Pipeline detection robot

Abstract

The utility model discloses a pipeline detection robot which comprises a detection body, two sides of the detection body are connected with a crawler belt through a positioning frame and a connecting shaft, an adsorption magnet block is arranged along the crawler belt, and a movable monitoring device is arranged close to the front end of the detection body. Telescopic mechanisms arranged on the two sides of the movable monitoring device are further arranged in the detection body, the telescopic mechanisms comprise the first telescopic mechanism and the second telescopic mechanism, and the detection device is detachably connected to the telescopic mechanisms; the output end of the movable monitoring device is connected with the output line pipe end through a connecting interface, and the movable monitoring device is connected with a transceiving control circuit board formed by taking a single-chip microcomputer as a main chip through a connecting line. According to the utility model, the movable monitoring device is promoted to ascend and descend in different designated areas during detection in an up-and-down ascending and descending manner, and the hidden detection device is adopted to detect and observe the surrounding environment, so that the detection device can be better protected.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline detection, and in particular relates to a pipeline detection robot. Background Art

[0002] Pipeline corrosion detection refers to the detection of metal loss such as pipe wall corrosion in pipelines. It is a basic method used to understand the damage of in-service pipelines in the working environment and to ensure that defects and damage are detected before serious problems occur in the pipelines.

[0003] At present, the traditional method of pipeline inspection is to use a handheld detector to inspect different points on the pipeline. When using the above method for long-distance pipeline positioning inspection, it is time-consuming and labor-intensive, and due to the different horizontal or vertical heights of the pipeline installation position, sampling personnel often need to use ladder tools to perform sampling operations.

[0004] At present, the non-destructive testing technologies used under high temperature conditions include infrared thermal imaging technology, ultrasonic testing technology and laser ultrasonic testing technology. Infrared thermal imaging technology uses the thermoelastic effect of materials and is mainly used for online detection of heat conduction in high-temperature pressure vessels or detection of high stress concentration areas in normal temperature pressure vessels. However, this method has strict requirements on the instrument, environment and the surface of the equipment to be tested, and is not suitable for field application at present.

[0005] The existing technology uses piezoelectric ultrasound, pulsed eddy current and other methods to perform pipeline inspection, but workers are usually required to go to the site regularly to perform operations. This is still feasible for sites with normal working conditions, but due to the different environments in which the pipelines are located, not only is manual measurement difficult to achieve, but the inspection equipment is also limited by its structure, and problems such as damage and failure are very likely to occur during the inspection process.

[0006] In view of the above factors, a pipeline inspection robot is specially designed, which has a simple structure, is convenient for collecting pipeline corrosion information, and has high structural / usage stability. Utility Model Content

[0007] The purpose of the utility model is to provide a pipeline inspection robot to solve the problems raised in the above background technology.

[0008] The purpose of the utility model is achieved through the following technical solutions: a pipeline detection robot, including a detection body, both sides of the detection body are connected to crawlers through positioning frames and connecting shafts, and adsorption magnet blocks are arranged along the crawlers;

[0009] The detection body is hollow inside, and a movable monitoring device is arranged near the front end of the detection body;

[0010] The detection body also includes telescopic mechanisms disposed on both sides of the movable monitoring device, the telescopic mechanisms include a first telescopic mechanism and a second telescopic mechanism, and the detection device is detachably connected to the telescopic mechanism;

[0011] The output end of the activity monitoring device is connected to the output line pipe end through a connection interface, and the activity monitoring device is connected to a control transceiver control circuit board formed with a single-chip microcomputer as a main chip through a connection line.

[0012] Furthermore, the adsorption magnet block is provided with a plurality of magnetic blocks in contact with the pipeline, the adsorption magnet blocks are arranged at intervals on the annular end surface of the crawler, and the length of the adsorption magnet block is the same as the width of the crawler, and the periphery of the adsorption magnet block is wrapped with a rubber layer;

[0013] The crawler belt and the detection body are symmetrically arranged on both sides in an arc shape.

[0014] Furthermore, the activity monitoring device is a sensor probe, including a shell and a permanent magnet, a circular coil or a butterfly coil located inside the shell, and the shell is filled with resin to fix it.

[0015] Furthermore, the activity monitoring device further includes a heat insulating sleeve, and an air gap is formed between the heat insulating sleeve and the shell;

[0016] The heat insulation sleeve is made of ceramic fiber or glass fiber.

[0017] Furthermore, the output line pipe end includes a retractable pipe and a straight pipe section, the retractable pipe is connected to the movable monitoring device, the straight pipe section is connected to the hollow control slot of the control circuit board, and the control circuit board and the movable monitoring device are connected in the output line pipe end through a connecting wire;

[0018] Positioning telescopic cylinders are fixedly arranged on both sides of the movable monitoring device, and the bottom of the positioning telescopic cylinders is detachably connected to the detection body. The movable monitoring device can move vertically up and down along the detection body through the positioning telescopic cylinders, and the bottom of the detection body is provided with a through hole that imitates the shape of the movable monitoring device.

[0019] Furthermore, an explosion-proof part is provided between the straight pipe section and the control circuit board, and the explosion-proof part is a clamping stuffing box filled with explosion-proof material.

[0020] Furthermore, a through hole identical to that of the detection body is fixedly provided on the end surface of the detection body, and the detection devices installed at the front ends of the first telescopic mechanism and the second telescopic mechanism are auxiliary cameras and temperature / humidity sensors;

[0021] The control circuit board is connected to the external PC terminal via wireless transmission;

[0022] The first telescopic mechanism and the second telescopic mechanism are telescopic cylinders.

[0023] Furthermore, the distance between the control circuit board in the detection body and the activity monitoring device is 20-25 centimeters.

[0024] Compared with the prior art, the utility model has the following beneficial effects:

[0025] The utility model provides an explosion-proof part between the connecting pipes, thereby separating the control part and the probe to provide a distance therebetween, thereby maintaining a stable working condition of the control part. At the same time, since the explosion-proof part is filled with explosion-proof materials, its impact resistance is stronger.

[0026] In order to prevent high temperature from affecting the use of the detection body during use, the movable monitoring device of the utility model also includes a heat insulation sleeve, an air gap is formed between the heat insulation sleeve and the shell, and the heat insulation sleeve is made of ceramic fiber or glass fiber.

[0027] The utility model adopts two connection forms, namely, a telescopic pipeline and a straight pipe section. The telescopic pipeline is connected to the movable monitoring device, and the straight pipe section is connected to the peripheral area groove of the control part to realize spatial heat conduction.

[0028] The utility model adopts an up-and-down lifting method to enable the movable monitoring device to be lifted and lowered in different designated areas during detection, and adopts a hidden detection device to detect and observe the surrounding environment, which can better protect the detection device. The camera and temperature / humidity sensor of the detection device are connected to the PC terminal through wired or wireless methods, and the camera and temperature / humidity sensor detect the pipeline environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is the three-dimensional intention of the utility model;

[0030] Figure 2 It is a schematic diagram of the internal structure of the utility model;

[0031] Figure 3 This utility model Figure 2 A top view schematic diagram of

[0032] Figure 4 It is a display schematic diagram of the detection device of the utility model;

[0033] Figure 5 This is a schematic diagram of the connection between the movable monitoring device of the utility model and the positioning telescopic cylinder;

[0034] Figure 6 This is a schematic diagram of the connection between the straight pipe section and the explosion-proof part of the utility model;

[0035] Figure 7It is a schematic diagram of the movable monitoring device of the utility model. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0039] like Figure 1-7 As shown, a pipeline inspection robot comprises an inspection body 1, both sides of the inspection body 1 are connected to tracks 2 through positioning frames and connecting shafts, and adsorption magnet blocks are arranged along the tracks 2;

[0040] The detection body 1 is hollow inside, and a movable monitoring device 3 is arranged near the front end of the detection body 1;

[0041] A glass fiber heat insulation layer is fixedly arranged at the bottom of the detection body 1 .

[0042] The detection body 1 is provided with a heat conduction hole, and the position of the heat conduction hole is located above the control circuit board 4. The control circuit board in the utility model is realized based on a single-chip microcomputer, and the active monitoring device 3 can receive and send signals through the single-chip microcomputer, and the connection with the wireless transmission module is also realized through the single-chip microcomputer to realize the connection with the external PC terminal.

[0043] The detection body 1 also includes telescopic mechanisms 5 arranged on both sides of the movable monitoring device 3, the telescopic mechanisms 5 include a first telescopic mechanism 5-1 and a second telescopic mechanism 5-2, and the telescopic mechanism 5 is detachably connected to the detection device;

[0044] The output end of the activity monitoring device 3 is connected to the output line pipe end 7 through a connection interface, and the activity monitoring device 3 is connected to a control transceiver control circuit board 4 formed with a single-chip microcomputer as a main chip through a connection line.

[0045] In order to facilitate adsorption and crawling on the pipe wall in use, the adsorption magnet block is provided with a plurality of magnetic blocks in contact with the pipe, the adsorption magnet blocks are arranged at intervals on the annular end surface of the crawler 2, and the length of the adsorption magnet block is the same as the width of the crawler 2, and the periphery of the adsorption magnet block is wrapped with a rubber layer;

[0046] The crawler belt 2 and the detection body 1 are symmetrically arranged on both sides in an arc shape.

[0047] In order to facilitate the corrosion detection of the pipe wall by the sensor probe in use, the movable monitoring device 3 is a sensor probe, including a shell and a permanent magnet 3-1 and a circular coil or a butterfly coil 3-2 located in the shell, and the shell is filled with resin to fix it.

[0048] In order to prevent high temperature from affecting the use of the detection object during use, the movable monitoring device 3 also includes a heat insulation sleeve 3-3, and an air gap 3-4 is formed between the heat insulation sleeve 3-3 and the shell, wherein the thickness of the air gap 3-4 does not exceed 1.5 mm;

[0049] The thermal insulation sleeve 3-3 is made of ceramic fiber or glass fiber.

[0050] The output line pipe end 7 includes a telescopic pipe 7-1 and a straight pipe section 7-2, wherein the telescopic pipe 7-1 is connected to the movable monitoring device 3, and the straight pipe section 7-2 is connected to the hollow control slot of the control circuit board 4, and the control circuit board 4 and the movable monitoring device 3 are connected in the output line pipe end 7 via a connecting wire;

[0051] Positioning telescopic cylinders 6 are fixedly arranged on both sides of the movable monitoring device 3, and the bottom of the positioning telescopic cylinders 6 is detachably connected to the detection body 1. The movable monitoring device 3 moves vertically up and down along the detection body 1 through the positioning telescopic cylinders 6, and the bottom of the detection body 1 is provided with a through hole that imitates the shape of the movable monitoring device 3.

[0052] In order to protect the control circuit board and subsequent connecting lines when in use, an explosion-proof part 8 is provided between the straight pipe section 7-2 and the control circuit board 4. The explosion-proof part 8 is a clamping stuffing box filled with explosion-proof material (the explosion-proof material disclosed in the prior art can be used).

[0053] In order to facilitate the power supply and drive of the entire detection body when in use, a rechargeable lithium battery pack (existing technology, not shown in the figure) for providing power is detachably connected inside the detection body 1, and the rechargeable lithium battery pack is electrically connected to the control circuit board.

[0054] In order to facilitate the formation of a hidden and retractable auxiliary camera 9 and a temperature / humidity sensor 10 when in use, the auxiliary camera 9 and the temperature / humidity sensor 10 can be protected, a through hole identical to that of the detection body is fixedly opened on the end face of the detection body, and the detection devices installed at the front end of the first retractable mechanism and the second retractable mechanism are the auxiliary camera and the temperature / humidity sensor.

[0055] The control circuit board is connected to the external PC terminal via wireless transmission;

[0056] The first telescopic mechanism and the second telescopic mechanism are telescopic cylinders. The first telescopic mechanism 5 - 1 and the second telescopic mechanism 5 - 2 are driven to telescope by external remote control through the positioning telescopic cylinder 6 .

[0057] In order to ensure that the movable monitoring device 3, i.e. the sensor probe and the control circuit board 4, is not damaged under ultra-high temperature during use, the distance between the control circuit board 4 and the movable monitoring device 3 in the detection body 1 is 20-25 cm.

[0058] The detection object is driven by external remote control, and the driving chip adopts the long-distance remote control low-power SOP23-6 wireless transmission chip YXL4455 to cooperate with the receiver matched with the wireless transmission chip set inside the detection object.

[0059] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0060] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A pipeline inspection robot, characterized in that: It comprises a detection body (1), the two sides of the detection body (1) are connected to a crawler (2) via a positioning frame and a connecting shaft, and an adsorption magnet block is arranged along the crawler (2); The detection body (1) is hollow, and a movable monitoring device (3) is arranged near the front end of the detection body (1); The detection body (1) also includes telescopic mechanisms (5) arranged on both sides of the movable monitoring device (3), the telescopic mechanisms (5) including a first telescopic mechanism (5-1) and a second telescopic mechanism (5-2), and the detection device is detachably connected to the telescopic mechanism (5); The output end of the activity monitoring device (3) is connected to the output line pipe end (7) via a connection interface, and the activity monitoring device (3) is connected to a control transceiver control circuit board (4) formed with a single-chip microcomputer as a main chip via a connection line.

2. The pipeline inspection robot according to claim 1, characterized in that: The adsorption magnet block is provided with a plurality of magnetic blocks in contact with the pipeline, the adsorption magnet blocks are arranged at intervals on the annular end surface of the crawler (2), and the length of the adsorption magnet block is the same as the width of the crawler (2), and the periphery of the adsorption magnet block is wrapped with a rubber layer; The crawler (2) and the detection body (1) are symmetrically arranged on both sides in an arc shape.

3. The pipeline inspection robot according to claim 2, characterized in that: The activity monitoring device (3) is a sensor probe, comprising a shell and a permanent magnet (3-1) and a circular coil or a butterfly coil (3-2) located inside the shell, and the shell is filled with resin for fixation.

4. The pipeline inspection robot according to claim 3, characterized in that: The movable monitoring device (3) further includes a heat insulating sleeve (3-3), and an air gap (3-4) is formed between the heat insulating sleeve (3-3) and the shell; The heat insulation sleeve (3-3) is made of ceramic fiber or glass fiber.

5. The pipeline inspection robot according to claim 4, characterized in that: The output line pipe end (7) comprises a telescopic pipe (7-1) and a straight pipe section (7-2); the telescopic pipe (7-1) is connected to a movable monitoring device (3); the straight pipe section (7-2) is connected to a hollow control slot body of a control circuit board (4); and a connecting wire is used inside the output line pipe end (7) to connect the control circuit board (4) and the movable monitoring device (3).

6. The pipeline inspection robot according to claim 5, characterized in that: Positioning telescopic cylinders (6) are fixedly arranged on both sides of the movable monitoring device (3), and the bottom of the positioning telescopic cylinders (6) is detachably connected to the detection body (1). The movable monitoring device (3) moves vertically up and down along the detection body (1) through the positioning telescopic cylinders (6), and the bottom of the detection body (1) is provided with a through hole that is shaped like the movable monitoring device (3).

7. The pipeline inspection robot according to claim 6, characterized in that: An explosion-proof part (8) is provided between the straight pipe section (7-2) and the control circuit board (4); the explosion-proof part (8) is a clamping type stuffing box, the interior of which is filled with explosion-proof material.

8. The pipeline inspection robot according to claim 7, characterized in that: The end surface of the detection body (1) is fixedly provided with a through hole identical to that of the detection body (1); the detection devices installed at the front ends of the first telescopic mechanism (5-1) and the second telescopic mechanism (5-2) are auxiliary cameras (9) and temperature / humidity sensors (10); The control circuit board (4) is connected to an external PC terminal via wireless transmission; The first telescopic mechanism (5-1) and the second telescopic mechanism (5-2) are telescopic cylinders.

9. The pipeline inspection robot according to claim 8, characterized in that: The distance between the control circuit board (4) and the activity monitoring device (3) in the detection body (1) is 20-25 centimeters.

Images