Detection robot for chemical material pipeline

Abstract

The invention discloses a detection robot for a chemical material pipeline. The detection robot comprises a robot body, a moving mechanism and a detection mechanism, a radial connecting groove is formed in the outer side wall of the robot body; the moving mechanism comprises a connecting rod, a supporting adjusting rod, a sliding block, a walking motor, a walking wheel and an elastic piece. The connecting rod is arranged in the connecting groove; the two sliding blocks are arranged on the connecting rod in a sleeving mode. One end of each supporting adjusting rod is connected with the walking motor, and the other end of each supporting adjusting rod is connected with the corresponding sliding block; the walking wheels are arranged on the walking motor; the two elastic pieces are arranged on the connecting rod in a sleeving mode, and one end of each elastic piece is connected with the corresponding sliding block. The connecting rod is further sleeved with a limiting block, and the limiting block is located between the two sliding blocks. The detection mechanism comprises a motor, a transmission unit and a detection unit; the detection unit is axially installed on the robot body and connected with the motor through the transmission unit. The device can be automatically suitable for detection of chemical material pipelines with different diameters.

Description

Technical Field

[0001] The present invention relates to a detection technology for chemical material pipelines, and more specifically, to a detection robot for chemical material pipelines. Background Art

[0002] Organic chemical raw materials can be divided into alkanes and their derivatives, alkenes and their derivatives, alkynes and their derivatives, etc. The main raw materials of inorganic chemicals are chemical minerals containing sulfur, sodium, phosphorus, potassium, calcium, coal, oil, natural gas, air, water, etc. In addition, by-products and wastes from many industrial sectors are also raw materials for inorganic chemicals. For example, the ammonia contained in the coke oven gas in the coking production process of the steel industry can be recovered with sulfuric acid to make ammonium sulfate, and the sulfur dioxide in the smelting waste gas of chalcopyrite, galena, and sphalerite can be used to produce sulfuric acid, etc.

[0003] In industry, the safety and quality requirements for chemical material transportation pipelines are very high. For example, petroleum refers to a mixture of gaseous, liquid and solid hydrocarbons with natural occurrence. Petroleum is divided into crude oil, natural gas, natural gas liquid and natural tar, but it is customary to use "petroleum" as the definition of "crude oil". Chemical material pipelines used to transport petroleum generally use seamless carbon steel pipes. Seamless carbon steel pipes will produce cracks, pores or debonding defects during production, transportation and welding. These defects will cause unnecessary losses during use. Therefore, before being put into use, chemical material pipelines must be fully inspected.

[0004] However, the inspection robots used for chemical material pipelines in the prior art are difficult to apply to chemical material pipelines of different diameters. At the same time, the existing inspection robots are prone to bumps when inspecting chemical material pipelines, which affects the accuracy of the inspection. Summary of the invention

[0005] In view of the defects existing in the prior art, the purpose of the present invention is to provide a detection robot for chemical material pipelines, which can automatically be applied to the detection of chemical material pipelines of different diameters and improve the accuracy of detection.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] A detection robot for chemical material pipelines, comprising a robot body, a moving mechanism and a detection mechanism;

[0008] A radial connection groove is provided on the outer side wall of the robot body;

[0009] The moving mechanism comprises a connecting rod, a supporting and adjusting rod, a slider, a walking motor, a walking wheel and an elastic member; the connecting rod is arranged in the connecting groove; there are two sliders, both of which are sleeved on the connecting rod; there are two supporting and adjusting rods, one end of which is connected to the walking motor and the other end is respectively connected to the corresponding sliders; the walking wheel is arranged on the walking motor; there are two elastic members, both of which are sleeved on the connecting rod, and one end of the elastic member is connected to the corresponding slider; a limit block is also sleeved on the connecting rod, and the limit block is located between the two sliders;

[0010] The detection mechanism comprises a motor, a transmission unit and a detection unit; the detection unit is axially mounted on the robot body and connected to the motor through the transmission unit.

[0011] Preferably, the robot body is configured as a rectangular body or a cylindrical body.

[0012] Preferably, when the robot body is configured as a rectangular body, each of the four outer side walls of the robot body is provided with a connecting groove, and the moving mechanism is provided in the connecting groove.

[0013] Preferably, the support adjustment rod and the travel motor, and the support adjustment rod and the slider are both connected by pins.

[0014] Preferably, an axial through hole is opened on the robot body, and the transmission unit is arranged in the through hole.

[0015] Preferably, the detection unit comprises a detection device, a detection arm and a detection probe;

[0016] The rear end of the detection device is connected to the transmission unit;

[0017] The detection arms have a plurality of arms which are equidistant and vertically arranged near the front end of the detection device;

[0018] The detection probes are multiple, the number of which is equal to the detection arms, and are arranged at the outer ends corresponding to the detection arms.

[0019] Preferably, the transmission unit comprises a gear, a gear ring, a rotating cylinder, a connecting assembly and a telescopic rod;

[0020] The rotating cylinder is arranged in the through hole and is coaxially arranged with the through hole;

[0021] The gear is arranged on the output shaft of the motor;

[0022] The gear ring is arranged in the through hole, connected to the rotating cylinder, and coaxially arranged with the through hole;

[0023] The connecting assembly is arranged at the axis center of the rotating cylinder;

[0024] The rear end of the telescopic rod is connected to the connecting assembly, and the front end is connected to the rear end of the detection device.

[0025] Preferably, the connection assembly includes a mounting plate and a vertical rod;

[0026] The mounting plate is arranged at the axis center position of the rotating cylinder;

[0027] There are four vertical rods, which are equidistantly arranged, one end of which is connected to the outer side surface of the mounting plate, and the other end of which is connected to the inner side surface of the rotating cylinder;

[0028] The rear end of the telescopic rod is connected to the mounting plate.

[0029] The present invention provides a detection robot for chemical material pipelines, which has the following beneficial effects:

[0030] 1) The detection robot of the present invention cooperates with the robot body, the detection device, the connecting groove (including two grooves located on both sides of the limit plate), the limit plate, the connecting rod, the slider, the elastic member, the adjusting rod and the walking wheel. Under the action of the elastic member, the adjusting rods on both sides of the moving component push the two sliders to move in opposite directions, so that the distance between the two symmetrical moving components changes, so that the robot can be suitable for detection in chemical material pipelines of different diameters. When the robot is located inside chemical material pipelines of different diameters, under the action of the elastic member, it can automatically ensure that each moving component is closely fitted with the inner wall of the chemical material pipeline, and when it is bumped, it plays a shock-absorbing role, thereby improving the accuracy of detection;

[0031] 2) The detection robot of the present invention cooperates with the through hole, the rotating cylinder, the tooth part, the gear, the motor and the connecting assembly. The motor drives the gear to rotate. Due to the meshing action of the gear and the tooth part, the rotating cylinder is driven to rotate. When the rotating cylinder rotates, the connecting assembly rotates synchronously and drives the detection device to rotate, so that the detection device rotates stably and realizes 360-degree rotation, avoiding the occurrence of detection blind spots;

[0032] 3) The detection robot of the present invention cooperates with the mounting plate, vertical rod, telescopic rod, detection body, detection arm and detection probe of the robot detection device. After the detection work is completed, the detection device that has been reduced to the size of the undetected state can be retracted into the rotating cylinder by adjusting the telescopic rod. This makes it convenient to store the detection device back into the rotating cylinder while avoiding damage to the detection device, thereby enhancing protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the detection robot of the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of the mobile mechanism in the detection robot of the present invention.

[0035] Figure 3 is a schematic diagram of a detection robot according to the present invention when the robot body is set to a rectangular shape;

[0036] Figure 4 It is a structural schematic diagram of a transmission unit in the detection robot of the present invention;

[0037] Figure 5 yes Figure 4 Schematic diagram of the A direction. DETAILED DESCRIPTION

[0038] In order to better understand the above technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0039] Combination Figures 1 to 5 As shown, the present invention provides a detection robot for chemical material pipelines, including a robot body 1, a moving mechanism and a detection mechanism.

[0040] A radial connection groove 2 is provided on the outer side wall of the robot body 1 .

[0041] The moving mechanism includes a connecting rod 9 , a supporting and adjusting rod 4 , a sliding block 6 , a traveling motor 3 , a traveling wheel 5 and an elastic member 7 .

[0042] The connecting rod 9 is installed in the connecting groove 2 , and two ends of the connecting rod 9 are connected to the inner walls of the connecting groove 2 at both ends respectively.

[0043] There are two sliders 6 , which are respectively sleeved on the connecting rod 9 and symmetrically located in the connecting groove 2 , and can slide in the connecting groove 2 along the connecting rod 9 .

[0044] There are two support adjustment rods 4, one end of each of which is connected to the walking motor 3, and the other end is connected to the corresponding slider 6, which is used to support the walking wheel 3 located on the periphery of the robot body 1. As the slider 6 slides, the support adjustment rod 4 rotatably connected thereto can be driven to move and change the support tilt angle.

[0045] The travel wheel 5 is mounted on the travel motor 3 .

[0046] There are two elastic members 7 , which are respectively sleeved on the connecting rod 9 near the two ends of the connecting rod 9 . One end of the elastic member 7 is connected to the corresponding slider 6 , and the other end is connected to the inner wall of the end of the connecting groove 2 .

[0047] A limit block 14 is also sleeved on the connecting rod 9 , and the limit block 14 is located between the two sliding blocks 6 .

[0048] When the robot body 1 is used for detection operation in a chemical material pipeline with a larger diameter, the elastic force of the two elastic parts 7 tends to push the slider 6 located on its inner side to move radially inward, and the slider 6 drives the support adjustment rod 4 rotatably connected to it to increase the support inclination angle, and the radial outward protrusion distance of the walking wheel 5 increases.

[0049] When the robot body 1 is used for detection operation in a chemical material pipeline with a smaller diameter, the walking wheel 5 is subjected to the pressure of the inner wall of the chemical material pipeline, and the elastic force of the two elastic members 7 tends to push the slider 6 located on the inner side thereof to move radially outward. The slider 6 drives the support adjustment rod 4 rotatably connected thereto to reduce the support inclination angle, and the outward protrusion distance of the walking wheel diameter 5 is reduced.

[0050] Therefore, when the robot body 1 is used for detection operation in chemical material pipelines with different diameters, the robot body 1 can be closely fitted with the inner wall of the chemical material pipeline through the peripheral walking wheels 5, and the operation is stable.

[0051] The robot body 1 can be configured as a rectangular body or a cylindrical body.

[0052] When the robot body 1 is configured as a rectangular body (square), there are four connecting grooves 2 which are respectively located on four outer side walls of the robot body 1 , and a moving mechanism is installed in each connecting groove 2 .

[0053] The support adjustment rod 4 and the travel motor 3 as well as the support adjustment rod 4 and the slider 6 are all connected in a rotational (pin) manner.

[0054] A coaxial walking motor 3 is arranged in the middle of the walking wheel 5 , and the walking motor 3 is connected to the robot body 1 through an electric wire buried in the supporting adjustment rod 4 .

[0055] Thus, the travel motor 3 can be powered, and the travel wheel 5 can be driven by the travel motor 3 to drive the robot body 1 to move in the pipeline.

[0056] The detection mechanism includes a motor 22, a transmission unit and a detection unit 10. The detection unit 10 is axially mounted on the robot body 1 and connected to the motor 22 via the transmission unit.

[0057] An axial through hole 15 is formed at the axis center of the robot body 1 , and the transmission unit is installed in the through hole 15 .

[0058] The detection unit 10 includes a detection device 11 , a detection arm 12 and a detection probe 13 .

[0059] The rear end of the detection device 11 is connected to the transmission unit.

[0060] There are multiple (generally three) detection arms 12 , which are equidistantly and vertically installed near the front end of the detection device 11 .

[0061] There are multiple detection probes 13 , the number of which is equal to the detection arms 12 , and they are installed at the outer ends of the corresponding detection arms 12 .

[0062] The transmission unit includes a gear 23 , a gear ring 19 , a rotating cylinder 17 , a connecting assembly 18 and a telescopic rod 21 .

[0063] The rotating cylinder 17 is rotatably connected in the through hole 15 and is coaxially arranged with the through hole 15. The rotating cylinder 17 is cylindrical, with both ends opening. The inner wall of the rotating cylinder 17 close to the back of the robot body 1 is circumferentially connected to the ring gear 19, and the ring gear 19 is meshed with a gear 23. The back of the gear 23 is connected to the output shaft of the motor 22, and the motor 22 is connected to the back of the robot body 1.

[0064] The connecting assembly 18 is installed at the axial center position in the rotating cylinder 17 . The connecting assembly 18 is connected to the inside of the rotating cylinder 17 . The side of the connecting assembly 18 facing away from the gear 23 is connected to the detection device 11 .

[0065] The connecting assembly 18 includes a mounting plate 16 and vertical rods 20 . There are four vertical rods 20 . The four vertical rods 20 are evenly connected to the side of the mounting plate 16 . One end of the vertical rod 20 away from the mounting plate 16 is connected to the inner wall of the rotating cylinder 17 .

[0066] A telescopic rod 21 is disposed on the mounting plate 16 , and a free end of the telescopic rod 21 is connected to the detection device 11 , which is a telescopic structure.

[0067] Example 1

[0068] Refer to Figures 1 to 3 As shown, the detection robot of this embodiment 1 is used to detect a chemical material pipeline with a diameter of 600 mm. The robot body 1 is a cube, and a detection unit 10 is connected to the front of the robot body 1.

[0069] Connecting grooves 2 are symmetrically provided on the side wall along the circumference of the robot body 1. There are four connecting grooves 2, which are respectively located on four sides of the robot body 1. Connecting rods 9 are provided in the connecting grooves 2. Slide blocks 6 are sleeved on both sides of the connecting rods 9 separated by the limit blocks 14. The slide blocks 6 are slidably connected to the inner wall of the connecting groove 2. Elastic members 7 are provided on the opposite sides of the two slide blocks 6. The elastic members 7 are sleeved on the connecting rods 9, and one end of the elastic members 7 is connected to the slide blocks 6 and the other end is connected to the end wall of the connecting groove 2.

[0070] The two support adjustment rods 4 are rotatably connected to the two sliders 6 respectively, and are used to support the walking wheels 5 located on the periphery of the robot body 1 .

[0071] A coaxial walking motor 3 is arranged in the middle of the walking wheel 5. The walking motor 3 is connected to the robot body 1 through an electric wire buried in the supporting adjustment rod 4. The walking motor 3 drives the walking wheel 5 to drive the robot body 1 to move in the pipeline.

[0072] The detection robot of this embodiment 1 cooperates through the robot body 1, the detection unit 10, the connecting groove 2, the limit block 14, the connecting rod 9, the slider 6, the elastic member 7, the walking wheel 5 and the support adjustment rod 4. Under the action of the elastic member 7, the support adjustment rods 4 on both sides of the walking wheel 5 push the two sliders 6 to move in opposite directions, so that the distance between the symmetrical support adjustment rods 4 changes.

[0073] When the robot body 1 is used for detection in a chemical material pipeline with a larger diameter, the elastic force of the two elastic members 7 tends to push the slider 6 located inside thereof to move radially inward, and the slider 6 drives the support adjustment rod 4 rotatably connected thereto to increase the support inclination angle, and the radial outward protrusion distance of the walking wheel 5 increases;

[0074] When used in a chemical material pipeline with a smaller diameter for detection and operation, the travel wheel is subjected to the pressure of the inner wall of the chemical material pipeline, and the elastic force of the two elastic members 7 tends to push the slider 6 located inside thereof to move radially outward, and the slider 6 drives the support adjustment rod 4 rotatably connected thereto to reduce the support inclination angle, and the radial outward protrusion distance of the travel wheel 5 is reduced;

[0075] As a result, the robot body 1 is closely fitted to the inner wall of the chemical material pipeline through the peripheral walking wheels 5, and runs smoothly.

[0076] Therefore, when the robot is used for detection in chemical material pipelines with different diameters, the robot body 1 can be closely fitted with the inner wall of the chemical material pipeline through the peripheral walking wheels 5, and the robot can run smoothly. In addition, the robot can reduce shock when bumped, thereby improving the accuracy of detection.

[0077] Example 2

[0078] Refer to Figure 1 , Figures 3 to 5 As shown, the detection robot of this embodiment 2 is used to detect chemical material pipelines with a diameter of 600 mm. A through hole 15 is opened in the axial middle part of the robot body 1, and a rotating cylinder 17 is rotatably connected in the through hole 15. The rotating cylinder 17 is barrel-shaped and has openings at both ends. A gear ring 19 is circumferentially arranged on the inner wall of the rotating cylinder 17 close to the back of the robot body 1. The gear ring 19 is meshingly connected with a gear 23. The back of the gear 23 is connected to a motor 22, and the motor 22 is connected to the back of the robot body 1. A connecting component 18 is arranged inside the rotating cylinder 17, and the connecting component 18 is connected to the inner wall of the rotating cylinder 17, and the side of the connecting component 18 facing away from the gear 23 is connected to the detection device 10.

[0079] The robot body 1 of the present embodiment 2 cooperates with the through hole 15, the rotating cylinder 17, the ring gear 19, the gear 23, the motor 22 and the connecting component 18. The motor 22 drives the gear 23 to rotate. Due to the meshing action of the gear 23 and the ring gear 19, the rotating cylinder 17 is driven to rotate. When the rotating cylinder 17 rotates, the connecting component 18 rotates synchronously and drives the detection unit 10 to rotate, so that the detection unit 10 can rotate stably and realize 360-degree rotation, avoiding the occurrence of a detection blind spot.

[0080] As a preferred manner, the connecting assembly 18 includes a mounting plate 16 and vertical rods 20, there are four vertical rods 20, the four vertical rods 20 are evenly connected to the side of the mounting plate 16, and one end of the vertical rod 20 away from the mounting plate 16 is connected to the inner wall of the rotating cylinder 17.

[0081] Example 3

[0082] The third embodiment is a description of the storage process of the detection unit 10 based on the second embodiment.

[0083] Refer to Figure 1 and Figure 4 As shown, a telescopic rod 21 is provided on the mounting plate 16 , and a free end of the telescopic rod 21 is connected to the detection unit 10 , and the detection unit 10 is a telescopic structure.

[0084] Furthermore, the detection unit 10 includes a detection body 11, a detection arm 12 and a detection probe 13. The detection body 11 is connected to the telescopic rod 21, the detection arm 12 is connected to the side of the detection body 11 and the detection arm 12 can be freely retracted, and the detection probe 13 is connected to one end of the detection arm 12 away from the detection body 11.

[0085] The present invention cooperates with the mounting plate 16, the vertical rod 20, the telescopic rod 21, the detection device 11, the detection arm 12 and the detection probe 13. After the detection work is completed, the detection unit 10 that has been reduced to the size of the undetected state can be retracted into the rotating cylinder 17 by adjusting the telescopic rod 21, which is convenient for storage and retrieval while preventing the detection unit 10 from being damaged, thereby enhancing protection.

[0086] As a preferred manner, the number of the detection arms 12 is three and they are evenly distributed on the side of the detection body 11 , and each detection arm 12 is provided with a detection probe 13 .

[0087] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A detection robot for chemical material pipelines, characterized in that: It includes a robot body, a moving mechanism and a detection mechanism; A radial connection groove is provided on the outer side wall of the robot body; The moving mechanism comprises a connecting rod, a supporting and adjusting rod, a slider, a walking motor, a walking wheel and an elastic member; the connecting rod is arranged in the connecting groove; there are two sliders, both of which are sleeved on the connecting rod; there are two supporting and adjusting rods, one end of which is connected to the walking motor and the other end is respectively connected to the corresponding sliders; the walking wheel is arranged on the walking motor; there are two elastic members, both of which are sleeved on the connecting rod, and one end of the elastic member is connected to the corresponding slider; a limit block is also sleeved on the connecting rod, and the limit block is located between the two sliders; The detection mechanism comprises a motor, a transmission unit and a detection unit; the detection unit is axially mounted on the robot body and connected to the motor through the transmission unit.

2. The detection robot for chemical material pipeline according to claim 1 is characterized in that: The robot body is configured as a rectangular body or a cylindrical body.

3. The detection robot for chemical material pipeline according to claim 2 is characterized in that: When the robot body is configured as a rectangular body, each of the four outer side walls of the robot body is provided with a connecting groove, and the moving mechanism is provided in the connecting groove.

4. The detection robot for chemical material pipeline according to claim 1, characterized in that: The support adjustment rod and the travel motor, and the support adjustment rod and the slider are all connected by pins.

5. The detection robot for chemical material pipeline according to claim 1 is characterized in that: The robot body is provided with an axial through hole, and the transmission unit is arranged in the through hole.

6. The detection robot for chemical material pipeline according to claim 5, characterized in that: The detection unit includes a detection device, a detection arm and a detection probe; The rear end of the detection device is connected to the transmission unit; The detection arms have a plurality of arms which are equidistant and vertically arranged near the front end of the detection device; The detection probes are multiple, the number of which is equal to the detection arms, and are arranged at the outer ends corresponding to the detection arms.

7. The detection robot for chemical material pipeline according to claim 6, characterized in that: The transmission unit includes a gear, a gear ring, a rotating cylinder, a connecting assembly and a telescopic rod; The rotating cylinder is arranged in the through hole and is coaxially arranged with the through hole; The gear is arranged on the output shaft of the motor; The gear ring is arranged in the through hole, connected to the rotating cylinder, and coaxially arranged with the through hole; The connecting assembly is arranged at the axis center of the rotating cylinder; The rear end of the telescopic rod is connected to the connecting assembly, and the front end is connected to the rear end of the detection device.

8. The detection robot for chemical material pipeline according to claim 7 is characterized in that: The connection assembly includes a mounting plate and a vertical rod; The mounting plate is arranged at the axis center position of the rotating cylinder; There are four vertical rods, which are equidistantly arranged, one end of which is connected to the outer side surface of the mounting plate, and the other end of which is connected to the inner side surface of the rotating cylinder; The rear end of the telescopic rod is connected to the mounting plate.

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