Measuring device for corrosion prevention operation and maintenance process of coal mine pipeline

Abstract

The utility model discloses a coal mine pipeline anti-corrosion operation and maintenance process measuring device which comprises a hollow barrel-shaped adjusting mechanism and detection modules arranged outside the adjusting mechanism in an annular array mode. The detection module is encircled to form a hollow topological cylinder capable of wrapping the outer part of a detected pipeline; the detection module is used for metering the outside of the pipeline through the detection piece; the adjusting mechanism comprises a rotational degree of freedom, and the rotational degree of freedom drives all the detection modules to do annular motion and adjusts the diameter of the topological cylinder; according to the technology of the utility model, a plurality of detection pieces are installed in an array, such as a laser range finder, a shape measuring instrument, an ultrasonic detector or a thermal infrared imager, so that the outside of a pipeline can be accurately measured in a plurality of aspects, including linear size, angle, product, irregular surface or contour and the like; the high-precision measurement enables the evaluation of the attributes of the pipeline to be more accurate and comprehensive.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline operation and maintenance, in particular to a metering device for irregular surfaces or contours of pipelines, and in particular to a coal mine pipeline anti-corrosion operation and maintenance process measuring device. Background Art

[0002] Coal mine pipeline anti-corrosion operation and maintenance (O&M) is an important task aimed at ensuring the reliability of coal mine pipeline systems, extending their service life, and preventing problems such as corrosion, damage and leakage. Anti-corrosion coatings and anti-corrosion materials for coal mine pipelines are commonly used means of anti-corrosion for coal mine pipelines. They are used to protect the surface of coal mine pipelines from factors such as corrosion, wear and chemical erosion. Anti-corrosion coatings can reduce oxygen contact on the surface of coal mine pipelines and prevent corrosion from occurring. Anti-corrosion materials can prevent corrosion by forming a protective layer, inhibiting corrosion reactions or changing environmental conditions.

[0003] During the anti-corrosion operation and maintenance of coal mine pipelines, if the external anti-corrosion coating of the coal mine pipeline falls off, rust and other factors cause irregularities on the surface of the coal mine pipeline, the staff needs to further understand these specific information to determine the subsequent anti-corrosion operation and maintenance plan for the coal mine pipeline. Specifically, the staff needs to evaluate the surface irregularities of the coal mine pipeline. This can include measuring parameters such as the geometry, size and profile of the coal mine pipeline surface. For example, measuring the depth, width and length of bumps, grooves, corrosion pits and rusted areas of the coal mine pipeline. This information can help determine the degree and distribution of irregularities on the surface of the coal mine pipeline.

[0004] According to the irregularities of the coal mine pipeline surface, the staff needs to evaluate and determine the need for surface pretreatment. Including cleaning, rust removal, grinding and other steps to prepare the coal mine pipeline surface to receive anti-corrosion coatings or other protective materials. At the same time, according to the specific conditions of the coal mine pipeline surface, the staff needs to select appropriate anti-corrosion coatings or protective materials. It involves selecting a coating with appropriate adhesion and durability to adapt to the irregularities of the coal mine pipeline surface. In traditional technology, in order to achieve the above purpose, it is usually implemented through the following traditional solutions, but the utility model inventor has also found some problems with this type of traditional solution:

[0005] (1) Visual inspection: Traditional methods usually involve visual inspection by workers, who check the surface of coal mine pipelines for signs of corrosion, wear, cracks or other damage. This method relies on the experience and training level of the workers and has technical defects such as high subjectivity or errors or omissions due to human fatigue.

[0006] (2) Manual measuring tools: Sometimes, workers may use manual measuring tools, such as tape measures, angle rulers, depth gauges, etc., to measure the size, angle, thickness, etc. of coal mine pipes. However, manual measurement requires more manpower and time, and may be subject to human errors.

[0007] Therefore, a coal mine pipeline anti-corrosion operation and maintenance process measuring device is proposed. Utility Model Content

[0008] In view of this, the embodiment of the utility model hopes to provide a coal mine pipeline anti-corrosion operation and maintenance process measurement device to solve or alleviate the technical problems existing in the prior art, that is, the traditional method may not be able to obtain accurate pipeline status information in a timely manner, so the evaluation results may not be accurate or timely, and some subjective judgment uncertainties caused by human subjective initiative, and at least provide a beneficial option for this;

[0009] The technical solution of the embodiment of the utility model is implemented as follows: A coal mine pipeline anti-corrosion operation and maintenance process measurement device, including an adjustment mechanism in the shape of a hollow cylinder and a ring array detection module arranged outside the adjustment mechanism. The detection module forms a hollow topological cylinder that can cover the outside of the inspected pipeline. The adjustment mechanism has a rotational freedom, which is used to drive all the detection modules to move in a ring and adjust the diameter of the topological cylinder. When in use, the adjustment mechanism and the detection module are inserted into the outside of the inspected pipeline. The detection module performs measurement operations on the outside of the pipeline through the detection parts, including measurement of linear dimensions, angles, areas, and irregular surfaces or contours. The measurement data will be fed back to the staff for evaluation to obtain information on how to handle anti-corrosion materials on the pipeline.

[0010] In one embodiment, the detection module consists of a substrate and three detection components mounted thereon. The detection components can be any combination of one or more of a laser rangefinder, a shape measuring instrument, an ultrasonic detector, or an infrared thermal imager. Through this multifunctional detection module, the device can comprehensively measure different properties of the outer surface of the pipeline, thereby providing more detailed pipeline status information. Based on this information, the staff can formulate corresponding pipeline anti-corrosion operation and maintenance plans to ensure safe operation and long-term maintenance of the pipeline.

[0011] In one embodiment, the adjustment mechanism includes a frame fixed relative to the detection module. A rotating module for outputting rotational freedom is mounted on the frame. Arc grooves corresponding to the number of detection modules are provided on the outer surface of the frame, and the arc grooves are slidably matched with the pins outside the base plate. Through the adjustment mechanism of this embodiment, the device can stably support the detection module and achieve comprehensive measurement of the outside of the pipeline. This provides more precise and accurate data for pipeline anti-corrosion operation and maintenance, helping staff to evaluate the pipeline condition and formulate corresponding anti-corrosion treatment plans.

[0012] In one embodiment, the adjustment mechanism further includes a rotating sleeve, which is rotatably engaged in the frame through a bearing. The rotating sleeve is driven to rotate by the rotational freedom output by the rotating module. One end surface of the base plate is hinged to the top of the rotating sleeve through a hinge. The design of this adjustment mechanism enables the device to flexibly adapt to pipelines of different diameters during pipeline anti-corrosion operation and maintenance, and to achieve comprehensive metering work. At the same time, through tilt adjustment, a more detailed and comprehensive measurement of the pipeline surface can be performed, providing accurate information and guidance for subsequent anti-corrosion treatment. The application of this device can improve the efficiency and accuracy of pipeline anti-corrosion operation and maintenance.

[0013] In one embodiment, the rotating module includes a rotating actuator fixed to a frame. The rotating actuator drives a rotating gear, and the gear meshes with a ring gear. The ring gear is fixedly connected to the other end face of the rotating sleeve. The preferred rotating actuator is a servo motor, and the output shaft of the servo motor is fixedly connected to the gear. By combining the precise control of the servo motor and the fixed connection of the rotating sleeve, the device can stably implement the diameter adjustment operation and ensure that the substrates of each detection module move synchronously during the adjustment process.

[0014] In one embodiment, a six-degree-of-freedom robotic arm is provided below the frame. The end effector of the six-degree-of-freedom robotic arm is fixedly connected to the frame. By combining the six-degree-of-freedom robotic arm, the device realizes a full range of measurement capabilities and improves the efficiency and accuracy of pipeline anti-corrosion operation and maintenance. The staff can flexibly control the robotic arm and accurately position the device to the position of the pipeline to be measured to obtain comprehensive and accurate pipeline property information, and then formulate an appropriate anti-corrosion treatment plan.

[0015] In one embodiment, it also includes a carrier chassis, on which a six-degree-of-freedom robotic arm is installed. The carrier chassis can be a combination of a tracked vehicle, a remote-controlled vehicle or a trailer. The six-degree-of-freedom robotic arm is installed on a specific type of carrier chassis. The choice of carrier chassis depends on the actual situation and operational requirements of pipeline anti-corrosion operation and maintenance. Tracked vehicles usually have good obstacle crossing performance and carrying capacity, and are suitable for complex terrain or construction site environments. Remote-controlled vehicles can achieve flexible movement and positioning through remote control operation, and are suitable for scenarios that require remote operation. Trailers can provide convenient transportation and mobility, and are suitable for short-distance handling and transportation.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] 1. High-precision measurement: The technology of this utility model adopts an array installation of multiple detection components, such as laser rangefinders, shape measuring instruments, ultrasonic detectors or infrared thermal imagers, etc., which can accurately measure multiple aspects of the pipeline exterior, including linear dimensions, angles, areas, irregular surfaces or contours, etc. This high-precision measurement makes the assessment of pipeline properties more accurate and comprehensive.

[0018] 2. Flexible adjustment: The adjustment mechanism in the technology of the utility model drives the detection module to make circular motion through the rotational freedom and the rotating module, and realizes flexible processing of anti-corrosion materials by adjusting the diameter of the topological cylinder. By means of the synergistic effect of the rotating sleeve, the pin and the arc groove, the substrate can be tilted along the central axis of the rotating sleeve, thereby adjusting the diameter of the "hollow topological cylinder". This flexible adjustment capability makes the processing of anti-corrosion materials more precise and adaptable.

[0019] 3. Comprehensive information feedback: The technology of this utility model can obtain more comprehensive and accurate information on pipeline properties by collecting measurement data from different positions and angles. These measurement data can be fed back to the staff for evaluation, so as to obtain information on how to treat the anti-corrosion material to the pipeline. Comprehensive information feedback makes the decision-making process more scientific and accurate.

[0020] 4. Improve work efficiency: The application of the six-degree-of-freedom mechanical arm and the carrying chassis in the technology of the utility model enables the adjustment mechanism and the detection module to be flexibly carried to the specified position, height or angle. Such a design makes it more convenient and efficient to measure the pipeline at the specified position, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a three-dimensional schematic diagram of the utility model;

[0023] Figure 2 It is a three-dimensional schematic diagram of the adjustment mechanism, detection module and six-degree-of-freedom mechanical arm of the utility model;

[0024] Figure 3 It is a three-dimensional schematic diagram of the adjustment mechanism and the detection module of the utility model;

[0025] Figure 4 It is a three-dimensional schematic diagram of the adjustment mechanism of the utility model after removing the frame;

[0026] Figure 5 It is a three-dimensional schematic diagram of a single detection module of the utility model;

[0027] Figure 6 It is a front view of the adjustment mechanism and detection module of the utility model.

[0028] Figure numerals: 1. Adjustment mechanism; 101. Frame; 102. Rotating actuator; 103. Gear; 104. Ring gear; 105. Rotating sleeve; 106. Arc groove; 2. Detection module; 201. Base plate; 202. Pin shaft; 203. Detection part; 3. Six-degree-of-freedom robotic arm; 4. Carrying chassis. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model. Therefore, the utility model is not limited to the specific embodiments disclosed below;

[0030] During pipeline maintenance operations, workers need to evaluate and determine the need for surface pretreatment based on the irregularities of the pipeline surface. This includes steps such as cleaning, rust removal, and grinding to prepare the pipeline surface to receive anti-corrosion coatings or other protective materials. At the same time, workers need to select appropriate anti-corrosion coatings or protective materials based on the specific conditions of the pipeline surface. This involves selecting a coating with appropriate adhesion and durability to adapt to the irregularities of the pipeline surface; for this purpose, please refer to Figure 1-6 This specific implementation will provide relevant technical solutions to achieve the above-mentioned measurement operation of pipeline operation and maintenance process: a coal mine pipeline anti-corrosion operation and maintenance process measurement device, including a hollow cylindrical adjustment mechanism 1, and detection modules 2 arranged in a ring array outside the adjustment mechanism 1; the detection module 2 is surrounded to form a hollow topological cylinder that can cover the outside of the detected pipeline; the detection module 2 performs measurement operation on the outside of the pipeline through the detection member 203; the adjustment mechanism 1 includes a rotational degree of freedom, and the rotational degree of freedom drives all the detection modules 2 to perform circular motion and adjust the diameter of the topological cylinder.

[0031] In this protocol: When used, refer to Figure 6, the adjustment mechanism 1 and the detection module 2 are inserted into the outside of the inspected pipeline (the dotted part framed by area B in the figure), wherein the above-mentioned "hollow topological cylinder" is a virtual shape concept, which refers to the positional characteristics of all the detection modules 2 when they are in the form of a ring array around the outside of the inspected pipeline. The detection module 2 measures the linear dimensions, angles, volumes, irregular surfaces or contours of the outside of the pipeline through the detection member 203; then the above-mentioned information is fed back to the staff for evaluation to obtain information on how to process the anti-corrosion material onto the pipeline; wherein in the above-mentioned detection operation, based on the drive adjustment of the rotational freedom, the above-mentioned "hollow topological cylinder" can be controlled to adjust the diameter, which is equivalent to all the detection members 203 to comprehensively measure the outer surface of the pipeline. By collecting measurement data from different positions and angles, more comprehensive and accurate pipeline attribute information can be obtained.

[0032] In this solution, all electrical components of the device as a whole rely on AC power for energy supply; specifically, the electrical components of the device as a whole are conventionally electrically connected to the AC power output port through devices such as relays, transformers and button panels to meet the energy supply requirements of all electrical components of the device.

[0033] Furthermore, when the adjustment mechanism 1 and the detection module 2 are inserted into the outside of the inspected pipeline, one end of the pipeline can be removed so that the adjustment mechanism 1 and the detection module 2 can be normally inserted into the outside of the inspected pipeline; or the pipeline that needs maintenance can be placed in a workshop and fixed by an external clamp-type device so that the adjustment mechanism 1 and the detection module 2 can be normally inserted into the outside of the inspected pipeline.

[0034] Furthermore, when the adjustment mechanism 1 and the detection module 2 are inserted into the outside of the inspected pipe, concentricity needs to be considered, which can be achieved by adjusting the position of the six-degree-of-freedom robot arm 3 or the carrier chassis 4 through conventional visual inspection, laser ranging and other means.

[0035] Specifically: The principle of the device is based on the combined use of the adjustment mechanism 1 and the detection module 2. The adjustment mechanism 1 drives the detection module 2 to make a circular motion through the rotational freedom and adjusts the diameter of the topological cylinder. Through the control of the adjustment mechanism 1, all the detection members 203 can be fully measured on the outer surface of the pipeline in the form of a circular array. The detection module 2 measures the outer surface of the pipeline through the detection members 203 and collects data on linear dimensions, angles, areas and irregular surfaces or contours. By collecting measurement data from different positions and angles, more comprehensive and accurate pipeline attribute information can be obtained.

[0036] It can be understood that in this specific embodiment, the device has the following functions:

[0037] (1) Adaptability: The rotational freedom of the adjustment mechanism 1 and the topological cylindrical shape with adjustable diameter make the device suitable for measured pipes of different diameters. By adjusting the diameter, the detection module 2 can be adapted to different pipe sizes.

[0038] (2) Comprehensive measurement: The detection module 2 surrounds the outside of the pipeline in a circular array and uses the detection member 203 to perform comprehensive measurement of the outer surface of the pipeline, including linear dimensions, angles, areas, and irregular surfaces or contours.

[0039] (3) Data feedback and evaluation: The measurement data is fed back to the staff for evaluation. The staff can use this data to determine the subsequent pipeline anti-corrosion operation and maintenance plan, including how to handle the anti-corrosion materials to meet the requirements of the pipeline.

[0040] (4) Accuracy and comprehensiveness: By collecting measurement data from different locations and angles, the device can provide more comprehensive and accurate information on pipeline properties, helping to accurately assess the condition and needs of the pipeline.

[0041] In some specific embodiments of this application, please refer to Figures 1 to 6 The detection module 2 includes a substrate 201 and three detection components 203 mounted thereon in an array. The detection components 203 are any combination of one or more of a laser rangefinder, a shape measuring instrument, an ultrasonic detector or an infrared thermal imager.

[0042] Specifically: Based on this embodiment, by installing different types of detection components 203 on the substrate 201, the device can realize a variety of different measurement functions. These detection components can be laser rangefinders, shape measuring instruments, ultrasonic detectors or infrared thermal imagers. The laser rangefinder is used to measure the linear dimensions of the outer surface of the pipeline, the shape measuring instrument is used to obtain the geometric shape information of the outer surface of the pipeline, the ultrasonic detector is used to detect the material thickness or internal defects of the outer surface of the pipeline, and the infrared thermal imager can detect the temperature distribution of the outer surface of the pipeline.

[0043] It is understood that in this embodiment, by using different types of detection members 203, the device has multiple functions. The laser rangefinder can measure the linear dimensions of the outer surface of the pipeline, such as the diameter or length of the pipeline. The shape measuring instrument can obtain geometric shape information of the outer surface of the pipeline, such as the roundness or curvature of the pipeline. The ultrasonic detector can detect the material thickness outside the pipeline to evaluate the remaining wall thickness of the pipeline, and can also detect defects inside the pipeline, such as corrosion or cracks. The infrared thermal imager can provide an image of the temperature distribution outside the pipeline to identify temperature anomalies or local hot spots.

[0044] In some specific embodiments of this application, please refer to Figures 1 to 6The adjusting mechanism 1 comprises a frame 101 fixed relative to the detection module 2, on which a rotating module for outputting rotational freedom is provided; the outer surface of the frame 101 is provided with arc grooves 106 corresponding to the number of the detection modules 2, and the arc grooves 106 are slidably matched with the pin shaft 202 outside the base plate 201.

[0045] Specifically: Through this embodiment, the frame 101 provides a stable support structure and drives the rotational freedom by rotating the module. The presence of the arc groove 106 allows the detection module 2 to perform circular motion outside the pipeline. The sliding fit of the pin 202 enables the detection module 2 to move smoothly along the arc groove 106 to adapt to pipelines of different diameters.

[0046] It is understandable that in this specific embodiment, the design of the adjustment mechanism 1 has several functions. First, the fixed position of the frame 101 provides a stable support to ensure the stability and accuracy of the detection module 2 during the measurement process. Secondly, the rotating module can drive the detection module 2 to perform a circular motion, making it possible to fully measure the outside of the pipeline. By adjusting the parameters of the rotating module, the speed and range of the circular motion can be controlled to meet different measurement requirements. Finally, the combination of the arc groove and the pin allows the detection module 2 to slide freely and adapt to pipes of different diameters. This flexibility and adjustability allows the device to be suitable for pipes of different sizes and achieve accurate measurements.

[0047] In some specific embodiments of this application, please refer to Figures 1 to 6 : The adjustment mechanism 1 also includes a rotating sleeve 105 rotatably engaged in the frame 101 through a bearing; the rotating sleeve 105 is driven to rotate by the rotational freedom output by the rotating module; one end surface of the base plate 201 is hinged to the top of the rotating sleeve 105 through a hinge.

[0048] In this scheme: the principle of controlling the diameter adjustment of the above-mentioned "hollow topological cylinder" is: based on the rotational freedom output by the rotating module, the rotating sleeve 105 is driven to rotate; during the rotation of the rotating sleeve 105, the substrate 201 of the detection module 2 will rotate synchronously because it maintains a connection relationship with it; during the rotation process, the pin shaft 202 outside the substrate 201 slides in the arc groove 106. Under the interaction of forces, the arc groove 106 drives the pin shaft 202 to slide along its arc surface. Since the positional relationship between the pin shaft 202 and the substrate 201 is fixed, the substrate 201 needs to slide with the arc groove 106 in order to meet the need for the pin shaft 202 to slide. The linear degree of freedom generated here is realized by the "hinge" in the above-mentioned "the bottom of the substrate 201 is hinged to the top of the rotating sleeve 105 through the hinge", thereby realizing the tilt adjustment of the substrate 201 along the central axis of the rotating sleeve 105. In the above process, the substrates 201 of all the detection modules 2 will implement the above steps synchronously. When the tilt is adjusted, all the substrates 201 can adjust the diameter of the "hollow topological cylinder" formed around them, that is, they are changed from a regular "hollow topological cylinder" to a "hollow topological prism" or "hollow topological pyramid" with different diameters.

[0049] Specifically: This embodiment realizes the adjustment of the diameter of the hollow topological cylinder by rotating the rotating sleeve 105. As the rotating sleeve 105 rotates, the substrate 201 of the detection module 2 maintains a connection relationship with it, and therefore rotates synchronously. The pin 202 outside the substrate 201 is slidably matched with the arc groove 106, and under the action of force, the arc groove 106 drives the pin 202 to slide along its arc surface. Since the positional relationship between the pin 202 and the substrate 201 is fixed, the substrate 201 needs to slide with the arc groove 106. At this time, the linear degree of freedom is realized by the hinge at the bottom of the substrate 201 and the top of the rotating sleeve 105. In this way, the substrate 201 is tilted and adjusted along the central axis of the rotating sleeve 105. The substrates 201 of all detection modules 2 will perform this process synchronously, so that they are adjusted around the diameter of a hollow topological cylinder, thereby forming hollow topological prisms or hollow topological pyramids with different diameters.

[0050] It is understood that in this specific embodiment, the adjustment mechanism 1 in this embodiment has flexibility and adjustability. By rotating the rotating sleeve 105, the diameter of the hollow topological cylinder can be adjusted, thereby achieving adaptability to pipes of different diameters. By controlling the rotational freedom output by the rotating module, the diameter size of the hollow topological cylinder can be accurately adjusted. Through this adjustment mechanism, the staff can adjust the device to a suitable diameter according to the size and shape of the specific pipe, so as to perform accurate measurement and metering work.

[0051] In some specific embodiments of this application, please refer to Figures 1 to 6 The rotating module includes a rotating actuator 102 fixed on the frame 101, the rotating actuator 102 drives a gear 103 to rotate, the gear 103 is meshed with a gear ring 104, and the gear ring 104 is fixedly connected to the other end surface of the rotating sleeve 105. The rotating actuator 102 is preferably a servo motor, and the output shaft of the servo motor is fixedly connected to the gear 103.

[0052] Specifically: In this embodiment, the rotary actuator 102 is rotated by driving the gear 103. The gear 103 is meshed with the ring gear 104, and the rotational power is transmitted to the ring gear 104 through the meshing relationship. The ring gear 104 is fixedly connected to the other end surface of the rotating sleeve 105. Therefore, when the rotary actuator 102 drives the gear 103 to rotate, the ring gear 104 and the rotating sleeve 105 will also rotate synchronously.

[0053] It is understood that in this specific embodiment, by using the servo motor in the rotating module, the embodiment achieves precise rotation control. As a high-precision actuator, the servo motor can provide stable rotation output and has a high response speed and accuracy. The output shaft of the servo motor is fixedly connected to the gear 103, and the rotation force of the motor can be transmitted to the gear 103, thereby driving the rotation of the rotating sleeve 105.

[0054] The rotating module of this embodiment has reliability and precision, and can accurately adjust the diameter of the hollow topological cylinder. By controlling the rotation of the servo motor, the rotational freedom of the device can be accurately controlled, thereby accurately adjusting the diameter of the hollow topological cylinder. In this way, the staff can adjust the device to the appropriate diameter according to the requirements of the specific pipeline to meet the measurement and metering needs of different pipelines.

[0055] In some specific embodiments of this application, please refer to Figures 1 to 6 A six-degree-of-freedom mechanical arm 3 is provided below the frame 101, and the end effector of the six-degree-of-freedom mechanical arm 3 is fixedly connected to the frame 101. The six-degree-of-freedom mechanical arm 3 can carry the adjustment mechanism 1 and the detection module 2 to a specified position, height or angle, and is adapted to measure the detected pipeline at the specified position.

[0056] Specifically: The six-degree-of-freedom robot arm 3 is a multi-joint mechanical device with six degrees of freedom, including translation and rotation. It realizes the motion control of each joint through joints and drive devices. The end effector of the robot arm is fixedly connected to the frame 101, and can carry the adjustment mechanism 1 and the detection module 2 to the specified position where measurement is required.

[0057] It can be understood that in this specific embodiment, by introducing the six-degree-of-freedom mechanical arm 3, the embodiment realizes flexible control and positioning of the adjustment mechanism 1 and the detection module 2. The six degrees of freedom of the mechanical arm can control the translation and rotation movement respectively, so that the adjustment mechanism 1 and the detection module 2 can be accurately positioned to the pipeline position to be measured.

[0058] The carrying capacity and flexibility of the six-degree-of-freedom mechanical arm 3 make the device suitable for pipelines under inspection at various positions, heights or angles. By controlling the mechanical arm, the staff can accurately place the adjustment mechanism 1 and the inspection module 2 at the specified position to measure the outside of the pipeline.

[0059] This implementation provides greater flexibility and convenience, allowing operators to measure at different positions and angles according to specific pipeline layouts and requirements. The carrying capacity of the six-degree-of-freedom robotic arm enables the adjustment mechanism 1 and the detection module 2 to achieve multi-directional and multi-angle movement, thereby meeting the measurement requirements of various complex pipeline structures.

[0060] It should be pointed out that the six-degree-of-freedom robot 3 is essentially a six-degree-of-freedom robot; its related positioning and running trajectory adjustment can be achieved using existing conventional robot arm algorithms. For example:

[0061] Tian Feng, Lu Yichen, Jia Yinliang, et al. Design of omnidirectional robot for pipeline inspection based on robotic arm[J]. Electronic Measurement Technology, 2022(45): 50-54.

[0062] In some specific embodiments of this application, please refer to Figures 1 to 6 : Also include a carrier chassis 4, on which a six-degree-of-freedom mechanical arm 3 is installed. The carrier chassis 4 is one of a crawler vehicle, a remote-controlled vehicle, and a trailer.

[0063] Specifically: By installing the six-degree-of-freedom robot 3 on the carrier chassis 4, the movement and control capabilities of the robot are realized. The characteristics and functions of the carrier chassis 4 will be combined with the control capabilities of the six-degree-of-freedom robot 3, so that the adjustment mechanism 1 and the detection module 2 can be flexibly moved and positioned in different locations and different working conditions. The selection and configuration of the carrier chassis 4 are optimized according to the specific situation to meet the needs of pipeline anti-corrosion operation and maintenance. This combination provides greater flexibility and mobility for pipeline anti-corrosion operation and maintenance, allowing operators to flexibly adjust the position and movement path of the device according to actual conditions to better perform measurements and anti-corrosion treatment.

[0064] In summary, for the relevant problems in traditional technologies, this specific implementation is based on the coal mine pipeline anti-corrosion operation and maintenance process measurement device provided above, and adopts the following technical means or features to achieve solutions: The problems existing in traditional technologies in pipeline anti-corrosion operation and maintenance include the difficulty in accurately measuring the irregular surface of the pipeline, the lack of comprehensive measurement data, and the inability to flexibly adjust the treatment method of anti-corrosion materials. The technology provided by this specific implementation solves these problems by introducing a coal mine pipeline anti-corrosion operation and maintenance process measurement device and adopting an innovative implementation method. First of all, the detection module 2 in the technology of this specific implementation adopts a substrate 201 and a plurality of detection components 203 installed in an array. These detection components 203 can be a combination of laser rangefinders, shape measuring instruments, ultrasonic detectors, or infrared thermal imagers.

[0065] It is understandable that such a design enables the detection module to measure the linear dimensions, angles, volumes, irregular surfaces or contours of the outside of the pipeline through metering operations. By collecting measurement data from different positions and angles, more comprehensive and accurate pipeline attribute information can be obtained. Secondly, the design of the adjustment mechanism 1 adopts rotational freedom and a rotating module, which drives all the detection modules 2 to make circular motion and adjusts the diameter of the topological cylinder. In the adjustment mechanism 1, the rotating sleeve 105 is driven to rotate by the rotational freedom output by the rotating module, and the substrate 201 is tilted along the central axis of the rotating sleeve 105 through the sliding cooperation between the pin 202 and the arc groove 106. Through such a design, the synchronous tilt adjustment of the substrate 201 of all detection modules 2 can be achieved, and then the diameter of the formed "hollow topological cylinder" can be adjusted, so that the processing of anti-corrosion materials is more flexible and accurate. In summary, the technology provided in this specific embodiment solves the shortcomings of traditional technology in pipeline anti-corrosion operation and maintenance by introducing innovative device and mechanism design. Through the combination of multiple detection parts and the ability to measure comprehensively, combined with the flexible adjustability of the adjustment mechanism, the technology of this specific implementation can accurately measure the irregular surface outside the pipeline and provide comprehensive pipeline property information, providing precise guidance for the treatment of anti-corrosion materials. Such an innovative solution brings higher efficiency and accuracy to pipeline anti-corrosion operation and maintenance.

[0066] In the specific implementation manner of the present application, the content described above is the mechanical principle of the coal mine pipeline anti-corrosion operation and maintenance process measurement device, and its principles, usage, etc. will be further disclosed below; wherein a controller is also provided on the outside of the device, and the controller is used to connect and control all electrical components of the entire device to be driven according to a pre-set program as a preset value and drive mode; it should be pointed out that the above-mentioned drive mode corresponds to the corresponding start and stop time intervals, speed, power and other output parameters between the relevant electrical components below, that is, it meets the requirements of the relevant electrical components described below to drive the relevant mechanical devices to operate according to the functions described therein.

[0067] In this solution, the detection device 203 can be a combination of a laser rangefinder, a shape measuring instrument, an ultrasonic detector or an infrared thermal imager to measure the linear dimensions, angles, volumes, irregular surfaces or contours of the pipeline exterior through metrological operations. By collecting measurement data from different positions and angles, more comprehensive and accurate pipeline attribute information can be obtained. Among them:

[0068] (1) Laser rangefinder: The laser rangefinder measures the distance of an object by emitting a laser beam and receiving the reflected laser signal based on the propagation time or phase change of the laser. In pipeline anti-corrosion operation and maintenance, the laser rangefinder can be used to measure the linear dimensions of the pipeline, such as pipeline diameter, pipeline length, etc. Specifically, the following existing algorithms can be used for implementation:

[0069] Sun Mengjuan. Development of laser rangefinder for oil pipeline length[D]. Harbin Institute of Technology: 2012(04).

[0070] (2) Shape measuring instrument: The shape measuring instrument can obtain the shape information of an object through a variety of sensors or camera systems. In pipeline anti-corrosion operation and maintenance, the shape measuring instrument can collect images or point cloud data of the outer surface of the pipeline and use image processing or point cloud processing algorithms to analyze and measure the angle, curvature, bending degree and other shape parameters of the pipeline. Specifically, the following control algorithms disclosed in the prior art can be selected for implementation:

[0071] [1] “Surface Roughness and Shape Measuring Instrument”, published in the journal Opto-Mechanical World, 1994(07), the document classification number is TG84.

[0072] [2] Zhao Yongbiao, Miao Yali. Measurement and analysis of surface roughness[J]. Manufacturing Automation. 2011, 33(06).

[0073] (3) Ultrasonic detector: Ultrasonic detectors use the propagation characteristics of ultrasonic waves in the medium to measure the thickness, internal structure and defects of objects. In pipeline anti-corrosion operation and maintenance, ultrasonic detectors can be used to measure pipeline wall thickness and detect pipeline corrosion, wear or cracks. Specifically, the following control algorithms disclosed in the prior art can be used for implementation:

[0074] Wei Xiaoguo, Huang Min. Feasibility study of ultrasonic detection of drainage pipes[J]. Mechanical Engineer, 2016(01).

[0075] (4) Infrared thermal imager: Infrared thermal imager can generate thermal images by detecting the infrared heat radiated by an object, reflecting the temperature distribution on the surface of the object. In pipeline anti-corrosion operation and maintenance, infrared thermal imager can be used to detect temperature anomalies on the pipeline surface, identify hot spots, cold spots or heat conduction problems in the pipeline, and thus evaluate the working status and hidden dangers of the pipeline. Specifically, the control algorithm disclosed in the following prior art can be selected for implementation:

[0076] Ren Ruifeng, Liang Peng, et al. Experimental study on buried thermal pipeline defect detection based on thermal imaging[J]. Chinese Journal of Scientific Instrument. 2020, 41(06).

[0077] Furthermore: This solution selects different detection components 203, that is, a combination of a laser rangefinder, a shape measuring instrument, an ultrasonic detector or an infrared thermal imager, to achieve the following technical advantages:

[0078] (1) Multi-dimensional measurement: Each detection component has its own unique measurement principle and characteristics. By combining them together, multiple aspects of the pipeline exterior can be measured.

[0079] (2) Complementary performance: Different inspection components are complementary in dealing with problems and scenarios. For example, laser rangefinders can provide high-precision linear dimension measurements, shape measuring instruments can capture details of curvature and shape, ultrasonic detectors can detect defects inside pipes, and infrared thermal imagers can quickly scan temperature anomalies. By combining these inspection components, the limitations of a single inspection method can be compensated and the accuracy and reliability of the measurement can be enhanced.

[0080] (3) Fault diagnosis capability: Different inspection components can provide the ability to diagnose different types of faults and problems. For example, ultrasonic detectors can detect corrosion and cracks in pipelines, infrared thermal imagers can detect hot spots and abnormal temperature distribution, and shape measuring instruments can detect bending and deformation of pipelines. By combining these inspection components, the health of the pipeline can be fully evaluated, and potential faults and problems can be discovered and resolved early.

[0081] (4) Data verification and consistency: Using multiple different types of test pieces for measurement can increase data verification and consistency. By comparing the measurement results obtained from different test pieces, the consistency and accuracy of the data can be verified, and the credibility of the measurement results can be improved.

[0082] Exemplary: The three detection parts 203 are respectively selected as a laser rangefinder, a shape measuring instrument, and an ultrasonic detector: the laser rangefinder can measure linear dimensions, the shape measuring instrument can measure angles and contours, and the ultrasonic detector can measure thickness and defects. The three complement each other, and the comprehensive use of multiple detection methods can obtain more comprehensive and multi-dimensional pipeline attribute information.

[0083] The application examples described above only express the implementation methods of the relevant practical applications of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A coal mine pipeline anti-corrosion operation and maintenance process measuring device, characterized in that: It comprises a hollow cylindrical regulating mechanism (1), and a detection module (2) arranged in a ring array outside the regulating mechanism (1); The detection module (2) is formed around a hollow topological cylinder capable of covering the outside of the detected pipeline; The detection module (2) performs metering operations on the outside of the pipeline through the detection component (203); The adjustment mechanism (1) comprises a rotational degree of freedom, which drives all the detection modules (2) to perform circular motion and adjusts the diameter of the topological cylinder.

2. The coal mine pipeline anti-corrosion operation and maintenance process measuring device according to claim 1 is characterized by: The detection module (2) comprises a substrate (201) and at least three detection components (203) mounted thereon in an array.

3. The coal mine pipeline anti-corrosion operation and maintenance process measuring device according to claim 2 is characterized by: The number of the detection components (203) is three, and the detection components (203) are any combination of one or more of a laser rangefinder, a shape measuring instrument, an ultrasonic detector or an infrared thermal imager.

4. The coal mine pipeline anti-corrosion operation and maintenance process measuring device according to claim 2 is characterized by: The adjustment mechanism (1) comprises a frame (101) fixed relative to the detection module (2), and a rotation module for outputting the rotational freedom degree is provided on the frame (101); The outer surface of the frame (101) is provided with arc grooves (106) corresponding in number to the number of the detection modules (2), and the arc grooves (106) are slidably matched with the pin shafts (202) outside the base plate (201).

5. The coal mine pipeline anti-corrosion operation and maintenance process measuring device according to claim 4 is characterized in that: The adjustment mechanism (1) further comprises a rotating sleeve (105) rotatably engaged in the frame (101); The rotating sleeve (105) is driven to rotate by the rotational freedom output by the rotating module; One end surface of the base plate (201) is hinged to the top of the rotating sleeve (105) via a hinge.

6. The coal mine pipeline anti-corrosion operation and maintenance process measuring device according to claim 5 is characterized by: The rotating module comprises a rotating actuator (102) fixed on a frame (101), wherein the rotating actuator (102) drives a gear (103) to rotate, wherein the gear (103) is meshed with a ring gear (104), and the ring gear (104) is fixedly connected to the other end surface of the rotating sleeve (105).

7. The coal mine pipeline anti-corrosion operation and maintenance process measuring device according to claim 6 is characterized by: The rotary actuator (102) is a servo motor, and the output shaft of the servo motor is fixedly connected to the gear (103).

8. The device for measuring the anti-corrosion operation and maintenance process of coal mine pipelines according to any one of claims 4 to 7, characterized in that: A six-degree-of-freedom mechanical arm (3) is provided below the frame (101), and an end effector of the six-degree-of-freedom mechanical arm (3) is fixedly connected to the frame (101).

9. The coal mine pipeline anti-corrosion operation and maintenance process measuring device according to claim 8, characterized in that: It also comprises a carrying chassis (4), on which the six-degree-of-freedom mechanical arm (3) is mounted.

10. The coal mine pipeline anti-corrosion operation and maintenance process measuring device according to claim 9, characterized in that: The transport chassis (4) is one of a tracked vehicle, a remote-controlled vehicle, and a trailer.

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