Pipeline defect detection robot of ultrasonic combined magnetic flux leakage

Abstract

The utility model discloses a kind of pipeline defect detection robots of ultrasonic combined magnetic flux leakage, including front end cleaning module, ultrasonic detection module, magnetic flux leakage detection module and propulsion module;The front end cleaning module is equipped with the cleaning piece for cleaning the inner wall of pipeline;The ultrasonic detection module includes the ultrasonic probe array for emitting and receiving ultrasonic wave signal;The magnetic flux leakage detection module is equipped with the magnet for magnetizing the metal pipeline to be detected and the signal detection device for capturing magnetic flux leakage signal;The propulsion device includes the propeller for driving robot to travel in pipeline.The welding defect detection robot of the utility model realizes the depth fusion of ultrasonic and magnetic flux leakage technology, combines the propulsion module and cleaning module that can travel in pipeline, and carries out efficient, accurate comprehensive detection to the internal defect of pipeline.

Description

Technical Field

[0001] This utility model relates to the field of pipeline inner and outer wall defect detection equipment, specifically to a pipeline defect detection robot based on ultrasonic combined magnetic leakage. Background Technology

[0002] Pipelines are critical components for transporting fluid media in industries such as petroleum, chemical, and energy, and their safety and reliability are directly related to the safety of production operations. With the development of industrial automation, pipeline defect detection robots have gradually become core equipment for ensuring pipeline safety. They can replace manual labor in complex working conditions to complete inspection tasks, reduce operational risks, and improve inspection efficiency.

[0003] Manual inspection was once a widely used traditional method of pipeline inspection. Workers needed to go deep inside the pipeline or carefully inspect it from the outside, using visual observation and simple tools to determine the pipeline's operating condition. At that time, it was difficult to identify internal defects by visual inspection alone. Using defect detection equipment such as ultrasonic testing was extremely inefficient, requiring manual, segment-by-segment, point-by-point inspection, which demanded high levels of skill and physical strength from the workers. When pipelines were buried deep underground or had complex structures with many bends and branches, it was difficult for people to reach the corresponding locations. Even if they could reach them, limitations in the detection methods made it difficult to discover deep, hidden defects.

[0004] Therefore, existing technologies have developed pipeline defect detection robots that carry detection sensors to travel inside pipelines for inspection. These robots typically use a single sensor (such as an ultrasonic probe or magnetic flux leakage sensor) to perform their tasks. However, a single detection method cannot adequately address the detection needs of defects on both the inner and outer walls of the pipeline. For example, ultrasonic testing has a weak ability to identify defects on the outer wall of the pipeline, while magnetic flux leakage testing is insensitive to minute defects on the inner wall, resulting in incomplete detection coverage.

[0005] Therefore, how to overcome the limitations of a single detection method and achieve the organic integration of different detection principles has become a technical problem that urgently needs to be solved in the field of pipeline defect detection. Utility Model Content

[0006] In view of this, the purpose of this utility model is to develop a pipeline defect detection robot that combines ultrasonic and magnetic flux leakage technologies, achieving a deep integration of ultrasonic and magnetic flux leakage technologies. Combined with a propulsion module and a cleaning module that can travel inside the pipeline, it can perform efficient and accurate comprehensive detection of internal defects in the pipeline.

[0007] This utility model discloses a pipe defect detection robot based on ultrasonic combined magnetic flux leakage, comprising a front-end cleaning module, an ultrasonic detection module, a magnetic flux leakage detection module, and a propulsion module. The front-end cleaning module is equipped with a cleaning component for cleaning the inner wall of the pipe. The ultrasonic detection module includes an ultrasonic probe array for transmitting and receiving ultrasonic signals. The magnetic flux leakage detection module is equipped with a magnet for magnetizing the metal pipe being inspected and a signal detection device for capturing magnetic flux leakage signals. The propulsion device includes a propeller for driving the robot to move inside the pipe.

[0008] Preferably, the front-end cleaning module, magnetic flux leakage detection module, ultrasonic detection module, and propulsion module are connected in series via a linkage group; the linkage group includes two connecting rods hinged between the two modules.

[0009] Preferably, a plurality of guide wheel sets are evenly distributed circumferentially on the outer side of the front cleaning module, ultrasonic detection module and propulsion module; the guide wheel set includes a base, two wheel arms with one end hinged to the base, a guide wheel set at the other end of the wheel arm and a spring connected between the two wheel arms.

[0010] Preferably, the front-end cleaning module includes a housing and a cleaning drive motor disposed within the housing for driving the cleaning components to rotate.

[0011] Preferably, the cleaning component includes a cleaning wheel and a plurality of brush blades distributed along the outer edge of the cleaning wheel.

[0012] Preferably, the ultrasonic testing module includes several stacked disc-shaped probe fixing plates; the ultrasonic probes are evenly distributed circumferentially on the probe fixing plates.

[0013] Preferably, the magnetic flux leakage module is equipped with soft brushes at both ends for cleaning impurities and dirt from the pipe surface.

[0014] Preferably, the propulsion module includes a housing and a propulsion drive motor disposed within the housing for driving the propeller to rotate.

[0015] The beneficial effects of this utility model are:

[0016] 1. The robot of this utility model integrates four major modules: front-end cleaning, ultrasonic detection, magnetic flux leakage detection, and propulsion, forming a complete "cleaning-detection-propulsion" function: the front-end cleaning module first removes impurities from the inner wall of the pipe, creating a clean environment for ultrasonic and magnetic flux leakage detection; the ultrasonic detection module uses a probe array to accurately capture ultrasonic signals of pipe defects; the magnetic flux leakage detection module uses magnetization and signal devices to identify abnormal magnetic flux leakage in metal pipes. The two detection principles complement each other, covering more defect types, solving the limitations of single detection technology, and realizing accurate and comprehensive detection of pipe defects.

[0017] 2. The various modules of the inspection robot of this utility model are connected in series by linkage groups, so that the modules have relative rotational freedom, enabling the robot to move flexibly in complex structures such as pipe bends and diameter changes, thereby improving the passability of the pipeline environment.

[0018] 3. The guide wheel assembly used in this invention can adapt to different pipe inner diameters. Through the combination of guide wheels and springs, the guide wheels can adaptively adjust with changes in the pipe inner diameter, always maintaining contact with the pipe inner wall, ensuring stable contact between the detection module and the pipe wall, and improving detection accuracy. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the front-end cleaning module of this utility model;

[0022] Figure 3 This is a schematic diagram of the ultrasonic testing module of this utility model;

[0023] Figure 4 This is a schematic diagram of the magnetic flux leakage detection module of this utility model;

[0024] Figure 5 This is a schematic diagram of the propulsion module of this utility model.

[0025] Reference numerals: Front cleaning module-1, Ultrasonic detection module-2, Magnetic flux leakage detection module-3, Propulsion module-4, Cleaning wheel-11, Brush-12, Guide wheel group I-13, Guide wheel group II-21, Ultrasonic probe-22, Probe fixing plate-23, Signal detection device-31, Magnet-32, Soft brush-33, Propeller-41, Propulsion drive motor-42, Guide wheel group III-43. Detailed Implementation

[0026] like Figure 1As shown, the ultrasonic combined with magnetic flux leakage (MF) leakage pipeline defect detection robot of this embodiment includes a front-end cleaning module 1, an ultrasonic detection module 2, an MF leakage detection module 3, and a propulsion module 4. This pipeline inspection robot integrates four major modules: front-end cleaning, ultrasonic detection, MF leakage detection, and propulsion, forming a complete "cleaning-detection-propulsion" function: the front-end cleaning module 1 first removes impurities from the inner wall of the pipeline, creating a clean environment for ultrasonic and MF leakage detection; the ultrasonic detection module 2 uses a probe array to accurately capture ultrasonic signals of pipeline defects; the MF leakage detection module 3 uses magnets 32 to magnetize and signal devices to identify abnormal magnetic flux leakage in metal pipelines. The two detection principles complement each other, covering more defect types, overcoming the limitations of single detection technologies, and achieving accurate and comprehensive detection of pipeline defects.

[0027] The front-end cleaning module 1, magnetic flux leakage detection module 3, ultrasonic detection module 2, and propulsion module 4 are connected in series via a linkage group. The linkage group includes two connecting rods hinged between the two modules, which gives the modules a degree of freedom of relative rotation, allowing the robot to move flexibly in complex structures such as pipe bends and diameter changes, thus improving the pipe environment passability.

[0028] The front-end cleaning module 1, ultrasonic testing module 2, and propulsion module 4 are each uniformly distributed circumferentially with several guide wheel groups (guide wheel group I-13, guide wheel group II-21, and guide wheel group III-43, respectively). Each guide wheel group includes a base, two wheel arms hinged to the base at one end, a guide wheel at the other end of the wheel arm, and a spring-loaded guide wheel group connected between the two wheel arms, which can adapt to different pipe inner diameters. Through the combination of guide wheels and springs, the guide wheels can adaptively adjust with changes in the pipe inner diameter, always conforming to the pipe inner wall, ensuring stable contact between the testing module and the pipe wall, and improving testing accuracy.

[0029] like Figure 2 As shown, the front-end cleaning module 1 includes a housing, a cleaning component for cleaning the inner wall of the pipe, and a cleaning drive motor disposed within the housing for driving the cleaning component to rotate. The cleaning component includes a cleaning wheel 11 and several brushes 12 distributed along the outer edge of the cleaning wheel 11. The cleaning drive motor is located inside the housing, and the cleaning component, consisting of the cleaning wheel 11 and the outer edge brushes 12, is located outside the housing. During operation, the cleaning drive motor drives the cleaning wheel 11 to rotate, and the brushes 12 rotate with the wheel and scrub the inner wall of the pipe, thereby removing dirt, impurities, etc., creating a clean testing environment for subsequent ultrasonic and magnetic flux leakage testing, and avoiding the impact of foreign matter adhering to the pipe wall on the testing accuracy. The brushes 12 are flexible components that can adapt to the curved surface of the inner wall of the pipe.

[0030] like Figure 3As shown, the ultrasonic testing module 2 includes several stacked disc-shaped probe fixing plates 23; the ultrasonic probes 22 are evenly distributed circumferentially on the probe fixing plates 23, forming an array of ultrasonic probes 22 for transmitting and receiving ultrasonic signals; the ultrasonic testing module 2 uses several stacked disc-shaped probe fixing plates 23, with each fixing plate 23 stacked axially to achieve full circumferential coverage testing of the inner wall of the pipe, and the axial testing range can be expanded by stacking.

[0031] like Figure 4 As shown, the magnetic flux leakage detection module 3 is equipped with magnets 32 for magnetizing the metal pipe being inspected and a signal detection device 31 for capturing magnetic flux leakage signals. Soft brushes 33 are located at both ends of the module to clean impurities and dirt from the pipe surface. The soft brushes 33 can further clean impurities and dirt from the pipe surface during robot movement. The two magnet arrays 32 in the middle are used to magnetize the metal pipe, causing magnetic flux leakage at defects. The signal detection device 31 between the two magnet arrays 32 accurately captures the magnetic flux leakage signals.

[0032] like Figure 5 As shown, the propulsion module 4 includes a housing, a propeller 41 for driving the robot to move within the pipe, and a propulsion drive motor 42 disposed within the housing for driving the propeller 41 to rotate. The propulsion drive motor 42 is built into the housing and drives the propeller 41 to rotate. The propeller 41 efficiently generates thrust in the fluid environment of the pipe, driving the robot to move along the pipe axis.

[0033] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model are included within the protection scope of the present utility model.

Claims

1. A pipeline defect detection robot based on a combination of ultrasonic and magnetic flux leakage methods, characterized in that: The system includes a front-end cleaning module, an ultrasonic testing module, a magnetic flux leakage detection module, and a propulsion module. The front-end cleaning module is equipped with a cleaning component for cleaning the inner wall of the pipe. The ultrasonic testing module includes an array of ultrasonic probes for transmitting and receiving ultrasonic signals. The magnetic flux leakage detection module is equipped with a magnet for magnetizing the metal pipe being tested and a signal detection device for capturing magnetic flux leakage signals. The propulsion module includes a propeller for driving the robot to move inside the pipe.

2. The ultrasonic combined magnetic flux leakage pipeline defect detection robot according to claim 1, characterized in that: The front-end cleaning module, magnetic flux leakage detection module, ultrasonic detection module, and propulsion module are connected in series via a linkage group; the linkage group includes two connecting rods hinged between the two modules.

3. The ultrasonic combined magnetic flux leakage pipeline defect detection robot according to claim 1, characterized in that: The front cleaning module, ultrasonic detection module and propulsion module are equipped with several guide wheel sets evenly distributed circumferentially on their outer sides; each guide wheel set includes a base, two wheel arms with one end hinged to the base, a guide wheel set at the other end of the wheel arm and a spring connecting the two wheel arms.

4. The ultrasonic combined magnetic flux leakage pipeline defect detection robot according to claim 1, characterized in that: The front-end cleaning module includes a housing and a cleaning drive motor disposed inside the housing for driving the cleaning components to rotate.

5. The ultrasonic combined magnetic flux leakage pipeline defect detection robot according to claim 3, characterized in that: The cleaning component includes a cleaning wheel and several brushes distributed along the outer edge of the cleaning wheel.

6. The ultrasonic combined magnetic flux leakage pipeline defect detection robot according to claim 1, characterized in that: The ultrasonic testing module includes several stacked disc-shaped probe fixing plates; the ultrasonic probes are evenly distributed circumferentially on the probe fixing plates.

7. The ultrasonic combined magnetic flux leakage pipeline defect detection robot according to claim 1, characterized in that: The magnetic flux leakage module is equipped with soft brushes at both ends for cleaning impurities and dirt from the pipe surface.

8. The ultrasonic combined magnetic flux leakage pipeline defect detection robot according to claim 1, characterized in that: The propulsion module includes a housing and a propulsion drive motor disposed within the housing for driving the propeller to rotate.

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