A wheeled pipeline external inspection device capable of T-pipe crossing
By designing an openable walking mechanism and connecting it to the main inspection body, the problem that wheeled pipeline inspection devices cannot cross T-shaped pipes was solved, achieving automated inspection and stable operation, and improving the adaptability of the device.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HEBEI UNIV OF TECH
- Filing Date
- 2023-08-31
- Publication Date
- 2026-05-22
Smart Images
Figure CN117108874B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of pipeline inspection technology, and relates to pipeline external inspection equipment, specifically a wheeled pipeline external inspection device that can achieve T-shaped pipe crossing. Background Technology
[0002] Wheeled inspection devices are a common type of external pipe inspection equipment, offering advantages such as ease of use and low cost. Most external pipe inspection devices employ non-destructive testing methods, with guided wave ultrasonic testing being a relatively common approach. Existing guided wave ultrasonic testing devices operate on a stop-and-go basis, capable of inspecting over 20 meters of pipe within ten minutes. However, manual installation and removal are required, and manual relocation is necessary to inspect the next 20 meters, making automated inspection and movement of long-distance pipes impossible. Furthermore, most current wheeled pipe inspection devices only provide a mechanism for moving along the outer surface of the pipe and lack real-time monitoring capabilities for crossing T-shaped obstacles, resulting in limited adaptability.
[0003] To address the need for detecting obstacles across T-shaped pipes, a detection device is pre-designed that can cross T-shaped pipes while traveling on the pipeline. Summary of the Invention
[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a wheeled pipeline external inspection device that is easy to open and close, runs smoothly, and can cross T-shaped pipes.
[0005] The above-mentioned objective of this invention is achieved through the following technical solution:
[0006] A wheeled pipe external inspection device capable of crossing T-shaped pipes includes two sets of openable and closable walking mechanisms at the front and rear, and an openable and closable main inspection body in the middle; the two sets of walking mechanisms at the rear and the main inspection body are connected by two connecting rods offset to one side of the pipe.
[0007] Both sets of front and rear opening and closing walking mechanisms include a transverse mounting base, two clamping arm assemblies, a clamping arm opening and closing control mechanism, a pipe-following driving mechanism, and limit switches. The lower ends of the two clamping arm assemblies are connected to the left and right ends of the transverse mounting base, forming the opening and closing rotation center of the corresponding clamping arm assembly at the connection point. The two clamping arm assemblies are arranged symmetrically in a ring around the pipe. Each set of clamping arm assemblies includes a clamping arm body, a guide wheel along the pipe direction installed inside the clamping arm body, and a circumferential motion driving mechanism. The circumferential motion driving mechanism contacts the outer surface of the pipe through the rotation driving wheel. The clamping arm opening and closing control mechanism is installed inside the transverse mounting base and is synchronously driven and connected to the lower ends of the two clamping arm assemblies. The pipe-following driving mechanism is installed on the transverse mounting base near the top center position and contacts the outer surface of the pipe through the moving walking wheel. Limit switches are installed on the left and right sides of the front of the transverse mounting base and on the front side of the clamping arm body near the upper end.
[0008] The openable main inspection body is an overall annular inspection device, composed of a 180° sector-shaped inspection module and two 90° sector-shaped inspection modules assembled along the circumference. Each of the 180° sector-shaped inspection module and the two 90° sector-shaped inspection modules includes a sector-shaped housing, multiple inspection units, sensors, an information collection module, and a radial extension / retraction drive mechanism for the inspection units. The multiple inspection units, sensors, and information collection module constitute the inspection module. The multiple inspection units are evenly distributed along the circumference on the inner side of the annular housing formed by the three sector-shaped housings. Each inspection unit consists of a limiting plate and a transducer mounted on the limiting plate. The sensors and information collection module are fixedly mounted on the outer wall of the sector-shaped housing of the 180° sector-shaped inspection module. An opening / closing control mechanism is provided on the front side of the main inspection body to control the opening and closing of the two 90° modules. A limit switch for detecting the position of the T-tube is installed on the front side wall of each of the two 90° sector-shaped inspection modules near their respective ends.
[0009] Furthermore, the transverse mounting base is a box-shaped base with a transverse inner mounting cavity, and a wheel hole is provided in the middle of the upper end of the transverse mounting base for the traveling wheel of the pipe-walking drive mechanism to extend out; the pipe-walking drive mechanism includes the moving traveling wheel and the moving drive motor, the moving traveling wheel is connected to the transverse mounting base through a wheel axle, and is embedded in the wheel hole at the upper end of the transverse mounting base with its upper end exposed; the moving drive motor is fixedly installed in the inner cavity of the transverse mounting base and is driven by the moving traveling wheel.
[0010] Moreover, the clamping arm body adopts a three-fold bending clamping arm with sequential inward bending. The lower end of the first bending arm is connected to the transverse mounting base, and the second bending arm and the third bending arm are connected sequentially. Two sets of guide wheels along the pipe direction are respectively mounted on the inner side of the first bending arm and the second bending arm through wheel frames. The circumferential motion drive mechanism is mounted on the inner side of the upper end of the third bending section of the clamping arm body.
[0011] Furthermore, the circumferential motion drive mechanism includes the rotary drive wheel and the rotary drive servo motor; the central axis of the rotary drive wheel is arranged parallel to the axial direction of the pipe, and the rotary drive wheel is rotatably mounted on the support lugs at both ends of the inner side of the third bending arm via rollers. The rotary drive servo motor is driven and connected to one end of the rollers and is fixedly mounted on the corresponding side of the clamping arm body.
[0012] Furthermore, the clamping arm opening and closing control mechanism includes an opening and closing drive motor, a first gear, a second gear, a worm shaft, and two worm wheels. The worm shaft passes through a bearing seat laterally into the inner cavity of the transverse mounting base. Worm curves with opposite helical directions are respectively provided near both ends of the worm shaft. A worm wheel shaft is rotatably mounted on the front and rear side walls of the transverse mounting base, above the two worm curves of the worm shaft. The two worm wheels are respectively fixedly mounted on the two worm wheel shafts and mesh with the corresponding worm curves. A first gear is fixedly mounted near the middle of the worm shaft, meshing with the second gear. The second gear is fixedly mounted at the output end of the opening and closing drive motor, which is fixedly mounted in the inner cavity of the transverse mounting base. The lower end of the clamping arm body of the two clamping arm assemblies is provided with a shaft hole, through which it forms a through-mounted fixed connection with the two worm wheel shafts.
[0013] Furthermore, the radial telescopic drive mechanism of the detection unit includes a fixed plate, hydraulic cylinders, hydraulic oil pipes, a hydraulic pump, and a flow divider valve. Multiple hydraulic cylinders are evenly distributed circumferentially with their cylinder rod ends facing radially inward. The hydraulic cylinders are fixedly connected to the inner wall of the sector-shaped housing, and are connected to the hydraulic oil pipes. Each hydraulic cylinder comprises a radial oil pipe section passing through the inside of the sector-shaped housing and a circumferential oil pipe section covering the outer wall of the sector-shaped housing. The circumferential oil pipe consists of two sections, respectively covering the left and right halves of the annular housing composed of three sector-shaped housings. The inlets of the two circumferential oil pipes are respectively connected to two valves on the flow divider valve. The oil outlet is connected, and the oil inlet of the diverter valve is connected to the oil outlet of the hydraulic pump; the oil inlet of the hydraulic pump is connected to the oil tank through the oil inlet pipe, and the oil tank is fixed to the outside of the 180° sector-shaped housing; the diverter valve and the hydraulic pump are fixedly installed on the outer wall of the sector-shaped housing of the 180° sector-shaped detection module; multiple T-joints are connected to the two circumferential oil pipes, and the multiple T-joints are respectively connected to multiple radial oil pipe segments at corresponding positions to realize the oil supply to the hydraulic cylinder; the fixing plate is an arc-shaped plate, and a fixing plate is fixedly installed at the cylinder tube end of each hydraulic cylinder, and multiple sets of detection units are fixedly installed on the inner side of each fixing plate along the circumferential direction.
[0014] Furthermore, the opening and closing control mechanism includes a servo motor, two transmission gears, two swing arms, two connecting rods, and two drive rods. The two swing arms are telescopic rods with adjustable lengths. The servo motor is built into the 180° sector detection module, and its output shaft extends from the rear of the sector detection module. The output shaft of the servo motor is fixedly connected to one end of one swing arm and one transmission gear. One end of the other swing arm and another transmission gear are fixed to a transmission shaft, which is rotatably mounted on the rear wall of the 180° sector detection module. The two transmission gears mesh with each other and are symmetrically arranged near the center of the rear side of the 180° sector detection module. The two connecting rods are symmetrically arranged, with one end of each connecting rod connected to the rear of the 180° sector detection module near both ends via their respective pins, forming a rotatable connection. The other end of each connecting rod is connected to the rear of the two 90° sector detection modules near the 180° sector detection module via their respective pins, forming a rotatable connection. The two drive rods are symmetrically arranged, with one end of each drive rod connected to the other end of the two swing rods and the middle of the two connecting rods via a pin, forming a rotatable connection. The other end of each drive rod is connected to the rear of the two 90° sector detection modules near the other end via their respective pins, forming a rotatable connection.
[0015] Furthermore, the swing arm is composed of a lower rod section, a guide sleeve, and an upper rod section; the upper end of the lower rod section is fixedly connected to the lower end of the guide sleeve, the lower part of the upper rod section is inserted into the guide sleeve, multiple guide balls are installed on both sides of the lower part of the upper rod section, and guide grooves are provided on both sides of the inner cavity of the guide sleeve, with the guide balls being embedded into the corresponding guide grooves in a rolling manner; a limit end cap is detachably installed on the upper end of the guide sleeve.
[0016] Furthermore, radial guide grooves are provided at both ends of the 180° sector detection module, and guide rails are provided on the mating end faces of the two 90° sector detection modules and the 180° sector detection module. The guide rails on the two 90° sector detection modules respectively form radial guide mating with the guide grooves at both ends of the 180° sector detection module.
[0017] Furthermore, a positioning groove and a positioning boss are provided at the end of the two 90° sector detection modules that are close to each other.
[0018] The advantages and positive effects of this invention are as follows:
[0019] This invention relates to a wheeled pipe external inspection device capable of crossing T-shaped pipes. It consists of two sets of walking mechanisms at the front and rear, and a main inspection body located in the middle. The three parts are connected by connecting rods to form an integrated structure. Both sets of walking mechanisms and the main inspection body adopt an openable and closable structure, and limit switches are provided on the front side of each of the three parts. During the movement along the horizontal pipe, when encountering a vertical pipe, the alternating opening and closing operation of the part near the vertical pipe opens while the other two parts close allows the three parts to smoothly cross the T-shaped pipe in sequence. Since the two parts can always maintain rolling contact with the outer wall of the pipe during the movement along the pipe, the stability of the inspection device running on the pipe can be guaranteed. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention in a closed state;
[0021] Figure 2 This is a schematic diagram of the overall structure of the present invention in the open state;
[0022] Figure 3 This is a state diagram of the present invention before crossing the T-shaped tube;
[0023] Figure 4 This is a reference diagram of the invention in the first stage of crossing the T-shaped tube;
[0024] Figure 5 This is a reference diagram of the second stage of the invention across the T-shaped tube;
[0025] Figure 6 This is a reference diagram of the invention in the third stage across the T-shaped tube;
[0026] Figure 7 This is a reference diagram of the invention in the fourth stage across the T-shaped tube;
[0027] Figure 8 This is a reference diagram of the invention in the fifth stage across the T-shaped tube.
[0028] Figure 9 This is an overall view of the openable walking mechanism of the present invention;
[0029] Figure 10 This is a partial three-dimensional structural schematic diagram of the clamp arm opening and closing control mechanism of the present invention;
[0030] Figure 11 This is a schematic diagram of the main detection body of the present invention in a closed state;
[0031] Figure 12 This is a schematic diagram of the main detection body of the present invention in the open state;
[0032] Figure 13This is a 3D exploded view of the swing arm in the main testing unit.
[0033] Figure 14 This is a diagram showing the transducer in the main detection unit of the present invention in a state where it is away from the outer wall of the pipe;
[0034] Figure 15 This is a diagram showing the state in which the transducer in the main detection body of the present invention is in contact with the outer wall of the pipe.
[0035] Figure 16 This is a schematic diagram showing the connection between the hydraulic cylinder and the hydraulic oil cylinder in the radial telescopic drive mechanism of the detection unit of the present invention;
[0036] Figure 17 This is a schematic diagram of the installation of the diverter valve and hydraulic pump in the radial telescopic drive mechanism of the detection unit of the present invention. Detailed Implementation
[0037] The structure of the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that these embodiments are descriptive and not limiting.
[0038] Please refer to the following for a wheeled external pipeline inspection device capable of crossing T-shaped pipes. Figure 1-17 The invention, as shown in the figure, comprises two sets of openable and closable walking mechanisms 1 at the front and rear, and a central openable and closable main inspection body 2. The two sets of walking mechanisms and the main inspection body are connected by two connecting rods 3 offset to one side of the pipeline. The relative positions of the three components remain unchanged during travel along the pipeline.
[0039] Openable walking mechanism:
[0040] The front and rear sets of openable walking mechanisms are used to enable the detection device to move along the pipeline. The front and rear sets of openable walking mechanisms adopt the same structural form, which mainly includes a horizontal mounting base, two clamping arm assemblies, a clamping arm opening and closing control mechanism, a pipe-walking drive mechanism, and multiple limit switches.
[0041] The lateral mounting base is used to connect to the lower ends of the two clamping arm assemblies at both ends, forming the opening and closing rotation center of the corresponding clamping arm assemblies at the connection point, and is used to install the clamping arm opening and closing control mechanism and the pipe-walking drive mechanism. Multiple limit switches are used to detect whether the wheel-type pipe external detection device has moved to the T-shaped pipe position, thereby realizing the motion control of the clamping arm opening and closing control mechanism. The clamping arm opening and closing control mechanism is used to control the two clamping arm assemblies to simultaneously rotate outward to open and simultaneously rotate inward to reset, so as to smoothly cross the T-shaped pipe position.
[0042] The transverse mounting base is a box-shaped base with a transverse inner mounting cavity, and a wheel hole is provided at the upper middle part of the transverse mounting base for the traveling wheel of the pipe-walking drive mechanism to extend out.
[0043] The two clamping arm assemblies adopt the same structural form, and are arranged symmetrically in a ring around the pipe. Each clamping arm assembly includes a clamping arm body 1.2, two sets of guide wheels 1.3 along the pipe direction, and a circumferential motion drive mechanism. The clamping arm body adopts a three-fold clamping arm with sequential inward bending. The first bending arm 1.2.1 is connected to the transverse mounting base, followed by the second bending arm 1.2.2 and the third bending arm 1.2.3. The two sets of guide wheels along the pipe direction are respectively mounted on the inner side of the first bending arm and the second bending arm through wheel frames, and are used to form rolling contact with the outer surface of the transverse pipe (normal driving pipe), playing an auxiliary guiding role in the axial movement of the pipe. The circumferential motion drive mechanism is installed inside the third bending section of the clamping arm body and includes a rotary drive wheel 1.5 and a rotary drive servo motor 1.4. The central axis of the rotary drive wheel is parallel to the axial direction of the pipe. The rotary drive wheel is rotatably mounted on the support lugs at both ends of the inner side of the third bending arm via rollers. The rotary drive servo motor is driven and connected to one end of the rollers and is fixedly installed on the corresponding side of the clamping arm body. The two clamping arm assemblies can realize the rotational movement of the openable walking mechanism around the circumference of the pipe through two sets of circumferential motion drive mechanisms.
[0044] The pipe-traveling drive mechanism includes a movable traveling wheel 1.6 and a movable drive motor 1.7. The movable traveling wheel is mounted on a transverse mounting base via an axle. A wheel hole is provided at the upper end of the transverse mounting base for the movable traveling wheel to extend out, and the movable traveling wheel is fitted into this wheel hole with its upper end exposed. The movable drive motor is fixedly installed in the inner cavity of the transverse mounting base and is driven by the movable traveling wheel. The exposed end of the movable traveling wheel forms rolling contact with the outer surface of the pipe, enabling the drive mechanism to move along the pipe.
[0045] The clamping arm opening and closing control mechanism includes an opening and closing drive motor 1.9, a first gear 1.11, a second gear 1.10, a worm shaft 1.15, and two worm wheels 1.14. The worm shaft passes through a bearing seat laterally into the inner cavity of the horizontal mounting base. Worm curves 1.12 are respectively provided near both ends of the worm shaft, with the worm curves at both ends arranged in opposite directions. A worm wheel shaft 1.13 is rotatably mounted on the front and rear side walls of the horizontal mounting base, above the two worm curves of the worm shaft. The two worm wheels are respectively fixedly mounted on the two worm wheel shafts and mesh with the corresponding worm curves. A first gear is fixedly mounted near the middle of the worm shaft, meshing with the second gear. The second gear is fixedly mounted at the output end of the opening and closing drive motor, which is fixedly mounted in the inner cavity of the horizontal mounting base. The lower end of the clamping arm body of the two clamping arm assemblies is provided with a shaft hole, through which it forms a through-mounted fixed connection with the two worm wheel shafts.
[0046] The limit switches 1.8 consist of four units, one on each of the left and right sides of the front of the horizontal mounting base and one on the front side of the two clamping arms away from the horizontal mounting base, enabling comprehensive detection of both the upper and lower risers.
[0047] This openable walking mechanism also includes an electrical control unit, which controls the opening and closing of each motor and can be located in the inner cavity of the transverse mounting base or fixed to the outside of the transverse mounting base.
[0048] Main inspection unit body:
[0049] The main inspection unit is a circular inspection device, composed of a 180° sector-shaped inspection module 2.3 and two 90° sector-shaped inspection modules 2.5 assembled along the circumference. The 180° sector-shaped module is a fixed module, connected to the two sets of traveling mechanisms via two connecting rods, while the two 90° sector-shaped inspection modules are movable modules. Multiple inspection elements 2.7 are evenly distributed along the circumference on the inner arc sides of both the 180° sector-shaped and 90° sector-shaped inspection modules. These inspection elements are transducers, and the detection of pipeline defects is achieved through these circumferentially arranged inspection elements.
[0050] The 180° sector detection module and the two 90° sector detection modules each include a sector housing 2.12, multiple detection units, a sensor 2.13, an information collection module 2.14, and a radial extension drive mechanism for the detection units.
[0051] The detection module comprises multiple sets of detection units, sensors, and an information collection module. These detection units are evenly distributed circumferentially within an annular shell formed by three sector-shaped shells. Each detection unit consists of a limiting plate and a transducer mounted on the limiting plate. The sensors and information collection module are fixedly mounted on the outer wall of the sector-shaped shell of the 180° sector-shaped detection module. The transducer detects the pipeline by transmitting the frequency signal, which is then transmitted to the sensor. The sensor stores this frequency signal in the information collection module to form an amplitude image.
[0052] The radial telescopic drive mechanism of the detection unit is used to drive multiple sets of detection units to adjust their displacement radially, so that when the pipeline is being inspected, the transducer is in contact with the outer wall of the pipeline, and when traveling along the pipeline, the transducer is away from the outer wall of the pipeline, thus preventing the transducer from being worn during movement.
[0053] The radial telescopic drive mechanism of the detection unit includes a fixed plate 2.15, a hydraulic cylinder 2.16, a hydraulic oil pipe 2.17, a hydraulic pump 2.18, and a flow divider valve 2.19. Multiple hydraulic cylinders are evenly distributed circumferentially with their cylinder rod ends facing radially inward. The hydraulic cylinders are fixedly connected to the inner wall of the sector-shaped housing. Each hydraulic cylinder is connected to a hydraulic oil pipe and comprises a radial oil pipe section passing through the interior of the sector-shaped housing and a circumferential oil pipe section covering the outer wall of the sector-shaped housing. (See appendix) Figures 14-15 The circumferential oil pipes can be made of two sections, one covering the left half and the other the right half of the annular housing composed of three sector-shaped shells. The inlets of the two circumferential oil pipes are connected to the two outlets of the flow divider valve, and the inlet of the flow divider valve is connected to the outlet of the hydraulic pump. The inlet of the hydraulic pump is connected to the oil tank via an inlet pipe. The oil tank can be directly fixed to the outside of the 180° sector-shaped housing (not shown in the attached diagram).
[0054] The diverter valve and hydraulic pump are fixedly mounted on the outer wall of the fan-shaped housing of the 180° fan-shaped detection module. Multiple tee fittings are connected to the two circumferential oil pipes, which are then connected to corresponding radial oil pipe sections to supply oil to the hydraulic cylinder.
[0055] The hydraulic cylinder consists of a cylinder barrel, a buffer sleeve, and a piston rod (cylinder rod). The hydraulic pump includes a housing, a push plate, an electric push rod, and a motor. When the hydraulic pump is working, the motor drives the electric push rod to move the push plate along the axis of the wheel-type tube external detection device, pushing hydraulic oil into the hydraulic oil pipe, thereby driving the various components to work.
[0056] The aforementioned fixing plate is an arc-shaped plate. A fixing plate is fixedly installed at the end of the cylinder rod of each hydraulic cylinder. Multiple sets of detection units are fixedly installed on the inner side of each fixing plate along the circumferential direction, thereby realizing the adjustment of the radial position of the detection units by extending and retracting the cylinder rod of the hydraulic cylinder.
[0057] An opening and closing control mechanism is provided on the front side of the main inspection body to control the opening and closing of the two 90° sector modules.
[0058] The opening and closing control mechanism includes a servo motor, two transmission gears 2.1, two swing arms 2.2, two connecting rods 2.4, and two drive rods 2.6. The two swing arms are telescopic rods with adjustable lengths. The servo motor is built into the 180° sector detection module, and its output shaft extends from the rear of the sector detection module. The output shaft of the servo motor is fixedly connected to one end of one swing arm and one transmission gear, driving the swing arm and the transmission gear to rotate simultaneously. One end of the other swing arm and the other transmission gear are fixed to a transmission shaft, which is mounted on the rear wall of the 180° sector detection module via bearings. The two transmission gears mesh and are symmetrically arranged near the middle of the rear side of the 180° sector detection module. The two connecting rods are symmetrically arranged, and one end of each connecting rod is rotatably connected to the rear ends of the 180° sector detection module via pins. The other ends of the two connecting rods are rotatably connected to the rear sides of the two 90° sector detection modules near the 180° sector detection module via their respective pins. The two drive rods are symmetrically arranged, and one end of each drive rod is rotatably connected to the other end of the two swing rods and the two connecting rods near their middle positions via pins. The other ends of the two drive rods are rotatably connected to the rear sides of the two 90° sector detection modules near their other ends via their respective pins.
[0059] In the above structure, the rocker arm consists of a lower rod section 2.2.1, a guide sleeve 2.2.2, and an upper rod section 2.2.3. The upper end of the lower rod section is fixedly connected to the lower end of the guide sleeve by welding or bolting. The lower part of the upper rod section is inserted into the guide sleeve. Multiple guide balls 2.2.3a are installed on both sides of the lower part of the upper rod section. Guide grooves 2.2.2a are provided on both sides of the inner cavity of the guide sleeve, and the guide balls are embedded into the corresponding guide grooves in a rolling manner. A limit end cap 2.2.4 is detachably installed on the upper end of the guide sleeve to limit the extension of the rocker arm to a certain size and prevent the lower part of the upper rod section from sliding out of the guide sleeve. The specific installation scheme of the above balls is as follows: multiple hemispherical grooves are evenly distributed on both sides of the lower end of the upper rod section, and a ball is embedded in each hemispherical groove. The ball is limited by a roller pressure plate installed on the side, ensuring that less than 1 / 2 of the ball is exposed outside the guide groove to form a guiding fit. The telescopic swing arm gradually extends when the two 90° sector detection blocks are open, and gradually shortens when they are closed, thus retracting. This satisfies the requirements of the opening and closing control mechanism of this device. The opening and closing control mechanism uses a servo motor to drive the corresponding transmission gear and swing arm to rotate. Through the meshing of the transmission gears, power is transmitted to another transmission gear and another swing arm. The two swing arms then transmit power to the corresponding connecting rods and drive rods, causing the two 90° sector modules to move outward or backward synchronously in the radial direction, achieving the opening and closing control of the main detection body. In its open state, it can cross the T-shaped tube's vertical pipe from the open opening position, and in its closed state, it can move smoothly on the horizontal pipe 4. The aforementioned telescopic swing arm gradually extends when the two 90° sector detection blocks are open, and gradually shortens when they are closed, thus retracting, satisfying the requirement of radial opening and closing control of the two 90° sector detection blocks.
[0060] This opening and closing control mechanism can ensure that the opening size of the main inspection body meets the requirements of the T-shaped tube when the two transmission gears mesh and rotate nearly 90°. Therefore, from the perspective of reducing structural weight, the two transmission gears can preferably be 90° sector gears, and weight reduction holes can be set on the sector gears.
[0061] In addition, since a connection structure cannot be set between the two 90° sector detection modules, in order to ensure that a complete circular detection surface is formed on the inner side of the main detection body after closing, a positioning groove 2.10 and a positioning boss 2.9 are set at the end of the two 90° sector detection modules that are close to each other. The positioning boss is inserted into the positioning groove to achieve precise positioning and cooperation of the two 90° sector detection modules after closing.
[0062] To enable the main inspection unit to move on the pipeline, a wheel frame is fixedly installed on the front side of each of the two 90° sector-shaped inspection modules. Each of the two wheel frames is equipped with a 2.8-inch traveling wheel, which forms a rolling contact with the outer wall of the pipeline.
[0063] To obtain the start signal required for the opening and closing control mechanism, a limit switch 2.11 is installed on the front side wall of each of the two 90° sector detection modules near their respective ends. When the limit switch contacts the riser 5 of the T-shaped pipe, the control system of the external pipe detection equipment sends a start signal to the servo motor, thereby controlling the servo motor.
[0064] The main inspection body of this opening and closing control mechanism is primarily used for detecting pipeline defects, and it serves as a follow-up mechanism on the external pipeline inspection equipment.
[0065] The working principle of this wheeled pipe external inspection device, which can achieve T-shaped pipe crossing, is as follows:
[0066] When the wheeled external pipe inspection device travels on the transverse pipe, both clamping arm assemblies of the front and rear traveling mechanisms are in a closed state. The three sector-shaped detection modules of the main inspection body surround the outside of the transverse pipe with a transducer and the outer wall of the pipe in a clearance fit. The front and rear traveling mechanisms contact the outer surface of the transverse pipe 4 through guide wheels and moving wheels along the pipe direction, and travel on the outer surface of the pipe under the drive of the moving wheels. When one of the limit switches of the front traveling mechanism contacts the riser of the T-shaped pipe in front, the moving wheels stop moving. If the riser 5 of the T-shaped pipe is the upper riser, the opening and closing drive motor starts. Through gear transmission and worm gear meshing, the two clamping arm assemblies of the front traveling mechanism open outwards simultaneously. When the limit switch can no longer detect the riser of the T-shaped pipe, the opening and closing drive motor stops moving, and then the traveling drive motor is restarted to continue traveling along the transverse pipe, realizing that the front traveling mechanism crosses the T-shaped pipe. When the front traveling mechanism crosses the T-shaped pipe, the rear traveling mechanism is in a closed state and travels normally on the transverse pipe. After the front-end traveling mechanism crosses the riser of the T-shaped pipe, the main inspection body in the middle gradually approaches the riser. When the proximity switch on the main inspection body contacts the riser, the two sets of clamping arm assemblies of the front-end traveling mechanism swing inward and retract, contacting the transverse pipe again. Simultaneously, the servo motor of the opening and closing control mechanism of the main inspection body starts, driving two 90° sector-shaped inspection modules to move outward synchronously through two symmetrically arranged linkage mechanisms, forming an opening wider than the diameter of the riser. Then, driven by the front and rear traveling mechanisms, it passes through the riser. After the main inspection body crosses the riser of the T-shaped pipe, when the proximity switch of the rear-end traveling mechanism contacts the riser, the two 90° sector-shaped inspection modules of the main inspection body move inward and reset. At the same time, the two sets of clamping arm assemblies of the rear-end traveling mechanism open, passing through the riser of the T-shaped pipe. When the rear-end traveling mechanism completely crosses the riser of the T-shaped pipe, its two sets of clamping arm assemblies rotate inward and reset, completing the entire crossing process.
[0067] In the above process, if the riser of the T-shaped pipe is the lower riser, the corresponding two rotary drive servo motors drive the rotary drive wheels to rotate. The rotary drive wheels drive the two sets of openable walking mechanisms to rotate 180° around the horizontal pipe, so that the two clamping arm assemblies of the corresponding openable walking mechanisms rotate to the position corresponding to the lower riser. Then the opening and closing drive motors are restarted to perform the above operation. After the two sets of openable walking mechanisms have completely crossed the T-shaped pipe, the two sets of openable walking mechanisms are reset after rotating 180° around the horizontal pipe.
[0068] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.
Claims
1. A wheeled external inspection device for pipelines capable of crossing T-shaped pipes, characterized in that: It includes two sets of openable walking mechanisms at the front and rear, and an openable main inspection body in the middle; the two sets of walking mechanisms at the rear and the main inspection body are connected by two connecting rods offset to one side of the pipeline; Both sets of front and rear opening and closing walking mechanisms include a transverse mounting base, two clamping arm assemblies, a clamping arm opening and closing control mechanism, a pipe-following driving mechanism, and limit switches. The lower ends of the two clamping arm assemblies are connected to the left and right ends of the transverse mounting base, forming the opening and closing rotation center of the corresponding clamping arm assembly at the connection point. The two clamping arm assemblies are arranged symmetrically in a ring around the pipe. Each set of clamping arm assemblies includes a clamping arm body, a guide wheel along the pipe direction installed inside the clamping arm body, and a circumferential motion driving mechanism. The circumferential motion driving mechanism contacts the outer surface of the pipe through the rotation driving wheel. The clamping arm opening and closing control mechanism is installed inside the transverse mounting base and is synchronously driven and connected to the lower ends of the two clamping arm assemblies. The pipe-following driving mechanism is installed on the transverse mounting base near the top center position and contacts the outer surface of the pipe through the moving walking wheel. Limit switches are installed on the left and right sides of the front of the transverse mounting base and on the front side of the clamping arm body near the upper end. The openable main inspection body is an overall annular inspection device, composed of a 180° sector-shaped inspection module and two 90° sector-shaped inspection modules assembled along the circumference. Each of the 180° sector-shaped inspection module and the two 90° sector-shaped inspection modules includes a sector-shaped housing, multiple inspection units, sensors, an information collection module, and a radial extension / retraction drive mechanism for the inspection units. The multiple inspection units, sensors, and information collection module constitute the inspection module. The multiple inspection units are evenly distributed along the circumference on the inner side of the annular housing formed by the three sector-shaped housings. Each inspection unit consists of a limiting plate and a transducer mounted on the limiting plate. The sensors and information collection module are fixedly mounted on the outer wall of the sector-shaped housing of the 180° sector-shaped inspection module. An opening / closing control mechanism is provided on the front side of the main inspection body to control the opening and closing of the two 90° modules. A limit switch for detecting the position of the T-tube is installed on the front side wall of each of the two 90° sector-shaped inspection modules near their respective ends.
2. The wheeled pipeline external inspection device capable of crossing T-shaped pipes according to claim 1, characterized in that: The transverse mounting base is a box-shaped base with a transverse inner mounting cavity, and a wheel hole is provided in the middle of the upper end of the transverse mounting base for the traveling wheel of the pipe-walking drive mechanism to extend out; the pipe-walking drive mechanism includes the moving traveling wheel and the moving drive motor. The moving traveling wheel is connected to the transverse mounting base through a wheel axle, and is embedded in the wheel hole at the upper end of the transverse mounting base with its upper end exposed; the moving drive motor is fixedly installed in the inner cavity of the transverse mounting base and is driven by the moving traveling wheel.
3. The wheeled pipeline external inspection device capable of crossing T-shaped pipes according to claim 1, characterized in that: The clamping arm body adopts a three-fold bending clamping arm with sequential inward bending. The lower end of the first bending arm is connected to the transverse mounting base, followed by the second bending arm and the third bending arm. Two sets of guide wheels along the pipe direction are respectively mounted on the inner side of the first bending arm and the second bending arm through wheel frames. The circumferential motion drive mechanism is mounted on the inner side of the upper end of the third bending section of the clamping arm body.
4. The wheeled pipeline external inspection device capable of crossing T-shaped pipes according to claim 3, characterized in that: The circumferential motion drive mechanism includes the rotary drive wheel and the rotary drive servo motor. The central axis of the rotary drive wheel is parallel to the axial direction of the pipe. The rotary drive wheel is rotatably mounted on the support lugs at both ends of the inner side of the third bending arm via rollers. The rotary drive servo motor is driven and connected to one end of the rollers and is fixedly mounted on the corresponding side of the clamping arm body.
5. The wheeled pipeline external inspection device capable of crossing T-shaped pipes according to claim 1, characterized in that: The clamping arm opening and closing control mechanism includes an opening and closing drive motor, a first gear, a second gear, a worm shaft, and two worm wheels. The worm shaft passes through a bearing seat laterally into the inner cavity of a transverse mounting base. Worm curves with opposite helical directions are respectively arranged near both ends of the worm shaft. A worm wheel shaft is rotatably mounted on the front and rear side walls of the transverse mounting base, above the two worm curves of the worm shaft. The two worm wheels are fixedly mounted on the two worm wheel shafts and mesh with the corresponding worm curves. A first gear is fixedly mounted near the middle of the worm shaft, meshing with the second gear. The second gear is fixedly mounted at the output end of the opening and closing drive motor, which is fixedly mounted in the inner cavity of the transverse mounting base. The lower end of the clamping arm body of the two clamping arm assemblies is provided with a shaft hole, through which it forms a through-mounted fixed connection with the two worm wheel shafts.
6. The wheeled pipeline external inspection device capable of crossing T-shaped pipes according to claim 1, characterized in that: The radial telescopic drive mechanism of the detection unit includes a fixed plate, hydraulic cylinders, hydraulic oil pipes, a hydraulic pump, and a flow divider valve. Multiple hydraulic cylinders are evenly distributed circumferentially with their cylinder rod ends facing radially inward. The hydraulic cylinders are fixedly connected to the inner wall of the sector-shaped housing and connected to the hydraulic oil pipes. Each hydraulic cylinder comprises a radial oil pipe section passing through the inside of the sector-shaped housing and a circumferential oil pipe section covering the outer wall of the sector-shaped housing. The circumferential oil pipe consists of two sections, respectively covering the left and right halves of the annular housing composed of three sector-shaped housings. The inlets of the two circumferential oil pipes are respectively connected to the two outlets on the flow divider valve. The oil port is connected to the oil inlet of the diverter valve and the oil outlet of the hydraulic pump; the oil inlet of the hydraulic pump is connected to the oil tank through the oil inlet pipe, and the oil tank is fixed to the outside of the 180° sector-shaped housing; the diverter valve and the hydraulic pump are fixedly installed on the outer wall of the sector-shaped housing of the 180° sector-shaped detection module; multiple T-joints are connected to the two circumferential oil pipes, and the multiple T-joints are respectively connected to multiple radial oil pipe segments at corresponding positions to realize the oil supply to the hydraulic cylinder; the fixing plate is an arc-shaped plate, and a fixing plate is fixedly installed at the cylinder tube end of each hydraulic cylinder, and multiple sets of detection units are fixedly installed on the inner side of each fixing plate along the circumferential direction.
7. The wheeled pipeline external inspection device capable of crossing T-shaped pipes according to claim 1, characterized in that: The opening and closing control mechanism includes a servo motor, two transmission gears, two swing arms, two connecting rods, and two drive rods. The two swing arms are telescopic rods with adjustable lengths. The servo motor is built into the 180° sector detection module, and its output shaft extends from the rear of the sector detection module. The output shaft of the servo motor is fixedly connected to one end of one swing arm and one transmission gear. One end of the other swing arm and another transmission gear are fixed to a transmission shaft, which is rotatably mounted on the rear wall of the 180° sector detection module. The two transmission gears mesh with each other and are symmetrically arranged near the middle of the rear side of the 180° sector detection module. The two connecting rods are symmetrically arranged, with one end of each connecting rod connected to the rear of the 180° sector detection module near both ends via a pin, allowing relative rotation. The other end of each connecting rod is connected to the rear of the two 90° sector detection modules near the 180° sector detection module via a pin, allowing relative rotation. The two drive rods are symmetrically arranged, with one end connected to the other end of each drive rod and the middle of each connecting rod via a pin, allowing relative rotation. The other end of each drive rod is connected to the rear of the two 90° sector detection modules near the other end via a pin, allowing relative rotation.
8. The wheeled pipeline external inspection device capable of crossing T-shaped pipes according to claim 7, characterized in that: The swing arm consists of a lower rod section, a guide sleeve, and an upper rod section. The upper end of the lower rod section is fixedly connected to the lower end of the guide sleeve, and the lower part of the upper rod section is inserted into the guide sleeve. Multiple guide balls are installed on both sides of the lower part of the upper rod section, and guide grooves are provided on both sides of the inner cavity of the guide sleeve. The guide balls are embedded into the corresponding guide grooves in a rolling manner. A limit end cap is detachably installed on the upper end of the guide sleeve.
9. The wheeled pipeline external inspection device capable of crossing T-shaped pipes according to claim 1, characterized in that, The 180° sector detection module has radial guide grooves at both ends, and guide rails are provided on the mating end faces of the two 90° sector detection modules and the 180° sector detection module. The guide rails on the two 90° sector detection modules form radial guide fits with the guide grooves at both ends of the 180° sector detection module.
10. The wheeled pipeline external inspection device capable of crossing T-shaped pipes according to claim 1, characterized in that, A positioning groove and a positioning boss are provided at one end of the two 90° sector-shaped detection modules that are close to each other.