Crawling robot for industrial pipeline detection
By adding an installation mechanism to the outside of the magnetic wheel assembly to increase the width of the magnetic wheel assembly, the problem of insufficient adsorption force of existing crawling robots in small-diameter pipes and high-temperature and high-pressure environments is solved, achieving stable adsorption and efficient detection.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-20
- Publication Date
- 2026-03-20
AI Technical Summary
Existing ultrasonic inspection crawling robots have insufficient adhesion or poor mechanical stability on pipes with a diameter of 300-500mm, making it difficult to achieve automatic climbing and continuous inspection, especially in high temperature and high pressure environments where they cannot meet inspection requirements.
An additional mechanism is installed on the outside of the magnetic wheel assembly, including a fixed half-ring, a flipping half-ring, and a width extension component. Through the flipping and snapping structure of the flipping half-ring, the width of the magnetic wheel assembly can be adjusted, increasing the contact area with the pipe and enhancing the adsorption force.
This enhances the adhesion stability of the crawler on the pipeline, reduces detection errors and the risk of equipment damage, and improves the stability and adaptability of the detection process.
Smart Images
Figure CN224017977U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to industrial nondestructive testing technical field, concretely is a kind of for industrial pipeline detection's crawling robot. BACKGROUND
[0002] In the industrial field, pipeline transportation is widely used in petroleum, chemical industry, energy and other industries as an efficient and economical conveying mode. These industrial pipelines are in complex operating environment for a long time, affected by medium corrosion, pressure fluctuation, temperature change and other factors, and defects such as cracks and pores are prone to occur at the welding seam of the pipeline, which seriously threatens the safe operation of the pipeline. In order to ensure the safety of the pipeline, regular nondestructive testing is very important. The crawling robot can move on the surface of the pipeline automatically and realize automatic detection of the pipeline welding seam, so it becomes an important tool for industrial pipeline detection. The crawling robot based on magnetic adsorption principle relies on the magnetic wheel set to adsorb and move on the surface of the pipeline, and has the advantages of simple structure and strong adaptability, and has been widely used in industrial pipeline detection.
[0003] The existing ultrasonic detection crawling robot generally only supports a pipe diameter of more than 500 mm. For 300-500 mm pipe diameter pipeline, it is difficult to realize automatic climbing and continuous detection due to insufficient magnetic wheel adsorption force or poor mechanical stability, especially for some special working conditions of the pipeline, such as high temperature and high pressure environment, the adsorption stability of the crawling robot is required to be higher, and the existing fixed width magnetic wheel set cannot meet the detection requirements under these harsh conditions. Therefore, a crawling robot for industrial pipeline detection is needed to solve the problems existing in the prior art. SUMMARY
[0004] The utility model aims at providing a kind of crawling robot for industrial pipeline detection to solve the problems raised in the above background technology.
[0005] To achieve the above purpose, the utility model is implemented by the following technical solutions: a crawling robot for industrial pipeline detection, comprising a crawler main body and a magnetic wheel set for magnetically adsorbing a pipeline, a tire shaft is arranged at the bottom of the crawler main body, four magnetic wheel sets are arranged on the tire shaft of the crawler main body, a mounting mechanism is arranged on the outer side of the magnetic wheel set, the mounting mechanism comprises a fixed half ring, a turnover half ring and a width extension assembly, the fixed half ring is fixed on the magnetic wheel set, the turnover half ring is rotatably connected above the fixed half ring, and the width extension assembly is embedded between the fixed half ring and the turnover half ring.
[0006] Preferably, the width extension assembly comprises a width extension ring and a butt joint block, the width extension ring is arranged on one side of the fixed half ring and the turnover half ring, and the butt joint block is fixed on the inner ring wall of the width extension ring.
[0007] Preferably, the projection of the butt joint block is L-shaped, and one end of the butt joint block extends to the outer ring edge of the width extension ring.
[0008] Preferably, one end surface of the magnetic wheel set is provided with a butt joint slot, and the butt joint block is embedded in the butt joint slot.
[0009] Preferably, the lower end surface of the turnover half ring is fixed with a clamping column, and the upper end surface of the fixed half ring and the butt joint block is provided with an embedding groove matched with the clamping column.
[0010] Preferably, the upper end of the fixed half ring is fixed with a rotating seat, the lower end of the turnover half ring is fixed with a hinged rotating arm, the hinged rotating arm is rotatably connected in the rotating groove of the rotating seat, and one end of the magnetic wheel set is provided with a containing opening for closing the turnover half ring.
[0011] The utility model provides a kind of crawling robot for industrial pipeline detection, and compared with prior art has the following beneficial effects:
[0012] By setting the installation mechanism outside the magnetic wheel set, the width extension ring can be conveniently installed, the width of the magnetic wheel set is increased, and the contact area with the pipeline is further increased.According to the principle of electromagnetism, when the magnetic field strength and the characteristics of magnetic material remain unchanged, the increase of the contact area allows more areas to generate magnetic flux, effectively enhancing the adsorption force between the magnetic wheel set and the pipeline, making the adsorption of the crawler on the pipeline more stable, greatly improving the stability during detection, and reducing the detection error and equipment damage risk caused by unstable adsorption.
[0013] The design of the installation mechanism is ingenious, and the fixed half ring, the turnover half ring and the width extension assembly cooperate with each other, and the operation is simple.When it is necessary to increase the adsorption force, the turnover half ring on the fixed half ring can be easily opened by applying force, which provides conditions for the installation of the width extension ring;otherwise, it can also be conveniently disassembled.This convenient width adjustment mode can quickly adapt to the detection needs of different pipe diameters, improving the versatility and working efficiency of the crawling robot;the L-shaped design of the butt joint block and its close cooperation with the butt joint slot, as well as the precise embedding of the clamping column and the embedding groove, ensure that the width extension ring will not easily loosen or fall off during use, further improving the reliability and stability of the adsorption of the crawling robot. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 It is the overall structure of the utility model;
[0015] Figure 2 It is the magnetic wheel set structure of the utility model;
[0016] Figure 3 It is the turnover half ring structure of the utility model;
[0017] Figure 4 This is a three-dimensional view of the width extension component structure of this utility model.
[0018] In the diagram: 1. Crawler body; 2. Tire axle; 3. Magnetic wheel set; 4. Mounting mechanism; 5. Fixed half ring; 6. Flipping half ring; 7. Width extension component; 8. Width extension ring; 9. Connecting block; 10. Connecting slot; 11. Receiving port; 12. Snap-fit post; 13. Insertion slot; 14. Rotating seat; 15. Hinge arm. Detailed Implementation
[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0020] Please see Figures 1-4 This utility model provides a crawling robot for industrial pipeline inspection, including a crawler body 1 and magnetic wheel sets 3 for magnetically attracting pipelines. The bottom of the crawler body 1 is provided with a tire axle 2, and four magnetic wheel sets 3 are arranged on the tire axle 2 of the crawler body 1. An mounting mechanism 4 is provided on the outside of the magnetic wheel sets 3. The mounting mechanism 4 includes a fixed half ring 5, a flipping half ring 6, and a width extension component 7. The fixed half ring 5 is fixed on the magnetic wheel set 3, the flipping half ring 6 is rotatably connected above the fixed half ring 5, and the width extension component 7 is embedded between the fixed half ring 5 and the flipping half ring 6. The mounting mechanism 4 is used to realize the adjustable function of the width of the magnetic wheel set 3. The fixed half-ring 5, the flipping half-ring 6, and the width extension component 7 work together. The fixed half-ring 5 is fixed on the magnetic wheel set 3 and is the basic fixed part of the installation mechanism. The flipping half-ring 6 is rotatably connected above the fixed half-ring 5 and can be flipped open and closed, providing operating space for installing and removing the width extension component 7. The width extension component 7 is used to increase the width of the magnetic wheel set 3 and improve the adsorption force.
[0021] Further as Figure 1 , Figure 2 and Figure 3As shown, it is worth noting that the width extension component 7 includes a width extension ring 8 and a docking block 9. The width extension ring 8 is disposed on one side of the fixed half-ring 5 and the flipping half-ring 6. The docking block 9 is fixed on the inner ring wall of the width extension ring 8. The projection of the docking block 9 is L-shaped, and one end of the docking block 9 extends to the outer ring edge of the width extension ring 8. A docking groove 10 is opened on one end face of the magnetic wheel assembly 3, and the docking block 9 is embedded in the docking groove 10. A snap-fit post 12 is fixed on the lower end face of the flipping half-ring 6. The upper end faces of the fixed half-ring 5 and the docking block 9 are both opened with an insert groove 13 that matches the snap-fit post 12. The width extension ring 8 directly increases the contact area between the magnetic wheel assembly 3 and the pipe, thereby enhancing the adsorption force. The docking block 9 is fixed on the inner ring wall of the width extension ring 8, and its L-shaped design allows it to fit tightly with the docking groove 10 of the magnetic wheel assembly 3, realizing the precise installation and fixation of the width extension ring 8.
[0022] Further as Figure 1 As shown, it is worth noting that the upper end of the fixed half-ring 5 is fixed with a rotating seat 14, the lower end of the flipping half-ring 6 is fixed with a hinged rotating arm 15, the hinged rotating arm 15 is rotatably connected in the rotating groove of the rotating seat 14, and one end of the magnetic wheel set 3 is provided with a receiving opening 11 for closing the flipping half-ring 6.
[0023] This solution has the following working process: When it is necessary to increase the magnetic attraction force of the crawler body 1, the flipping half-ring 6 is flipped from the fixed half-ring 5. The flipping half-ring 6 flips and opens on the rotating seat 14 of the fixed half-ring 5 through the hinged rotating arm 15. At this time, the docking groove 10 on the outer end face of the magnetic wheel set 3 is exposed. Then, the width extension ring 8 is inserted into the docking groove 10 of the magnetic wheel set 3 through the docking block 9. At this time, a part of the docking block 9 overlaps the upper end of the fixed half-ring 5, and the insertion groove 13 on the docking block 9 is aligned with the hole of the insertion groove 13 on the fixed half-ring 5. Finally, the fixed half-ring 5 is reset and flipped. The rotating half-ring 6, after passing through the docking block 9 via the snap-fit post 12, is embedded in the mounting groove 13 of the fixed half-ring 5. In this way, when the fixed half-ring 5 and the rotating half-ring 6 are closed, the position of the width extension ring 8 can be fixed, so that the width extension ring 8 can be added to one end of the magnetic wheel assembly 3. When the magnetic wheel assembly 3 becomes wider, the contact area with the pipe will increase. Under the condition that the magnetic field strength and magnetic material properties remain unchanged, a larger contact area means that more areas can generate magnetic flux, thereby enhancing the adsorption force between the magnetic wheel assembly and the pipe, making the crawler's adsorption on the pipe more stable.
[0024] When the width extension ring 8 is installed, switching the opening and closing states of the fixed half ring 5 and the flip half ring 6 can provide conditions for the disassembly and assembly of the width extension component 7. The width extension component 7 adopts this convenient disassembly and assembly method, which can adapt to the complex application scenario of changing the magnetic area of the magnetic wheel set 3.
[0025] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Although embodiments of this utility model have been shown and described, this does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model. Regarding the embodiments of this utility model, those skilled in the art will understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this utility model. The scope of this utility model is defined by the appended claims and their equivalents.
Claims
1. A crawling robot for industrial pipeline inspection, comprising a crawler body (1) and magnetic wheel sets (3) for magnetically attracting pipelines, wherein a tire axle (2) is provided at the bottom of the crawler body (1), and four magnetic wheel sets (3) are disposed on the tire axle (2) of the crawler body (1), characterized in that: An mounting mechanism (4) is provided on the outside of the magnetic wheel assembly (3). The mounting mechanism (4) includes a fixed half ring (5), a flipping half ring (6), and a width extension component (7). The fixed half ring (5) is fixed on the magnetic wheel assembly (3). The flipping half ring (6) is rotatably connected above the fixed half ring (5). The width extension component (7) is embedded between the fixed half ring (5) and the flipping half ring (6).
2. The crawling robot for industrial pipeline inspection according to claim 1, characterized in that: The width extension component (7) includes a width extension ring (8) and a docking block (9). The width extension ring (8) is disposed on one side of the fixed half ring (5) and the flipping half ring (6). The docking block (9) is fixed on the inner ring wall of the width extension ring (8).
3. A crawling robot for industrial pipeline inspection according to claim 2, characterized in that: The projection of the docking block (9) is L-shaped, and one end of the docking block (9) extends to the outer edge of the width extension ring (8).
4. A crawling robot for industrial pipeline inspection according to claim 3, characterized in that: The magnetic wheel assembly (3) has a docking slot (10) on one end face, and the docking block (9) is embedded in the docking slot (10).
5. A crawling robot for industrial pipeline inspection according to claim 4, characterized in that: The lower end face of the flipping half ring (6) is fixed with a snap-fit post (12), and the upper end face of the fixed half ring (5) and the docking block (9) are both provided with an insert groove (13) that matches the snap-fit post (12).
6. A crawling robot for industrial pipeline inspection according to claim 5, characterized in that: The upper end of the fixed half ring (5) is fixed with a rotating seat (14), and the lower end of the flipping half ring (6) is fixed with a hinged rotating arm (15). The hinged rotating arm (15) is rotatably connected in the rotating groove of the rotating seat (14). One end of the magnetic wheel assembly (3) is provided with a receiving port (11) for closing the flipping half ring (6).