An apparatus and method for detecting the movement of high-altitude welds on a steel structure pipe body

Abstract

The present invention discloses a high-altitude weld movement detection device and method for a steel structure pipe body, including: an electric rotary support part, which includes a first connecting cylinder and an electric rotary cylinder connected to the first connecting cylinder, and is used to rotate the adapted steel pipe cylinder part through the electric rotary cylinder; a power part, which includes three groups of bending and folding mechanisms evenly distributed at the front part of the first connecting cylinder, and is used to stretch or contract through each group of the bending and folding mechanisms to abut against the steel pipe to be detected and provide walking power for the whole device; an adapted steel pipe cylinder part, which includes a second connecting cylinder connected to the electric rotary cylinder, a third connecting cylinder connected to the second connecting cylinder, and a cross support frame symmetrically installed on the outer periphery of the second connecting cylinder, and a plurality of steel ball bushing plates are arranged in the third connecting cylinder. The present invention can replace manual labor to complete the detection of steel pipe welds at a designated position, improve work efficiency, and save time.

Description

Technical Field

[0001] The present invention relates to the field of construction engineering, and particularly to a device for detecting the movement of high-altitude welds of steel structure pipe bodies, and also to a method for detecting the movement of high-altitude welds of steel structure pipe bodies. Background Art

[0002] During the construction of steel structures, welding is often used to splice steel pipe components at high altitudes to form an overall steel structure, such as grid construction. After high-altitude welding, welding quality inspection is required to judge and ensure the quality of engineering welding construction. At present, for high-altitude steel pipe welding, manual measurement is mostly used. Usually, a worker is tied with a safety rope, a coupling agent is applied to the weld of the steel pipe to be measured, and an ultrasonic detector is used to detect the steel pipe at high altitude. The detection efficiency is low and there is a certain danger. At the same time, at present, the detection of steel pipe welds is usually carried out from the outside of the steel pipe. However, due to some welding slag covering the outer surface of the steel pipe during steel pipe welding, it has a certain impact on the welding quality. Detecting the corresponding quality from the inside of the steel pipe can obtain a more real detection result from the fundamental effect, and can avoid the influence of the external connection crossing of the steel pipe grid on the detection crawling channel, with higher efficiency. Summary of the Invention

[0003] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide a device for detecting the movement of high-altitude welds of steel structure pipe bodies, which can replace manual labor to complete the detection of steel pipe welds at designated positions, improve work efficiency and save time.

[0004] Another purpose of the present invention is to provide a method for detecting the movement of high-altitude welds of steel structure pipe bodies. By integrating the entire process of fixing, climbing, positioning, detecting, repairing, and reinspecting, it can not only reduce the errors caused by manual weld detection, but also improve the detection and repair efficiency, completely avoid the safety hazards brought by high-altitude operations. At the same time, because there are both internal fixing mechanisms such as steel ball bushing plates and external fixing mechanisms such as cross supports, the device can cover the detection of steel pipe welds with a larger range of diameters, greatly improving the adaptability of the device.

[0005] To further achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A device for detecting the movement of high-altitude welds of steel structure pipe bodies includes:

[0007] An electric rotary support part, including a first connecting cylinder and an electric rotary cylinder connected to the first connecting cylinder, for rotating the adapted steel pipe cylinder part through the electric rotary cylinder;

[0008] The power part includes three groups of bending and folding mechanisms evenly distributed at the front of the first connecting cylinder, which are used to stretch or tighten through each group of the bending and folding mechanisms to abut against the steel pipe to be detected and provide walking power for the whole device.

[0009] The steel pipe cylinder matching part includes a second connecting cylinder connected to the electric rotary cylinder, a third connecting cylinder connected to the second connecting cylinder, and a cross support frame symmetrically installed on the outer periphery of the second connecting cylinder. A plurality of steel ball bushing plates are arranged in the third connecting cylinder, which are used to match steel pipes with different diameters and provide support force.

[0010] Optionally, the bending and folding mechanism includes a first arc-shaped steel bar, a second arc-shaped steel bar, and a third arc-shaped steel bar with gradually decreasing lengths in sequence. One end of the first arc-shaped steel bar is connected to the first connecting cylinder, the other end of the first arc-shaped steel bar is key-connected to one end of the second arc-shaped steel bar, the other end of the second arc-shaped steel bar is key-connected to one end of the third arc-shaped steel bar, and an arc-shaped universal wheel is installed at the other end of the third arc-shaped steel bar.

[0011] Furthermore, a first small motor is arranged on both the first arc-shaped steel bar and the second arc-shaped steel bar, and a second micro motor is arranged on the inner side of the third arc-shaped steel bar.

[0012] Optionally, through holes are axially arranged in both the first connecting cylinder and the electric rotary cylinder; three mounting seats are arranged on the outer side of the first connecting cylinder. The middle mounting seat located in the upper part is used to install the power supply, and the two mounting seats symmetrically distributed on both sides are respectively equipped with an electric telescopic rod.

[0013] Optionally, the middle section of the second connecting cylinder is a steel wire hose, which is cylindrical and can be bent and folded. The outer side edge of the rear section of the second connecting cylinder is a plane, which is used to connect with the cross support frame; the front section and the rear section of the second connecting cylinder can be combined and connected together by an electric buckle, and the steel wire hose in the middle section can be folded and compressed inside it.

[0014] Furthermore, the cross support frame includes a horizontal electric telescopic rod and vertical electric telescopic rods respectively installed on the upper and lower sides of the horizontal electric telescopic rod. Arc-shaped universal wheels are installed at the ends of the two vertical electric telescopic rods, and the end of the horizontal electric telescopic rod is in the shape of a rack.

[0015] Optionally, four robotic arms are evenly installed on the outer side of the third connecting cylinder. An ultrasonic probe and a coupling agent spraying gun are installed on each robotic arm, and the coupling agent spraying gun is located on the back side of the ultrasonic probe.

[0016] Optionally, a plurality of steel ball bushing plates are evenly distributed inside the third connecting cylinder, and a plurality of steel balls are embedded on a side of the steel ball bushing plate away from the inner wall of the third connecting cylinder, and the steel balls can roll inside the steel ball bushing plate;

[0017] A plurality of springs are connected to one side of the steel ball bushing plate facing the inner wall of the third connecting cylinder, and the steel ball bushing plate is connected to the third connecting cylinder through the springs.

[0018] Optionally, the electric rotary cylinder comprises a shell, a rotating inner wall is provided inside the shell, a bottom rotating fixed seat is provided on the bottom side of the inner part of the shell, and the rotating inner wall is mounted on the bottom rotating fixed seat;

[0019] The rotating inner wall is provided with a rotating rack track in the middle of one side close to the outer shell, and two stepping motors are arranged on both sides of the inner wall of the outer shell. The output shaft of the stepping motor is connected with a gear, and the gear is meshed with the rack track.

[0020] Optionally, a through groove is provided in the center of the lower end of the first connecting cylinder;

[0021] A through slot is provided in the center of the lower end of the electric rotary cylinder, and the through slot arranged on the rotating inner wall thereof is initially located at the upper end;

[0022] The upper ends of the second connecting cylinder and the third connecting cylinder are both provided with through grooves on the same straight line;

[0023] The through grooves have uniform widths and are used for passing a circular collar that fixes an aerial steel pipe.

[0024] The present invention also claims a method for detecting the movement of a high-altitude weld of a steel structure pipe, comprising the following steps:

[0025] Step 1: Fixing the device:

[0026] The device is placed inside a thick steel pipe or inserted into a thin steel pipe, and the bending and folding mechanism is controlled by the first small motor to start stretching or contracting to adapt to the inner diameter of the thick steel pipe and the diameter of the thin steel pipe, thereby completing the initial fixation;

[0027] At the same time, when the device is fixed in the thick steel pipe, the cross support frame starts to work, and the vertical electric telescopic rod begins to extend, so that the arc-shaped universal wheel at the end can resist the inner diameter of the thick steel pipe;

[0028] When the device is fixed outside the thin steel pipe, the tail of the device is supported by the steel balls on the steel ball bushing plate, and the spring is used to adapt to steel pipes of different diameters;

[0029] Step 2: Movement of the device:

[0030] Powered by the power part at the front end, the second micro motor starts to work, driving the arc-shaped universal wheel to roll, thereby driving the entire device to move;

[0031] When inside the thick steel pipe, the vertical electric telescopic rod of the cross support frame is equipped with universal wheels at the top, enabling the device to travel inside the thick steel pipe;

[0032] When sleeved onto the thin steel pipe, the steel balls on the steel ball bushing plate will roll, enabling the device to slide on the thin steel pipe;

[0033] Step Three: Detection of Welds:

[0034] The robotic arm manipulates the ultrasonic probe to send ultrasonic waves to the steel pipe, and the obtained feedback is analyzed inside the ultrasonic instrument. When the detection is unqualified, the device is promptly stopped for the work of spraying the coupling agent;

[0035] Step Four: Spraying of Coupling Agent:

[0036] The electric rotary cylinder starts to work, adjusting the entire part of the adapted steel pipe cylinder to rotate. At the same time, the end of the robotic arm starts to rotate to swap the positions of the coupling agent spraying gun and the ultrasonic probe, and the electric rotary cylinder rotates the coupling agent spraying gun to a suitable position before spraying;

[0037] Step Five: Detection of Spraying Effect:

[0038] After the spraying and repair are completed, the end of the robotic arm rotates to swap the positions of the coupling agent spraying gun and the ultrasonic probe again, and then the ultrasonic probe conducts the work detection to determine whether the spraying is completed. If not, it turns to Step Four to re-spray.

[0039] Compared with the prior art, the present invention has at least the following benefits:

[0040] 1. The three groups of bending and folding mechanisms in the power part can expand outwards from each other to increase the distance to adapt to thick steel pipes with different inner diameters, and can also fold inwards from each other to reduce the distance to adapt to thin steel pipes with different diameters. The part of the adapted steel pipe cylinder in the latter half can adapt to thin steel pipes within a certain diameter range, with a wide working range and strong practicability. The third arc-shaped steel bar at the outermost end of the bending and folding mechanism is equipped with arc-shaped universal wheels, and the distance between the universal wheels and the inner wall of the steel pipe can be changed by the expansion and folding of the bending and folding mechanism to clamp thick steel pipes with different inner diameters and thin steel pipes with different diameters, and the power for the device to travel is provided by the second micro-motor installed on the bending and folding mechanism.

[0041] 2. Special support frame structure. The front half is an electric telescopic rod controlled by a power supply. When the power supply works, the support rod extends, and the electric telescopic rod can rotate under the control of a small motor to achieve support in any direction. The rear half is a cross-shaped support frame composed of three electric telescopic rods. Two electric telescopic rods equipped with universal wheels are respectively installed on both sides of another telescopic rod. When the vertical electric telescopic rod extends and clamps the inner diameter of the thick steel pipe, it ensures the stability of the device when driving in the thick steel pipe and also plays a good supporting role when the device stops.

[0042] 3. An adapter steel pipe cylinder composed of a spring, a ball, a cylinder, and a steel ball bushing plate. A plurality of steel ball bushing plates are evenly distributed in the third connecting cylinder, and the third connecting cylinder and the steel ball bushing plate are connected by a spring. The steel balls are embedded in the steel pipe bushing plate and can roll. When the thin steel pipe is sleeved into the adapter steel pipe cylinder, under the rolling action of the steel balls, the thin steel pipe can slide in the third connecting cylinder, and the spring can adapt to thin steel pipes of different diameters and provide elastic supporting force.

[0043] 4. Considering that the high-altitude steel pipes will be supported by specially fixed brackets, and most of the supports are circular sleeves, the whole device is divided into two parts, the front and the rear. The main connecting cylinder part of the front half has through slots opened at the bottom, and the main connecting cylinder part of the rear half has through slots opened at the upper end. After passing through the bracket for fixing the steel pipe in the front half, the device rotates through an electric rotary cylinder and is then fixed by the support frame. Adjust the slot position of the rear half so that it can pass through the bracket for fixing the high-altitude steel pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0045] Figure 1 Schematic diagram of the overall structure of the present invention Figure 1 ;

[0046] Figure 2 Schematic diagram of the overall structure of the present invention Figure 2 ;

[0047] Figure 3 Schematic diagram of the power part structure of the present invention;

[0048] Figure 4 Schematic diagram of the electric rotary support part structure of the present invention;

[0049] Figure 5 Schematic diagram of the adapter steel pipe cylinder part structure of the present invention Figure 1 ;

[0050] Figure 6 Schematic diagram of the adapter steel pipe cylinder part structure of the present inventionFigure 2 ;

[0051] Figure 7 This is a schematic structural diagram of the bending and folding mechanism of the present invention;

[0052] Figure 8 This is a schematic structural diagram of the first connecting cylinder part of the present invention;

[0053] Figure 9 This is a schematic structural diagram of the electric telescopic rod part of the present invention;

[0054] Figure 10 This is a schematic structural diagram of the electric rotary cylinder part of the present invention;

[0055] Figure 11 This is a schematic structural diagram of the air pump part of the present invention;

[0056] Figure 12 This is a schematic structural diagram of the second connecting cylinder of the present invention;

[0057] Figure 13 This is a schematic structural diagram of the cross support frame of the present invention;

[0058] Figure 14 This is a schematic structural diagram of the third connecting cylinder of the present invention;

[0059] Figure 15 This is a schematic structural diagram of the ultrasonic detection and coupling agent spraying robotic arm part of the present invention;

[0060] Figure 16 This is a schematic structural diagram of the steel ball bushing plate of the present invention;

[0061] Figure 17 This is an enlarged view of the structure of the electric rotary cylinder part of the present invention.

[0062] Description of Reference Numerals :

[0063] 100 - Power part:

[0064] 101 - First small motor, 102 - First arc-shaped steel bar, 103 - Second arc-shaped steel bar, 104 - Third arc-shaped steel bar, 105 - Cubic card slot, 106 - Second micro motor, 107 - Arc-shaped universal wheel;

[0065] 200 - Electric rotary support part:

[0066] 201 - First connecting cylinder, 202 - Electric telescopic rod, 203 - Electric rotary cylinder, 203a - Rotating inner wall, 203b - Rotating rack track, 203c - Bottom rotating fixed seat, 203d - Stepper motor; 203e - Gear; 204 - Power supply;

[0067] 300 - Adapted steel pipe cylinder part:

[0068] 301 - Second connecting cylinder, 302 - Cross support frame, 303 - Ultrasonic probe, 304 - Third connecting cylinder, 305 - Ultrasonic detector, 306 - Couplant spraying gun, 307 - Robot arm, 308 - PLC controller, 309 - Spring, 310 - Ball bushing plate. Detailed implementation mode

[0069] To facilitate the understanding and implementation of the present invention by those of ordinary skill in the art, the present invention will be further described in detail below with reference to the accompanying drawings and implementation examples. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0070] A mobile detection device for high-altitude welds of steel structure pipe bodies, as Figure 1 and Figure 2 shown, includes a power part 100, an electric rotating support part 200, and a steel pipe cylinder fitting part 300. The power part 100 is located at the front end of the electric rotating support part 200, and the steel pipe cylinder fitting part 300 is located at the rear end of the electric rotating support part 200.

[0071] As Figure 3 , Figure 7As shown in the figure, the power part 100 includes three sets of bending and folding mechanisms. Each set of bending and folding mechanisms includes a first small motor 101, a first arc-shaped steel bar 102, a second arc-shaped steel bar 103, a third arc-shaped steel bar 104, a cube card slot 105, a second micro motor 106, and an arc-shaped universal wheel 107. Among them, the lengths of the first arc-shaped steel bar 102, the second arc-shaped steel bar 103, and the third arc-shaped steel bar 104 gradually decrease in turn, and the middle parts of the first arc-shaped steel bar 102 and the second arc-shaped steel bar 103 are hollowed out; one end of the first arc-shaped steel bar 102 is provided with a connecting steel sheet with a through hole for subsequent installation and connection with the first connecting cylinder 201. The second arc-shaped steel bar 103 is located between the first arc-shaped steel bar 102 and the third arc-shaped steel bar 104; the cube card slot 105 is directly welded to the front side of the other end of the first arc-shaped steel bar 102 for placing the first small motor 101 and is key-connected to one end of the second arc-shaped steel bar 103; a cube card slot 105 is also welded to the front side of the other end of the second arc-shaped steel bar 103 for placing the first small motor 101 and is key-connected to one end of the third arc-shaped steel bar 104; a small connecting rod is installed at the other end of the third arc-shaped steel bar 104, and the connecting rod is directly fixedly connected to the arc-shaped universal wheel 107. A small buckle is provided on the inner arc of the third arc-shaped steel bar 104, and the second micro motor 106 is placed in this buckle. The output shaft of the second micro motor 106 passes through the inner side of the third arc-shaped steel bar 104 from the inner side of the third arc-shaped steel bar 104 and is connected to the connecting rod installed thereon. By controlling the operation of the second micro motor 106 to drive the connecting rod to rotate, the arc-shaped universal wheel 104 is driven to roll. The arc-shaped universal wheel 104 rolls on the inner wall of the thick steel pipe or the outer wall of the thin steel pipe to provide the forward power for the device. When the entire power part 100 is unfolded, first, the first small motor 101 installed between the second arc-shaped steel bar 103 and the third arc-shaped steel bar 104 drives the third arc-shaped steel bar 104 to unfold outward from the hollow of the second arc-shaped steel bar 103, and then the first small motor 101 installed between the first arc-shaped steel bar 102 and the second arc-shaped steel bar 103 drives the second arc-shaped steel bar 104 to unfold outward from the hollow of the first arc-shaped steel bar 102; conversely, when the entire power part 100 is retracted, the first small motor 101 installed between the second arc-shaped steel bar 103 and the third arc-shaped steel bar 104 drives the third arc-shaped steel bar 104 to retract into the hollow of the second arc-shaped steel bar 103, and then the first small motor 101 installed between the first arc-shaped steel bar 102 and the second arc-shaped steel bar 103 drives the second arc-shaped steel bar 104 to retract into the hollow of the first arc-shaped steel bar 102. After all are retracted, the third arc-shaped steel bar 104 is completely located inside the second arc-shaped steel bar 103 and coincides with its arc completely, and the second arc-shaped steel bar 103 is completely located inside the first arc-shaped steel bar 102 and coincides with its arc completely. Finally, only a circular structure formed by three first arc-shaped steel bars 102 remains.In the present invention, the first small motor 101 and the second micro motor 106 are both connected to the PLC controller 308 on the adapted steel pipe cylinder part 300 through wires and are controlled by it. When the wires need to pass through between the electric rotary support part 200 and the adapted steel pipe cylinder part 300, the wire length required for the maximum rotation angle can be reserved in advance to ensure that the rotation process will not be restricted and interfered by the wires. In the present invention, the three bending and folding mechanisms of the entire power part 100 are evenly installed at the front end of the first connecting cylinder 201.

[0072] As Figure 4 , Figure 8 , Figure 9 , Figure 10 , Figure 11 shown, the electric rotary support part 200 includes a first connecting cylinder 201, an electric telescopic rod 202, an electric rotary cylinder 203 and a power supply 204. There is a through hole in the middle of the first connecting cylinder 201 with a diameter of 20 cm, which is suitable for steel pipes with a diameter of 12 cm to 18 cm commonly used in construction. At this time, the entire device works by sleeving outside the pipe. There is a through slot with a certain width at the lower part of the first connecting cylinder 201, and the maximum width does not exceed 8 cm; there are multiple small holes at the front end of the first connecting cylinder 201 for connecting with the connecting steel sheet below the first arc-shaped steel bar 102 of the bending and folding mechanism through bolts and nuts, and there are also multiple small holes at the rear end of the first connecting cylinder 201 for connecting with the front end of the outer shell of the electric rotary cylinder 203 through bolts and nuts. The electric rotary cylinder 203 also has a through slot with a certain width, and the maximum width also does not exceed 8 cm. The inner diameter of the electric rotary cylinder 203 can pass through a steel pipe with a diameter of 20 cm. The first connecting cylinder 201 is fixedly connected to the outer shell of the electric rotary cylinder 203. As Figure 17 shown, the electric rotary cylinder 203 includes an outer shell. There is a rotating inner wall 203a inside the outer shell, and a bottom rotating fixed seat 203c is arranged at the bottom side inside the outer shell. The rotating inner wall 203a is installed on the bottom rotating fixed seat 203c; a structure similar to the steel ball bushing plate 310 is installed inside the bottom rotating fixed seat 203c. A rotating rack track 203b is installed in the middle of the rotating inner wall 203a near the outer shell side. There are two stepping motors 203d on both sides of the inner wall of the outer shell. The output shaft of the stepping motor 203d is connected to the gear 203e, and the gear 203e meshes with the rack track 203b. By controlling the operation of the stepping motor 203d to drive the gear 203e to rotate on the rotating rack track 203b, the entire rotating inner wall 203a is driven to rotate on the bottom rotating fixed seat 203c; the outer shell and the rotating inner wall 203a are coaxial. To cooperate with Figure 12 the second connecting cylinder 301 where the through slot is located at the upper end, Figure 17In the rotating inner wall 203a, the through groove is initially located at the upper end, and the through groove of the outer shell is located at the lower end; these two through grooves are arranged on opposite sides; the bottom rotating fixing seat 203c is fixedly connected to the outer shell. Therefore, the position and size of the through groove provided on the bottom rotating fixing seat 203c are the same as those of the through groove at the bottom of the outer shell. Three mounting seats are provided on the outer side of the first connecting cylinder 201. The mounting seat in the middle of the upper part is used to mount the power supply 204, and the two mounting seats symmetrically distributed on both sides are respectively equipped with an electric telescopic rod 202. The power supply 204 is connected to the plc controller 308 through a wire and supplies power to it; the end of the electric telescopic rod 202 is in the shape of a rack, which can better support and fix the entire device. At this time, the entire device is placed in the pipe for traversing work. More specifically, a rotating shaft is installed at the bottom of the electric telescopic rod 202. The rotating shaft is installed on the mounting seat, and a micro motor (not shown in the figure) is installed on the rotating shaft. The micro motor drives the rotating shaft to rotate through the output shaft, thereby controlling the electric telescopic rod 202 to rotate clockwise and counterclockwise, realizing that the electric telescopic rod 202 can support in any direction. In the present invention, the electric telescopic rod 202, the stepping motor 203d in the electric rotating cylinder 203, and the micro motor are all connected to the plc controller 308 through wires and are controlled by it. Similarly, when the wire needs to pass through between the electric rotating support part 200 and the adapted steel pipe cylinder part 300, the wire length required for the maximum rotation angle can be reserved in advance to ensure that the rotation process will not be restricted and interfered by the wire.

[0073] Such as Figure 5 , Figure 6 , Figure 12 , Figure 13 , Figure 14As shown in the figure, the adapted steel pipe cylinder part 300 includes a second connecting cylinder 301, a cross support frame 302, an ultrasonic probe 303, a third connecting cylinder 304, an ultrasonic detector 305, a coupling agent spraying gun 306, a robotic arm 307, a PLC controller 308, a spring 309, and a steel ball bushing plate 310. The front section of the second connecting cylinder 301 is the front connecting block part. The middle section of the second connecting cylinder 301 is designed as a wire hose, which is cylindrical and can be bent and folded. Among them, the maximum rotation diameter of the wire hose is greater than the maximum diameter at the circular sleeve elbow, so that the wire hose can smoothly pass through the circular sleeve elbow; the rear section of the second connecting cylinder 301 is the rear connecting block part, with a flat side and holes for connecting to the cross support frame 302; the rear end of the second connecting cylinder 301 is connected to the front end of the third connecting cylinder 304 by bolts and nuts; the connecting block part at the front section of the second connecting cylinder 301 is connected to the rotating inner wall 203a inside the electric rotary cylinder 203 by bolts and nuts. Since the outer shell of the electric rotary cylinder 203 is fixedly connected to the first connecting cylinder 201 by bolts and nuts, relative to the adapted steel pipe cylinder part 300, the electric rotary support part 200 is relatively fixed at this time. After its internal rotating part is fixedly connected to the second connecting cylinder 301, it can rotate relative to its outer shell part, driving the entire adapted steel pipe cylinder part 300 to rotate relative to the electric rotary support part 200.

[0074] Generally, the front section and the rear section of the second connecting cylinder 301 are connected together by an electric buckle combination. The electric buckle is composed of an impact-type automatic bolt as the main body. The plug and the socket of the bolt are respectively installed on the corresponding positions of the front section and the rear section of the second connecting round tube 301. When the separated front section and the rear section are close again, the plug can be automatically inserted into the socket and fixed by impact, so that the electric buckle is automatically closed. A micro motor is also provided on one side of the socket to replace manual dialing and bolting, so as to realize the automatic opening of the electric buckle. The micro motor is connected to the plc controller 308 through a wire and is controlled by it; the steel wire hose in the middle section is folded and compressed inside. When it is necessary to pass through the curved steel pipe, the plc controller 308 first issues an instruction, and the front section and the rear section of the second connecting cylinder 301 are automatically closed. The electric buckle of the rear section is disconnected. Since the steel hose in the middle section is bendable, the power part 100 of the front half of the device starts to work, driving the steel hose to move forward on the curved steel pipe, and then the steel hose drives the third connecting cylinder 304 to move forward on the curved steel pipe. The whole device can be approximately in an arc shape, and then the device can pass through the curved steel pipe with a smaller arc. When passing through the curved steel pipe, the cross support frame 302 of the rear half starts to work, and the horizontal and vertical electric telescopic rods cooperate to extend and clamp the steel pipe, so that the adapting steel pipe cylinder part 300 of the device can be fixed. The front half of the device is powered by the power part 100 to retreat, so that the front section and the rear section of the second connecting cylinder 301 can fit together, and the electric buckles of the front section and the rear section are also fastened again. The upper ends of the front section, middle section and rear section of the second connecting cylinder 301 are all provided with through grooves, and the size of the through grooves here is consistent with that of the first connecting cylinder 201, which is used to pass through the round ring that fixes the high-altitude steel pipe. When the electric rotary cylinder 203 rotates, it can drive the second connecting cylinder 301 to rotate, thereby driving the adapting steel pipe cylindrical part 300 to rotate. When the electric rotary cylinder 203 drives the second connecting cylinder 301 to rotate, the front section and the rear section of the second connecting cylinder 301 are connected together by an electric buckle, and the steel wire hose in the middle section will not be exposed to the outside. The cross support frame 302 is composed of a horizontal electric telescopic rod and two vertical electric telescopic rods. The two vertical electric telescopic rods are installed on the upper and lower sides of the horizontal electric telescopic rod, and the ends of the two vertical electric telescopic rods are equipped with arc-shaped universal wheels. The end of the horizontal electric telescopic rod is also rack-shaped, which can better support and fix the entire device. When the device works in a steel pipe with a large inner diameter, the vertical electric telescopic rod is extended, and the arc-shaped universal wheel supports the inner diameter of the steel pipe, which can stabilize the device in the steel pipe; when it is necessary to stop working, the horizontal electric telescopic rod is also extended to clamp the entire device and keep it stable.

[0075] like Figure 6As shown in the figure, six mounting seats are evenly distributed on the outer side of the third connecting cylinder 304, which are respectively used to install the ultrasonic detector 305, the plc controller 308 and four robotic arms 307. The four robotic arms 307 are evenly installed on the outer side of the third connecting cylinder 304. The working range of the robotic arms 307 can completely cover the circumference of the third connecting cylinder 304, and the ultrasonic wave can fully detect the outer circumference of the steel pipe. Ultrasonic probes 303 and coupling agent spraying guns 306 are installed on the four robotic arms 307. The coupling agent spraying gun 306 is fixedly installed on the back of the ultrasonic probe 303. The robotic arm 307 is connected to the ultrasonic probe 303, and the ultrasonic probe 303 can be controlled to rotate at the end of the robotic arm 307 by the plc controller 308. The robotic arm 307, the ultrasonic detector 305 and the coupling agent spraying gun 306 are connected to the plc controller 308 through wires (not shown in the figure). The ultrasonic detector 305 controls the ultrasonic probe 303 to perform ultrasonic flaw detection work and detect the weld through wires, and the plc controller 308 controls the work of the robotic arm 307 and the operation of the coupling agent spraying gun 306 and the ultrasonic detector 305.

[0076] As Figure 14As shown, a through groove is also opened at the upper end of the third connecting cylinder 304, and the width is the same as that of the through groove above the second connecting cylinder 301. The through groove at the upper end of the third connecting cylinder 304 and the through groove above the second connecting cylinder 301 are on the same straight line. Inside the third connecting cylinder 304, a plurality of steel ball bushing plates 310 are evenly distributed and installed. On the side of the steel ball bushing plate 310 away from the inner wall of the third connecting cylinder 304, a plurality of steel balls are embedded. The steel balls can roll inside the steel ball bushing plate 310 and will not fall out. On the side of the steel ball bushing plate 310 facing the inner wall of the third connecting cylinder 304, a plurality of springs 309 are fixedly connected. The plurality of steel ball bushing plates 310 are evenly installed inside the third connecting cylinder 304, and the steel ball bushing plates 310 are installed inside the third connecting cylinder 304 through the springs 309. When the thin steel pipe passes through it, the spring 309 can press the steel ball bushing plate 310 against the surface of the thin steel pipe, and the steel balls nested inside the steel ball bushing plate 310 can roll on the surface of the thin steel pipe. The spring 309 presses the steel ball bushing plate 310 against the thin steel pipe. The design of this structure, on the one hand, provides another support for the thin steel pipe at the tail of the entire device, and on the other hand, the design of the spring 309 can better adapt to steel pipes of different diameters. After the thin steel pipe passes through the third connecting cylinder 304, the ultrasonic detector 305 controls the ultrasonic probe 303 to perform scanning and analysis, and the obtained feedback is analyzed inside the ultrasonic instrument 305. When the detection is unqualified, the device is stopped in time for the coupling agent spraying and repair work. The PLC controller 308 controls the coupling agent spraying gun 306 to perform the work of spraying and repairing the steel pipe. The coupling agent spraying gun 306 is installed behind the ultrasonic probe 303. When the device stops, the electric rotary cylinder 203 starts to work, adjusts the entire adapted steel pipe cylinder part 300 to rotate, so that the robotic arm 307 that detects problems with the thin steel pipe faces the problematic part, and at the same time, the end of the robotic arm 307 starts to rotate to swap the positions of the coupling agent spraying gun 306 and the ultrasonic probe 303. Then the coupling agent spraying gun 306 can start the spraying and repair work. After the spraying and repair are completed, the end of the robotic arm 307 rotates to swap the positions of the coupling agent spraying gun 306 and the ultrasonic probe 303 again, and then the ultrasonic probe 303 performs the work detection to determine whether the spraying is completed. The movements of the coupling agent spraying gun 306 and the robotic arm 307 are both controlled by the PLC controller 308.

[0077] In addition, when the device passes through the high-altitude steel pipe supported by the bracket, it needs to pass through the circular ring that fixes the high-altitude steel pipe. The slot size designed by the device can pass through the circular ring that fixes the high-altitude steel pipe. The first connecting cylinder 201 and the electric rotating cylinder 203 in the front half of the device are provided with through slots, and the upper ends of the second connecting cylinder 301 and the third connecting cylinder 304 in the back half of the device are provided with through slots. First, the bending and folding mechanism of the power part 100 is bent inward so that the arc-shaped universal wheels 107 on the three groups of third arc-shaped steel bars 104 are all attached to the thin steel pipe, and the arc-shaped universal wheels 107 are driven to roll by the second micro motor 106 as power. When the device moves forward and encounters the need to pass through the circular ring, the device is stopped first, and the cross support frame 302 adapted to the steel pipe cylinder part 300 can start working and extend to the wall to fix the device, and the electric rotating cylinder 203 is rotated to adjust the slots in the front half of the device to pass. The device passes through the circular ring that fixes the high-altitude steel pipe, then retracts the cross support frame 302 and continues to move forward; after the front half passes through, the electric telescopic rod of the electric rotating support part 200 is extended to the nearby wall to assist in fixing the device, and then the electric rotating cylinder 203 is rotated to adjust the slot in the rear half of the device to pass through the circular ring that fixes the high-altitude steel pipe, and the device continues to move forward until the entire device passes through the circular ring that fixes the high-altitude steel pipe. It should be noted here that this is only applicable to the case where there are walls or other supports around the circular ring.

[0078] In the present invention, the slots designed in the front half and the rear half are not in the same straight line when the device is running, so as to avoid the problem of uneven force when the slots are in the same straight line.

[0079] The first small motor 101, the second micro motor 106, the electric telescopic rod 202, the ultrasonic probe 303, the ultrasonic detector 305, the mechanical arm 307, the PLC controller 308 and the like described in the present invention are all prior arts.

[0080] A method for detecting the movement of high-altitude welds in steel structure pipes, see Figures 1-17 , the steps are:

[0081] Step 1: Fixing the device:

[0082] The device is placed inside a thick steel pipe or inserted into a thin steel pipe, and the bending and folding mechanism is controlled by the first small motor 101 to start stretching or contracting to adapt to the inner diameter of the thick steel pipe and the diameter of the thin steel pipe, completing the initial fixation;

[0083] At the same time, when the device is fixed in the thick steel pipe, the cross support frame 302 starts to work, and the vertical electric telescopic rod begins to extend, so that the arc-shaped universal wheel at the end can resist the inner diameter of the thick steel pipe;

[0084] When the device is fixed outside the thin steel pipe, the tail of the device is supported by the steel balls on the steel ball bushing plate 310, and the spring 309 is used to adapt to steel pipes of different diameters.

[0085] Step Two: Movement of the device:

[0086] Power is provided by the power part 100 at the front end, and the second micro-motor 106 starts to work, driving the arc universal wheel 107 to roll, thereby driving the entire device to move.

[0087] When inside the thick steel pipe, the vertical electric telescopic rod of the cross support frame 302 is equipped with an arc universal wheel at the top, enabling the device to travel inside the thick steel pipe.

[0088] When sleeved on the thin steel pipe, the steel balls on the steel ball bushing plate 310 will roll, enabling the device to slide on the thin steel pipe.

[0089] Step Three: Detection of the weld:

[0090] The robotic arm 307 manipulates the ultrasonic probe 303 to send ultrasonic waves to the steel pipe, and the obtained feedback is analyzed in the ultrasonic instrument. When the detection is unqualified, the device is promptly stopped for the coupling agent spraying work.

[0091] Step Four: Spraying of the coupling agent:

[0092] The electric rotary cylinder 203 starts to work, adjusting the entire steel pipe cylinder part 200 for rotation. At the same time, the end of the robotic arm 307 starts to rotate to swap the positions of the coupling agent spraying gun 306 and the ultrasonic probe 303. The electric rotary cylinder 203 rotates the coupling agent spraying gun 306 to a suitable position and then sprays.

[0093] Step Five: Detection of the spraying effect:

[0094] After the spraying and repair are completed, the end of the robotic arm 307 rotates to swap the positions of the coupling agent spraying gun 306 and the ultrasonic probe 303 again, and then the ultrasonic probe 303 conducts a working detection to determine whether the spraying is completed. If not, it transfers to Step Four to re-spray.

[0095] As described above, it is only the specific implementation manner in the present invention, but the protection scope of the present invention is not limited thereto. Any transformation or replacement that can be understood by those familiar with the technology within the technical scope disclosed by the present invention should be covered within the scope of the present invention.

Claims

1. An apparatus for detecting the movement of high-altitude welds of a steel structure pipe body, characterized in that, it includes: An electric rotating support part (200), including a first connecting cylinder (201) and an electric rotating cylinder (203) connected to the first connecting cylinder (201), for rotating the adapted steel pipe cylinder part (300) through the electric rotating cylinder (203); Three mounting seats are provided on the outer side of the first connecting cylinder (201). The middle mounting seat located in the upper part is used to mount the power supply (204), and the two mounting seats symmetrically distributed on both sides are respectively equipped with an electric telescopic rod (202); The electric rotating cylinder (203) includes a housing. A rotating inner wall (203a) is provided inside the housing, and a bottom rotating fixing seat (203c) is provided at the bottom side inside the housing. The rotating inner wall (203a) is mounted on the bottom rotating fixing seat (203c); A rotating rack track (203b) is installed in the middle of the rotating inner wall (203a) close to the housing side. Two stepping motors (203d) are provided on both sides of the inner wall of the housing. The output shaft of the stepping motor (203d) is connected to a gear (203e), and the gear (203e) meshes with the rack track (203b); A power part (100), including three groups of bending and folding mechanisms evenly distributed in the front part of the first connecting cylinder (201), for stretching or tightening through each group of the bending and folding mechanisms to abut against the steel pipe to be detected and provide walking power for the whole device; An adapted steel pipe cylinder part (300), including a second connecting cylinder (301) connected to the electric rotating cylinder (203), a third connecting cylinder (304) connected to the second connecting cylinder (301), and a cross support frame (302) symmetrically installed on the outer periphery of the second connecting cylinder (301). A plurality of steel ball bushing plates (310) are provided inside the third connecting cylinder (304) for adapting to steel pipes of different diameters and providing support force; The middle section of the second connecting cylinder (301) is a steel wire hose, which is cylindrical and can be bent and folded. The front section and the rear section of the second connecting cylinder (301) are connected together, and the middle section of the steel wire hose can be folded and compressed inside it; The rear end of the second connecting cylinder (301) is connected to the front end of the third connecting cylinder (304); the front section of the second connecting cylinder (301) is connected to the rotating inner wall (203a) inside the electric rotating cylinder (203); Robotic arms (307) are evenly installed on the outer side of the third connecting cylinder (304), and ultrasonic probes (303) and coupling agent spraying guns (306) are installed on the robotic arms (307); A through groove is opened in the middle of the lower end of the first connecting cylinder (201); A through groove is opened in the middle of the lower end of the electric rotating cylinder (203), and the through groove arranged on the rotating inner wall (203a) it has is initially located at the upper end; Through grooves are opened on the upper ends of the second connecting cylinder (301) and the third connecting cylinder (304) which are located on the same straight line.

2. The apparatus for detecting the movement of high-altitude welds of a steel structure pipe body according to claim 1, characterized in that, The bending and folding mechanism includes a first arc-shaped steel bar (102), a second arc-shaped steel bar (103), and a third arc-shaped steel bar (104) with gradually decreasing lengths in sequence. One end of the first arc-shaped steel bar (102) is connected to the first connecting cylinder (201), and the other end of the first arc-shaped steel bar (102) is connected to one end of the second arc-shaped steel bar (103) by a key. The other end of the second arc-shaped steel bar (103) is connected to one end of the third arc-shaped steel bar (104) by a key, and an arc-shaped universal wheel (107) is installed at the other end of the third arc-shaped steel bar (104).

3. The high-altitude weld movement detection device for a steel structure pipe body according to claim 2, wherein, a first small motor (101) is provided on both the first arc-shaped steel bar (102) and the second arc-shaped steel bar (103), and a second micro motor (106) is provided inside the third arc-shaped steel bar (104).

4. The high-altitude weld movement detection device for a steel structure pipe body according to claim 1, wherein, through holes are axially provided in both the first connecting cylinder (201) and the electric rotary cylinder (203).

5. The high-altitude weld movement detection device for a steel structure pipe body according to claim 1, wherein, the outer side of the rear section of the second connecting cylinder (301) is a plane for connecting to the cross support frame (302); the front section and the rear section of the second connecting cylinder (301) can be connected together by an electric buckle combination, and the wire hose in the middle section can be folded and compressed inside it.

6. The high-altitude weld movement detection device for a steel structure pipe body according to claim 5, wherein, the cross support frame (302) includes a horizontal electric telescopic rod and vertical electric telescopic rods respectively installed on the upper and lower sides of the horizontal electric telescopic rod. Arc-shaped universal wheels are installed at the ends of the two vertical electric telescopic rods, and the end of the horizontal electric telescopic rod is in the shape of a rack.

7. The high-altitude weld movement detection device for a steel structure pipe body according to claim 1, wherein, four robotic arms (307) are evenly installed on the outer side of the third connecting cylinder (304). An ultrasonic probe (303) and a coupling agent spraying gun (306) are installed on each robotic arm (307), and the coupling agent spraying gun (306) is located on the back side of the ultrasonic probe (303).

8. The high-altitude weld movement detection device for a steel structure pipe body according to claim 1, wherein, a plurality of steel ball bushing plates (310) are evenly distributed inside the third connecting cylinder (304). A plurality of steel balls are embedded on the side of the steel ball bushing plate (310) away from the inner wall of the third connecting cylinder (304), and the steel balls can roll inside the steel ball bushing plate (310); a plurality of springs (309) are connected to the side of the steel ball bushing plate (310) facing the inner wall of the third connecting cylinder (304), and the steel ball bushing plate (310) is connected to the third connecting cylinder (304) through the springs (309).

9. The high-altitude weld movement detection device for a steel structure pipe body according to claim 1, wherein, The through grooves have uniform widths and are used for passing a circular collar that fixes an aerial steel pipe.

10. A method for detecting movement of a high altitude weld of a steel structure pipe, using the device for detecting movement of a high altitude weld of a steel structure pipe according to any one of claims 1 to 9, It is characterized in that The following steps are involved: Step 1: Fixing the device: The device is placed inside a thick steel pipe or inserted into a thin steel pipe, and the bending and folding mechanism is controlled by a first small motor (101) to start stretching or contracting to match the inner diameter of the thick steel pipe and the diameter of the thin steel pipe, thereby completing preliminary fixation; At the same time, when the device is fixed in the thick steel pipe, the cross support frame (302) starts to work, and the vertical electric telescopic rod starts to extend, so that the arc-shaped universal wheel at the end can resist the inner diameter of the thick steel pipe; When the device is fixed outside the thin steel pipe, the tail of the device is supported by the steel balls on the steel ball bushing plate (310), and the spring (309) is used to adapt to steel pipes of different diameters; Step 2: Movement of the device: The power part (100) at the front end provides power, and the second micro motor (108) starts to work, driving the arc-shaped universal wheel (107) to roll, thereby driving the entire device to move; When inside the thick steel pipe, the cross support frame (302) has a vertical electric telescopic rod with a universal wheel on the top, so that the device can travel inside the thick steel pipe; When the thin steel pipe is inserted, the steel balls on the steel ball bushing plate (310) will roll, so that the device can slide on the thin steel pipe; Step 3: Welding seam inspection: The ultrasonic probe (303) is manipulated by the mechanical arm (307) to emit ultrasonic waves to the steel pipe, and the obtained feedback is analyzed in the ultrasonic instrument. If the detection is unqualified, the device is stopped in time to carry out the coupling agent spraying work; Step 4: Spraying coupling agent: The electric rotary cylinder (203) starts to work, adjusting the entire cylindrical portion (300) of the adapting steel pipe to rotate, and at the same time, the end of the mechanical arm (307) starts to rotate to exchange the positions of the coupling agent spray gun (306) and the ultrasonic probe (303), and the electric rotary cylinder (203) turns the coupling agent spray gun (306) to a suitable position for spraying; Step 5: Check the spraying effect: After the spray repair is completed, the end of the mechanical arm (307) rotates to exchange the positions of the coupling agent spray gun (306) and the ultrasonic probe (303) again, and then the ultrasonic probe (303) performs a work detection to determine whether the spraying is completed. If not, the process proceeds to step 4 to spray again.

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