Pipeline weld flaw detection robot suitable for different pipe diameters
By adjusting the spacing and angle of the magnetic rollers through the adjustment mechanism, the problem of existing technologies being unable to adapt to the inspection of pipes of different diameters is solved, and efficient axial and radial flaw detection of pipe welds is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHINA SPECIAL EQUIP INSPECTION & RES INST
- Filing Date
- 2025-06-09
- Publication Date
- 2026-05-12
AI Technical Summary
Existing technologies cannot perform continuous transverse and circumferential inspections along the weld seam path, and are not applicable to the inspection of pipes of different diameters, resulting in a limited inspection range and reduced inspection efficiency.
A pipe weld flaw detection robot suitable for different pipe diameters was designed. By setting two adjustment mechanisms to adjust the spacing and angle of the moving mechanism, the traveling surface of the magnetic chuck can be adapted to pipes of different diameters, realizing radial and axial flaw detection.
It enables axial and radial flaw detection of welds in pipes of different diameters, improving the flexibility and efficiency of the inspection.
Smart Images
Figure CN224229550U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of pipeline weld flaw detection, and in particular to a pipeline weld flaw detection robot suitable for different pipe diameters. Background Technology
[0002] Pipeline welds are mostly circumferential or elongated, connecting pipes at both ends to extend the pipeline. Besides the requirements for welding technology and processes, weld quality inspection is a crucial part of welded structure quality management. By inspecting the weld quality, the safe and reliable operation of the welded product is ensured. Common weld quality inspection methods include ultrasonic testing and magnetic particle testing.
[0003] In the prior art, a utility model patent with authorization announcement number CN220894176U discloses an X-ray-based pipeline welding quality inspection robot, including an arc-shaped rail frame, a moving frame, a flaw detector body, and a base plate. The moving frame is slidably mounted on the arc-shaped rail frame, and the base plate is fixed to the bottom end of the arc-shaped rail frame. The bottom surface of the base plate is equipped with casters, and it also includes threaded posts, hexagonal nuts, electric push rods, and stabilizing push plates. A fixed plate is fixed to the flaw detector body, and threaded posts are fixed to both the top and bottom surfaces of the moving frame, penetrating the fixed plate. In this design, the flaw detector body can be installed at the top or bottom of the moving frame as needed, facilitating weld inspection from the inside or outside of the pipeline. This significantly improves the inspection accuracy and helps to fully control the quality of pipeline welds. Simultaneously, the electric push rod controls the stabilizing push plate to press against the outer or inner wall of the pipeline, further improving the stability of the inspection robot. However, the above-mentioned technical solutions cannot perform continuous transverse and circumferential inspections along the weld seam path, and are not applicable to the inspection of pipes with different diameters. The inspection range is limited, which reduces the inspection efficiency. Therefore, we propose a crawling robot that is suitable for weld seam flaw detection of pipes with different diameters. Utility Model Content
[0004] To solve the above-mentioned technical problems, this utility model provides a pipe weld flaw detection robot suitable for different pipe diameters.
[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:
[0006] A pipe weld flaw detection robot suitable for different pipe diameters includes a detection mechanism and two spaced-apart support frames. The two support frames are connected by a first adjustment mechanism to two sets of adjustable-spaced wheel frames. The bottom of each wheel frame is equipped with two adjustable-angle support rods via a second adjustment mechanism. A moving mechanism is mounted on each support rod. The detection mechanism is located between the two sets of wheel frames and is mounted on the two support frames. The moving mechanism includes rotatable magnetic wheels mounted on the support rods and a third motor mounted on the support rods for driving the magnetic wheels to rotate.
[0007] The aforementioned pipe weld flaw detection robot, applicable to pipe diameters, can perform radial inspections on pipes of different diameters. When radial inspection is required, the distance between the two sets of wheel frames can be adjusted to change the distance between the two moving mechanisms on the wheel frames, ensuring that the traveling surface of the magnetic chuck can always contact the pipe wall for pipes of different diameters. When axial inspection is required, the arrangement angle of the moving mechanism can be changed by adjusting the assembly angle of the two support rods, ensuring that the traveling surface of the magnetic chuck can always contact the pipe wall for pipes of different diameters. This allows the inspection mechanism to perform radial and axial flaw detection on pipe welds of different diameters.
[0008] Preferably, the first adjustment mechanism includes adjustment grooves respectively opened on the adjacent surfaces of the two support frames, and adjustment blocks provided at both ends of the wheel frame. The two adjustment blocks are respectively inserted into the two adjustment grooves and can slide along the length direction of the adjustment grooves. The two adjustment blocks in one of the adjustment grooves are connected by a screw thread. The screw thread directions of the corresponding parts of the two adjustment blocks are opposite. The screw thread is connected to the adjustment groove through a first bearing, and one end of the screw thread extends out of the adjustment groove and is connected to a first motor through a spline. The first motor is fixed on the support frame on which the screw thread is mounted. The adjustment groove is provided with a clearance hole for the screw thread to pass through, so as to realize the adjustment of the distance between the two sets of wheel frames. Along the radial direction of the pipe, the traveling surface of the magnetic suction wheel can adapt to pipes of different diameters and always contact the pipe wall.
[0009] Preferably, the second adjustment mechanism includes a mounting groove at the bottom of the wheel frame, a worm gear mounted in the mounting groove via a second bearing, a driven tooth sleeved in the middle of the worm gear, and helical teeth near both ends, with the threads of the two helical teeth facing opposite directions. A transmission rod is fixed on the support rod, and the transmission rod is mounted in the mounting groove via a third bearing. The transmission rod is equipped with a worm wheel that meshes with the helical teeth. A second motor is mounted on the top of the wheel frame, and a driving tooth that meshes with the driven tooth is fixed on the power output shaft of the second motor. The wheel frame has a clearance hole for the power output shaft to pass through, thereby adjusting the arrangement angle of the two support rods on the wheel frame. Along the axial direction of the pipe, the traveling surface of the magnetic roller can adapt to pipes of different diameters and always contact the pipe wall.
[0010] Preferably, the detection mechanism includes a central support fixed to two support frames simultaneously. A longitudinal support is mounted on the central support, and a probe mounting frame is mounted on the longitudinal support via a third adjustment mechanism. A flaw detection probe is arranged on the probe mounting frame to adjust the flaw detection spacing. Specifically, the third adjustment mechanism includes a groove formed on the longitudinal support, a slider mounted on the probe mounting frame, and an electric push rod arranged within the slider. The slider is detachably inserted into the groove and connected to the telescopic end of the electric push rod.
[0011] Preferably, the probe mounting bracket has multiple probe mounting holes and locking holes that are connected to each of the multiple probe mounting holes. A flaw detection probe can be inserted into the probe mounting hole, and a locking knob is screwed into the locking hole to abut against the flaw detection probe, which facilitates the disassembly and replacement of the flaw detection probe.
[0012] Preferably, a vision probe is also arranged on the wheel frame for acquiring images of the weld location.
[0013] Compared with the prior art, the present invention has the following beneficial effects:
[0014] This invention utilizes two adjustment mechanisms to adjust the distance between the two sets of moving mechanisms and the arrangement angle of each set of moving mechanisms, so that the traveling surface of the magnetic roller is always in contact with the pipe wall on pipes of different diameters, thereby enabling the detection mechanism to perform axial and radial flaw detection on the welds of pipes of different diameters. Attached Figure Description
[0015] Figure 1 This is a top view of the structure of this utility model;
[0016] Figure 2 This is a bottom view of the structure of this utility model;
[0017] Figure 3 This is an assembly structure diagram of the lead screw and adjusting block in this utility model;
[0018] Figure 4 This is an assembly diagram of the second adjustment mechanism of this utility model;
[0019] Figure 5 This is a schematic diagram of the detection mechanism structure of this utility model.
[0020] Attached diagram labels: 1. Detection mechanism; 2. Support frame; 4. Wheel frame; 6. Support rod; 7. Moving mechanism; 9. Vision probe; 31. Adjustment groove; 32. Adjustment block; 33. Lead screw; 34. First motor; 51. Mounting groove; 52. Worm gear; 53. Driven gear; 54. Transmission rod; 55. Worm wheel; 56. Second motor; 57. Driving gear; 71. Magnetic suction wheel; 72. Third motor; 11. Central support; 12. Longitudinal support; 13. Mounting frame; 14. Flaw detection probe; 15. Locking knob; 81. Slide groove; 82. Electric push rod. Detailed Implementation
[0021] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this utility model are only used to explain this utility model and are not intended to limit this utility model.
[0022] A pipe weld flaw detection robot suitable for different pipe diameters performs weld flaw detection based on the outer wall of the pipe. Specifically, such as... Figure 1 As shown, the device includes a detection mechanism 1 and two spaced-apart support frames 2. Two sets of adjustable-spaced wheel frames 4 are connected between the two support frames 2 via a first adjustment mechanism. Each wheel frame 4 has two adjustable-angle support rods 6 mounted on its bottom via a second adjustment mechanism. A moving mechanism 7 is mounted on each support rod 6 to form a traveling device for assembling the detection mechanism 1. Specifically, the detection mechanism 1 is located between the two sets of wheel frames 4 and is mounted on the two support frames 2; as shown... Figure 2 As shown, the moving mechanism 7 includes a magnetic chuck 71 rotatably mounted on the support rod 6, and a third motor 72 mounted on the support rod 6 for driving the magnetic chuck 71 to rotate. The aforementioned detection mechanism 1 is used to inspect the quality of pipe welds. The position of the detection mechanism 1 during the inspection process is changed by the traveling device. Specifically, the traveling device can move along the radial direction of the pipe or along the axial direction of the pipe, so that the detection mechanism 1 can perform radial and axial flaw detection on the pipe welds.
[0023] In practical implementation, when the traveling device needs to move radially along the pipeline, the distance between the two sets of moving mechanisms on the two sets of wheel frames 4 can be changed by adjusting the distance between the two sets of wheel frames 4 through the first adjustment mechanism, so that the traveling surface of the magnetic suction wheel 71 can adapt to pipelines of different diameters and always be in contact with the pipe wall; when the traveling device needs to move axially along the pipeline, the arrangement angle of the moving mechanism can be changed by adjusting the assembly angle of the two support rods 6 through the second adjustment mechanism, so that the traveling surface of the magnetic suction wheel 71 can adapt to pipelines of different diameters and always be in contact with the pipe wall, thereby enabling the detection mechanism 1 to perform axial and radial flaw detection on the welds of pipelines of different diameters.
[0024] like Figure 2-3 As shown, the first adjustment mechanism includes adjustment grooves 31 respectively opened on the adjacent surfaces of the two support frames 2, and adjustment blocks 32 provided at both ends of the wheel frame 4. The two adjustment blocks 32 are respectively inserted into the two adjustment grooves 31 and can slide along the length direction of the adjustment grooves 31. The two adjustment blocks 32 in one of the adjustment grooves 31 are connected by a screw rod 33. The screw rod 33 has opposite thread directions at the corresponding parts of the two adjustment blocks 32. The screw rod 33 is connected to the adjustment groove 31 through a first bearing, and one end of the screw rod 33 extends out of the adjustment groove 31 and is connected to a first motor 34 through a spline. The first motor 34 is fixed on the support frame 2 on which the screw rod 33 is mounted, and the adjustment groove 31 is provided with a clearance hole for the screw rod 33 to pass through. In practice, by controlling the rotation direction of the first motor 34, the drive rod 33 can be rotated to adjust the distance between the two sets of wheel frames 4. When the distance between the two sets of wheel frames 4 changes, the distance between the moving mechanisms 7 arranged on the two sets of wheel frames 4 also changes, thereby ensuring that the traveling surface of the magnetic suction wheel 71 contacts the pipe wall in the radial direction of the pipe.
[0025] like Figure 4 As shown, the second adjustment mechanism includes a mounting groove 51 at the bottom of the wheel frame 4. A worm gear 52 is mounted in the mounting groove 51 via a second bearing. A driven tooth 53 is sleeved in the middle of the worm gear 52, and helical teeth are provided near both ends. The threads of the two helical teeth are opposite in direction. A transmission rod 54 is fixed on the support rod 6. The transmission rod 54 is mounted in the mounting groove 51 via a third bearing. A worm wheel 55 that meshes with the helical teeth is provided on the transmission rod 54. A second motor 56 is provided on the top of the wheel frame 4. A driving tooth 57 that meshes with the driven tooth 53 is fixed on the power output shaft of the second motor 56. An obstacle hole is provided on the wheel frame 4 for the power output shaft to pass through. During implementation, the rotation direction of the second motor 56 is controlled, and the meshing active gear 57 and driven gear 53 drive the worm 52 to rotate. During the rotation of the worm 52, the worm wheel 55 is driven to rotate to adjust the assembly angle of the support rod 6, thereby changing the assembly angle of the moving mechanism 7 to ensure that the traveling surface of the magnetic suction wheel 71 contacts the pipe wall in the axial direction of the pipe.
[0026] like Figure 5As shown, the aforementioned detection mechanism 1 includes a central support 11 fixed to two support frames 2. A longitudinal support 12 is mounted on the central support 11, and a probe mounting frame 13 is mounted on the longitudinal support 12 via a third adjustment mechanism. A flaw detection probe 14 is arranged on the probe mounting frame 13. The flaw detection probe 14 serves as the core component for inspecting the quality of pipe welds. The arrangement height of the flaw detection probe 14 is determined by the arrangement height of the probe mounting frame 13. In this embodiment, the third adjustment mechanism is used to adjust the arrangement height of the probe mounting frame 13. By adjusting the arrangement height of the probe mounting frame 13, the arrangement height of the flaw detection probe 14 can be adjusted, thereby achieving adjustment of the flaw detection spacing. Specifically, the third adjustment mechanism includes a groove 81 formed on the longitudinal support 12, a slider on the probe mounting frame 13, and an electric push rod 82 arranged within the slider. The slider is detachably inserted into the groove 81 and connected to the telescopic end of the electric push rod 82. Preferably, the probe mounting bracket 13 has multiple probe mounting holes and locking holes that are connected to each of the multiple probe mounting holes. A flaw detection probe 14 can be inserted into the probe mounting hole, and a locking knob 15 is screwed into the locking hole and abuts against the flaw detection probe 14, which facilitates the disassembly and replacement of the flaw detection probe.
[0027] As a preferred embodiment of the above embodiments, a vision probe 9 is also arranged on the wheel frame 4 for acquiring images of the weld location. In some embodiments, the acquired images are transmitted to a data receiving terminal to facilitate the operator to obtain image data of the weld.
[0028] Of course, there may be other embodiments of this utility model. Without departing from the spirit and essence of this utility model, those skilled in the art can make various corresponding changes and modifications based on this utility model, but these corresponding changes and modifications should all fall within the protection scope of the appended claims of this utility model.
Claims
1. A pipe weld flaw detection robot suitable for different pipe diameters, comprising a detection mechanism (1), characterized in that, It also includes two support frames (2) arranged at intervals. The two support frames (2) are connected by two sets of wheel frames (4) with adjustable spacing through a first adjustment mechanism. The bottom of each wheel frame (4) is equipped with two support rods (6) with adjustable assembly angle through a second adjustment mechanism. The support rods (6) are equipped with a moving mechanism (7). The detection mechanism (1) is located between the two sets of wheel frames (4) and is mounted on the two support frames (2). The moving mechanism (7) includes a rotatable magnetic wheel (71) mounted on the support rod (6) and a third motor (72) mounted on the support rod (6) for driving the magnetic wheel (71) to rotate.
2. The pipe weld flaw detection robot applicable to different pipe diameters according to claim 1, characterized in that, The first adjustment mechanism includes adjustment grooves (31) respectively opened on the adjacent surfaces of the two support frames (2), and adjustment blocks (32) provided at both ends of the wheel frame (4). The two adjustment blocks (32) are respectively inserted into the two adjustment grooves (31) and can slide along the length direction of the adjustment grooves (31). The two adjustment blocks (32) in one of the adjustment grooves (31) are connected by a screw rod (33). The screw rod (33) has opposite thread directions corresponding to the two adjustment blocks (32). The screw rod (33) is connected to the adjustment groove (31) through a first bearing, and one end of the screw rod (33) extends out of the adjustment groove (31) and is connected to a first motor (34) through a spline. The first motor (34) is fixed on the support frame (2) on which the screw rod (33) is mounted, and the adjustment groove (31) is provided with a clearance hole for the screw rod (33) to pass through.
3. The pipe weld flaw detection robot applicable to different pipe diameters according to claim 1, characterized in that, The second adjustment mechanism includes a mounting groove (51) at the bottom of the wheel frame (4). A worm (52) is mounted in the mounting groove (51) via a second bearing. A driven tooth (53) is sleeved in the middle of the worm (52), and helical teeth are provided near both ends. The threads of the two helical teeth are opposite. A transmission rod (54) is fixed on the support rod (6). The transmission rod (54) is mounted in the mounting groove (51) via a third bearing. A worm wheel (55) that meshes with the helical teeth is provided on the transmission rod (54). A second motor (56) is provided on the top of the wheel frame (4). A driving tooth (57) that meshes with the driven tooth (53) is fixed on the power output shaft of the second motor (56). An obstacle hole is provided on the wheel frame (4) for the power output shaft to pass through.
4. The pipe weld flaw detection robot applicable to different pipe diameters according to any one of claims 1-3, characterized in that, The detection mechanism (1) includes a central support (11) fixed on two support frames (2) at the same time. A longitudinal support (12) is provided on the central support (11). A probe mounting frame (13) is provided on the longitudinal support (12) through a third adjustment mechanism. A flaw detection probe (14) is arranged on the probe mounting frame (13).
5. The pipe weld flaw detection robot applicable to different pipe diameters according to claim 4, characterized in that, The probe mounting bracket (13) has multiple probe mounting holes and locking holes that are connected to each of the multiple probe mounting holes. The flaw detection probe (14) can be inserted into the probe mounting hole, and a locking knob (15) is screwed into the locking hole and abuts against the flaw detection probe (14).
6. The pipe weld flaw detection robot applicable to different pipe diameters according to claim 5, characterized in that, The third adjustment mechanism includes a groove (81) formed on the longitudinal support (12) and a slider provided on the probe mounting bracket (13), and an electric push rod (82) arranged in the slider. The slider is detachably inserted into the groove (81) and connected to the telescopic end of the electric push rod (82).
7. The pipe weld flaw detection robot applicable to different pipe diameters according to any one of claims 5-6, characterized in that, A vision probe (9) is also arranged on the wheel frame (4).