Crawler-type automatic detection robot

Abstract

The crawler-type automatic detection robot comprises a crawler-type robot body and a magnetic flux detector, a lowering mechanism for adjusting the position of the magnetic flux detector is arranged on the lower portion of an inner cavity of the crawler-type robot body, and an assembling and disassembling mechanism facilitating assembling and disassembling of the magnetic flux detector is arranged at the bottom of the lowering mechanism. A magnetic flux detector is clamped to the bottom of the mounting and dismounting mechanism, the lowering mechanism comprises a motor, and the motor is fixedly mounted on the inner side wall of the tracked robot body; through the arrangement of the crawler-type robot body, the lowering mechanism and the magnetic flux detector, the pressure steel pipe inner wall weld defect detection device has the advantages that weld defects, pipe wall defects, deformation and corrosion points on the inner wall of a pressure steel pipe can be rapidly detected, operation is easy and convenient, time and labor are saved, and the working efficiency is improved. Meanwhile, the height position of the magnetic flux detector can be adjusted through the lowering mechanism so as to make contact with the pipe wall, and the detection effect and accuracy are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline inspection, in particular to a crawler-type self-detecting robot. Background Technique

[0002] The penstock is a special pipeline used to convey extremely high-pressure water flow. It is a steel pipeline that can maintain the fluidity and stability of the fluid under the environment of a certain internal pressure. The applications of the penstock include the fields of hydropower generation, industrial transportation, etc. Usually, the inner wall of the steel pipe has a closed property, and the size of the water flow can be adjusted by controlling the opening and closing of the water gate. After the penstock is produced, quality connection is required, and the detection is completed by whether water leaks during water injection. After the detection, the water in the steel pipe is directly drained off, resulting in a waste of water resources and inconvenience for the recycling of water resources.

[0003] In view of the above technical problems, as disclosed in the patent with the publication number CN218121281U, a weld detection device for a penstock is provided, which is convenient for pumping the water in the collection box into the water tank through the connecting pipe, is beneficial to the recycling of water, and improves environmental protection;

[0004] The above patent still has the following deficiencies: When detecting a relatively long or large-diameter penstock during actual use, a large amount of water resources need to be injected, and both ends need to be blocked at the same time. Moreover, the detection process is slow, and only the weld can be detected, and the defects, deformations, and rust points on the pipe wall cannot be detected, thus reducing the detection effect. Content of the Utility Model

[0005] The purpose of the utility model is to provide a crawler-type self-detecting robot, which has the advantages of detecting weld defects, pipe wall defects, deformations, and rust points through a crawler-type robot powered by a cable and a retractable magnetic flux detection device mounted at the bottom thereof. At the same time, the height position of the mounted magnetic flux detection device can be adjusted according to requirements, so as to make it contact the pipe wall for detection, thereby improving the detection effect, and solving the problems raised in the above background technique.

[0006] To achieve the above purpose, the utility model provides the following technical solution: A crawler-type self-detecting robot, including a crawler-type robot body and a magnetic flux detector. A lowering mechanism for adjusting the position of the magnetic flux detector is arranged at the lower part of the inner cavity of the crawler-type robot body. An assembling and disassembling mechanism for facilitating the assembly and disassembly of the magnetic flux detector is arranged at the bottom of the lowering mechanism. The magnetic flux detector is clamped at the bottom of the assembling and disassembling mechanism. The lowering mechanism includes a motor, and the motor is fixedly installed on the inner side wall of the crawler-type robot body;

[0007] The output shaft of the motor is key-connected with a bidirectional threaded rod. Thread sleeves are threadedly connected to both sides of the surface of the bidirectional threaded rod. The outer sides of the thread sleeves are rotatably connected with a first connecting plate and a second connecting plate. One end of the first connecting plate is rotatably connected with a top seat, and the top seat is bolted to the top of the inner cavity of the tracked robot body. One end of the second connecting plate is rotatably connected with a base.

[0008] Preferably, the disassembly and assembly mechanism includes a buffer assembly, a connection assembly, an elastic assembly, and a pushing assembly. The buffer assembly is arranged at the bottom of the base. The connection assembly is arranged at the bottom end of the buffer assembly. Pushing assemblies are arranged on both sides of the bottom of the connection assembly. An elastic assembly is arranged inside the pushing assemblies.

[0009] Preferably, the buffer assembly includes a first spring and a telescopic rod. The first spring and the telescopic rod are fixedly installed at the bottom of the inner cavity of the base, and the telescopic rod is located inside the first spring.

[0010] Preferably, the connection assembly includes a mounting plate and a card slot. The mounting plate is fixedly installed at the bottom ends of the first spring and the telescopic rod, and the card slot is opened at the bottom of the mounting plate.

[0011] Preferably, the elastic assembly includes a cross bar and a second spring. The cross bar is bolted to the top of the magnetic flux detector, and the second spring is sleeved on the surface of the cross bar.

[0012] Preferably, the pushing assembly includes a clamping block and a push rod. The clamping block is welded to the outer end of the second spring. The clamping block slides on the surface of the cross bar, and the push rod is fixedly installed on the outside of the clamping block.

[0013] Preferably, the magnetic flux detector is located at the bottom of the cross bar, and the upper part of the outside of the clamping block is located inside the card slot.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0015] 1. Through the settings of the tracked robot body, the lowering mechanism, and the magnetic flux detector, the present utility model can quickly detect weld defects, pipe wall defects, deformation, and rust spots on the inner wall of the penstock. It is not only simple and convenient to operate, but also time-saving and labor-saving. At the same time, the height position of the magnetic flux detector can be adjusted by the lowering mechanism to contact the pipe wall, thereby improving the detection effect and accuracy.

[0016] 2. Through the setting of the disassembly and assembly mechanism, the present utility model is convenient for disassembling and assembling the magnetic flux detector, which is convenient for subsequent maintenance or replacement operations of the magnetic flux detector. At the same time, it can also have elasticity when detecting and contacting the pipe wall, achieving a protection effect, avoiding damage to the magnetic flux detector caused by the extrusion force when contacting the pipe wall, and thus protecting the magnetic flux detector.

[0017] Other features and advantages of the present utility model will be described in the following specification, and in part, will be obvious from the specification, or can be understood by implementing the present utility model. The objectives and other advantages of the present utility model can be achieved and obtained through the structures pointed out in the specification and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic structural diagram of the present utility model;

[0019] Figure 2 It is a schematic structural diagram of the flux detector of the present utility model;

[0020] Figure 3 It is a schematic structural diagram of the motor of the present utility model;

[0021] Figure 4 It is a schematic structural diagram of the clamping block of the present utility model.

[0022] In the figure: 1, crawler robot body; 2, lowering mechanism; 21, motor; 22, bidirectional threaded rod; 23, threaded sleeve; 24, first connecting plate; 25, second connecting plate; 26, base; 27, top seat; 3, mounting and dismounting mechanism; 31, first spring; 32, telescopic rod; 33, mounting plate; 34, card slot; 35, clamping block; 36, cross bar; 37, second spring; 38, push rod; 4, magnetic flux detector. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0024] The present utility model provides a crawler self-detecting robot, including a crawler robot body 1 and a magnetic flux detector 4. A lowering mechanism 2 for adjusting the position of the magnetic flux detector 4 is provided at the lower part of the inner cavity of the crawler robot body 1. An installation and disassembly mechanism 3 for facilitating the installation and disassembly of the magnetic flux detector 4 is provided at the bottom of the lowering mechanism 2. The magnetic flux detector 4 is clamped at the bottom of the installation and disassembly mechanism 3. The lowering mechanism 2 includes a motor 21, and the motor 21 is fixedly installed on the inner side wall of the crawler robot body 1;

[0025] The output shaft of the motor 21 is key-connected to a bidirectional threaded rod 22. Threaded sleeves 23 are threadedly connected to both sides of the surface of the bidirectional threaded rod 22. The outer sides of the threaded sleeves 23 are rotatably connected to a first connecting plate 24 and a second connecting plate 25. One end of the first connecting plate 24 is rotatably connected to a top seat 27, and the top seat 27 is bolted to the top of the inner cavity of the crawler robot body 1. One end of the second connecting plate 25 is rotatably connected to a base 26.

[0026] The lowering mechanism 2 is conducive to adjusting the pressure of the flux detector 4 in contact with the inner wall of the penstock to be detected, and completing the lowering of the flux detector 4 to detect problems such as weld defects, pipe wall defects, deformation, and rust spots, so as to ensure the detection effect and accuracy, and improve the detection efficiency.

[0027] During detection:

[0028] The crawler robot body 1 is placed at one end of the inner cavity of the penstock, then powered by a cable, and then the flux detector 4 is made to work, and the crawler robot body 1 walks forward on the inner wall of the penstock, detecting while walking;

[0029] Before walking, it is necessary to pre-turn on the flux detector 4 and perform a lowering operation on the flux detector 4. When lowering, the motor 21 drives the bidirectional threaded rod 22 to rotate. The bidirectional threaded rod 22 drives the two threaded sleeves 23 to approach through the threaded connection relationship. When the two threaded sleeves 23 move, they push the first connecting plate 24 and the second connecting plate 25 to rotate. At this time, the first connecting plate 24 and the second connecting plate 25 change their angles, and the included angle between the first connecting plate 24 and the second connecting plate 25 becomes larger, and then it will push the disassembly and assembly mechanism 3 and the flux detector 4 installed at the bottom of the disassembly and assembly mechanism 3 to move downward together until the flux detector 4 contacts the inner wall of the penstock to perform the moving detection operation.

[0030] Preferably, the disassembly and assembly mechanism 3 includes a buffer component, a connection component, an elastic component, and a pushing component. The buffer component is arranged at the bottom of the base 26, the connection component is arranged at the bottom end of the buffer component, pushing components are arranged on both sides of the bottom of the connection component, and an elastic component is arranged inside the pushing component.

[0031] As Figure 4 shown, the buffer component includes a first spring 31 and a telescopic rod 32. The first spring 31 and the telescopic rod 32 are fixedly installed at the bottom of the inner cavity of the base 26. The telescopic rod 32 is located inside the first spring 31 and plays a role in connection and buffer protection.

[0032] As Figure 4 shown, the connection component includes a mounting plate 33 and a card slot 34. The mounting plate 33 is fixedly installed at the bottom ends of the first spring 31 and the telescopic rod 32. The card slot 34 is opened at the bottom of the mounting plate 33, which is convenient for playing an auxiliary clamping role.

[0033] As Figure 4 shown, the elastic component includes a cross bar 36 and a second spring 37. The cross bar 36 is bolted to the top of the magnetic flux detector 4, and the second spring 37 is sleeved on the surface of the cross bar 36, which can achieve the function of elastic pushing to assist in stable clamping.

[0034] As Figure 4 shown, the pushing component includes a clamping block 35 and a push rod 38. The clamping block 35 is welded to the outer end of the second spring 37. The clamping block 35 slides on the surface of the cross bar 36, and the push rod 38 is fixedly installed on the outside of the clamping block 35, which is beneficial to assisting in pushing to complete the clamping and disassembly.

[0035] Among them, the magnetic flux detector 4 is located at the bottom of the cross bar 36, and the upper part outside the clamping block 35 is located inside the clamping groove 34, which is beneficial to its clamping installation work.

[0036] During installation:

[0037] As shown in the figure, the state is the effect of completed installation;

[0038] The push rod 38 can be first pushed inward. At this time, the thrust of the push rod 38 drives the clamping block 35 to slide on the surface of the cross bar 36, and at the same time, the second spring 37 is squeezed inward to reduce the distance between the two clamping blocks 35. At this time, the magnetic flux detector 4 is moved upward until it is located in the inner cavity at the bottom of the mounting plate 33, and then the thrust of the push rod 38 is released. According to the reaction force of the second spring 37 after extrusion, the two clamping blocks 35 are pushed to be clamped inside the clamping groove 34 to complete the installation work;

[0039] During disassembly, the push rod 38 can be first pushed inward. At this time, the thrust of the push rod 38 drives the clamping block 35 to slide on the surface of the cross bar 36, and at the same time, the second spring 37 is squeezed inward to reduce the distance between the two clamping blocks 35. At this time, the magnetic flux detector 4 is moved downward to disengage from the mounting plate 33.

[0040] The first spring 31 and the telescopic rod 32 are provided to elastically contact the pipe wall to reduce the damage to the bottom of the magnetic flux detector 4 caused by the force when moving downward, thereby realizing the protection work of the magnetic flux detector 4.

[0041] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Tracked self-testing robot, characterized by: The invention comprises a crawler robot body (1) and a magnetic flux detector (4); a lowering mechanism (2) for adjusting the position of the magnetic flux detector (4) is arranged at the lower part of the inner cavity of the crawler robot body (1); a mounting and disassembly mechanism (3) for facilitating mounting and disassembly of the magnetic flux detector (4) is arranged at the bottom of the lowering mechanism (2); the magnetic flux detector (4) is clamped at the bottom of the mounting and disassembly mechanism (3); the lowering mechanism (2) comprises a motor (21); and the motor (21) is fixedly mounted on the inner side wall of the crawler robot body (1); The output shaft of the motor (21) is key-connected with a bidirectional threaded rod (22), and both sides of the surface of the bidirectional threaded rod (22) are threadedly connected with threaded sleeves (23), and the outer side of the threaded sleeve (23) is rotatably connected with a first connecting plate (24) and a second connecting plate (25), one end of the first connecting plate (24) is rotatably connected with a top seat (27), and the top seat (27) is bolted to the top of the inner cavity of the crawler robot body (1), and one end of the second connecting plate (25) is rotatably connected with a base (26).

2. The crawler-type self-propelled inspection robot according to claim 1, characterized in that: The assembly and disassembly mechanism (3) comprises a buffer component, a connection component, an elastic component and a pushing component. The buffer component is arranged at the base (26), the connection component is arranged at the bottom end of the buffer component, pushing components are arranged on both sides of the bottom of the connection component, and the elastic component is arranged on the inner side of the pushing component.

3. The crawler-type self-propelled inspection robot according to claim 2, characterized in that: The buffer assembly comprises a first spring (31) and a telescopic rod (32), wherein the first spring (31) and the telescopic rod (32) are fixedly mounted at the bottom of the inner cavity of the base (26), and the telescopic rod (32) is located on the inner side of the first spring (31).

4. The crawler-type self-propelled inspection robot according to claim 3, characterized in that: The connecting assembly comprises a mounting plate (33) and a clamping slot (34); the mounting plate (33) is fixedly mounted on the bottom ends of the first spring (31) and the telescopic rod (32); and the clamping slot (34) is opened at the bottom of the mounting plate (33).

5. The crawler-type self-propelled inspection robot according to claim 4, characterized in that: The elastic component comprises a cross bar (36) and a second spring (37), wherein the cross bar (36) is bolted to the top of the magnetic flux detector (4), and the second spring (37) is sleeved on the surface of the cross bar (36).

6. The crawler-type self-propelled inspection robot according to claim 5, characterized in that: The pushing assembly comprises a clamping block (35) and a push rod (38); the clamping block (35) is welded to the outer end of the second spring (37); the clamping block (35) slides on the surface of the cross bar (36); and the push rod (38) is fixedly mounted on the outer side of the clamping block (35).

7. The crawler-type self-propelled inspection robot according to claim 6, characterized in that: The magnetic flux detector (4) is located at the bottom of the crossbar (36), and the upper part of the outer side of the clamping block (35) is located inside the clamping slot (34).

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