Pipeline detector

Abstract

The invention relates to the technical field of pipeline detection, in particular to a pipeline detector which comprises four stand plates and further comprises a first driving mechanism, a magnetic powder spraying detection mechanism and a second driving mechanism, the four stand plates are evenly distributed around the first driving mechanism, and the first driving mechanism is used for driving the stand plates to synchronously move and adjust in the axial direction of a to-be-detected pipeline. A walking mechanism is arranged at one end of each stand bedplate, a universal rolling ball is arranged at the other end of each stand bedplate, and a magnetic powder spraying detection mechanism is arranged in the middle. The walking wheels in rigid connection are matched with the universal rolling balls to make contact with the inner wall of the pipeline, a spring buffering structure is abandoned, the maintenance problem caused by spring fatigue failure and elasticity attenuation is solved, and the situation that the attachment degree of the walking wheels and the inner wall of the pipeline is reduced after long-term use can be avoided; the steering adjustment of the four walking wheels is synchronously controlled by a single power source through the second driving mechanism, accurate switching of the walking mode and the rotating mode is ensured, and the problems of energy consumption and maintenance caused by a multi-driving system are solved.

Description

Technical Field

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

[0002] The magnetic particle inspection technology for the inner wall of pipelines is a new type of pipeline detection technology in recent years. It is used for non-destructive inspection of the surface and near-surface defects of the inner wall of magnetic material pipelines, solving the problem that it is relatively difficult to detect the inside of pipelines. By applying a magnetic field to the inner wall of the pipeline to magnetize it, when there are defects such as cracks, folds, and pores, a leakage magnetic field will be generated at the defect, adsorbing the applied magnetic powder to form obvious magnetic marks, thereby visually showing the position, shape, and size of the defects.

[0003] Referring to the invention patent with the authorized announcement number CN117554470B, it discloses a magnetic particle inspection device for the inner wall of pipelines. The inspection device is provided with a buffer rod connected to a transmission block inside a buffer groove, a top spring is sleeved outside the buffer rod, and a buffer spring is arranged between the buffer rod and the buffer groove. When the driving wheel is close to the inner wall of the pipeline, the top spring and the buffer spring are compressed to generate elastic forces, which act on the driving wheel to increase the friction force between the driving wheel and the inner wall of the pipeline, facilitating the movement of the main body of the device. Moreover, during the movement of the main body of the device, these two springs can play a buffering role, preventing the jitter when the driving wheel passes through the weld from being transmitted to the high-definition camera.

[0004] However, in the above device, the spring is a vulnerable part. After long-term use, due to fatigue failure or contamination by dust and magnetic powder, its elasticity decays, and it needs to be regularly maintained and replaced. In addition, the self-weight of the device may cause the compression amount of the lower spring to be slightly larger. Under long-term heavy load, the spring produces plastic deformation, resulting in a decrease in the fitting degree between the driving wheel and the inner edge wall of the pipeline, and frequent calibration is required, with high maintenance costs. Summary of the Invention

[0005] The purpose of the present invention is to provide a pipeline detector to solve the technical problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions.

[0007] The pipeline detector includes four support plates, and also includes a first driving mechanism, a magnetic powder spraying and detecting mechanism, and a second driving mechanism. The four support plates are evenly distributed around the first driving mechanism. The first driving mechanism is used to drive the support plates to synchronously move and adjust along the axial direction of the pipeline to be detected respectively. A traveling mechanism is provided at one end of each support plate, a universal rolling ball is provided at the other end, and a magnetic powder spraying and detecting mechanism is provided in the middle. The traveling mechanism includes traveling wheels installed on the support plates. The traveling wheels and the universal rolling balls on the same support plate can simultaneously roll and contact the inner wall of the pipeline to be detected; The second driving mechanism is arranged on the first driving mechanism and located between the four gantry plates, and is used to drive the synchronous swing and commutation adjustment of each walking wheel. When the axes of the walking wheels are adjusted to be parallel to the axis of the pipeline to be detected, the whole detector can rotate around the axis of the pipeline to be detected. When the axes of the walking wheels are adjusted to be perpendicular to the axis of the pipeline to be detected, the whole detector can move along the axial direction of the pipeline to be detected.

[0008] Preferably, the magnetic particle spraying detection mechanism includes a box body, a high-definition camera, a black light lamp and a nozzle. The box body is fixedly installed on the gantry plate at the position between the walking wheels and the universal balls. A partition is fixed inside the box body to divide the box body into two compartments. A high-definition camera and a black light lamp are respectively installed in one of the compartments, and a nozzle is installed in the other compartment. A liquid supply mechanism is also arranged on the first driving mechanism, and the liquid supply mechanism is used to supply fluorescent magnetic suspension liquid to each nozzle.

[0009] Preferably, side plates are installed on the side of the box body, and soft bristles are evenly distributed on the side plates. A fan module is installed on the side of the box body, and the fan module is used to suck external air into the compartment where the high-definition camera is located.

[0010] Preferably, the walking mechanism further includes a U-shaped frame, a shaft rod and a second driving motor. The U-shaped frame is installed on the gantry plate, the shaft rod is rotatably installed on the U-shaped frame, the walking wheel is fixedly sleeved on the shaft rod, the second driving motor is fixed on the side of the U-shaped frame, and the output shaft is fixedly corresponding to one end of the shaft rod. An installation seat is fixed on the side of the gantry plate far from the shaft rod. A spherical cavity is arranged on the installation seat, and the universal ball is embedded in the spherical cavity and partially exposed to the outside.

[0011] Preferably, the first driving mechanism includes a guide rod, side seats, a bidirectional threaded rod, a first driving motor, a nut seat and a traction arm. The guide rod is fixed between the two side seats, the bidirectional threaded rod is rotatably installed between the two side seats, the first driving motor is fixed on one of the side seats, and the output shaft is fixedly connected to one end of the bidirectional threaded rod. Two nut seats are slidably sleeved on the guide rod; The two nut seats are symmetrically thread-matched and sleeved on both sides of the bidirectional threaded rod. The cross section of the nut seat is square. The four gantry plates respectively correspond to the four sides of the nut seat one by one. Traction arms are respectively installed on the four side surfaces of the two nut seats through hinge seats, and the traction arms on the same side surface of the two nut seats and the corresponding gantry plates are all hinged through hinge seats.

[0012] Preferably, the second driving mechanism includes a circular shell, a transmission rod, and a driving device. The circular shell is sleeved on the guide rod and the bidirectional threaded rod. Four transmission rods are evenly distributed on the circular shell. Each transmission rod penetrates through the corresponding side of the gantry plate. The driving device is arranged inside the circular shell and is used to drive the four transmission rods to rotate synchronously. A rotating shaft is rotatably installed on each gantry plate. The U-shaped frames are respectively fixed to the ends of the corresponding rotating shafts. A gear A is fixedly sleeved on each rotating shaft. A gear B is fixedly sleeved on the end of each transmission rod. The gear B meshes with the corresponding gear A.

[0013] Preferably, the driving device includes a third driving motor fixed on the inner wall of the circular shell, a driving gear fixed on the output shaft of the third driving motor, a driven gear ring rotatably installed on the inner edge wall of the circular shell, a bevel gear ring fixed on the driven gear ring, and a bevel gear fixed on the end of each transmission rod extending through the circular shell. Among them, the driving gear meshes with the driven gear ring correspondingly. Each bevel gear meshes with the bevel gear ring correspondingly. Among them, the third driving motor is a worm and worm gear motor.

[0014] Preferably, the transmission rod is composed of a rod A, a sliding rod, and a rod B. The rod A correspondingly penetrates through the circular shell and is rotatably connected with the circular shell. The bevel gear is fixed on the end of the rod A located inside the circular shell. A sliding hole extending along its length direction is arranged on the outer end face of the rod A; One end of the sliding rod is slidably inserted into the sliding hole in a matching manner, and a rod B is fixed at the other end. The rod B penetrates through the gantry plate and is rotatably connected with the gantry plate. The gear B is fixed on the end of the rod B. Among them, the sliding rod is a rectangular rod, and the cross section of the sliding hole is in a rectangular shape adapted to the sliding rod.

[0015] Preferably, the liquid supply mechanism includes a storage tank, an annular shell, a diversion pipe, a water pump, and a liquid supply pipe. A storage tank is arranged on one side of one of the side seats, and an annular shell is fixed on the other side. One end of the diversion pipe is communicated with the annular shell, and the other end is connected with the water pump arranged inside the storage tank. Four liquid supply pipes are communicated with the annular shell. Each liquid supply pipe is respectively communicated with the corresponding nozzle.

[0016] Preferably, the water pump is installed on the inner end wall of one side of the storage tank. A pull rod is inserted through and slidably on the side of the storage tank far from the water pump. A piston is installed in the storage tank in a matching manner. The piston is fixed to the end of the pull rod located inside the storage tank. A return spring is sleeved outside the pull rod. One end of the return spring is fixed to the piston, and the other end is fixed to the inner end wall of the storage tank. A filling port is arranged on the outer peripheral wall of the storage tank and close to the water pump.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows.

[0018] The inner wall of the pipeline is contacted by the walking wheels connected rigidly and the universal rolling balls, discarding the spring buffer structure, eliminating the maintenance problems caused by spring fatigue failure and elastic attenuation, and avoiding the decrease in the fitting degree between the walking wheels and the inner wall of the pipeline after long-term use; The first driving mechanism is used to drive the radial contraction of the platform plate. Two walking wheels and two universal rolling balls form four-point rigid contact with the inner wall of the pipeline, and the other two walking wheels and universal rolling balls do not contact the inner wall of the pipeline, so that there is room for movement of the detector both vertically and horizontally, and then the self-adaptive crossing of the pipeline weld bulge is realized without the intervention of additional power; The second driving mechanism is used to realize the steering adjustment of four walking wheels synchronously controlled by a single power source, ensuring both the accurate switching between the walking and rotating modes and avoiding the energy consumption and maintenance problems brought by the multi-driving system; The two nut seats are driven to approach or move away from each other by a bidirectional threaded rod, and the design of the traction arm pulling the platform plate is used to realize the synchronous radial reciprocating translation adjustment of the four platform plates, ensuring both the self-centering function of the detector and the detection requirements adaptable to different pipe diameters, and significantly improving the versatility of the equipment; Through the elastic reset mechanism of the piston cooperating with the reset spring, the continuous and stable supply of the fluorescent magnetic suspension liquid is ensured at any rotation angle, effectively solving the problem of the interruption of the detection liquid supply caused by the strong azimuth dependence of the traditional liquid supply system. Brief Description of the Drawings

[0019] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention; Figure 2 It is a detailed structural schematic diagram of the first driving mechanism in the present invention; Figure 3 It is a partial structural schematic diagram on the platform plate of the present invention; Figure 4 It is a detailed structural installation schematic diagram of the walking mechanism in the present invention; Figure 5 It is an installation schematic diagram of the circular shell structure in the present invention; Figure 6 It is Figure 5 The schematic cross-sectional view of the structure shown; Figure 7 It is Figure 6 The enlarged schematic diagram of the structure at A in Figure 8 It is a detailed structural schematic diagram of the transmission rod in the present invention; Figure 9 It is a structural schematic diagram of the liquid supply mechanism in the present invention; Figure 10 It is a schematic diagram of the internal structure of the storage tank; Figure 11This is a schematic structural distribution diagram for obstacle avoidance when the device encounters a welding protrusion in the pipeline to be detected; Figure 12 This is a schematic diagram when the device walks along the length direction of the pipeline to be detected; Figure 13 This is a schematic diagram when the device rotates around the axial direction of the pipeline to be detected.

[0020] In the figure: 01, pipeline to be detected; 1, mounting plate; 11, mounting seat; 111, spherical cavity; 12, universal rolling ball; 2, first driving mechanism; 21, guide rod; 22, side seat; 23, bidirectional threaded rod; 24, first driving motor; 25, nut seat; 26, traction arm; 3, walking mechanism; 31, U-shaped frame; 32, shaft rod; 33, walking wheel; 34, second driving motor; 4, magnetic particle spraying detection mechanism; 41, box body; 42, partition board; 43, high-definition camera; 44, black light; 45, nozzle; 46, side plate; 47, soft bristles; 48, fan module; 5, second driving mechanism; 51, circular shell; 52, transmission rod; 521, rod A; 5211, sliding hole; 522, sliding rod; 523, rod B; 53, driving device; 531, third driving motor; 532, driving gear; 533, driven gear ring; 534, bevel gear ring; 535, bevel gear; 54, rotating shaft; 55, gear A; 56, gear B; 6, liquid supply mechanism; 61, storage tank; 611, piston; 612, pull rod; 613, return spring; 614, filling port; 62, annular shell; 63, diversion pipe; 64, water pump; 65, liquid supply pipe. Detailed implementation manners

[0021] Please refer to Figures 1 - 13 , the present invention provides a pipeline detector, and the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

[0022] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "connection" and "installation" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. In addition, "communication" can be a direct communication or an indirect communication through an intermediate medium. Among them, "fixing" means connecting to each other and the relative position relationship after connection remains unchanged. The orientation terms mentioned in the embodiments of the present invention, such as "inside", "outside", "top", "bottom", etc., are only with reference to the direction of the accompanying drawings. Therefore, the orientation terms used are for better and clearer description and understanding of the embodiments of the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the embodiments of the present invention.

[0023] In the embodiments of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0024] The terms "comprise", "include", "have" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0025] It should be noted that when using this pipeline detector to detect the inner wall of the pipeline, it is necessary to select a suitable magnetization method according to the pipeline structure, such as coil magnetization, contact method, etc. The specific magnetization method adopts the existing technology and will not be disclosed in detail.

[0026] The pipeline detector includes a first driving mechanism 2, a magnetic powder spraying and detecting mechanism 4, a second driving mechanism 5 and four mounting plates 1. The four mounting plates 1 are evenly distributed around the first driving mechanism 2. One end of each mounting plate 1 is provided with a traveling mechanism 3, the other end is provided with a universal ball 12, and the magnetic powder spraying and detecting mechanism 4 is provided in the middle. The traveling mechanism 3 includes traveling wheels 33 mounted on the mounting plate 1. The traveling wheels 33 can roll and travel along the inner wall of the pipeline 01 to be detected. The traveling wheels 33 and the universal balls 12 on the same mounting plate 1 can simultaneously contact the inner wall of the pipeline 01 to be detected. Among them, the magnetic powder spraying and detecting mechanism 4 is used to spray the fluorescent magnetic suspension on the area to be detected on the inner wall of the pipeline 01 to be detected and perform photographing and detection.

[0027] When detecting the inner wall of the pipeline 01 to be detected, the detector is placed inside the pipeline 01 to be detected. By operating the first driving mechanism 2, the four mounting plates 1 are driven to move towards the outer side of the pipeline 01 to be detected along the axis of the pipeline 01 to be detected until the four traveling wheels 33 and the four universal balls 12 are all in contact with the inner wall of the pipeline 01 to be detected. The four traveling wheels 33 roll and travel along the inner wall of the pipeline 01 to be detected. During the traveling process, each universal ball 12 rolls along the inner wall of the pipeline 01 to be detected until the detector moves to the area to be detected.

[0028] Among them, the second driving mechanism 5 is arranged on the first driving mechanism 2 and located between the four mounting plates 1. When the second driving mechanism 5 works, it can drive the four traveling wheels 33 to swing and reverse synchronously for adjustment. Specifically, as Figure 12 shown, when the traveling wheels 33 travel along the inner wall of the pipeline 01 to be detected to drive the detector to move and adjust along the axis of the pipeline 01 to be detected, the axes of the traveling wheels 33 are all perpendicular to the axis of the pipeline 01 to be detected. When the detector moves to a position where the magnetic powder spraying and detecting mechanism 4 corresponds to the position to be detected, as Figure 13As shown in the figure, the second driving mechanism 5 drives the four traveling wheels 33 to rotate synchronously. When the axes of the traveling wheels 33 are parallel to the axis of the pipeline 01 to be detected, at this time, when the traveling wheels 33 roll along the inner wall of the pipeline 01 to be detected, the detector can rotate around the axis of the pipeline 01 to be detected, and then the magnetic particle spraying detection mechanism 4 can be used to perform mobile detection on the welds inside the pipeline 01 to be detected.

[0029] Specifically, as Figure 4 and Figure 4 shown in the figure, the traveling mechanism 3 further includes a U-shaped frame 31, a shaft rod 32 and a second driving motor 34. The U-shaped frame 31 is installed on the platform plate 1. The shaft rod 32 is rotatably installed on the U-shaped frame 31. The traveling wheels 33 are fixedly sleeved on the shaft rod 32. The second driving motor 34 is fixed on the side of the U-shaped frame 31, and the output shaft is fixedly corresponding to one end of the shaft rod 32. By the operation of the second driving motor 34, its output shaft drives the shaft rod 32 to rotate, and the rotating shaft rod 32 drives the traveling wheels 33 to rotate, that is, the effect of the traveling wheels 33 rolling to drive the entire detector to move is achieved.

[0030] In addition, a mounting seat 11 is fixed on one side of the platform plate 1 away from the shaft rod 32. A spherical cavity 111 is provided on the mounting seat 11. The universal rolling ball 12 is embedded in the spherical cavity 111 and part of it is exposed to the outside. When the detector moves inside the pipeline 01 to be detected, mainly the exposed part of the universal rolling ball 12 contacts the inner wall of the pipeline 01 to be detected.

[0031] Please refer to Figure 2 , the first driving mechanism 2 includes a guide rod 21, side seats 22, a bidirectional threaded rod 23, a first driving motor 24, a nut seat 25 and a traction arm 26. The guide rod 21 is fixed between the two side seats 22. The bidirectional threaded rod 23 is rotatably installed between the two side seats 22. The first driving motor 24 is fixed on one of the side seats 22, and the output shaft is fixedly connected to one end of the bidirectional threaded rod 23. Two nut seats 25 are slidably sleeved on the guide rod 21, and the two nut seats 25 are symmetrically threadedly fitted on both sides of the bidirectional threaded rod 23.

[0032] The cross-section of the nut seat 25 is square. The four platform plates 1 correspond to the four sides of the nut seat 25 respectively. Traction arms 26 are respectively hingedly installed on the four side surfaces of the two nut seats 25 through hinge seats. The traction arms 26 on the same side surface of the two nut seats 25 and the corresponding platform plates 1 are all hinged through hinge seats. The platform plate 1 is hinged to a total of two traction arms 26. One traction arm 26 is hinged to one side nut seat 25, and the other traction arm 26 is hinged to the other side nut seat 25.

[0033] By the forward and reverse operation of the first driving motor 24, its output shaft drives the bidirectional threaded rod 23 to rotate forward and reverse. Under the guiding and limiting action of the guide rod 21, the rotating bidirectional threaded rod 23 can thread-drive the nut seats 25 on both sides to approach or move away from each other. Under the traction of the traction arm 26, it can drive the four mounting plates 1 to move synchronously towards the axis of the pipeline to be detected 01 in the radial direction of the pipeline to be detected 01 or drive the four mounting plates 1 to move synchronously towards the side away from the axis of the pipeline to be detected 01 in the radial direction of the pipeline to be detected 01.

[0034] The above adjustment method can synchronously adjust the distance between each mounting plate 1 and the axis of the pipeline to be detected 01, and thus can adapt to pipelines to be detected 01 with different diameters. Moreover, the four mounting plates 1 are arranged symmetrically in pairs to achieve a uniform distribution effect. Furthermore, when the detector is adjusted so that each traveling wheel 33 is in contact with the inner wall of the pipeline to be detected 01, the detector achieves self-centering in the pipeline to be detected 01, that is, the bidirectional threaded rod 23 is coaxial with the pipeline to be detected 01 to ensure the stability of the detector during movement.

[0035] Please refer to Figure 2 、 Figure 5 、 Figure 6 and Figure 7 As shown in, the second driving mechanism 5 includes a circular shell 51, a transmission rod 52, and a driving device 53. The circular shell 51 is sleeved on the guide rod 21 and the bidirectional threaded rod 23. Among them, the circular shell 51 is fixed to the guide rod 21, and the bidirectional threaded rod 23 is rotatably connected to the circular shell 51. Four transmission rods 52 are evenly distributed on the circular shell 51, and the positions of the four transmission rods 52 correspond to the positions of the four mounting plates 1 one by one. Each transmission rod 52 penetrates through the corresponding mounting plate 1.

[0036] The driving device 53 is arranged inside the circular shell 51 and is used to drive the four transmission rods 52 to rotate synchronously. A rotating shaft 54 is rotatably installed on each mounting plate 1, and a U-shaped frame 31 is respectively fixed to the end of the corresponding rotating shaft 54. A gear A55 is fixedly sleeved on each rotating shaft 54, and a gear B56 is fixedly sleeved on the end of each transmission rod 52. The gear B56 meshes with the corresponding gear A55.

[0037] Specifically, the driving device 53 includes a third driving motor 531 fixed to the inner wall of the circular shell 51, a driving gear 532 fixed to the output shaft of the third driving motor 531, a driven gear ring 533 rotatably installed on the inner edge wall of the circular shell 51, a bevel gear ring 534 fixed to the driven gear ring 533, and a bevel gear 535 fixed to the end of each transmission rod 52 extending through the circular shell 51. Among them, the driving gear 532 meshes with the driven gear ring 533 correspondingly, and each bevel gear 535 meshes with the bevel gear ring 534 correspondingly.

[0038] The third driving motor 531 works, and its output shaft drives the driving gear 532 to rotate. The rotating driving gear 532 engages and drives the driven gear ring 533 and drives the bevel gear ring 534 to rotate. The rotating bevel gear ring 534 engages and drives each bevel gear 535 to rotate, thereby driving each transmission rod 52 and the gear B56 to rotate. The rotating gear B56 engages and drives the gear A55 and drives the rotating shaft 54 ​​to rotate, thereby driving the U-shaped frame 31 and the walking wheel 33 to rotate. In this way, the rotation reversing effect of the walking wheel 33 is achieved.

[0039] Among them, the third drive motor 531 adopts a worm gear motor, which has a self-locking characteristic to prevent reverse transmission, thereby avoiding arbitrary deflection of the walking wheel 33 during non-rotational adjustment, which helps to maintain the orientation state of the walking wheel 33 to ensure that the detector can move stably. In addition, the worm gear motor can provide high torque output due to its large transmission ratio to adapt to the heavy-load drive requirements in the detector, and at the same time has high transmission accuracy.

[0040] like Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown, the transmission rod 52 is composed of a rod A521, a sliding rod 522 and a rod B523. The rod A521 is arranged to pass through the circular shell 51 and is rotatably connected to the circular shell 51. The bevel gear 535 is fixed to the end of the rod A521 located in the circular shell 51. The outer end face of the rod A521 is provided with a sliding hole 5211 extending along its length direction. One end of the sliding rod 522 is matched and slidably inserted in the sliding hole 5211, and the other end is fixed with a rod B523. The rod B523 passes through the stand plate 1 and is rotatably connected to the stand plate 1. The gear B56 is fixed to the end of the rod B523.

[0041] The transmission rod 52 is synchronized with the above-mentioned structural design and has a telescopic adjustment effect to adapt to the position change of the first driving mechanism 2 when the driving frame plate 1 moves radially along the pipeline to be detected 01. Specifically, when the first driving mechanism 2 moves radially along the pipeline to be detected 01 toward the side of the axis of the pipeline to be detected 01, the sliding rod 522 slides and retracts into the sliding hole 5211; when the first driving mechanism 2 moves radially along the pipeline to be detected 01 toward the side away from the axis of the pipeline to be detected 01, the sliding rod 522 extends.

[0042] Among them, the sliding rod 522 is a rectangular rod, and the cross-section of the sliding hole 5211 is a rectangular shape that matches the sliding rod 522, which plays a positioning effect, so that the sliding rod 522 and the rod A521 only have the ability to move relative to each other along the radial direction of the pipeline 01 to be inspected. When the rod A521 rotates, it can drive the sliding rod 522 and the rod B523 to rotate synchronously, so that the transmission rod 52 can perform the transmission function normally.

[0043] The second driving mechanism 5 is used as the driving system for the rotation and reversing of the walking wheel 33, and cooperates with the transmission rod 52 to perform adaptive telescopic adjustment according to the change in the position of the platform plate 1, so that one system can drive the four walking wheels 33 to perform steering adjustment synchronously. There is no need to set up a separate drive for the rotation and reversing of each walking wheel 33, thereby reducing energy consumption and driving costs.

[0044] It is worth mentioning that in the present application, a U-shaped frame 31 is installed on the end of a rotating shaft 54 ​​rotatably installed on a frame plate 1, and a travel wheel 33 is rotatably installed on the U-shaped frame 31 using an axle rod 32, and each frame plate 1 is respectively connected to a first drive mechanism 2 and a second drive mechanism 5. When each travel wheel 33 and a universal ball 12 are in rigid contact with the inner wall of the pipe 01 to be inspected, there will be no problem of spring elastic failure and excessive deformation in the reference patent, which requires maintenance of a smoother surface and frequent calibration.

[0045] Since the weld seam in the pipeline 01 to be inspected is usually convex, during the movement of the detector, since the walking wheel 33 is not provided with a retraction mechanism, the obstacle avoidance principle of the detector is as follows: When the detector encounters a weld bulge obstacle during its movement, the first driving mechanism 2 drives the four mounting plates 1 to move simultaneously toward the axis of the pipeline 01 to be detected, so as to reduce the overall diameter. Figure 11 As shown, the detector cannot remain stable due to the contact between the bottom running wheel 33 and the universal ball 12 and the inner wall of the pipeline 01 to be detected, and will eventually tilt to one side until the running wheels 33 and the universal ball 12 on two of the stand plates 1 simultaneously contact the inner wall of the pipeline 01 to be detected, providing a four-point support for the detector as a whole, thereby ensuring the stability of the detector; The detector is driven to move forward under the driving of the two running wheels 33 in contact with the inner wall of the pipeline 01 to be inspected and the support of the two universal balls 12 in contact with the inner wall of the pipeline 01 to be inspected. When encountering a weld protrusion obstacle, the running wheels 33 and the universal balls 12 on the other two stand plates 1 are not in contact with the inner wall of the pipeline 01 to be inspected, so that the detector has space for movement in both vertical and horizontal directions. Then, the running wheels 33 and the universal balls 12 on the front and rear sides can climb over the weld protrusion in turn, so that the detector as a whole can pass over the weld protrusion to achieve obstacle avoidance. After passing over the weld protrusion, the second driving mechanism 5 drives each stand plate 1 to move away from the axis of the pipeline 01 to be inspected until each running wheel 33 and the universal ball 12 are repeatedly reset to a state of contact with the pipeline 01 to be inspected.

[0046] See also Figure 3, the magnetic particle spraying detection mechanism 4 includes a box body 41, a high-definition camera 43, a black light 44 and a nozzle 45. The box body 41 is fixedly installed on the gantry plate 1 at a position between the traveling wheels 33 and the universal balls 12. A partition 42 is fixedly installed in the box body 41 to divide the box body 41 into two compartments. A high-definition camera 43 and a black light 44 are respectively installed in one of the compartments, and a nozzle 45 is installed in the other compartment. A liquid supply mechanism 6 is also provided on the first driving mechanism 2.

[0047] Among them, both the black light 44 and the high-definition camera 43 are subjected to buffering and shock absorption treatment through shock absorbers to filter the vibration generated by the detector during rotation, ensuring the stability of shooting and detection. The specific installation method and the specific buffering and shock absorption principle of the shock absorbers both adopt existing technologies, and will not be elaborated in detail in this application.

[0048] When this detector rotates around the axis of the pipeline 01 to be detected for detection, the fluorescent magnetic suspension liquid is supplied to each nozzle 45 through the liquid supply mechanism 6. Each nozzle 45 sprays the fluorescent magnetic suspension liquid onto the weld on the inner wall of the pipeline 01 to be detected in advance. Subsequently, the inner wall of the pipeline 01 to be detected is irradiated by the black light 44, so that the fluorescent magnetic suspension liquid on the weld is displayed. Then, the high-definition camera 43 takes pictures of the weld to obtain high-definition pictures of the weld, facilitating the detection of defects in the weld.

[0049] Among them, side plates 46 are installed on the side of the box body 41, and soft bristles 47 are evenly distributed on the side plates 46. During the rotation and detection process of the detector, the soft bristles 47 clean the weld in advance, realizing the cleaning of the weld and improving the detection accuracy.

[0050] In addition, a fan module 48 is installed on the side of the box body 41. The fan module 48 is used to suck external air into the compartment where the high-definition camera 43 is located. The external air enters this compartment and finally blows out through the opening of this compartment, forming a flowing air current. On the one hand, it can dissipate heat from the high-definition camera 43 and the black light 44. On the other hand, it can blow away the dirt scattered by the soft bristles 47 and the droplets sprayed or splashed by the nozzles 45, preventing the dirt and droplets from falling on the high-definition camera 43 and the black light 44 and affecting the shooting and detection. And a filter screen is provided in the fan module 48 to filter out the dirt in the air.

[0051] Please refer to Figure 9 , the liquid supply mechanism 6 includes a storage tank 61, an annular shell 62, a diversion pipe 63, a water pump 64 and a liquid supply pipe 65. A storage tank 61 is provided on one side of one of the side seats 22, and an annular shell 62 is fixed on the other side. One end of the diversion pipe 63 is communicated with the annular shell 62, and the other end is connected to the water pump 64 arranged in the storage tank 61. Four liquid supply pipes 65 are communicated with the annular shell 62, and each liquid supply pipe 65 is respectively communicated with the corresponding nozzle 45.

[0052] Through the operation of the water pump 64, the fluorescent magnetic suspension liquid in the storage tank 61 is pumped into the annular shell 62 through the diversion pipe 63, and is split by the annular shell 62 into each liquid supply pipe 65. The fluorescent magnetic suspension liquid is transported to each nozzle 45 through the liquid supply pipe 65 to supply the fluorescent magnetic suspension liquid to each nozzle 45.

[0053] Since when the detector rotates around the axis of the pipeline 01 to be detected for detection, the orientation of the storage tank 61 is constantly changing, and with the consumption of the liquid volume in the storage tank 61, it is impossible to ensure that the water pump 64 can continuously supply the fluorescent magnetic suspension liquid to the nozzle 45. To solve this defect, the present invention makes the following design: As Figure 10 shown, the water pump 64 is installed on the inner end wall of one side of the storage tank 61. A pull rod 612 is inserted through and slidably on the side of the storage tank 61 away from the water pump 64. A piston 611 is installed in the storage tank 61 in a matching manner. The piston 611 is fixed to the end of the pull rod 612 located inside the storage tank 61. A return spring 613 is sleeved outside the pull rod 612. One end of the return spring 613 is fixed to the piston 611, and the other end is fixed to the inner end wall of the storage tank 61. A filling port 614 is provided on the outer peripheral wall of the storage tank 61 and near the water pump 64.

[0054] By holding the handle on the outer end of the pull rod 612 and pulling the piston 611 to the side away from the water pump 64, at this time, the return spring 613 is compressed and stores energy. Then, the fluorescent magnetic suspension liquid is injected into the storage tank 61 through the filling port 614, and the cap is tightened; During detection, as the liquid volume in the storage tank 61 is consumed, no matter how the storage tank 61 rotates, through the elastic reset action of the return spring 613, the piston 611 is pushed to move towards the water pump 64 side. The piston 611 always maintains the extrusion of the fluorescent magnetic suspension liquid, and the liquid can be pressed and gathered towards the water pump 64 side, thereby ensuring that the water pump 64 is continuously ground by the liquid, so as to ensure that the fluorescent magnetic suspension liquid can be continuously supplied to the nozzle 45 to ensure the continuity of the detection work.

[0055] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms.

Claims

1. A pipeline detector, comprising four stand plates (1), characterized in that: It also includes a first driving mechanism (2), a magnetic powder spraying detection mechanism (4) and a second driving mechanism (5); The four stand plates (1) are evenly distributed around the first driving mechanism (2), and the first driving mechanism (2) is used to drive the stand plates (1) to synchronously move and adjust along the axial direction of the pipeline (01) to be inspected; Each of the platform plates (1) is provided with a walking mechanism (3) at one end, a universal ball (12) at the other end, and the magnetic powder spraying detection mechanism (4) at the middle; The walking mechanism (3) comprises a walking wheel (33) mounted on the platform plate (1), and the walking wheel (33) and the universal roller (12) on the same platform plate (1) can simultaneously roll in contact with the inner wall of the pipeline (01) to be inspected; The second driving mechanism (5) is arranged on the first driving mechanism (2) and is located between the four platform plates (1), and is used to drive each of the walking wheels (33) to synchronously swing and reverse; When each of the running wheels (33) is adjusted to have an axis parallel to the axis of the pipeline to be inspected (01), the detector as a whole can rotate around the axis of the pipeline to be inspected (01); When each of the running wheels (33) is adjusted so that its axis is perpendicular to the axis of the pipeline (01) to be inspected, the detector as a whole can move axially along the pipeline (01) to be inspected.

2. The pipeline detector according to claim 1, characterized in that: The magnetic powder spraying detection mechanism (4) comprises a box body (41), a high-definition camera (43), a black light (44) and a spray head (45); The box body (41) is fixedly mounted on the platform plate (1) between the running wheel (33) and the universal ball (12); A partition (42) is fixed inside the box body (41) to divide the box body (41) into two compartments, wherein the high-definition camera (43) and the black light (44) are respectively installed in one of the compartments, and a nozzle (45) is installed in the other compartment; The first driving mechanism (2) is also provided with a liquid supply mechanism (6), and the liquid supply mechanism (6) is used to supply fluorescent magnetic suspension to each of the nozzles (45).

3. The pipeline detector according to claim 2, characterized in that: A side plate (46) is installed on the side of the box body (41), and soft bristles (47) are evenly distributed on the side plate (46); A fan module (48) is installed on the side of the box body (41), and the fan module (48) is used to draw external air into the compartment where the high-definition camera (43) is located.

4. The pipeline detector according to claim 2, characterized in that: The walking mechanism (3) further comprises a U-shaped frame (31), a shaft (32) and a second driving motor (34); The U-shaped frame (31) is mounted on the frame plate (1), the shaft (32) is rotatably mounted on the U-shaped frame (31), and the running wheel (33) is fixedly sleeved on the shaft (32); The second driving motor (34) is fixed to the side of the U-shaped frame (31), and the output shaft is fixed correspondingly to one end of the shaft rod (32); A mounting seat (11) is fixed on a side of the mounting plate (1) away from the shaft (32), and a ball cavity (111) is provided on the mounting seat (11); The universal rolling ball (12) is embedded in the ball cavity (111) and partially exposed to the outside.

5. The pipeline detector according to claim 4, characterized in that: The first driving mechanism (2) comprises a guide rod (21), a side seat (22), a bidirectional threaded rod (23), a first driving motor (24), a nut seat (25) and a traction arm (26); The guide rod (21) is fixed between the two side seats (22), the bidirectional threaded rod (23) is rotatably mounted between the two side seats (22), the first drive motor (24) is fixed on one of the side seats (22), and the output shaft is fixedly connected to one end of the bidirectional threaded rod (23); The guide rod (21) is slidably sleeved with two nut seats (25), and the two nut seats (25) are symmetrically threaded and matched to be sleeved on both sides of the bidirectional threaded rod (23); The cross section of the nut seat (25) is square, and the four mounting plates (1) correspond to the four sides of the nut seat (25) one by one respectively; The traction arms (26) are hingedly mounted on the four side surfaces of the two nut seats (25) via hinge seats; The traction arms (26) on the same side surfaces of the two nut seats (25) are hinged to the platform plates (1) on the corresponding sides via hinge seats.

6. The pipeline detector according to claim 5, characterized in that: The second driving mechanism (5) comprises a circular shell (51), a transmission rod (52), and a driving device (53); The circular shell (51) is sleeved on the guide rod (21) and the bidirectional threaded rod (23), and four transmission rods (52) are evenly distributed on the circular shell (51), and each transmission rod (52) passes through the platform plate (1) on the corresponding side. The driving device (53) is arranged in the circular shell (51) and is used to drive the four transmission rods (52) to rotate synchronously; A rotating shaft (54) is rotatably mounted on each of the platform plates (1), and the U-shaped frames (31) are respectively fixed on the ends of the corresponding rotating shafts (54); Each of the rotating shafts (54) is fixedly mounted with a gear A (55); A gear B (56) is fixedly mounted on the end of each transmission rod (52); The gear B (56) meshes with the corresponding gear A (55).

7. The pipeline detector according to claim 6, characterized in that: The driving device (53) comprises a third driving motor (531) fixed on the inner wall of the circular shell (51), a driving gear (532) fixed on the output shaft of the third driving motor (531), a driven gear ring (533) rotatably mounted on the inner edge wall of the circular shell (51), a bevel gear ring (534) fixed on the driven gear ring (533), and a bevel gear (535) fixed on the end of each transmission rod (52) extending through the circular shell (51); Wherein, the driving gear (532) is meshed with the driven gear ring (533) correspondingly; Each of the bevel gears (535) is correspondingly meshed with the bevel gear ring (534); Wherein, the third drive motor (531) is a worm gear motor.

8. The pipeline detector according to claim 7, characterized in that: The transmission rod (52) is composed of a rod A (521), a sliding rod (522) and a rod B (523); The rod member A (521) is correspondingly arranged to penetrate the circular shell (51) and is rotatably connected to the circular shell (51); the bevel gear (535) is fixed to the end of the rod member A (521) located inside the circular shell (51); The outer end surface of the rod A (521) is provided with a sliding hole (5211) extending along the length direction thereof; one end of the sliding rod (522) is slidably inserted into the sliding hole (5211) and the other end is fixed with the rod B (523); The rod member B (523) passes through the mounting plate (1) and is rotatably connected to the mounting plate (1), and the gear B (56) is fixed to the end of the rod member B (523); Wherein, the sliding rod (522) is a rectangular rod, and the cross-section of the sliding hole (5211) is a rectangular shape that matches the sliding rod (522).

9. The pipeline detector according to claim 5, characterized in that: The liquid supply mechanism (6) comprises a storage tank (61), an annular shell (62), a flow guide pipe (63), a water pump (64) and a liquid supply pipe (65); A storage tank (61) is provided on one side of one of the side seats (22), and the annular shell (62) is fixed on the other side; One end of the flow guide pipe (63) is in communication with the annular shell (62), and the other end is connected to the water pump (64) arranged in the storage tank (61); The annular shell (62) is connected to four liquid supply pipes (65), and each of the liquid supply pipes (65) is connected to a corresponding nozzle (45).

10. The pipeline detector according to claim 9, characterized in that: The water pump (64) is mounted on an inner end wall on one side of the storage tank (61); A pull rod (612) is slidably inserted through a side of the storage tank (61) away from the water pump (64), a piston (611) is matched and installed in the storage tank (61), and the piston (611) is fixed to the end of the pull rod (612) located in the storage tank (61); A return spring (613) is sleeved on the outside of the pull rod (612); one end of the return spring (613) is fixed to the piston (611), and the other end is fixed to the inner end wall of the storage tank (61); A filling port (614) is provided on the outer peripheral wall of the storage tank (61) and on a side close to the water pump (64).

Images