A robot for ultrasonic flaw detection inside pipelines

Abstract

The present invention belongs to the technical field of pipeline flaw detection robots, and in particular, relates to an ultrasonic flaw detection robot for pipeline interior, comprising a moving seat and two crawler mechanisms arranged at the lower side of the moving seat, wherein the upper side wall of the moving seat is fixedly connected with a PLC controller and a mechanical arm. When the present invention uses ultrasound to perform flaw detection on the pipeline, the inner wall of the pipeline can be automatically detected. When the detection finds that there is rust at the detection location of the inner wall of the pipeline, the rusted area can be automatically polished and then ultrasonic flaw detection can be performed, thereby avoiding the problem that rust causes ultrasonic signal attenuation or abnormal reflection, thereby affecting the accuracy of the flaw detection result, and when the robot is powered by a cable, multiple protective rings can be automatically set on the outside of the cable, thereby avoiding the friction between the cable and the pipeline, which will cause damage to the cable insulation layer and affect the service life of the cable.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline flaw detection robots, and in particular relates to an ultrasonic flaw detection robot inside a pipeline. Background Art

[0002] Compared with traditional manual inspection methods, pipeline flaw detection robots can complete the inspection task of long-distance pipelines in a shorter time. The robot can work continuously without being restricted by time and environment, which greatly improves the inspection efficiency and avoids manual entry into dangerous pipelines for inspection, reducing the risk of casualties. For example, the patent announcement number is CN201833366U, a pipeline internal ultrasonic flaw detection robot.

[0003] The existing pipeline internal ultrasonic flaw detection robot still has the following problems when in use:

[0004] Inside metal pipes, ultrasonic flaw detection requires a good coupling medium to ensure that sound waves are effectively transmitted to the pipe wall. However, there may be rust inside the pipe, which will affect the coupling effect, causing ultrasonic signal attenuation or abnormal reflection, and thus affecting the accuracy of the flaw detection results. In addition, in order to ensure the robot's battery life, the robot is usually powered by a cable. When the robot crawls inside the pipe, it will drag the cable, causing friction between the cable and the inner wall of the pipe, which will cause damage to the cable's insulation layer and affect the cable's service life.

[0005] Therefore, a pipeline internal ultrasonic flaw detection robot is proposed to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide a pipeline internal ultrasonic flaw detection robot in view of the above problems.

[0007] To achieve the above object, the present invention adopts the following technical solutions: a pipeline internal ultrasonic flaw detection robot, comprising a moving seat and two crawler mechanisms arranged at the lower side of the moving seat, the upper side wall of the moving seat is fixedly connected to a PLC controller and a mechanical arm, the upper end of the mechanical arm is connected to an ultrasonic probe through a driving assembly, and further comprising:

[0008] The detection and polishing component is connected to the surface of the driving component and is used to detect and clean the rust on the inner wall of the pipeline;

[0009] The coupling agent spraying assembly is arranged on a side of the driving assembly away from the detection and polishing assembly, and the ultrasonic probe is arranged on the right side of the coupling agent spraying assembly;

[0010] An inclination processing component is arranged on the front side wall of the moving seat, and a plurality of first electromagnetic blocks are arranged on the surfaces of the two crawler mechanisms, and the inclination processing component is electrically connected to the plurality of first electromagnetic blocks through a PLC controller;

[0011] A wire-releasing assembly is arranged on the upper side wall of the movable seat and can retract and release the cable;

[0012] The distance component is arranged on the upper side wall of the movable seat and is located behind the wire-releasing component. The distance component is connected to the wire-releasing component through a speed reducer.

[0013] Preferably, the driving assembly includes an installation box and a rotating tube, the installation box is fixedly connected to the upper end of the robotic arm, the rotating tube is rotatably connected to the left side wall of the installation box, the upper side wall of the installation box is fixedly connected with a camera, the camera is connected to a display device on the surface through a wireless transmission module, the left side wall of the installation box is fixedly connected with an angle motor, the angle motor is transmission-connected to the rotating tube through a gear ring transmission assembly, the left end of the rotating tube is fixedly connected to a working box, the inner wall of the working box is fixedly connected with a threaded rod, the left side wall of the working box is fixedly connected with a driving motor, the output end of the driving motor is fixedly connected to the threaded rod, the rod wall of the threaded rod is threadedly sleeved with a threaded barrel, the side wall of the threaded barrel is fixedly connected with a guide plate, the guide plate extends out of the working box at one end away from the threaded barrel and is connected to the detection and grinding assembly.

[0014] Preferably, the detection and grinding assembly includes a transverse plate and a grinding motor, the transverse plate and the guide plate are fixedly connected, the grinding motor is fixedly connected to the transverse plate through a bracket, the output end of the grinding motor is fixedly connected to a grinding disk, the side wall of the transverse plate is fixedly connected to a micro-electric push rod, the movable end of the micro-electric push rod is fixedly connected to a lifting plate, the upper side wall of the lifting plate is symmetrically fixedly connected to two metal wheels front and back, the metal wheel located on the front side is electrically connected to an external power supply, the upper side wall of the lifting plate is fixedly connected to a transverse box, the inner wall of the transverse box is fixedly connected to a sliding plate through a spring, the side wall of the transverse box away from the spring is fixedly connected to a second electromagnetic block, the second electromagnetic block is electrically connected to the metal wheel on the rear side, the side wall of the sliding plate close to the second electromagnetic block is fixedly connected to a permanent magnet plate, the side wall of the sliding plate away from the permanent magnet plate is fixedly connected to a conductive block, the conductive block is electrically connected to an external power supply through a PLC controller, the upper inner wall of the transverse box is inlaid with a conductive plate, and the conductive plate is electrically connected to the PLC controller.

[0015] Preferably, the coupling agent spraying assembly includes a storage box and a pump, the storage box is fixedly connected to the upper side wall of the movable seat, the pump is fixedly connected to the side wall of the storage box, the feed end of the pump is connected to the storage box, the discharge end of the pump is fixedly connected to a feeding pipe, the upper end of the feeding pipe is connected to the installation box, the mechanical arm is connected to the pipe wall of the feeding pipe through a snap assembly, a conveying cavity is provided inside the installation box, the left end of the rotating tube is connected to the conveying cavity, the cavity wall of the conveying cavity is connected to a vertical pipe, and a pressure valve is provided in the vertical pipe, the end of the vertical pipe away from the conveying cavity is fixedly connected to a nozzle, and the surface of the nozzle is fixedly connected to bristles.

[0016] Preferably, the inclination processing component includes a cylinder and a circular plate, the cylinder is fixedly connected to the front side wall of the movable seat, the circular plate is fixedly connected to the inner wall of the cylinder, the surface of the circular plate is rotatably connected to a rotating column, the side wall of the rotating column is fixedly connected to a thin rod, the end of the thin rod away from the rotating column is fixedly connected to a conveying column, the conveying column is electrically connected to an external power supply, and the front side wall of the circular plate is symmetrically inlaid with two arc-shaped resistor plates, and the upper ends of the two arc-shaped resistor plates are electrically connected to the corresponding multiple first electromagnetic blocks.

[0017] Preferably, the pay-off assembly includes a pay-off frame and a pay-off motor, the pay-off frame is fixedly connected to the upper side wall of the movable seat, the pay-off motor is fixedly connected to the front side wall of the pay-off frame, the inner wall of the pay-off frame is rotatably connected with a pay-off drum, the cable is wound around the outside of the pay-off drum, the right side wall of the movable seat is fixedly connected with a transverse cylinder, the upper side wall of the transverse cylinder is provided with a through opening that matches the cable, a plurality of protective rings are placed in the transverse cylinder, the ends of the cables pass through the plurality of protective rings, a plurality of telescopic cavities are provided inside the protective rings, and the inner walls of the telescopic cavities are fixedly connected by springs. A rubber block is connected, and one end of the rubber block away from the spring extends out of the telescopic cavity. Permanent magnetic seats are fixedly connected to the left and right sides of the rubber block. Two third electromagnetic blocks are fixedly connected to the inner wall of the telescopic cavity. A groove is provided on the left wall of the protective ring, and an extrusion switch is fixedly connected in the groove. A micro power supply is fixedly connected in the telescopic cavity, and the micro power supply is electrically connected to the third electromagnetic block through the extrusion switch. A storage groove is provided on the upper side of the horizontal cylinder, and a small electric push rod is fixedly connected to the inner wall of the storage groove, and a stopper is fixedly connected to the moving end of the small electric push rod.

[0018] Preferably, the distance assembly includes a distance box and a lifting block, the distance box is fixedly connected to the rear side wall of the pay-off frame through a bracket, the lifting block is slidably arranged in the distance box, the reducer is fixedly connected to the rear side wall of the pay-off frame, the input end of the reducer passes through the pay-off frame and is connected to the pay-off drum, the input end of the reducer is rotatably connected to the pay-off frame, the output end of the reducer is fixedly connected to a rope drum, and a pull rope is wound around the rope drum, a rope hole is opened on the upper side wall of the distance box, the lower end of the pull rope passes through the rope hole and is fixedly connected to the upper side wall of the lifting block, two conductive frames are symmetrically fixedly connected to the upper side wall of the lifting block, and the two conductive frames are electrically connected to an external power supply, a plurality of trigger plates are inlaid on the left side wall of the distance box, and the trigger plates are electrically connected to a small electric push rod through a PLC controller, and a resistance bar is inlaid on the right side wall of the distance box, and the resistance bar is connected to a display device on the surface through a wireless transmission module.

[0019] Preferably, the inner wall of the transverse cylinder is rotatably connected to a guide roller, the inner wall of the transverse cylinder is fixedly connected to a retaining ring, and the inner wall of the protective ring is fixedly connected to a rubber plate via an elastic rod.

[0020] Compared with the existing technology, the advantages of a pipeline internal ultrasonic flaw detection robot are:

[0021] By setting up the detection and polishing component, the inner wall of the pipeline can be automatically inspected when ultrasonic flaw detection is performed on the pipeline. When rust is detected at the inspection point of the inner wall of the pipeline, the rusted area can be automatically polished, and then ultrasonic flaw detection can be performed, thereby avoiding the problem of rust causing ultrasonic signal attenuation or abnormal reflection, which in turn affects the accuracy of the flaw detection results.

[0022] By setting up the pay-out component and distance component, when the robot is powered by a cable, multiple protective rings can be automatically set on the outside of the cable. During the cable dragging process, the cable is protected by the protective rings, thereby avoiding friction between the cable and the pipe, which will cause damage to the cable insulation layer and affect the service life of the cable.

[0023] Through the set distance-fixing component, when the robot starts to move inside the pipeline, the movement distance of the robot in the pipeline can be automatically transmitted to the ground, so that the operator can record the problematic areas on the inner wall of the pipeline on the ground for subsequent repairs.

[0024] By setting up the inclination processing component, when the pipeline flaw detection robot moves in an area with a large slope in the pipeline, the friction between the track mechanism and the pipeline can be increased by increasing the magnetic attraction force, thereby ensuring the smooth movement of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a pipeline internal ultrasonic flaw detection robot provided by the present invention;

[0026] Figure 2 It is a structural schematic diagram of a driving component and a detection and polishing component in a pipeline internal ultrasonic flaw detection robot provided by the present invention;

[0027] Figure 3 It is a schematic diagram of the surface structure of a lifting plate in a pipeline internal ultrasonic flaw detection robot provided by the present invention;

[0028] Figure 4 This is a schematic diagram of the internal structure of a horizontal box in a pipeline internal ultrasonic flaw detection robot provided by the present invention;

[0029] Figure 5 It is a schematic diagram of the surface structure of a circular plate in a pipeline internal ultrasonic flaw detection robot provided by the present invention;

[0030] Figure 6 It is a schematic diagram of the internal structure of a horizontal cylinder in a pipeline internal ultrasonic flaw detection robot provided by the present invention;

[0031] Figure 7 It is a schematic diagram of the internal structure of a protective ring in a pipeline internal ultrasonic flaw detection robot provided by the present invention;

[0032] Figure 8 It is a structural schematic diagram of a wire-laying component in a pipeline internal ultrasonic flaw detection robot provided by the present invention;

[0033] Fig. 9 The present invention provides a schematic structural diagram of a distance-fixing component in a pipeline internal ultrasonic flaw detection robot.

[0034] In the figure: 1 moving seat, 2 crawler mechanism, 3 PLC controller, 4 mechanical arm, 5 ultrasonic probe, 6 retaining ring, 7 first electromagnetic block, 8 reducer, 9 driving assembly, 91 installation box, 92 rotating tube, 10 camera, 11 angle motor, 12 working box, 13 threaded rod, 14 driving motor, 15 threaded cylinder, 16 guide plate, 17 detection grinding assembly, 171 horizontal plate, 172 grinding motor, 18 grinding disc, 19 micro electric push rod, 20 lifting plate, 21 metal wheel, 22 horizontal box, 23 sliding plate, 24 second electromagnetic block, 25 permanent magnet plate, 26 conductive block, 27 conductive plate, 28 coupling agent spraying assembly, 281 storage box, 282 pump, 29 feeding pipe, 30 conveying cavity, 31 vertical pipe, 32 pressure valve, 33 nozzle, 34 inclination processing component, 341 cylinder, 342 round plate, 35 rotating column, 36 thin rod, 37 conveying column, 38 arc-shaped resistor plate, 39 pay-off component, 391 pay-off frame, 392 pay-off motor, 40 pay-off drum, 41 horizontal cylinder, 42 protective ring, 43 telescopic cavity, 44 rubber block, 45 permanent magnet seat, 46 third electromagnetic block, 47 extrusion switch, 48 micro power supply, 49 small electric push rod, 50 block, 51 distance component, 511 fixed distance box, 512 lifting block, 52 rope drum, 53 pull rope, 54 conduction frame, 55 cable, 56 trigger plate, 57 resistor strip, 58 guide roller, 59 rubber plate. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] like Figure 1-Figure 9 As shown, a pipeline internal ultrasonic flaw detection robot includes a moving base 1 and two crawler mechanisms 2 arranged at the lower side of the moving base 1, a PLC controller 3 and a mechanical arm 4 are fixedly connected to the upper side wall of the moving base 1, and an ultrasonic probe 5 is connected to the upper end of the mechanical arm 4 through a driving component 9, and also includes:

[0037] The detection and grinding component 17 is connected to the surface of the driving component 9 and is used to detect and clean the rust on the inner wall of the pipeline. The detection and grinding component 17 includes a transverse plate 171 and a grinding motor 172. The transverse plate 171 is fixedly connected to the guide plate 16. The grinding motor 172 is fixedly connected to the transverse plate 171 through a bracket. The output end of the grinding motor 172 is fixedly connected to a grinding disc 18. The side wall of the transverse plate 171 is fixedly connected to a micro electric push rod 19. The moving end of the micro electric push rod 19 is fixedly connected to a lifting plate 20. The upper side wall of the lifting plate 20 is symmetrically fixedly connected to two metal wheels 21. The metal wheel 21 on the front side is electrically connected to an external power supply. The upper side wall of the lifting plate 20 is fixedly connected to a transverse box 22. The inner wall of the transverse box 22 is fixedly connected to a sliding plate 23 through a spring. The transverse box 22 is away from the spring. The side wall of the side is fixedly connected with a second electromagnetic block 24, and the second electromagnetic block 24 is electrically connected to the rear metal wheel 21. The side wall of the sliding plate 23 close to the second electromagnetic block 24 is fixedly connected with a permanent magnet plate 25, and the side wall of the sliding plate 23 away from the permanent magnet plate 25 is fixedly connected with a conductive block 26. The conductive block 26 is electrically connected to an external power supply through a PLC controller 3. The upper inner wall of the horizontal box 22 is inlaid with a conductive plate 27, and the conductive plate 27 is electrically connected to the PLC controller 3. When ultrasonic flaw detection is performed on the pipeline, the inner wall of the pipeline can be automatically detected. When rust is found at the detection location of the inner wall of the pipeline, the rusted area can be automatically polished, and then ultrasonic flaw detection can be performed, thereby avoiding the problem that rust causes ultrasonic signal attenuation or abnormal reflection, thereby affecting the accuracy of the flaw detection result;

[0038] The coupling agent spraying assembly 28 is arranged on the side of the driving assembly 9 away from the detection and polishing assembly 17. The ultrasonic probe 5 is arranged on the right side of the coupling agent spraying assembly 28. The driving assembly 9 includes an installation box 91 and a rotating tube 92. The installation box 91 is fixedly connected to the upper end of the mechanical arm 4. The rotating tube 92 is rotatably connected to the left side wall of the installation box 91. The upper side wall of the installation box 91 is fixedly connected to a camera 10. The camera 10 is connected to the display device on the surface through a wireless transmission module. The left side wall of the installation box 91 is fixedly connected to an angle motor 11. The angle motor 11 is connected to the display device on the surface through a gear gear. The ring transmission assembly is transmission-connected with the rotating tube 92, the left end of the rotating tube 92 is fixedly connected with a working box 12, the inner wall of the working box 12 is fixedly connected with a threaded rod 13, the left side wall of the working box 12 is fixedly connected with a driving motor 14, the output end of the driving motor 14 is fixedly connected with the threaded rod 13, the rod wall of the threaded rod 13 is threadedly sleeved with a threaded barrel 15, the side wall of the threaded barrel 15 is fixedly connected with a guide plate 16, the end of the guide plate 16 away from the threaded barrel 15 extends out of the working box 12, and is connected with a detection and grinding assembly 17, and can drive the detection and grinding assembly 17 to move left and right;

[0039] The coupling agent spraying assembly 28 includes a storage box 281 and a pump 282. The storage box 281 is fixedly connected to the upper side wall of the movable seat 1. The pump 282 is fixedly connected to the side wall of the storage box 281. The feed end of the pump 282 is connected to the storage box 281. The discharge end of the pump 282 is fixedly connected to a feed pipe 29. The upper end of the feed pipe 29 is connected to the installation box 91. The mechanical arm 4 is connected to the pipe wall of the feed pipe 29 through a buckle assembly. A conveying cavity 30 is provided inside the installation box 91. The left end of the rotating tube 92 is connected to the conveying cavity 30. The cavity wall of the conveying cavity 30 is connected to a vertical pipe 31, and a pressure valve 32 is provided in the vertical pipe 31. The end of the vertical pipe 31 away from the conveying cavity 30 is fixedly connected to a nozzle 33. The surface of the nozzle 33 is fixedly connected to bristles. The coupling agent can be sprayed in the detection area to fill the tiny gap between the ultrasonic probe 5 and the pipeline detection surface and remove the air therein. This can minimize the energy loss of the ultrasonic wave and ensure the strength and accuracy of the detection signal.

[0040] The inclination processing component 34 is arranged on the front side wall of the moving seat 1. The surfaces of the two crawler mechanisms 2 are provided with a plurality of first electromagnetic blocks 7. The inclination processing component 34 is electrically connected to the plurality of first electromagnetic blocks 7 through the PLC controller 3. The inclination processing component 34 includes a cylinder 341 and a circular plate 342. The cylinder 341 is fixedly connected to the front side wall of the moving seat 1. The circular plate 342 is fixedly connected to the inner wall of the cylinder 341. The surface of the circular plate 342 is rotatably connected to a rotating column 35. A thin rod 36 is fixedly connected to the side wall of the rotating column 35. The end of the thin rod 36 away from the rotating column 35 is fixedly connected to a conveying column 37. The conveying column 37 is electrically connected to an external power supply. The front side wall of the circular plate 342 is symmetrically inlaid with two arc-shaped resistor plates 38. The upper ends of the two arc-shaped resistor plates 38 are electrically connected to the corresponding plurality of first electromagnetic blocks 7. When the pipeline flaw detection robot moves in an area with a larger slope in the pipeline, the friction between the crawler mechanism 2 and the pipeline can be increased by increasing the magnetic attraction force, thereby ensuring the smooth movement of the robot.

[0041] The wire-paying assembly 39 is arranged on the upper side wall of the movable seat 1, and can retract and release the cable 55. The wire-paying assembly 39 includes a wire-paying frame 391 and a wire-paying motor 392. The wire-paying frame 391 is fixedly connected to the upper side wall of the movable seat 1, and the wire-paying motor 392 is fixedly connected to the front side wall of the wire-paying frame 391. The inner wall of the wire-paying frame 391 is rotatably connected with a wire-paying drum 40, and the cable 55 is wound around the outer side of the wire-paying drum 40. The right side wall of the movable seat 1 is fixedly connected with a transverse cylinder 41, and the upper side wall of the transverse cylinder 41 is provided with a through hole that matches the cable 55. A plurality of protective rings 42 are placed in the transverse cylinder 41, and the ends of the cables 55 pass through the plurality of protective rings 42. A plurality of telescopic cavities 43 are provided inside the protective rings 42, and the inner wall of the telescopic cavity 43 is fixedly connected with a rubber block 44 through a spring, and the end of the rubber block 44 extends out of the telescopic cavity 43 away from the spring, and the left and right sides of the rubber block 44 are fixed. A permanent magnet seat 45 is fixedly connected, two third electromagnetic blocks 46 are fixedly connected to the inner wall of the telescopic cavity 43, a groove is provided on the left wall of the protective ring 42, and a squeeze switch 47 is fixedly connected in the groove, a micro power supply 48 is fixedly connected in the telescopic cavity 43, and the micro power supply 48 is electrically connected to the third electromagnetic block 46 through the squeeze switch 47, a storage groove is provided inside the upper side of the horizontal cylinder 41, and a small electric push rod 49 is fixedly connected to the inner wall of the storage groove, and a stopper 50 is fixedly connected to the moving end of the small electric push rod 49. When the cable 55 is used to supply energy to the robot, multiple protective rings 42 can be automatically set on the outside of the cable 55. In the process of dragging the cable 55, the cable 55 is protected by the protective ring 42, thereby avoiding the friction between the cable 55 and the pipeline, which will cause damage to the insulation layer of the cable 55 and affect the service life of the cable 55;

[0042] The distance component 51 is arranged on the upper side wall of the movable seat 1 and is located behind the pay-off component 39. The distance component 51 is connected to the pay-off component 39 through the reducer 8. The distance component 51 includes a distance box 511 and a lifting block 512. The distance box 511 is fixedly connected to the rear side wall of the pay-off frame 391 through a bracket. The lifting block 512 is slidably arranged in the distance box 511. The reducer 8 is fixedly connected to the rear side wall of the pay-off frame 391. The input end of the reducer 8 passes through the pay-off frame 391 and is connected to the pay-off drum 40. The input end of the reducer 8 is rotatably connected to the pay-off frame 391. The output end of the reducer 8 is fixedly connected to the rope drum 52, and a pull rope 53 is wound around the rope drum 52. A rope hole is provided on the upper side wall of the distance box 511. The lower end of the pull rope 53 passes through the rope hole and is fixedly connected to the upper side wall of the lifting block 512. The upper side wall of the lifting block 512 is symmetrically fixedly connected with two conductive frames 54. The two conductive frames 54 are electrically connected to an external power supply. The left side wall of the distance box 511 is inlaid with multiple trigger plates 56. The trigger plates 56 are electrically connected to the small electric push rod 49 through the PLC controller 3. The right side wall of the distance box 511 is inlaid with a resistor bar 57. The resistor bar 57 is connected to the display device on the surface through a wireless transmission module. When the robot moves inside the pipeline, the movement distance of the robot in the pipeline can be automatically transmitted to the ground, which is convenient for the operator to record the problematic areas on the inner wall of the pipeline on the ground for subsequent repairs.

[0043] The inner wall of the transverse cylinder 41 is rotatably connected to a guide roller 58, the inner wall of the transverse cylinder 41 is fixedly connected to a retaining ring 6, and the inner wall of the protective ring 42 is fixedly connected to a rubber plate 59 via an elastic rod. The route of the cable 55 can be guided by the guide roller 58, the retaining ring 6 can be set to block the protective ring 42, and the friction between the protective ring 42 and the cable 55 can be increased by the elastic rod and rubber plate 59.

[0044] The operating principle of the present invention is now described as follows: the robot is placed inside the pipeline to be inspected, and then the crawler mechanism 2 is controlled to work through an external controller, and the crawler mechanism 2 drives the moving seat 1 to move in the pipeline. During the operation of the moving seat 1, the PLC controller 3 controls the wire-releasing motor 392 to work, and the wire-releasing motor 392 drives the wire-releasing drum 40 to rotate, thereby loosening the cable 55 wound around the outside of the wire-releasing drum 40. During the rotation of the wire-releasing drum 40, the rope drum 52 is driven to rotate through the reducer 8, and the rope drum 52 is wound around the rope drum 52 during the rotation. The pull rope 53 is wound around the outside of the rope drum 52, so that the lifting block 512 can be pulled by the pull rope 53 to move slowly upward. When the lifting block 512 moves upward, it will drive the two conductive racks 54 above to move upward together. When the two conductive racks 54 move upward, they will contact the multiple trigger plates 56 on the left side in sequence, and will contact the position of the resistor bar 57 on the right side near the top. The conductive rack 54 is electrically connected to the external power supply, and the upper end of the resistor bar 57 is connected to the display device on the surface through the wireless transmission module. When the conductive rack 54 contacts the resistor bar 57 on the right side, different electrical signals can be transmitted to the display device on the surface through the wireless transmission module (the display device on the surface can convert different electrical signals into digital signals for display, which is an existing mature technology and will not be described in detail in this article);

[0045] The trigger plate 56 is electrically connected to the PLC controller 3. When the conductive frame 54 contacts a trigger plate 56 on the left, an electrical signal is transmitted to the PLC controller 3. After receiving the electrical signal, the PLC controller 3 controls the small electric push rod 49 to reciprocate once, and the small electric push rod 49 drives the stopper 50 to move up and down once. Since the protective ring 42 contacts the cable 55 through the elastic rod and the rubber plate 59, after the limit of the protective ring 42 on the far right is released, the friction between the cable 55 and the rubber plate 59 drives the protective ring 42 on the far right to detach from the horizontal cylinder 41. When the protective ring 42 on the far right and the left are in contact, the protective ring 42 on the far right is released. When the protective ring 42 is detached, the pressing part of the squeezing switch 47 on the surface of the rightmost protective ring 42 will be released, so that the moving contact and the static contact inside the squeezing switch 47 will contact each other, so that the micro power supply 48 and the corresponding third electromagnetic block 46 are energized, and the third electromagnetic block 46 will attract the permanent magnet seat 45 to move, and the permanent magnet seat 45 will drive the rubber block 44 to move, so that the rubber block 44 and the cable 55 are in contact, and a certain squeezing pressure is maintained between the rubber block 44 and the cable 55, and the friction between the rubber block 44 and the cable 55 causes the rightmost protective ring 42 to detach from the horizontal cylinder 41 together, and the protective ring 42 and the cable 55 are in contact. For fixation, when the cable 55 is dragged and moved inside the pipeline, the cable 55 can be protected by the protective ring 42, and the cable 55 is released from the surface of the robot while the robot moves, which greatly reduces the dragging of the cable 55. When the cable 55 is subsequently reeled up, multiple protective rings 42 will be driven by the cable 55 and will be stored in the horizontal cylinder 41 from left to right. After the leftmost protective ring 42 enters the horizontal cylinder 41, it will contact the retaining ring 6, and the squeezing switch 47 on the surface of the leftmost protective ring 42 will be squeezed by the retaining ring 6. After the squeezing switch 47 on this side is squeezed, the moving contact and the static contact inside the squeezing switch 47 are squeezed. The head will separate, thereby disconnecting the circuit between the micro power supply 48 and the third electromagnetic block 46. The rubber block 44 will retract into the telescopic cavity 43 under the tension of the spring, thereby releasing the relative fixation between the protective ring 42 and the cable 55, making it convenient for the cable 55 to be recovered. Subsequently, the squeezing switch 47 on the surface of the protective ring 42 will be squeezed by the protective ring 42 on the left side, causing the third electromagnetic block 46 inside to lose power, and the protective ring 42 will contact the cable 55 through the internal elastic rod and rubber plate 59. The friction between the rubber plate 59 and the cable 55 is small, which will not hinder the movement of the cable 55, and can keep the protective ring 42 relatively fixed.

[0046] When the robot inspects the metal pipe, the personnel on the ground can control the robot arm 4 to work through the remote control device (this is an existing mature technology and will not be repeated in this article). The robot arm 4 controls the work box 12 to move to the specified position, and then controls the micro electric push rod 19 to work through the remote control device. The micro electric push rod 19 drives the two metal wheels 21 to move to the detection area together through the lifting plate 20 (the movement path of the metal wheel 21 can be determined by the camera 10). The front metal wheel 21 is electrically connected to the external power supply, and the rear metal wheel 21 contacts the second electromagnetic block 24. When the two metal wheels 21 contact the metal pipe detection area, the external current will be transmitted to the second electromagnetic block 24 through the front metal wheel 21, the detection area and the rear metal wheel 21 (refer to Figure 3, the metal wheel 21 transmits electricity through the conductive slip ring assembly. The metal wheel 21 is divided into a rotating wheel and a wheel frame. The surface of the rotating wheel is provided with a conductive slider, and the surface of the wheel frame is provided with a conductive slip ring). The second electromagnetic block 24 is energized to generate magnetic force. The second electromagnetic block 24 will attract the permanent magnetic plate 25 to move. The permanent magnetic plate 25 will drive the sliding plate 23 and the conductive plate 27 to move to the right together. When there is no impurity such as rust in the detection area, the detection area has excellent conductivity. When the current is transmitted to the second electromagnetic block 24 through the detection area (because the metal has good conductivity, the resistance is relatively small, The metal area between the two electrodes is the priority channel of the current, so the current will flow in the direction of the straight line between the two metal wheels 21, and will not cause the entire metal pipe to be charged). The current intensity is large, so that the second electromagnetic block 24 generates a large magnetic attraction. The second electromagnetic block 24 attracts the permanent magnet plate 25, the sliding plate 23 and the conductive block 26 to move to the right. The path is far, and the conductive block 26 will be separated from the conductive plate 27. When the PLC controller 3 detects that the second electromagnetic block 24 is powered on for three seconds, the PLC controller 3 will control the conductive block 26 to be electrically connected to the external power supply. At this time, the conductive block 26 and the conductive plate 27 are separated, and the electrical signal will not be transmitted to the PLC controller 3 through the conductive plate 27. When the PLC controller 3 does not receive the electrical signal from the conductive plate 27 within the set time, it means that there is no rust in the detection area. On the contrary, when there is rust in the detection area (rust is a substance with poor conductivity. Compared with pure metal, the presence of rust will increase the resistance of the path through which the current passes. This is because the structure of rust is relatively loose, and there are a large number of pores and impurities inside. The movement of electrons in it is more hindered, and the resistance increases. After the rust in the detection area is large, according to Ohm's law I=U / R, where I is the current, U is the voltage, and R is the resistance. Under the same voltage, the current will decrease). When the current is transported to the second electromagnetic block 24 through the rust in the detection area, the current will decrease, and the magnetic attraction generated by the second electromagnetic block 24 will also decrease accordingly. The distance that the conductive block 26 moves to the right will also decrease, and the conductive block 26 will contact the conductive plate 27. When the conductive block 26 is energized, the current will be transported to the PLC controller 3 through the conductive plate 27, so that the PLC controller 3 receives the electrical signal from the conductive plate 27.

[0047] After receiving the electrical signal, the PLC controller 3 first controls the micro electric push rod 19 to drive the two metal wheels 21 to move downward together, and then the PLC controller 3 controls the drive motor 14 to work. The drive motor 14 drives the threaded rod 13 to rotate, and drives the threaded barrel 15 to move through the threaded fit. The threaded barrel 15 drives the cross plate 171 and the grinding motor 172 to move toward the rust detection area through the guide plate 16. At the same time, the PLC controller 3 drives the grinding motor 172 and the grinding disc 18 to move toward the inner wall of the metal pipe through the mechanical arm 4. And a certain squeezing pressure is maintained between the grinding disc 18 and the inner wall of the metal pipe (a pressure sensor is provided at the output end of the grinding motor 172, which can sense the squeezing pressure between the grinding disc 18 and the metal pipe). At the same time, the PLC controller 3 controls the grinding motor 172 to work, and the grinding motor 172 drives the grinding disc 18 to rotate, and uses the grinding disc 18 to grind the rust in the detection area. When the rust is polished, the PLC controller 3 controls the robot arm 4 to drive the working box 12 to move downward to the set position, and then controls the angle motor 11 to work, and the angle motor 11 drives the gear teeth to rotate. The ring transmission assembly drives the rotating tube 92 to rotate (the output end of the angle motor 11 is connected to a gear, and the tube wall of the rotating tube 92 is provided with a gear ring meshing with the gear), so that the ultrasonic probe 5 and the nozzle 33 are directed to the detection area. Then the PLC controller 3 controls the pump 282 to work, and the pump 282 transports the coupling agent inside the storage box 281 to the installation box 91 through the feeding pipe 29, and transports it to the delivery chamber 30 through the rotating tube 92, so that the hydraulic pressure inside the delivery chamber 30 increases. When the hydraulic pressure exceeds the threshold of the pressure valve 32, the coupling agent will be sprayed toward the detection area through the nozzle 33 At the same time, the PLC controller 3 controls the mechanical arm 4 to drive the nozzle 33 to move, and uses the bristles on the surface of the nozzle 33 to spread the coupling agent evenly. Then, the PLC controller 3 drives the ultrasonic probe 5 to fit the detection area through the mechanical arm 4 (the coupling agent can fill the tiny gap between the ultrasonic probe 5 and the detection surface of the metal pipe and exclude the air therein, which can minimize the energy loss of the ultrasonic wave and ensure the strength and accuracy of the detection signal). The detection area is detected by the ultrasonic probe 5, and the detection result is transmitted to the display device on the ground through the wireless transmission module for display;

[0048] When the robot moves to an area with a steeper slope inside the metal pipe, the moving seat 1 will tilt as a whole, and the moving seat 1 will drive the cylinder 341, the arc-shaped resistor plate 38 and the circular plate 342 to rotate a certain angle, while the conveying column 37 is still vertically downward under the action of gravity, so the conveying column 37 will contact the arc-shaped resistor plate 38, and the conveying column 37 is electrically connected to the external power supply. The upper end of the arc-shaped resistor plate 38 is in contact with the corresponding first electromagnetic block 7. When the conveying column 37 is in contact with the arc-shaped resistor plate 38, current will be transmitted to all the first electromagnetic blocks 7, and the first electromagnetic blocks 7 will be energized to generate magnetic force to attract the metal pipe below (the first electromagnetic block 7 is set on the fixed component of the crawler mechanism 2). ), increasing the friction between the track mechanism 2 and the metal pipe, thereby improving the stability of the track mechanism 2 moving in areas with large slopes (assuming that the robot weighs 10 kg, the friction coefficient between the track mechanism 2 and the pipe surface μ=0.5, the climbing angle is thirty degrees, and the downward component of gravity along the slope is mgsin30°=10*9.8*0.5=49 Newtons. According to the relationship between the friction force and the gravity component μ*magnetic attraction ≥mgsin30°, it can be obtained that the magnetic attraction ≥mgsin30° / μ=49 / 0.5=98 Newtons), making it easier for the robot to pass through the steep slope area in the metal pipe (this method is only applicable to metal pipes that can be adsorbed by magnets).

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipeline internal ultrasonic flaw detection robot, comprising a moving base (1) and two crawler mechanisms (2) arranged on the lower side of the moving base (1), wherein a PLC controller (3) and a mechanical arm (4) are fixedly connected to the upper side wall of the moving base (1), and an ultrasonic probe (5) is connected to the upper end of the mechanical arm (4) via a driving assembly (9), characterized in that: Also includes: A detection and polishing assembly (17), connected to the surface of the driving assembly (9), for detecting and cleaning rust on the inner wall of the pipeline; The coupling agent spraying assembly (28) is arranged on a side of the driving assembly (9) away from the detection and polishing assembly (17), and the ultrasonic probe (5) is arranged on the right side of the coupling agent spraying assembly (28); An inclination processing component (34) is arranged on the front side wall of the movable seat (1), and a plurality of first electromagnetic blocks (7) are arranged on the surfaces of the two crawler mechanisms (2). The inclination processing component (34) is electrically connected to the plurality of first electromagnetic blocks (7) via a PLC controller (3); A wire-releasing assembly (39) is arranged on the upper side wall of the movable seat (1) and can release and retract the cable (55); A distance component (51) is arranged on the upper side wall of the movable seat (1) and is located behind the wire-releasing component (39). The distance component (51) is connected to the wire-releasing component (39) through a speed reducer (8). The driving component (9) comprises a mounting box (91) and a rotating tube (92). The mounting box (91) is fixedly connected to the upper end of the mechanical arm (4). The rotating tube (92) is connected to the left side wall of the mounting box (91) in rotation. The upper side wall of the mounting box (91) is fixedly connected to a camera (10). The camera (10) is connected to a display device on the ground through a wireless transmission module. The left side wall of the mounting box (91) is fixedly connected to an angle motor (11). The angle motor (11) is connected to the ground through a gear ring. The transmission assembly is transmission-connected to the rotating tube (92); the left end of the rotating tube (92) is fixedly connected to a working box (12); the inner wall of the working box (12) is fixedly connected to a threaded rod (13); the left side wall of the working box (12) is fixedly connected to a driving motor (14); the output end of the driving motor (14) is fixedly connected to the threaded rod (13); the rod wall of the threaded rod (13) is threadedly sleeved with a threaded barrel (15); the side wall of the threaded barrel (15) is fixedly connected to a guide plate (16); one end of the guide plate (16) away from the threaded barrel (15) extends out of the working box (12) and is connected to a detection and grinding assembly (17); the detection and grinding assembly (17) comprises a horizontal plate (171) and a grinding motor (17 2), the transverse plate (171) and the guide plate (16) are fixedly connected, the grinding motor (172) is fixedly connected to the transverse plate (171) via a bracket, the output end of the grinding motor (172) is fixedly connected to a grinding disc (18), the side wall of the transverse plate (171) is fixedly connected to a micro electric push rod (19), the moving end of the micro electric push rod (19) is fixedly connected to a lifting plate (20), the upper side wall of the lifting plate (20) is symmetrically fixedly connected to two metal wheels (21), the metal wheels (21) located at the front side are electrically connected to an external power supply, the upper side wall of the lifting plate (20) is fixedly connected to a transverse box (22), and the inner wall of the transverse box (22) is fixedly connected to a sliding plate ( 23), a second electromagnetic block (24) is fixedly connected to the side wall of the horizontal box (22) away from the spring, and the second electromagnetic block (24) is electrically connected to the metal wheel (21) on the rear side; a permanent magnetic plate (25) is fixedly connected to the side wall of the sliding plate (23) close to the second electromagnetic block (24); a conductive block (26) is fixedly connected to the side wall of the sliding plate (23) away from the permanent magnetic plate (25); the conductive block (26) is electrically connected to an external power supply through a PLC controller (3); a conductive plate (27) is inlaid on the upper inner wall of the horizontal box (22); the conductive plate (27) is electrically connected to the PLC controller (3); the coupling agent spraying assembly (28) comprises a storage box (281) and a pump (282);The storage box (281) is fixedly connected to the upper side wall of the movable seat (1); the pump (282) is fixedly connected to the side wall of the storage box (281); the feed end of the pump (282) is connected to the storage box (281); the discharge end of the pump (282) is fixedly connected to a feed pipe (29); the upper end of the feed pipe (29) is connected to the installation box (91); the mechanical arm (4) is connected to the pipe wall of the feed pipe (29) via a snap assembly; a conveying cavity (30) is provided inside the installation box (91); the left end of the rotating tube (92) is connected to the conveying cavity (30); the cavity wall of the conveying cavity (30) is connected to a vertical pipe (31); a pressure valve (32) is provided inside the vertical pipe (31); one end of the vertical pipe (31) away from the conveying cavity (30) is fixedly connected to a nozzle (33); bristles are fixedly connected to the surface of the nozzle (33).

2. The pipeline internal ultrasonic flaw detection robot according to claim 1, characterized in that: The inclination processing component (34) comprises a cylinder (341) and a circular plate (342); the cylinder (341) is fixedly connected to the front side wall of the movable seat (1); the circular plate (342) is fixedly connected to the inner wall of the cylinder (341); the surface of the circular plate (342) is rotatably connected to a rotating column (35); the side wall of the rotating column (35) is fixedly connected to a thin rod (36); one end of the thin rod (36) away from the rotating column (35) is fixedly connected to a conveying column (37); the conveying column (37) is electrically connected to an external power supply; the front side wall of the circular plate (342) is symmetrically inlaid with two arc-shaped resistor plates (38); the upper ends of the two arc-shaped resistor plates (38) are electrically connected to the corresponding plurality of first electromagnetic blocks (7).

3. The pipeline internal ultrasonic flaw detection robot according to claim 1, characterized in that: The pay-off assembly (39) comprises a pay-off frame (391) and a pay-off motor (392); the pay-off frame (391) is fixedly connected to the upper side wall of the movable seat (1); the pay-off motor (392) is fixedly connected to the front side wall of the pay-off frame (391); the inner wall of the pay-off frame (391) is rotatably connected to a pay-off drum (40); the cable (55) is wound around the outer side of the pay-off drum (40); the right side wall of the movable seat (1) is fixedly connected to a transverse cylinder (41); the upper side wall of the transverse cylinder (41) is provided with a through opening matching the cable (55); a plurality of protective rings (42) are placed in the transverse cylinder (41); the ends of the cables (55) pass through the plurality of protective rings (42); a plurality of telescopic cavities (43) are provided inside the protective rings (42); and the interior of the telescopic cavities (43) is provided with a plurality of telescopic cavities (43). A rubber block (44) is fixedly connected to the wall via a spring, and one end of the rubber block (44) away from the spring extends out of the telescopic cavity (43). Permanent magnet seats (45) are fixedly connected to the left and right sides of the rubber block (44). Two third electromagnetic blocks (46) are fixedly connected to the inner wall of the telescopic cavity (43). A groove is provided on the left wall of the protective ring (42), and a squeeze switch (47) is fixedly connected in the groove. A micro power source (48) is fixedly connected in the telescopic cavity (43), and the micro power source (48) is electrically connected to the third electromagnetic block (46) via the squeeze switch (47). A storage groove is provided inside the upper side of the horizontal cylinder (41), and a small electric push rod (49) is fixedly connected to the inner wall of the storage groove. A stopper (50) is fixedly connected to the movable end of the small electric push rod (49).

4. The pipeline internal ultrasonic flaw detection robot according to claim 3, characterized in that: The distance assembly (51) comprises a distance box (511) and a lifting block (512); the distance box (511) is fixedly connected to the rear side wall of the pay-off frame (391) through a bracket; the lifting block (512) is slidably arranged in the distance box (511); the reducer (8) is fixedly connected to the rear side wall of the pay-off frame (391); the input end of the reducer (8) passes through the pay-off frame (391) and is connected to the pay-off drum (40); the input end of the reducer (8) is rotatably connected to the pay-off frame (391); the output end of the reducer (8) is fixedly connected to the rope drum (52), and a pull rope (53) is wound around the rope drum (52); the distance The upper side wall of the box (511) is provided with a rope hole, the lower end of the pull rope (53) passes through the rope hole and is fixedly connected to the upper side wall of the lifting block (512), the upper side wall of the lifting block (512) is symmetrically fixedly connected with two conductive frames (54), both of which are electrically connected to an external power supply, the left side wall of the distance box (511) is inlaid with a plurality of trigger plates (56), the trigger plates (56) are electrically connected to a small electric push rod (49) through a PLC controller (3), and the right side wall of the distance box (511) is inlaid with a resistance bar (57), and the resistance bar (57) is connected to a display device on the ground surface through a wireless transmission module.

5. The pipeline internal ultrasonic flaw detection robot according to claim 3, characterized in that: The inner wall of the transverse cylinder (41) is rotatably connected to a guide roller (58), the inner wall of the transverse cylinder (41) is fixedly connected to a retaining ring (6), and the inner wall of the protective ring (42) is fixedly connected to a rubber plate (59) via an elastic rod.

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