CN104565675B - Detecting robot of pipe - Google Patents
Detecting robot of pipe Download PDFInfo
- Publication number
- CN104565675B CN104565675B CN201410278474.2A CN201410278474A CN104565675B CN 104565675 B CN104565675 B CN 104565675B CN 201410278474 A CN201410278474 A CN 201410278474A CN 104565675 B CN104565675 B CN 104565675B
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- screw
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- robot
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
A kind of detecting robot of pipe, mainly by laser detection mechanism（1）, haulage gear（2）, electromagnetic acoustic testing agency（3）, electronic compartment（4）It forms, is connected between each mechanism by connection hinge shaft；Haulage gear（1）Using single motor full drive, by turbine and worm toothed belt transmission, robot ambulation power, laser detection mechanism are provided（2）It is made of laser displacement sensor, rotating arm, clump weight, supporter etc., for measuring pipeline surface corrosion and deformation, electromagnetic acoustic testing agency（3）It is made of support component, probe, fixed plate, for measuring pipeline wall thickness and crack defect, electronic compartment（4）For carrying the accessories such as controllor for step-by-step motor, motor servo driver, power supply and FPGA control panels.Detecting robot of pipe according to the present invention can be found that the defects of corrosive pipeline, crackle, deformation, oil-gas pipeline in work can be carried out in-service testing, it targetedly repaired, repaired, replaced according to testing result, reduce maintenance cost, ensure that oil-gas pipeline runs safely and steadily.
Description
Technical field
A kind of robot of the present invention, particularly a kind of a variety of sensing detection technologies of application, in working condition
The defects of oil-gas pipeline progress burn into crackle, circularity, is detected, to ensure the detecting robot of pipe of pipe safety even running.
Background technology
Detecting robot of pipe be for the cleaning of oil-gas pipeline, detection, maintenance and a kind of extraordinary detection device developed,
It is integrated with intelligent mobile technology and non-destructive testing technology, and the oil-gas pipeline in working condition is carried out non-destructive testing, to ensure
Pipe safety steady operation.It is divided into actively runs robot and passive operation robot according to different robot's movement,
Actively running robot has crawler type, bionic type, vehicle type and support wheel type, and passive movement robot is by pipeline medium pressure
Difference is driving.Non-contact nondestructive detection technique has Magnetic Flux Leakage Inspecting technology, eddy detection technology, magnetic memory detection technology, electromagnetism to surpass
Sound detection technology and laser measuring technology.
The oil-gas pipeline detection machine National People's Congress is mostly using single detection means both at home and abroad at present, although this write method can detect
Go out defect of pipeline, but single direction defect can only be detected in view of Magnetic Flux Leakage Inspecting technology, eddy detection technology needs coupling
Mixture and the reasons such as environment is affected with human factor, and magnetic memory detection technology is still immature.It is based on so developing one kind
The oil-gas pipeline detection machine of the defects of on-line and non-contact inspection pipe deforming of multisensor, surface corrosion, wall thickness, crackle
People has great importance.
Invention content
According to background technology, support wheel walking manner is used the purpose of the present invention is to provide a kind of, using laser
Detection technique and electromagnetic acoustic detection technique, robot have certain cornering ability and caliber adaptability, can be right online
Oil-gas pipeline carries out non-destructive testing, it is ensured that the detecting robot of pipe of pipe safety smooth working.
To achieve these goals, the present invention is achieved through the following technical solutions：
A kind of detecting robot of pipe, mainly by laser detection mechanism（1）, haulage gear（2）, electromagnetic acoustic mechanism（3）
And electronic compartment（4）Composition, wherein：Laser detection mechanism（1）, haulage gear（2）, electromagnetic acoustic mechanism（3）, electronic compartment（4）It is logical
It crosses connection hinge shaft to be connected, forms a modularization robot structure.
The laser detection mechanism（1）By laser displacement sensor（11）, fixing rack for sensor（12）, rotating arm
（13）, clump weight（14）, support cylinder（15）With traveling wheel group（16）Composition, using laser dot scans technology, laser displacement passes
Sensor（11）Pass through fixing rack for sensor（12）It is fixed on rotating arm（13）, rotating arm（13）Pass through shaft coupling and motor shaft phase
Even around robot center rotation；Traveling wheel（16）Using parallel four-bar linkage mechanism, double two-wheel form is fixed on support cylinder
On.Arm center fixed laser transmitter is rotated, position of the calibration pipeline center in grating adjusts laser point in light by handwheel
Position in grid is overlapped with pipeline center robot center.
The haulage gear（2）By turbine（22）, worm screw（21）, synchronous pulley（23）, synchronous belt（24）, driving wheel
（27）, ball-screw（29）, disc spring（212）, pressure sensor（213）, stationary hub（28）, slip boss（211）And pedestal
（214）Composition, using single motor full drive, worm screw（21）Stationary hub is fixed on by ball bearing（28）On, three
Turbine is evenly arranged into 120 °；Synchronous pulley（23）Pass through bolt and turbine（22）It is connected, passes through synchronous belt（24）Movement is passed
Pass driving wheel（27）；Pass through pressure sensor（213）Measure driving wheel（27）Pressure, the rotation of negative feedback control motor, control
Feed screw nut processed（210）In leading screw（29）In position, complete support arm（25）Contraction and opening.
The electromagnetic acoustic testing agency（3）By popping one's head in（31）, probe fixed plate（32）, support arm（37）, ball wire
Thick stick（33）, stationary hub（34）, slip boss（36）And guide rail（35）Composition, support arm（37）With probe fixing bracket（32）Pass through
Articulated slab is connected, probe fixing bracket（32）Magnetic probe is fixed at both ends（31）, one transmitting-receiving probe of an incentive probe；Pacify on probe
Fast pulley is filled, keeps the distance of detecting head surface and tube wall；Support arm（37）It is used to support and shrinks probe, articulated slab has pilot hole
For keeping the balance of probe fixing bracket.
The electronics cabin structure（4）By cylinder（41）, linear guides（42）, ball-screw（43）, handwheel（44）, support
Arm（47）, secondary row travelling wheels（46）And Hall sensor（45）Composition, for carrying controllor for step-by-step motor, Serve Motor Control
Device, FPGA control panels and power supply；Electronic compartment is equipped with mileage wheel, passes through Hall sensor（45）Remember traveling wheel turnning circle,
Conversion detection robot travel distance；Ball screw（43）It is connected by gripping mechanism with bearing, ensures that mileage wheel connects with tube wall
It touches.
Due to using the technology described above, the present invention has the following advantages and effects：
1st, the present invention carries laser detection mechanism and electromagnetic acoustic testing agency, compensates for the office that single detection gimmick measures
It is sex-limited, the defects of oil-gas pipeline corrosion, crackle can be detected, deformed.
2nd, the present invention is using non-cpntact measurement, high certainty of measurement, easy to operate, and can adapt to certain caliber change and
Pass through the bend of certain curvature.
3rd, opening and contraction of the present invention by pressure sensor feedback control support arm, anti-locking mechanism overload.
Description of the drawings
Fig. 1 is robot general structure schematic diagram of the present invention；
Fig. 2 is laser detection structure diagram of the present invention；
Fig. 3 is haulage gear schematic diagram of the present invention；
Fig. 4 is electromagnetic ultrasonic testing structure schematic diagram of the present invention
Fig. 5 is electronic compartment structure diagram of the present invention.
Specific embodiment
The present invention is implemented with reference to the accompanying drawings, is elaborated below in conjunction with the accompanying drawings.
As shown in Figure 1, for a kind of detecting robot of pipe general structure schematic diagram of the present invention, wherein：Laser detection mechanism
1st, haulage gear 2, electromagnetic acoustic mechanism 3, electronic compartment 4 are connected by connecting hinge shaft, form a modularization robot structure.
As shown in Fig. 2, laser detection mechanism 1 by laser displacement sensor 11, fixing rack for sensor 12, rotating arm 13, match
Pouring weight 14, support cylinder 15 and traveling wheel group 16 form.Laser detection mechanism 1 uses laser dot scans technology, passes through support tube
Body 15 and 3 groups of traveling wheels 16 are felt relieved, and rotating arm 13 rotates around detection robot centerline, and rotate arm center fixed laser, are led to
Position adjusting handle of the laser point in grating is crossed, is overlapped with pipeline center robot center；Laser displacement sensor 11 is logical
It crosses fixing rack for sensor 12 to be fixed on rotating arm 13,13 other end of rotating arm is furnished with 14 balance rotating inertia of clump weight.Laser
Displacement sensor 11 acquires pipeline cross section information, and corrosive pipeline, deformation information are obtained by data processing.
As shown in figure 3, haulage gear 2 is by turbine 22, worm screw 21, synchronous pulley 23, synchronous belt 24, support arm 25, driving
Wheel 27, stationary hub 28, ball-screw 29, slip boss 211, disc spring 212, pressure sensor 213 and pedestal 214 form；It leads
Draw mechanism 2 to be fixed in stationary hub 211 by ball bearing using single motor full drive, worm screw 21,3 turbines 22 are justified
120 ° of circumferential direction is evenly arranged, and synchronous pulley 23 is connected by bolt with turbine 22, and synchronous belt 24 passes motion to driving wheel,
Torque is passed to turbine 22 by servo motor by worm screw 21, and synchronous pulley 23 is driven, and passes through synchronous belt and deliver torque to
Driving wheel, so as to drive just in mechanism.Pressure sensor 213 measures tube wall to 27 pressure of driving wheel, when pressure is more than setting value,
Step motor control ball-screw 29 rotates, and feed screw nut change in location is shunk support arm 25, in order to avoid overload damage；Work as pressure
When power is less than setting value, the rotation of step motor control ball screw 29 opens support arm 25, to meet the needs of caliber change.
As shown in figure 4, electromagnetic acoustic testing agency 3 by probe 31, probe fixed plate 32, support arm 37, ball-screw 33,
Stationary hub 34, slip boss 36 and guide rail 35 form.Support arm 37 is connected with probe fixing bracket 32 by articulated slab, and probe is solid
Determine 32 both ends of frame and fix magnetic probe 31, one transmitting-receiving probe of an incentive probe by analyzing electromagnetic ultrasonic echo information, obtains
Pipeline crack defect information；Idler wheel on probe is installed, keeps the distance of detecting head surface and tube wall, articulated slab has pilot hole for protecting
Hold probe fixing bracket balance；Support arm 37 is used to support and shrinks probe, and during detection, the opening of support arm 37 is close to probe idler wheel
Tube wall, when not having detection task, support arm 37 are shunk, in order to avoid influence robot normal walking.
As shown in figure 5, electronic compartment 4 is made of cylinder 41, linear guides 42, leading screw 43, handwheel 44, support arm 47.Electronics
Cabin 4 is used to carry controllor for step-by-step motor, servomotor controller, FPGA control panels and power supply；Electronic compartment is equipped with mileage wheel,
Traveling wheel turnning circle, conversion detection robot travel distance are remembered by Hall sensor 45；Ball screw 43 passes through clamping
Device is connected with bearing, ensures that mileage wheel is contacted with tube wall.
Claims (3)
1. a kind of detecting robot of pipe, mainly by laser detection mechanism（1）, haulage gear（2）, electromagnetic acoustic mechanism（3）With
Electronic compartment（4）Composition, laser detection mechanism（1）Using laser dot scans technology, haulage gear（2）Using the single motor side of driving entirely
Formula, electromagnetic acoustic mechanism（3）, electronic compartment（4）It is connected by connecting hinge shaft, comprising modules robot architecture, it is characterised in that：
The electromagnetic acoustic mechanism（3）By popping one's head in（31）, probe fixed plate（32）, the second support arm（37）, the second ball-screw
（33）, stationary hub（34）, slip boss（36）And guide rail（35）Composition, the second support arm（37）With fixed plate of popping one's head in（32）It is logical
It crosses articulated slab to be connected, fixed plate of popping one's head in（32）The probe of magnetic is fixed at both ends（31）, fast pulley is installed, articulated slab setting is led on probe
It is used to keep the balance of probe fixing bracket to hole；The electronic compartment（4）By cylinder（41）, linear guides（42）, third ball
Leading screw（43）, third handwheel（44）, third support arm（47）, secondary row travelling wheels（46）And Hall sensor（45）Composition, cylinder
（41）For fixing the electronic device fixed frame of electric machine controller, power supply and FPGA control panels, electronic compartment installs mileage for middle setting
Wheel, Hall sensor（45）Remember traveling wheel turnning circle, conversion detection robot travel distance；Third ball-screw（43）It is logical
Gripping mechanism is crossed with bearing to be connected.
2. the detecting robot of pipe according to claim 1, it is characterised in that：The laser detection mechanism（1）By swashing
Optical displacement sensor（11）, fixing rack for sensor（12）, rotating arm（13）, clump weight（14）, support cylinder（15）And traveling wheel
Group（16）Composition, laser detection mechanism（1）By supporting cylinder（15）With traveling wheel group（16）It feels relieved, rotating arm（13）In
The heart is fixed with laser emitter, passes through the first handwheel（17）It adjusts position of the laser point in grating and carries out precision centering, laser
Displacement sensor（11）Pass through fixing rack for sensor（12）It is fixed on rotating arm（13）On, the other end is fixed with clump weight（14）It is flat
Weight amount.
3. the detecting robot of pipe according to claim 1, it is characterised in that：The haulage gear（2）By turbine
（22）, worm screw（21）, synchronous pulley（23）, synchronous belt（24）, driving wheel（27）, the first ball-screw（29）, disc spring（212）、
Pressure sensor（213）, the second stationary hub（28）, the second slip boss（211）And pedestal（214）Composition, worm screw（21）It is logical
It crosses ball bearing and is fixed on the second stationary hub（28）On, turbine（22）Pass through pedestal（214）120 ° of circumferencial direction is evenly arranged
In the second stationary hub（28）On, turbine（22）With synchronous pulley（23）It is mutually fixed, pass through synchronous belt（24）It delivers torque to
Driving wheel（27）, the second guide rail（215）Connect the second stationary hub（28）With the second slip boss（211）, the first ball-screw
（29）One end passes through bearing and the second stationary hub（28）It is connected, feed screw nut（210）With the second slip boss（211）Along first
Ball-screw（29）The first support arm is completed in movement（25）It opens and shrinks, pressure sensor（213）Tube wall is measured to driving wheel
（27）Pressure, disc spring（212）Play cushioning effect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410278474.2A CN104565675B (en) | 2014-06-20 | 2014-06-20 | Detecting robot of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410278474.2A CN104565675B (en) | 2014-06-20 | 2014-06-20 | Detecting robot of pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104565675A CN104565675A (en) | 2015-04-29 |
| CN104565675B true CN104565675B (en) | 2018-06-08 |
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ID=53082403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410278474.2A Expired - Fee Related CN104565675B (en) | 2014-06-20 | 2014-06-20 | Detecting robot of pipe |
Country Status (1)
| Country | Link |
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| CN (1) | CN104565675B (en) |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110043751A (en) * | 2019-03-29 | 2019-07-23 | 天津大学 | A kind of pipeline internal flaw scanning machine people |
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| CN104565675A (en) | 2015-04-29 |
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