Detection equipment carrying device of pipeline detection robot

Abstract

The utility model relates to the technical field of pipeline detection, in particular to a pipeline detection robot detection equipment carrying device which comprises a shell, at least three strip-shaped through holes are formed in the outer wall of the shell, and the strip-shaped through holes are arranged around the periphery of the shell at intervals; the number of the elastic obstacle avoidance mechanisms is at least three, one elastic obstacle avoidance mechanism is arranged in each strip-shaped through hole in a penetrating mode, one end of each elastic obstacle avoidance mechanism is hinged to the inner wall of the shell, and the other end of each elastic obstacle avoidance mechanism extends out of the corresponding strip-shaped through hole and is located outside the shell; and the roller is mounted at one end, positioned outside the shell, of the elastic obstacle avoidance mechanism. When the pipeline detection robot detection equipment carrying device walks in a pipeline and encounters an obstacle or the pipe diameter changes, obstacle avoidance or self-adaption to the pipe diameter changes can be achieved through the elastic obstacle avoidance mechanism, meanwhile, a necessary buffering and protecting mechanism is achieved, strenuous movement is prevented from being generated in the movement process, and the accuracy of detection data is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline detection, in particular to a pipeline detection robot detection equipment carrying device. BACKGROUND

[0002] With the rapid development of the oil and gas industry, pipeline transportation plays an increasingly important role in energy transportation. To ensure the safe operation of the pipeline, it is particularly important to regularly detect the integrity and reliability of the pipeline. As an advanced non-destructive testing tool, the pipeline detection robot can detect the inside of the pipeline in all directions without affecting the normal operation of the pipeline, and can timely discover pipeline defects and potential safety hazards.

[0003] At present, the pipeline detection robot usually needs to carry various detection equipment, such as ultrasonic probes, magnetic flux leakage sensors, visual cameras, etc. However, most of the existing pipeline detection robots adopt fixed detection equipment carrying mode, which is difficult to adapt to different pipe diameters; and when encountering pipe wall scaling, obstacles and other situations, it is easy to cause damage to the detection equipment or affect the detection accuracy, and lacks the necessary buffer and protection mechanism, which can easily produce violent vibration during the movement of the robot, affecting the accuracy of the detection data. CONTENT OF THE INVENTION

[0004] The present application aims to at least solve one of the above technical problems in the prior art to some extent. To this end, the present application provides a pipeline detection robot detection equipment carrying device, which can realize obstacle avoidance or self-adaptation to pipe diameter changes through an elastic obstacle avoidance mechanism, and at the same time, plays a necessary buffer and protection mechanism to prevent violent movement during movement, and improves the accuracy of detection data.

[0005] A pipeline detection robot detection equipment carrying device, comprising

[0006] A shell, at least three strip-shaped through holes are formed on the outer wall of the shell, and each strip-shaped through hole is arranged at intervals around the outer periphery of the shell;

[0007] An elastic obstacle avoidance mechanism is provided, at least three are provided, one elastic obstacle avoidance mechanism is provided in each strip-shaped through hole, one end of the elastic obstacle avoidance mechanism is hinged to the inner wall of the shell, and the other end of the elastic obstacle avoidance mechanism extends out of the strip-shaped through hole and is located outside the shell;

[0008] A roller is installed at one end of the elastic obstacle avoidance mechanism located outside the shell.

[0009] In an optional or preferred embodiment, the elastic obstacle avoidance mechanism comprises a hydraulic cylinder holder, a hydraulic cylinder and a roller fixing rod, the hydraulic cylinder holder is fixed inside the shell, the cylinder body of the hydraulic cylinder is hinged on the hydraulic cylinder holder, the piston rod of the hydraulic cylinder extends from the strip-shaped through hole, one end of the roller fixing rod is hinged inside the shell and the other end extends from the strip-shaped through hole, the roller is installed at the end of the roller fixing rod extending outside the shell, and the piston rod of the hydraulic cylinder is hinged with the middle part of the roller fixing rod.

[0010] In an optional or preferred embodiment, the roller is detachably connected with the roller fixing rod through a connecting seat.

[0011] In an optional or preferred embodiment, the shell comprises a polygonal shell and two polygonal end covers, the polygonal end covers are installed at both ends of the polygonal shell, and a strip-shaped through hole is formed in each side plate of the hexagonal shell.

[0012] In an optional or preferred embodiment, the polygonal shell is a hexagonal structure, and the polygonal end cover is a hexagonal structure.

[0013] In an optional or preferred embodiment, the polygonal shell and the polygonal end cover are detachably connected.

[0014] In an optional or preferred embodiment, the roller fixing rod is internally provided with a hollow cavity, and the piston rod of the hydraulic cylinder is hinged in the hollow cavity.

[0015] Based on the above technical solution, the pipeline detection robot detection equipment carrying device provided by the embodiment of the present application has at least the following beneficial effects: when the pipeline detection robot detection equipment carrying device walks in the pipeline and encounters an obstacle or a change in the pipe diameter, the elastic obstacle avoidance mechanism can realize obstacle avoidance or self-adaptation to the change in the pipe diameter, at the same time, the elastic obstacle avoidance mechanism can also play a necessary buffering and protection mechanism to prevent violent movement during movement and improve the accuracy of detection data. BRIEF DESCRIPTION OF DRAWINGS

[0016] The present application will be further described below in combination with the drawings and embodiments;

[0017] Figure 1 is a structural schematic diagram of the pipeline detection robot detection equipment carrying device provided by the embodiment of the present application;

[0018] Figure 2 is Figure 1 a partial structural schematic diagram of the pipeline detection robot detection equipment carrying device provided by the embodiment shown in the figure. DETAILED DESCRIPTION

[0019] In order to make the technical solutions in the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts should fall within the scope of protection of the present application.

[0020] The embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0021] In the description of the embodiments of the present application, it should be noted that the orientations or positional relationships indicated by the terms “center”, “longitudinal”, “lateral”, “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer” and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms “first”, “second”, “third” are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0022] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms “connected” and “connected” should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0023] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is “on” or “under” the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature can be above or obliquely above the second feature, or it can only mean that the horizontal height of the first feature is higher than that of the second feature. The first feature can be below or obliquely below the second feature, or it can only mean that the horizontal height of the first feature is less than that of the second feature.

[0024] With the rapid development of the oil and gas industry, pipeline transportation plays an increasingly important role in energy transportation. In order to ensure the safe operation of the pipeline, it is particularly important to regularly detect the integrity and reliability of the pipeline. As an advanced non-destructive testing tool, the pipeline detection robot can detect the inside of the pipeline in all directions without affecting the normal operation of the pipeline, and can timely discover pipeline defects and potential safety hazards.

[0025] At present, the pipeline detection robot usually needs to carry multiple detection devices, such as ultrasonic probes, magnetic flux leakage sensors, visual cameras, etc. However, most of the existing pipeline detection robots adopt a fixed detection device mounting method, which is difficult to adapt to different pipe diameters; and when encountering pipe wall scaling, obstacles and other situations, it is easy to cause damage to the detection device or affect the detection accuracy, and lacks the necessary buffer and protection mechanism, which can easily cause severe vibration during the movement of the robot, affecting the accuracy of the detection data.

[0026] Reference Figure 1 , Figure 2 The pipeline detection robot detection device mounting device provided by the present application comprises a shell 100, an elastic obstacle avoidance mechanism 200 and a roller 300.

[0027] At least three strip-shaped through holes 121 are formed on the outer wall of the shell 100, and each strip-shaped through hole 121 is arranged at intervals around the outer periphery of the shell 100. The elastic obstacle avoidance mechanism 200 is provided at least three, and one elastic obstacle avoidance mechanism 200 is arranged in each strip-shaped through hole 121. One end of the elastic obstacle avoidance mechanism 200 is hinged to the inner wall of the shell 100, and the other end of the elastic obstacle avoidance mechanism 200 extends out of the strip-shaped through hole 121 and is located outside the shell 100. The roller 300 is installed at the end of the elastic obstacle avoidance mechanism 200 located outside the shell 100.

[0028] When the pipeline detection robot detection device mounting device of the present application walks in the pipeline, when encountering obstacles or pipe diameter changes, the elastic obstacle avoidance mechanism 200 can realize obstacle avoidance or self-adaptation to pipe diameter changes, and at the same time, it can play a necessary buffer and protection mechanism to prevent severe motion during movement and improve the accuracy of detection data.

[0029] In some embodiments, the elastic obstacle avoidance mechanism 200 comprises a hydraulic cylinder frame 210, a hydraulic cylinder 220 and a roller fixing rod 230. The hydraulic cylinder frame 210 is fixed inside the shell 100, the cylinder body of the hydraulic cylinder 220 is hinged to the hydraulic cylinder frame 210, the piston rod of the hydraulic cylinder 220 extends out of the strip-shaped through hole 121, one end of the roller fixing rod 230 is hinged inside the shell 100, the other end extends out of the strip-shaped through hole 121, the roller 300 is installed at the end of the roller fixing rod 230 extending out of the shell 100, and the piston rod of the hydraulic cylinder 220 is hinged to the middle part of the roller fixing rod 230.

[0030] When facing obstacles or changes in pipe diameter, the roller 300 first contacts the obstacle, and under the reaction force, the roller fixing rod 230 rotates around the hinge point with the shell 100 as the center, the roller fixing rod 230 compresses the piston rod, so that the roller 300 on the roller fixing rod 230 passes over the obstacle or adapts to the smaller pipe diameter, and at the same time, under the action of the hydraulic cylinder 220, the roller 300 can always be kept in a state of pressing against the pipe wall, when the roller 300 passes over the obstacle or walks to the pipe with larger diameter, the hydraulic cylinder 220 in the pressing state will push the roller fixing rod 230 to rotate around the hinge point with the shell 100 as the center, so that the roller 300 presses the pipe wall.

[0031] In other embodiments, the hydraulic cylinder 220 can also be replaced by a connecting rod, and a cylindrical spring is sleeved on the connecting rod, one end of the cylindrical spring abuts against the roller fixing rod 230, and the other end is connected with the hydraulic cylinder frame 210.

[0032] In some embodiments, the roller 300 is detachably connected with the roller fixing rod 230 through the connecting seat 310. In this way, when the roller 300 has a problem, it can be directly detached through the connecting seat 310, without the need to disassemble the entire roller fixing rod 230.

[0033] In some embodiments, the shell 100 includes a polygonal shell 120 and two polygonal end covers 110, the polygonal shell 120 is provided with the polygonal end cover 110 at both ends, and a strip-shaped through hole 121 is formed in each side plate of the polygonal shell 120.

[0034] In the present application, the polygonal shell 120 is a hexagonal structure, the polygonal end cover 110 is a hexagonal structure, a strip-shaped through hole 121 is formed in each side plate of the polygonal shell 120, and six elastic obstacle avoidance mechanisms 200 are arranged on the six side plates of the polygonal shell 120.

[0035] In other embodiments, the polygonal shell 120 can also be an octagonal structure, and the corresponding polygonal end cover 110 is also an octagonal structure.

[0036] In some embodiments, the polygonal shell 120 and the polygonal end cover 110 are detachably connected. In this way, subsequent disassembly and replacement are facilitated.

[0037] In some embodiments, the roller fixing rod 230 is internally provided with a hollow cavity 231, and the piston rod of the hydraulic cylinder 220 is hinged in the hollow cavity 231.

[0038] The roller fixing rod 230 is provided with the hollow cavity 231, which is lighter in weight, and at the same time, the hollow cavity 231 provides a connecting space for the piston rod.

[0039] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the embodiments of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0040] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application.

Claims

1. A device for mounting a pipeline inspection robot, characterized in that: The utility model provides a kind of barrier-avoiding mechanism of elasticity, including Shell, at least three strip-shaped through holes are opened on the outer wall of the shell, each strip-shaped through hole is arranged at intervals around the outer periphery of the shell; Elastic barrier-avoiding mechanism is arranged at least three, one is arranged in each strip-shaped through hole, one end of the elastic barrier-avoiding mechanism is hinged with the inner wall of the shell, the other end of the elastic barrier-avoiding mechanism extends out of the strip-shaped through hole and is located outside the shell; Roller, the roller is installed in the end of the elastic barrier-avoiding mechanism located outside the shell.

2. The pipeline inspection robot inspection apparatus mounting device according to claim 1, characterized by: The elastic barrier-avoiding mechanism includes hydraulic cylinder frame, hydraulic cylinder and roller fixing rod, the hydraulic cylinder frame is fixed in the inside of the shell, the cylinder body of the hydraulic cylinder is hinged on the hydraulic cylinder frame, the piston rod of the hydraulic cylinder extends out of the strip-shaped through hole, one end of the roller fixing rod is hinged in the inside of the shell, the other end extends out of the strip-shaped through hole, the roller is installed in the end of the roller fixing rod extending out of the shell, and the piston rod of the hydraulic cylinder is hinged with the middle part of the roller fixing rod.

3. The pipeline inspection robot inspection apparatus mounting device according to claim 2, characterized by: The roller is detachably connected with the roller fixing rod through connecting seat.

4. The pipeline inspection robot inspection apparatus mounting device according to claim 1, characterized by: The shell includes polygonal shell and two polygonal end covers, polygonal end cover is installed at both ends of the polygonal shell, and strip-shaped through hole is opened on each side plate of the polygonal shell.

5. The pipeline inspection robot inspection apparatus mounting device according to claim 4, characterized by: The polygonal shell is hexagonal structure, and the polygonal end cover is hexagonal structure.

6. The pipeline inspection robot inspection apparatus mounting device according to claim 4, characterized by: The polygonal shell and the polygonal end cover are detachably connected.

7. The pipeline inspection robot inspection apparatus mounting device according to claim 2, characterized by: The roller fixing rod is internally provided with hollow cavity, and the piston rod of the hydraulic cylinder is hinged in the hollow cavity.

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