Pipeline welding seam detection crawling equipment with mechanical arm

Abstract

The utility model discloses a pipeline weld detection crawling device with a mechanical arm, which relates to the field of pipeline detection and comprises a detection transmission body, an external support frame is mounted on the outer surface of the detection transmission body, and a sliding elastic mechanism for moving auxiliary rolling wheels is mounted on the outer surface of the external support frame. The sliding elastic mechanism comprises a fixed sliding frame. According to the pipeline welding seam detection crawling equipment with the mechanical arm, when the equipment stably operates, firstly, auxiliary rolling wheels can make contact with the interior of a pipeline, external abutting force is directly transmitted to a rotating supporting rod, and the rotating supporting rod can drive a rotating sliding base to stably slide front and back; the rotating supporting rod can extrude a fixed abutting spring in the moving process, the upward resistance of the fixed abutting spring enables auxiliary rolling wheels to be attached to the pipeline more tightly, through the design, the supporting force of the device in the curved-surface pipeline is higher, flexible measurement work can be conducted, and the stability is enhanced in the using process.

Description

Technical Field

[0001] This utility model relates to the field of pipeline inspection technology, specifically a crawling device for inspecting pipeline welds with a robotic arm. Background Technology

[0002] A pipeline is a device made up of pipes, pipe fittings, valves, etc., used to transport gas, liquid, or fluid containing solid particles. At the same time, when using pipelines, crawlers are needed to inspect the inside of the pipeline to ensure the normal and efficient use of the pipeline.

[0003] The existing design makes it difficult to inspect and process pipes of different sizes during use, which makes it easy for the crawler to collide when moving inside the pipe, thus reducing the lifespan of the crawler.

[0004] To overcome the aforementioned shortcomings, existing technology (Chinese patent publication number: CN220118920U, application date: 2023-12-01) discloses a crawler for pipeline weld inspection, belonging to the technical field of pipeline inspection equipment. It includes a base, a second roller rotatably connected to the outside of the base, an adjustment structure on the base, a moving rod slidably connected inside a sleeve, a fixed plate connected to the moving rod, a large gear connected to the outside of the positioning rod, a concave plate connected to the base, and a toothed plate connected to a telescopic device, which is located on the base. This crawler for pipeline weld inspection, through the configuration of the base, adjustment structure, fixed plate, moving rod, and toothed groove, allows the connecting plate to move up and down above the base via the cooperation of the toothed plate, large gear, and toothed groove. This facilitates the inspection of pipelines of different sizes during subsequent use, avoids collisions during movement inside the pipeline, and effectively ensures the service life of the crawler.

[0005] While the above design can solve the aforementioned problems, when used inside a pipe, the rollers at the bottom will experience positional deviations due to the pipe's curvature, resulting in poor measurement results and even the risk of tipping over. Furthermore, the existing design relies solely on its own weight for stable operation, which is insufficient in terms of support within curved pipes, making flexible measurement difficult and leading to inadequate stability during use. Utility Model Content

[0006] The purpose of this utility model is to provide a crawling device for inspecting pipe welds with a robotic arm, in order to solve the problems mentioned in the background art, where the rollers below will have positional deviations due to the curvature of the pipe when used inside the pipe, resulting in poor measurement results and even the risk of tipping over. At the same time, the existing design relies solely on its own weight for stable operation, which is insufficient in terms of support in curved pipes, making it inconvenient to perform flexible measurement work and resulting in insufficient stability during use.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a crawling device for inspecting pipe welds with a robotic arm, comprising an inspection and transmission body, an external support frame mounted on the outer surface of the inspection and transmission body, and a sliding elastic mechanism for moving auxiliary rolling wheels mounted on the outer surface of the external support frame, the sliding elastic mechanism comprising a fixed sliding frame, the fixed sliding frame being fixedly mounted on the outer surface of the external support frame, a rotating sliding base mounted inside the fixed sliding frame, and a rotating support rod mounted inside the upper end of the rotating sliding base, a drive fixed motor mounted inside the end of the inspection and transmission body, and a meshing transmission mechanism for rotating a second engaging transmission rod mounted on the outer surface of the output end of the drive fixed motor.

[0008] Furthermore, the meshing transmission mechanism includes a first meshing gear rod, which is fixedly installed on the outer surface of the output end of the drive fixed motor. Rotating fixed frames are installed on the left and right sides of the external support frame, and a second meshing gear rod is installed inside the left rotating fixed frame.

[0009] Furthermore, the end of the second meshing gear rod meshes with the outside of the first meshing gear rod, and the end of the second meshing gear rod is equipped with a first engaging transmission rod. A connecting transmission belt is installed on the outer surface of the second meshing gear rod, and the inside of the right rotating fixed frame is equipped with a second engaging transmission rod. Moreover, the other end of the inner surface of the connecting transmission belt is engaged with the outside of the second engaging transmission rod.

[0010] Furthermore, the lower end of the rotating support rod is rotatably installed inside the rotating sliding base, and a limiting rotating support frame is installed on the outer surface of the external support frame. An auxiliary extension rod is installed inside the limiting rotating support frame, and the end of the auxiliary extension rod is rotatably installed inside the limiting rotating support frame.

[0011] Furthermore, the auxiliary roller is fixedly installed at the upper end of the auxiliary extension rod, and the outer surface of the auxiliary extension rod is rotatably installed inside the upper end of the rotating support rod. A fixed abutment spring is installed on the upper surface of the fixed sliding frame, and the other end of the fixed abutment spring is fixedly installed on the side of the rotating support rod.

[0012] Furthermore, the inner surface of the fixed sliding frame contacts the outer surface of the rotating sliding base to form a sliding structure, and the side of the rotating support rod contacts the upper outer surface of the fixed contact spring to form an elastic structure. Moreover, the auxiliary extension rod and the auxiliary rolling wheel are designed as a single unit.

[0013] Furthermore, the outer surface of the first meshing gear rod contacts the end of the second meshing gear rod to form a meshing structure, and the first meshing gear rod contacts the inner surface of the connecting transmission belt through the outer surface of the second meshing gear rod to form a transmission structure.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows: When the pipe weld inspection crawling device with a robotic arm is running stably, the auxiliary rolling wheel first contacts the inside of the pipe and directly transmits the external resistance force to the rotating support rod. The rotating support rod drives the rotating sliding base to slide back and forth stably. During the movement of the rotating support rod, it will squeeze the fixed resistance spring. The upward resistance of the fixed resistance spring will make the auxiliary rolling wheel fit more tightly with the pipe. This design makes the device more supportive in curved pipes, allowing for flexible measurement work and enhanced stability during use.

[0015] Furthermore, when the equipment needs to be moved as a whole, the drive motor is directly started to drive the first meshing gear rod to work. The rotation of the first meshing gear rod will synchronously drive the first contact transmission rod and the second meshing gear rod that are in contact with each other. The movement of the second meshing gear rod will synchronously drive the second contact transmission rod through the connecting transmission belt. This design makes the roller fit the bend in the pipe better, without causing positional deviation, and can obtain more stable measurement data.

[0016] Furthermore, two sets of fixed sliding frame, rotating support rod, auxiliary extension rod, linkage fixing ring and fixed contact spring are symmetrically installed about the center point of the detection and transmission body, and the end center positions of the two sets of auxiliary extension rods correspond to each other. This design makes the equipment more stable in use. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the detection and transmission body of this utility model;

[0018] Figure 2 This is a three-dimensional structural diagram of the auxiliary extension rod of this utility model;

[0019] Figure 3 This is a three-dimensional structural diagram of the sliding groove of this utility model;

[0020] Figure 4 This is a three-dimensional structural diagram of the connecting transmission belt of this utility model;

[0021] Figure 5 This is a three-dimensional structural diagram of the second bonding transmission rod of this utility model;

[0022] Figure 6 This is a three-dimensional structural diagram of the external support frame of this utility model.

[0023] In the diagram: 1. Detection and transmission body; 2. External support frame; 3. Fixed sliding frame; 4. Rotating support rod; 5. Auxiliary extension rod; 6. Linkage fixing ring; 7. Fixed contact spring; 8. Auxiliary rolling wheel; 9. Drive fixed motor; 10. First meshing gear rod; 11. Rotating fixed frame; 12. Rotating sliding base; 13. Connecting transmission belt; 14. First contact transmission rod; 15. Limiting rotation support frame; 16. Second meshing gear rod; 17. Connecting sliding groove; 18. Second contact transmission rod. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Example 1: Please refer to Figures 1-6 The present invention provides the following technical solution: a crawling device for inspecting pipe welds with a robotic arm, comprising an inspection and transmission body 1, an external support frame 2 mounted on the outer surface of the inspection and transmission body 1, and a sliding elastic mechanism for moving an auxiliary rolling wheel 8 mounted on the outer surface of the external support frame 2, the sliding elastic mechanism comprising a fixed sliding frame 3, the fixed sliding frame 3 being fixedly mounted on the outer surface of the external support frame 2, a rotating sliding base 12 being mounted inside the fixed sliding frame 3, and a rotating support rod 4 being mounted inside the upper end of the rotating sliding base 12, a drive fixed motor 9 being mounted inside the end of the inspection and transmission body 1, and a meshing transmission mechanism for rotating a second engaging transmission rod 18 being mounted on the outer surface of the output end of the drive fixed motor 9.

[0026] like Figure 1 , Figure 3 , Figure 6The technical solution shown addresses the problem that existing designs, when used inside pipes, suffer from positional deviations in the lower rollers due to pipe curvature, leading to poor measurement results and even the risk of tipping over. The solution discloses the following: the lower end of the rotating support rod 4 is rotatably mounted inside the rotating sliding base 12; a limiting rotating support frame 15 is mounted on the outer surface of the external support frame 2; an auxiliary extension rod 5 is installed inside the limiting rotating support frame 15, with its end rotatably mounted inside the limiting rotating support frame 15; an auxiliary rolling wheel 8 is fixedly mounted on the upper end of the auxiliary extension rod 5, with its outer surface rotatably mounted inside the upper end of the rotating support rod 4; a fixing contact spring 7 is mounted on the upper surface of the fixed sliding frame 3, with its other end fixedly mounted on the side of the rotating support rod 4; the inner surface of the fixed sliding frame 3 contacts the outer surface of the rotating sliding base 12 to form a sliding structure; and the side of the rotating support rod 4 contacts the upper outer surface of the fixing contact spring 7 to form an elastic structure. Furthermore, the auxiliary extension rod 5 and the auxiliary rolling wheel 8 are integrated into a single unit.

[0027] When the entire equipment is running stably inside the pipeline, the auxiliary roller 8 is moved to make it fit against the inside of the pipeline. The auxiliary roller 8 will rotate downwards under the resistance of the pipeline surface. When the auxiliary roller 8 moves, it will synchronously drive the auxiliary extension rod 5 fixedly installed on the outer surface. Since the left and right sides of the auxiliary extension rod 5 are rotatably installed inside the rotating support rod 4, the rotating support rod 4 will be synchronously driven to move in position. At the same time, the rotating support rod 4 will drive the rotating sliding base 12 rotatably installed at the lower end. Since the rotating sliding base 12 is slidably installed inside the fixed sliding frame 3... The sliding base 12 is fixedly installed on the outer surface of the external support frame 2. Therefore, the sliding base 12 will slide laterally. Since the end of the rotating support rod 4 is installed inside the rotating sliding base 12, the rotating sliding base 12 and the rotating support rod 4 will be driven synchronously to move in the corresponding position. When the rotating support rod 4 rotates downward, it will abut the fixed contact spring 7 inside. The fixed contact spring 7 will then be squeezed at the top. The squeezing force of the fixed contact spring 7 will push the auxiliary rolling wheel 8 upward through the auxiliary extension rod 5, so that the auxiliary rolling wheel 8 fits more tightly with the inner wall of the pipe.

[0028] Example 2: Figure 2 , Figure 4 , Figure 5The technical solution shown addresses the problem that existing designs rely solely on gravity for stable operation, resulting in insufficient support within curved pipes, hindering flexible measurement work, and causing instability during use. It discloses a meshing transmission mechanism including a first meshing gear rod 10, which is fixedly mounted on the outer surface of the output end of a drive motor 9. Rotating fixed frames 11 are mounted on the left and right sides of the external support frame 2, and a second meshing gear rod 16 is installed inside the left rotating fixed frame 11. The end of the second meshing gear rod 16 is connected to the outer surface of the first meshing gear rod 10. The gears mesh with each other, and the end of the second meshing gear rod 16 is equipped with a first engaging transmission rod 14. The outer surface of the second meshing gear rod 16 is equipped with a connecting transmission belt 13, and the inside of the right rotating fixed frame 11 is equipped with a second engaging transmission rod 18. The other end of the inner surface of the connecting transmission belt 13 is in contact with the outside of the second engaging transmission rod 18. The outer surface of the first meshing gear rod 10 contacts the end of the second meshing gear rod 16 to form a meshing structure, and the first meshing gear rod 10 contacts the inner surface of the connecting transmission belt 13 through the outer surface of the second meshing gear rod 16 to form a transmission structure.

[0029] When the entire device needs to be moved forward or backward, after placing the entire device inside the pipeline, the drive motor 9, which is fixedly installed inside the end of the detection and transmission body 1, is started. The start of the drive motor 9 drives the first meshing gear rod 10, which is fixedly installed on the outer surface of the output end, to generate a synchronous rotation rod. While the first meshing gear rod 10 rotates, it meshes with the second meshing gear rod 16, which is in contact with the outside, and drives it to rotate synchronously. Since the second meshing gear rod 16 is rotatably installed inside the rotating fixed frame 11, and the ends of the rotating fixed frame 11 are fixedly installed on both sides of the external support frame 2, the second meshing gear rod 16 will stably and continuously rotate along the inside of the rotating fixed frame 11 under the drive of the meshing motion, while simultaneously rotating with the rotating fixed frame 11. The first fitting transmission rod 14, which is an integral design inside, will also rotate stably and continuously. Moreover, the first fitting transmission rod 14 is telescopic and can automatically adjust and fit with the inside of the pipe. When the second meshing gear rod 16 is driven to rotate, it will drive the connecting transmission belt 13 that is slidably installed on the outer surface. The second fitting transmission rod 18 is installed at the other end of the connecting transmission belt 13. Since the second fitting transmission rod 18 is also rotatably installed inside the rotating fixed frame 11, the second fitting transmission rod 18 and the first fitting transmission rod 14 rotate synchronously. Moreover, the movement of the connecting transmission belt 13 passes through the docking sliding groove 17 opened at the corresponding position on the side of the external support frame 2. The connection between the linkage fixing ring 6 and the four sets of second fitting transmission rods 18 makes the operation of the equipment more stable.

[0030] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0031] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pipeline weld detection crawling device with a mechanical arm, comprising a detection transmission body (1), an outer surface of the detection transmission body (1) is provided with an outer support frame (2), and an outer surface of the outer support frame (2) is provided with a sliding elastic mechanism for moving auxiliary rolling wheels (8); characterized in that the sliding elastic mechanism comprises a fixed sliding frame (3) fixedly installed on the outer surface of the outer support frame (2), an inner portion of the fixed sliding frame (3) is provided with a rotating sliding base (12), an upper end of the rotating sliding base (12) is internally provided with a rotating support rod (4), an end of the detection transmission body (1) is internally provided with a driving fixed motor (9), and an output end of the driving fixed motor (9) is externally provided with an engaging transmission mechanism for rotating a second close transmission rod (18).

2. The pipe weld inspection crawling device with a mechanical arm according to claim 1, characterized in that: the engaging transmission mechanism comprises a first engaging gear rod (10) fixedly installed on the output end of the driving fixed motor (9), left and right sides of the outer support frame (2) are provided with rotating fixed frames (11), and an inner portion of the left rotating fixed frame (11) is provided with a second engaging gear rod (16).

3. The pipe weld inspection crawling device with a mechanical arm according to claim 2, characterized in that: an end of the second engaging gear rod (16) is externally engaged with the first engaging gear rod (10), an end of the second engaging gear rod (16) is provided with a first close transmission rod (14), an outer surface of the second engaging gear rod (16) is provided with a connecting transmission belt (13), an inner portion of the right rotating fixed frame (11) is provided with a second close transmission rod (18), and an inner surface of the connecting transmission belt (13) is externally engaged with the second close transmission rod (18).

4. The pipe weld inspection crawling device with a mechanical arm according to claim 1, characterized in that: a lower end of the rotating support rod (4) is rotatably installed in the inner portion of the rotating sliding base (12), and an outer surface of the outer support frame (2) is provided with a limiting rotating support frame (15), an inner portion of the limiting rotating support frame (15) is provided with an auxiliary extension rod (5), and an end of the auxiliary extension rod (5) is rotatably installed in the inner portion of the limiting rotating support frame (15).

5. The pipe weld inspection crawling device with a mechanical arm according to claim 4, characterized in that: the auxiliary rolling wheels (8) are fixedly installed on the upper end of the auxiliary extension rod (5), and an outer surface of the auxiliary extension rod (5) is rotatably installed in the inner portion of the upper end of the rotating support rod (4), an upper surface of the fixed sliding frame (3) is provided with a fixed abutting spring (7), and the other end of the fixed abutting spring (7) is fixedly installed on the side of the rotating support rod (4).

6. The pipe weld inspection crawling device with a mechanical arm according to claim 5, characterized in that: the inner surface of the fixed sliding frame (3) and the outer surface of the rotating sliding base (12) are in contact to form a sliding structure, the side of the rotating support rod (4) and the upper end of the outer surface of the fixed abutting spring (7) are in contact to form an elastic structure, and the auxiliary extension rod (5) and the auxiliary rolling wheels (8) are designed in an integrated manner.

7. The pipe weld inspection crawling device with a mechanical arm according to claim 3, characterized in that: the outer surface of the first engaging gear rod (10) and the end of the second engaging gear rod (16) are in contact to form an engaging structure, and the outer surface of the first engaging gear rod (10) and the inner surface of the connecting transmission belt (13) are in contact through the second engaging gear rod (16) to form a transmission structure.

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