A robot for detecting the ovality of inner wall of pipeline

Abstract

The utility model relates to the technical field of ovality detection, and specifically is a pipeline inner wall ovality detection robot. The utility model comprises a shell, one end of which is fixedly mounted with an ovality detection device, a plurality of mounting seats are circumferentially arrayed on the periphery of the shell near both ends thereof, a sensing component is arranged in the mounting seat, an end of the mounting seat away from the shell is connected with a supporting component, and an end of the supporting component away from the mounting seat is fixedly connected with a walking component; a power supply and a control module are fixedly mounted in the shell; in the utility model, by setting the control module, the mounting seat, the sensing component, the supporting component and the walking component, the support length can be automatically and adaptively changed according to the obstacle position, so that the robot can move smoothly in the pipeline, and a stable supporting state can be maintained between the shell and the inner wall of the pipeline, thereby improving the stability of the ovality detection device during detection.

Description

Technical Field

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

[0002] The uneven ovality of the inner wall of the pipeline will cause resistance when the fluid flows in the pipeline, affecting the flow speed and delivery efficiency of the fluid, increasing energy consumption and reducing the fluid delivery capacity. In addition, the elliptical inner wall of the pipeline will cause uneven stress distribution inside the pipeline, increase the stress concentration of the pipeline, reduce the bearing capacity and service life of the pipeline, and increase the risk of fatigue damage of the pipeline. Therefore, it is necessary to detect the ovality of the inner wall of the pipeline to ensure the quality of the pipeline.

[0003] In the prior art, a pipeline inspection robot is generally used to enter the pipeline to complete the corresponding inspection. Specifically, the inspection robot enters the pipeline through the pipeline entrance. The robot uses ovality detection equipment, such as a laser rangefinder, an ultrasonic probe or an optical fiber sensor, to scan and measure the inner wall of the pipeline along the length of the pipeline, and transmits the data to the control system for processing and analysis. Then, the staff can analyze the inspection data to help the staff evaluate the pipeline status and formulate a maintenance plan.

[0004] However, the existing detection robots still have the following shortcomings when used:

[0005] Existing robots are usually designed as wheeled, tracked or crawling robots. The robot is generally located in the lower part of the pipeline, and there may be pipeline connectors inside the pipeline. Foreign matter is easy to accumulate in the lower part of the pipeline. The robot is prone to bumps or even obstructions when moving, which reduces the stability of the detection work and affects the accuracy of the detection results. Utility Model Content

[0006] The utility model aims to provide a pipeline inner wall ovality detection robot to solve the problems raised in the above-mentioned background technology.

[0007] The purpose of the utility model can be achieved through the following technical solutions:

[0008] A pipeline inner wall ovality detection robot comprises a shell, the shell is cylindrical, an ovality detection device is fixedly mounted on one end of the shell, a plurality of mounting seats are circumferentially arrayed on the outer periphery of the shell near both ends thereof, a sensing component is arranged in the mounting seat, a support component is connected to one end of the mounting seat away from the shell, and a walking component is fixedly connected to one end of the support component away from the mounting seat;

[0009] A traction rope is detachably fixedly installed at one end of the shell away from the ovality detection device, and a power supply and a control module are fixedly installed in the shell. The power supply is used to supply power to the control module, and the control module is electrically connected to the ovality detection device, multiple groups of support components, multiple groups of sensing components and multiple groups of walking components.

[0010] Furthermore, the mounting seat is a cylindrical hollow structure, and the sensing component includes a pressure sensor fixedly mounted on the inner bottom surface of the mounting seat and a pressure plate and a slider installed in the mounting seat, the pressure sensor is electrically connected to the control module, the pressure plate is located between the pressure sensor and the slider, the slider and the pressure plate are in sliding contact with the inner wall of the mounting seat, and a second spring is fixedly connected between the slider and the pressure plate.

[0011] Furthermore, the support assembly includes an electric telescopic rod electrically connected to the control module, the bottom end of the electric telescopic rod slides on the end surface of the mounting seat away from the shell and passes through the mounting seat to the inside of the mounting seat, and the bottom end of the electric telescopic rod is fixedly connected to the slider;

[0012] A connecting piece is installed at one end of the electric telescopic rod away from the sliding block.

[0013] Furthermore, the connecting member includes a mounting plate fixedly mounted on one end of the electric telescopic rod away from the slider, and fixed seats are fixedly mounted on the side of the mounting plate away from the electric telescopic rod near its two ends, a rotating shaft is rotatably mounted between the two fixed seats, a connecting rod is fixedly mounted at the middle position of the periphery of the rotating shaft, and a first spring sleeved on the periphery of the rotating shaft is fixedly mounted between the side surface of the connecting rod and the inner side surface of the corresponding fixed seat.

[0014] Furthermore, the travel assembly comprises a U-shaped seat fixedly mounted on one end of the connecting rod away from the rotating shaft, and a travel wheel is rotatably mounted in the U-shaped seat;

[0015] A motor electrically connected to the control module is fixedly mounted on the outer side surface of the U-shaped seat, and the output shaft end of the motor is fixedly connected to the rotating shaft of the walking wheel.

[0016] Beneficial effects of the utility model:

[0017] 1. In the utility model, by setting the control module, the mounting seat, the sensing component, the supporting component and the walking component, the supporting length can be automatically and adaptively changed according to the position of the obstacle, so that the robot can move smoothly in the pipeline, and a stable supporting state can be maintained between the shell and the inner wall of the pipeline, thereby improving the stability of the ovality detection equipment during detection.

[0018] 2. The robot adopts a wheeled structure. When the obstacle is large, the walking wheel will be pressed by the obstacle during movement, which will drive the rotating shaft to rotate at a certain angle through the connecting rod, so that the walking wheel can be offset within a certain range, so as to achieve the purpose of quickly passing the obstacle at that position. After passing the obstacle, the torsion of the first spring will drive the rotating shaft to reset, thereby driving the walking wheel to reset to a state of extrusion contact with the inner wall of the pipe; therefore, the utility model further improves the robot's ability to avoid obstacles in the pipeline through the coordinated arrangement of the connecting piece and the connecting rod, thereby further improving the stability of the pipeline ovality detection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the utility model;

[0021] Figure 2 yes Figure 1 A magnified view of part A;

[0022] Figure 3 It is a structural schematic diagram of the connection relationship between the electric telescopic rod and the mounting seat in the utility model;

[0023] The reference numerals are as follows:

[0024] 1-housing, 2-support assembly, 3-ovality detection equipment, 4-mounting seat, 5-electric telescopic rod, 6-travel assembly, 7-mounting plate, 8-fixed seat, 9-first spring, 10-rotating shaft, 11-connecting rod, 12-U-shaped seat, 13-travel wheel, 14-motor, 15-slider, 16-second spring, 17-pressure plate, 18-pressure sensor. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] Example:

[0027] See also Figures 1 to 3In an embodiment of the utility model, a pipeline inner wall ovality detection robot comprises a shell 1, the shell 1 is cylindrical, an ovality detection device 3 is fixedly installed at one end of the shell 1, a plurality of mounting seats 4 are circumferentially arrayed on the periphery of the shell 1 near both ends thereof, a sensing component is arranged in the mounting seat 4, an end of the mounting seat 4 away from the shell 1 is connected to a support component 2, and an end of the support component 2 away from the mounting seat 4 is fixedly connected to a walking component 6;

[0028] A traction rope is detachably fixedly installed at one end of the shell 1 away from the ovality detection device 3, and a power supply and a control module are fixedly installed in the shell 1. The power supply is used to supply power to the control module, and the control module is electrically connected to the ovality detection device 3, multiple groups of support components 2, multiple groups of sensing components and multiple groups of walking components 6.

[0029] Among them, the mounting seat 4 is a cylindrical hollow structure, and the sensing component includes a pressure sensor 18 fixedly mounted on the inner bottom surface of the mounting seat 4 and a pressure plate 17 and a slider 15 installed in the mounting seat 4. The pressure sensor 18 is electrically connected to the control module, and the pressure plate 17 is located between the pressure sensor 18 and the slider 15. The slider 15 and the pressure plate 17 are in sliding contact with the inner wall of the mounting seat 4, and a second spring 16 is fixedly connected between the slider 15 and the pressure plate 17.

[0030] The support assembly 2 includes an electric telescopic rod 5 electrically connected to the control module, the bottom end of the electric telescopic rod 5 slides on the end surface of the mounting seat 4 away from the housing 1 and passes through the mounting seat 4 to the inside of the mounting seat 4, and the bottom end of the electric telescopic rod 5 is fixedly connected to the slider 15;

[0031] A connecting piece is installed at one end of the electric telescopic rod 5 away from the slider 15 .

[0032] Among them, the connecting part includes a mounting plate 7 fixedly installed on one end of the electric telescopic rod 5 away from the slider 15, and a fixing seat 8 is fixedly installed on the side of the mounting plate 7 away from the electric telescopic rod 5 near its two ends. A rotating shaft 10 is rotatably installed between the two fixing seats 8, and a connecting rod 11 is fixedly installed at the middle position of the outer periphery of the rotating shaft 10. A first spring 9 is fixedly installed between the side surface of the connecting rod 11 and the inner side surface of the corresponding fixing seat 8 and is sleeved on the outer periphery of the rotating shaft 10.

[0033] The travel assembly 6 includes a U-shaped seat 12 fixedly mounted on one end of the connecting rod 11 away from the rotating shaft 10, and a travel wheel 13 is rotatably mounted in the U-shaped seat 12;

[0034] A motor 14 electrically connected to the control module is fixedly mounted on the outer surface of the U-shaped seat 12 , and an output shaft end of the motor 14 is fixedly connected to the rotating shaft of the travel wheel 13 .

[0035] Among them, the control module can use PLC (Programmable Logic Controller), which has input signal acquisition, logic processing and output signal control functions, and is often used in the field of machine control; connect the PLC to the cloud platform, and realize remote wireless control through the remote access and control functions provided by the cloud platform, and control the PLC through a mobile phone app or Web interface. In PLC, using the pressure signal of the pressure sensor as the input signal to control the telescopic action of the electric telescopic rod and controlling the start, stop and forward and reverse rotation of the motor through remote wireless technology are both existing technologies.

[0036] The ovality detection device 3 can use a laser rangefinder, an ultrasonic probe or a fiber optic sensor to scan and measure the inner wall of the pipeline along the length of the pipeline, and transmit the data to the control system for processing and analysis. Then the staff can analyze the results of the detection data to help the staff evaluate the pipeline status and formulate a maintenance plan. This is an existing technology.

[0037] When the utility model is in use:

[0038] The robot is placed at the entrance of the pipeline, and then multiple electric telescopic rods 5 are remotely controlled to extend so that the running wheels 13 are squeezed into contact with the inner wall of the pipeline. Then the motor 14 is controlled to drive the running wheels 13 to rotate, so that the robot moves forward, backward or stops in the pipeline, thereby driving the ovality detection device 3 to perform ovality detection on the inner wall of the pipeline.

[0039] During the process, assuming that the walking wheel 13 is in normal contact with the inner wall of the pipeline, the normal pressure range of the pressure sensor 18 is a to b, b is greater than a, and the specific pressure of the pressure sensor 18 is c; when the robot walks to the connection of the pipeline and the position where there is an obstacle, the pressure between the walking wheel 13 and the inner wall of the pipeline increases, and the pressure on the pressure sensor 18 increases. When c is greater than b, the electric telescopic rod 5 will shrink to a certain extent until c returns to between a and b, so as to ensure that the robot can pass smoothly and maintain stable support between it and the inner wall of the pipeline; when the walking wheel 13 passes between obstacles, the contact pressure between the walking wheel 13 and the inner wall of the pipeline will decrease. At this time, c is less than a, and the electric telescopic rod 5 will extend to a certain extent until c returns to between a and b, so that the robot and the inner wall of the pipeline always maintain smooth changes and stable support; similarly, when the distance between the inner wall and the shell 1 is different due to the ellipticity problem in the pipeline, the electric telescopic rod 5 will also be correspondingly extended according to the change of c, so as to ensure the stability and smoothness of the movement of the robot in the pipeline.

[0040] When the obstacle is large, the travel wheel 13 is subjected to the pressure of the obstacle during its movement, which will drive the shaft 10 to rotate at a certain angle through the connecting rod 11, so that the travel wheel 13 can be angularly offset within a certain range, so as to achieve the purpose of quickly passing the obstacle at that position. After passing the obstacle, the torsion of the first spring 9 will drive the shaft 10 to reset, thereby driving the travel wheel 13 to reset to a state of extrusion contact with the inner wall of the pipe; therefore, in the utility model, the robot's ability to avoid obstacles in the pipe is further improved through the coordinated arrangement of the connecting piece and the connecting rod 11, and the stability of the pipe ovality detection work is further improved.

[0041] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected.

Claims

1. A pipeline inner wall ovality detection robot, characterized in that: The invention comprises a shell (1), wherein the shell (1) is cylindrical, an ovality detection device (3) is fixedly mounted on one end of the shell (1), a plurality of mounting seats (4) are circumferentially arrayed on the periphery of the shell (1) near both ends thereof, a sensing component is arranged in the mounting seat (4), an end of the mounting seat (4) away from the shell (1) is connected to a support component (2), and an end of the support component (2) away from the mounting seat (4) is fixedly connected to a travel component (6); A traction rope is detachably fixedly mounted on one end of the shell (1) away from the ovality detection device (3); a power supply and a control module are fixedly mounted in the shell (1); the power supply is used to supply power to the control module; the control module is electrically connected to the ovality detection device (3), the plurality of support components (2), the plurality of sensing components, and the plurality of walking components (6).

2. A pipeline inner wall ovality detection robot according to claim 1, characterized in that: The mounting seat (4) is a cylindrical hollow structure, and the sensing component comprises a pressure sensor (18) fixedly mounted on the inner bottom surface of the mounting seat (4) and a pressure plate (17) and a slider (15) mounted in the mounting seat (4); the pressure sensor (18) is electrically connected to a control module, the pressure plate (17) is located between the pressure sensor (18) and the slider (15), the slider (15) and the pressure plate (17) are in sliding contact with the inner wall of the mounting seat (4), and a second spring (16) is fixedly connected between the slider (15) and the pressure plate (17).

3. A pipeline inner wall ovality detection robot according to claim 2, characterized in that: The support assembly (2) comprises an electric telescopic rod (5) electrically connected to the control module, the bottom end of the electric telescopic rod (5) slides on the end surface of the mounting seat (4) away from the shell (1) and passes through the mounting seat (4) to the inside of the mounting seat (4), and the bottom end of the electric telescopic rod (5) is fixedly connected to the slider (15); A connecting piece is installed at one end of the electric telescopic rod (5) away from the slider (15).

4. A pipeline inner wall ovality detection robot according to claim 3, characterized in that: The connecting member comprises a mounting plate (7) fixedly mounted on one end of the electric telescopic rod (5) away from the slider (15); a fixing seat (8) is fixedly mounted on the side of the mounting plate (7) away from the electric telescopic rod (5) near both ends thereof; a rotating shaft (10) is rotatably mounted between the two fixing seats (8); a connecting rod (11) is fixedly mounted at a middle position of the outer periphery of the rotating shaft (10); and a first spring (9) sleeved on the outer periphery of the rotating shaft (10) is fixedly mounted between the side surface of the connecting rod (11) and the inner side surface of the corresponding fixing seat (8).

5. A pipeline inner wall ovality detection robot according to claim 4, characterized in that: The travel assembly (6) comprises a U-shaped seat (12) fixedly mounted on one end of the connecting rod (11) away from the rotating shaft (10), and a travel wheel (13) is rotatably mounted in the U-shaped seat (12); A motor (14) electrically connected to the control module is fixedly mounted on the outer side surface of the U-shaped seat (12), and the output shaft end of the motor (14) is fixedly connected to the rotating shaft of the walking wheel (13).

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