Wall-climbing robot and nondestructive testing method

Abstract

The invention discloses a wall-climbing robot and a nondestructive testing method, and relates to the technical field of pipeline nondestructive testing device.The wall-climbing robot comprises a whole frame, a driving assembly and a detecting device; the whole frame is formed by fixedly connecting a plurality of concentric rings and connecting beams; the driving assembly comprises at least two groups of driving pieces; each driving piece comprises a mounting seat fixed on the concentric ring, a driving arm rotationally connected with the mounting seat and a driving wheel arranged at the end part of the driving arm; the detection device comprises an integrated mounting plate and a detection probe arranged at the end part of the integrated mounting plate, and the integrated mounting plate is fixed in the whole frame. The device has the effect of effectively adapting to pipelines with different diameters and shapes.

Description

Technical Field

[0001] This invention relates to the technical field of pipeline non-destructive testing equipment, and in particular to a wall-climbing robot and a non-destructive testing method. Background Technology

[0002] Currently, non-destructive testing (NDT) technology for pipelines plays a crucial role in many industries, particularly in oil and gas, chemical, and water supply. Traditional pipeline inspection methods typically require disassembling the pipeline for external inspection, which is not only time-consuming and labor-intensive but also costly. Wall-climbing robots, as a non-contact inspection method, can directly inspect the inside of the pipeline, offering high efficiency and minimizing damage to the pipeline itself.

[0003] However, existing wall-climbing robots still have some shortcomings, generally facing the challenge of maintaining stable posture and resisting pressure in complex environments. Many current designs attempt to enhance the robot's flexibility and adaptability by adding extra support structures or employing more complex drive systems. However, these methods often increase the robot's complexity, leading to higher manufacturing and maintenance costs. Furthermore, how to effectively adapt to pipes of different diameters and shapes while ensuring inspection efficiency remains a challenge. Summary of the Invention

[0004] This application provides a wall-climbing robot and a non-destructive testing method, which can effectively adapt to pipes of different diameters and shapes.

[0005] This application provides a wall-climbing robot and a non-destructive testing method, which adopts the following technical solution: A wall-climbing robot and a non-destructive testing method are disclosed. The wall-climbing robot includes an overall frame, a drive assembly, and a testing device. The overall frame is composed of several concentric rings and connecting beams fixedly connected together. The drive assembly includes at least two sets of drive components, each of which includes a mounting base fixed to the concentric rings, a drive arm rotatably connected to the mounting base, and a drive wheel located at the end of the drive arm. The testing device includes an integrated mounting plate and a testing probe located at the end of the integrated mounting plate, the integrated mounting plate being fixed inside the overall frame.

[0006] Preferably, the rotational connection point between the drive arm and the mounting base is located in the middle of the drive arm, and the frame as a whole is provided with an angle adjustment mechanism for driving the drive arm to rotate.

[0007] Preferably, the angle adjustment mechanism includes a lead screw drive assembly, which includes a first lead screw, a second lead screw, and a drive motor. The first lead screw and the second lead screw are coaxially arranged and have opposite thread directions. The first lead screw and the second lead screw are respectively threadedly connected to two limit blocks. The limit blocks are hinged to the middle of the drive arm through an external support rod.

[0008] Preferably, the drive wheel extends axially with a concentric shaft, the radial surface of the concentric shaft has a groove, and the outer support rod is fixed with a locking mechanism that can telescopically engage the groove.

[0009] Preferably, the locking mechanism includes a second drive motor and a locking rod, wherein the second drive motor drives the locking rod to move axially to engage or disengage from the slot.

[0010] Preferably, the radial surface of the frame is provided with a fall protection component, which includes a positioning plate, an airbag, and an inflation / deflation component. The positioning plate is fixed to the frame and connected to the airbag, and the inflation / deflation component is in communication with the airbag to control its inflation state.

[0011] Preferably, a conical buffer block fixed to the positioning plate is provided at the center of the airbag, and the expansion amplitude of the central part of the airbag is constrained by a connecting rope between the buffer block and the airbag.

[0012] Preferably, the outer surface of the airbag is provided with a plurality of strip-shaped protrusions at equal intervals along the axial direction, and the strip-shaped protrusions have a deformation guide structure that is recessed toward the center of the airbag.

[0013] Preferably, the integrated mounting plate has a strip-shaped limiting hole inside, and the detection probe and the integrated mounting plate are provided with a sliding connection structure that slides along the strip-shaped limiting hole.

[0014] Preferably, the non-destructive testing method for pipes based on the above-described wall-climbing robot includes the following testing steps: using an angle adjustment mechanism to make the drive wheel contact the inner wall of the pipe; driving the drive wheel to rotate to move the entire frame; and when the power is interrupted, using the airbag of the anti-fall component to expand and form friction with the inner wall of the pipe to fix the entire frame.

[0015] In summary, this application has the following beneficial effects: 1. When the wall-climbing robot is driven by the first drive motor, it causes the first lead screw and the second lead screw to rotate coaxially and in the same direction. Since the threads of the first lead screw and the second lead screw are in opposite directions, when they rotate in the same direction, the limiting blocks set on them will produce linear movements in opposite directions. This means that the two limiting blocks will move closer to each other or further away from each other at the same speed along the strip-shaped limiting holes on the integrated mounting plate. Through this angle adjustment, the system can ensure that the drive wheel is stably attached to the inner wall of the pipe with appropriate pressure, thereby adapting to pipes with different cross-sections.

[0016] 2. This wall-climbing robot uses an inflatable airbag to firmly support or lock itself inside the pipe, utilizing the strong friction generated by the gas pressure to counteract gravity and achieve the function of preventing falls.

[0017] 3. This non-destructive testing method deploys a robot by controlling the lowering of a rope, which then drives a lead screw to bring the drive wheel into close contact with the inner wall of the pipe for stable support. The robot is electrically driven to climb and move along the inner wall for testing. In the event of a power outage, the inflation and deflation assembly is activated to inflate the airbag and bring it into close contact with the inner wall of the pipe for braking. This results in a highly efficient and stable ability to move and position inside the pipe, and provides emergency safety assurance. It ensures that the wall-climbing robot can safely and reliably perform non-destructive testing inside the pipe, significantly improving testing efficiency and accuracy. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the wall-climbing robot in this embodiment; Figure 2 This is a schematic diagram of the internal structure of the drive component in this embodiment; Figure 3 This is a schematic diagram of the connection structure between the concentric shaft and the locking rod in this embodiment; Figure 4 This is a schematic diagram of the internal structure of the fall protection component in this embodiment; Figure 5 This is a cross-sectional view of the internal structure of the airbag in this embodiment; Explanation of reference numerals in the attached drawings: 1. Concentric ring; 2. Connecting beam; 3. Integrated mounting plate; 4. Detection probe; 5. Driving component; 501. Mounting base; 502. Driving arm; 503. Driving wheel; 6. Strip-shaped limiting hole; 7. First lead screw; 8. Second lead screw; 9. Limiting block; 10. External support rod; 11. Concentric shaft; 12. Slot; 13. Locking rod; 14. Fall protection component; 1401. Positioning plate; 1402. Locking block; 1403. Airbag; 1404. Positioning hole; 1405. Buffer block; 1406. Connecting rope; 1407. Recessed part; 1408. Strip-shaped protrusion. Detailed Implementation

[0019] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content. Example

[0020] This invention discloses a wall-climbing robot and a non-destructive testing method, such as... Figure 1 and Figure 2 As shown, the wall-climbing robot is used to climb inside a pipe and perform flaw detection on the inner wall of the pipe. It consists of several concentric rings 1, which are fixedly connected to each other by connecting beams 2 to form a frame. The core of the robot is an integral frame formed by multiple concentric rings 1 fixedly connected by connecting beams 2. This frame provides the basic skeleton of the robot, ensuring its stability and mechanical strength inside the pipe. An integrated mounting plate 3 is fixedly installed inside the frame. The end of the integrated mounting plate 3 is equipped with a detection probe 4. Two sets of driving components 5 are set on the concentric rings 1 of the frame. The driving components 5 include mounting seats 501 fixed on the concentric rings 1. The mounting seats 501 are arranged at equal angles around the central axis of the concentric rings 1 in three sets. The mounting seats 501 are equipped with driving arms 502. The end of the driving arms 502 is equipped with driving wheels 503. When the robot enters the pipe, the driving arms 502 will cause the driving wheels 503 to contact the inner wall of the pipe. The rotation of the driving wheels 503 generates friction and thrust, thereby enabling the entire robot to climb up or down along the inside of the pipe.

[0021] like Figure 1 and Figure 2 As shown, during the robot's climbing process, the detection probe 4 will continuously contact or approach the inner wall of the pipe to collect data in real time, thereby realizing the flaw detection and inspection of the inner wall of the pipe.

[0022] like Figure 1 and Figure 2 As shown, the entire system integrates crawling movement and non-destructive testing functions, enabling the robot to perform defect detection on the inner wall of the pipe while moving. The robot can autonomously move and perform inspections inside the pipe, greatly improving the efficiency of pipe inner wall inspection and reducing the need for and time of manual operation.

[0023] like Figure 1 and Figure 2As shown, the drive arm 502 is rotatably connected to the mounting base 501. When the drive arm 502 changes angle around its rotation point, the radial distance of its end point (i.e., the position of the drive wheel 503) relative to the central axis of the wall-climbing robot also changes accordingly. If the inner diameter of the pipe is large, the drive arm 502 will extend outward, increasing the radial distance of the drive wheel 503, allowing it to reach a farther section of the pipe wall. If the inner diameter of the pipe is small, the drive arm 502 will retract inward, reducing the radial distance of the drive wheel 503, allowing it to reach a closer section of the pipe wall.

[0024] like Figure 1 and Figure 2 As shown, this angle adjustment ensures that the drive wheel 503 is stably pressed against the inner wall of the pipe with appropriate pressure. This stable contact is crucial for generating sufficient friction to achieve climbing and maintain robot posture stability. By simply adjusting the angle of the drive arm 502, it can adapt to and efficiently operate in pipes of different sizes, greatly expanding its application range. Furthermore, ensuring that the drive wheel 503 always maintains a stable and appropriate pressure against the pipe's inner wall provides sufficient friction, preventing the robot from slipping or getting stuck, thus guaranteeing the stability of the robot during climbing and the reliability of task completion.

[0025] like Figure 1 and Figure 2 As shown, the integrated mounting plate 3 has a strip-shaped limiting hole 6 inside. A first drive motor is mounted on the integrated mounting plate 3, and the output end of the first drive motor is connected to a first lead screw 7. The free end of the first lead screw 7 is coaxially connected to a second lead screw 8. The threads of the first lead screw 7 and the second lead screw 8 have opposite directions. Limiting blocks 9 are respectively provided on the first lead screw 7 and the second lead screw 8. The bottom of the limiting block 9 moves along the long side of the strip-shaped limiting hole 6. The limiting block 9 is hinged to the middle of the drive arm 502 of the drive component 5 via an outer support rod 10. The first drive motor rotates the first lead screw 7 and the second lead screw 8, causing the two limiting blocks 9 to undergo relative displacement on the integrated mounting plate 3. Under the linkage of the outer support rod 10, the drive arm 502 rotates relative to the mounting base 501. When the first drive motor drives, it drives the first lead screw 7 and the second lead screw 8 to rotate coaxially and in the same direction. Since the threads of the first lead screw 7 and the second lead screw 8 have opposite directions, when they rotate in the same direction, the limiting blocks 9 respectively provided on them will produce linear movements in opposite directions. This means that the two limiting blocks 9 will move closer to or further away from each other at the same speed along the strip-shaped limiting hole 6 on the integrated mounting plate 3.

[0026] like Figure 1 and Figure 2As shown, the relative linear displacement of the two limiting blocks 9, through the hinge point connected to the outer support rod 10, changes the angle between the outer support rod 10 and the middle of the drive arm 502, as well as the relative position of the connection point. This change produces a pushing and pulling effect on the outer support rod 10. Since the drive arm 502 is hinged around the mounting base 501, the pushing and pulling force of the outer support rod 10 forces the drive arm 502 to rotate relative to its mounting base 501. The entire process is similar to a crank-rocker or oscillating linkage mechanism, converting linear input into precise angular displacement output.

[0027] like Figure 1 and Figure 2 As shown, the lead screw drive itself has extremely high positioning accuracy and repeatability. This means that the drive arm 502 can be precisely moved to the required angular position and can stably return to these positions each time.

[0028] like Figure 3 As shown, a concentric shaft 11 with a cross-sectional dimension smaller than that of the drive wheel 503 is provided on one side. The radial surface of the concentric shaft 11 has several slots 12. A second drive motor is mounted on the outer support rod 10. The output end of the second drive motor is connected to a locking rod 13. The end of the locking rod 13 is engaged with the slots 12. When the drive wheel 503 needs to be fixed in a certain position, the second drive motor drives the locking rod 13 to extend. If the end of the locking rod 13 aligns with a slot 12 on the concentric shaft 11, it will insert into the slot 12. When the drive wheel 503 needs to rotate freely, the second drive motor drives the locking rod 13 to retract, disengaging it from the slot 12 and thus releasing the lock on the drive wheel 503.

[0029] like Figure 3 As shown, it provides a more robust and reliable physical lock than relying solely on the first drive motor, ensuring that the drive wheel 503 will not shift or drift due to external vibration, gravity or unexpected load when it stops working.

[0030] like Figure 3 As shown, this provides an additional layer of mechanical safety. Even if the main drive system fails, the locking mechanism can mechanically lock the position to prevent accidental movement, thereby improving the stability and operational safety of the entire system.

[0031] like Figure 1 and Figure 4As shown, the radial surface of the frame is provided with anti-fall components 14. These components are distributed at equal angles around the central axis of the concentric ring 1 and alternately arranged with the driving components 5. Each anti-fall component 14 includes a positioning plate 1401 and an inflation / deflation assembly fixed within the frame. The positioning plate 1401 has an arc-shaped structure. One side of the positioning plate 1401 is positioned by a locking block 1402 and fixed to the frame with bolts. The other side of the positioning plate 1401 is provided with an airbag 1403. The positioning plate 1401 has a positioning hole 1404 communicating with the airbag 1403. The interior of the positioning hole 1404 is connected to the output end of the inflation / deflation assembly via an air supply pipe. When the climbing robot experiences an unexpected power outage, the inflation / deflation assembly is triggered, causing gas to fill the airbag 1403. After inflation, the airbag 1403 increases in volume and expands radially outward until it tightly adheres to the inner wall of the pipe. This tight contact between the airbag 1403 and the inner wall of the pipe generates significant static friction. This friction is sufficient to overcome the robot's own weight.

[0032] like Figure 4 As shown, the expansion of the airbag 1403 not only generates friction, but also, due to its soft and deformable properties, causes the airbag 1403 and the robot body to form a mechanical jamming or wedging state within the pipe. Simultaneously, the flexibility of the airbag 1403 allows it to adapt to pipe walls of different diameters and shapes, ensuring effective contact and support under various working conditions.

[0033] like Figure 4 As shown, in the event of an unexpected power outage, communication interruption, or system malfunction, the fall protection component 14 automatically activates, effectively preventing the robot from falling and thus avoiding equipment damage, pipe damage, and potential safety risks. The airbag 1403 is soft and deformable, allowing it to conform well to the inner walls of pipes of different diameters, and even adapt to slight irregularities or ellipticities within the pipe, greatly enhancing the robot's versatility and applicability. Compared to using rigid grippers or mechanical claws, the soft surface of the airbag 1403 generates gripping force while avoiding scratches, abrasions, or indentations on the inner wall of the pipe, which is particularly important for precision, coated, or fragile pipes.

[0034] like Figure 4 and Figure 5 As shown, a cone-shaped buffer block 1405 is provided at the center of the airbag 1403. The buffer block 1405 is integrally formed with the airbag 1403, and the buffer block 1405 is connected to the positioning plate 1401 by a connecting rope 1406. When the airbag 1403 begins to inflate, the connecting rope 1406 restricts the outward expansion distance of the central cone-shaped buffer block 1405. This means that the central part of the airbag 1403 cannot expand outward freely like its periphery.

[0035] like Figure 4 and Figure 5 As shown, because the center is restricted by the tension of the connecting rope 1406, while the outer part of the airbag 1403 continues to expand and extend outward, this causes the airbag 1403 to form an inwardly concave area on the side that contacts the inner wall of the pipe. It can be imagined that the center of the airbag 1403 is pulled inward, while the edges are pushed outward.

[0036] like Figure 4 and Figure 5 As shown, when the recess 1407 is tightly fitted against the inner wall of the pipe, the outer portion of the airbag 1403 has formed an effective seal with the inner wall of the pipe. At this time, due to the continuous tension of the connecting rope 1406, the space inside the recess 1407 will attempt to increase, or in other words, the confined central portion of the airbag 1403 will exhibit a tendency to rebound or pull, attempting to contract inward. Under sealed conditions, this tendency will cause a decrease in the gas pressure inside the cavity, thereby creating a local negative pressure.

[0037] like Figure 4 and Figure 5 As shown, the external atmospheric pressure is greater than the negative pressure inside the recess 1407. This pressure difference generates a strong suction force, pressing the airbag 1403 more firmly against the inner wall of the pipe, thereby enhancing the suction and sealing of the airbag 1403. This is similar to the working principle of a suction cup: by expelling air or creating a low-pressure area, the external pressure difference is used to generate suction force.

[0038] The negative pressure significantly increases the friction and adhesion between the airbag 1403 and the inner wall of the pipe, allowing the airbag 1403 to be more firmly fixed inside the pipe, effectively preventing leakage or displacement. The enhanced adhesion makes the airbag 1403 more stable inside the pipe, less susceptible to displacement due to fluid impact, pressure changes, or gravity. The negative pressure adhesion mechanism helps the airbag 1403 better adapt to the minute irregularities or rough surfaces of the pipe's inner wall, improving the reliability of the seal. Even if the inner wall of the pipe is not completely smooth or uniform, a better fit can be achieved.

[0039] like Figure 4 and Figure 5As shown, the outer surface of the airbag 1403 is provided with equally spaced strip-shaped protrusions 1408 along the long side of the positioning plate 1401. The strip-shaped protrusions 1408 are integrally formed with the airbag 1403, and one side of each strip-shaped protrusion 1408 is concave. This design predetermines the direction and manner of deformation under stress. When the airbag 1403 inflates and contacts the inner wall of the pipe, the inner wall of the pipe applies pressure to these strip-shaped protrusions 1408. Due to the internal structure of the protrusions, under the action of external pressure, they are forced to deform in the concave direction, thereby making them fit more tightly against the inner wall of the pipe.

[0040] like Figure 4 and Figure 5 As shown, the airbag 1403 is cylindrical, and the raised strips are arranged along its long side. When these raised strips 1408 deform and adhere tightly to the inner wall of the cylindrical pipe, they actually form multiple continuous, annular contact bands on the inner wall of the pipe. These contact bands are like layers of annular sealing rings.

[0041] like Figure 4 and Figure 5 As shown, each tightly fitted annular contact band increases the contact area and positive pressure between the airbag 1403 and the inner wall of the pipe, thereby significantly improving the coefficient of friction and the total frictional force between them. The multi-layered annular structure further accumulates this frictional force, making it much greater than the frictional force provided by a smooth surface or a small number of contact points.

[0042] like Figure 4 and Figure 5 As shown, by forming multiple tightly fitting annular contact surfaces, the friction between the airbag 1403 and the inner wall of the pipe is greatly increased, effectively preventing the airbag 1403 from sliding or shifting within the pipe, and maintaining stability even when faced with fluid impact or pressure changes within the pipe. This not only increases friction but also acts as a multiple sealing barrier. Even if a sealing ring has a minor defect, subsequent annular raised strips can provide additional sealing, effectively preventing fluid leakage and improving the overall reliability of the seal.

[0043] Based on the aforementioned wall-climbing robot, the detection steps of this non-destructive testing method include: S1: Securely connect or anchor one end of a rope to a pre-set connecting buckle on the frame; then, use an external rope unwinding device to controllably unwind or lower the rope. S2: Subsequently, the first drive motor drives the first lead screw 7 and the second lead screw 8 to rotate to generate driving force, so that the two limit blocks 9 perform relative displacement on the integrated mounting plate 3; this relative displacement is transmitted through the outer support rod 10, causing the drive arm 502 to rotate relative to the mounting base 501 until the drive wheel 503 at the end of the drive arm 502 is in close contact with the inner wall of the pipe. S3: By providing driving power to the drive wheels 503 configured on the wall-climbing robot, the wall-climbing robot is driven to climb and move on the inner wall of the pipe. S4: When the wall-climbing robot encounters an unexpected power outage during the climbing process, the inflation and deflation components are activated, thereby inflating gas into the airbag 1403; after inflation, the airbag 1403 increases in volume and expands radially outward until it forms a tight fit with the inner wall of the pipe.

[0044] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A wall-climbing robot, characterized in that, The system includes an overall frame, a drive assembly, and a detection device. The overall frame is formed by a number of concentric rings (1) and connecting beams (2) fixedly connected together. The drive assembly includes at least two sets of drive components (5), each of which includes a mounting base (501) fixed to the concentric ring (1), a drive arm (502) rotatably connected to the mounting base (501), and a drive wheel (503) located at the end of the drive arm (502). The detection device includes an integrated mounting plate (3) and a detection probe (4) located at the end of the integrated mounting plate (3), the integrated mounting plate (3) being fixed inside the overall frame.

2. The wall-climbing robot according to claim 1, characterized in that, The rotational connection point between the drive arm (502) and the mounting base (501) is located in the middle of the drive arm (502), and the frame as a whole is provided with an angle adjustment mechanism for driving the drive arm (502) to rotate.

3. The wall-climbing robot according to claim 2, characterized in that, The angle adjustment mechanism includes a lead screw drive assembly, which includes a first lead screw (7), a second lead screw (8), and a drive motor. The first lead screw (7) and the second lead screw (8) are coaxially arranged and have opposite thread directions. The first lead screw (7) and the second lead screw (8) are respectively threadedly connected to two limit blocks (9). The limit blocks (9) are hinged to the middle of the drive arm (502) through an outer support rod (10).

4. The wall-climbing robot according to claim 3, characterized in that, The drive wheel (503) is axially extended with a concentric shaft (11), and the radial surface of the concentric shaft (11) is provided with a slot (12). The outer support rod (10) is fixedly provided with a locking mechanism that can telescopically engage the slot (12).

5. The wall-climbing robot according to claim 4, characterized in that, The locking mechanism includes a second drive motor and a locking rod (13). The second drive motor drives the locking rod (13) to move axially to engage or disengage from the slot (12).

6. The wall-climbing robot according to claim 1, characterized in that, The frame is provided with a fall protection component (14) on its radial surface. The fall protection component (14) includes a positioning plate (1401), an airbag (1403), and an inflation / deflation component. The positioning plate (1401) is fixed to the frame and connected to the airbag (1403). The inflation / deflation component is connected to the airbag (1403) to control its inflation state.

7. The wall-climbing robot according to claim 6, characterized in that, The airbag (1403) has a conical buffer block (1405) fixed to the positioning plate (1401) at its center. The buffer block (1405) and the airbag (1403) are connected by a connecting rope (1406) to constrain the expansion range of the central part of the airbag (1403).

8. The wall-climbing robot according to claim 6, characterized in that, The outer surface of the airbag (1403) is provided with a plurality of strip-shaped protrusions (1408) at equal intervals along the axial direction, and the strip-shaped protrusions (1408) have a deformation guide structure that is recessed toward the center of the airbag (1403).

9. The wall-climbing robot according to claim 1, characterized in that, The integrated mounting plate (3) has a strip-shaped limiting hole (6) inside, and the detection probe (4) and the integrated mounting plate (3) are provided with a sliding connection structure that slides along the strip-shaped limiting hole (6).

10. A method for non-destructive testing of pipelines based on a wall-climbing robot according to any one of claims 1-9, characterized in that, The detection steps include: making the drive wheel (503) contact the inner wall of the pipe through the angle adjustment mechanism; driving the drive wheel (503) to rotate to drive the frame as a whole to move; when the power is interrupted, the airbag (1403) of the anti-fall component (14) expands and forms friction with the inner wall of the pipe to fix the frame as a whole.

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