Ultrasonic flaw detection robot for pipeline

Abstract

The utility model belongs to the field of pipeline detection, and provides an ultrasonic flaw detection robot for pipelines, which comprises a waterproof shell, one end of the waterproof shell is provided with a scanning detection assembly, the scanning detection assembly comprises a rotating shaft rotatably arranged on the waterproof shell and telescopic rods circumferentially distributed on the rotating shaft, the end part of each telescopic rod is provided with an ultrasonic scanning probe, and the ultrasonic scanning probe is connected with the waterproof shell. A plurality of lifting assemblies are arranged on the waterproof shell, each lifting assembly comprises a lifting platform and a lifting driving unit for driving the lifting platform to move up and down, a plurality of adjusting assemblies are arranged on the outer side of each lifting platform, each adjusting assembly comprises mounting plates distributed in pairs, and power tracks are connected to the mounting plates; according to the ultrasonic flaw detection device, the driving motor and the telescopic rod of the scanning detection assembly are matched, so that circumferential rotating scanning and radial distance adjustment of the ultrasonic scanning probe are realized, comprehensive and accurate flaw detection can be carried out on pipelines with different pipe diameters, and the detection coverage range and precision are improved.

Description

Technical Field

[0001] The utility model belongs to the field of pipeline non-destructive testing, and specifically relates to a pipeline automatic flaw detection robot based on ultrasonic non-destructive testing technology, which is applicable to the automatic detection and evaluation of internal defects of industrial pipelines. Background Art

[0002] In many fields such as petrochemical industry, urban water supply, and gas transmission, pipelines, as key infrastructure for material transportation, the safety and reliability of their operation directly affect the stability of the entire system. Ultrasonic flaw detection technology, with its characteristics of non-destructive, high efficiency, and relatively high detection accuracy, has become an important means for detecting internal defects of pipelines.

[0003] However, the detection components of traditional flaw detection equipment have a fixed structure and are difficult to adapt to pipelines with different diameters. When faced with a change in pipe diameter, it is often necessary to replace the entire set of equipment or carry out complex debugging, which not only increases the detection cost but also significantly reduces the detection efficiency. Due to the diverse pipe specifications, the applicability rate of traditional equipment is insufficient, resulting in a waste of a large amount of manpower and time. The scanning range of the ultrasonic probes of some equipment is limited and cannot perform a full-range detection of the inner wall of the pipeline, easily missing defects. In the detection of some large-diameter pipelines, due to the fixed position and angle of the probes, the detection effect in the top and bottom areas of the pipeline is not good, posing a potential safety hazard to the safe operation of the pipeline. Summary of the Utility Model

[0004] In order to solve the above technical problems, the utility model provides a pipeline ultrasonic flaw detection robot to solve the problem that the detection components of traditional flaw detection equipment have a fixed structure and are difficult to adapt to pipelines with different diameters. When faced with a change in pipe diameter, it is necessary to replace the entire set of equipment or carry out complex debugging, increasing the detection cost and reducing the detection efficiency.

[0005] A pipeline ultrasonic flaw detection robot includes

[0006] A waterproof shell;

[0007] A scanning and detecting component, arranged at one end of the waterproof shell for detecting the inner wall of the pipeline. The scanning and detecting component includes a rotating shaft rotatably arranged on the waterproof shell and telescopic rods circumferentially distributed on the rotating shaft. An ultrasonic scanning probe is arranged at the end of the telescopic rod;

[0008] A plurality of lifting components, arranged on the waterproof shell for adaptively adjusting the height. The lifting component includes a lifting platform and a lifting driving unit for driving it to move up and down;

[0009] A plurality of adjusting components, arranged outside the lifting platform, distributed in pairs and connected to the power track for adjusting the fitting degree between the power track and the inner wall of the pipeline.

[0010] Preferably, the scanning and detecting assembly further includes a driving motor, which is fixed to the waterproof housing and drives the rotating shaft to rotate.

[0011] Preferably, the lifting driving unit includes a linear actuator, a moving platform and a hinge rod. A hinge seat is fixedly provided on the waterproof housing. The linear actuator is arranged on the lifting platform. The moving platform is arranged on the movable end of the linear actuator. Two ends of the hinge rod are respectively hinged to the moving platform and the hinge seat. A guide rod is arranged between the lifting platform and the waterproof housing.

[0012] Preferably, the upper end of the guide rod passes through the guide hole of the waterproof housing and is matched with a linear bearing, and the lower end is fixed to the lifting platform.

[0013] Preferably, each set of the adjusting assemblies includes a servo motor, a crank and a connecting rod. The servo motor drives the crank to rotate, and pulls the mounting plate to swing through the connecting rod. The mounting plate is hinged to the lifting platform, and the power track is mounted on the mounting plate.

[0014] Preferably, the telescopic rod adopts an electric push rod.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] 1. Through the cooperation of the driving motor of the scanning and detecting assembly and the telescopic rod of the present utility model, the circumferential rotation scanning and radial distance adjustment of the ultrasonic scanning probe are realized, and comprehensive and accurate flaw detection can be carried out on pipes with different diameters, improving the detection coverage and accuracy.

[0017] 2. Through the arrangement of the linear actuator and the guide rod of the lifting assembly of the present utility model, the lifting platform can stably and accurately adjust the height, adapt to pipes with different diameters, and there is no need to frequently replace equipment, improving the detection efficiency.

[0018] 3. Through the transmission structure of the servo motor, the crank and the connecting rod of the adjusting assembly of the present utility model, the included angle and the spacing between the traveling tracks can be flexibly adjusted, so that the traveling tracks are closely attached to the inner wall of the pipe, enhancing the walking stability and passing performance of the robot in the pipe, and being applicable to the detection of complex pipe environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a first - perspective three - dimensional structural schematic diagram of the present utility model;

[0020] Figure 2 is a second - perspective three - dimensional structural schematic diagram of the present utility model;

[0021] Figure 3 is a third - perspective three - dimensional structural schematic diagram of the present utility model.

[0022] In the figure:

[0023] 1. Waterproof housing; 2. Scanning and detection assembly; 201. Driving motor; 202. Rotating shaft; 203. Telescopic rod; 204. Ultrasonic scanning probe; 3. Lifting assembly; 301. Lifting platform; 302. Lifting drive unit; 3021. Linear actuator; 3022. Hinge seat; 3023. Hinge rod; 3024. Moving platform; 303. Guide rod; 4. Adjusting assembly; 401. Servo motor; 402. Crank; 403. Connecting rod; 404. Mounting plate; 405. Hinge hinge; 5. Power track. Specific embodiments

[0024] The following further describes the embodiments of the present utility model in detail in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0025] As shown in the attached Figure 1 to the attached Figure 3 shown:

[0026] The present utility model provides an ultrasonic flaw detection robot for pipelines, including a waterproof housing 1, a scanning and detection assembly 2, a lifting assembly 3, an adjusting assembly 4, and a power track 5, which realizes adaptive detection of pipelines with different diameters and improves the detection efficiency and accuracy.

[0027] The waterproof housing 1 is made of high-strength waterproof plastic material, and a receiving cavity is formed inside for installing the driving motor 201.

[0028] As shown in the attached Figure 1 to the attached Figure 3 shown: The scanning and detection assembly 2 is arranged at one end of the waterproof housing 1. The driving motor 201 is fixedly installed at the end of the waterproof housing 1 through bolts. The rotating shaft 202 is connected to the output shaft of the driving motor 201 through a coupling and can rotate with the rotation of the driving motor 201. The telescopic rod 203 is an electric push rod, and at least 2 are evenly distributed along the circumferential direction of the rotating shaft 202. The fixed end of each electric push rod is fixedly installed on the outer circumferential surface of the rotating shaft 202 through a flange. The ultrasonic scanning probe 204 is installed at the end of the telescopic end of the electric push rod through a threaded connection. A power supply unit, a data processing unit, and a communication unit (not shown in the figure) are independently carried on the rotating shaft 202. The power supply unit is a lithium battery pack, which is connected to electrical components such as the ultrasonic scanning probe 204 and the electric push rod through wires to provide power. The communication unit is a wireless communication module and can perform data communication with external control devices.

[0029] As shown in the attached Figure 2 to the attached Figure 3As shown in the figure: The lifting assembly 3 is arranged at the bottom of the waterproof shell 1 or at the bottom and top of the waterproof shell 1. The lifting platform 301 is a rectangular flat plate and is located below the waterproof shell 1. The lifting drive unit 302 includes a linear actuator 3021, a hinge seat 3022, a hinge rod 3023 and a moving platform 3024. The linear actuator 3021 can be selected from an electric push rod or an electric screw rod assembly. Taking the electric screw rod assembly as an example, it is fixedly installed in the middle of the upper surface of the lifting platform 301 through a mounting seat. The screw rod is arranged in the vertical direction, and a moving platform 3024 is fixedly connected to the screw sleeve (sliding end). The moving platform 3024 is a rectangular plate, and hinge rods 3023 are respectively hinged on both sides thereof. The other end of the hinge rod 3023 is hinged on the hinge seat 3022, and the hinge seat 3022 is fixedly installed on the waterproof shell 1 through bolts. At least one guiding rod 303 is provided. Its lower end is fixedly connected to the upper surface of the lifting platform 301 through bolts, and its upper end passes through a guiding hole opened at the bottom of the waterproof shell 1 and is slidably connected to the waterproof shell 1. A linear bearing is arranged in the guiding hole to reduce the friction when the guiding rod 303 moves.

[0030] As shown in the attached Figure 3 figure: The adjusting assembly 4 is arranged on the left and right sides of the end of the lifting platform 301 far from the waterproof shell 1, and at least one pair is arranged on each side. In each group of the adjusting assembly 4, the servo motor 401 is fixedly installed on the side surface of the lifting platform 301 through bolts, the crank 402 is installed on the output shaft of the servo motor 401 through key connection, one end of the connecting rod 403 is hinged to the end of the crank 402 through a pin shaft, and the other end is hinged to the middle of the mounting plate 404 through a pin shaft. The mounting plate 404 is a rectangular plate, and one end thereof is hinged to the side surface of the lifting platform 301 through a hinge hinge 405. The power track 5 is installed on the mounting plate 404. By driving the crank 402 to rotate through the servo motor 401, the connecting rod 403 is further pulled to swing the mounting plate 404 up and down, so as to adjust the included angle and distance between the two power tracks 5, enabling the power tracks 5 to closely fit the inner wall of the pipeline, improving the stability and adaptability of the robot when walking in the pipeline, and especially applicable to the situation where the pipe diameter changes or the inner wall of the pipeline is uneven.

[0031] Working principle:

[0032] The embodiments of the present invention are given for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An ultrasonic flaw detection robot for pipelines, characterized in that: including a waterproof housing (1); a scanning detection assembly (2) provided at one end of the waterproof housing (1) for detecting flaws in the inner wall of a pipeline. The scanning detection assembly (2) includes a rotating shaft (202) rotatably provided on the waterproof housing (1) and telescopic rods (203) circumferentially distributed on the rotating shaft (202). An ultrasonic scanning probe (204) is provided at the end of the telescopic rod (203); a plurality of lifting assemblies (3) provided on the waterproof housing (1) for adaptively adjusting the height. The lifting assembly (3) includes a lifting platform (301) and a lifting drive unit (302) for driving it to move up and down; a plurality of adjusting assemblies (4) provided outside the lifting platform (301), distributed in pairs and connected to a power track (5) for adjusting the degree of fit between the power track (5) and the inner wall of the pipeline.

2. The ultrasonic flaw detection robot for pipelines according to claim 1, characterized in that: The scanning detection assembly (2) further includes a drive motor (201). The drive motor (201) is fixed to the waterproof housing (1) and drives the rotating shaft (202) to rotate.

3. The ultrasonic flaw detection robot for pipelines according to claim 1, characterized in that: The lifting drive unit (302) includes a linear actuator (3021), a moving platform (3024) and a hinge rod (3023). A hinge seat (3022) is fixedly provided on the waterproof housing (1). The linear actuator (3021) is provided on the lifting platform (301). The moving platform (3024) is provided on the movable end of the linear actuator (3021). The two ends of the hinge rod (3023) are respectively hinged to the moving platform (3024) and the hinge seat (3022). A guide rod (303) is provided between the lifting platform (301) and the waterproof housing (1).

4. The ultrasonic flaw detection robot for pipelines according to claim 3, characterized in that: The upper end of the guide rod (303) passes through the guide hole of the waterproof housing (1) and is matched with a linear bearing, and the lower end is fixed to the lifting platform (301).

5. The ultrasonic flaw detection robot for pipelines according to claim 1, wherein: Each group of the adjusting assemblies (4) includes a servo motor (401), a crank (402) and a connecting rod (403). The servo motor (401) drives the crank (402) to rotate, and pulls the mounting plate (404) to swing through the connecting rod (403). The mounting plate (404) is hinged to the lifting platform (301), and the power track (5) is mounted on the mounting plate (404).

6. The ultrasonic flaw detection robot for pipelines according to claim 1, wherein: The telescopic rod (203) is selected as an electric push rod.

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