Pipeline and valve body inner surface flaw detection robot in narrow space

Abstract

The invention discloses a pipeline and valve body inner surface flaw detection robot in a narrow space. The moving system is mounted on the front side of the vehicle body and used for driving the vehicle body to move; the magnetic attachment system is mounted on the bottom surface of the vehicle body and is used for enabling the vehicle body to be adsorbed on the inner wall of the pipeline; the visual system is installed on the side face of the vehicle body and used for obtaining image information; the fluorescent flaw detection system is mounted on the side surface of the vehicle body, and the fluorescent flaw detection system and the visual system are correspondingly arranged; the mobile system, the visual system and the fluorescent flaw detection system are electrically connected with the control system, and the control system is in signal connection with the terminal system through a wireless transmission module. The flaw detection robot can be applied to key fields of nuclear power stations, petrochemical engineering devices, precision machinery manufacturing and the like, and equipment failure, leakage and even disastrous accidents caused by the fact that defects are not found in time are effectively prevented.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a robot for flaw detection on the inner surface of a pipeline or a narrow space of a valve body. Background Art

[0002] Narrow entrance cavity flaw detection is a key link in the inspection and maintenance of industrial equipment. Potential defects such as cracks, corrosion, foreign matter, etc. acting on the inside of the cavity are mainly identified and evaluated by flaw detection technology. In the fields of nuclear power plants, petrochemical plants and precision machinery manufacturing, the flaw detection of narrow entrance cavities is particularly important, because if these defects are not discovered in time, it may lead to equipment failure, leakage or even catastrophic accidents. Historically, there have been many safety accidents caused by insufficient flaw detection, such as pipeline leakage and equipment rupture. Therefore, in order to provide accurate data for the maintenance and management of narrow entrance cavities and ensure the safe operation of equipment, there is an urgent need for efficient flaw detection of these hard-to-reach areas in actual production.

[0003] The general practice for flaw detection in narrow entrance cavities is to arrange special flaw detection equipment, such as ultrasonic probes, endoscopes, etc., in areas that are difficult to observe directly. However, it is an extremely complicated task to accurately place these flaw detection devices at the predetermined detection position and ensure that they maintain stable contact with the surface to be inspected, while overcoming challenges such as narrow space and obstructed vision. Especially in hard-to-reach areas such as deep holes and narrow gaps, it is extremely difficult to ensure that the flaw detection equipment does not cause damage to the inspected object during installation and can perform detection stably. At present, it is a common practice to use auxiliary devices such as mechanical arms and flexible catheters to install and operate flaw detection equipment. These auxiliary devices can overcome the limitations of narrow spaces to a certain extent and improve the accuracy and efficiency of flaw detection. However, they still have technical problems that are inconvenient to operate in narrow spaces. Based on this, the present invention provides a flaw detection robot for the inner surface of pipelines and valve bodies in narrow spaces. Summary of the invention

[0004] The purpose of the present invention is to provide a robot for flaw detection on the inner surface of a pipeline or a valve body in a narrow space, so as to solve the problems existing in the prior art.

[0005] To achieve the above object, the present invention provides the following solution: The present invention provides a robot for flaw detection of inner surfaces of pipelines and valve bodies in narrow spaces, comprising:

[0006] Vehicle body;

[0007] A moving system, the moving system is installed on the front side of the vehicle body and is used to drive the vehicle body to move;

[0008] A magnetic attachment system, the magnetic attachment system being installed on the bottom surface of the vehicle body and being used to make the vehicle body adsorbed on the inner wall of the pipe;

[0009] A visual system, the visual system is installed on the side of the vehicle body and is used to obtain image information;

[0010] A fluorescent flaw detection system, which is installed on the side of the vehicle body and is arranged corresponding to the visual system;

[0011] The control system, the mobile system, the visual system, and the fluorescent flaw detection system are all electrically connected to the control system, and the control system is connected to the terminal system signal through a wireless transmission module.

[0012] According to the robot for flaw detection on inner surfaces of pipelines and valve bodies in narrow spaces provided by the present invention, the mobile system includes mobile wheels symmetrically connected to the front end of the vehicle body, two sets of reduction motors are fixedly connected to the vehicle body, a synchronous pulley is fixedly connected to the reduction motor, a driven pulley is coaxially fixedly connected to the mobile wheel, and the synchronous pulley and the driven pulley are matched through a serrated rubber-coated synchronous belt transmission.

[0013] According to the robot for flaw detection on the inner surface of pipelines and valve bodies in narrow spaces provided by the present invention, the magnetic attachment system includes a neodymium iron boron magnet, which is installed at the bottom of the vehicle body, and the bottom surface of the neodymium iron boron magnet is lower than the bottom surface of the vehicle body, and the vehicle body is adsorbed on the inner wall of the pipeline through the neodymium iron boron magnet.

[0014] According to the robot for flaw detection on inner surfaces of pipelines and valve bodies in narrow spaces provided by the present invention, the visual system comprises an endoscope and a fill light, both of which are fixed on the side of the vehicle body, and the endoscope and the fill light are arranged correspondingly.

[0015] According to the robot for flaw detection on the inner surface of pipelines and valve bodies in narrow spaces provided by the present invention, the fluorescent flaw detection system includes a fluorescent liquid injection assembly and a plurality of groups of fluorescent charging lamps arranged corresponding to the fluorescent liquid injection assembly; the fluorescent liquid injection assembly is installed on the vehicle body, the fluorescent charging lamps are installed on the side of the vehicle body, and the fluorescent liquid injection assembly is arranged corresponding to the endoscope.

[0016] According to the robot for flaw detection inside the narrow space of pipelines and valve bodies provided by the present invention, the fluorescent liquid injection assembly includes a manual one-way valve, a pipette, a liquid delivery pipe, a reducer, and a silicone capillary. The silicone capillary is fixed on the vehicle body and is arranged corresponding to the endoscope. The silicone capillary is fixedly connected to the liquid delivery pipe via the reducer, the pipette is fixedly connected to the other end of the liquid delivery pipe, the manual one-way valve is installed between the liquid delivery pipe and the pipette, and a micro-pipette pump is installed on the pipette.

[0017] According to the robot for flaw detection on inner surfaces of pipelines and valve bodies in narrow spaces provided by the present invention, a mounting ring is fixedly connected to the outer wall of the endoscope, and the mounting ring is fixedly connected to the side surface of the vehicle body.

[0018] According to the robot for flaw detection on inner surfaces of pipelines and valve bodies in narrow spaces provided by the present invention, a polytetrafluoroethylene block is embedded at the bottom of the body.

[0019] The present invention discloses the following technical effects:

[0020] The flaw detection robot of the present invention is specially designed for flaw detection in narrow spaces. Its compact body structure and magnetic adsorption function enable it to easily enter and stably adsorb on the surface of magnetic materials that are difficult to directly approach, such as deep holes, slits and other narrow entrance cavities, to perform delicate flaw detection tasks.

[0021] The flaw detection robot of the present invention integrates a mobile system, a magnetic attachment system, a visual system, and a fluorescent flaw detection system. The adsorption effect of the magnetic attachment system and the setting of the mobile system can ensure that the vehicle body can move along the inner wall of the pipeline. At the same time, the fluorescent flaw detection system can be used to detect defects such as cracks, and the visual system can be used for detailed observation, thereby realizing all-round and high-precision flaw detection of the material surface in a small space.

[0022] The flaw detection robot of the present invention has a simple structure and low cost, is easy to manufacture and maintain, and has a strong durability of the overall body structure, thereby improving the operation stability and reliability in complex environments.

[0023] Compared with traditional flaw detection methods, the flaw detection robot of the present invention greatly reduces human intervention and reduces the detection risks caused by improper operation or environmental interference, while improving detection efficiency and accuracy, providing accurate data support for subsequent equipment repair and maintenance.

[0024] The flaw detection robot of the present invention can be applied to key fields such as nuclear power plants, petrochemical plants, and precision machinery manufacturing, and can effectively prevent equipment failure, leakage, and even catastrophic accidents caused by untimely detection of defects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 The schematic diagram of the structure of the robot for flaw detection of inner surface of pipeline and valve body in narrow space of the present invention is shown in FIG. Figure I ;

[0027] Figure 2 The schematic diagram of the structure of the robot for flaw detection of inner surface of pipeline and valve body in narrow space of the present invention is shown in FIG. Figure II .

[0028] Among them, 1. Car body; 2. Moving wheel; 3. Reducer motor; 4. NdFeB magnet; 5. Endoscope; 6. Fill light; 7. Fluorescent charging lamp; 8. Silicone capillary; 9. Mounting ring. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Reference Figure 1-Figure 2 The present invention provides a robot for flaw detection of inner surfaces of pipelines and valve bodies in narrow spaces, comprising:

[0032] Car body 1;

[0033] A moving system, which is installed on the front side of the vehicle body 1 and is used to drive the vehicle body 1 to move;

[0034] A magnetic attachment system, which is installed on the bottom surface of the vehicle body 1 and is used to make the vehicle body 1 adsorbed on the inner wall of the pipe;

[0035] A visual system, which is installed on the side of the vehicle body 1 and is used to obtain image information;

[0036] A fluorescent flaw detection system is installed on the side of the vehicle body 1, and the fluorescent flaw detection system is set corresponding to the visual system;

[0037] The control system, mobile system, visual system and fluorescent flaw detection system are all electrically connected to the control system, and the control system is connected to the terminal system signal through a wireless transmission module.

[0038] The control system can be set according to the specific use environment, for example, it can be controlled by a single chip microcomputer or by using PLC, ARM (Advanced RISC Machine), FPGA (Field-Programmable Gate Array) and other methods, which are not specifically limited in this embodiment.

[0039] A further optimized solution is that the moving system includes a moving wheel 2 which is symmetrically connected to the front end of the vehicle body 1, two sets of reduction motors 3 are fixedly connected to the vehicle body 1, a synchronous pulley is fixedly connected to the reduction motor 3, and a driven pulley is coaxially fixedly connected to the moving wheel 2. The synchronous pulley and the driven pulley are matched through a serrated rubber-coated synchronous belt transmission.

[0040] According to a further optimization scheme, the magnetic attachment system includes a NdFeB magnet 4, which is installed at the bottom of the vehicle body 1, and the bottom surface of the NdFeB magnet 4 is lower than the bottom surface of the vehicle body 1, and the vehicle body 1 is adsorbed on the inner wall of the pipe through the NdFeB magnet 4.

[0041] In this embodiment, since there are interface parts at some positions of the inner wall of the pipeline, it is not completely flat. Therefore, in order to ensure that the vehicle body 1 can be adsorbed on the inner wall of the pipeline, a plurality of small blocks of the NdFeB magnet 4 are arranged, and the plurality of small blocks are hinged in sequence to form a foldable plate structure. The single NdFeB magnet 4 located in the middle position is fixed to the bottom surface of the vehicle body 1 through a vertical plate, and the remaining parts are rotated and connected to the vertical plate in the middle position of the top surface, and the vertical plate is made to slide on the bottom surface of the vehicle body 1. The ends of the NdFeB magnet 4 located on both sides slide directly with the bottom surface of the vehicle body 1, so that an inverted trapezoidal structure can be formed. The two side parts can move directly with the vehicle body 1, and the middle position can be deformed to form a fold, thereby improving the passability of the device.

[0042] According to a further optimization scheme, the visual system includes an endoscope 5 and a fill light 6, both of which are fixed on the side of the vehicle body 1, and the endoscope 5 and the fill light 6 are arranged correspondingly. The endoscope 5 is used to obtain image information in the pipeline, so as to facilitate the positioning of the damaged fill position.

[0043] According to a further optimization scheme, the fluorescent flaw detection system includes a fluorescent liquid injection assembly and several groups of fluorescent charging lamps 7 corresponding to the fluorescent liquid injection assembly. The fluorescent liquid injection assembly is installed on the vehicle body 1, the fluorescent charging lamps 7 are installed on the side of the vehicle body 1, and the fluorescent liquid injection assembly is corresponding to the endoscope 5.

[0044] Further optimization scheme, the fluorescent liquid injection assembly includes a manual one-way valve, a liquid pipette, a liquid delivery pipette, a reducer, and a silicone capillary 8. The silicone capillary 8 is fixed on the vehicle body 1 and is arranged corresponding to the endoscope 5. The silicone capillary 8 is fixedly connected to the liquid delivery pipe through the reducer, the liquid pipette is fixedly connected to the other end of the liquid delivery pipe, the manual one-way valve is installed between the liquid delivery pipe and the liquid pipette, and a micro-liquid suction pump is installed on the liquid pipette. The fluorescent liquid sprayed out is irradiated by 7 groups of fluorescent charging lamps, and the cracks show the characteristics of high concentration and high brightness due to capillary action.

[0045] According to a further optimized solution, a mounting ring 9 is fixedly connected to the outer wall of the endoscope 5 , and the mounting ring 9 is fixedly connected to the side of the vehicle body 1 .

[0046] According to a further optimization scheme, a polytetrafluoroethylene block is embedded at the bottom of the vehicle body 1 .

[0047] In this embodiment, scanning cameras are installed at the front and rear ends of the vehicle body 1 for scanning the front space information, and reference rods are installed at the front and rear ends for calculating the image ratio. After the device enters the pipeline, an identification position is selected for calibration, and multiple sets of calibration information are integrated. Then, the spatial image is scanned, and the spatial image information is fitted with the calibration part to finally generate an internal space model. The pipeline length is calculated according to the moving walking distance. When the damaged part is identified, the damaged part information is generated into digital information and output, which is convenient for digital output of the distance information of the damaged part from the two ends of the pipeline, and convenient for rapid positioning of the damaged part.

[0048] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0049] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A robot for flaw detection on the inner surface of pipelines and valve bodies in narrow spaces, characterized in that: include: Vehicle body (1); A moving system, the moving system being installed on the front side of the vehicle body (1) and being used to drive the vehicle body (1) to move; A magnetic attachment system, the magnetic attachment system being installed on the bottom surface of the vehicle body (1) and being used to allow the vehicle body (1) to be attached to the inner wall of the pipe; A visual system, the visual system being installed on the side of the vehicle body (1) and being used to acquire image information; A fluorescent flaw detection system, the fluorescent flaw detection system being installed on the side of the vehicle body (1), and the fluorescent flaw detection system being arranged correspondingly to the visual system; The control system, the mobile system, the visual system, and the fluorescent flaw detection system are all electrically connected to the control system, and the control system is connected to the terminal system signal through a wireless transmission module.

2. A robot for flaw detection of inner surfaces of pipelines and valve bodies in narrow spaces according to claim 1, characterized in that: The moving system comprises a moving wheel (2) symmetrically connected to the front end of the vehicle body (1), two groups of reduction motors (3) are fixedly connected to the vehicle body (1), a synchronous pulley is fixedly connected to the reduction motor (3), a driven pulley is coaxially fixedly connected to the moving wheel (2), and the synchronous pulley and the driven pulley are matched through a serrated rubber-coated synchronous belt transmission.

3. A robot for flaw detection of inner surface of pipeline and valve body in narrow space according to claim 1, characterized in that: The magnetic attachment system comprises a neodymium iron boron magnet (4), wherein the neodymium iron boron magnet (4) is mounted on the bottom of the vehicle body (1), and the bottom surface of the neodymium iron boron magnet (4) is lower than the bottom surface of the vehicle body (1), and the vehicle body (1) is adsorbed on the inner wall of the pipeline through the neodymium iron boron magnet (4).

4. A robot for flaw detection of inner surface of pipeline and valve body in narrow space according to claim 1, characterized in that: The visual system comprises an endoscope (5) and a fill light (6); the endoscope (5) and the fill light (6) are both fixed on the side of the vehicle body (1), and the endoscope (5) and the fill light (6) are arranged correspondingly.

5. A robot for flaw detection of inner surface of pipeline and valve body in narrow space according to claim 4, characterized in that: The fluorescent flaw detection system comprises a fluorescent liquid injection assembly and a plurality of groups of fluorescent energy-charging lamps (7) arranged corresponding to the fluorescent liquid injection assembly. The fluorescent liquid injection assembly is installed on the vehicle body (1), the fluorescent energy-charging lamps (7) are installed on the side of the vehicle body (1), and the fluorescent liquid injection assembly is arranged corresponding to the endoscope (5).

6. A robot for flaw detection of inner surface of pipeline and valve body in narrow space according to claim 5, characterized in that: The fluorescent liquid injection assembly comprises a manual one-way valve, a liquid suction tube, a liquid delivery tube, a reducer, and a silicone capillary (8). The silicone capillary (8) is fixed on the vehicle body (1) and is arranged corresponding to the endoscope (5). The silicone capillary (8) is fixedly connected to the liquid delivery tube via the reducer. The liquid suction tube is fixedly connected to the other end of the liquid delivery tube. The manual one-way valve is installed between the liquid delivery tube and the liquid suction tube. A micro liquid suction pump is installed on the liquid suction tube.

7. A robot for flaw detection of inner surface of pipeline and valve body in narrow space according to claim 4, characterized in that: The outer wall of the endoscope (5) is fixedly connected to a mounting ring (9), and the mounting ring (9) is fixedly connected to the side of the vehicle body (1).

8. The robot for flaw detection on inner surface of pipeline and valve body in narrow space according to claim 1, characterized in that: A polytetrafluoroethylene block is embedded in the bottom of the vehicle body (1).

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