Pipeline gap detection robot

Abstract

The utility model belongs to the technical field of pipeline flaw detection, and particularly relates to a pipeline gap detection robot which comprises a first outer shell and a second outer shell, one end of the first outer shell and one end of the second outer shell are rotationally connected through a rotating shaft, and connecting plates matched with inserting bolts are formed at the other ends of the first outer shell and the second outer shell. Rotating rings are slidably connected to the inner side of the fixing base, worm gear teeth formed on the outer side of one rotating ring are connected with a worm in a meshed mode, the worm is rotatably installed on the second outer shell, a connecting pin is slidably installed in an eccentric groove formed in the rotating ring and fixedly arranged on a jacking rod, and the jacking rod penetrates through the fixing base in a sliding mode. One end of the first outer shell and one end of the second outer shell are fixedly provided with inner gear rings and guide rails, and the inner gear rings are meshed with detection assemblies which are slidably connected with the guide rails. The self-centering installation on the pipeline is realized through a three-point type self-centering mechanism and a worm pair structure; the gear is matched with the guide rail, so that the detection assembly can move in the circumferential direction of the pipeline to efficiently and accurately detect the welding seam.

Description

Technical Field

[0001] This utility model belongs to the field of pipeline flaw detection technology, specifically relating to a pipeline gap detection robot. Background Technology

[0002] Currently, the main methods for detecting pipeline gaps include manual inspection and some traditional testing equipment. Manual inspection typically involves visual observation by inspectors, measurement using simple tools (such as magnifying glasses and feeler gauges), or the use of non-destructive testing methods such as penetrant testing and magnetic particle testing. However, manual inspection is inefficient, and the results are easily affected by the subjective factors of the inspectors, leading to the risk of missed or false detections. For example, in the inspection of long-distance oil pipelines, manual inspection requires a significant amount of time and manpower, and its accuracy in detecting tiny gaps is limited.

[0003] Furthermore, traditional testing equipment can mostly only perform point-to-point testing on specific parts of pipelines, making it difficult to achieve comprehensive and continuous testing of circumferential welds. Moreover, existing pipeline testing equipment has shortcomings in installation and adaptation to pipelines of different diameters. Many testing devices are complex to install, requiring numerous auxiliary tools and specialized technicians, and are only applicable to pipelines of specific diameters. For pipeline systems with significant diameter variations, multiple testing devices of different specifications are needed, which undoubtedly increases testing costs and the difficulty of equipment management.

[0004] Therefore, developing a pipe gap detection robot that can efficiently and accurately detect pipe gaps, adapt to pipes of different diameters, and is easy to install and operate is of great practical significance. Utility Model Content

[0005] To address the above problems, the purpose of this utility model is to provide a pipe gap inspection robot, which solves the problems that existing pipe gap inspection equipment cannot achieve comprehensive and continuous inspection of circumferential welds of pipes, and cannot be applied to different pipes with large differences in inspection specifications.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a pipe gap inspection robot, comprising a first outer shell and a second outer shell. The first and second outer shells are identical in size and are rotatably connected at one end via a rotating shaft. The other end of the first and second outer shells is formed with a connecting plate adapted for insert bolts. A fixed seat is installed on the inner side of both the first and second outer shells. A groove for slidingly connecting a rotating ring is formed on the fixed seat. A worm gear tooth is formed on the outer side of one of the rotating rings. The worm gear tooth meshes with and connects to a worm. The worm is rotatably mounted on the second outer shell. An eccentric groove is formed on the rotating ring. A connecting pin is slidably installed on the inner side of the eccentric groove. The connecting pin is fixed to a tensioning rod. The tensioning rod slidably passes through the fixed seat and the first and second outer shells. An internal gear ring and a guide rail are fixed at one end of both the first and second outer shells. The internal gear ring meshes with and connects to a detection component. The detection component is slidably connected to the guide rail.

[0007] The beneficial effects of this utility model are as follows: the openable device can be conveniently installed on pipes of different diameters and quickly spliced ​​and locked into a stable ring structure by bolts; the three-point self-centering mechanism, in conjunction with the worm gear pair structure, enables the device to be self-centered on the pipe; the gear and guide rail mechanism enable the detection component to move along the circumferential direction of the pipe to perform efficient and accurate detection of the weld.

[0008] To achieve centered installation of the device on the pipeline;

[0009] As a further improvement to the above technical solution: the number of fixed seats is three, the axis of the clamping rod is in the radial direction of the rotating ring, the eccentric groove is an arc-shaped groove structure, and when the axes of the first outer shell and the second outer shell are collinear, the two rotating rings form a complete annular plate structure.

[0010] The beneficial effects of this improvement are as follows: as the rotating ring rotates relative to the clamping rod, the connecting pin can be pushed by the eccentric groove, thereby causing the clamping rod to move radially along the outer shell one and outer shell two under the limit of the fixed seat. After the three clamping rods move synchronously and connect with the pipeline, three-point centering installation can be achieved.

[0011] To avoid structural interference between the clamping rod and the rotating ring;

[0012] As a further improvement to the above technical solution: the clamping rod is provided with a groove for sliding connection of the rotating ring, and one end of the groove passes through the end face of the clamping rod away from the axis.

[0013] The beneficial effects of this improvement are: the groove on the clamping rod effectively avoids structural interference with the rotating ring when the clamping rod is moved by the connecting pin.

[0014] To ensure the stability of the movement of the detection component;

[0015] As a further improvement to the above technical solution: the guide rail is an annular guide rail structure with an isosceles trapezoidal cross-section, and the axis of the guide rail is collinear with the axis of the rotating ring and the internal gear ring.

[0016] The beneficial effect of this improvement is that, under the limiting guidance of the guide rail, the detection component can move stably around the axis of the pipeline for detection.

[0017] To ensure stable movement of the drive detection components;

[0018] As a further improvement to the above technical solution: the detection component includes an L-shaped bracket, the L-shaped bracket is slidably connected to a guide rail, a motor is mounted on the L-shaped bracket and a drive gear is rotatably mounted on it, the motor is connected to the drive gear through a belt transmission mechanism, and the drive gear meshes with an internal gear ring.

[0019] The beneficial effects of this improvement are: the motor can drive the drive gear to rotate stably through the belt transmission mechanism, thereby enabling the drive gear to drive the detection assembly to move stably when meshing with the internal gear ring.

[0020] In order to effectively inspect the weld quality of pipelines;

[0021] As a further improvement to the above technical solution: a connecting screw is installed on the L-shaped bracket, the connecting screw slides through the adjustment groove and is threaded with a nut, the adjustment groove is opened on the adjustment frame, and the flaw detector probe and the ultrasonic flaw detector body are respectively installed on the adjustment frame and the L-shaped bracket.

[0022] The beneficial effect of this improvement is that when the entire detection assembly moves around the axis of the pipeline, the flaw detector probe can effectively detect the weld quality of the pipeline.

[0023] To ensure the accuracy of the flaw detector probe;

[0024] As a further improvement to the above technical solution: the number of connecting screws is two, the adjusting groove is a strip groove structure, and the extending direction of the adjusting groove is located in the radial direction of the guide rail.

[0025] The beneficial effects of this improvement are: the operator can slide to adjust the position of the adjustment frame and lock it with a nut, thereby maintaining a suitable distance between the flaw detector probe and the pipeline for accurate detection.

[0026] The parts of the device not covered herein are the same as or can be implemented using existing technologies. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of this utility model;

[0028] Figure 2 This is a schematic diagram of the working process of this utility model;

[0029] Figure 3 This is a schematic diagram of the rotating ring in this utility model;

[0030] Figure 4 This is a schematic diagram of the tensioning rod in this utility model;

[0031] Figure 5 This is a schematic diagram of the detection component in this utility model;

[0032] In the diagram: 1. Outer shell one; 101. Rotating shaft; 102. Connecting plate; 2. Outer shell two; 3. Fixed base; 4. Rotating ring; 41. Worm gear tooth; 5. Eccentric groove; 6. Connecting pin; 7. Tightening rod; 8. Worm; 9. Internal gear ring; 10. Guide rail; 11. Detection assembly; 111. L-shaped bracket; 112. Drive gear; 113. Belt drive mechanism; 114. Motor; 115. Ultrasonic flaw detector body; 116. Connecting screw; 117. Adjustment groove; 118. Adjustment frame; 119. Flaw detector probe. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in detail below with reference to the accompanying drawings. The description in this part is only exemplary and explanatory, and should not be used to limit the scope of protection of the present invention in any way.

[0034] Example 1:

[0035] like Figure 1As shown in Figure 5: A pipe gap inspection robot includes a first outer shell 1 and a second outer shell 2. The first outer shell 1 and the second outer shell 2 are identical in size and are rotatably connected at one end via a rotating shaft 101. The other end of the first outer shell 1 and the second outer shell 2 is formed with a connecting plate 102 adapted for insert bolts. A fixed seat 3 is installed on the inner side of each of the first outer shell 1 and the second outer shell 2. A groove for slidingly connecting a rotating ring 4 is formed on the fixed seat 3. A worm gear tooth 41 is formed on the outer side of one of the rotating rings 4. The worm gear tooth 41 meshes with a worm 8. The worm 8 is rotatably mounted on the second outer shell 2. The rotating ring 4 is formed with... The device has an eccentric groove 5, and a connecting pin 6 is slidably installed on the inner side of the eccentric groove 5. The connecting pin 6 is fixed on the tightening rod 7. The tightening rod 7 slidably passes through the fixed seat 3 and the outer shell 1 and the outer shell 2. One end of the outer shell 1 and the outer shell 2 is fixed with an internal gear ring 9 and a guide rail 10. The internal gear ring 9 meshes with and connects to the detection component 11. The detection component 11 is slidably connected to the guide rail 10. The openable device can be easily installed on pipes of different diameters and quickly spliced ​​and locked into a stable ring structure by bolts. The three-point self-centering mechanism, together with the worm gear pair structure, realizes the self-centering installation of the device on the pipe.The gear-guided mechanism enables the detection assembly 11 to move along the circumferential direction of the pipeline for efficient and accurate weld inspection. There are three fixed seats 3. The axis of the clamping rod 7 is in the radial direction of the rotating ring 4. The eccentric groove 5 is an arc-shaped groove structure. When the axes of the outer shell 1 and the outer shell 2 are collinear, the two rotating rings 4 form a complete annular plate structure. As the rotating ring 4 rotates relative to the clamping rod 7, the connecting pin 6 is pushed by the eccentric groove 5, causing the clamping rod 7 to move radially along the outer shell 1 and the outer shell 2 under the limitation of the fixed seat 3. After the three clamping rods 7 move synchronously and connect with the pipeline, they... It enables three-point centering installation. The clamping rod 7 has a groove for sliding connection to the rotating ring 4, and one end of the groove passes through the end face of the clamping rod 7 away from the axis. The groove on the clamping rod 7 effectively avoids structural interference with the rotating ring 4 when the clamping rod 7 is moved by the connecting pin 6. The guide rail 10 is an annular guide rail structure with an isosceles trapezoidal cross-section, and the axis of the guide rail 10 is collinear with the axis of the rotating ring 4 and the internal gear ring 9. Under the limiting guidance of the guide rail 10, the detection component 11 can move stably around the axis of the pipe for detection. The detection component 11 includes an L-shaped bracket 111, which slides... Connecting to guide rail 10, an L-shaped bracket 111 is equipped with a motor 114 and a drive gear 112 rotatably mounted thereon. The motor 114 is connected to the drive gear 112 via a belt transmission mechanism 113. The drive gear 112 meshes with an internal gear ring 9. The motor 114 can drive the drive gear 112 to rotate stably via the belt transmission mechanism 113, thereby causing the drive gear 112 to drive the entire detection assembly 11 to move stably when meshing with the internal gear ring 9. A connecting screw 116 is installed on the L-shaped bracket 111. The connecting screw 116 slides through an adjustment groove 117 and is threadedly connected to a nut. The adjustment groove 117... 17 is mounted on the adjusting frame 118. The adjusting frame 118 and the L-shaped bracket 111 are respectively equipped with a flaw detector probe 119 and an ultrasonic flaw detector body 115. When the entire detection assembly 11 moves around the axis of the pipeline, the flaw detector probe 119 can effectively detect the weld quality of the pipeline. There are two connecting screws 116. The adjusting groove 117 is a strip-shaped groove structure, and the extension direction of the adjusting groove 117 is located in the radial direction of the guide rail 10. The operator can slide and adjust the position of the adjusting frame 118 and lock it with a nut, thereby maintaining a suitable distance between the flaw detector probe 119 and the pipeline for accurate detection.

[0036] The working principle of this technical solution is as follows: After opening, the device is fitted onto the outside of the pipeline. Then, the outer shell 1 and the outer shell 2 are closed, so that the connecting plates 102 formed at the ends of the outer shell 1 and the outer shell 2 are flatly connected. Then, bolts are used to connect and lock the outer shell 1 and the outer shell 2 to form a ring-shaped structure. Subsequently, the operator adjusts the position of the device in the axial direction of the pipeline so that the flaw detector probe 119 is facing the weld to be inspected. Then, the worm gear 8 is rotated so that the worm gear 8 meshes with the worm wheel teeth 41 formed on the outside of the rotating ring 4, thereby driving the ring-shaped structure composed of the two rotating rings 4 to rotate stably inside the three fixed seats 3. When the rotating ring 4 rotates, the eccentric groove 5 pushes the inner connecting pin 6 to move. The clamping rod 7 installed on the connecting pin 6 is pushed by the connecting pin 6 and... When the fixed seat 3 moves radially along the rotating ring 4 and the three clamping rods 7 move synchronously and contact the surface of the pipe, the device can be self-centered on the pipe. Then, the operator loosens the nut on the connecting screw 116 and slides to adjust the position of the adjusting frame 118 so that the head of the flaw detector probe 119 maintains a suitable detection distance from the pipe surface. Then, the nut is tightened on the connecting screw 116 to lock the adjusting frame 118. Then, the motor 114 is started. When the motor 114 runs, it drives the drive gear 112 to rotate through the belt transmission mechanism 113, which in turn causes the drive gear 112 to mesh with the transmission internal gear ring 9. At this time, under the guidance and limitation of the guide rail 10, the detection component 11 moves circumferentially around the axis of the pipe to perform efficient and comprehensive inspection of the weld.

[0037] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0038] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, there are objectively infinite specific structures. For those skilled in the art, several improvements, modifications, or changes can be made without departing from the principles of the present invention, and the above technical features can also be combined in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A pipe gap inspection robot, characterized in that: The device includes a first outer shell (1) and a second outer shell (2). The first outer shell (1) and the second outer shell (2) are identical in size and are rotatably connected at one end by a rotating shaft (101). The other end of the first outer shell (1) and the second outer shell (2) is formed with a connecting plate (102) adapted to insert bolts. The inner side of the first outer shell (1) and the second outer shell (2) are each equipped with a fixed seat (3). The fixed seat (3) is formed with a groove for sliding connection of a rotating ring (4). The outer side of one of the rotating rings (4) is formed with a worm gear tooth (41), which meshes with a worm (8). The worm gear (8) is rotatably mounted on the outer shell (2). An eccentric groove (5) is formed on the rotating ring (4). A connecting pin (6) is slidably mounted on the inner side of the eccentric groove (5). The connecting pin (6) is fixed on the top clamping rod (7). The top clamping rod (7) slidably passes through the fixed seat (3) and the outer shell (1) and the outer shell (2). An internal gear ring (9) and a guide rail (10) are fixed at one end of the outer shell (1) and the outer shell (2). The internal gear ring (9) meshes with the detection component (11). The detection component (11) is slidably connected to the guide rail (10).

2. The pipe gap inspection robot according to claim 1, characterized in that: The number of fixed seats (3) is three. The axis of the top clamping rod (7) is in the radial direction of the rotating ring (4). The eccentric groove (5) is an arc groove structure. When the axes of the outer shell one (1) and the outer shell two (2) are collinear, the two rotating rings (4) form a complete circular plate structure.

3. The pipe gap inspection robot according to claim 1, characterized in that: The clamping rod (7) has a groove for sliding connection of the rotating ring (4), and one end of the groove passes through the end face of the clamping rod (7) away from the axis.

4. The pipe gap inspection robot according to claim 1, characterized in that: The guide rail (10) is an annular guide rail structure with an isosceles trapezoidal cross section, and the axis of the guide rail (10) is collinear with the axis of the rotating ring (4) and the internal gear ring (9).

5. The pipe gap inspection robot according to claim 1, characterized in that: The detection component (11) includes an L-shaped bracket (111), which is slidably connected to a guide rail (10). A motor (114) is mounted on the L-shaped bracket (111) and a drive gear (112) is rotatably mounted thereon. The motor (114) is connected to the drive gear (112) via a belt transmission mechanism (113), and the drive gear (112) meshes with an internal gear ring (9).

6. A pipe gap inspection robot according to claim 5, characterized in that: A connecting screw (116) is installed on the L-shaped bracket (111). The connecting screw (116) slides through the adjustment groove (117) and is threaded with a nut. The adjustment groove (117) is opened on the adjustment frame (118). The adjustment frame (118) and the L-shaped bracket (111) are respectively equipped with a flaw detector probe (119) and an ultrasonic flaw detector body (115).

7. A pipe gap inspection robot according to claim 6, characterized in that: The number of connecting screws (116) is two, the adjusting groove (117) is a strip groove structure, and the extending direction of the adjusting groove (117) is located in the radial direction of the guide rail (10).

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