Automatic pipeline detection robot

Abstract

The utility model discloses an automatic pipeline detection robot, which belongs to the technical field of pipeline detection robots and comprises a chassis, a power supply control device and a mechanical arm are mounted at the top of the chassis, a welding device and a detection device are mounted at the end of the mechanical arm, a cleaning component is arranged on the mechanical arm, and a limiting component is arranged at the top of the chassis. A fixing block is fixed to the bottom of the base plate, a first L-shaped rod and a second L-shaped rod are symmetrically arranged on the two sides of the fixing block, the first L-shaped rod and the second L-shaped rod are hinged to the two sides of the fixing block, and limiting blocks are symmetrically arranged on the two sides of the fixing block and located above the first L-shaped rod and the second L-shaped rod. According to the pipeline robot, when the robot runs in the pipeline, under the elastic cooperation of the second spring, the first L-shaped rod and the second L-shaped rod, the idler wheels are lifted up or down to adapt to the road condition that the pipeline is unstable, it is guaranteed that the robot stably and flexibly moves in different pipeline environments, damage to parts caused by bumping is reduced, and therefore the overall protection effect is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of detection robots, in particular to a kind of automatic pipeline detection robot, belong to pipeline detection robot technical field. BACKGROUND

[0002] Pipeline detection welding integrated robot is the industrial robot specially engaged in detection and welding, and industrial robot is a kind of multipurpose, repeatable programming automatic operation machine, and currently needs to use pipeline welding robot in pipeline detection welding work.

[0003] In prior art, such as the utility model with the application number 202120040498.X discloses a kind of pipeline detection welding integrated robot, the structure design of first motor shaft pipe, inverted L-shaped shaft pipe, U-shaped connecting rod, annular block, annular rod, communication port, welding head and first bearing, so that the robot can realize the detection and welding integration to pipeline, and can avoid when welding in different directions in pipeline, communication pipe will produce winding and thus cause oxygen and acetylene mixed gas due to communication pipe winding and cause not timely delivery condition occurs.

[0004] Similar to the above application, there are still deficiencies:

[0005] The kind of pipeline detection welding integrated robot is prone to jolt and sway when driving, leading to insufficient stability, and adaptability is limited in complex pipeline environment, which not only aggravates the overall wear of equipment, but also reduces detection accuracy, and detection data is susceptible to interference, meanwhile, welding gun position and angle are affected, welding current and voltage are unstable, leading to the decline of welding quality;

[0006] Therefore, an automatic pipeline detection robot is designed to optimize the above problems. UTILITY MODEL CONTENTS

[0007] The main purpose of the utility model is to provide an automatic pipeline detection robot to solve the problems raised in the above background.

[0008] The purpose of the utility model can be achieved by adopting the following technical solutions:

[0009] The utility model provides an automatic pipeline detection robot, including the bottom plate, the top of bottom plate installs power control device and mechanical arm, the end of mechanical arm installs welding device and detection device, be provided with cleaning assembly on mechanical arm, the top of bottom plate is provided with limit component, the bottom of bottom plate is fixed with fixed block, both sides of fixed block are symmetrically provided with L type rod no.

[0010] Preferably, the limit component comprises a support frame and a sleeve, the support frame is located on the top of the bottom plate, a sleeve is rotatably installed at the middle position of the top of the support frame, an adjusting rod is screwedly installed in the sleeve, a fixed tube is symmetrically hingedly installed at the top of the adjusting rod, a limit spring is arranged between the fixed tubes, a fixed rod is slidably installed in the fixed tube, a spring one is sleeved on the outside of the fixed tube, and a limit wheel is installed at the end of the fixed rod.

[0011] Preferably, the cleaning assembly comprises a fan, a support rod and a limiting plate, the fan is located at one side of the end of the mechanical arm, an air pipe is fixedly connected to the output end of the fan, an air nozzle is installed at one end of the air pipe, the limiting plate is located at the bottom of one end of the mechanical arm, the support rod is located at the end of the mechanical arm and below the detection device, and the air pipe extends through the limiting plate and extends to one side of the support rod.

[0012] Preferably, a grip ring is sleeved on the outside of the sleeve, and anti-skid lines are arranged on the outside of the grip ring.

[0013] Preferably, a push-pull rod is arranged on one side of the bottom plate, and an anti-skid sleeve is arranged on the outside of the push-pull rod.

[0014] Preferably, a limit hole is formed at the connection between the limiting plate and the air pipe, and a protective layer is arranged on the inner wall of the limit hole.

[0015] Preferably, a buffer pad is arranged at the bottom of the limiting block, and the buffer pad is a rubber pad.

[0016] Compared with the prior art, the utility model has the beneficial effects that:

[0017] 1. The utility model discloses a bottom disc, power control device, welding device, mechanical arm, detection device, fixed block, L type rod no. 1, motor, gyro wheel, fixed plate, spring no. 2, limit block and L type rod no. 2's cooperation and use, can make robot in the process of driving in the pipeline through spring no. 2 and L type rod no. 1 and L type rod no. 2's elastic cooperation, gyro wheel lifts or falls to adapt to the road condition of pipeline uneven, guaranteeing stable, flexible movement under different pipeline environment, reducing the damage of jolt to element, thereby improve the overall protection effect.

[0018] 2. The utility model discloses a support frame, sleeve, adjusting rod, fixed pipe, fixed rod, spring no. 1, limit wheel and limit spring's cooperation and use, when the robot drives, according to the inside wall condition of pipeline, rotates sleeve adjustment and changes the height of adjusting rod ascending, makes the limit wheel of top adhere to the inner wall of pipeline, makes the gyro wheel of bottom adhere to the wall, avoids the problem that the center of gravity deviates and influences driving etc. that the bottom disc lifts, and reduces the damage of jolt to component, thereby further improve the overall stability and guarantee the stable driving of robot in the pipeline.

[0019] 3. The utility model discloses a fan, air pipe, limit board, air nozzle and support rod's cooperation and use, when detection device welds the position of weld joint, the fan starts and transports the air to the air nozzle through the air pipe, blows and cleans the dust impurity of welding position, pre-cleanses dust and impurity to welding position, improves the cleanliness of welding, improves the welding quality. ACCURACY OF DRAWINGS

[0020] Figure 1 It is the front view of the utility model;

[0021] Figure 2 It is the side view of the utility model;

[0022] Figure 3 It is the Figure 1 Structure enlarged view of A place in;

[0023] Figure 4 It is the Figure 1 Structure enlarged view of B place.

[0024] In the drawing: 1, bottom disc; 2, power control device; 3, detection device; 4, mechanical arm; 5, welding device;

[0025] 6, cleaning assembly; 601, fan; 602, air pipe; 603, limit board; 604, air nozzle; 605, support rod;

[0026] 7, limiting assembly; 701, support frame; 702, sleeve; 703, adjusting rod; 704, fixed tube; 705, fixed rod; 706, spring one; 707, limiting wheel; 708, limiting spring; 8, fixed block; 9, L-shaped rod one; 10, motor; 11, roller; 12, fixed plate; 13, spring two; 14, limiting block; 15, L-shaped rod two. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments.

[0028] Therefore, the following detailed description of the embodiments of the present application is not intended to limit the scope of the claimed application, but merely represents some 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 labor fall within the scope of the present application.

[0029] It should be noted that the embodiments in the present application and the features and technical solutions in the embodiments can be combined with each other without conflict.

[0030] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0031] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product is used, or the orientation or positional relationship commonly understood by those skilled in the art. Such terms are only used to facilitate the description of the present application and simplify the description, and are not intended to indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", etc. are only used for differentiation, and cannot be understood as indicating or implying relative importance.

[0032] Embodiment 1

[0033] As Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the present embodiment proposes an automatic pipeline detection robot, comprising a chassis 1, a power control device 2 and a mechanical arm 4 are installed on the top of the chassis 1, a welding device 5 and a detection device 3 are installed on the end of the mechanical arm 4, a cleaning assembly 6 is arranged on the mechanical arm 4, a limiting assembly 7 is arranged on the top of the chassis 1, a fixed block 8 is fixed on the bottom of the chassis 1, L-shaped rods one 9 and L-shaped rods two 15 are symmetrically arranged on both sides of the fixed block 8 and are hinged with both sides of the fixed block 8, limiting blocks 14 are symmetrically arranged on both sides of the fixed block 8 and above the L-shaped rods one 9 and the L-shaped rods two 15, a motor 10 is installed on the bottom end of the L-shaped rods one 9, a roller 11 is arranged on the output end of the motor 10 and one end of the L-shaped rods two 15, fixed plates 12 are fixed on both sides of the fixed block 8, springs two 13 are symmetrically arranged on the bottom of the fixed plates 12 and are fixedly connected with the L-shaped rods one 9 and the L-shaped rods two 15 at the bottom end respectively.

[0034] The chassis 1 serves as a platform to provide an installation base for the whole, carries various components, when the chassis 1 as a whole travels in the pipeline, the second spring 13 at the bottom of the fixed plate 12 plays a buffering role, absorbs vibration energy by compression or elongation, the fixed plate 12 connects the L-shaped rod two 15 and the L-shaped rod one 9 through the second spring 13, so that the roller 11 and the chassis 1 are elastically connected, and the effective contact between the roller 11 and the inner wall of the pipeline is maintained, the limiting block 14 limits the angle of the L-shaped rod one 9 and the L-shaped rod two 15 to flip, when the welding position is reached, the robot starts the detection device 3 according to actual needs after or during welding, and then passes through the detection device 3, wherein the detection device 3 includes a visual detection system, an ultrasonic detection system and an eddy current detection system, the visual detection system first scans the surface of the weld to obtain image information, compares the image information with a standard image through algorithm analysis, judges whether it is qualified or not, and if surface defects are found, the position and type information are transmitted to the power control device 2, the power control device 2 includes a control system and a control system in a power system, then the ultrasonic detection system detects the inside of the weld through ultrasonic wave reflection and other phenomena to determine the defect position, size and nature; the eddy current detection system detects the surface and near-surface defects of the weld by using the change of induced current. The detection result is transmitted to the control system in real time, and the weld quality is judged through comprehensive analysis and evaluation. If it is unqualified, the control system generates a repair scheme according to the defect condition, controls the mechanical arm 4 and the welding device 5 to repair the weld. After the robot receives the welding task, the operator inputs the welding parameters into the control system, the system generates the motion trajectory of the mechanical arm 4 and the control instruction of the welding device 5 in combination with the preset process program, the mechanical arm 4 moves the welding device 5 to the starting position of the weld, the welding device 5 starts, the wire feeding mechanism feeds the wire, and an electric arc is generated under the action of current and voltage to melt the welding wire and the base material to form a weld. During welding, the control system monitors the parameters in real time and adjusts them to ensure process stability and consistent weld quality. At the same time, the visual detection system monitors the formation of the weld, and if deviations or defects are found, they are fed back to the control system, and the system adjusts the motion trajectory of the mechanical arm 4 and the welding parameters to correct and compensate. The control system and the power system in the power control device 2 are the key parts of the pipeline welding detection robot, the former is the core, uses advanced industrial computers and motion control cards to realize collaborative control of various parts, has a man-machine interaction interface, can generate instruction to drive operation according to the input parameters of the operator, can monitor feedback and adjust parameters in real time to ensure smooth work, and has a fault diagnosis alarm function. The latter provides power supply for the robot, has multiple power supply modes such as lithium battery, storage battery and external power supply, can be selected according to the scene, is equipped with a charging management and voltage stabilizing module to improve the power utilization efficiency and stability.

[0035] Example 2

[0036] The scheme in Example 1 will be further introduced in combination with a specific working mode, which is described in detail as follows:

[0037] As Figure 1 ,Figure 2 and Figure 3 As shown, in a preferred embodiment, based on the above method, the limiting component 7 further includes a support frame 701 and a sleeve 702. The support frame 701 is located on the top of the chassis 1. The sleeve 702 is rotatably installed at the middle position of the top of the support frame 701. An adjusting rod 703 is threaded inside the sleeve 702. A fixing tube 704 is symmetrically hinged to the top of the adjusting rod 703. A limiting spring 708 is provided between the fixing tubes 704. A fixing rod 705 is slidably installed inside each fixing tube 704. A spring 706 is sleeved on the outside of each fixing tube 704. A limiting wheel 707 is installed at the end of the fixing rod 705.

[0038] When the robot moves, the support frame 701 provides support. The sleeve 702 is rotated to adjust and change the height of the adjusting rod 703 according to the condition of the inner wall of the pipe, until the top limiting wheel 707 is in contact with the inner wall of the pipe, which plays a limiting role between the top of the chassis 1 and the inner wall of the pipe. When the bottom roller 11 on one side of the chassis 1 encounters an obstacle and pushes one side of the chassis 1 to lift, it pushes one side of the top support frame 701 to lift, causing the fixed tube 704 on one side to rise and squeeze the spring 706 to compress it. Under the elastic force of the spring 706, the fixed tube 704 is pushed to move downward, and the reaction force is applied to the side of the chassis 1 that is raised, which plays a limiting role in the lifting angle.

[0039] like Figure 1 and Figure 4 As shown, in a preferred embodiment, based on the above method, the cleaning component 6 further includes a fan 601, a support rod 605, and a limiting plate 603. The fan 601 is located on one side of the end of the robotic arm 4. An air pipe 602 is fixed to the output end of the fan 601. An air nozzle 604 is installed at one end of the air pipe 602. The limiting plate 603 is located at the bottom of one end of the robotic arm 4. The support rod 605 is located at the end of the robotic arm 4 and below the detection device 3. The air pipe 602 passes through the limiting plate 603 and extends to one side of the support rod 605.

[0040] When the detection device 3 is welding at the weld position, the fan 601 is started, and air is delivered to the air nozzle 604 through the air pipe 602 to blow away and clean the dust and impurities at the welding position. Then the detection device 3 is turned on to weld at the welding position, and air is blown to the welding position through the air nozzle 604 to remove dust and impurities from the welding position in advance.

[0041] like Figure 2 As shown, in a preferred embodiment, based on the above method, a grip ring is further provided on the outer side of the sleeve 702, and the outer side of the grip ring is provided with anti-slip texture.

[0042] The friction of the outer side of the sleeve 702 is increased by the setting of the handle and the anti-skid pattern, so that the sleeve 702 is more labor-saving to rotate to adjust the height of the adjusting rod 703.

[0043] As Figure 1 shown, as a preferred embodiment, on the basis of the above-mentioned mode, further, one side of the chassis 1 is provided with a push-pull rod, and the outer side of the push-pull rod is provided with an anti-skid sleeve.

[0044] The push-pull rod and the anti-skid sleeve facilitate the movement and carrying of the whole by the staff after the completion of the welding work.

[0045] As Figure 3 shown, as a preferred embodiment, on the basis of the above-mentioned mode, further, a limiting hole is opened at the connecting part of the limiting plate 603 and the air pipe 602, and the inner wall of the limiting hole is provided with a protective layer.

[0046] The limiting hole and the protective layer limit the air pipe 602 while avoiding the abrasion of the limiting hole caused by the sliding of the air pipe 602.

[0047] As Figure 1 shown, as a preferred embodiment, on the basis of the above-mentioned mode, further, the bottom of the limiting block 14 is provided with a buffer pad, and the buffer pad is a rubber pad.

[0048] The rubber buffer pad at the bottom of the limiting block 14 simultaneously protects the bottom of the limiting block 14 and the top of the L-shaped rod one 9 and the L-shaped rod two 15, thereby reducing the damage caused by impact.

[0049] Example 3

[0050] The schemes in Example 1 and Example 2 are further introduced in combination with specific working modes, and details are described below:

[0051] The chassis 1 serves as a platform, provides a mounting base for the whole, bears each component, when the chassis 1 as a whole travels in the pipeline, the second spring 13 at the bottom of the fixing plate 12 plays a buffering role, absorbs vibration energy by compression or elongation, the fixing plate 12 connects the L-shaped rod two 15 and the L-shaped rod one 9 through the second spring 13, so that the roller 11 and the chassis 1 are elastically connected, effective contact between the roller 11 and the inner wall of the pipeline is maintained, the limiting block 14 limits the angle of the L-shaped rod one 9 and the L-shaped rod two 15, when the robot travels, the support frame 701 provides support, the sleeve 702 is rotated according to the condition of the inner wall of the pipeline, the height of the adjusting rod 703 is adjusted and changed, until the limiting wheel 707 at the top is attached to the inner wall of the pipeline, the top of the chassis 1 and the inner wall of the pipeline are limited, when the roller 11 at the bottom of one side of the chassis 1 is lifted up by the obstacle, the support frame 701 at the top is pushed to one side, the fixed pipe 704 on one side is lifted up, and the spring one 706 is compressed, under the elastic force of the spring one 706, the fixed pipe 704 is pushed to move downward, the reaction force is on the side of the chassis 1, the lifting angle is limited, when the detection device 3 detects the welding position, the fan 601 is started, air is delivered to the air nozzle 604 through the air pipe 602, dust and impurities at the welding position are blown and cleaned, then the detection device 3 is started to weld the welding position, air is blown to the welding position through the air nozzle 604, dust and impurities at the welding position are cleaned in advance.

[0052] The above is only further embodiments of the present application, but the protection scope of the present application is not limited thereto, any skilled person in the art can make equivalent replacement or change according to the technical scheme and concept of the present application within the scope disclosed by the present application, which belongs to the protection scope of the present application.

Claims

1. An automatic pipeline inspection robot comprising a chassis (1), characterized in that: The top of the chassis (1) is provided with a power control device (2) and a mechanical arm (4), the end of the mechanical arm (4) is provided with a welding device (5) and a detection device (3), the mechanical arm (4) is provided with a cleaning assembly (6), the top of the chassis (1) is provided with a limiting assembly (7), the bottom of the chassis (1) is fixedly provided with a fixed block (8), the two sides of the fixed block (8) are symmetrically provided with an L-shaped rod one (9) and an L-shaped rod two (15), and the L-shaped rod one (9) and the L-shaped rod two (15) are hingedly connected with the two sides of the fixed block (8), the two sides of the fixed block (8) and above the L-shaped rod one (9) and the L-shaped rod two (15) are symmetrically provided with a limiting block (14), the bottom end of the L-shaped rod one (9) is provided with a motor (10), the output end of the motor (10) and one end of the L-shaped rod two (15) are provided with a roller (11), the two sides of the fixed block (8) are fixedly provided with a fixed plate (12), and the bottom of the fixed plate (12) is symmetrically provided with a spring two (13), and the bottom end of the spring two (13) is fixedly connected with the L-shaped rod one (9) and the L-shaped rod two (15) respectively.

2. The automated pipeline inspection robot of claim 1, wherein: The limiting assembly (7) comprises a support frame (701) and a sleeve (702), the support frame (701) is located on the top of the chassis (1), a sleeve (702) is rotatably installed at the middle position of the top of the support frame (701), an adjusting rod (703) is screwedly installed in the sleeve (702), fixed pipes (704) are symmetrically hingedly installed at the top of the adjusting rod (703), limiting springs (708) are arranged between the fixed pipes (704), fixed rods (705) are slidably installed in the fixed pipes (704), spring ones (706) are sleeved outside the fixed pipes (704), and limiting wheels (707) are installed at the ends of the fixed rods (705).

3. The automated pipeline inspection robot of claim 1, wherein: The cleaning assembly (6) comprises a fan (601), a supporting rod (605) and a limiting plate (603), the fan (601) is located on one side of the end of the mechanical arm (4), the output end of the fan (601) is fixedly provided with an air pipe (602), one end of the air pipe (602) is provided with an air nozzle (604), the limiting plate (603) is located at the bottom of one end of the mechanical arm (4), the supporting rod (605) is located at the end of the mechanical arm (4) and below the detection device (3), and the air pipe (602) penetrates through the limiting plate (603) and extends to one side of the supporting rod (605) respectively.

4. The automated pipeline inspection robot of claim 2, wherein: The outside of the sleeve (702) is sleeved with a handle ring, and the outside of the handle ring is provided with anti-skid lines.

5. The automated pipeline inspection robot of claim 1, wherein: One side of the chassis (1) is provided with a push-pull rod, and the outside of the push-pull rod is provided with an anti-skid sleeve.

6. The automated pipeline inspection robot of claim 3, wherein: A limiting hole is formed in the connecting position of the limiting plate (603) and the air pipe (602), and a protective layer is arranged on the inner wall of the limiting hole.

7. The automated pipeline inspection robot of claim 1, wherein: The bottom of the limiting block (14) is provided with a buffer pad, and the buffer pad is a rubber pad.

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