Pipeline detector

Abstract

The present invention relates to the technical field of pipeline detection, specifically a pipeline detector, which includes four support plates, and also includes a first driving mechanism, a magnetic particle spraying detection 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 move and adjust synchronously along the axial direction of the pipeline to be detected respectively. A walking mechanism is provided at one end of each support plate, a universal rolling ball is provided at the other end, and a magnetic particle spraying detection mechanism is provided in the middle. In the present invention, the walking wheels connected rigidly cooperate with the universal rolling balls to contact the inner wall of the pipeline, abandoning 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 second driving mechanism is used to synchronously control the steering adjustment of the four walking wheels by a single power source, which not only ensures the accurate switching between the walking and rotating modes, but also avoids the energy consumption and maintenance problems brought by multiple driving systems.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, specifically 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 times. 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 magnetize the inner wall of the pipeline, 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 provided 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 force, which acts 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 device body. Moreover, during the movement of the device body, these two springs can play a buffering role, avoiding the jitter transmitted to the high-definition camera when the driving wheel passes through the weld seam.

[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 maintained and replaced regularly. 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 mounting plates, and also includes a first driving mechanism, a magnetic powder spraying and detecting mechanism, and a second driving mechanism. The four mounting plates are evenly distributed around the first driving mechanism. The first driving mechanism is used to drive the mounting plates to synchronously move and adjust along the axial direction of the pipeline to be detected respectively. One end of each mounting plate is provided with a traveling mechanism, the other end is provided with a universal ball, and a magnetic powder spraying and detecting mechanism is provided in the middle. The traveling mechanism includes traveling wheels installed on the mounting plate. The traveling wheels and the universal ball on the same mounting plate can simultaneously roll and contact the inner wall of the pipeline to be detected;

[0008] 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 axially along the pipeline to be detected.

[0009] 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 provided on the first driving mechanism, and the liquid supply mechanism is used to supply fluorescent magnetic suspension liquid to each nozzle.

[0010] 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.

[0011] 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. A mounting seat is fixed on the side of the gantry plate far from the shaft rod, a spherical cavity is provided on the mounting seat, and the universal ball is embedded in the spherical cavity and partially exposed to the outside.

[0012] 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;

[0013] 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 correspond to the four sides of the nut seat respectively. Traction arms are hingedly 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 hinged through hinge seats.

[0014] 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, and each transmission rod respectively penetrates through the corresponding side of the platform 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 platform plate, and the U-shaped frame is respectively fixed to the end of the corresponding rotating shaft. A gear A is fixedly sleeved on each rotating shaft, and a gear B is fixedly sleeved on the end of each transmission rod. The gear B meshes with the corresponding gear A.

[0015] 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, and each bevel gear meshes with the bevel gear ring correspondingly. Among them, the third driving motor uses a worm and worm gear motor.

[0016] 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 to 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 provided on the outer end face of the rod A;

[0017] 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 platform plate and is rotatably connected to the platform 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.

[0018] 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 to the water pump arranged inside the storage tank. Four liquid supply pipes are communicated with the annular shell, and each liquid supply pipe is respectively communicated with the corresponding nozzle.

[0019] 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 away 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 provided on the outer peripheral wall of the storage tank and close to the water pump.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows.

[0021] The inner wall of the pipeline is contacted by the rigidly connected walking wheels and universal balls, eliminating the spring buffer structure, removing 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;

[0022] The first driving mechanism is used to drive the radial contraction of the platform plate. Among them, two walking wheels and two universal balls form four-point rigid contact with the inner wall of the pipeline, and the other two walking wheels and universal balls do not contact the inner wall of the pipeline, enabling the detector to have movement space both vertically and horizontally, and then realizing the adaptive crossing of the pipeline weld bulge without the intervention of additional power;

[0023] 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;

[0024] 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 adaptive detection requirements for different pipe diameters, and significantly improving the universality of the equipment;

[0025] 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 detection liquid supply interruption caused by strong azimuth dependence in the traditional liquid supply system. Description of the Drawings

[0026] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0027] Figure 2 It is a detailed structural schematic diagram of the first driving mechanism in the present invention;

[0028] Figure 3 It is a partial structural schematic diagram on the platform plate in the present invention;

[0029] Figure 4 It is a detailed structural installation schematic diagram of the walking mechanism in the present invention;

[0030] Figure 5 It is an installation schematic diagram of the circular shell structure in the present invention;

[0031] Figure 6 It is Figure 5 The schematic cross-sectional view of the structure shown;

[0032] Figure 7 It is Figure 6 The enlarged schematic diagram of the structure at A in

[0033] Figure 8Schematic diagram of the detailed structure of the transmission rod in the present invention;

[0034] Figure 9 Schematic diagram of the structure of the liquid supply mechanism in the present invention;

[0035] Figure 10 Schematic diagram of the internal structure of the storage tank;

[0036] Figure 11 Schematic diagram of the structural distribution for obstacle avoidance when the device encounters a welding protrusion in the pipeline to be detected;

[0037] Figure 12 Schematic diagram when the device walks along the length direction of the pipeline to be detected;

[0038] Figure 13 Schematic diagram when the device rotates around the axial direction of the pipeline to be detected.

[0039] In the figure: 01, pipeline to be detected; 1, mounting plate; 11, mounting seat; 111, spherical cavity; 12, universal 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, traveling mechanism; 31, U-shaped frame; 32, shaft rod; 33, traveling wheel; 34, second driving motor; 4, magnetic particle spraying detection mechanism; 41, box body; 42, partition board; 43, high-definition camera; 44, black light lamp; 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 toothed ring; 534, bevel toothed 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. Specific embodiments

[0040] 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.

[0041] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and defined, 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 being connected to each other and the relative positional 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 references to the directions in the 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 thus cannot be understood as a limitation to the embodiments of the present invention.

[0042] In the embodiments of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0043] The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0044] It is worth noting 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.

[0045] The pipeline detector includes a first driving mechanism 2, a magnetic powder spraying and detecting mechanism 4, a second driving mechanism 5 and four support plates 1. The four support plates 1 are evenly distributed around the first driving mechanism 2. One end of each support 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 installed on the support plate 1. The traveling wheels 33 can roll along the inner wall of the pipeline 01 to be detected. The traveling wheels 33 and the universal balls 12 on the same support 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 detection area on the inner wall of the pipeline 01 to be detected and perform shooting detection.

[0046] When detecting the inner wall of the pipeline 01 to be detected, place this detector inside the pipeline 01 to be detected. By the operation of the first driving mechanism 2, drive the four support plates 1 to move along the axis of the pipeline 01 to be detected towards the outer side 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. Then, the four traveling wheels 33 roll along the inner wall of the pipeline 01 to be detected. During the walking 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.

[0047] Among them, the second driving mechanism 5 is arranged on the first driving mechanism 2 and is located between the four support plates 1. When the second driving mechanism 5 operates, 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 walk along the inner wall of the pipeline 01 to be detected to drive the detector to move and adjust along the axial direction 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 this detector moves to a position corresponding to the magnetic particle spraying detection mechanism 4 and the position to be detected, as Figure 13 shown, drive the four traveling wheels 33 to rotate synchronously through the second driving mechanism 5 until 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 while in contact with 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 weld inside the pipeline 01 to be detected.

[0048] Specifically, as Figure 4 and Figure 4 shown, 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 support plate 1. The shaft rod 32 is rotatably installed on the U-shaped frame 31. The traveling wheel 33 is 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 wheel 33 to rotate, thus achieving the effect that the traveling wheel 33 rolls to drive the entire detector to move.

[0049] In addition, a mounting seat 11 is fixed on the side of the support plate 1 away from the shaft rod 32. A spherical cavity 111 is provided on the mounting seat 11. The universal ball 12 is embedded in the spherical cavity 111 and partially exposed to the outside. When this detector moves inside the pipeline 01 to be detected, mainly the exposed part of the universal ball 12 contacts the inner wall of the pipeline 01 to be detected.

[0050] Please refer to Figure 2The first driving mechanism 2 includes 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 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 threaded and matched on both sides of the bidirectional threaded rod 23.

[0051] The cross-section of the nut seat 25 is square, and the four platform plates 1 correspond to the four sides of the nut seat 25 one by one. The four side surfaces of the two nut seats 25 are hingedly installed with traction arms 26 through 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 through hinge seats. The platform plates 1 are hinged to two traction arms 26 in total, one of which is hinged to the nut seat 25 on one side, and the other is hinged to the nut seat 25 on the other side.

[0052] The first drive motor 24 works forward and reversely, and its output shaft drives the bidirectional threaded rod 23 to rotate forward and reversely. Under the guiding and limiting action of the guide rod 21, the rotating bidirectional threaded rod 23 can threadably drive the nut seats 25 on both sides to move closer to or away from each other. Under the traction action of the traction arm 26, the four stand plates 1 can be driven to move synchronously in a converging manner toward the axis of the pipeline to be detected 01 in the radial direction of the pipeline to be detected 01, or the four stand plates 1 can be driven to move synchronously in a diverging manner toward the side away from the axis of the pipeline to be detected 01 in the radial direction of the pipeline to be detected 01.

[0053] The above-mentioned adjustment method can synchronously adjust the distance between each support plate 1 and the axis of the pipeline to be detected 01, so as to adapt to pipelines 01 to be detected with different diameters, and the four support plates 1 are symmetrically arranged in pairs to achieve a uniform distribution effect. When the detector is adjusted to the point where each walking wheel 33 is in contact with the inner wall of the pipeline to be detected 01, the detector can achieve 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, so as to ensure the stability of the detector when moving.

[0054] See also Figure 2 , Figure 5 , Figure 6 and Figure 7 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, wherein 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 platform plates 1 respectively, and each transmission rod 52 passes through the platform plate 1 on the corresponding side.

[0055] The driving device 53 is arranged inside the circular housing 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. The U-shaped frames 31 are respectively fixed to the ends of the corresponding rotating shafts 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.

[0056] Specifically, the driving device 53 includes a third driving motor 531 fixed to the inner wall of the circular housing 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 peripheral wall of the circular housing 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 and into the circular housing 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.

[0057] By the operation of the third driving motor 531, its output shaft drives the driving gear 532 to rotate. The rotating driving gear 532 meshes with and drives the driven gear ring 533 and drives the bevel gear ring 534 to rotate. The rotating bevel gear ring 534 meshes with and drives each bevel gear 535 to rotate, thereby driving each transmission rod 52 and the gear B56 to rotate. The rotating gear B56 meshes with and drives the gear A55 and drives the rotating shaft 54 to rotate, thus driving the U-shaped frame 31 and the traveling wheels 33 to rotate. In this way, the rotation reversing effect of the traveling wheels 33 is achieved.

[0058] Among them, the third driving motor 531 is a worm and worm gear motor, which has a self-locking characteristic to prevent reverse transmission. Therefore, when not in rotational adjustment, it can prevent the traveling wheels 33 from deflecting randomly, which helps to maintain the orientation state of the traveling wheels 33 to ensure the stable movement of this detector. In addition, the worm and worm gear motor can provide high torque output with its large transmission ratio to meet the heavy load driving requirements in this detector, and at the same time, it has high transmission accuracy.

[0059] As Figure 4 、 Figure 6 、 Figure 7 and Figure 8 shown, the transmission rod 52 is composed of a rod A521, a sliding rod 522, and a rod B523. The rod A521 correspondingly passes through the circular housing 51 and is rotatably connected to the circular housing 51. The bevel gear 535 is fixed to the end of the rod A521 located inside the circular housing 51. A sliding hole 5211 extending along its length direction is provided on the outer end face of the rod A521. One end of the sliding rod 522 is slidably inserted into the sliding hole 5211 in a matching manner, and the other end is fixed with a rod B523. The rod B523 passes through the mounting plate 1 and is rotatably connected to the mounting plate 1. The gear B56 is fixed to the end of the rod B523.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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:

[0065] When the detector encounters a weld bulge obstacle during its movement, the first driving mechanism 2 drives the four stand plates 1 to move toward the axis of the pipeline 01 to be detected at the same time 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;

[0066] 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.

[0067] 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.

[0068] See also Figure 3 The magnetic powder spraying detection mechanism 4 includes a box body 41, a high-definition camera 43, a black light lamp 44 and a nozzle 45. The box body 41 is fixedly installed on the platform plate 1 between the walking wheel 33 and the universal ball 12. A partition 42 is fixed in the box body 41 to divide the box body 41 into two compartments, one of which is respectively installed with a high-definition camera 43 and a black light lamp 44, and the other is installed with a nozzle 45. The first driving mechanism 2 is also provided with a liquid supply mechanism 6.

[0069] Among them, the black light 44 and the high-definition camera 43 are both buffered and shock-absorbing through shock absorbers to filter the vibration caused by the bumps during the rotation of the detector to ensure the stability of shooting and detection. The specific installation of the shock absorber and the specific buffering and shock-absorbing principles all use existing technologies and will not be described in detail in this application.

[0070] When the detector rotates around the axis of the pipeline to be inspected 01 for inspection, the fluorescent magnetic suspension is supplied to each nozzle 45 through the liquid supply mechanism 6, and each nozzle 45 pre-sprays the fluorescent magnetic suspension onto the weld on the inner wall of the pipeline to be inspected 01. Subsequently, the inner wall of the pipeline to be inspected 01 is irradiated by a black light lamp 44 to display the fluorescent magnetic suspension on the weld, and then the weld is photographed by a high-definition camera 43 to obtain a high-definition picture of the weld, so as to facilitate the detection of defects at the weld.

[0071] Among them, 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. During the rotation detection process of the detector, the soft bristles 47 clean the weld before the nozzle 45, thereby cleaning the weld and improving the accuracy of the detection.

[0072] In addition, a blower module 48 is installed on the side of the box body 41. The blower 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 to form 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 ejected or splashed by the nozzle 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. Moreover, a filter screen is provided in the blower module 48 to filter out the dirt in the air.

[0073] 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 arranged 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.

[0074] By 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 branched by the annular shell 62 into each liquid supply pipe 65. The liquid supply pipe 65 transports the fluorescent magnetic suspension liquid into each nozzle 45 to supply the fluorescent magnetic suspension liquid to each nozzle 45.

[0075] 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 as the liquid volume in the storage tank 61 is consumed, it cannot be guaranteed 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:

[0076] As Figure 10 shown, the water pump 64 is installed on the inner end wall on one side of the storage tank 61. A pull rod 612 is inserted through the side of the storage tank 61 far from the water pump 64 in a sliding manner. 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 in 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.

[0077] 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;

[0078] During detection, as the liquid volume in the storage tank 61 is consumed, no matter how the storage tank 61 rotates, due to 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 can press and gather the liquid 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 into the nozzle 45 to ensure the continuity of the detection work.

[0079] 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 can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention.

Claims

1. Pipeline detector, comprising four mounting plates, characterized in that: It further includes a first driving mechanism, a magnetic particle spraying detection mechanism and a second driving mechanism; The four mounting plates are evenly distributed around the first driving mechanism, and the first driving mechanism is used to drive the mounting plates to synchronously move and adjust along the axial direction of the pipeline to be detected; One end of each mounting plate is provided with a traveling mechanism, the other end is provided with a universal ball, and the magnetic particle spraying detection mechanism is arranged in the middle; The traveling mechanism includes traveling wheels mounted on the mounting plate, and the traveling wheels and the universal balls on the same mounting 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 mounting plates, and is used to drive each traveling wheel to swing and reverse synchronously for adjustment; The traveling mechanism further includes a U-shaped frame, a shaft rod and a second driving motor; The U-shaped frame is mounted on the mounting plate, the shaft rod is rotatably mounted on the U-shaped frame, and the traveling 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; A mounting seat is fixed on one side of the mounting plate away from the shaft rod, and a ball cavity is arranged on the mounting seat; The universal ball is embedded in the ball cavity and partially exposed to the outside; The first driving mechanism includes a guide rod, a side seat, a bidirectional threaded rod, a first driving motor, a nut seat and a traction arm; 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, and four transmission rods are evenly distributed on the circular shell, and each transmission rod respectively penetrates through the corresponding mounting plate; The driving device is arranged in the circular shell and is used to drive the four transmission rods to rotate synchronously; A rotating shaft is rotatably mounted on each mounting plate, and the U-shaped frame is respectively fixed on the end of the corresponding rotating shaft; 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; When the axes of the traveling 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 traveling 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.

2. The pipeline detector according to claim 1, characterized in that: 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 mounting plate between the traveling wheels and the universal balls; A partition is fixed in the box body to divide the box body into two partition cavities, and the high-definition camera and the black light lamp are respectively installed in one partition cavity, and the nozzle is installed in the other partition cavity; A liquid supply mechanism is further arranged on the first driving mechanism, and the liquid supply mechanism is used to supply fluorescent magnetic suspension liquid to each nozzle.

3. The pipeline detector according to claim 2, characterized in that: A side plate is installed on the side of the box body, and soft bristles are evenly distributed on the side plate; A blower module is installed on the side of the box body, and the blower module is used to suck external air into the compartment where the high-definition camera is located.

4. The pipeline detector according to claim 1, wherein: A 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, and the two nut seats are symmetrically threadedly sleeved on both sides of the bidirectional threaded rod; The cross section of the nut seat is square, and the four gantry plates respectively correspond to the four sides of the nut seat; The traction arms are respectively hingedly installed on the four side surfaces of the two nut seats through hinge seats; The traction arms on the same side surfaces of the two nut seats and the corresponding gantry plates on the corresponding side are respectively hinged through hinge seats.

5. The pipeline detector according to claim 4, wherein: 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 toothed ring rotatably installed on the inner edge wall of the circular shell, a bevel gear ring fixed on the driven toothed ring, and a bevel gear fixed on the end of each transmission rod extending through the circular shell; Wherein, the driving gear meshes with the driven toothed ring correspondingly; Each bevel gear meshes with the bevel gear ring correspondingly; Wherein, the third driving motor is a worm and worm gear motor.

6. The pipeline detector according to claim 5, wherein: 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 to the circular shell, and the bevel gear is fixed on the end of the rod A located inside the circular shell; A sliding hole extending along the length direction is provided on the outer end surface of the rod A, one end of the sliding rod is slidably inserted into the sliding hole in a matching manner, and the rod B is fixed on the other end; The rod B penetrates through the gantry plate and is rotatably connected to the gantry plate, and the gear B is fixed on the end of the rod B; Wherein, the sliding rod is a rectangular rod, and the cross section of the sliding hole is rectangular and adapted to the sliding rod.

7. The pipeline detector according to claim 3, wherein: 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 the 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 to the water pump arranged in the storage tank; Four liquid supply pipes are communicated with the annular shell, and each liquid supply pipe is respectively communicated with the corresponding nozzle.

8. The pipeline detector according to claim 7, wherein: 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 away from the water pump, a piston is installed in the storage tank in a matching manner, and 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 provided on the outer peripheral wall of the storage tank and on the side close to the water pump.

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