Pipeline inner wall flaw detection robot

Abstract

The utility model discloses a flaw detection robot for the inner wall of a pipeline. The flaw detection robot comprises a creeping mechanism and a flaw detection mechanism, the wriggling and crawling mechanism comprises first shells, the two first shells drive first lead screw nut kinematic pairs to move through first servo motors so that the two first shells can get close to or get away from each other, the opposite ends of the two first shells are each provided with a fixing mechanism capable of abutting against the pipe wall, and each fixing mechanism comprises a second servo motor, a second lead screw nut kinematic pair and a plurality of sets of abutting arms. One end of each jacking arm is hinged to the shell, a lead screw nut seat of the second lead screw nut kinematic pair is correspondingly connected with the jacking arms through connecting rods, and the second servo motor drives the second lead screw nut kinematic pair to act and drives the multiple sets of jacking arms to synchronously stretch or retract through the connecting rods. The ultrasonic flaw detection device can creep and climb in the pipeline, all-directional flaw detection of the pipeline is realized, the use is flexible and convenient, the ultrasonic flaw detection device can meet the requirements of automatic ultrasonic flaw detection of the inner walls of pipelines with different specifications and apertures, and the problems of pipeline detection and maintenance are solved.

Description

Technical Field

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

[0002] Currently, the number of pipelines in my country for gas, water, oil and gas, communications, chemical, and other purposes is increasing rapidly. Due to factors such as corrosion, pressure, and other external forces, pipelines inevitably suffer various types of damage. Generally, pipelines are located in environments that are difficult or impossible for people to directly access. Therefore, pipeline inspection and maintenance have become a difficult problem in industrial production. Because pipeline inner wall flaw detection robots are a new product, the implementation structure of pipeline inspection functions is still immature and relevant information is scarce. Therefore, implementing pipeline inspection functions is a major design challenge.

[0003] This paper briefly examines the development prospects and current status of pipeline flaw detection robots, both domestically and internationally. The advancement of pipeline flaw detection robots in the machinery industry remains inseparable from the development of the automation industry, and the two are closely linked. Traditional pipeline robots use three main drive systems: gears, synchronous belts, and chain drives. These are ranked from highest to lowest in terms of cost: gear drive, chain drive, and synchronous belt drive. Furthermore, because pipeline flaw detection robots need to operate within confined pipes, their structure is not suited to being large, and therefore traditional drive mechanisms cannot be used. Furthermore, designing a robot that can accommodate pipes of various specifications is a pressing issue. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the existing defects and provide a pipeline inner wall flaw detection robot that can crawl and climb in the pipeline to achieve all-round flaw detection of the pipeline. It is flexible and convenient to use and can be suitable for the needs of automated ultrasonic flaw detection of the inner wall of pipelines with different specifications and apertures. It solves the difficult problem of pipeline detection and maintenance and can effectively solve the problems in the background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a pipeline inner wall flaw detection robot, comprising a creeping mechanism and a flaw detection mechanism located on the side of the robot in the direction of travel in the pipeline;

[0006] The creeping mechanism includes two relatively arranged shells, and the two shells are driven by a servo motor to move a screw nut motion pair to achieve relative approach or distance. The opposite ends of the two shells are provided with a fixing mechanism that can be tightened against the pipe wall. The fixing mechanism includes a servo motor, a screw nut motion pair, and multiple sets of tightening arms. One end of the tightening arm is hinged to the shell, and the screw nut seat of the screw nut motion pair is correspondingly connected to the tightening arm through a connecting rod. The servo motor drives the screw nut motion pair to move and drives the multiple sets of tightening arms to open or retract synchronously through the connecting rod.

[0007] The flaw detection mechanism includes a shell 2, in which a motor is arranged. The output shaft of the motor is connected to a probe mounting seat. The probe mounting seat is equipped with a probe that contacts the pipe wall. The probe mounting seat is provided with a slot. The probe is located in the slot and a spring is provided between the probe and the bottom of the slot.

[0008] Preferably, the end face of the probe mounting base is further provided with an oil tank, the outer wall of the oil tank is provided with a lubricating sponge, the outer wall of the oil tank is provided with an oil leakage hole in contact with the lubricating sponge, and the end face of the oil tank is provided with a refueling port and a threaded cap.

[0009] Preferably, the outer wall of the shell one is also evenly distributed with multiple supporting structures around its axis, the supporting structure includes a crank arm, the shell one is provided with a through hole for the crank arm to pass through, and the crank arm is hinged to the through hole through a pin shaft, one end of the crank arm is provided with a roller and contacts with the tube wall, the other end of the crank arm is located in the shell one and is connected to a tension spring, and the other end of the tension spring is connected to the inner wall of the shell one.

[0010] Preferably, a plurality of guide shafts are provided between the two shells 1, and the guide shafts are slidably matched with the two shells 1, and both ends of the guide shafts extend into the two shells 1 respectively and are provided with blocks at the ends.

[0011] Preferably, the servo motor is located in one of the housings, and the screw nut seat of the screw nut motion pair is located in the axial direction of the other housing.

[0012] Preferably, a rubber block is provided at the end of the tightening arm that contacts the tube wall.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: through the action of the peristaltic crawling mechanism, that is, the front-end fixing mechanism contracts and does not contact the pipe wall, the rear-end fixing mechanism opens and contacts the pipe wall, the servo motor drives the screw nut motion pair to move the two shells away from each other, then the front-end fixing mechanism opens and contacts the pipe wall, the rear-end fixing mechanism contracts and does not contact the pipe wall, the servo motor drives the screw nut motion pair to move the two shells closer to each other, and this cycle repeats, thereby achieving the purpose of peristaltic climbing; the motor drives the probe mounting seat to rotate, and the probe installed on the probe mounting seat is pressed against the pipe wall under the action of the compression spring and is driven to rotate by the motor to achieve all-round flaw detection; in addition, the support structure adapts to changes in pipe diameter, and the robot has high stability and flexibility; it is flexible and convenient to use, and can be applied to the needs of automated ultrasonic flaw detection on the inner wall of pipes with different specifications and apertures, solving the problem of pipeline detection and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the utility model;

[0015] Figure 2 This is the principle diagram of the utility model;

[0016] Figure 3 It is a schematic diagram of the local structure of the utility model;

[0017] Figure 4 This is a cross-sectional view of the flaw detection mechanism of the utility model;

[0018] Figure 5 for Figure 4 BB cross-sectional view.

[0019] In the picture:

[0020] 1. Creeping mechanism, 1.1 Housing 1, 1.2 Guide shaft, 1.3 Servo motor 1, 1.4 Screw-nut kinematic pair 1, 1.5 Support structure, 1.51 Tension spring, 1.52 Crank arm, 1.6 Fixing mechanism, 1.61 Clamping arm, 1.62 Connecting rod, 1.63 Screw-nut kinematic pair 2, 1.64 Servo motor 2;

[0021] 2. Detection mechanism, 2.1 Shell 2, 2.2 Motor, 2.3 Probe, 2.4 Lubricating sponge, 2.5 Fuel tank, 2.51 Fuel filler port, 2.6 Probe mounting base, 2.7 Spring. DETAILED DESCRIPTION

[0022] The present invention will be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "back", "left", and "right" indicating directions or positional relationships, they are only corresponding to the drawings of the present application for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction.

[0023] See also Figure 1-5 , the utility model provides the following technical solutions:

[0024] Example 1: A pipeline inner wall flaw detection robot comprises a creeping mechanism 1 and a flaw detection mechanism 2 located on the side of the creeping mechanism in the pipeline;

[0025] The creeping mechanism 1 includes two oppositely arranged housings 1.1. The two housings 1.1 are moved toward or away from each other by a servo motor 1.3 driving a screw-nut kinematic pair 1.4. The opposite ends of the two housings 1.1 are each provided with a fixing mechanism 1.6 capable of tightening against the pipe wall. The fixing mechanism 1.6 includes a servo motor 1.64, a screw-nut kinematic pair 1.63, and multiple sets of tightening arms 1.61. One end of the tightening arm 1.61 is hinged to the housing 1.1. The screw-nut seat of the screw-nut kinematic pair 1.63 is correspondingly connected to the tightening arm 1.61 via a connecting rod 1.62. The servo motor 1.64 drives the screw-nut kinematic pair 1.63 and drives the multiple sets of tightening arms 1.61 to open or retract synchronously via the connecting rod 1.62.

[0026] like Figure 2 As shown, it can be understood that the operating principle of the peristaltic crawling mechanism 1 is that, with respect to the direction of travel of the peristaltic crawling mechanism 1 in the pipeline, the front fixing mechanism 1.6 contracts and does not contact the pipeline wall, while the rear fixing mechanism 1.6 opens and contacts the pipeline wall, and the servo motor 1.3 drives the screw nut kinematic pair 1.4 to move the two shells 1.1 away from each other. Then, the front fixing mechanism 1.6 opens and contacts the pipeline wall, while the rear fixing mechanism 1.6 contracts and does not contact the pipeline wall. The servo motor 1.3 drives the screw nut kinematic pair 1.4 to move the two shells 1.1 closer to each other, and this cycle repeats, thereby achieving the purpose of peristaltic climbing.

[0027] It should be noted that the operating principle of the fixing mechanism 1.6 is that the servo motor 1.64 drives the screw-nut kinematic pair 1.63 to operate. When the screw-nut kinematic pair 1.63 operates, it drives the multiple connecting rods 1.62 to move via the screw-nut seat thereon. The multiple connecting rods 1.62 drive the corresponding tightening arms 1.61 to swing, that is, the tightening arms 1.61 contact or move away from the pipe wall.

[0028] The flaw detection mechanism 2 includes a second housing 2.1, which houses a motor 2.2. The output shaft of the motor 2.2 is connected to a probe mounting base 2.7. The probe mounting base 2.7 is mounted with a probe 2.3 that contacts the pipe wall. The probe mounting base 2.7 has a slot. The probe 2.3 is located within the slot, and a spring 2.8 is provided between the probe 2.3 and the bottom of the slot. The motor 2.2 drives the probe mounting base 2.7 to rotate. The probe, driven by the spring 2.8, is pressed against the pipe wall and rotated by the motor 2.2, thereby achieving comprehensive flaw detection and inspection for defects such as cracks, peeling, stringing, scratches, pits, protrusions, spots, and corrosion in the pipe.

[0029] In addition, the servo motor 1.3 is located in one of the housings 1.1, and the screw nut seat of the screw nut moving pair 1.4 is located in the axial direction of the other housing 1.1; a rubber block is provided at the end of the tightening arm 1.61 that contacts the pipe wall to increase friction when in contact with the pipe wall, making the fixation more secure.

[0030] Example 2: Different from Example 1, the end face of the probe mounting base 2.7 is further provided with an oil tank 2.5, the outer wall of the oil tank 2.5 is provided with a lubricating sponge 2.6, the outer wall of the oil tank 2.5 is provided with an oil leakage hole in contact with the lubricating sponge 2.6, the end face of the oil tank 2.5 is provided with a refueling port 2.51 and a threaded cover, the oil tank 2.5 carries a fixed amount of lubricating oil, and when the probe mounting base 2.7 rotates, the oil tank 2.5 rotates accordingly, and the lubricating oil seeps from the oil leakage hole to the lubricating sponge 2.6 under the action of centrifugal force, and the lubricating sponge 2.6 brushes the lubricating oil to lubricate the pipe wall, so that the probe 2.3 is in oil-lubricated contact with the pipe wall, reducing the mechanical wear on the probe 2.2.

[0031] Example 3: Different from Example 1, the outer wall of the shell 1.1 is further evenly distributed with multiple support structures 1.5 around its axis. The support structure 1.5 includes a crank arm 1.52. The shell 1.1 is provided with a through hole for the crank arm 1.52 to pass through, and the crank arm 1.52 is hinged to the through hole by a pin shaft. One end of the crank arm 1.52 is provided with a roller and contacts the pipe wall. The other end of the crank arm 1.52 is located in the shell 1.1 and is connected to a tension spring 1.51. The other end of the tension spring 1.51 is connected to the inner wall of the shell 1.1. By arranging the tension spring 1.51 and the crank arm 1.52, the robot can adapt to changes in the pipe diameter, thereby improving the stability and flexibility of the robot.

[0032] Example 4: Different from Example 1, multiple guide shafts 1.2 are provided between the two shells 1.1. The guide shafts 1.2 slide with the two shells 1.1. The two ends of the guide shafts 1.2 respectively extend into the two shells 1.1 and are provided with blocks at the ends to guide the two shells 1.1 when they approach or move away from each other.

[0033] The parts of the present invention that are not described in detail are prior art. It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and it is intended that all changes that fall within the meaning and scope of equivalent elements are included in the content of the present invention.

Claims

1. A pipeline inner wall flaw detection robot, characterized by: It comprises a creeping mechanism (1) and a flaw detection mechanism (2) located on the side of the creeping mechanism in the direction of travel in the pipeline; The creeping mechanism (1) comprises two relatively arranged housings (1.1), the two housings (1.1) are moved relatively close to or away from each other by driving a screw nut motion pair (1.4) through a servo motor (1.3), and the opposite ends of the two housings (1.1) are provided with a fixing mechanism (1.6) capable of pressing against the pipe wall, the fixing mechanism (1.6) comprises a servo motor (1.64), a screw nut motion pair (1.63) and a plurality of groups of pressing arms (1.61), one end of the pressing arm (1.61) is hinged to the housing (1.1), and the screw nut seat of the screw nut motion pair (1.63) is correspondingly connected to the pressing arm (1.61) through a connecting rod (1.62), and the servo motor (1.64) drives the screw nut motion pair (1.63) to move and drives the plurality of groups of pressing arms (1.61) to open or contract synchronously through the connecting rod (1.62); The flaw detection mechanism (2) comprises a second housing (2.1), a motor (2.2) is provided in the second housing (2.1), an output shaft of the motor (2.2) is connected to a probe mounting seat (2.7), a probe (2.3) contacting the pipe wall is mounted on the probe mounting seat (2.7), the probe mounting seat (2.7) is provided with a slot, the probe (2.3) is located in the slot, and a spring (2.8) is provided between the probe (2.3) and the bottom of the slot.

2. The pipeline inner wall flaw detection robot according to claim 1, characterized in that: An oil tank (2.5) is also provided on the end face of the probe mounting seat (2.7), a lubricating sponge (2.6) is provided on the outer wall of the oil tank (2.5), an oil leakage hole in contact with the lubricating sponge (2.6) is provided on the outer wall of the oil tank (2.5), and a refueling port (2.51) and a threaded cap are provided on the end face of the oil tank (2.5).

3. The pipeline inner wall flaw detection robot according to claim 1, characterized in that: The outer wall of the shell one (1.1) is also evenly distributed with a plurality of support structures (1.5) around its axis. The support structure (1.5) includes a crank arm (1.52). The shell one (1.1) is provided with a through hole for the crank arm (1.52) to pass through, and the crank arm (1.52) is hinged to the through hole via a pin. One end of the crank arm (1.52) is provided with a roller and contacts the tube wall. The other end of the crank arm (1.52) is located in the shell one (1.1) and is connected to a tension spring (1.51). The other end of the tension spring (1.51) is connected to the inner wall of the shell one (1.1).

4. The pipeline inner wall flaw detection robot according to claim 1, characterized in that: A plurality of guide shafts (1.2) are further provided between the two shells (1.1). The guide shafts (1.2) are slidably engaged with the two shells (1.1). Both ends of the guide shafts (1.2) extend into the two shells (1.1) respectively and are provided with stoppers at the ends.

5. The pipeline inner wall flaw detection robot according to claim 1, characterized in that: The servo motor 1 (1.3) is located in one of the housings 1 (1.1), and the screw nut seat of the screw nut motion pair 1 (1.4) is located in the axial direction of the other housing 1 (1.1).

6. The pipeline inner wall flaw detection robot according to claim 1, characterized in that: The end of the tightening arm (1.61) in contact with the pipe wall is provided with a rubber block.

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