Pipeline thickness measuring visual robot and thickness measuring mode

Abstract

The pipeline thickness measuring visual robot comprises a chassis body, the chassis body is sequentially provided with a swing mechanism mounting groove, a lifting mechanism mounting groove and a driving mechanism mounting groove from left to right, and the lower end of the chassis body is provided with a front roller and two rear rollers. A battery bin is mounted in the swing mechanism mounting groove, a fixing support is arranged in the lifting mechanism mounting groove, the upper end and the lower end of the fixing support extend to the outside, a detector is mounted in the fixing support, and a rear wheel swing mechanism is arranged on the chassis body. The device adapts to pipelines with different diameters, and can stably move and steer on the pipelines; the thickness gauge is accurate in lifting and has an anti-collision protection function; double cameras and a light supplementing lamp are arranged, so that remote visual operation is supported; wireless control is simple, convenient and reliable, a scaffold, a polishing anti-corrosion layer and a coupling agent are not needed, the device is suitable for various conductor materials, operation in high-altitude and high-risk extreme environments and the like can be achieved, and the detection efficiency, the coverage rate and the safety can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipe thickness measurement, in particular to a pipe thickness measurement visual robot and a thickness measurement method. BACKGROUND

[0002] In the field of industrial production, the detection of the pipe wall thickness of ferromagnetic material pipes is of great importance, as it is directly related to the safe operation of many key facilities such as petroleum and chemical crude oil storage tanks, gas storage tanks, overhead pipelines, boiler interiors, steel structure bridges, and ship hulls.

[0003] The development of wall-climbing robots can be traced back to the 1960s. In the early days, they mainly relied on negative pressure suction technology to fix their position on vertical surfaces. Although the principle is simple, the efficiency is low and the reliability is poor. With the continuous progress of technology, the design of wall-climbing robots has been continuously improved, and various design schemes such as single-suction disc structure, multi-suction disc structure, and permanent magnetic adsorption have gradually emerged. These improvements not only improve the stability and efficiency of wall-climbing robots, but also expand their application range. In the 21st century, the rapid development of artificial intelligence and sensing technology has brought new opportunities for wall-climbing robots. The improvement of intelligent sensing and navigation systems enables wall-climbing robots to more accurately perceive the pipe environment, accurately analyze the pipe wall characteristics, and more efficiently plan paths in complex environments, thereby improving detection efficiency.

[0004] Currently, wall-climbing thickness measurement robots are mainly used for the detection of large energy equipment such as thermal power boilers and wind turbines. These devices are often in high-altitude or high-risk environments, making manual detection difficult and risky. The existing handheld thickness gauge has obvious shortcomings. It requires operators to have certain professional knowledge and technical experience, and improper operation may affect the accuracy of the detection results. It is usually suitable for near-ground pipe thickness measurement and is difficult to adapt to high-altitude and high-risk conditions. At the same time, in extreme environments or special material pipe systems, the detection effect may also be limited.

[0005] With increasing global attention to energy security and environmental standards, as well as the continuous development of digital and intelligent technologies, the market demand for wall-climbing detection robots continues to grow, and there is an increasing demand for pipe thickness measurement equipment that can achieve automatic scanning and thickness measurement and adapt to complex environments. SUMMARY

[0006] The present application aims to solve the problems existing in the prior art and proposes a pipe thickness measurement visual robot and a thickness measurement method. The present application is suitable for different diameter pipes and can move and turn stably on the pipe. The thickness gauge is precise in lifting and has anti-collision protection. It is equipped with dual cameras and a fill light to support remote visual operation. Wireless control is simple and reliable, and does not require scaffolding, polishing of the corrosion layer, or coupling agent. It is suitable for a variety of conductor materials and can be used in extreme environments such as high altitude and high risk. It can improve detection efficiency, coverage, and safety.

[0007] In order to achieve the above object, the application adopts the following technical scheme: a pipeline thickness measurement visual robot, comprising a chassis body, the chassis body is provided with a swing mechanism mounting slot, a lifting mechanism mounting slot and a driving mechanism mounting slot from left to right in turn, the lower end of the chassis body is provided with a front roller and two rear rollers, a battery compartment is installed in the swing mechanism mounting slot, a fixed support is arranged in the lifting mechanism mounting slot, the upper and lower ends of the fixed support extend to the outside, a detector is installed in the fixed support, a rear wheel swing mechanism is arranged on the chassis body, the rear wheel swing mechanism comprises a first sliding rail fixedly connected to the left side of the battery compartment, a fixed block is fixedly connected to the upper end of the chassis body, an adjusting screw is rotatably connected through the fixed block, a first sliding block is threadedly connected to the adjusting screw, two adjusting rods are rotatably connected to the left side of the first sliding block, a plurality of vertical openings are arranged on the front and rear sides of the chassis body, the two adjusting rods extend through the corresponding vertical openings, a connecting block is rotatably connected to the front and rear sides of the chassis body, a first motor housing is fixedly connected to the opposite side of each connecting block, the upper end of each adjusting rod is rotatably connected to the corresponding first motor housing, a third wire servo is installed in each first motor housing, the output shaft of each third wire servo is fixedly connected to the corresponding rear roller, a strip-shaped opening is arranged on the left side of the chassis body, two screws are threadedly connected to the first sliding block, and the left sides of the two screws extend to the outside through the strip-shaped opening.

[0008] Preferably, a main machine lifting mechanism is arranged in the chassis body, the main machine lifting mechanism comprises a first wire servo installed in the driving mechanism mounting slot, the output shaft of the first wire servo extends into the lifting mechanism mounting slot and is fixedly connected with a first gear, a rectangular rod is fixedly connected to the right side of the fixed support, a vertical rod is fixedly connected to the upper end of the rectangular rod, a first rack is arranged on the rear side of the rectangular rod, a square block is fixedly connected to the upper end of the first rack, the vertical rod extends through the square block, the adjacent sides of the rectangular rod and the square block are elastically connected through a first spring, guide blocks are fixedly connected to the inner walls of the left and right sides of the lifting mechanism mounting slot, second sliding rails are slidably connected in the guide blocks, and the second sliding rails are fixedly connected with the corresponding rectangular rods.

[0009] Preferably, the chassis body is provided with a front wheel moving and lifting mechanism, the front wheel moving and lifting mechanism comprises a motor support installed in the driving mechanism installation slot, the upper end of the motor support is provided with a second wire servo, the output shaft tail of the second wire servo is fixedly connected with a front wheel support through the motor support, the front and rear two sides of the front wheel support are rotatably connected with a rotating shaft, the front roller is installed on the rotating shaft, the right side of the front wheel support is provided with a second motor shell, the fourth wire servo is installed in the second motor shell, the rear side of the front wheel support is provided with a gear box, four meshing transmission gears are rotatably connected in the gear box, the output shaft of the fourth wire servo is fixedly connected with the transmission gear on the right side, and the rotating shaft is fixedly connected with the transmission gear on the left side.

[0010] Preferably, the left side of the chassis body is rotatably connected with a first video camera, the upper end of the second motor shell is rotatably connected with a second video camera, the first video camera and the second video camera are both provided with a light supplementing lamp, and the upper end of the chassis body is provided with two antennas.

[0011] Preferably, the front roller and the rear roller both comprise two outer magnetic yokes and an intermediate magnet, and the intermediate magnet is fixedly connected between the two outer magnetic yokes.

[0012] Preferably, the left side of the chassis body is provided with an auxiliary stabilizing assembly, the auxiliary stabilizing assembly comprises two mounting blocks, the lower end of each of the two mounting blocks is vertically fixedly connected with a pneumatic rod, the telescopic ends of the two pneumatic rods are fixedly connected with a horizontal plate, the lower end of the horizontal plate is provided with two third sliding blocks, each of the two third sliding blocks is provided with a through hole, each of the two through holes is slidably connected with a fourth sliding block, the lower end of each of the two fourth sliding blocks is fixedly connected with an arc-shaped block, the inner wall of each of the two arc-shaped blocks is fixedly connected with a telescopic rod, the telescopic end of each of the telescopic rods is fixedly connected with a mounting bracket, each of the mounting brackets is provided with an auxiliary wheel, each of the mounting brackets and the corresponding arc-shaped block are elastically connected through a second spring, the opposite sides of the two third sliding blocks are fixedly connected with L-shaped blocks, each of the two L-shaped blocks is provided with a hydraulic rod, the telescopic end of each of the hydraulic rods is fixedly connected with a corresponding fourth sliding block, the upper end of the chassis body is provided with an inclination sensor, the lower end of the mounting block is provided with a displacement sensor, and the chassis body is provided with a control system.

[0013] Preferably, the horizontal plate is provided with grooves on both front and back sides, the lower end of the horizontal plate is fixedly connected with two fourth sliding rails and second electromagnets, two fourth sliding rails are slidably connected with adsorption blocks, each adsorption block is elastically connected with the adjacent side of the corresponding second electromagnet through a fourth spring, the opposite sides of the two adsorption blocks are fixedly connected with second racks, the lower end of the horizontal plate is fixedly connected with a plurality of bearing seats, every two cooperating bearing seats are jointly rotatably connected with cross bars, the two cross bars are fixedly connected with second gears engaged with the second racks, and the two third sliding blocks are fixedly connected with the corresponding cross bars.

[0014] Preferably, the cushion mechanism comprises a third sliding rail mounted on the front side of the chassis body, a stopper fixedly connected to the left side of the third sliding rail, a moving block slidably connected to the third sliding rail, the moving block being elastically connected with the adjacent side of the stopper through a fifth spring, an L-shaped rod fixedly connected to the lower end of the moving block, a rectangular box fixedly connected to the right side of the L-shaped rod, a first electromagnet arranged on the front inner wall of the rectangular box, an iron block slidably connected in the rectangular box, a triangular strip fixedly connected to the rear side of the iron block, the first electromagnet being elastically connected with the adjacent side of the iron block through a third spring, a pressure sensor fixedly connected to the right side of the stopper, and a pressing rod fixedly connected to the left side of the moving block.

[0015] The thickness measurement method of the pipeline thickness measurement visual robot according to any one of the above, comprising the following steps:

[0016] S1: device debugging and pipeline adaptation

[0017] According to the diameter of the pipeline to be detected, the included angle of the rear rollers is adjusted through the rear wheel swing mechanism: the first sliding block is moved along the first sliding rail by rotating the adjusting screw, the adjusting rod pushes the first motor housing to rotate around the connecting block until the rear rollers adapt to the diameter of the pipeline, and the screw is tightened to lock the angle; the robot is placed on the pipeline, the front rollers and the rear rollers are adsorbed to the pipe wall through the magnetic yoke structure, after the power supply is started, the antenna establishes wireless communication, the first video camera and the second video camera are turned on and transmit real-time pictures.

[0018] S2: moving to the target detection area

[0019] The third wire steering engine drives the rear roller to rotate, the fourth wire steering engine drives the front roller to rotate through the transmission gear in the gear box, and the robot is driven along the pipeline; when turning, the second wire steering engine drives the front wheel support to adjust the angle of the front roller to realize turning. During movement, if the pipe diameter changes, the tilt sensor triggers the auxiliary stabilizing component: the pneumatic rod is stretched to make the horizontal plate move down, the second electromagnet is energized to drive the arc block to rotate to the vertical state, and the hydraulic rod pushes the fourth sliding block to make the auxiliary wheel press the pipe wall; when the clamp is encountered, the triangular strip of the cushion block mechanism contacts the clamp, the moving block moves backward to make the front roller cross smoothly, and the pressure sensor triggers the triangular strip to return to the original position.

[0020] S3: Perform pipeline thickness measurement operation

[0021] After reaching the detection position, the main machine lifting mechanism is started: the first wire steering engine drives the first gear to rotate, drives the fixed support along the second sliding rail through the first rack, and the probe is lifted to the detection height opposite the pipeline wall; the first spring buffer reduces the lifting vibration to avoid collision damage. At the same time, the first video camera and the second video camera focus on the detection area, the fill light enhances the brightness, and the real-time image is transmitted to the terminal. The operator confirms the accurate alignment of the probe through the image, starts the probe to complete the pipeline wall thickness detection, and stores and transmits the data synchronously.

[0022] S4: Detection reset and next cycle

[0023] After single thickness measurement is completed, the main machine lifting mechanism is reversely operated to make the probe descend and reset; if multiple points need to be detected, the steps of S2-S3 are repeated, and the robot continuously moves and completes detection under the cooperation of the auxiliary stabilizing component and the cushion block mechanism; after all the detection is completed, the robot exits the pipeline along the original path, the auxiliary stabilizing component and the cushion block mechanism are reset, and the power is turned off to complete the work.

[0024] The present application has the following advantages:

[0025] 1. Compared with the prior art, the rear wheel swing mechanism can flexibly adapt to the outer pipe wall of pipelines with different diameters by adjusting the swing angles of the left rear wheel module and the right rear wheel module, solving the limitation of traditional equipment that can only adapt to fixed pipe diameters, and expanding the application range of the robot; at the same time, the angles are locked by the fixing screws and the lifting screws to ensure that the wheel train is stable and does not deviate during detection, and the operation reliability under complex pipe diameters is improved;

[0026] 2. Compared with the prior art, in the front wheel moving and turning mechanism, the fourth wire steering engine drives the front wheel to continuously rotate to realize straight-line movement through the gear transmission system, and the second wire steering engine controls the front wheel turning through the linkage of the main shaft and the fixed plate, so that the robot can not only move straight, but also turn flexibly, solving the problems of traditional wall climbing equipment that moves clumsily and has low turning precision, and improving the maneuverability on the pipeline surface;

[0027] 3、Compared with the prior art, the host lifting mechanism drives the gear rack through the first wire rudder to realize the precise lifting of the ultrasonic thickness gauge, and the compression spring buffers the collision force, which not only ensures the optimal detection distance of the thickness gauge and the pipeline wall, but also avoids damage caused by accidental collision of the equipment and the pipeline, prolonging the service life.

[0028] 4、Compared with the prior art, the visual and communication system composed of double cameras and an antenna, the front camera and the rear camera cooperate with the light supplement lamp to realize real-time collection of the pipeline environment picture, and the antenna realizes wireless communication with the controller, solving the problems of limited line of sight during manual detection and lack of visual feedback during remote control, so that the operator can remotely and accurately control the detection process, improving the operation safety and detection specificity.

[0029] 5、Compared with the prior art, the auxiliary stabilizing assembly adjusts the height of the horizontal plate through the pneumatic rod, cooperates with the hydraulic rod to push the arc-shaped block to fit the outer wall of the pipeline, and the elastic extension and contraction design of the telescopic rod and the second spring can adapt to the change from large to small or from small to large of the pipe diameter, always maintaining the stable clamping of the auxiliary wheel to the pipeline, solving the problem of easy slipping and falling of the traditional robot when the pipe diameter changes, and significantly improving the operation safety in complex pipeline environment.

[0030] 6、Compared with the prior art, this design accurately solves the problem of traditional robots easily stuck in the hoop, through the automatic process of "contact-transition-reset", the continuous movement ability of the robot at the pipeline convex obstacle is ensured, and the passing reliability in complex pipeline environment is further improved.

[0031] In summary, through the cooperative design of the rear wheel swinging mechanism, the front wheel moving and steering mechanism, the host lifting mechanism, the visual and communication system, the auxiliary stabilizing assembly and the cushion block mechanism, the limitations of traditional pipeline thickness measuring equipment in adaptability, maneuverability, detection accuracy, operation safety and complex environment passing ability are broken through. Each mechanism not only realizes the targeted function independently, but also cooperates with each other to form a complete automatic detection system, which can stably work in complex pipeline environment with high altitude, high danger, changing pipe diameter and convex obstacles, significantly improving the detection efficiency, reliability and safety, providing an efficient and intelligent solution for pipeline wall thickness detection, and having important industrial practical value. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a structural schematic diagram of a pipeline thickness visual robot according to the present application;

[0033] Figure 2 is a structural schematic diagram of a pipeline thickness visual robot according to the present application from another perspective;

[0034] Figure 3A top view of a pipeline thickness measuring visual robot according to the present application;

[0035] Figure 4 A top view of a pipeline thickness measuring visual robot according to the present application; Figure 3 A-A sectional view;

[0036] Figure 5 A structure diagram of a rear wheel swing mechanism;

[0037] Figure 6 A structure diagram of a main machine lifting mechanism;

[0038] Figure 7 A structure diagram of a front wheel moving and steering mechanism;

[0039] Figure 8 A structure diagram of a chassis main body 1;

[0040] Figure 9 A structure diagram of a pipeline thickness measuring visual robot according to the present application;

[0041] Figure 10 A structure diagram of an auxiliary stabilizing mechanism;

[0042] Figure 11 A structure diagram of a cushion block mechanism.

[0043] In the figure: 1 chassis main body, 2 detector, 3 fixed support, 4 antenna, 5 first video camera, 6 second video camera, 7 first motor housing, 8 adjusting rod, 9 front roller, 10 rear roller, 11 connecting block, 12 strip-shaped opening, 13 screw, 14 adjusting screw rod, 15 second motor housing, 16 fourth sliding block, 17 gear box, 18 vertical opening, 19 first sliding rail, 20 fixed block, 21 first sliding block, 22 first wire steering engine, 23 first gear, 24 rectangular rod, 25 first rack, 26 first spring, 27 vertical rod, 28 guide block, 29 second sliding rail, 30 second motor housing, 31 transmission gear, 32 front wheel support, 33 motor support, 34 second wire steering engine, 35 mounting block, 36 pneumatic rod, 37 horizontal plate, 38 arc-shaped block, 39 auxiliary wheel, 40 telescopic rod, 41 second spring, 42 third sliding rail, 43 moving block, 44 stop block, 45 fifth spring, 46 pressure sensor, 47 pressing rod, 48 L-shaped rod, 49 rectangular box, 50 third spring, 51 first electromagnet, 52 triangular strip, 53 iron block, 54 second electromagnet, 55 fourth spring, 56 adsorbing block, 57 second rack, 58 third sliding block, 59 second gear, 60 bearing seat, 61 L-shaped block, 62 hydraulic rod, 63 fourth sliding rail. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0045] Embodiment 1

[0046] With reference to Figures 1-8 A pipeline thickness measurement visual robot, comprising a chassis body 1, the chassis body 1 is sequentially provided with a swing mechanism mounting slot, a lifting mechanism mounting slot and a driving mechanism mounting slot from left to right, the lower end of the chassis body 1 is provided with a front roller 9 and two rear rollers 10, the front roller 9 and the rear roller 10 each comprise two outer magnetic yokes and a middle magnet, the middle magnet is fixedly connected between the two outer magnetic yokes, the outer magnetic yoke is made of high magnetic permeability silicon steel sheet laminated, the middle magnet is a neodymium iron boron strong magnet, which is fixedly connected between the two outer magnetic yokes by epoxy resin glue to form a closed magnetic circuit and can generate an adsorption force of not less than 150N to ensure that the robot is stably attached on a vertical or inclined pipeline, the swing mechanism mounting slot is provided with a battery compartment, a capacity of 12V / 5000mAh lithium battery, a endurance time of 8 hours, and each part of the robot is powered;

[0047] The lifting mechanism mounting slot is provided with a fixed support 3, the upper and lower ends of the fixed support 3 extend to the outside, and a detector 2 is installed in the fixed support 3 through four M2 screws, the detector 2 is an ultrasonic thickness gauge with a measurement range of 0.1-50mm and an accuracy of ±0.01mm, the chassis body 1 is provided with a rear wheel swing mechanism, the rear wheel swing mechanism comprises a first sliding rail 19 fixedly connected to the left side of the battery compartment, the upper end of the chassis body 1 is fixedly connected with a fixed block 20, the fixed block 20 is rotatably connected with an adjusting screw 14 penetrating therethrough, the adjusting screw 14 is threadedly connected with a first sliding block 21, the inner side of the first sliding block 21 is provided with a polytetrafluoroethylene wear-resistant coating with a thickness of 0.5mm, the left side of the first sliding block 21 is rotatably connected with two adjusting rods 8 through two pin shafts, the front and rear sides of the chassis body 1 are each provided with a plurality of vertical openings 18, the two adjusting rods 8 penetrate through the corresponding vertical openings 18, the front and rear sides of the chassis body 1 are rotatably connected with connecting blocks 11, the opposite sides of the two connecting blocks 11 are each fixedly connected with a first motor housing 7, the upper ends of the two adjusting rods 8 and the corresponding first motor housings 7 are rotatably connected, and the two first motor housings 7 are each installed with a third wire servo motor, and the output shafts of the two third wire servo motors are fixedly connected with the corresponding rear rollers 10.

[0048] The left side of the chassis body 1 is provided with a strip-shaped opening 12, the first sliding block 21 is threadedly connected with two screws 13, the screws 13 are internal hexagonal cylindrical heads, the left sides of the two screws 13 extend to the outside through the strip-shaped opening 12, and the first sliding block 21 can be locked at any position by tightening the screws.

[0049] The main body 1 is provided with a main machine lifting mechanism, the main machine lifting mechanism comprises a first wire steering wheel 22 installed in the driving mechanism installation slot through a flange, the output shaft of the first wire steering wheel 22 extends into the lifting mechanism installation slot and is fixedly connected with a first gear 23, the right side of the fixed support 3 is fixedly connected with a rectangular rod 24, the upper end of the rectangular rod 24 is fixedly connected with a vertical rod 27, a plurality of moving ports are arranged on the vertical rod 27, a sliding bolt is arranged in each moving port, each sliding bolt is connected with a first rack 25, the rear side of the rectangular rod 24 is provided with the first rack 25, the upper end of the first rack 25 is fixedly connected with a square block, the vertical rod 27 penetrates through the square block, the adjacent sides of the rectangular rod 24 and the square block are elastically connected through a first spring 26, the left and right two side walls of the lifting mechanism installation slot are fixedly connected with guide blocks 28, the two guide blocks 28 are slidably connected with second sliding rails 29, and the two second sliding rails 29 are fixedly connected with the corresponding rectangular rods 24 through bolts.

[0050] The front wheel moving and lifting mechanism comprises a motor support 33 installed in the driving mechanism installation slot, a second wire steering wheel 34 installed at the upper end of the motor support 33, a front wheel support 32 fixedly connected with the output shaft of the second wire steering wheel 34 and penetrating through the motor support 33, a rotating shaft rotatably connected to the inner walls of the front and rear sides of the front wheel support 32, a front roller 9 installed on the rotating shaft through a flat key, a second motor shell 30 installed on the right side of the front wheel support 32, a fourth wire steering wheel installed in the second motor shell 30, a gear box 17 installed on the rear side of the front wheel support 32, four meshing transmission gears 31 rotatably connected in the gear box 17, the output shaft of the fourth wire steering wheel fixedly connected with the transmission gear 31 located on the right side through a key, and the rotating shaft fixedly connected with the transmission gear 31 located on the left side through a key.

[0051] The left side ball hinge structure of the main body 1 is rotatably connected with a first video camera 5, the first video camera 5 has a resolution of 1080P and a frame rate of 30fps, the ball hinge can rotate by 360 degrees, the angle adjustment range is ±90 degrees, the upper end of the second motor shell 30 is rotatably connected with a second video camera 6, the parameters of the second video camera 6 are the same as those of the first video camera 5, the first video camera 5 and the second video camera 6 are both provided with a light supplementing lamp, the light supplementing lamp is an LED light source, the brightness is adjustable, the power is 5W, the illumination distance is 0.5-2m, the upper end of the main body 1 is provided with two antennas 4, the antennas 4 are 2.4GHz frequency bands, the gain is 5dBi, the communication distance is 50m, the anti-interference ability is strong, an external remote controller is provided, and signals are sent out through the remote controller and received by the antennas 4.

[0052] According to the pipe thickness measuring visual robot of any one of the above measuring methods, the method comprises the following steps:

[0053] S1: device debugging and pipe adaptation

[0054] According to the diameter of the pipeline to be detected, the included angle of the rear roller 10 is adjusted through the rear wheel swing mechanism: rotating the adjusting screw 14 moves the first sliding block 21 along the first sliding rail 19, drives the adjusting rod 8 to push the first motor housing 7 to rotate around the connecting block 11 until the rear roller 10 adapts to the diameter of the pipeline, and the screw 13 is tightened to lock the angle; the robot is placed on the pipeline, the front roller 9 and the rear roller 10 are attracted to the pipe wall through the magnetic yoke structure, after the power is started, the antenna 4 establishes wireless communication, the first video camera 5 and the second video camera 6 are turned on and transmit real-time pictures.

[0055] S2: move to the target detection area

[0056] The moving system is started by remote control: the third wire servo 34 drives the rear roller 10 to rotate, the fourth wire servo drives the front roller 9 to rotate through the transmission gear 31 in the gear box 17, and the robot is driven to move along the pipeline; when turning, the second wire servo 34 drives the front wheel support 32 to adjust the angle of the front roller 9 to realize turning. During the movement, if the pipe diameter changes, causing the vehicle body to tilt, the auxiliary stabilizing component is triggered by the tilt sensor: the pneumatic rod 36 is stretched to make the horizontal plate 37 move down, the second electromagnet 54 is energized to drive the arc block 38 to rotate to the vertical state, and the hydraulic rod 62 pushes the fourth sliding block 16 to make the auxiliary wheel 39 press the pipe wall; when the clamp is encountered, the triangular strip 52 of the pad block mechanism contacts the clamp, the moving block 43 moves backward to make the front roller 9 cross smoothly, and the triangular strip 52 is retracted to the original position after the pressure sensor 46 is triggered by the pressure rod 47.

[0057] S3: execute the pipeline thickness measurement operation

[0058] After reaching the detection position, the main machine lifting mechanism is started: the first wire servo 22 drives the first gear 23 to rotate, drives the fixed support 3 to rise along the second sliding rail 29 through the first rack 25, and the probe rises with the fixed support 3 to the detection height opposite to the pipe wall; the first spring 26 buffers the lifting vibration to avoid collision damage. At the same time, the first video camera 5 and the second video camera 6 focus on the detection area, the fill light enhances the brightness, and the real-time picture is transmitted to the terminal. After the operator confirms that the probe is accurately positioned through the picture, the probe is started to complete the pipeline wall thickness detection, and the data is stored and transmitted synchronously.

[0059] S4: detection reset and next cycle

[0060] After a single thickness measurement is completed, the main machine lifting mechanism is reversely operated to make the probe descend and reset; if multiple points need to be detected, the steps S2-S3 are repeated, and the robot continuously moves and completes the detection under the cooperation of the auxiliary stabilizing component and the pad block mechanism; after all the detection is completed, the robot is controlled to exit the pipeline along the original path, the auxiliary stabilizing component and the pad block mechanism are reset, and the power is turned off to complete the work.

[0061] The function principle of the present application can be illustrated by the following operation mode: according to the diameter of the pipeline to be detected, the included angle of the two rear rollers 10 is adjusted by the rear wheel swing mechanism: the adjusting screw 14 on the fixed block 20 is rotated, the first sliding block 21 connected by screw is slid up and down along the first sliding rail 19 (fixed on the left side of the battery compartment), the two adjusting rods 8 connected by rotation on the left side of the first sliding block 21 are rotated in opposite directions, the first motor housing 7 on the corresponding side is pushed to swing around the connecting block 11 connected by rotation on the front and rear sides of the chassis body 1, and then the rear roller 10 fixed by the output shaft of the third servo motor 34 in the first motor housing 7 is adjusted in angle. After adjusting to the pipe diameter, tighten the two screws 13 on the first sliding block 21 to lock the position of the first sliding block 21 and ensure the stability of the angle of the rear roller 10.

[0062] Place the robot on the pipeline, and the front roller 9 and the rear roller 10 are adsorbed to the surface of the pipeline. After starting the device, the battery compartment in the swing mechanism installation slot is powered, and the two antennas 4 on the upper end of the chassis body 1 establish wireless communication with the external terminal; the first video camera 5 on the left side of the chassis body 1 and the second video camera 6 on the upper end of the second motor housing 30 are turned on, and the fill light equipped with the two cameras is turned on synchronously, real-time collection of pipeline environment pictures is transmitted to the terminal for remote monitoring by the operator.

[0063] Linear movement: the third servo motor 34 drives the rear roller 10 to rotate, and the fourth servo motor in the second motor housing 30 operates, the output shaft of which is fixedly connected with the transmission gear 31 on the right side in the gear box 17, the transmission gear 31 is driven to rotate by the four meshing transmission gears 31, the front roller 9 installed on the rotating shaft is synchronously rotated, and the front roller 9 and the rear roller 10 cooperatively drive the robot to walk along the surface of the pipeline.

[0064] Turning action: when turning, the second servo motor 34 on the motor support 33 in the driving mechanism installation slot is operated, the output shaft of which penetrates through the motor support 33 and drives the front wheel support 32 to rotate, thereby adjusting the turning angle of the front roller 9, and realizing the turning of the robot in cooperation with the power output of the rear roller 10.

[0065] After reaching the detection position, the main machine lifting mechanism is started: the first servo motor 22 in the driving mechanism installation slot is operated, the output shaft of which extends into the lifting mechanism installation slot and drives the first gear 23 fixedly connected to rotate, the first rack 25 meshing with the first gear 23 is lowered at the same time, and the guide block 28 on the left and right inner walls of the lifting mechanism installation slot forms sliding guide to the second sliding rail 29 fixed on both sides of the rectangular rod 24, ensuring that the fixed support 3 is stably lifted to the height opposite to the pipeline wall, and the thickness is measured. After the thickness measurement is completed, the first servo motor 22 is operated in reverse to drive the detector to move upward and reset.

[0066] The square block fixed on the upper end of the first rack 25 is penetrated by the vertical rod 27, and the first spring 26 between the rectangular rod 24 and the square block buffers the lifting vibration. If the probe 2 collides with the pipeline by accident, the first spring 26 is compressed to absorb the impact force, thereby protecting the probe

[0067] During the whole process, the first video camera 5 and the second video camera 6 continuously feed back the pipeline condition, and the operator remotely controls the coordinated action of each mechanism through the signal transmitted by the antenna 4 to realize the automatic and visual operation of the pipeline thickness measurement.

[0068] Embodiment 2

[0069] With reference to Figure Figures 9-11 The difference between the embodiment and embodiment 1 is that the left side of the chassis body 1 is provided with an auxiliary stabilizing assembly, the auxiliary stabilizing assembly includes two mounting blocks 35 made of aluminum alloy and fixed on the left side of the chassis body 1 through M4 bolts, the distance between the two mounting blocks 35 is 100 mm, the lower end of each mounting block 35 is vertically and fixedly connected with a pneumatic rod 36, the telescopic ends of the two pneumatic rods 36 are fixedly connected with a horizontal plate 37, the lower end of the horizontal plate 37 is provided with two third sliding blocks 58, each third sliding block 58 is provided with a through hole, each through hole is slidably connected with a fourth sliding block 16, the lower end of each fourth sliding block 16 is fixedly connected with an arc-shaped block 38, the arc of the arc-shaped block 38 is adapted to the largest pipeline radius, the inner wall of each arc-shaped block 38 is fixedly connected with a telescopic rod 40, the telescopic end of each telescopic rod 40 is fixedly connected with a mounting bracket, each mounting bracket is mounted with an auxiliary wheel 39, the auxiliary wheel 39 is made of polyurethane, the diameter of the auxiliary wheel 39 is 30 mm, the width of the auxiliary wheel 39 is 15 mm, and the surface of the auxiliary wheel 39 is provided with anti-skid lines, each mounting bracket is elastically connected with the corresponding arc-shaped block 38 through a second spring 41, the opposite sides of the two third sliding blocks 58 are fixedly connected with L-shaped blocks 61, each L-shaped block 61 is mounted with a hydraulic rod 62, the telescopic end of each hydraulic rod 62 is fixedly connected with the corresponding fourth sliding block 16, the upper end of the chassis body 1 is mounted with an inclination sensor, the inclination sensor transmits signals to the control system when sensing the inclination of the robot, the control system controls the operation of the pneumatic rod 36 and the second electromagnet 54, the lower end of the mounting block is mounted with a displacement sensor, when the horizontal plate 37 moves to the preset position, the displacement sensor generates an electric signal and transmits it to the control system, the control system controls the two hydraulic rods 62 to stretch, the chassis body 1 is provided with a control system, the control system is an STM32F407 microprocessor integrated with an AD sampling module and a motor driving module, the response time is ≤10 ms, in the initial state, the arc-shaped openings of the two arc-shaped blocks 38 are downward, and the two hydraulic rods 62 are in a vertical state, when the second electromagnet is electrified, the two arc-shaped blocks 38 rotate relative to each other, and at the same time, the two hydraulic rods 62 rotate from the vertical state to the horizontal state.

[0070] The front and rear sides of the horizontal plate 37 are provided with grooves, the lower end of the horizontal plate 37 is fixedly connected with two fourth sliding rails 63 and a second electromagnet 54, the two fourth sliding rails 63 are slidably connected with adsorption blocks 56, the adsorption blocks 56 are made of low carbon steel, each adsorption block 56 is elastically connected with the adjacent side of the corresponding second electromagnet 54 through a fourth spring 55, the opposite sides of the two adsorption blocks 56 are fixedly connected with second racks 57, the lower end of the horizontal plate 37 is fixedly connected with a plurality of bearing seats 60, every two matched bearing seats 60 are jointly and rotatably connected with cross bars, the two cross bars are fixedly connected with second gears 59 engaged with the second racks 57, and the two third sliding blocks 58 are fixedly connected with the corresponding cross bars through a key.

[0071] The cushion block mechanism includes a third sliding rail 42 mounted on the front side of the chassis body 1, the left side of the third sliding rail 42 is fixedly connected with a stop block 44, the third sliding rail 42 is slidably connected with a moving block 43, the adjacent side of the moving block 43 and the stop block 44 is elastically connected through a fifth spring 45, the lower end of the moving block 43 is fixedly connected with an L-shaped rod 48, the right side of the L-shaped rod 48 is fixedly connected with a rectangular box 49, the front inner wall of the rectangular box 49 is provided with a first electromagnet 51, the rectangular box 49 is slidably connected with an iron block 53, the rear side of the iron block 53 is fixedly connected with a triangular strip 52, when the triangular strip 52 contacts the hoop of the pipeline during the movement of the robot, the triangular strip 52 cannot continue to move, and the continuous operation of the robot causes the relative movement of the moving block 43 and the robot, so that the robot stably passes through the hoop, the adjacent side of the first electromagnet 51 and the iron block 53 is elastically connected through a third spring 50, the right side of the stop block 44 is fixedly connected with a pressure sensor 46, and the left side of the moving block 43 is fixedly connected with a pressure rod 47. When the pressure rod 47 extrudes the pressure sensor 46, an electrical signal is generated and transmitted to the control system, the control system controls the first electromagnet 51 to be powered for a period of time, so that the triangular strip 52 enters the rectangular box 49.

[0072] It is worth mentioning that the time for the robot to pass through the hoop is short, although it causes the auxiliary stabilizing assembly to trigger, but after triggering, the robot will quickly return to the horizontal state again, so that the auxiliary stabilizing assembly will stop triggering and automatically reset, so the auxiliary stabilizing assembly will not contact the hoop. At the same time, since the number of rear rollers 10 is two, after the front roller 9 passes through the hoop, although the rear roller 10 does not have a cushion block, the contact area of the wheel body with the pipeline is larger and the friction is stronger, so it can easily pass through the hoop without a cushion block.

[0073] In the embodiment, when the inclination sensor at the upper end of the chassis body 1 senses that the vehicle body inclines due to the change of the pipe diameter of the pipeline, an electrical signal is transmitted to the control system, and the auxiliary stabilizing assembly is triggered to operate according to the following process:

[0074] The control system instructs the pneumatic rods 36 at the lower end of the two mounting blocks 35 to be synchronously stretched, thereby driving the horizontal plate 37 to vertically move downward and approach the outer wall of the pipeline, so as to provide a basic position for the subsequent clamping action.

[0075] When the pneumatic rods 36 are stretched, the second electromagnet 54 at the lower end of the horizontal plate 37 is electrified to generate a magnetic force to attract the two adsorption blocks 56 to relatively slide along the fourth slide rail 63; the second rack 57 on the opposite side of the adsorption block 56 moves with it, the second gear 59 engaged with the second rack 57 rotates, and the two second gears 59 reversely rotate due to the relative movement of the second rack 57, thereby driving the cross rod and the two third sliding blocks 58 fixed on the cross rod to reversely rotate, and finally making the arc-shaped blocks 38 on the third sliding blocks 58 rotate to the vertical state.

[0076] When the horizontal plate 37 moves downward to the preset position (close to the pipeline) fed back by the displacement sensor, the control system instructs the hydraulic rods 62 on the two L-shaped blocks 61 to start, thereby pushing the fourth sliding block 16 to relatively slide along the through hole of the third sliding block 58, driving the two arc-shaped blocks 38 to approach the pipeline, and making the telescopic rods 40 on the inner wall of the arc-shaped blocks gradually contact the outer wall of the pipeline as the arc-shaped blocks move. With the continuous pushing of the hydraulic rods 62, the telescopic rods 40 are extruded and contracted, the second springs 41 on the outer side of the telescopic rods are compressed and stored, and the plurality of auxiliary wheels 39 are tightly pressed on the outer wall of the pipeline. Through the elastic pressure of the second springs, the pipeline is continuously adhered to avoid the situation that the robot falls due to the center deviation of the robot caused by the change of the inclination angle.

[0077] In the initial state, the triangular strip 52 is pushed out of the rectangular box 49 by the third spring 50 and located on the front side of the front roller 9. When the triangular strip 52 contacts the hoop and the robot continues to move forward, the triangular strip 52 is blocked, the moving block 43 moves backward relative to the robot along the third slide rail 42, the fifth spring 45 is compressed, the L-shaped rod 48 and the rectangular box 49 move backward, and the front roller 9 smoothly transitions to the upper side of the hoop through the inclined surface of the triangular strip 52.

[0078] When the front roller 9 completely passes over the hoop, the moving block 43 moves backward to the pressure sensor 46 extruding the stop block 44 on the right side of the pressure sensor 46, the pressure sensor 46 sends a signal to the controller, the controller instructs the first electromagnet 51 to be electrified for a period of time, the adsorption iron block 53 compresses the third spring 50, and the triangular strip 52 is stored in the rectangular box 49. Then, the fifth spring 45 pushes the moving block 43 to reset, the first electromagnet 51 is de-energized, the triangular strip 52 is re-extended to the front side of the front roller 9 under the action of the third spring 50, and waits for the next trigger.

[0079] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent replacement or change according to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A vision robot for pipe thickness measurement, comprising a chassis body (1), characterized in that: The chassis body (1) is provided with a swing mechanism mounting slot, a lifting mechanism mounting slot and a drive mechanism mounting slot from left to right. The lower end of the chassis body (1) is provided with a front roller (9) and two rear rollers (10). The swing mechanism mounting slot is equipped with a battery compartment. The lifting mechanism mounting slot is equipped with a fixed bracket (3). The upper and lower ends of the fixed bracket (3) extend to the outside. The fixed bracket (3) is equipped with a detector. The chassis body (1) is provided with a rear wheel swing mechanism. The rear wheel swing mechanism includes a first slide rail (19) fixedly connected to the left side of the battery compartment. The upper end of the chassis body (1) is fixedly connected with a fixed block (20). An adjusting screw (14) is rotatably connected through the fixed block (20). A first slider (21) is threadedly connected to the adjusting screw (14). The left side of the first slider (21) is... Two adjusting rods (8) are rotatably connected to the side. Multiple vertical openings (18) are provided on the front and rear sides of the chassis body (1). The two adjusting rods (8) pass through the corresponding vertical openings (18). Connecting blocks (11) are rotatably connected to the front and rear sides of the chassis body (1). The opposite sides of the two connecting blocks (11) are fixedly connected to the first motor housing (7). The two adjusting rods (8) are rotatably connected to the upper end of the corresponding first motor housing (7). The two first motor housings (7) are each equipped with a third-line servo. The output shafts of the two third-line servos are fixedly connected to the corresponding rear rollers (10). A strip opening (12) is provided on the left side of the chassis body (1). Two screws (13) are threaded on the first slider (21). The left side of the two screws (13) extends to the outside through the strip opening (12).

2. The vision robot for pipe thickness measurement according to claim 1, characterized in that: The chassis body (1) is provided with a main lifting mechanism. The main lifting mechanism includes a first line servo (22) installed in the drive mechanism mounting slot. The output shaft of the first line servo (22) extends into the lifting mechanism mounting slot and is fixedly connected to a first gear (23). A rectangular rod (24) is fixedly connected to the right side of the fixed bracket (3). A vertical rod (27) is fixedly connected to the upper end of the rectangular rod (24). A first rack (25) is provided on the rear side of the rectangular rod (24). A square block is fixedly connected to the upper end of the first rack (25). The vertical rod (27) passes through the square block. The rectangular rod (24) and the adjacent side of the square block are elastically connected by a first spring (26). Guide blocks (28) are fixedly connected to the inner walls of the left and right sides of the lifting mechanism mounting slot. A second slide rail (29) is slidably connected to each of the two guide blocks (28). The two second slide rails (29) are fixedly connected to the corresponding rectangular rods (24).

3. The vision robot for pipe thickness measurement according to claim 2, characterized in that: The chassis body (1) is provided with a front wheel moving and lifting mechanism. The front wheel moving and lifting mechanism includes a motor bracket (33) installed in the drive mechanism mounting slot. A second servo motor (34) is installed at the upper end of the motor bracket (33). The output shaft of the second servo motor (34) passes through the motor bracket (33) and is fixedly connected to the front wheel bracket (32). The inner walls of the front and rear sides of the front wheel bracket (32) are rotatably connected to a rotating shaft. The front roller (9) is installed on the rotating shaft. A second motor housing (30) is installed on the right side of the front wheel bracket (32). A fourth servo motor is installed inside the second motor housing (30). A gearbox (17) is installed on the rear side of the front wheel bracket (32). Four meshing transmission gears (31) are rotatably connected inside the gearbox (17). The output shaft of the fourth servo motor is fixedly connected to the transmission gear (31) located on the right side. The rotating shaft is fixedly connected to the transmission gear (31) located on the left side.

4. The vision robot for pipe thickness measurement according to claim 3, characterized in that: The left side of the chassis body (1) is rotatably connected to a first video camera (5), and the upper end of the second motor housing (30) is rotatably connected to a second video camera (6). Both the first video camera (5) and the second video camera (6) are equipped with fill lights, and the upper end of the chassis body (1) is equipped with two antennas (4).

5. The vision robot for pipe thickness measurement according to claim 1, characterized in that: Both the front roller (9) and the rear roller (10) include two outer magnetic yokes and a middle magnet, with the middle magnet fixedly connected between the two outer magnetic yokes.

6. The vision robot for pipe thickness measurement according to claim 1, characterized in that: An auxiliary stabilizing component is provided on the left side of the chassis body (1). The auxiliary stabilizing component includes two mounting blocks (35). The lower ends of the two mounting blocks (35) are vertically fixedly connected to pneumatic rods (36). The telescopic ends of the two pneumatic rods (36) are jointly fixedly connected to a horizontal plate (37). The lower end of the horizontal plate (37) is provided with two third sliders (58). Each of the two third sliders (58) is provided with a through hole. A fourth slider (16) is slidably connected in each of the two through holes. The lower ends of the two fourth sliders (16) are fixedly connected to arc-shaped blocks (38). The inner walls of the two arc-shaped blocks (38) are fixedly connected to telescopic rods (4). 0), each telescopic rod (40) has a fixed mounting bracket at its telescopic end, each mounting bracket has an auxiliary wheel (39) installed on it, each mounting bracket is elastically connected to the corresponding arc block (38) by a second spring (41), each of the two third sliders (58) has an L-shaped block (61) fixedly connected to its opposite side, each of the two L-shaped blocks (61) has a hydraulic rod (62) installed on it, each hydraulic rod (62) has a telescopic end fixedly connected to the corresponding fourth slider (16), the upper end of the chassis body (1) is equipped with an tilt sensor, the lower end of the mounting block is equipped with a displacement sensor, and the chassis body (1) is equipped with a control system.

7. A vision robot for pipe thickness measurement according to claim 6, characterized in that: The horizontal plate (37) has grooves on both the front and rear sides. The lower end of the horizontal plate (37) is fixedly connected to two fourth slide rails (63) and a second electromagnet (54). Adsorption blocks (56) are slidably connected to the two fourth slide rails (63). Each adsorption block (56) is elastically connected to the adjacent side of the corresponding second electromagnet (54) through a fourth spring (55). The opposite sides of the two adsorption blocks (56) are fixedly connected to a second rack (57). The lower end of the horizontal plate (37) is fixedly connected to multiple bearing seats (60). A crossbar is rotatably connected to every two mating bearing seats (60). A second gear (59) that meshes with the second rack (57) is fixedly connected to each of the two crossbars. The two third sliders (58) are fixedly connected to the corresponding crossbars.

8. A vision robot for pipe thickness measurement according to claim 6, characterized in that: It also includes a pad block mechanism, which includes a third slide rail (42) installed on the front side of the chassis body (1). A stop block (44) is fixedly connected to the left side of the third slide rail (42). A moving block (43) is slidably connected to the third slide rail (42). The adjacent sides of the moving block (43) and the stop block (44) are elastically connected by a fifth spring (45). An L-shaped rod (48) is fixedly connected to the lower end of the moving block (43). A rectangular rod is fixedly connected to the right side of the L-shaped rod (48). The rectangular box (49) has a first electromagnet (51) on the inner front wall, an iron block (53) is slidably connected inside the rectangular box (49), a triangular strip (52) is fixedly connected to the rear side of the iron block (53), the first electromagnet (51) and the adjacent side of the iron block (53) are elastically connected by a third spring (50), a pressure sensor (46) is fixedly connected to the right side of the stop block (44), and a pressure rod (47) is fixedly connected to the left side of the moving block (43).

9. The thickness measurement method of the pipe thickness measurement vision robot according to any one of claims 1-8, characterized in that, Includes the following steps: S1: Equipment commissioning and pipeline adaptation According to the diameter of the pipe to be tested, the included angle of the rear roller (10) is adjusted by the rear roller swing mechanism: rotate the adjusting screw (14) to make the first slider (21) move along the first slide rail (19), drive the adjusting rod (8) to push the first motor housing (7) to rotate around the connecting block (11) until the rear roller (10) is adapted to the pipe diameter, tighten the screw (13) to lock the angle; place the robot on the pipe, the front roller (9) and the rear roller (10) are attracted to the pipe wall by the magnetic yoke structure, after the power is turned on, the antenna (4) establishes wireless communication, the first video camera (5) and the second video camera (6) are turned on and transmit real-time images; S2: Move to the target detection area The mobile system is started remotely: the third-line servo drives the rear roller (10) to rotate, and the fourth-line servo drives the front roller (9) to rotate through the transmission gear (31) in the gearbox (17), thus driving the robot to move along the pipeline. When turning is required, the second-line servo (34) drives the front wheel bracket (32) to adjust the angle of the front roller (9) to achieve turning. During the movement, if the pipe diameter changes and causes the vehicle body to tilt, the tilt sensor triggers the auxiliary stabilizing component: the pneumatic rod (36) is stretched to move the horizontal plate (37) down, the second electromagnet (54) is energized to drive the arc block (38) to rotate to the vertical state, and the hydraulic rod (62) pushes the fourth slider (16) to make the auxiliary wheel (39) press against the pipe wall. When encountering the clamp, the triangular strip (52) of the pad block mechanism contacts the clamp, the moving block (43) moves backward to make the front roller (9) cross smoothly, and the pressure rod (47) triggers the pressure sensor (46) and the triangular strip (52) retracts and resets. S3: Perform pipe thickness measurement operation Upon reaching the detection position, the main lifting mechanism is activated: the first servo motor (22) drives the first gear (23) to rotate, which in turn drives the fixed bracket (3) to rise along the second slide rail (29) via the first rack (25). The detector rises with the fixed bracket (3) to the detection height opposite to the pipe wall. The first spring (26) buffers the lifting vibration to avoid collision damage. At the same time, the first video camera (5) and the second video camera (6) focus on the detection area, the supplementary light enhances the brightness, and the image is transmitted to the terminal in real time. After the operator confirms that the detector is accurately aligned through the image, the detector is activated to complete the pipe wall thickness detection. The data is stored and transmitted synchronously. S4: Detect reset and next cycle After a single thickness measurement is completed, the main lifting mechanism reverses to lower and reset the detector. If multiple points need to be measured, repeat steps S2-S3. The robot continues to move and complete the measurement with the assistance of the stabilizing components and the pad mechanism. After all measurements are completed, control the robot to exit the pipeline along the original path, reset the stabilizing components and the pad mechanism, and turn off the power to complete the operation.

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