Pipeline robot for assisting flaw detection

Abstract

The pipeline robot comprises a first shell and a second shell which are rotationally connected, a motor used for driving the second shell to rotate is arranged in the first shell, and traction ropes are connected to the centers of the end faces, relatively far away from each other, of the first shell and the second shell; a probe is embedded in the side face of the second shell, multiple sets of supporting legs are arranged on the periphery of the first shell and the periphery of the second shell, and a traction rope connected to one end of the first shell is in transmission connection with a transmission assembly used for limiting inclination of the supporting legs relative to the first shell. According to the device, the passing efficiency of the first shell and the second shell in the pipeline can be improved, so that the situation that passing of the first shell and the second shell is affected by irregularity existing in machining or impurities accumulated after long-term use in the pipeline is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline flaw detection, and specifically relates to a pipeline robot for assisting flaw detection. Background Art

[0002] Pipeline flaw detection is a method for inspecting the quality of pipeline joints, generally referring to non-destructive testing, that is, using the method of ray flaw detection to inspect whether the internal quality of the welded joint weld is qualified. Ray flaw detection is a flaw detection method that uses rays to penetrate an object to discover internal defects of the object. Rays can make the film sensitive or excite some materials to emit fluorescence. Rays attenuate according to certain rules during the process of penetrating an object. By using the relationship between the attenuation degree and the ray sensitization or fluorescence excitation, the internal defects of the object can be inspected.

[0003] In the prior art, a traction type pipeline robot is often used for pipeline flaw detection. However, the situations inside the pipeline are various. When moving in a pipeline with a matching size, if an obstacle is encountered, it will affect the passage of the pipeline robot. Summary of the Invention

[0004] The purpose of the present invention is to provide a pipeline robot for assisting flaw detection to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: A pipeline robot for assisting flaw detection includes a first housing and a second housing that are rotatably connected. A motor for driving the rotation of the second housing is provided in the first housing. Traction ropes are connected to the centers of the end faces of the first housing and the second housing that are relatively far away from each other. A probe is embedded on the side of the second housing. A plurality of groups of support feet are provided on the peripheries of the first housing and the second housing. A transmission component for restricting the inclination of the support feet relative to the first housing is drivingly connected to the traction rope connected to one end of the first housing.

[0006] As a further solution of the present invention: The support feet include a bent plate assembled and connected to the side walls of the first housing and the second housing, and a mounting seat rotatably connected to the bent plate. The bent plate is an "L" - shaped plate, and the opening of the bent plate is away from the first housing. Side plates are symmetrically and fixedly connected to both sides of the bent plate. The mounting seat is rotatably connected between the two side plates through a rotating shaft penetrating its lower part. A limiting protrusion is movably penetrated through the bottom of the bent plate. The limiting protrusion is in driving connection with the transmission component, and the limiting protrusion is movably embedded in the bottom of the mounting seat.

[0007] As a further solution of the present invention: A limiting groove is embedded in the bottom of the mounting seat. The limiting groove is embedded in the mounting seat from the side facing the bent plate, and the side of the limiting groove away from the bent plate is closed.

[0008] As a further solution of the present invention: A torsion spring is connected between the mounting seat and the bending plate, and the torsion spring acts to make the mounting seat fit against the vertical side of the bending plate.

[0009] As a further solution of the present invention: At the upper end of the mounting seat located on the periphery of the first housing, a rotating groove is embedded, and a roller is rotatably connected in the rotating groove.

[0010] As a further solution of the present invention: At the upper end of the mounting seat located on the periphery of the second housing, a ball is movably embedded, and the upper sides of the ball and the roller are flush.

[0011] As a further solution of the present invention: The transmission assembly includes a sliding ring slidably embedded in the end of the second housing facing the first housing. A plurality of traction rods are respectively connected to both ends of the sliding ring. The traction rods are arranged in one-to-one correspondence with the support feet, and the traction rods are in transmission connection with the limit protrusions.

[0012] As a further solution of the present invention: One end of the sliding ring is slidably embedded in the end face of the first housing, and the centers of the sliding ring, the first housing, and the second housing are all located on the same axis.

[0013] As a further solution of the present invention: A circular groove is concentrically arranged on the surface of the end of the sliding ring facing the first housing. The traction rod on one side of the first housing is slidably embedded in the first housing, and its end is slidably connected to the circular groove. A split beam is fixedly connected to the end of the traction rod away from the sliding ring, and the split beam is fixedly connected to the traction rope.

[0014] As a further solution of the present invention: A spring is connected between the sliding ring and the second housing.

[0015] As a further solution of the present invention: An embedding groove is embedded on the side of the traction rod facing the limit protrusion. The bottom of the embedding groove is inclined. Guide grooves are symmetrically embedded on both sides inside the embedding groove. The guide grooves are parallel to the bottom of the embedding groove. A transmission rod is connected to the lower end of the limit protrusion, and the end of the transmission rod is slidably adapted to the guide groove.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: during use, support feet of different sizes can be selected according to the inner wall size of the pipeline, so as to facilitate matching. The ends of the support feet can movably abut against the inner wall of the pipeline, and the first housing and the second housing can move through the support feet. The first housing and the second housing can stably move at the central position of the pipeline. With the probe on the second housing, flaw detection can be comprehensively covered under the rotation of the second housing, and the working efficiency is higher. Through the above settings, the passing efficiency of the first housing and the second housing in the pipeline can be improved, thereby avoiding the influence of irregularities existing in the processing of the pipeline or impurities accumulated after long-term use on the passing of the first housing and the second housing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the present invention.

[0018] Figure 2 It is a schematic structural diagram of the bending plate in the present invention.

[0019] Figure 3 It is a schematic connection structure diagram of the mounting seat and the bending plate on the first housing in the present invention.

[0020] Figure 4 It is a schematic structural diagram of the mounting seat on the first housing in the present invention.

[0021] Figure 5 It is a sectional view of the mounting seat on the first housing in the present invention.

[0022] Figure 6 It is a schematic connection structure diagram of the mounting seat and the bending plate on the second housing in the present invention.

[0023] Figure 7 It is a schematic structural diagram of the mounting seat on the second housing in the present invention.

[0024] Figure 8 It is a sectional view of the mounting seat on the second housing in the present invention.

[0025] Figure 9 It is a schematic structural diagram of the limiting protrusion in the present invention.

[0026] Figure 10 It is a schematic connection structure diagram of the transmission component and the second housing in the present invention.

[0027] Figure 11 It is a schematic structural diagram of the transmission component in the present invention.

[0028] Figure 12 It is a sectional view of the towing rod in the present invention.

[0029] In the figure: 1 - First housing, 2 - Second housing, 3 - Support feet, 31 - Bent plate, 3101 - Side plate, 32 - Rotating shaft, 33 - Limiting protrusion, 3301 - Transmission rod, 34 - Mounting seat, 3401 - Rotating groove, 35 - Limiting groove, 36 - Roller, 37 - Ball, 4 - Probe, 5 - Towing rope, 6 - Transmission assembly, 61 - Sliding ring, 62 - Annular groove, 63 - Towing rod, 6301 - Embedded groove, 6302 - Guide groove, 64 - Beam splitting. Detailed implementation manners

[0030] Please refer to Figures 1-11 In an embodiment of the present invention, a pipeline robot for assisting flaw detection includes a first housing 1 and a second housing 2 that are rotatably connected. A motor for driving the second housing 2 to rotate is provided in the first housing 1. Towing ropes 5 are connected to the centers of the end faces of the first housing 1 and the second housing 2 that are relatively far away from each other. The whole of the first housing 1 and the second housing 2 can be towed through the towing ropes 5 to move in the pipeline. A probe 4 is embedded on one side of the second housing 2. Preferably, the towing rope 5 is a cable that can transmit signals, which can supply power and control to the motor and the probe 4. The probe 4 is used for flaw detection of the inner wall of the pipeline. The sensors and corresponding supporting structures used by it are all prior arts and will not be elaborated here. A plurality of groups of support feet 3 are arranged in a circular array around the first housing 1 and the second housing 2 with the axes of the first housing 1 and the second housing 2 as the origin.

[0031] The whole of the first housing 1 and the second housing 2 can be towed through the towing ropes 5 to move in the pipeline. By cooperating with controlling the second housing 2 to rotate relative to the first housing 1, the inner wall of the pipeline can be conveniently covered comprehensively for flaw detection. A plurality of probes 4 can be arranged in a circular array, so that comprehensive information can be obtained. In use, support feet 3 of different sizes can be selected according to the inner wall size of the pipeline, so as to be conveniently matched. The ends of the support feet 3 can movably abut against the inner wall of the pipeline, and the first housing 1 and the second housing 2 can move through the support feet 3. The first housing 1 and the second housing 2 can stably move at the central position of the pipeline. Cooperating with the probe 4 on the second housing 2, flaw detection can be comprehensively covered under the rotation of the second housing 2, and the working efficiency is higher. In order to improve the passing efficiency, when the end of the support foot 3 encounters an obstacle, the towing rope 5 at one end of the first housing 1 releases the limit on the support foot 3 through the transmission assembly 6, and the support foot 3 can be bent to pass through the obstacle. That is, a transmission assembly 6 for restricting the inclination of the support foot 3 relative to the first housing 1 is connected in a transmission manner on the towing rope 5 connected to one end of the first housing 1. Through the above setting, the passing efficiency of the first housing 1 and the second housing 2 in the pipeline can be improved, so as to avoid the influence of the irregularities existing in the processing of the pipeline or the impurities accumulated after long-term use on the passing of the first housing 1 and the second housing 2.

[0032] Among them, as Figure 2 shown, the support foot 3 includes a bent plate 31 assembled and connected to the side walls of the first housing 1 and the second housing 2, and a mounting seat 34 rotatably connected to the bent plate 31. The bent plate 31 is an "L"-shaped plate, and the opening of the bent plate 31 is away from the first housing 1. Side plates 3101 are symmetrically and fixedly connected to both sides of the bent plate 31. The mounting seat 34 is rotatably connected between the side plates 3101 on both sides through a rotating shaft 32 penetrating through its lower part. A limiting protrusion 33 is movably penetrated through the bottom of the bent plate 31. The limiting protrusion 33 is in transmission connection with the transmission assembly 6. The limiting protrusion 33 is movably embedded in the bottom of the mounting seat 34. A limiting groove 35 is embedded in the bottom of the mounting seat 34. The limiting groove 35 is embedded in the mounting seat 34 from the side facing the bent plate 31, and the side of the limiting groove 35 away from the bent plate 31 is closed. During use, the first housing 1 and the second housing 2 can be synchronously moved in the direction of the first housing 1 by the towing rope 5. The limiting protrusion 33 restricts the rotation of the mounting seat 34. When encountering an obstacle, the end of the mounting seat 34 is stressed. Continuing to tow the towing rope 5 can drive the limiting protrusion 33 through the transmission assembly 6 to release the rotation restriction on the mounting seat 34. Thus, the mounting seat 34 can rotate relative to the rotating shaft 32, so that it can pass over the obstacle. Usually, the bent structure of the rotating shaft 32 can prevent the mounting seat 34 from rotating in the opposite direction. The limiting protrusion 33 is inserted into the limiting groove 35. When the mounting seat 34 does not rotate relative to the bent plate 31, the end of the limiting protrusion 33 fits against the side of the limiting groove 35 away from the bent plate 31. This can limit the rotation of the mounting seat 34 relative to the bent plate 31. When the limiting protrusion 33 is driven by the transmission assembly 6 to slide downward and thus disengages from the limiting groove 35, the mounting seat 34 can rotate relative to the bent plate 31. A torsion spring is connected between the mounting seat 34 and the bent plate 31, and the torsion spring acts on the mounting seat 34 to fit against the vertical side of the bent plate 31. In this way, after passing over the obstacle, the mounting seat 34 can be restored to the vertical under the action of the torsion spring, so as to maintain the stable support for the first housing 1 and the second housing 2.

[0033] As Figures 3-5 shown, a rotating groove 3401 is embedded at the upper end of the mounting seat 34 located outside the first housing 1. A roller 36 is rotatably connected in the rotating groove 3401. A rubber ring is sleeved on the surface of the roller 36. The roller 36 can roll when it fits against the inner wall of the pipeline, and the rolling direction is the same as the moving direction of the first housing 1 and the second housing 2. When the second housing 2 is rotated by a motor, the roller 36 on the first housing 1 can prevent the first housing 1 from shaking. In this way, when it is necessary to detect a specific area and it is necessary to stabilize the first housing 1 and then drive the probe 4 on the second housing 2 to collect targeted information, it can be more stable and not prone to shaking.

[0034] As Figures 6-8 shown, a ball 37 is movably embedded at the upper end of the mounting seat 34 located outside the second housing 2. The ball 37 is flush with the upper side of the roller 36. The first housing 1 and the second housing 2 can be moved through the roller 36 and the ball 37. When the motor on the first housing 1 drives the second housing 2 to rotate, the ball 37 can roll in all directions, so no obstruction will be generated, thus facilitating the rotational adjustment of the second housing 2.

[0035] Further, as Figures 9-12As shown in the figure, the transmission assembly 6 includes a sliding ring 61 slidably embedded in the end of the second housing 2 facing the first housing 1. One end of the sliding ring 61 is slidably embedded in the end face of the first housing 1. The centers of the sliding ring 61, the first housing 1, and the second housing 2 are all located on the same axis. A plurality of traction rods 63 are respectively connected to both ends of the sliding ring 61. The traction rods 63 are arranged in one-to-one correspondence with the support feet 3, and the traction rods 63 are in driving connection with the limiting protrusions 33. When the sliding ring 61 and the traction rods 63 move synchronously towards the first housing 1, the limiting protrusions 33 can be driven to move away from the limiting grooves 35, thereby releasing the restriction on the rotation of the mounting seat 34. A circular groove 62 is concentrically arranged on the surface of the end of the sliding ring 61 facing the first housing 1. The traction rods 63 on the side of the first housing 1 are slidably embedded in the first housing 1, and their ends are slidably connected to the circular groove 62. A beam splitter 64 is fixedly connected to the end of the traction rod 63 away from the sliding ring 61. The beam splitter 64 is fixedly connected to the traction rope 5. When the traction rope 5 pulls the beam splitter 64, the sliding ring 61 can be driven to slide into the first housing 1 relatively, and the traction rods 63 at both ends of the sliding ring 61 are synchronously pulled to slide in the first housing 1 and the second housing 2 respectively, so as to drive the limiting protrusions 33 on the first housing 1 and the second housing 2 to release the rotation restriction on the mounting seat 34. Preferably, a spring is connected between the sliding ring 61 and the second housing 2. When the sliding ring 61 slides towards the first housing 1, the spring is stretched, that is, only when there is an obstacle at the mounting seat 34, the traction of the traction rope 5 will stretch the spring. Otherwise, the traction rope 5 will only drive the first housing 1 and the second housing 2 to move synchronously. When the first housing 1 and the second housing 2 rotate relative to each other, the end of the traction rod 63 located in the first housing 1 can slide on the circular groove 62, thus not affecting the use of the sliding ring 61. An embedding groove 6301 is embedded on the side of the traction rod 63 facing the limiting protrusion 33. The bottom of the embedding groove 6301 is inclined. Guide grooves 6302 are symmetrically embedded on both sides in the embedding groove 6301. The guide grooves 6302 are parallel to the bottom of the embedding groove 6301. A transmission rod 3301 is connected to the lower end of the limiting protrusion 33. The end of the transmission rod 3301 is slidably adapted to the guide groove 6302. Through this setting, when the traction rod 63 moves towards the first housing 1, the end of the transmission rod 3301 can gradually slide along the guide groove 6302 to the bottom of the embedding groove 6301, thereby pulling the limiting protrusion 33 to move away from the bending plate 31, and then disengaging from the limiting groove 35, realizing the release of the rotation restriction on the mounting seat 34.

[0036] The working principle of the present invention is as follows: When in use, the first housing 1 and the second housing 2 can be pulled towards the direction of the first housing 1 through the towing rope 5, so as to use the probe 4 to detect the inner wall within the pipeline. At a targeted position, the motor in the first housing 1 can be started to drive the second housing 2 to rotate, thereby adjusting the angular position of the probe 4, and then obtaining better detection coverage. The settings of the rollers 36 and the balls 37 can maintain the stability of the movement, and when the second housing 2 rotates, the roller 36 can maintain the stability of the first housing 1, while the ball 37 can keep the rotation of the second housing 2 flexible. During the towing process, if an obstacle is encountered and the towing of the towing rope 5 cannot make the roller 36 at the end of the mounting seat 34 pass through, when the towing rope 5 increases the traction force, the sliding ring 61 can be driven to move through the beam splitting 64, so that the towing rods 63 located within the first housing 1 and the second housing 2 are both driven to slide in the moving direction of the first housing 1, thereby pulling the limiting protrusion 33 away from the bending plate 31, and then disengaging from the limiting groove 35, realizing the release of the rotation restriction on the mounting seat 34. The mounting seat 34 rotates relative to the bending plate 31 to bypass the obstacle, and the mounting seat 34 that has not contacted the obstacle will not be affected. After bypassing the obstacle, the mounting seat 34 returns to its original position under the action of the torsion spring. At the same time, the sliding ring 61 is also stretched by the spring to return to its original position, and the end of the limiting protrusion 33 enters the limiting groove 35 again under the push of the towing rod 63, realizing the rotation restriction on the mounting seat 34 again.

Claims

1. A pipeline robot for assisting flaw detection, comprising a first shell and a second shell connected in rotation, wherein the centers of the relatively distant end surfaces of the first shell and the second shell are both connected with a traction rope, and a probe is embedded in the side surface of the second shell, characterized in that: The first shell is provided with a motor for driving the second shell to rotate, and multiple groups of supporting feet are arranged on the periphery of the first shell and the second shell. A transmission component for limiting the tilting of the supporting feet relative to the first shell is connected to the traction rope connected to one end of the first shell.

2. A pipeline robot for assisting flaw detection according to claim 1, characterized in that: The supporting foot includes a bending plate assembled and connected to the side walls of the first shell and the second shell, and a mounting seat rotatably connected to the bending plate, the bending plate is an "L"-shaped plate, the bending opening of the bending plate is away from one side of the first shell, and side plates are symmetrically and fixedly connected on both sides of the bending plate. The mounting seat is rotatably connected between the side plates on both sides through a rotating shaft passing through the lower part thereof, and a limiting protrusion is movably provided at the bottom of the bending plate, the limiting protrusion is transmission-connected to the transmission assembly, and the limiting protrusion is movably embedded in the bottom of the mounting seat.

3. A pipeline robot for assisting flaw detection according to claim 2, characterized in that: A limiting groove is embedded in the bottom of the mounting seat, the limiting groove is embedded in the mounting seat from the side facing the bending plate, and the limiting groove is closed away from the side of the bending plate.

4. A pipeline robot for assisting flaw detection according to claim 3, characterized in that: A torsion spring is connected between the mounting seat and the bending plate, and the torsion spring acts on the mounting seat to fit a vertical side of the bending plate.

5. The pipeline robot for assisting flaw detection according to claim 4, characterized in that: A rotation groove is embedded in the upper end of the mounting seat located at the periphery of the first shell, and a roller is rotatably connected in the rotation groove.

6. The pipeline robot for assisting flaw detection according to claim 5, characterized in that: A ball is movably embedded in the upper end of the mounting seat located at the periphery of the second shell, and the ball is flush with the upper side of the roller.

7. The pipeline robot for assisting flaw detection according to claim 6, characterized in that: The transmission assembly includes a sliding ring slidably embedded in the second shell end facing the first shell, and multiple traction rods are respectively connected to both ends of the sliding ring. The traction rods and the supporting feet are arranged in a one-to-one correspondence, and the traction rods and the limiting protrusions are transmission-connected.

8. The pipeline robot for assisting flaw detection according to claim 7, characterized in that: One end of the sliding ring is slidably embedded in the end surface of the first shell, and the centers of the sliding ring, the first shell and the second shell are all located on an axis.

9. The pipeline robot for assisting flaw detection according to claim 7, characterized in that: An annular groove is concentrically arranged on one end surface of the sliding ring facing the first shell, and a traction rod located on one side of the first shell is slidably embedded in the first shell, and its end is slidably connected to the annular groove, and a split beam is fixedly connected to the end of the traction rod away from the sliding ring, and the split beam is fixedly connected to the traction rope.

10. The pipeline robot for assisting flaw detection according to claim 9, characterized in that: The traction rod is embedded with an embedding groove on one side facing the limiting protrusion, the bottom of the embedding groove is inclined, guide grooves are symmetrically embedded on both sides of the embedding groove, the guide grooves and the bottom of the embedding groove are parallel, and a transmission rod is connected to the lower end of the limiting protrusion, and the end of the transmission rod is slidably adapted to the guide groove.

Images