Pipeline inner wall flaw detection robot

Abstract

The utility model discloses a pipeline inner wall flaw detection robot, and particularly relates to the technical field of pipeline flaw detection, the pipeline inner wall flaw detection robot comprises a robot main body, two driving wheels are arranged above and below the robot main body, and adjusting mechanisms for adjusting the positions of the driving wheels are arranged at the upper end and the lower end of the robot main body; one side of the robot main body is provided with a cleaning mechanism used for cleaning the inner side wall of the pipeline, and the other side of the robot main body is provided with a positioning mechanism used for positioning the damaged part of the pipeline. Dust is prevented from covering a damaged part to influence normal flaw detection operation; by arranging the positioning mechanism, a flaw detection part can be conveniently positioned, and later repair operation is facilitated; and by arranging the adjusting mechanism, the position of the driving wheel can be conveniently adjusted, the driving wheel can be in contact connection with the inner side walls of pipelines of different models, the device is suitable for the pipelines of different models, and practicability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline flaw detection, and more specifically, to a pipeline inner wall flaw detection robot. Background Art

[0002] Metal pipes are widely used in the industrial field. In some important places, the quality of metal pipes directly affects the safety and usability of factory equipment. Therefore, it is particularly important to perform flaw detection on metal pipes for industrial purposes through a pipe inner wall flaw detection robot.

[0003] The existing pipeline inner wall flaw detection robots are not convenient for cleaning the dust on the inner wall of the pipeline during use, which easily leads to dust coverage and affects the normal flaw detection operation. In addition, when the existing pipeline inner wall flaw detection robots detect damage such as cracks in the pipeline, it is not convenient to locate the position of the damage. Moreover, the driving wheels provided on the existing pipeline inner wall flaw detection robots are fixedly installed on the robots, so that they can only be applied to specified models of pipelines, and their practicality is low. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, an embodiment of the utility model provides a pipeline inner wall flaw detection robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: comprising: a robot body, two driving wheels are provided on the top and bottom of the robot body, adjustment mechanisms for adjusting the positions of the driving wheels are provided on both the upper and lower ends of the robot body, a cleaning mechanism for cleaning the inner wall of the pipeline is provided on one side of the robot body, and a positioning mechanism for positioning the damaged part of the pipeline is provided on the other side of the robot body.

[0006] In a preferred embodiment, the cleaning mechanism includes a mounting block arranged on one side of the robot body, a motor is embedded and fixedly connected to one side of the robot body at a position relative to the mounting block, the output end of the motor is fixedly connected to one end of the mounting block, cleaning rods are vertically provided at both upper and lower ends of the mounting block, and bristles are fixedly connected to the ends of the two cleaning rods away from the mounting block, a dust box is fixedly connected to the side of the mounting block away from the motor, an L-shaped mounting rod is fixedly connected to the side of the robot body away from the cleaning mechanism, and a camera is installed on the top of one side of the L-shaped mounting rod.

[0007] In a preferred embodiment, an air guide channel is vertically penetrated through the two cleaning rods, and the two air guide channels are connected to an air guide hose at one end close to the mounting block, an air bin is provided in the mounting block, and the two air guide hoses are connected to the air bin at one end away from the air guide channel, an exhaust pipe is provided on the side of the mounting block close to the dust suction box, and the exhaust pipe is connected to the dust suction box at one end away from the mounting block, a filter is vertically installed in the dust suction box, a collection box is placed on the bottom of the dust suction box at one side of the filter, an exhaust pump is fixedly connected to the side of the dust suction box away from the mounting block, the exhaust pump is connected to the dust suction box, a replacement plate is fixedly connected to one side of the collection box, and the replacement plate passes through the side wall of the dust suction box and is slidably connected to the dust suction box.

[0008] In a preferred embodiment, the top and bottom surfaces of the mounting block are located on one side of the cleaning rod and are vertically fixedly connected to a driving column, and one end of the two cleaning rods is fixedly connected to one end of the mounting block, one end of the slider extends into the corresponding driving column and is slidably connected to the driving column, and a No. 1 screw is vertically threaded through the slider, one end of the No. 1 screw is rotatably connected to the inner bottom surface of the driving column, and the other end of the No. 1 screw penetrates the driving column and extends to the outside of the driving column.

[0009] In a preferred embodiment, the positioning mechanism includes a tape measure fixedly connected to one side of the L-shaped mounting rod, and a storage box is fixedly connected to one side of the robot body below the tape measure.

[0010] In a preferred embodiment, the adjustment mechanism includes a driving warehouse opened on the surface of the robot body, and two driving blocks are slidably connected to the bottom of the driving warehouse, and the two driving blocks are horizontally threaded with a No. 2 screw, and the ends of the two No. 2 screws close to each other are fixedly connected, and the threads on the two No. 2 screws are in opposite directions, one end of one of the No. 2 screws is rotatably connected to the inner side wall of the driving warehouse, and the other end of the No. 2 screw is fixedly connected to a rotating rod, and the rotating rod penetrates the side wall of the robot body and extends to one side of the robot body, the top surfaces of the two driving blocks are rotatably connected to the transfer rod through the transfer block, and the ends of the two transfer rods away from the driving blocks extend out of the driving warehouse and are rotatably connected to the connecting block through the transfer block, and one side of the two connecting blocks is rotatably connected to one side of the corresponding driving wheel.

[0011] Technical effects and advantages of the utility model:

[0012] 1. The cleaning mechanism is set up to facilitate the cleaning of dust on the inner wall of the pipeline to prevent dust from covering the damaged parts and affecting the normal flaw detection operation;

[0013] 2. The positioning mechanism is set to facilitate the positioning of the flaw detection area and facilitate the subsequent repair operation;

[0014] 3. The adjustment mechanism is provided to facilitate the adjustment of the position of the driving wheel so that it can be in contact with and connected to the inner wall of pipes of different types, and is suitable for pipes of different types, thus improving its practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front cutaway structural schematic diagram of the utility model.

[0016] Figure 2 It is a schematic diagram of the cleaning rod connection structure of the utility model.

[0017] Figure 3 It is a schematic diagram of the driving wheel connection structure of the utility model.

[0018] Figure 4 For the utility model Figure 1 Enlarged structural diagram at A in the middle.

[0019] The accompanying drawings are marked as follows: 1. Robot body; 2. Driving wheel; 3. Adjusting mechanism; 4. Cleaning mechanism; 5. Positioning mechanism; 6. Mounting block; 7. Motor; 8. Cleaning rod; 9. Bristles; 10. Air guide channel; 11. Air guide hose; 12. Air chamber; 13. Exhaust pipe; 14. Dust box; 15. Collection box; 16. Filter; 17. Exhaust pump; 18. Replacement plate; 19. Driving column; 20. Slider; 21. No. 1 screw; 22. Driving chamber; 23. No. 2 screw; 24. Driving block; 25. Adapter rod; 26. Connecting block; 27. L-shaped mounting rod; 28. Camera; 29. ​​Tape measure; 30. Storage box; 31. Rotating rod. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] As attached Figure 1-4 The pipeline inner wall flaw detection robot shown includes: a robot body 1, two driving wheels 2 are provided on the top and bottom of the robot body 1, and adjustment mechanisms 3 for adjusting the positions of the driving wheels 2 are provided at both the upper and lower ends of the robot body 1. A cleaning mechanism 4 for cleaning the inner wall of the pipeline is provided on one side of the robot body 1, and a positioning mechanism 5 for positioning the damaged part of the pipeline is provided on the other side of the robot body 1.

[0022] The cleaning mechanism 4 includes a mounting block 6 arranged on one side of the robot body 1, a motor 7 is embedded and fixedly connected to one side of the robot body 1 at a position relative to the mounting block 6, an output end of the motor 7 is fixedly connected to one end of the mounting block 6, two cleaning rods 8 are vertically arranged at the upper and lower ends of the mounting block 6 respectively, and the ends of the two cleaning rods 8 away from the mounting block 6 are fixedly connected with bristles 9, a dust box 14 is fixedly connected to the side of the mounting block 6 away from the motor 7, an L-shaped mounting rod 27 is fixedly connected to the side of the robot body 1 away from the cleaning mechanism 4, and a camera 28 is installed on the top of one side of the L-shaped mounting rod 27.

[0023] Two air guide channels 10 are respectively vertically penetrated and opened on the two cleaning rods 8. The two air guide channels 10 are connected with air guide hoses 11 at one end close to the mounting block 6. The air bin 12 is opened in the mounting block 6. The two air guide hoses 11 are connected with the air bin 12 at one end away from the air guide channels 10. An exhaust pipe 13 is opened on the side of the mounting block 6 close to the dust box 14. The end of the exhaust pipe 13 away from the mounting block 6 is connected with the dust box 14. A filter 16 is vertically installed in the dust box 14. The collection box 15 is placed at the bottom of the dust box 14 on one side of the filter 16. An exhaust pump 17 is fixedly connected to the side of the dust box 14 away from the mounting block 6. The exhaust pump 17 is connected to the dust box 14. The replacement plate 18 is fixedly connected to one side of the collection box 15. The replacement plate 18 passes through the side wall of the dust box 14 and is slidably connected to the dust box 14.

[0024] The two driving columns 19 are respectively vertically fixedly connected to the top and bottom surfaces of the mounting block 6 on one side of the cleaning rod 8, and the two sliding blocks 20 are respectively fixedly connected to one end of the two cleaning rods 8 close to the mounting block 6. One end of the sliding block 20 extends into the corresponding driving column 19 and is slidably connected to the driving column 19. Two No. 1 screw rods 21 are respectively vertically penetrated and threadedly connected to the two sliding blocks 20. One end of the No. 1 screw rod 21 is rotatably connected to the inner bottom surface of the driving column 19, and the other end of the No. 1 screw rod 21 penetrates the driving column 19 and extends to the outside of the driving column 19.

[0025] The positioning mechanism 5 includes a tape measure 29 fixedly connected to one side of the L-shaped mounting rod 27 , and a storage box 30 fixedly connected to one side of the robot body 1 and located below the tape measure 29 .

[0026] The specific implementation method is as follows: by setting up a cleaning mechanism 4, it is convenient to clean the dust on the inner wall of the pipeline to prevent dust from covering the damaged part and affecting the normal flaw detection operation; by setting up a positioning mechanism 5, it is convenient to locate the flaw detection part to facilitate the subsequent repair operation.

[0027] As attached Figure 1 With attached Figure 3The pipeline inner wall flaw detection robot shown in the figure includes an adjustment mechanism 3 including a driving bin 22 opened on the surface of the robot body 1, two driving blocks 24 are slidably connected to the inner bottom of the driving bin 22, and the two driving blocks 24 are both horizontally penetrated by a No. 2 screw 23 with a thread connection, and the ends of the two No. 2 screws 23 close to each other are fixedly connected, and the threads on the two No. 2 screws 23 are in opposite directions, one end of one No. 2 screw 23 is rotatably connected to the inner wall of the driving bin 22, and a rotating rod 31 is fixedly connected to one end of the other No. 2 screw 23, and the rotating rod 31 penetrates the side wall of the robot body 1 and extends to one side of the robot body 1, and the top surfaces of the two driving blocks 24 are rotatably connected to the transfer rod 25 through the transfer block, and the ends of the two transfer rods 25 away from the driving blocks 24 extend out of the driving bin 22 and are rotatably connected to the connecting block 26 through the transfer block, and one side of the two connecting blocks 26 is rotatably connected to one side of the corresponding driving wheel 2.

[0028] The specific implementation method is as follows: by setting the adjustment mechanism 3, the position of the driving wheel 2 can be adjusted so that it can be in contact with and connected to the inner wall of pipes of different models, and is suitable for pipes of different models, thereby improving its practicality.

[0029] The working principle of the utility model is as follows: when working, firstly rotate the No. 1 screw 21, so that the slider 20 drives the cleaning rod 8 to rise and fall, until the bristles 9 are in contact with the inner wall of the pipe, and then rotate the rotating rod 31 to drive the two No. 2 screws 23 to rotate, so that the driving block 24 moves horizontally and drives the transfer rod 25 to rotate, until the driving wheel 2 is in contact with the inner wall of the pipe, and then drive the robot body 1 to move into the pipe, and at the same time, the motor 7 drives the mounting block 6 to rotate, and the mounting block 6 drives the bristles 9 to rotate through the cleaning rod 8, and the bristles 9 are used to scrape the inner wall of the pipe. At the same time, the vacuum pump 17 is used to conveniently draw the scraped dust into the dust box 14 through the air guide channel 10, the air guide hose 11, the air warehouse 12 and the air extraction pipe 13, and the dust is filtered through the filter 16, and the filtered dust falls The robot body 1 is inserted into the collection box 15 to improve the cleanliness of the inner wall of the pipeline and avoid dust coverage that affects the normal flaw detection operation. The camera 28 is connected to an external display screen and other equipment to facilitate the detection of the inside of the pipeline. The tape measure 29 is used to measure the depth of the robot body 1. When damage is detected, the robot body 1 stops moving and observes the scale on the tape measure 29. Then, the length of the outer wall of the pipeline is measured. The position with the same scale number on the tape measure 29 is the damaged part, so as to locate the damaged part and facilitate the subsequent repair work. When the robot body 1 is not in use, the storage box 30 is used to store the tape measure 29 to avoid it taking up space. By pulling the replacement plate 18, the collection box 15 is easily pulled out of the dust box 14 to clean the dust inside it.

[0030] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0031] Secondly: In the drawings of the embodiments disclosed in the present utility model, only the structures related to the embodiments disclosed in the present utility model are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present utility model can be combined with each other;

[0032] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model should be included in the protection scope of the present utility model.

Claims

1. Pipeline inner wall flaw detection robot, including: A robot body (1) is characterized in that: two driving wheels (2) are provided above and below the robot body (1); adjustment mechanisms (3) for adjusting the positions of the driving wheels (2) are provided at both the upper and lower ends of the robot body (1); a cleaning mechanism (4) for cleaning the inner wall of a pipeline is provided on one side of the robot body (1); and a positioning mechanism (5) for positioning a damaged portion of the pipeline is provided on the other side of the robot body (1).

2. The pipeline inner wall flaw detection robot according to claim 1, characterized in that: The cleaning mechanism (4) comprises a mounting block (6) arranged on one side of the robot body (1); a motor (7) is embedded and fixedly connected to one side of the robot body (1) at a position relative to the mounting block (6); an output end of the motor (7) is fixedly connected to one end of the mounting block (6); cleaning rods (8) are vertically arranged at both upper and lower ends of the mounting block (6); bristles (9) are fixedly connected to one end of the two cleaning rods (8) away from the mounting block (6); a dust box (14) is fixedly connected to the side of the mounting block (6) away from the motor (7); an L-shaped mounting rod (27) is fixedly connected to the side of the robot body (1) away from the cleaning mechanism (4); and a camera (28) is installed on the top of one side of the L-shaped mounting rod (27).

3. The pipeline inner wall flaw detection robot according to claim 2, characterized in that: The two cleaning rods (8) are each provided with an air guide channel (10) vertically extending therethrough; the two air guide channels (10) are each connected to an air guide hose (11) at one end close to the mounting block (6); an air bin (12) is provided in the mounting block (6); the two air guide hoses (11) are each connected to the air bin (12) at one end away from the air guide channel (10); an exhaust pipe (13) is provided on one side of the mounting block (6) close to the dust collection box (14); the exhaust pipe (13) is connected to the dust collection box (14) at one end away from the mounting block (6). 14), a filter screen (16) is vertically installed in the dust box (14), a collection box (15) is placed on the bottom of the dust box (14) on one side of the filter screen (16), a vacuum pump (17) is fixedly connected to the side of the dust box (14) away from the mounting block (6), the vacuum pump (17) is connected to the dust box (14), a replacement plate (18) is fixedly connected to one side of the collection box (15), and the replacement plate (18) passes through the side wall of the dust box (14) and is slidably connected to the dust box (14).

4. The pipeline inner wall flaw detection robot according to claim 2, characterized in that: The top and bottom surfaces of the mounting block (6) are located on one side of the cleaning rod (8) and are vertically fixedly connected to a driving column (19); one end of each of the two cleaning rods (8) close to the mounting block (6) is fixedly connected to a slider (20); one end of the slider (20) extends into the corresponding driving column (19) and is slidably connected to the driving column (19); a first screw rod (21) is vertically threadedly penetrated through the slider (20); one end of the first screw rod (21) is rotatably connected to the inner bottom surface of the driving column (19); and the other end of the first screw rod (21) penetrates the driving column (19) and extends to the outside of the driving column (19).

5. The pipeline inner wall flaw detection robot according to claim 2, characterized in that: The positioning mechanism (5) comprises a tape measure (29) fixedly connected to one side of the L-shaped mounting rod (27), and a storage box (30) is fixedly connected to one side of the robot body (1) below the tape measure (29).

6. The pipeline inner wall flaw detection robot according to claim 1, characterized in that: The adjustment mechanism (3) comprises a drive chamber (22) provided on the surface of the robot body (1), wherein two drive blocks (24) are slidably connected to the bottom of the drive chamber (22), and two drive blocks (24) are both horizontally penetrated with a second screw (23) threadedly connected, and the two second screws (23) are fixedly connected at one end close to each other, and the threads on the two second screws (23) are in opposite directions, and one end of one of the second screws (23) is rotatably connected to the inner side wall of the drive chamber (22), and the other end of the second screw (23) is rotatably connected to the inner side wall of the drive chamber (22), and the other end of the second screw (23) is rotatably connected to the inner side wall of the drive chamber (22). One end of the No. 2 screw rod (23) is fixedly connected to a rotating rod (31), and the rotating rod (31) penetrates the side wall of the robot body (1) and extends to one side of the robot body (1). The top surfaces of the two driving blocks (24) are rotatably connected to the transfer rod (25) through the transfer block. The ends of the two transfer rods (25) away from the driving blocks (24) extend out of the driving bin (22) and are rotatably connected to the connecting blocks (26) through the transfer block. One side of the two connecting blocks (26) is rotatably connected to one side of the corresponding driving wheel (2).

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