A pipeline robot for assisting in flaw detection

Abstract

This invention discloses a pipeline robot for assisting in flaw detection, comprising a first housing and a second housing rotatably connected. The first housing houses a motor for driving the rotation of the second housing. Traction ropes are connected to the centers of the relatively distant end faces of both the first and second housings. A probe is embedded in the side of the second housing. Multiple sets of support legs are provided around the periphery of both the first and second housings. A transmission component for limiting the tilting of the support legs relative to the first housing is driven onto the traction rope connected to one end of the first housing. This invention can improve the throughput efficiency of the first and second housings within a pipeline, thereby preventing irregularities in the pipeline caused by processing or impurities accumulated over long-term use from affecting the passage of the first and second housings.

Description

Technical Field

[0001] This invention relates to the field of pipeline flaw detection technology, specifically a pipeline robot that assists in flaw detection. Background Technology

[0002] Pipeline flaw detection is a method for inspecting the quality of pipe joints. It generally refers to non-destructive testing, specifically radiographic testing, to examine whether the internal quality of welded joints is up to standard. Radiographic testing utilizes the penetration of rays into an object to detect internal defects. Rays can expose photographic film or excite certain materials to fluoresce. Rays attenuate according to a specific pattern as they penetrate an object; the relationship between this attenuation and the exposure to light or fluorescence can be used to inspect for internal defects.

[0003] In existing technologies, towed pipeline robots are often used for pipeline flaw detection. However, the conditions inside pipelines vary, and if obstacles are encountered when moving within a pipeline of the same size, it will affect the passage of the pipeline robot. Summary of the Invention

[0004] The purpose of this invention is to provide a pipeline robot for assisting in flaw detection, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A pipeline robot for assisting in flaw detection includes a first housing and a second housing that are rotatably connected. The first housing is equipped with a motor for driving the second housing to rotate. A traction rope is connected to the center of the relatively far end faces of the first housing and the second housing. A probe is embedded in the side of the second housing. Multiple sets of support feet are provided around the periphery of the first housing and the second housing. A transmission component for limiting the tilt of the support feet relative to the first housing is transmitted to the traction rope connected to one end of the first housing.

[0007] As a further aspect of the present invention: the support foot includes 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, with the opening of the bent plate away from the side of 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 passing through its lower part. A limiting protrusion is movably provided through the bottom of the bent plate. The limiting protrusion is pulsatorically connected to the transmission assembly. The limiting protrusion is movably embedded in the bottom of the mounting seat.

[0008] As a further embodiment of the present invention: a limiting groove is embedded in the bottom of the mounting base, the limiting groove is embedded in the mounting base from the side facing the bending plate, and the side of the limiting groove away from the bending plate is closed.

[0009] As a further aspect of the present invention: a torsion spring is connected between the mounting base and the bending plate, and the torsion spring acts on the mounting base to fit against the vertical side of the bending plate.

[0010] As a further aspect of the present invention: a rotating groove is embedded in the upper end of the mounting base located on the periphery of the first housing, and a roller is rotatably connected in the rotating groove.

[0011] As a further aspect of the present invention: a ball bearing is movably embedded in the upper end of the mounting base located on the periphery of the second housing, and the ball bearing is flush with the upper side of the roller.

[0012] As a further embodiment of the present invention: the transmission assembly includes a sliding ring slidably embedded in the second housing facing the end of the first housing, and multiple traction rods are respectively connected to both ends of the sliding ring. The traction rods and the support feet are respectively arranged in a one-to-one correspondence, and the traction rods and the limiting protrusions are connected in a transmission manner.

[0013] As a further aspect 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.

[0014] As a further embodiment of the present invention: an annular groove is concentrically provided on the surface of the sliding ring facing the first housing; the traction rod located on one side of the first housing is slidably embedded in the first housing, and its end is slidably connected to the annular groove; a bundle is fixedly connected to the end of the traction rod away from the sliding ring; and the bundle is fixedly connected to the traction rope.

[0015] As a further aspect of the present invention, a spring is connected between the sliding ring and the second housing.

[0016] As a further embodiment of the present invention: the traction rod is embedded in an embedding groove on the side facing the limiting protrusion, the bottom of the embedding groove is inclined, and guide grooves are symmetrically embedded on both sides of the embedding groove. The guide grooves and the bottom of the embedding groove are parallel to each other. 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.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: In use, support feet of different sizes can be selected according to the inner wall size of the pipe, thus facilitating matching. The ends of the support feet can movably abut against the inner wall of the pipe, and the first and second housings can move via the support feet. The first and second housings can move stably at the center position of the pipe. Combined with the probe on the second housing, flaw detection can be performed with full coverage as the second housing rotates, resulting in higher efficiency during operation. Through the above configuration, the passage efficiency of the first and second housings within the pipe can be improved, thereby preventing irregularities in the pipe during processing or impurities accumulated over long-term use from affecting the passage of the first and second housings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention.

[0019] Figure 2 This is a schematic diagram of the structure of the bent plate in this invention.

[0020] Figure 3 This is a schematic diagram of the connection structure between the mounting base and the bent plate located on the first housing in this invention.

[0021] Figure 4 This is a schematic diagram of the mounting base located on the first housing in this invention.

[0022] Figure 5 This is a cross-sectional view of the mounting base located on the first housing in this invention.

[0023] Figure 6 This is a schematic diagram of the connection structure between the mounting base and the bent plate located on the second housing in this invention.

[0024] Figure 7 This is a schematic diagram of the mounting base located on the second housing in this invention.

[0025] Figure 8 This is a cross-sectional view of the mounting base located on the second housing in this invention.

[0026] Figure 9 This is a schematic diagram of the limiting protrusion in the present invention.

[0027] Figure 10 This is a schematic diagram of the connection structure between the transmission component and the second housing in this invention.

[0028] Figure 11 This is a schematic diagram of the transmission component in this invention.

[0029] Figure 12 This is a cross-sectional view of the traction rod in this invention.

[0030] In the diagram: 1-First housing, 2-Second housing, 3-Support foot, 31-Bending plate, 3101-Side plate, 32-Rotating shaft, 33-Limiting protrusion, 3301-Transmission rod, 34-Mounting base, 3401-Rotating groove, 35-Limiting groove, 36-Roller, 37-Ball, 4-Probe, 5-Traction rope, 6-Transmission assembly, 61-Sliding ring, 62-Annular groove, 63-Traction rod, 6301-Embedding groove, 6302-Guide groove, 64-Bundle splitter. Detailed Implementation

[0031] Please see Figures 1-11 In this embodiment of the invention, a pipeline robot for assisting in flaw detection includes a first housing 1 and a second housing 2 rotatably connected. The first housing 1 houses a motor for driving the rotation of the second housing 2. Traction ropes 5 are connected to the centers of the relatively distant end faces of the first housing 1 and the second housing 2, allowing the entire first housing 1 and the second housing 2 to move within the pipeline. A probe 4 is embedded in one side of the second housing 2. Preferably, the traction rope 5 is a cable capable of transmitting signals, providing power and control to the motor and the probe 4. The probe 4 is used for flaw detection on the inner wall of the pipeline. The sensors and corresponding supporting structures used are existing technologies and will not be described in detail here. Multiple sets of support legs 3 are arranged in a circular array around the periphery of both 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.

[0032] The first housing 1 and the second housing 2 can be moved together within the pipe by the traction rope 5. This, combined with the control of the rotation of the second housing 2 relative to the first housing 1, facilitates comprehensive flaw detection of the pipe's inner wall. Multiple probes 4 can be arranged in a circular array to obtain comprehensive information. During use, different sized support legs 3 can be selected according to the pipe's inner wall dimensions for easy matching. The ends of the support legs 3 can move and abut against the pipe's inner wall, allowing the first housing 1 and the second housing 2 to move stably at the center of the pipe. With the probes 4 on the second housing 2, comprehensive flaw detection can be performed under the rotation of the second housing 2, resulting in higher efficiency. To improve throughput, when the end of the support leg 3 encounters an obstacle, the traction rope 5 at one end of the first housing 1 releases the restriction on the support leg 3 via the transmission assembly 6, allowing the support leg 3 to bend and pass through the obstacle. Specifically, the traction rope 5 connected to one end of the first housing 1 is connected to the transmission assembly 6 to limit the tilt of the support leg 3 relative to the first housing 1. The above configuration can improve the throughput efficiency of the first housing 1 and the second housing 2 in the pipeline, thereby preventing irregularities in the pipeline or impurities accumulated after long-term use from affecting the throughput of the first housing 1 and the second housing 2.

[0033] Among them, such as Figure 2 As 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, with the opening of the bent plate 31 away from the first housing 1. Side plates 3101 are symmetrically 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 passing through its lower part. A limiting protrusion 33 is movably provided through the bottom of the bent plate 31. The limiting protrusion 33 is connected to 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. In use, the first housing 1 and the second housing 2 can be moved synchronously towards the first housing 1 by the traction rope 5. The limiting protrusion 33 restricts the rotation of the mounting base 34. When an obstacle is encountered, the end of the mounting base 34 is subjected to force, and continued traction of the traction rope 5 will drive the limiting protrusion 33 through the transmission component 6 to release the rotation restriction on the mounting base 34. Thus, the mounting base 34 can rotate relative to the rotating shaft 32, thereby passing over the obstacle. Normally, the bent structure of the rotating shaft 32 can prevent the mounting base 34 from rotating in the opposite direction. The limiting protrusion 33 is inserted into the limiting groove 35. When the mounting base 34 is not rotating relative to the bent plate 31, the end of the limiting protrusion 33 is attached to the side of the limiting groove 35 away from the bent plate 31, which can restrict the rotation of the mounting base 34 relative to the bent plate 31. When the limiting protrusion 33 is driven downward by the transmission component 6 and thus disengages from the limiting groove 35, the mounting base 34 can rotate relative to the bent plate 31. A torsion spring connects the mounting base 34 and the bending plate 31. The torsion spring acts on the vertical side of the mounting base 34 that is in contact with the bending plate 31. In this way, after passing over an obstacle, the mounting base 34 can return to a vertical position under the action of the torsion spring, thereby maintaining stable support for the first housing 1 and the second housing 2.

[0034] like Figures 3-5 As shown, a rotating groove 3401 is embedded in the upper end of the mounting base 34 located on the periphery of the first housing 1. A roller 36 is rotatably connected in the rotating groove 3401. The surface of the roller 36 is covered with a rubber ring. When the roller 36 is in contact with the inner wall of the pipe, it can roll in the same direction as the movement direction of the first housing 1 and the second housing 2. When the second housing 2 is driven to rotate by the motor, the roller 36 on the first housing 1 can prevent the first housing 1 from shaking. This makes it more stable and less prone to shaking when it is necessary to perform flaw detection on a specific area and to drive the probe 4 on the second housing 2 to collect targeted information after stabilizing the first housing 1.

[0035] like Figures 6-8 As shown, a ball bearing 37 is movably embedded in the upper end of the mounting base 34 located on the periphery of the second housing 2. The ball bearing 37 is flush with the upper side of the roller 36. The first housing 1 and the second housing 2 can move through the roller 36 and the ball bearing 37. When the motor on the first housing 1 drives the second housing 2 to rotate, the ball bearing 37 can roll in all directions without obstruction, thus facilitating the rotation and adjustment of the second housing 2.

[0036] Furthermore, such as Figures 9-12As shown, 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. Multiple traction rods 63 are respectively connected to both ends of the sliding ring 61. The traction rods 63 and the support feet 3 are respectively arranged in a one-to-one correspondence. The traction rods 63 are pulsatorically connected to the limiting protrusions 33. When the sliding ring 61 and the traction rods 63 move synchronously towards the first housing 1, they can drive the limiting protrusions 33 away from the limiting grooves 35, thereby freeing them from the restriction on the rotation of the mounting base 34. The sliding ring 61 has an annular groove 62 concentrically provided on the surface of one end facing the first housing 1. The traction rod 63 located on one side of the first housing 1 is slidably embedded in the first housing 1, and its end is slidably connected to the annular groove 62. The end of the traction rod 63 away from the sliding ring 61 is fixedly connected to a bundle 64. The bundle 64 is fixedly connected to the traction rope 5. When the traction rope 5 pulls the bundle 64, it can drive the sliding ring 61 to slide into the first housing 1, and simultaneously pull the traction rods 63 at both ends of the sliding ring 61 to slide in the first housing 1 and the second housing 2 respectively, thereby causing the limiting protrusions 33 on the first housing 1 and the second housing 2 to release the rotation restriction on the mounting base 34. Preferably, a spring connects 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, the traction rope 5 will only stretch the spring when it encounters an obstacle at the mounting base 34. Otherwise, the traction rope 5 will only pull the first housing 1 and the second housing 2 to move synchronously. When the sliding ring 61 rotates relative to the first housing 1 and the second housing 2, the end of the traction rod 63 located in the first housing 1 can slide on the annular groove 62, thus not affecting the use of the sliding ring 61. The traction rod 63 is embedded in an embedding groove 6301 on the side facing the limiting protrusion 33. The bottom of the embedding groove 6301 is inclined. Guide grooves 6302 are symmetrically embedded on both sides of the embedding groove 6301. The bottom of the guide groove 6302 is 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. With this configuration, when the traction rod 63 moves toward the first housing 1, the end of the transmission rod 3301 can gradually slide along the guide groove 6302 to the bottom of the embedded groove 6301, thereby pulling the limiting protrusion 33 to move away from the bending plate 31, and then disengaging from the limiting groove 35, thus releasing the rotation restriction on the mounting base 34.

[0037] The working principle of this invention is as follows: In use, the first housing 1 and the second housing 2 can be moved towards the first housing 1 by the traction rope 5, so that the probe 4 can be used to detect flaws on the inner wall of the pipe. At the targeted position, the motor in the first housing 1 can be started to drive the second housing 2 to rotate, thereby adjusting the angle position of the probe 4 and thus obtaining better detection coverage. The setting of the roller 36 and the ball 37 can maintain the stability of the movement. When the second housing 2 rotates, the roller 36 can maintain the stability of the first housing 1, while the ball 37 can maintain the flexibility of the rotation of the second housing 2. During the traction process, if an obstacle is encountered and the traction rope 5 cannot allow the roller 36 at the end of the mounting base 34 to pass, the traction rope 5 increases its traction force. This allows the sliding ring 61 to move via the bundle 64, thereby causing the traction rods 63 located in the first housing 1 and the second housing 2 to slide in the direction of movement of the first housing 1. This pulls the limiting protrusion 33 away from the bending plate 31 and then disengages it from the limiting groove 35, thus releasing the rotation restriction on the mounting base 34. The mounting base 34 then passes over the obstacle by rotating relative to the bending plate 31, while the mounting base 34 that is not in contact with the obstacle remains unaffected. After passing over the obstacle, the mounting base 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. The end of the limiting protrusion 33 returns to the limiting groove 35 under the push of the traction rod 63, thus again restricting the rotation of the mounting base 34.

Claims

1. A pipeline robot for assisting in flaw detection, comprising a first housing and a second housing rotatably connected, wherein traction ropes are connected to the centers of the relatively distant end faces of the first housing and the second housing, and a probe is embedded in the side of the second housing, characterized in that, The first housing is equipped with a motor for driving the second housing to rotate. Both the first housing and the second housing are provided with multiple sets of support feet. A transmission component for limiting the tilt of the support feet relative to the first housing is connected to a traction rope at one end of the first housing. The support foot includes a bent plate assembled and connected to the side walls of the first housing and the second housing, and a mounting base rotatably connected to the bent plate. The bent plate is an "L" shaped plate, with the opening of the bent plate away from the side of the first housing. Side plates are symmetrically fixedly connected to both sides of the bent plate. The mounting base is rotatably connected between the two side plates through a rotating shaft passing through its lower part. A limiting protrusion is movably provided through the bottom of the bent plate. The limiting protrusion is pulsatorically connected to the transmission assembly. The limiting protrusion is movably embedded in the bottom of the mounting base. The bottom of the mounting base is embedded with a limiting groove, which is embedded into the mounting base from the side facing the bending plate, and the side of the limiting groove away from the bending plate is closed. A torsion spring is connected between the mounting base and the bending plate, and the torsion spring acts on the side of the mounting base that is in contact with the vertical side of the bending plate. A rotating groove is embedded in the upper end of the mounting base located on the periphery of the first housing, and a roller is rotatably connected in the rotating groove; A ball bearing is movably embedded in the upper end of the mounting base located on the periphery of the second housing, and the ball bearing is flush with the upper side of the roller; The transmission assembly includes a sliding ring that is slidably embedded in the second housing at the end facing the first housing. Multiple traction rods are respectively connected to both ends of the sliding ring. The traction rods and the support feet are arranged in a one-to-one correspondence. The traction rods and the limiting protrusions are connected in a transmission manner.

2. The pipeline robot for assisting flaw detection according to claim 1, characterized in that, 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.

3. The pipeline robot for assisting flaw detection according to claim 1, characterized in that, The sliding ring has a concentric annular groove on one end surface facing the first housing. The traction rod located on one side of the first housing is slidably embedded in the first housing, and its end is slidably connected to the annular groove. The end of the traction rod away from the sliding ring is fixedly connected to a bundle, and the bundle is fixedly connected to the traction rope.

4. The pipeline robot for assisting flaw detection according to claim 3, characterized in that, The traction rod is embedded in an embedding groove on the 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 bottom of the guide groove and the embedding groove are parallel. A transmission rod is connected to the lower end of the limiting protrusion. The end of the transmission rod is slidably adapted to the guide groove.

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