is fixedly installed inside the housing (11) of the rear-end righting structure (2), and is connected to the first hydraulic cylinder (9) through the through hole through the hydraulic oil pipe (14).

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