A pressure vessel crack detection robot

Abstract

The utility model relates to pressure vessel crack detection technical field especially relates to a kind of pressure vessel crack detection robot. Including robot shell, there is middle plate in robot shell interior, there is first motor on the inner side wall of robot shell, the output end of first motor has lead screw, lead screw is screw thread connection and has lead screw sleeve on lead screw, lead screw sleeve outside is connected with multiple first connecting seat, multiple second connecting seat are slidably connected in the side of middle plate, the first connecting seat and the second connecting seat between located same side are connected by connecting rod, second connecting seat side is connected with movable rod, movable rod one end has outer bracing plate, outer bracing plate side is rotatably connected with driving wheel, crack detection equipment is also installed in the side of robot shell. The utility model provides a kind of pressure vessel crack detection robot, to solve the technical problems that existing automatic detection equipment is difficult to quickly adapt to the inner wall of different diameter long cylindrical pressure vessel and long distance stable and reliable movement in cylinder.

Description

Technical Field

[0001] This utility model relates to the field of pressure vessel crack detection technology, and in particular to a pressure vessel crack detection robot. Background Technology

[0002] Pressure vessels, especially slender cylindrical or elongated cylindrical pressure vessels, are critical equipment in the petroleum, chemical, natural gas storage and transportation, and energy sectors. These vessels typically have a large length-to-diameter ratio, and their inner walls are subjected to high temperatures, high pressures, and corrosive media over long periods, making them highly susceptible to the initiation and propagation of cracks and other defects. The presence of cracks poses a significant threat to the safe operation of pressure vessels; once instability and propagation occur, it can lead to catastrophic accidents. Therefore, regular, comprehensive, and efficient crack detection of the inner walls of elongated cylindrical pressure vessels is crucial. Traditional manual inspection methods are not only inefficient, costly, and pose safety risks, but also difficult to implement within the narrow, enclosed interior of the vessel, making it difficult to cover the entire area and guarantee the effectiveness of the inspection.

[0003] Currently, automated equipment for inspecting the inner walls of pressure vessels has been explored, but significant challenges remain in the specific scenario of long cylindrical containers. The main problem lies in insufficient adaptability to cylinders of different diameters. Existing equipment often has fixed structural dimensions or limited adjustment capabilities, making it difficult to quickly and reliably adapt to the inner walls of various long cylindrical containers with diameters ranging from small to large. Inspecting containers of different specifications requires frequent replacements or complex adjustments, greatly reducing efficiency and increasing operating costs and complexity. This severely restricts the effectiveness and reliability of automated inspection technology in the widespread application of long cylindrical pressure vessels. Utility Model Content

[0004] This invention provides a pressure vessel crack detection robot, which aims to solve the technical problem that existing automated detection equipment is difficult to quickly adapt to the inner wall of long cylindrical pressure vessels of different diameters, and to move stably and reliably over long distances within the cylinder.

[0005] The technical solution adopted by this utility model is as follows: a pressure vessel crack detection robot, including a robot shell, an intermediate plate fixedly connected inside the robot shell, a first motor fixedly connected to the inner wall of the robot shell, a lead screw at the output end of the first motor, a lead screw sleeve threaded onto the lead screw, a plurality of first connecting seats fixedly connected to the outer side of the lead screw sleeve, a plurality of second connecting seats slidably connected to one side of the intermediate plate, the first and second connecting seats on the same side being connected by a connecting rod, a movable rod passing through the shell wall of the robot shell fixedly connected to the side of the second connecting seat away from the lead screw, an outer support plate fixedly connected to the end of the movable rod away from the second connecting seat, drive wheels rotatably connected to both ends of the outer support plate away from the movable rod, a support platform fixedly connected inside the robot shell to one side of the intermediate plate, a second motor fixedly connected to the support platform, a worm gear at the output end of the second motor, a rotating rod rotatably connected to the second motor passing through the side wall of the robot shell, a worm wheel meshing with the worm gear fixedly connected to one end of the rotating rod, a telescopic rod fixedly connected to the end of the rotating rod away from the worm wheel, and a crack detection device provided at the movable end of the telescopic rod.

[0006] As a further improvement of this utility model, the end of the lead screw away from the first motor is fixedly connected to the intermediate plate through a bearing.

[0007] As a further improvement of this utility model, a slider is fixedly connected to the second connecting seat near the middle plate, and a groove for the slider to slide is provided on one side of the middle plate.

[0008] As a further improvement of this utility model, both ends of the connecting rod are hinged to the first connecting seat and the second connecting seat respectively via rotating shafts.

[0009] As a further improvement of this utility model, the robot housing is provided with a guide hole for the movable rod to pass through.

[0010] As a further improvement of this utility model, the rotating rod is rotatably connected to the side wall of the robot housing via bearing two.

[0011] As a further improvement of this utility model, a bearing seat is fixedly connected to the support platform, and the end of the worm gear away from the second motor is connected to the bearing seat.

[0012] The beneficial effects of this utility model are as follows: By integrating the adaptive adjustment mechanism of the drive wheel with the precise positioning mechanism of the crack detection equipment, this utility model enables the robot to quickly and adaptively fit onto long cylindrical pressure vessels of different diameters and move the inner wall of the vessel stably and reliably over long distances. At the same time, it ensures that the crack detection equipment can perform flexible scanning and positioning of the inner wall of the vessel in all directions with high precision, which significantly improves the detection efficiency, versatility, stability and accuracy. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of a pressure vessel crack detection robot according to this utility model;

[0014] Figure 2 This is a partial cross-sectional view of a pressure vessel crack detection robot according to this utility model;

[0015] Figure 3 This is a partial structural cross-sectional view of a pressure vessel crack detection robot according to this utility model;

[0016] Figure 4 This is a partial structural schematic diagram of a pressure vessel crack detection robot according to the present invention.

[0017] As shown in the figure: 1. Robot shell; 2. Intermediate plate; 3. First motor; 4. Lead screw; 5. Lead screw sleeve; 6. First connecting seat; 7. Second connecting seat; 8. Connecting rod; 9. Movable rod; 10. Outer support plate; 11. Drive wheel; 12. Support platform; 13. Second motor; 14. Worm gear; 15. Rotating rod; 16. Worm wheel; 17. Telescopic rod; 18. Crack detection equipment; 19. Bearing 1; 20. Slider; 21. Bearing 2; 22. Bearing seat. Detailed Implementation

[0018] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly mentioned in this specification are defined relative to their structure and are relative concepts. Therefore, they may vary depending on their location and usage; thus, these or other directional terms should not be interpreted as restrictive terms.

[0019] The singular forms “a,” “the,” and “the” used in this specification are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes one or more of the associated listed items, any or all possible combinations thereof.

[0020] To make the technical problems to be solved, the technical solutions, and the beneficial effects of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] This utility model provides the following: Figure 1-4The pressure vessel crack detection robot shown includes a robot housing 1, an intermediate plate 2 fixedly connected inside the robot housing 1, a first motor 3 fixedly connected to the inner wall of the robot housing 1, a lead screw 4 at the output end of the first motor 3, a lead screw sleeve 5 threaded onto the lead screw 4, and multiple first connecting seats 6 fixedly connected to the outer side of the lead screw sleeve 5. Multiple second connecting seats 7 are slidably connected to one side of the intermediate plate 2. The first connecting seats 6 and second connecting seats 7 located on the same side are connected by a connecting rod 8. A movable rod 9, penetrating through the shell wall of the robot housing 1, is fixedly connected to the side of the second connecting seat 7 away from the lead screw 4. An outer support plate 10 is fixedly connected to the end of the rod 9 away from the second connecting seat 7. Both ends of the outer support plate 10 away from the movable rod 9 are rotatably connected to drive wheels 11. A support platform 12 is fixedly connected to the robot shell 1 on one side of the middle plate 2. A second motor 13 is fixedly connected to the support platform 12. A worm gear 14 is provided at the output end of the second motor 13. A rotating rod 15 is rotatably connected to the side wall of the robot shell 1. A worm wheel 16 that meshes with the worm gear 14 is fixedly connected to one end of the rotating rod 15. A telescopic rod 17 is fixedly connected to the end of the rotating rod 15 away from the worm wheel 16. A crack detection device 18 is provided at the movable end of the telescopic rod 17.

[0022] like Figure 2 and Figure 3 As shown, in this utility model, the end of the lead screw 4 away from the first motor 3 is fixedly connected to the intermediate plate 2 through bearing 19, which ensures the stability of the lead screw 4 during rotation and reduces the error that may be caused by the shaking of the lead screw 4.

[0023] like Figure 2 and Figure 3 As shown, in this utility model, the second connecting seat 7 is fixedly connected to the slider 20 on the side near the middle plate 2. The middle plate 2 has a sliding groove on one side for the slider 20 to slide, so that the second connecting seat 7 can slide smoothly along the middle plate 2, which further improves the stability and accuracy of the adjustment of the outer support plate 10.

[0024] like Figure 2 and Figure 3 As shown, in this utility model, both ends of the connecting rod 8 are hinged to the first connecting seat 6 and the second connecting seat 7 respectively through rotating shafts, so that the connecting rod 8 can rotate flexibly and ensure that when the lead screw sleeve 5 moves, it can smoothly drive the second connecting seat 7 to move, so as to realize the extension and retraction adjustment of the outer support plate 10.

[0025] like Figure 2 As shown, the robot housing 1 of this utility model is provided with a guide hole for the movable rod 9 to pass through, which provides precise guidance for the movement of the movable rod 9, avoids the movable rod 9 from deviating during the movement, and ensures that the movement direction of the outer support plate 10 is accurate.

[0026] like Figure 2 and Figure 4As shown, in this utility model, the rotating rod 15 is rotatably connected to the side wall of the robot housing 1 through the bearing 21, which ensures the smoothness and stability of the rotating rod 15 during rotation, so that the crack detection equipment 18 can accurately adjust the angle.

[0027] like Figure 2 and Figure 4 As shown, in this utility model, a bearing seat 22 is fixedly connected to the support platform 12, and the end of the worm gear 14 away from the second motor 13 is connected to the bearing seat 22, which ensures the stability of the worm gear 14 during rotation and avoids the transmission effect being affected by the shaking of the worm gear 14, thereby ensuring the accurate operation of the crack detection equipment 18.

[0028] Working Principle: In practical implementation, the robot is first placed inside the long cylindrical pressure vessel to be tested. The first motor 3 is started, driving the lead screw 4 to rotate. Since the lead screw 4 is threadedly connected to the lead screw sleeve 5, the lead screw sleeve 5 moves along the lead screw 4. As the lead screw sleeve 5 moves, it drives the second connecting seat 7 to slide along the groove on the intermediate plate 2 via the connecting rod 8. This causes the movable rod 9 to move under the guidance of the guide hole, realizing the extension and retraction adjustment of the outer support plate 10, allowing the drive wheel 11 to tightly fit against the inner wall of the pressure vessel to accommodate pressure vessels of different diameters.

[0029] The drive wheel 11 rotates, causing the robot to move along the inner wall of the pressure vessel. The second motor 13 is started, which drives the worm gear 14 to rotate. The worm gear 14 meshes with the worm wheel 16, thereby causing the rotating rod 15 to rotate. The rotating rod 15 drives the telescopic rod 17 to rotate, and the crack detection device 18 at the movable end of the telescopic rod 17 rotates accordingly. At the same time, the telescopic rod 17 can be extended and retracted to achieve all-round, high-precision scanning and detection of the inner wall of the pressure vessel.

[0030] Throughout the entire inspection process, bearing 19 ensures the stability of the lead screw 4's rotation, slider 20 and slide groove ensure the smooth sliding of the second connecting seat 7, the rotating shaft allows the connecting rod 8 to rotate flexibly, bearing 21 ensures the smooth rotation of the rotating rod 15, and bearing seat 22 ensures the stability of the worm gear 14's rotation, ensuring that the robot can complete the inspection task stably and reliably.

[0031] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A pressure vessel crack detection robot, comprising a robot housing (1), characterized in that: An intermediate plate (2) is fixedly connected inside the robot housing (1). A first motor (3) is fixedly connected to the inner wall of the robot housing (1). A lead screw (4) is provided at the output end of the first motor (3). A lead screw sleeve (5) is threaded onto the lead screw (4). Multiple first connecting seats (6) are fixedly connected to the outside of the lead screw sleeve (5). Multiple second connecting seats (7) are slidably connected to one side of the intermediate plate (2). The first connecting seats (6) and second connecting seats (7) located on the same side are connected by a connecting rod (8). A movable rod (9) that passes through the shell wall of the robot housing (1) is fixedly connected to the side of the second connecting seat (7) away from the lead screw (4). The end of the movable rod (9) away from the second connecting seat (7) An outer support plate (10) is fixedly connected. Both ends of the outer support plate (10) away from the movable rod (9) are rotatably connected to drive wheels (11). Inside the robot housing (1), a support platform (12) is fixedly connected to one side of the middle plate (2). A second motor (13) is fixedly connected to the support platform (12). The output end of the second motor (13) is provided with a worm gear (14). A rotating rod (15) is rotatably connected to the side wall of the robot housing (1). One end of the rotating rod (15) is fixedly connected to a worm wheel (16) that meshes with the worm gear (14). The end of the rotating rod (15) away from the worm wheel (16) is fixedly connected to a telescopic rod (17). The movable end of the telescopic rod (17) is provided with a crack detection device (18).

2. The pressure vessel crack detection robot according to claim 1, characterized in that: The end of the lead screw (4) away from the first motor (3) is fixedly connected to the intermediate plate (2) through bearing (19).

3. The pressure vessel crack detection robot according to claim 1, characterized in that: The second connecting seat (7) is fixedly connected to a slider (20) on the side near the middle plate (2), and the middle plate (2) has a groove on one side for the slider (20) to slide.

4. The pressure vessel crack detection robot according to claim 1, characterized in that: Both ends of the connecting rod (8) are hinged to the first connecting seat (6) and the second connecting seat (7) respectively via rotating shafts.

5. The pressure vessel crack detection robot according to claim 1, characterized in that: The robot housing (1) is provided with a guide hole for the movable rod (9) to pass through.

6. The pressure vessel crack detection robot according to claim 1, characterized in that: The rotating rod (15) is rotatably connected to the side wall of the robot housing (1) via bearing two (21).

7. The pressure vessel crack detection robot according to claim 1, characterized in that: The support platform (12) is fixedly connected to a bearing seat (22), and the end of the worm gear (14) away from the second motor (13) is connected to the bearing seat (22).

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