Self-propelled pipeline flaw detection device

Abstract

The utility model discloses a self-propelled pipeline flaw detection device, which relates to the technical field of pipeline maintenance technology and comprises a rack, a driving mechanism for driving the self-propelled pipeline flaw detection device to advance and an information acquisition device for acquiring internal information of a pipeline, and the rack is a connecting pipe with rigidity and flexibility capable of being adjusted in sections; the pipeline flaw detection device is further provided with a bending driving mechanism, the bending driving mechanism is installed in the middle of the connecting pipe and used for partially bending the connecting pipe to achieve steering of the pipeline flaw detection device, the positions, in front of and behind the bending driving mechanism, of the connecting pipe are each provided with a driving mechanism, and the information collecting device is installed at the front end of the connecting pipe. According to the pipeline flaw detection device, the operation adaptability of the detection device in a complex pipeline network can be greatly improved, the flaw detection efficiency is improved, the pipeline flaw detection device is particularly suitable for pipeline flaw detection operation of the long-distance and multi-node complex pipeline network, the operation condition adaptability is very high, the structure is simple and compact, and the pipeline flaw detection device is suitable for various working conditions.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline maintenance, in particular to a device for internal flaw detection in a complex pipeline network. Background Art

[0002] Pipelines are a common facility in industrial production and require regular internal flaw detection and maintenance. For pipelines with larger diameters, higher strength, shorter entry distances, and lower entry risks, internal flaw detection and maintenance work is performed by workers entering the pipeline facilities, but this type of work inevitably carries certain risks. For pipelines with smaller diameters, longer entry distances, or higher entry risks, pipeline inspection robots are required to perform internal flaw detection and maintenance.

[0003] In the prior art, pipeline inspection robots are equipped with information collection devices that can collect information including images inside the pipeline to realize flaw detection inside the pipeline. However, the existing pipeline inspection robots are large in size and are not suitable for small pipelines or complex pipeline networks. Pipeline inspection robots that use flexible connections between the pipeline and the information collection device usually find it difficult to cross "cross" or "T" shaped pipeline nodes with larger pipe diameters; and pipeline inspection robots that use rigid connections between the pipeline and the information collection device cannot adapt to arc-shaped pipeline structures and pipeline structures with inflection points. At present, the above-mentioned problems need to be overcome by dividing the pipeline into several sections and using segmented flaw detection. Flaw detection is time-consuming and labor-intensive, and the operation efficiency is low. At the same time, it is particularly difficult for existing pipeline inspection robots to realize flaw detection inside a type of pipeline that includes upward bends. This type of pipeline structure can only be inspected by manual entry. Utility Model Content

[0004] The utility model provides a self-advancing pipeline flaw detection device in order to avoid the deficiencies in the prior art.

[0005] The utility model adopts the following technical solution to solve the technical problem: a self-propelled pipeline flaw detection device, including a frame, a driving mechanism for driving itself forward and an information collection device for collecting internal information of the pipeline, wherein the frame is a rigid and flexible connecting pipe that can be adjusted in sections.

[0006] A bending drive mechanism is also provided, the bending drive mechanism is installed in the middle of the connecting tube, a drive mechanism is respectively provided on the connecting tube in front and rear of the bending drive mechanism, and the information collection device is installed at the front end of the connecting tube;

[0007] The bending drive mechanism comprises a rotating ring, a connecting block, a clamping wheel and a telescopic rod;

[0008] The number of the connection blocks is at least two,

[0009] Each of the connecting blocks is sequentially sleeved on the connecting pipe, and at least one of the connecting blocks located at the front end or the rear end is connected to a rotating ring sleeved on the connecting pipe in front of or behind itself, and the rotating ring has a built-in rotating driving machine for driving the connecting block to rotate around the connecting pipe;

[0010] Each of the connecting blocks is hinged to the adjacent connecting blocks on the same side of the connecting tube; a clamping wheel with a wheel rim pressed against the outer side of the connecting tube is rotatably mounted on each of the connecting blocks on both sides of the connecting tube, and a telescopic rod is provided between two adjacent connecting blocks to be installed and connected to the two in an offset manner; both ends of the telescopic rod are rotatably mounted and connected to the clamping wheels on the two adjacent connecting blocks on both sides of the connecting tube, and the offset directions of the telescopic rods are the same; a linear drive motor is built into the telescopic rod to drive itself to extend or shorten.

[0011] Furthermore, the connecting tube includes a soft outer tube, an inner tube and a magnetic field generating device or an electric field generating device;

[0012] The outer tube is sleeved outside the inner tube, and the interlayer cavity formed between the two is divided into a plurality of small chambers which are not connected to each other by a diaphragm arranged in the interlayer; the small chambers are filled with magnetorheological fluid or electrorheological fluid.

[0013] Furthermore, the driving mechanism includes a fixed water bag, a driving water bag, a movable water bag, a return spring and a water pumping and injection device;

[0014] The fixed water bag, the return spring and the movable water bag are sequentially sleeved on the outside of the connecting pipe from front to back, and the fixed water bag is fixedly installed with the connecting pipe, and the movable water bag is slidably installed and connected with the connecting pipe through a sealing slip ring, and a sliding pair is formed between the two along the axial direction of the connecting pipe; the driving water bag is located between the fixed water bag and the movable water bag, and both ends of the driving water bag and the return spring are respectively connected and fixed with the fixed water bag and the movable water bag;

[0015] The fixed water bag, the driving water bag and the movable water bag are all connected with a water pumping and injecting device for pumping water therefrom or injecting water therein, and the fixed water bag and the movable water bag shrink or stretch along the radial direction of the connecting tube when pumping water and injecting water, respectively, and the movable water bag shrinks or stretches along the axial direction of the connecting tube when pumping water and injecting water.

[0016] Furthermore, the driving water bag is an axisymmetric structure about the axis of the connecting pipe or the driving water bag is axisymmetrically arranged about the axis of the connecting pipe.

[0017] Furthermore, the fixed water bag and the movable water bag are in the shape of annular bags, and the driving water bag is in the shape of an elongated strip bag, and are symmetrically arranged in pairs on both sides of the connecting pipe.

[0018] Furthermore, it also includes an adjustment mechanism for adjusting the collection angle of the information collection device.

[0019] Furthermore, the regulating mechanism is a regulating water bag with an annular structure;

[0020] The information collection device is located at the center of the annular structure and is fixed to the regulating water bag; the inner cavity of the regulating water bag is divided into small cavities that are not connected to each other by circumferentially arranged partitions, and each of the small cavities is independently connected to a water extraction and injection device that extracts water from or injects water into the small cavity.

[0021] Furthermore, the telescopic rod is a hydraulic cylinder or a pneumatic cylinder, and the information collection device is a camera.

[0022] The utility model provides a self-advancing pipeline flaw detection device, which has the following beneficial effects:

[0023] The utility model can greatly improve the operational adaptability of the detection device in complex pipeline networks and improve the efficiency of flaw detection. It is particularly suitable for pipeline flaw detection operations in long-distance, multi-node complex pipeline networks. It has strong adaptability to operating conditions, a simple and compact structure, and is suitable for a variety of working conditions. At the same time, the utility model is mainly driven by hydraulics and water power, and is particularly suitable for pipelines where dangerous gases may exist, and has high working safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the main cross-sectional structure of the utility model;

[0025] Figure 2 It is a partial cross-sectional enlarged structural schematic diagram of the connecting pipe of the utility model;

[0026] Figure 3 It is a right side cross-sectional structural schematic diagram of the adjustment mechanism when the information collection device of the utility model is centered;

[0027] Figure 4 It is a right side cross-sectional structural schematic diagram of the biased adjustment mechanism of the information collection device of the utility model;

[0028] Figure 5 This is a schematic diagram of the state of the utility model before turning;

[0029] Figure 6 It is a schematic diagram of the first state of the utility model during steering;

[0030] Figure 7 It is a schematic diagram of the second state of the utility model during turning;

[0031] Figure 8 It is a schematic diagram of the state of the utility model after turning.

[0032] In the figure:

[0033] 1. Connecting tube, 11. Outer tube, 12. Inner tube, 13. Diaphragm, 14. Small chamber; 2. Information acquisition device; 3. Driving mechanism, 31. Fixed water bag, 32. Driving water bag, 33. Movable water bag, 34. Reset spring; 4. Bending driving mechanism, 41. Rotating ring, 42. Connecting block, 43. Clamping wheel, 44. Telescopic rod; 5. Adjusting mechanism, 51. Partition, 52. Small chamber. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of 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.

[0035] A self-propelled pipeline flaw detection device, such as Figure 1~Figure 2 As shown, its structural relationship is as follows: it includes a frame, a driving mechanism 3 for driving itself forward, and an information collection device 2 for collecting information inside the pipeline. The frame is a connecting pipe 1 that can be adjusted in sections with rigidity and flexibility. In actual settings, wires and signal lines used for controlling or powering the pipeline flaw detection device can be arranged in the connecting pipe 1;

[0036] A bending drive mechanism 4 is also provided, and the bending drive mechanism 4 is installed in the middle of the connecting tube 1. A drive mechanism 3 is provided on the connecting tube 1 in front and behind the bending drive mechanism 4, and the information collection device 2 is installed at the front end of the connecting tube 1.

[0037] The bending drive mechanism 4 includes a rotating ring 41, a connecting block 42, a clamping wheel 43 and a telescopic rod 44;

[0038] The number of the connecting blocks 42 is at least two. When actually set, the number of the connecting blocks 42 may preferably be five. Each connecting block 42 is sequentially sleeved on the connecting pipe 1. At least one of the connecting blocks 42 at the front end or the rear end is connected to a rotating ring 41 sleeved on the connecting pipe 1 in front of or behind itself. The rotating ring 41 has a built-in rotating driving machine for driving the connecting block 42 to rotate around the connecting pipe 1.

[0039] Each connecting block 42 is hinged to the adjacent connecting block 42 on the same side of the connecting tube 1; a clamping wheel 43 with a wheel rim pressed against the outer side of the connecting tube 1 is rotatably mounted on each of the connecting blocks 42 on both sides of the connecting tube 1, and a telescopic rod 44 is provided between two adjacent connecting blocks 42 to be installed and connected to the two in an offset manner; both ends of the telescopic rod 44 are rotatably installed and connected to the clamping wheels 43 on the two adjacent connecting blocks 42 on both sides of the connecting tube 1, and the offset directions of each telescopic rod 44 are the same; the telescopic rod 44 has a built-in linear drive motor to drive itself to extend or shorten.

[0040] Preferably, the connecting pipe 1 comprises a soft outer pipe 11, an inner pipe 12 and a magnetic field generating device or an electric field generating device;

[0041] The outer tube 11 is sleeved on the inner tube 12, and the interlayer cavity formed therebetween is divided into a plurality of small chambers 14 which are not connected to each other by a diaphragm arranged in the interlayer; the small chambers are filled with magnetorheological fluid or electrorheological fluid.

[0042] The magnetorheological fluid or electrorheological fluid can change its rigidity and flexibility under the action of an external magnetic field or an external electric field. The rigidity and flexibility of the magnetorheological fluid or electrorheological fluid in different chambers 14 can be independently adjusted to support the segmented adjustment of the rigidity and flexibility of the connecting tube 1.

[0043] Preferably, the driving mechanism 3 includes a fixed water bag 31, a driving water bag 32, a movable water bag 33, a return spring 34 and a water pumping and injection device;

[0044] The fixed water bag 31, the return spring 34 and the movable water bag 33 are sequentially sleeved on the outside of the connecting pipe 1 from front to back, and the fixed water bag 31 is fixedly installed on the connecting pipe 1, and the movable water bag 33 is slidably installed and connected to the connecting pipe 1 through a sealing slip ring, and a sliding pair is formed between the two along the axial direction of the connecting pipe 1; the driving water bag 32 is located between the fixed water bag 31 and the movable water bag 33, and both ends of the driving water bag 32 and the return spring 34 are respectively connected and fixed to the fixed water bag 31 and the movable water bag 33;

[0045] The fixed water bag 31, the driving water bag 32 and the movable water bag 33 are all connected to a water pumping and injecting device for pumping water therefrom or injecting water therein, and the fixed water bag 31 and the movable water bag 33 respectively contract or stretch along the radial direction of the connecting pipe when pumping water and injecting water, and the movable water bag 33 contracts or stretches along the axial direction of the connecting pipe 1 when pumping water and injecting water.

[0046] Preferably, the driving water bag 32 is an axisymmetric structure about the axis of the connecting pipe 1 or the driving water bag 32 is axisymmetrically arranged about the axis of the connecting pipe.

[0047] Preferably, the fixed water bag 31 and the movable water bag 33 are in the shape of annular bags, and the driving water bag 32 is in the shape of an elongated bag, and they are symmetrically arranged in pairs on both sides of the connecting pipe 1 .

[0048] Preferably, it also includes an adjustment mechanism 5 for adjusting the collection angle of the information collection device 2.

[0049] Preferably, the regulating mechanism 5 is a regulating water bag of an annular structure;

[0050] The information collection device 2 is located at the center of the annular structure and is installed and fixed to the regulating water bag; the inner cavity of the regulating water bag is divided into small cavities 52 that are not connected to each other by circumferentially arranged partitions 51, and each small cavity 52 is independently connected to a water extraction and injection device for extracting water from or injecting water into it.

[0051] Preferably, the telescopic rod 44 is a hydraulic cylinder or a pneumatic cylinder, and the information collection device 2 is a camera.

[0052] The method for performing internal flaw detection of a pipeline using the self-propelled pipeline flaw detection device includes the following process:

[0053] According to the diameter and shape of the pipeline, adjust the installation position of the driving mechanism 3 on the connecting pipe 1, and after adjusting it in place, install and fix the fixed water bag 31 of the driving mechanism 3 to the connecting pipe 1;

[0054] Place the pipeline flaw detection device in the pipeline, and adjust the working mode of the pipeline flaw detection device according to the information collected and fed back by the information collection device 2:

[0055] If the front environment inside the pipeline requires the pipeline flaw detection device to move straight, the pipeline flaw detection device enters the straight-moving mode;

[0056] If the front environment inside the pipeline requires the pipeline flaw detection device to turn, the pipeline flaw detection device enters the turning mode;

[0057] If there is an obstacle in the front environment inside the pipeline, the pipeline flaw detection device will enter the obstacle crossing mode;

[0058] Straight mode:

[0059] In the first step, the magnetic field generator or the electric field generator works to make the part of the connecting pipe 1 corresponding to the position of the driving mechanism 3 express as a rigid structure;

[0060] In the second step, the water pumping device injects water into the movable water bag 33, so that the movable water bag 33 extends along the radial direction of the connecting pipe 1 until it is tightly pressed against the inner wall of the pipe and fixed;

[0061] In the second step, the water pumping device injects water into the driving water bag 32, so that the driving water bag 32 extends along the axial direction of the connecting pipe 1, pushing the fixed water bag 31 and the connecting pipe 1 fixedly mounted with the fixed water bag 31 to move forward relative to the movable water bag 33, and the driving mechanism 3 and the information collection device 2 installed on the connecting pipe 1 move forward with the connecting pipe 1;

[0062] During this process, the return spring 34 is stretched;

[0063] In the third step, the water pumping device injects water into the fixed water bag 31, so that the fixed water bag 31 extends along the radial direction of the connecting pipe 1 until it is fixed against the inner wall of the pipe;

[0064] In the fourth step, the water pumping device pumps water from the movable water bag 33 and the driving water bag 32, so that the movable water bag contracts along the radial direction of the connecting pipe 1 and separates from the inner wall of the pipe, and the driving water bag 32 shortens along the axial direction of the connecting pipe 1. Subsequently, the movable water bag 33 is compressed under the elastic force of the return spring 34, and the driving water bag 32 slides forward along the connecting pipe 1;

[0065] Step 4, repeating Step 2 to Step 3 until the information collected and fed back by the collection device 2 reflects that the environment type in front of the pipeline flaw detection device inside the pipeline has changed, and re-judging and adjusting the working mode of the pipeline flaw detection device;

[0066] In the straight-moving mode, only one of the two driving devices 3 can be used to drive the pipeline flaw detection device to move straight, or the two driving devices can be controlled to move synchronously to cooperatively drive the pipeline flaw detection device to move straight;

[0067] Steering mode:

[0068] In the first step, the pipeline flaw detection device moves forward in a straight-moving mode until the drive mechanism 3 at the rear side reaches the turning position, and the movable water bag 33 in the mechanism 3 at the rear side is filled with water until it is fixed against the inner wall of the pipeline, and the drive mechanism 3 at the front side remains separated from the inner wall of the pipeline;

[0069] In the second step, the electric field generator or the magnetic field generator changes the working parameters so that the connecting pipe 1 at the position corresponding to the bending drive mechanism 4 is expressed as a flexible structure, and the other positions are expressed as a rigid structure;

[0070] In the third step, the rotating ring 41 drives the bending drive mechanism 4 to rotate around the connecting pipe 1 according to the steering requirement until one side of each connecting block 42 is hinged and located on the inner side of the steering track, and then each telescopic rod 44 is extended, so that the connecting pipe 1 expressed as a flexible structure at the corresponding position of the bending drive mechanism 4 is deformed and bent into an arc shape adapted to the steering track; in the fourth step, the driving mechanism 3 located at the rear side works in a straight-moving mode until the driving mechanism 3 located at the front side contacts the inner wall of the pipe located on the far side in the pipe area after the steering, at this time, in the driving mechanism 3 located at the front side, the movable water bag 33 is filled with water until it is fixed against the inner wall of the pipe, and the driving mechanism 3 located at the rear side pumps water until it is separated from the inner wall of the pipe;

[0071] In the fifth step, the driving mechanism 3 at the front side works in a straight-ahead mode until the pipeline flaw detection device completes the turn. At this time, the driving mechanism 3 at the rear side also enters the pipeline area after the turn.

[0072] Subsequently, the working mode of the pipeline flaw detection device is re-judged and adjusted according to the information collected and fed back by the collection device 2;

[0073] In the steering mode, relying on the rotation drive of the rotating ring 41, the pipeline flaw detection device can not only turn within the current traveling plane, but also flip and turn upward or downward, which has extremely high flexibility.

[0074] Preferably, the collection position and angle of the information collection device 2 are adjusted as follows:

[0075] The water pumping and injection device is used to independently inject or pump water into each small cavity 52, thereby adjusting the shape of each small cavity 52 and driving the information collection device 2 to deflect and flip to one side.

[0076] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0077] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-propelled pipeline flaw detection device, comprising a frame, a driving mechanism (3) for driving the device forward, and an information collection device (2) for collecting information inside the pipeline, characterized in that: The frame is a connecting pipe (1) that is rigid and flexible and can be adjusted in sections. A bending drive mechanism (4) is also provided, the bending drive mechanism (4) being installed in the middle of the connecting tube (1), a drive mechanism (3) being provided on the connecting tube (1) in front of and behind the bending drive mechanism (4), and the information collection device (2) being installed at the front end of the connecting tube (1); The bending drive mechanism (4) comprises a rotating ring (41), a connecting block (42), a clamping wheel (43) and a telescopic rod (44); The number of the connecting blocks (42) is at least two, Each of the connecting blocks (42) is sleeved onto the connecting pipe (1) in sequence, and at least one of the connecting blocks (42) located at the front end or the rear end is connected to a rotating ring (41) sleeved onto the connecting pipe (1) in front of or behind itself, and the rotating ring (41) has a built-in rotating driving machine for driving the connecting block (42) to rotate around the connecting pipe (1); Each of the connecting blocks (42) is hingedly connected to an adjacent connecting block (42) on the same side of the connecting tube (1); a clamping wheel (43) whose rim is pressed against the outer side of the connecting tube (1) is rotatably mounted on each of the connecting blocks (42) on both sides of the connecting tube (1), and a telescopic rod (44) is provided between two adjacent connecting blocks (42) and is connected to the two in an offset manner; both ends of the telescopic rod (44) are rotatably mounted and connected to the clamping wheels (43) on the two adjacent connecting blocks (42) on both sides of the connecting tube (1), and the offset directions of the telescopic rods (44) are the same; and a linear drive motor for driving the telescopic rod (44) to extend or shorten is built into the telescopic rod (44).

2. The self-propelled pipeline flaw detection device according to claim 1 is characterized in that: The connecting tube (1) comprises a soft outer tube (11), an inner tube (12) and a magnetic field generating device or an electric field generating device; The outer tube (11) is sleeved outside the inner tube (12), and the interlayer cavity formed between the two is divided into a plurality of small chambers (14) that are not connected to each other by a diaphragm arranged in the interlayer; the small chambers are filled with magnetorheological fluid or electrorheological fluid.

3. A self-propelled pipeline flaw detection device according to claim 1 or 2, characterized in that: The driving mechanism (3) comprises a fixed water bag (31), a driving water bag (32), a movable water bag (33), a return spring (34) and a water pumping and injection device; The fixed water bag (31), the return spring (34) and the movable water bag (33) are sequentially sleeved on the outside of the connecting pipe (1) from front to back, and the fixed water bag (31) is fixedly mounted on the connecting pipe (1), and the movable water bag (33) is slidably mounted and connected to the connecting pipe (1) via a sealing slip ring, so that a sliding pair is formed between the two along the axial direction of the connecting pipe (1); the driving water bag (32) is located between the fixed water bag (31) and the movable water bag (33), and both ends of the driving water bag (32) and the return spring (34) are respectively fixedly connected to the fixed water bag (31) and the movable water bag (33); The fixed water bag (31), the driving water bag (32) and the movable water bag (33) are all connected to a water pumping and injecting device for pumping water from or injecting water into them, and the fixed water bag (31) and the movable water bag (33) respectively contract or expand along the radial direction of the connecting pipe when pumping water or injecting water, and the movable water bag (33) contracts or expands along the axial direction of the connecting pipe (1) when pumping water or injecting water.

4. A self-propelled pipeline flaw detection device according to claim 3, characterized in that: The driving water bag (32) is an axisymmetric structure about the axis of the connecting pipe (1), or the driving water bag (32) is arranged axisymmetrically about the axis of the connecting pipe.

5. The self-propelled pipeline flaw detection device according to claim 4 is characterized in that: The fixed water bag (31) and the movable water bag (33) are in the shape of annular bags, and the driving water bag (32) is in the shape of an elongated bag, and are symmetrically arranged in pairs on both sides of the connecting pipe (1).

6. The self-propelled pipeline flaw detection device according to claim 1 is characterized in that: It also includes an adjustment mechanism (5) for adjusting the collection angle of the information collection device (2).

7. A self-propelled pipeline flaw detection device according to claim 6, characterized in that: The regulating mechanism (5) is a regulating water bag with an annular structure; The information collection device (2) is located at the center of the annular structure and is fixedly mounted on the regulating water bag; the inner cavity of the regulating water bag is divided into mutually unconnected small cavities (52) by circumferentially arranged partitions (51), and each of the small cavities (52) is independently connected to a water extraction and injection device for extracting water from or injecting water into the small cavities (52).

8. The self-propelled pipeline flaw detection device according to claim 1 is characterized in that: The telescopic rod (44) is a hydraulic cylinder or a pneumatic cylinder, and the information collection device (2) is a camera.

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