CN104787139A - Long and thin component flaw detection scanning crawl device based on flexible shaft drive - Google Patents
Long and thin component flaw detection scanning crawl device based on flexible shaft drive Download PDFInfo
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- CN104787139A CN104787139A CN201510188109.7A CN201510188109A CN104787139A CN 104787139 A CN104787139 A CN 104787139A CN 201510188109 A CN201510188109 A CN 201510188109A CN 104787139 A CN104787139 A CN 104787139A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention discloses a long and thin component flaw detection scanning crawl device based on flexible shaft drive. The device comprises a first assembly and a second assembly, and the first assembly and the second assembly are connected into a whole through connecting rods. The first assembly comprises two first assembly sub-components identical in structure, first rolling wheel assemblies and second rolling wheel assemblies are arranged on first semi-circular supporting thin plates, the first rolling wheel assemblies are connected with motors through couplers and flexible shafts, the two first assembly sub-components are connected through a transfer hinge, and a closing buckle is arranged on the first semi-circular supporting thin plates. The second assembly comprises two second assembly sub-components identical in structure, third rolling wheel assemblies and fourth rolling wheel assemblies are arranged on second semi-round supporting thin plates, the two second assembly sub-components are connected through a transfer hinge, and a closing buckle is arranged on the second semi-circular supporting thin plates. The device is designed based on flexible shaft drive, and has the advantages of being light, smooth in running, wide in applicability and the like, and can meet the on-line detection requirements of components of different diameters and different detection environments.
Description
Technical field
The invention belongs to online the cannot-harm-detection device field of slender member, more specifically, relate to a kind of slender member based on driven by quill shaft flaw detection scanning crawling device.
Background technology
As everyone knows, the slender members such as Character of Cable Force of Cable stayed Bridge or elongated tubular bar in Long-Time Service process, the problem such as there will be mechanical damage or corroded, along with the accumulation of these damages, it can be caused to burst, cause the wasting of resources, threaten personal safety, in addition, slender member in process of production, inevitably there is the defect of fabrication such as aperture, weld seam, therefore, before dispatching from the factory and in use procedure, need regularly to detect the performance of slender member and safeguard, to avoid having an accident.
At present, manual detection method and automatic detection method can be divided into the detection approach of slender member, manual detection method efficiency is low, labour intensity is large, and some occasion manual detection is dangerous, therefore, slender member automatic checkout equipment obtains more and more attention, as publication number CN101138994A, publication date on March 12nd, 2008 patent document discloses a kind of wheeled type permanent magnetism adsorption pipeline creeping robot, it can be creeped by any route along conduit axis direction at ferromagnetic conduit outside face, easy and simple to handle, motion flexibly, but motor is completed transmission by reducer structure pair roller by this climbing robot, the top like this drive motor being arranged in actuating device causes the overall center of gravity of actuating device too high, and setting accuracy is low, easily sideslip phenomenon is there is in crawling process, accuracy of detection is poor, applicability is not strong, application publication number CN103439415A, patent document discloses of December 11 2013 Shen Qing Publication day is a kind of for exposed pipe electromagnetic ultrasonic automatic detection crawler, this crawl device can realize the automatic ultrasonic non-destructive test of pipeline along ferromagnetic tubes pipeline outer wall automatic creeping, but, the drive wheel of this detection crawl device is directly connected with motor, such design, has increased the weight of the deadweight of drive configuration itself on the one hand, bumpy motion in crawling process simultaneously, malfunction.
Generally speaking, at present both at home and abroad structurally still there is following defect in slender member on-line checkingi crawling device: first, and existing precision of equipment installation is low, it is large to take up room, preponderance, portability are poor; Secondly, Whole Equipment center of gravity is higher, not steady during detection, easily sideslip phenomenon occurs; Again, the manufacturing cost of existing climbing robot is high, complicated integral structure, is not suitable for the testing environment of slender member as Site Detections such as Character of Cable Force of Cable stayed Bridges.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides a kind of slender member based on driven by quill shaft flaw detection scanning crawling device, wherein in conjunction with the feature of crawling device self, respective design is based on the flaw detection scanning crawling device of driven by quill shaft, and to its key component as the structure of the first assembly and the second assembly and concrete assembling mode thereof are studied and designed, effectively can solve installation weight accordingly, volume is excessive, center of gravity is higher and detect the problem easily occurring to break away, also possesses detection good stability simultaneously, adaptable advantage, thus the online non-destructive test of slender member as Character of Cable Force of Cable stayed Bridge or elongated tubular bar etc. is particularly useful for.
For achieving the above object, the present invention proposes a kind of slender member based on driven by quill shaft flaw detection scanning crawling device, it is characterized in that: this device comprises the first assembly (I) being arranged at bottom and the second assembly (II) being arranged at top, connected by many pipe links (III) between the upper surface of described first assembly (I) and the lower surface of the second assembly (II), wherein:
This first assembly (I) comprises identical and the first assembly sub-unit be symmetrical set of two structures, this the first assembly sub-unit comprises the first roll wheel assembly (2), flexible axle (3), motor (4), coupler (5), second roll wheel assembly (6) and the first semicircle support thin plate (7), wherein said first roll wheel assembly (2) and the second roll wheel assembly (6) are arranged on the described first semicircle lower surface supporting thin plate (7) successively, the upper surface of described semicircle support thin plate is provided with to detect and visits last block (9), second roll wheel assembly (6) is connected by coupler (5) one end with flexible axle (3), the other end of described flexible axle (3) is connected with motor (4), in this way, move after can making the center of gravity of whole device, and play anti-locking apparatus to break away, increase the effect detecting stationarity, in addition, described two the first assembly sub-units are connected by being arranged on the described first semicircle the first turning hinge hinge (8) supported on thin plate (7) one end, the described first semicircle other end supporting thin plate (7) is then provided with first closedly to buckle (1), in this way, the closed first closed button (1) in plant running process, and then accuracy of detection is improved while holding device stability,
Described second assembly (II) comprises identical and the second assembly sub-unit be symmetrical set of two structures, described second assembly sub-unit comprises the second semicircle support thin plate (12), the 3rd roll wheel assembly (11) and the 4th roll wheel assembly (13), and wherein said 3rd roll wheel assembly (11) and the 4th roll wheel assembly (13) are arranged on the second semicircle support thin plate (12) successively; In addition, described second assembly sub-unit is connected by being arranged on the described second semicircle the second turning hinge hinge (14) supporting thin plate (12) one end, the described second semicircle other end supporting thin plate (12) is then provided with second closedly to buckle (10), in this way, the closed second closed button (10) in plant running process, and then accuracy of detection is improved further while holding device stability.
As further preferably, described first roll wheel assembly (2), the second roll wheel assembly (6), the 3rd roll wheel assembly (11) are identical with the structure of the 4th roll wheel assembly (13), include band rear plate U-shaped roller supporting plate, roller shaft and roller, described roller is arranged on described roller supporting plate by described roller shaft, and described second roll wheel assembly (6) is connected with coupler (4) respectively by respective roller shaft.
As further preferably, described slender member is preferably Character of Cable Force of Cable stayed Bridge or elongated tubular bar.
In general, the above technical scheme conceived by the present invention compared with prior art, mainly possesses following technological merit:
1. propulsion source and actuating unit adopt flexible axle to be connected, can be dropped back by propulsion source by actv., thus significantly reduce the integrally-built volume and weight of device, propulsion source is arranged in integrally-built bottom, effectively reduce the center of gravity of detecting device, make to creep and more steadily, not easily turn on one's side; The drive mechanism of soft axle transmission is arranged simple, and transmitting torque effect meets needed for creeping of detection failure detector completely, its efficiently solve the type of drive setting accuracy grades such as conventional gears transmission high, safeguard inconvenient, take up room the problem such as large, and low cost of manufacture.
2. decrease due to actuating device that heavily quantitative limitation and the driving propulsion source that causes transmit the restriction in space, breach the space constraint that traditional transmission mode is brought, make the change that the power transfer path between propulsion source and power performer (as roller) can be random, effectively improve the applicability of detecting device, the on-line checkingi demand of different testing environment can be met, be particularly useful for the Site Detection of slender member as Character of Cable Force of Cable stayed Bridge, elongated tubular bar etc.
3. buckle by arranging turning hinge hinge and closing, not only can meet the detection demand of different-diameter detection piece, the stability of crawling device in operational process can be ensured simultaneously.
Accompanying drawing explanation
Fig. 1 is the slender member flaw detection scanning crawling device front elevation based on driven by quill shaft;
Fig. 2 is the slender member flaw detection scanning crawling device graphics based on driven by quill shaft
Fig. 3 is the first assembled schematic diagram;
Fig. 4 is the first assembly schematic three dimensional views;
Fig. 5 is the second assembled schematic diagram;
Fig. 6 is the second assembly schematic three dimensional views;
Fig. 7 is Character of Cable Force of Cable stayed Bridge on-line checkingi schematic diagram;
Fig. 8 is elongated tubular bar on-line checkingi schematic diagram
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
A kind of flaw detection of the slender member based on driven by quill shaft scanning crawling device, as shown in Figure 1, device comprises the first assembly I, second assembly II and six roots of sensation pipe link III, as shown in Figure 2, first assembly I is weldingly connected into as a whole with the second assembly II by pipe link III, first assembly I is as Fig. 3, shown in Fig. 4, by two structures, identical and symmetrical first assembly sub-unit forms, this the first assembly sub-unit comprises the first semicircle support thin plate 7, motor 4, flexible axle 3, coupler 5, first roll wheel assembly 2, second roll wheel assembly 6, wherein, first, second roll wheel assembly structure is identical, by plate U-shaped roller supporting plate after band, roller shaft and roller composition.Use soft axle transmission based on device, propulsion source and detection probe can have been separated under actual testing environment, there is applicability more widely.
The concrete assembly relation of first assembly sub-unit is described below: as shown in Figure 3, roller is arranged on roller supporting plate by roller shaft, first, second roll wheel assembly is arranged on the first semicircle support thin plate 7 respectively, first roll wheel assembly 2 is connected with flexible axle 3 by coupler 5, flexible axle 3 is connected with motor 4, described two the first assembly sub-units are connected by being arranged on the first semicircle the first turning hinge hinge 8 supported on thin plate 7, adopt two panels thin semicircular plate circumferential type structure, the detection demand of different-diameter component can be met; First closed button 1 is arranged on first and semicirclely supports on thin plate 7, and in plant running process, closed button is closed can holding device stable, detects to visit last block 9 and be arranged on first and semicirclely support on thin plate 7.
Second assembly II as shown in Figure 5, comprise identical and the second assembly sub-unit be symmetrical set of two structures, described second assembly sub-unit comprises the second semicircle support thin plate 12, the 3rd roll wheel assembly 11, the 4th roll wheel assembly 13, wherein, three, the 4th roll wheel assembly scantling of structure is identical, includes band rear plate U-shaped roller supporting plate, roller shaft and roller.
The concrete assembly relation of second assembly II is described below: as shown in Figure 5, roller is arranged on roller supporting plate by roller shaft, and the 3rd roll wheel assembly 11, the 4th roll wheel assembly 13 are arranged on second respectively and semicirclely support on thin plate 12; As shown in Figure 5, described second assembly sub-unit is connected by being arranged on the described second semicircle the second turning hinge hinge 14 supported on thin plate 12, meet different-diameter drilling rod and detect demand, second closed button 10 is arranged on the second semicircle support thin plate 12, and in plant running process, closed button is closed to keep stable.
Fig. 7 is the schematic diagram adopting apparatus of the present invention Character of Cable Force of Cable stayed Bridge to be carried out to on-line checkingi, before carrying out Character of Cable Force of Cable stayed Bridge 15 detection, according to the diameter of cable, select the closed button gear matched with it, the flaw detection of the slender member based on the driven by quill shaft scanning crawling device carrying detection probe is encircled on cable, guaranteeing that this device respectively organizes roller can good contact with it, can move with assurance device along cable; Now starter motor 4, regulates the rotating speed of motor 4, gets final product actuating device upward movement, thus carry out on-line checkingi to Character of Cable Force of Cable stayed Bridge when idler wheel driving power is greater than device self gravitation time; After end to be detected, regulate motor 4 rotating speed, roller propulsive effort upwards and device self gravitation are balanced, whole device glides along Character of Cable Force of Cable stayed Bridge 15 under self gravitation effect, because motor arrangement is in integrally-built bottom, thus significantly reduce the integrally-built volume and weight of device, effectively reduce the center of gravity of detecting device, make to creep and more steadily, not easily turn on one's side, regulate motor speed that device can be made can to glide with speed more slowly simultaneously, inertia impact can't be caused to damage, thus be this crawling device recoverable.
Fig. 8 is the schematic diagram adopting apparatus of the present invention elongated tubular bar to be carried out to on-line checkingi, when detecting horizontal thin long tube bar, it is similar that detection mechanism and above-mentioned Character of Cable Force of Cable stayed Bridge detect mechanism, suitable closed button gear is selected according to the diameter of elongated tubular bar 16, make device respectively organize roller can with pipe bar good contact, starter motor, can drive the crawling device carrying detection probe to move along pipe bar, thus detect it; After detection terminates, regulate motor steering, driving rolls is rotated round about, and namely this device recoverable, reaches the object of on-line checkingi.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. the flaw detection of the slender member based on a driven by quill shaft scanning crawling device, it is characterized in that: this device comprises the first assembly (I) being arranged at bottom and the second assembly (II) being arranged at top, connected by many pipe links (III) between the upper surface of described first assembly (I) and the lower surface of the second assembly (II), wherein:
This first assembly (I) comprises identical and the first assembly sub-unit be symmetrical set of two structures, this the first assembly sub-unit comprises the first roll wheel assembly (2), flexible axle (3), motor (4), coupler (5), second roll wheel assembly (6) and the first semicircle support thin plate (7), wherein said first roll wheel assembly (2) and the second roll wheel assembly (6) are arranged on the described first semicircle lower surface supporting thin plate (7) successively, the upper surface of described semicircle support thin plate is provided with to detect and visits last block (9), described second roll wheel assembly (6) is connected by coupler (5) one end with flexible axle (3), the other end of described flexible axle (3) is connected with motor (4), in this way, move after can making the center of gravity of whole device, and play anti-locking apparatus to break away, increase the effect detecting stationarity, in addition, described two the first assembly sub-units are connected by being arranged on the described first semicircle the first turning hinge hinge (8) supported on thin plate (7) one end, the described first semicircle other end supporting thin plate (7) is then provided with first closedly to buckle (1), in this way, the closed first closed button (1) in plant running process, and then accuracy of detection is improved while holding device stability,
Described second assembly (II) comprises identical and the second assembly sub-unit be symmetrical set of two structures, described second assembly sub-unit comprises the second semicircle support thin plate (12), the 3rd roll wheel assembly (11) and the 4th roll wheel assembly (13), and wherein said 3rd roll wheel assembly (11) and the 4th roll wheel assembly (13) are arranged on the second semicircle support thin plate (12) successively; In addition, described second assembly sub-unit is connected by being arranged on the described second semicircle the second turning hinge hinge (14) supporting thin plate (12) one end, the described second semicircle other end supporting thin plate (12) is then provided with second closedly to buckle (10), in this way, the closed second closed button (10) in plant running process, and then accuracy of detection is improved further while holding device stability.
2. a kind of flaw detection of the slender member based on driven by quill shaft scans crawling device as claimed in claim 1, it is characterized in that, described first roll wheel assembly (2), the second roll wheel assembly (6), the 3rd roll wheel assembly (11) are identical with the structure of the 4th roll wheel assembly (13), include band rear plate U-shaped roller supporting plate, roller shaft and roller, described roller is arranged on described roller supporting plate by described roller shaft, and described second roll wheel assembly (6) is connected with coupler (4) respectively by respective roller shaft.
3. a kind of flaw detection of the slender member based on driven by quill shaft scans crawling device as claimed in claim 1 or 2, and it is characterized in that, described slender member is preferably Character of Cable Force of Cable stayed Bridge or elongated tubular bar.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510188109.7A CN104787139B (en) | 2015-04-21 | 2015-04-21 | Long and thin component flaw detection scanning crawl device based on flexible shaft drive |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510188109.7A CN104787139B (en) | 2015-04-21 | 2015-04-21 | Long and thin component flaw detection scanning crawl device based on flexible shaft drive |
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| CN104787139A true CN104787139A (en) | 2015-07-22 |
| CN104787139B CN104787139B (en) | 2017-01-11 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105319264A (en) * | 2015-12-01 | 2016-02-10 | 张萍 | Flaw detection system for petroleum exploration by using magnetic powder flaw detection technique |
| CN107117224A (en) * | 2017-05-15 | 2017-09-01 | 宿州迅驰电子科技有限公司 | A kind of lamp post clean robot |
| CN109959756A (en) * | 2017-12-14 | 2019-07-02 | 湘潭宏远电子科技有限公司 | A kind of non-destructive testing device |
| CN113725779A (en) * | 2021-09-06 | 2021-11-30 | 中国南方电网有限责任公司超高压输电公司南宁局 | Tension stringing crossing protection device and anti-falling construction method for power line |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113725779A (en) * | 2021-09-06 | 2021-11-30 | 中国南方电网有限责任公司超高压输电公司南宁局 | Tension stringing crossing protection device and anti-falling construction method for power line |
| CN113725779B (en) * | 2021-09-06 | 2023-12-12 | 中国南方电网有限责任公司超高压输电公司南宁局 | Tension-type overhead line crossing protection device and construction method for preventing falling of power line |
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| CN104787139B (en) | 2017-01-11 |
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