Automatic inspection device for pressure pipeline

Abstract

The utility model discloses an automatic inspection device for a pressure pipeline. The inspection system is applied to a pressure pipeline and comprises a control terminal and an inspection terminal, the control terminal is in communication connection with the inspection terminal, and the inspection terminal comprises an inspection frame main body, a main control box, a plurality of motion control units, an image acquisition unit, a wall thickness measurement unit, a hardness measurement unit and a polishing unit. The automatic inspection device for the pressure pipeline provided by the utility model can automatically perform external detection of the pressure pipeline, including automatic macroscopic inspection of surface corrosion, material loss, pipeline deformation, anti-corrosion layer falling and the like of the pressure pipeline, and automatic pipe wall thickness measurement and material hardness measurement. The pressure pipeline inspection device has the advantages that manual detection in a close range of the pipeline is not needed, safety and reliability of the pressure pipeline inspection process are greatly improved, accuracy of detection data is guaranteed, automation and digitization levels of the inspection device are improved, and comprehensive coverage detection of pipeline inspection is realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to pressure pipeline inspection technical field, especially relate to a pressure pipeline automatic inspection device. BACKGROUND

[0002] Pressure pipeline is important equipment in industrial production, is often used for conveying high temperature, high pressure, poisonous, harmful, flammable, explosive medium, and pressure pipeline accident can easily cause mass casualties and result in huge economic losses. Pressure pipeline safety operation guarantee work is extremely important, and the operation safety of pressure pipeline is responsible for the main responsibility of the pipeline using unit, in addition, the inspection unit also legally implements the periodic inspection to the pressure pipeline in use. The periodic detection of pressure pipeline operation condition is an important measure to guarantee the safe operation of equipment, mainly including macroscopic inspection, wall thickness measurement, surface corrosion detection, material hardness detection, metallographic detection and the like. At present, the artificial field inspection method that detection personnel walks along the pipeline, observes, tests and records is generally adopted, and the existing problems include: (1) the industrial pipeline is generally long, and the artificial inspection operation has great labor intensity; (2) part of the pressure pipeline is located in the overhead layer, and the position is relatively high, so that the detection personnel is inconvenient to approach the pipeline body, and it is relatively difficult to perform wall thickness measurement, macroscopic inspection and the like, so that the inspection content is not comprehensive; (3) the existing detection mode has low digitalization level, and the paper and pen recording method is adopted, so that the field detection data is not convenient for digitalization and rapid archiving. CONTENT OF THE UTILITY MODEL

[0003] The utility model aims at at least solving one of the technical problems existing in the prior art. For this purpose, the utility model provides a pressure pipeline automatic inspection device, which can automatically perform external detection of the pressure pipeline, and comprises: automatically performing macroscopic inspection such as surface corrosion, material loss, pipeline deformation and anticorrosion layer falling of the pressure pipeline, and automatically performing wall thickness measurement and material hardness measurement.

[0004] The pressure pipeline automatic inspection device according to the embodiment of the utility model is applied to a pressure pipeline, and comprises: a control terminal and an inspection terminal, wherein the inspection terminal comprises:

[0005] An inspection frame body is movably sleeved on the outside of the pressure pipeline;

[0006] A main control box is arranged on the inspection frame body, and the main control box is in communication connection with the control terminal;

[0007] A plurality of motion control units are arranged on the inspection frame body and in communication connection with the main control box, and the motion control units are used for driving the inspection frame body to move along the outer surface of the pressure pipeline;

[0008] An image acquisition unit is arranged on the inspection frame body and is in communication connection with the main control box, and the image acquisition unit is used for acquiring image information of the outer surface of the pressure pipeline.

[0009] A wall thickness measurement unit is arranged on the inspection frame body and is in communication connection with the main control box, and the wall thickness measurement unit is used for measuring the wall thickness of the pressure pipeline.

[0010] A hardness measurement unit is arranged on the inspection frame body and is in communication connection with the main control box, and the hardness measurement unit is used for measuring the material hardness of the pressure pipeline.

[0011] According to some embodiments of the utility model, the inspection frame body comprises:

[0012] A first half-cylinder frame and a second half-cylinder frame are symmetrically arranged along the outer surface of the pressure pipeline, and the first half-cylinder frame and the second half-cylinder frame are connected through fasteners; and the main control box is arranged on the first half-cylinder frame.

[0013] According to some embodiments of the utility model, the motion control unit comprises:

[0014] A motion control box is arranged on the outer wall of the inspection frame body, and the motion control box is in communication connection with the main control box.

[0015] An angle adjusting motor is connected to one end of the motion control box, and the other end of the angle adjusting motor penetrates through the inspection frame body and extends to the inner wall of the inspection frame body; and the control end of the angle adjusting motor is electrically connected to the motion control box.

[0016] A fixing support is connected to the other end of the angle adjusting motor, and the fixing support is provided with a rotating shaft.

[0017] A driving wheel is provided with a driving motor, the driving motor is in transmission connection with the rotating shaft, the control end of the driving motor is electrically connected to the motion control box, and the driving wheel is used for sliding contact with the outer surface of the pressure pipeline.

[0018] According to some embodiments of the utility model, the angle adjusting motor comprises:

[0019] A fixed part is fixedly connected to the motion control box, and the control end of the fixed part is electrically connected to the motion control box.

[0020] A rotating part is in transmission connection with the fixed part and is also connected to the fixing support; and the fixed part is used for driving the rotating part to rotate.

[0021] According to some embodiments of the present application, the motion control box comprises:

[0022] a processor;

[0023] a battery, electrically connected with the processor;

[0024] a data communication module, electrically connected with the processor, and further in communication connection with the main control box.

[0025] According to some embodiments of the present application, the image acquisition unit comprises:

[0026] an image acquisition control box, fixedly arranged at one end edge of the inspection frame body, and in communication connection with the main control box;

[0027] a camera, arranged in the image acquisition control box, electrically connected with the image acquisition control box, and extending to the visible part of the outer surface of the pressure pipeline.

[0028] According to some embodiments of the present application, the wall thickness measurement unit comprises:

[0029] a wall thickness measurement control box, fixedly arranged at one end edge of the inspection frame body, and in communication connection with the main control box;

[0030] a wall thickness measurement probe, arranged in the wall thickness measurement control box, electrically connected with the wall thickness measurement control box, and extending to the visible part of the outer surface of the pressure pipeline.

[0031] According to some embodiments of the present application, the hardness measurement unit comprises:

[0032] a hardness measurement control box, fixedly arranged at one end edge of the inspection frame body, and in communication connection with the main control box;

[0033] a first telescopic mechanism, arranged in the hardness measurement control box, electrically connected with the hardness measurement control box;

[0034] a hardness tester, in transmission connection with the first telescopic mechanism, and further electrically connected with the hardness measurement control box.

[0035] According to some embodiments of the present application, further comprising a polishing unit, arranged in the inspection frame body, and in communication connection with the main control box, the polishing unit being used for polishing the outer surface of the pressure pipeline.

[0036] According to some embodiments of the present application, the polishing unit comprises:

[0037] A polishing control box is fixedly arranged at one end edge of the inspection frame body and is in communication connection with the main control box.

[0038] A second telescopic mechanism is arranged in the polishing control box and is in electrical connection with the polishing control box.

[0039] A polishing motor is arranged in the polishing control box, and a control end of the polishing motor is in electrical connection with the polishing control box.

[0040] A polishing head is in transmission connection with the polishing motor and is also in transmission connection with the second telescopic mechanism.

[0041] The pressure pipeline automatic inspection device has the following beneficial effects: the manual detection is replaced by the mode that the control terminal remotely controls the inspection terminal, manual detection is not needed in the close range of the pipeline, the safety and reliability of the pressure pipeline inspection process are greatly improved, the operation risk in the inspection process of the pressure pipeline or other human bodies is difficult to contact the pressure pipeline is avoided, the test data of the inspection terminal is sent to the control terminal in the mode of wireless communication, the instant electronic record of the detection data is realized, and the accuracy of the detection data is ensured. The mode that the main control box is in communication connection with and controls the motion control unit, the image acquisition unit, the wall thickness measurement unit, the hardness measurement unit and the polishing unit is adopted, so that the automation and digitization level of the inspection device is improved, the corrosion degree, the material missing degree, the pipeline deformation condition and the anticorrosion layer shedding degree of the outer surface of the pressure pipeline are automatically checked, the automatic pipeline wall thickness measurement and material hardness measurement are realized, the polishing unit is arranged to polish the outer wall of the pipeline and remove the anticorrosion layer on the surface of the pipeline, the ultrasonic wall thickness measurement and metallographic detection are prepared in advance, the image acquisition unit is arranged to automatically identify the symbol mark type made by the detection personnel on the surface of the pipeline, so that the corresponding detection task is automatically executed at the mark position, and the motion control unit is arranged to enable the device to move along the outer surface of the pressure pipeline and realize different moving crawling tracks according to the inspection requirement, and comprehensive coverage detection of pipeline inspection is realized.

[0042] Additional aspects and advantages of the present application will be described in the following description, become apparent from the following description, or be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0043] The present application will be further described below in combination with the drawings and embodiments, wherein:

[0044] Figure 1 It is a whole structure schematic view of the pressure pipeline automatic inspection device of the present application.

[0045] Figure 2 A structure schematic view of a first cylinder frame of the pressure pipeline automatic inspection device of the embodiment of the utility model;

[0046] Figure 3 A structure schematic view of a first cylinder frame of the pressure pipeline automatic inspection device of the embodiment of the utility model;

[0047] Figure 4 A structure schematic view of a motion control unit of the pressure pipeline automatic inspection device of the embodiment of the utility model;

[0048] Figure 5 A structure schematic view of a polishing unit of the pressure pipeline automatic inspection device of the embodiment of the utility model;

[0049] Figure 6 A structure schematic view of a hardness measurement unit of the pressure pipeline automatic inspection device of the embodiment of the utility model;

[0050] Figure 7 A communication connection view of the pressure pipeline automatic inspection device of the embodiment of the utility model.

[0051] The drawing mark: pressure pipeline 100;Control terminal 200;Inspection terminal 300, inspection frame main body 310, first half cylinder frame 311, detection unit fixed hole 311a, motion unit control placement hole 311b, motion control unit fixed hole 311c, frame fixed hole 311d, second half cylinder frame 312, fastener 313, main control box 320, motion control unit 330, motion control box 331, fixed hole 331a, fixed part 332, rotating part 333, fixed support 334, rotating shaft 334a, drive wheel 335, image acquisition unit 340, wall thickness measurement unit 350, hardness measurement unit 360, hardness measurement control box 361, first mounting hole 361a, first telescopic mechanism 362, hardness tester 363, polishing unit 370, polishing control box 371, second mounting hole 371a, second telescopic mechanism 372, polishing head 373. DETAILED DESCRIPTION

[0052] The embodiments of the utility model are described in detail below, the examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, only for explaining the utility model, and cannot be understood as the limitation of the utility model.

[0053] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0054] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0055] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0056] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0057] Reference Figures 1-7 This utility model proposes an automatic inspection device for pressure pipelines, applied to pressure pipeline 100. The automatic inspection device includes: a control terminal 200 and an inspection terminal 300. The inspection terminal 300 is movably sleeved on the outer surface of the pressure pipeline 100, and includes:

[0058] The main body of the inspection frame 310 adopts a hollow cylindrical structure, and the pressure pipeline 100 is nested in the main body of the inspection frame 310.

[0059] The main control box 320 is located on the main body of the inspection frame 310 and is communicatively connected to the control terminal 200.

[0060] Several motion control units 330 are disposed on the inspection frame body 310 and are communicatively connected to the main control box 320. The motion control units 330 also slide in contact with the outer surface of the pressure pipe 100 to drive the inspection frame body 310 to move along the outer surface of the pressure pipe 100.

[0061] The image acquisition unit 340 is installed on the main body of the inspection frame 310 and is communicatively connected to the main control box 320. The image acquisition unit 340 is used to acquire image information of the outer surface of the pressure pipeline 100.

[0062] The wall thickness measuring unit 350 is installed on the main body of the inspection frame 310 and is communicatively connected to the main control box 320. The wall thickness measuring unit 350 is used to measure the wall thickness of the pressure pipeline 100.

[0063] The hardness measuring unit 360 is installed on the main body of the inspection frame 310 and is connected to the main control box 320. The hardness measuring unit 360 is used to measure the material hardness of the pressure pipeline 100.

[0064] The grinding unit 370 is located on the main body of the inspection frame 310 and is connected to the main control box 320. The grinding unit 370 is used to grind the outer surface of the pressure pipeline 100.

[0065] Specifically, in this embodiment, such as Figure 1 As shown, the automatic pressure pipeline inspection device includes: a control terminal 200 and an inspection terminal 300.

[0066] The control terminal 200 is an intelligent terminal device, such as an industrial smart tablet computer, that can communicate with the inspection terminal 300 and perform motion control and detection control on the inspection terminal 300. The control terminal 200 has a touch screen display for human-machine interaction, can control the running speed of the inspection terminal 300 on the pipeline, and can receive, store, and display the detection data transmitted back by the inspection terminal 300, including wall thickness measurement data, pipeline surface image data, and hardness measurement data. The control terminal 200 communicates wirelessly with the inspection terminal 300.

[0067] like Figure 2 As shown, the inspection terminal 300 consists of a first semi-cylindrical frame 311 and a second semi-cylindrical frame 312 forming the main body 310 of the inspection frame. The two are assembled using fasteners 313 (e.g., bolts and nuts) to form a ring-shaped hollow structure. During operation, the pressure pipeline 100 being inspected is located within the hollow structure of the inspection terminal 300. The main control box 320, eight motion control units 330, and four detection execution units are fixed to the main body 310 of the inspection frame of the inspection terminal 300. The detection execution units include: an image acquisition unit 340, a wall thickness measurement unit 350, a hardness measurement unit 360, and a grinding unit 370. The detection execution units are circumferentially distributed at the ends of the main body 310 of the inspection frame.

[0068] The communication connection relationship and control logic of the inspection device are as follows: Figure 7 As shown. The control terminal 200 communicates wirelessly with the main control box 320 to control the eight motion control units 330 and four detection execution units in the inspection terminal 300 (controlling the movement path of the motion control units 330 on the surface of the pressure pipeline 100, controlling the image acquisition unit 340 to take pictures and record videos, controlling the wall thickness measurement unit 350 to measure the pipeline wall thickness, controlling the hardness measurement unit 360 to measure the hardness of the pipeline material, and controlling the grinding unit 370 to grind the oil and gas layer on the designated pipeline surface area), and acquires the pipeline surface image data returned by the image acquisition unit 340, the remaining wall thickness of the pressure pipeline measured by the wall thickness measurement unit 350, and the pipeline hardness measured by the hardness measurement unit 360.

[0069] The frame structure of the inspection terminal is as follows Figure 3 As shown. The first semi-cylindrical frame 311 and the second semi-cylindrical frame 312 have basically the same structure, the difference being that the main control box needs to be installed on the first semi-cylindrical frame 311. The frame cross-section is a semi-circular hollow structure. Both the first semi-cylindrical frame 311 and the second semi-cylindrical frame 312 have four motion control unit placement holes 311b, used to accommodate the drive wheel 335 of the motion control unit 330, with sufficient space for the drive wheel 335 of the motion control unit 330 to rotate freely in the holes, realizing the movement of the inspection terminal 300 along different paths on the pipeline. Near the motion control unit placement holes 311b are motion control unit fixing holes 311c, used to cooperate with fasteners such as screws to fix the motion control unit 330 to the frame. The frame has frame fixing holes 311d, used to cooperate with fasteners such as bolts and nuts to fix the first semi-cylindrical frame 311 and the second semi-cylindrical frame 312, which together constitute the main body 310 of the inspection frame. The frame has a detection unit fixing hole 311a for fixing the detection execution unit, such as fixing the image acquisition unit 340 to the first semi-cylindrical frame 311.

[0070] The motion control unit is mounted on the main body 310 of the inspection frame, and its structure is as follows: Figure 2As shown. Four motion control units 330 are mounted on frame one, and four motion control units 330 are mounted on frame two. During operation, the eight motion control units 330 use the same motion control parameters, namely the same rotation speed and rotation angle. The main control box 320 controls the angle between the axis of the drive wheel 335 of the eight motion control units 330 and the pipeline axis, enabling the inspection terminal 300 to move along different paths on the surface of the pressure pipeline 100. The motion types include linear motion along the pipeline axis (the axis of the drive wheel 335 of the motion control unit 330 is perpendicular to the pipeline axis), circular motion at a fixed position on the pipeline (the axis of the drive wheel 335 of the motion control unit 330 is parallel to the pipeline axis), and spiral motion along the pipeline surface (the angle between the axis of the drive wheel 335 of the motion control unit 330 and the pipeline axis is acute).

[0071] Motion control unit 330 mechanism such as Figure 4 As shown, it includes: a motion control box 331, an angle adjustment motor, a fixed bracket 334, and a drive wheel 335. The angle adjustment motor is fixedly installed at the lower part of the motion control box 331. The angle adjustment motor includes a fixed part 332 and a rotating part 333. The rotating part 333 is fixedly connected to the fixed bracket 334. A rotating shaft 334a is installed on the fixed bracket 334, and a drive wheel 335 is installed on the rotating shaft 334a. A drive motor is fixedly installed coaxially with the drive wheel 335. The motion control box 331 can control the rotation speed of the drive motor. The motion control unit 330 can control the rotation angle of the angle adjustment motor, thereby controlling the rotation angle of the drive wheel 335 and further controlling the movement path of the inspection device on the pipe surface. The motion control box 331 has a fixing hole 331a, which allows the motion control unit 330 to be fixed on the inspection frame body 310. The motion control box 331 contains a processor, battery, and data communication module, which can power and control the parameters of the angle adjustment motor and the drive motor, and can also achieve wireless communication with the main control box 320.

[0072] The structure of the 370 grinding unit is as follows: Figure 5 As shown, the system includes a grinding control box 371, a second telescopic mechanism 372, and a grinding execution unit. The grinding execution unit includes a grinding head 373 and a grinding motor housed within the grinding control box 371. A second mounting hole 371a is provided at the lower end of the grinding control box 371 for fixing the grinding unit 370 to the end of the inspection frame body 310. Figure 2As shown. The grinding control box 371 contains a processor, battery, and data communication module. Upon receiving a grinding command from the main control box 320, the second telescopic mechanism 372 extends the grinding head 373 fixed to it until it contacts the surface of the pressure pipe 100. The processor of the grinding unit 370 controls the grinding head 373 to rotate, thereby removing the paint layer from the pipe surface. After the preset grinding time, the processor controls the telescopic structure to retract the grinding head 373. The purpose of grinding is to prepare for subsequent manual metallographic testing of the pipe surface material. The data communication module of the grinding unit 370 can wirelessly communicate with the main control box 320 and receive grinding process control commands sent by the main control box 320.

[0073] The hardness measuring unit has a 360° structure as follows: Figure 6 As shown, it includes a hardness measurement control box 361, a first telescopic mechanism 362, and a hardness meter 363. The lower end of the hardness measurement control box 361 is provided with a first mounting hole 361a for fixing the hardness measurement unit to the end of the inspection device frame, such as... Figure 1 As shown. The hardness measurement control box 361 contains a processor, a battery, and a data communication module. Upon receiving a hardness measurement command from the main control box 320, the first telescopic mechanism 362 extends the hardness gauge 363 fixed to it until its end contacts the pipe surface, thus achieving hardness measurement. The hardness gauge 363 is a Leeb hardness gauge. After the hardness test, the processor controls the telescopic mechanism to retract the hardness gauge 363. The data communication module of the hardness measurement unit 360 can wirelessly communicate with the main control box 320, receiving hardness measurement control commands from the main control box 320. The main control box 320 receives the pipe hardness data measured by the hardness gauge 363 and sends the hardness data to the control terminal 200 for data recording.

[0074] The image acquisition unit 340 is used to acquire surface data of the pressure pipeline 100 and send the image data to the main control box 320 of the inspection terminal 300 for analysis. The main control box 320 performs image analysis, and when it detects surface defects such as corrosion, deformation, cracks, or paint peeling, it sends the surface defect image data to the control terminal 200 for archiving. When the main control box 320 detects inspection marks pre-placed on the pipeline surface by inspectors in the image, it calculates the position of the inspection marks on the pipeline and controls the motion control unit 330 to move (by controlling the rotation angle and number of rotations of the drive wheel to achieve linear, circular, or helical motion), causing the measuring execution components of the wall thickness measurement unit 350, hardness measurement unit 360, or grinding unit 370 to move above the inspection marks, performing wall thickness measurement, hardness measurement, and pipeline surface paint grinding operations. Different operating procedures correspond to different inspection symbols. For example, the symbol for hardness measurement is "□", the symbol for wall thickness measurement is "○", and the symbol for grinding is "X". The main control box 320's internal processor has image processing and analysis capabilities, which can automatically identify whether the pipe surface has the above inspection symbols and perform the corresponding inspection operations. The inspection symbols are pre-set on the surface of the pipe being inspected by the inspector using markers or stickers.

[0075] The inspection personnel can operate the control terminal to control the movement path of the inspection terminal 300 on the pipeline and perform inspection operations on different parts of the pipeline (surface condition photography inspection, wall thickness measurement, hardness measurement, surface paint layer polishing). Alternatively, different markings can be pre-marked on different parts of the pipeline surface, with different markings representing different inspection operations. The control terminal 200 can preset automatic inspection programs for the inspection terminal 300, allowing the inspection device to autonomously complete the inspection and automatically send the data to the control terminal 200 for storage, thus achieving electronic recording of the inspection data.

[0076] By using remote communication control of the inspection terminal 300 via the control terminal 200 to replace manual inspection, personnel are no longer required to perform manual inspections at close range on the pipeline. This greatly improves the safety and reliability of the pressure pipeline inspection process and avoids operational risks during the inspection of pressure pipeline 100 or other pressure pipelines that are difficult for the human body to access. Furthermore, the test data from the inspection terminal 300 is transmitted to the control terminal 200 via wireless communication, enabling real-time electronic recording of the test data and ensuring its accuracy. By employing a communication connection between the main control box 320 and the motion control unit 330, image acquisition unit 340, wall thickness measurement unit 350, hardness measurement unit 360, and grinding unit 370, the automation and digitalization level of the inspection device are improved. This allows for automatic macroscopic inspection of the outer surface of the pressure pipeline 100, assessing corrosion levels, material loss, pipeline deformation, and anti-corrosion layer peeling, thus achieving automatic pipeline wall thickness and material hardness measurement. The grinding unit grinds the outer wall of the pipeline, removing the anti-corrosion layer and preparing for ultrasonic wall thickness measurement and metallographic testing. The image acquisition unit 340 automatically identifies the types of symbols and markings pre-made by inspectors on the pipeline surface, automatically executing corresponding inspection tasks at the marked locations. The motion control unit 330 enables the device to move along the outer surface of the pressure pipeline and can achieve different movement and crawling trajectories according to inspection needs, achieving comprehensive pipeline inspection coverage.

[0077] Reference Figure 2 Furthermore, in some embodiments of this utility model, the inspection frame body 310 includes:

[0078] The first semi-cylindrical frame 311 and the second semi-cylindrical frame 312 are symmetrically arranged along the outer surface of the pressure. The first semi-cylindrical frame 311 and the second semi-cylindrical frame 312 are connected by fasteners 313. The main control box 320 is disposed on the first semi-cylindrical frame 311. The image acquisition unit 340 and the wall thickness measurement unit 350 are disposed at one end of the first semi-cylindrical frame 311. The hardness measurement unit 360 and the grinding unit 370 are disposed at one end of the second semi-cylindrical frame 312. Both the first semi-cylindrical frame 311 and the second semi-cylindrical frame 312 are provided with motion control units 330.

[0079] Specifically, in this embodiment, the frame structure of the inspection terminal is as follows: Figure 3As shown. The structures of the first semi-cylindrical frame 311 and the second semi-cylindrical frame 312 are basically the same, the difference being that the main control box needs to be installed on the first semi-cylindrical frame 311. The frame cross-section is a semi-circular hollow structure. Both the first semi-cylindrical frame 311 and the second semi-cylindrical frame 312 have four motion control unit placement holes to accommodate the drive wheels of the motion control units, with sufficient space for the drive wheels of the motion control units to rotate freely in the holes, realizing the movement of the inspection terminal 300 along different paths on the pipeline. Near the motion control unit placement hole 311b, there is a motion control unit fixing hole 311c, which is used to cooperate with fasteners such as screws to fix the motion control unit 330 to the frame. There is a frame fixing hole 311d on the frame, which is used to cooperate with fasteners such as bolts and nuts to fix the first semi-cylindrical frame 311 and the second semi-cylindrical frame 312, which together constitute the main body 310 of the inspection frame. There is a detection unit fixing hole 311a on the frame, which is used to fix the detection execution unit, such as fixing the image acquisition unit 340 to the first semi-cylindrical frame 311.

[0080] The motion control unit 330 is mounted on the inspection frame body 310, and its structure is as follows: Figure 2 As shown. Four motion control units 330 are mounted on frame one, and four motion control units 330 are mounted on frame two. During operation, the eight motion control units 330 use the same motion control parameters, namely the same rotation speed and rotation angle. The main control box 320 controls the angle between the drive wheel axis of the eight motion control units 330 and the pipeline axis, enabling the inspection terminal 300 to move along different paths on the surface of the pressure pipeline 100. The motion types include linear motion along the pipeline axis (the drive wheel 335 axis of the motion control unit 330 is perpendicular to the pipeline axis), circular motion at a fixed position on the pipeline (the drive wheel 335 axis of the motion control unit 330 is parallel to the pipeline axis), and spiral motion along the pipeline surface (the angle between the drive wheel 335 axis of the motion control unit 330 and the pipeline axis is acute).

[0081] Reference Figure 4 Furthermore, in some embodiments of this utility model, the motion control unit 330 includes:

[0082] The motion control box 331 is provided with a fixing hole 331a, which is used to mount the motion control box 331 on the outer wall of the inspection frame body 310. The motion control box is communicatively connected to the main control box 320.

[0083] An angle adjustment motor is provided, with one end connected to the motion control box 331 and the other end passing through the inspection frame body 310 and extending to the inner wall of the inspection frame body 310. The control end of the angle adjustment motor is electrically connected to the motion control box 331.

[0084] A fixed bracket 334 is connected to the other end of the angle adjustment motor, and the fixed bracket 334 is provided with a rotating shaft 334a.

[0085] The drive wheel 335 is equipped with a drive motor, which is connected to the rotating shaft 334a. The control end of the drive motor is electrically connected to the motion control box 331. The drive wheel 335 is used for sliding contact with the outer surface of the pressure pipe 100.

[0086] Specifically, in this embodiment, the motion control unit 330 mechanism is as follows: Figure 4 As shown, it includes: a motion control box 331, an angle adjustment motor, a fixed bracket 334, and a drive wheel 335. The angle adjustment motor is fixedly installed at the lower part of the motion control box 331. The angle adjustment motor includes a fixed part 332 and a rotating part 333. The rotating part 333 is fixedly connected to the fixed bracket 334. A rotating shaft 334a is installed on the fixed bracket 334, and a drive wheel 335 is installed on the rotating shaft 334a. A drive motor is fixedly installed coaxially with the drive wheel 335. The motion control box 331 can control the rotation speed of the drive motor. The motion control unit 330 can control the rotation angle of the angle adjustment motor, thereby controlling the rotation angle of the drive wheel 335 and further controlling the movement path of the inspection device on the pipe surface. The motion control box 331 has a fixing hole 331a, which allows the motion control unit 330 to be fixed on the inspection frame body 310. The motion control box 331 contains a processor, battery, and data communication module, which can power and control the parameters of the angle adjustment motor and the drive motor, and can also achieve wireless communication with the main control box 320.

[0087] Reference Figure 4 Furthermore, in some embodiments of this utility model, the angle adjustment motor includes:

[0088] The fixed part 332 is fixedly connected to the motion control box 331, and the control end of the fixed part 332 is electrically connected to the motion control box 331.

[0089] The rotating part 333 is connected to the fixed part 332 via a transmission connection and is also connected to the fixed bracket 334; the fixed part 332 is used to drive the rotating part 333 to rotate.

[0090] Furthermore, in some embodiments of this utility model, the motion control box 331 includes:

[0091] processor;

[0092] The battery is electrically connected to the processor;

[0093] The data communication module is electrically connected to the processor and also communicates with the main control box 320.

[0094] Furthermore, in some embodiments of this utility model, the image acquisition unit 340 includes:

[0095] The image acquisition control box is fixedly installed on one end edge of the inspection frame body 310 and is communicatively connected to the main control box 320.

[0096] The camera is located in the image acquisition control box and is electrically connected to the image acquisition control box. The camera extends to the visible part of the outer surface of the pressure pipe 100.

[0097] Specifically, in this embodiment, the image acquisition unit 340 is used to acquire surface data of the pressure pipeline 100 and send the image data to the main control box 320 of the inspection terminal 300 for analysis. The main control box 320 performs image analysis, and when it detects surface defects such as corrosion, deformation, cracks, or paint peeling on the pipeline surface, it sends the surface defect image data to the control terminal 200 for archiving. When the main control box 320 detects a detection mark pre-made on the pipeline surface by inspectors in the image, it calculates the position of the detection mark on the pipeline and controls the motion control unit 330 to move (by controlling the rotation angle and number of rotations of the drive wheel to achieve linear, circular, or helical motion), causing the measuring execution components of the wall thickness measurement unit 350, hardness measurement unit 360, or grinding unit 370 to move above the detection mark, performing wall thickness measurement, hardness measurement, and pipeline surface paint layer grinding operations. Different operating procedures correspond to different inspection symbols. For example, the symbol for hardness measurement is "□", the symbol for wall thickness measurement is "○", and the symbol for grinding is "X". The main control box 320's internal processor has image processing and analysis capabilities, which can automatically identify whether the pipe surface has the above inspection symbols and perform the corresponding inspection operations. The inspection symbols are pre-set on the surface of the pipe being inspected by the inspector using markers or stickers.

[0098] Furthermore, in some embodiments of this utility model, the wall thickness measuring unit 350 includes:

[0099] The wall thickness measurement control box is fixedly installed on one end edge of the inspection frame body 310 and is communicatively connected to the main control box 320.

[0100] The wall thickness measuring probe is installed in the wall thickness measuring control box and is electrically connected to the wall thickness measuring control box. The wall thickness measuring probe extends to the visible part of the outer surface of the pressure pipe 100.

[0101] Reference Figure 6 Furthermore, in some embodiments of this utility model, the hardness measuring unit 360 includes:

[0102] The hardness measurement control box 361 is fixedly installed on one end edge of the inspection frame body 310 and is connected to the main control box 320 for communication.

[0103] The first telescopic mechanism 362 is disposed in the hardness measurement control box and is electrically connected to the hardness measurement control box;

[0104] The hardness tester 363 is connected to the first telescopic mechanism 362 via a transmission connection, and is also electrically connected to the hardness measurement control box 361.

[0105] Specifically, in this embodiment, the hardness measuring unit 360 has the following structure: Figure 6 As shown, it includes a hardness measurement control box 361, a first telescopic mechanism 362, and a hardness meter 363. The lower end of the hardness measurement control box 361 has a first mounting hole for fixing the hardness measurement unit to the end of the inspection device frame, such as... Figure 1 As shown. The hardness measurement control box 361 contains a processor, a battery, and a data communication module. Upon receiving a hardness measurement command from the main control box 320, the first telescopic mechanism 362 extends the hardness gauge 363 fixed to it until its end contacts the pipe surface, thus achieving hardness measurement. The hardness gauge 363 is a Leeb hardness gauge. After the hardness test, the processor controls the telescopic mechanism to retract the hardness gauge 363. The data communication module of the hardness measurement unit 360 can wirelessly communicate with the main control box 320, receiving hardness measurement control commands from the main control box 320. The main control box 320 receives the pipe hardness data measured by the hardness gauge 363 and sends the hardness data to the control terminal 200 for data recording.

[0106] Reference Figure 5 Furthermore, in some embodiments of this utility model, the polishing unit 370 includes:

[0107] The grinding control box 371 is fixedly installed on one end edge of the inspection frame body 310 and is communicatively connected to the main control box 320.

[0108] The second telescopic mechanism 372 is disposed in the grinding control box 371 and is electrically connected to the grinding control box 371;

[0109] A grinding motor is installed inside a grinding control box 371, and the control terminal of the grinding motor is electrically connected to the grinding control box 371.

[0110] Grinding head 373 is connected to grinding motor and also connected to second telescopic mechanism 372.

[0111] Specifically, in this embodiment, the polishing unit 370 has the following structure: Figure 5As shown, the system includes a grinding control box 371, a second telescopic mechanism 262, and a grinding execution unit. The grinding execution unit includes a grinding head 373 and a grinding motor housed within the grinding control box 371. A second mounting hole 371a is provided at the lower end of the grinding control box 371 for fixing the grinding unit 370 to the end of the inspection frame body 310. Figure 2 As shown. The grinding control box 371 contains a processor, battery, and data communication module. Upon receiving a grinding command from the main control box 320, the second telescopic mechanism 372 extends the grinding head 373 fixed to it until it contacts the surface of the pressure pipe 100. The processor of the grinding unit 370 controls the grinding head 373 to rotate, thereby removing the paint layer from the pipe surface. After the preset grinding time, the processor controls the telescopic structure to retract the grinding head 373. The purpose of grinding is to prepare for subsequent manual metallographic testing of the pipe surface material. The data communication module of the grinding unit 370 can wirelessly communicate with the main control box 320 and receive grinding process control commands sent by the main control box 320.

[0112] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A pressure pipeline automatic inspection device, characterized by, The application is applied to a pressure pipeline, and the automatic inspection device comprises a control terminal and an inspection terminal, wherein the inspection terminal comprises: an inspection frame body movably sleeved outside the pressure pipeline; a main control box arranged on the inspection frame body and in communication with the control terminal; a plurality of motion control units arranged on the inspection frame body and in communication with the main control box, the motion control units being configured to drive the inspection frame body to move along the outer surface of the pressure pipeline; an image acquisition unit arranged on the inspection frame body and in communication with the main control box, the image acquisition unit being configured to acquire image information of the outer surface of the pressure pipeline; a wall thickness measurement unit arranged on the inspection frame body and in communication with the main control box, the wall thickness measurement unit being configured to measure the wall thickness of the pressure pipeline; a hardness measurement unit arranged on the inspection frame body and in communication with the main control box, the hardness measurement unit being configured to measure the material hardness of the pressure pipeline.

2. The automatic inspection device for pressure pipelines according to claim 1, characterized in that, The inspection frame body comprises a first half-cylinder frame and a second half-cylinder frame, the first half-cylinder frame and the second half-cylinder frame being symmetrically arranged along the outer surface of the pressure pipeline, and the first half-cylinder frame and the second half-cylinder frame being connected by fasteners; and the main control box is arranged on the first half-cylinder frame.

3. The automatic inspection device for pressure pipelines according to claim 1, characterized in that, The motion control unit comprises: a motion control box arranged on the outer wall of the inspection frame body, the motion control box being in communication with the main control box; an angle adjusting motor, one end of the angle adjusting motor being connected with the motion control box, the other end of the angle adjusting motor penetrating through the inspection frame body and extending to the inner wall of the inspection frame body, and the control end of the angle adjusting motor being electrically connected with the motion control box; a fixed support connected with the other end of the angle adjusting motor, the fixed support being provided with a rotating shaft; a drive wheel provided with a drive motor, the drive motor being in transmission connection with the rotating shaft, the control end of the drive motor being electrically connected with the motion control box, and the drive wheel being configured to be in sliding contact with the outer surface of the pressure pipeline.

4. The apparatus of claim 3, wherein, The angle adjusting motor comprises: a fixed part fixedly connected with the motion control box, the control end of the fixed part being electrically connected with the motion control box; a rotating part in transmission connection with the fixed part and connected with the fixed support, the fixed part being configured to drive the rotating part to rotate.

5. The apparatus for automatically inspecting penstocks according to claim 3, wherein The motion control box comprises: a processor; a battery electrically connected with the processor; a data communication module electrically connected with the processor and in communication with the main control box.

6. The apparatus of claim 1, wherein, The image acquisition unit comprises: an image acquisition control box fixedly arranged on one end edge of the inspection frame body and in communication with the main control box; a camera arranged on the image acquisition control box and electrically connected with the image acquisition control box, the camera extending to the visible part of the outer surface of the pressure pipeline.

7. The apparatus of claim 1, wherein, The wall thickness measurement unit comprises: A wall thickness measurement control box is fixedly arranged at one end edge of the inspection frame body and is in communication connection with the main control box. A wall thickness measurement probe is arranged in the wall thickness measurement control box and is in electrical connection with the wall thickness measurement control box. The wall thickness measurement probe extends to the visible part of the outer surface of the pressure pipeline.

8. The apparatus of claim 1, wherein, The hardness measurement unit comprises: A hardness measurement control box is fixedly arranged at one end edge of the inspection frame body and is in communication connection with the main control box. A first telescopic mechanism is arranged in the hardness measurement control box and is in electrical connection with the hardness measurement control box. A hardness tester is in transmission connection with the first telescopic mechanism and is in electrical connection with the hardness measurement control box.

9. The apparatus of claim 1, wherein, A polishing unit is arranged in the inspection frame body and is in communication connection with the main control box. The polishing unit is used for polishing the outer surface of the pressure pipeline.

10. The apparatus of claim 9, wherein, The polishing unit comprises: A polishing control box is fixedly arranged at one end edge of the inspection frame body and is in communication connection with the main control box. A second telescopic mechanism is arranged in the polishing control box and is in electrical connection with the polishing control box. A polishing motor is arranged in the polishing control box. A control end of the polishing motor is in electrical connection with the polishing control box. A polishing head is in transmission connection with the polishing motor and is in transmission connection with the second telescopic mechanism.

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