CN104787139B - 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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- CN104787139B CN104787139B CN201510188109.7A CN201510188109A CN104787139B CN 104787139 B CN104787139 B CN 104787139B CN 201510188109 A CN201510188109 A CN 201510188109A CN 104787139 B CN104787139 B CN 104787139B
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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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- Bridges Or Land Bridges (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
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 particularly, to one
Slender member based on driven by quill shaft flaw detection scanning crawling device.
Background technology
It is known that the slender member such as Character of Cable Force of Cable stayed Bridge or elongated tube rod is during life-time service, meeting
Mechanical damage occurs or suffers the problems such as corrosion that the accumulation damaged along with these can cause it to burst,
Cause the wasting of resources, threaten personal safety, it addition, slender member is in process of production, unavoidably
There is the manufacturing defect such as aperture, weld seam in ground, therefore, before dispatching from the factory and during use, needs periodically
The performance of slender member is detected and safeguards, to avoid having an accident.
At present, the detection approach of slender member can be divided into manual detection method and automatic detection method, manually
Detection method efficiency is low, labor intensity big, and some occasion manual detection is dangerous, therefore, and elongated structure
Part automatic detection device obtains more and more attention, such as publication number CN101138994A, publication date 2008
The patent documentation on March 12, discloses a kind of wheeled type permanent magnetism adsorption pipeline creeping robot, and it can be
Ferromagnetic conduit outer surface is creeped along conduit axis direction by any route, easy and simple to handle, motion flexibly,
But motor is completed transmission by reducer structure pair roller by this climbing robot, electricity so will be driven
Machine is arranged in the top of driving means and causes the overall center of gravity of driving means too high, and installation accuracy is low,
Being susceptible to sideslip phenomenon in crawling process, accuracy of detection is poor, and the suitability is the strongest；Application publication number
CN103439415A, Shen Qing Publication day in December, 2013 patent documentation of 11 days disclose a kind of for
Exposed pipe electromagnetic ultrasonic automatic detection crawler, this crawl device can along ferromagnetic tubes pipeline outer wall certainly
The dynamic automatic ultrasonic Non-Destructive Testing creeped and realize pipeline, but, the driving wheel of this detection crawl device with
Motor is joined directly together, such design, has on the one hand increased the weight of to drive the deadweight of structure itself, has existed simultaneously
Bumpy motion in crawling process, malfunction.
Sum it up, slender member on-line checking crawling device structurally yet suffers from the most both at home and abroad
Following defect: first, existing precision of equipment installation is low, it is big to take up room, preponderance, just
The property taken is poor；Secondly, equipment entirety center of gravity is higher, unstable during detection, is susceptible to sideslip phenomenon；
Again, the manufacturing cost of existing climbing robot is high, complicated integral structure, is not suitable for slender member
Detection environment such as Site Detections such as Character of Cable Force of Cable stayed Bridges.
Summary of the invention
For disadvantages described above or the Improvement requirement of prior art, the invention provides one and drive based on flexible axle
Dynamic slender member flaw detection scanning crawling device, wherein combines the feature of crawling device self, sets accordingly
Count flaw detection based on driven by quill shaft scanning crawling device, and to its key component the such as first assembly and the
The structure of two assemblies and concrete assembling mode thereof are studied and are designed, accordingly can effective solving device
Weight, volume are excessive, center of gravity is higher and detect the problem being susceptible to break away, and are also equipped with inspection simultaneously
Survey good stability, adaptable advantage, be therefore particularly suitable for slender member such as Character of Cable Force of Cable stayed Bridge or
The online Non-Destructive Testing of elongated tube rod etc..
For achieving the above object, the present invention propose a kind of slender member based on driven by quill shaft flaw detection sweep
Retouch crawling device, it is characterised in that: this device includes the first assembly (I) being arranged at bottom and arranges
Under second assembly (II) on top, the upper surface of described first assembly (I) and the second assembly (II)
Connected by many connecting rods (III) between surface, wherein:
The first assembly sub-unit that this first assembly (I) includes that two structures are identical and is symmetrical set,
This first assembly sub-unit include the first roll wheel assembly (2), flexible axle (3), motor (4), shaft coupling (5),
Second roll wheel assembly (6) and the first semicircle support thin plate (7), wherein said first roll wheel assembly (2)
It is sequentially arranged on the described first semicircle lower surface supporting thin plate (7) with the second roll wheel assembly (6),
On the described semicircle upper surface supporting thin plate, detection is installed and visits last block (9), the second roll wheel assembly (6)
It is connected by one end of shaft coupling (5) with flexible axle (3), the other end of described flexible axle (3) and motor (4) phase
Even, in this manner it is possible to move after making the center of gravity of whole device, and play anti-locking apparatus sideslip,
Increase the effect of detection stationarity；Additionally, said two the first assembly sub-unit is described by being arranged on
First semicircle the first turning hinge hinge (8) supported on thin plate (7) one end is connected, and described the first half
On the other end of circular support thin plate (7), the first Guan Bi is then installed to buckle (1), in this way, at device
Running closes the first Guan Bi button (1), and then while holding means stability, improves detection essence
Degree；
Described second assembly (II) includes that two structure the second assemblies that are identical and that be symmetrical set divide
Parts, described second assembly sub-unit includes the second semicircle support thin plate (12), the 3rd roll wheel assembly
And the 4th roll wheel assembly (13), wherein said 3rd roll wheel assembly (11) and the 4th roll wheel assembly (11)
(13) it is sequentially arranged on the second semicircle support thin plate (12)；Additionally, described second assembly branch
Part is connected by being arranged on the described second semicircle the second turning hinge hinge (14) supporting thin plate (12) one end,
On the described second semicircle other end supporting thin plate (12), the second Guan Bi is then installed and buckles (10), with
This mode, closes the second Guan Bi button (10) during plant running, and then in holding means stability
While improve accuracy of detection further.
As it is further preferred that described first roll wheel assembly (2), the second roll wheel assembly (6), the 3rd
Roll wheel assembly (11) is identical with the structure of the 4th roll wheel assembly (13), all includes that band back plate U-shaped roller props up
Fagging, roller shaft and roller, described roller is arranged on described roller supporting plate by described roller shaft,
Described second roll wheel assembly (6) is connected with shaft coupling (4) respectively by respective roller shaft.
As it is further preferred that described slender member is preferably Character of Cable Force of Cable stayed Bridge or elongated tube rod.
In general, by the contemplated above technical scheme of the present invention compared with prior art, mainly
Possess following technological merit:
1. power source uses flexible axle to be connected with actuator, can effectively be dropped back by power source, thus greatly
Alleviating greatly the integrally-built volume and weight of device, power source is arranged in integrally-built bottom, has
The center of gravity reducing detection device of effect, makes to creep more steadily, is not susceptible to rollover；Soft axle transmission
Drive mechanism is arranged simple, and transmission moment of torsion effect to fully meet creeping of detection failure detector required,
It efficiently solves the kind of drive installation accuracy grade height such as conventional gears transmission, maintenance inconvenience, accounts for
By the problem such as space is big, and low cost of manufacture.
2. decrease the limit driving power source transmission space caused due to driving means heavily quantitative limitation
System, breaches the space that traditional transmission mode brings and limits so that power source and power performer (as
Roller) between power transfer path can be random change, be effectively improved detection device be suitable for
Property, the on-line checking demand of different detection environment can be met, be particularly suited for slender member such as cable-stayed bridge
The Site Detection of cable, elongated tube rod etc..
3. by arrange turning hinge hinge and Guan Bi buckle, not only can meet the detection need of different-diameter detection piece
Ask, crawling device stability in running can be ensured simultaneously.
Accompanying drawing explanation
Fig. 1 is slender member based on driven by quill shaft flaw detection scanning crawling device front view；
Fig. 2 is slender member based on driven by quill shaft flaw detection scanning crawling device graphics
Fig. 3 is the first assembly assembling schematic diagram；
Fig. 4 is the first assembly schematic three dimensional views；
Fig. 5 is the second assembly assembling 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 checking schematic diagram；
Fig. 8 is elongated tube rod on-line checking schematic diagram
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing
And embodiment, the present invention is further elaborated.Should be appreciated that described herein specifically
Embodiment only in order to explain the present invention, is not intended to limit the present invention.Additionally, it is disclosed below
Just may be used as long as technical characteristic involved in each embodiment of the present invention does not constitutes conflict each other
To be mutually combined.
A kind of slender member based on driven by quill shaft flaw detection scanning crawling device, as it is shown in figure 1, device
Including the first assembly the I, second assembly II and six roots of sensation connecting rod III, as in figure 2 it is shown, the first assembly
I and second assembly II be weldingly connected by connecting rod III and become an entirety, the first assembly I such as Fig. 3,
Shown in Fig. 4, and symmetrical first assembly sub-unit identical by two structures forms, and this is years old
One assembly sub-unit include first semicircle support thin plate 7, motor 4, flexible axle 3, shaft coupling 5, the
One roll wheel assembly the 2, second roll wheel assembly 6, wherein, first, second roll wheel assembly structure is identical, all
It is made up of band back plate U-shaped roller supporting plate, roller shaft and roller.Flexible axle biography has been used based on device
Dynamic, power source can be separated with detection probe under actually detected environment, have more extensive
The suitability.
The first concrete assembly relation of assembly sub-unit is described as follows: as it is shown on figure 3, roller passes through roller
Axle is arranged on roller supporting plate, and first, second roll wheel assembly is separately mounted to the first semicircle support
Thin plate 7, the first roll wheel assembly 2 is connected with flexible axle 3 by shaft coupling 5, and flexible axle 3 is connected with motor 4,
Said two the first assembly sub-unit is by being arranged on the first semicircle the first turning hinge supported on thin plate 7
Hinge 8 is connected, and uses two panels thin semicircular plate circumferential type structure, it is possible to meet different-diameter component
Detection demand；First Guan Bi button 1 is arranged on the first semicircle support thin plate 7, in plant running mistake
In journey Guan Bi button Guan Bi can the stablizing of holding means, detection is visited last block 9 and is arranged on first semicircle
On support thin plate 7.
Second assembly II as it is shown in figure 5, include that two structures are identical and be symmetrical set
Two assembly sub-units, described second assembly sub-unit includes the second semicircle support thin plate the 12, the 3rd rolling
Wheel assembly the 11, the 4th roll wheel assembly 13, wherein, the three, the 4th complete phases of roll wheel assembly physical dimension
With, all include band back plate U-shaped roller supporting plate, roller shaft and roller.
The second concrete assembly relation of assembly II is described as follows: as it is shown in figure 5, roller is pacified by roller shaft
Being contained on roller supporting plate, the 3rd roll wheel assembly the 11, the 4th roll wheel assembly 13 is separately mounted to the second half
On circular support thin plate 12；As it is shown in figure 5, described second assembly sub-unit is by being arranged on described
Two semicircle the second turning hinge hinges 14 supported on thin plate 12 are connected, and meet the detection of different-diameter drilling rod
Demand, the second Guan Bi button 10 is arranged on the second semicircle support thin plate 12, in plant running process
Middle Guan Bi button Guan Bi is to keep stable.
Fig. 7 is the schematic diagram using apparatus of the present invention that Character of Cable Force of Cable stayed Bridge carries out on-line checking, is carrying out tiltedly
Before drawing bridge cable 15 detection, according to the diameter of cable, select matched Guan Bi button shelves
Position, scanning crawling device of being detected a flaw by the slender member based on driven by quill shaft carrying detection probe is encircled
On cable, it is ensured that this device respectively organize roller can good contact therewith, to ensure that device can be along cable
Suo Yidong；Now starting motor 4, the rotating speed of regulation motor 4, when idler wheel driving power is more than device self
Driving means can move upward the when of gravity, thus Character of Cable Force of Cable stayed Bridge is carried out on-line checking；Treat
After detection terminates, regulate motor 4 rotating speed so that roller driving force upwards and device self gravitation
Balance, whole device glides along Character of Cable Force of Cable stayed Bridge 15 under self gravitation effect, owing to motor is arranged
In integrally-built bottom, thus significantly reduce the integrally-built volume and weight of device, effectively
Reducing the center of gravity of detection device, make to creep more steadily, be not susceptible to rollover, regulation motor turns simultaneously
Speed can enable a device to compare speed slowly and glide, and inertia impact can't be caused to damage, from
And the most recoverable this crawling device.
Fig. 8 is the schematic diagram using apparatus of the present invention that elongated tube rod carries out on-line checking, to horizontal thin
When long tube rod detects, detection mechanism is similar, according to elongated to above-mentioned Character of Cable Force of Cable stayed Bridge detection mechanism
The diameter of tube rod 16 selects suitably Guan Bi button gear so that device respectively organizes roller can be good with tube rod
Contact, starts motor, the crawling device carrying detection probe can be driven to move along tube rod, thus
It is detected；After detection terminates, regulate motor steering so that driving rolls is round about
Rotate, this device the most recoverable, reach the purpose of on-line checking.
As it will be easily appreciated by one skilled in the art that and the foregoing is only presently preferred embodiments of the present invention,
Not in order to limit the present invention, all made within the spirit and principles in the present invention any amendment, etc.
With replacement and improvement etc., should be included within the scope of the present invention.
Claims (3)
1. slender member based on a driven by quill shaft flaw detection scanning crawling device, it is characterised in that: should
Device includes the first assembly (I) being arranged at bottom and is arranged at second assembly (II) on top, described
By many connecting rods (III) between upper surface and the lower surface of the second assembly (II) of the first assembly (I)
Connect, wherein:
The first assembly sub-unit that this first assembly (I) includes that two structures are identical and is symmetrical set,
This first assembly sub-unit include the first roll wheel assembly (2), flexible axle (3), motor (4), shaft coupling (5),
Second roll wheel assembly (6) and the first semicircle support thin plate (7), wherein said first roll wheel assembly (2)
It is sequentially arranged on the described first semicircle lower surface supporting thin plate (7) with the second roll wheel assembly (6),
On the described first semicircle upper surface supporting thin plate (7), detection is installed and visits last block (9), described
Second roll wheel assembly (6) is connected with one end of flexible axle (3) by shaft coupling (5), described flexible axle (3) another
One end is connected with motor (4), in this manner it is possible to move after making the center of gravity of whole device, and plays
Anti-locking apparatus breaks away, and increases the effect of detection stationarity；Additionally, said two the first assembly sub-unit
It is connected by being arranged on the described first semicircle the first turning hinge hinge (8) supported on thin plate (7) one end,
On the described first semicircle other end supporting thin plate (7), the first Guan Bi is then installed and buckles (1), with this
Mode, closes the first Guan Bi button (1), and then same in holding means stability during plant running
Shi Tigao accuracy of detection；
Described second assembly (II) includes that two structure the second assemblies that are identical and that be symmetrical set divide
Parts, described second assembly sub-unit includes the second semicircle support thin plate (12), the 3rd roll wheel assembly
And the 4th roll wheel assembly (13), wherein said 3rd roll wheel assembly (11) and the 4th roll wheel assembly (11)
(13) it is sequentially arranged on the second semicircle support thin plate (12)；Additionally, described second assembly branch
Part is connected by being arranged on the described second semicircle the second turning hinge hinge (14) supporting thin plate (12) one end,
On the described second semicircle other end supporting thin plate (12), the second Guan Bi is then installed and buckles (10), with
This mode, closes the second Guan Bi button (10) during plant running, and then in holding means stability
While improve accuracy of detection further.
The flaw detection scanning of a kind of slender member based on driven by quill shaft is creeped dress
Put, it is characterised in that described first roll wheel assembly (2), the second roll wheel assembly (6), the 3rd roller group
Part (11) is identical with the structure of the 4th roll wheel assembly (13), all include band back plate U-shaped roller supporting plate,
Roller shaft and roller, described roller is arranged on described roller supporting plate by described roller shaft, described
Second roll wheel assembly (6) is connected with shaft coupling (5) respectively by respective roller shaft.
The flaw detection scanning of a kind of slender member based on driven by quill shaft is climbed
Luggage is put, it is characterised in that described slender member is Character of Cable Force of Cable stayed Bridge or elongated tube rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510188109.7A CN104787139B (en) | 2015-04-21 | 2015-04-21 | Long and thin component flaw detection scanning crawl device based on flexible shaft drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510188109.7A CN104787139B (en) | 2015-04-21 | 2015-04-21 | Long and thin component flaw detection scanning crawl device based on flexible shaft drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104787139A CN104787139A (en) | 2015-07-22 |
| CN104787139B true CN104787139B (en) | 2017-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510188109.7A Active 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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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105319264A (en) * | 2015-12-01 | 2016-02-10 | 张萍 | Flaw detection system for petroleum exploration by using magnetic powder flaw detection technique |
| CN107117224B (en) * | 2017-05-15 | 2019-01-08 | 嘉兴保利文化创意有限公司 | 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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI125939B (en) * | 2010-12-30 | 2016-04-15 | Meclimb Oy | Method and apparatus for transporting tools to a workplace along an elongated piece and use of the apparatus |
| CN102323331B (en) * | 2011-09-07 | 2014-03-26 | 华中科技大学 | In service cable rope defect detection device |
| CN202879643U (en) * | 2012-11-09 | 2013-04-17 | 甘肃省电力公司检修公司 | Walking device of electrical insulator detector for hot-line work of 750 kV circuit |
| US9726569B2 (en) * | 2012-12-18 | 2017-08-08 | Mobile Robot Research Co., Ltd. | Piping inspection robot and method of inspecting piping |
| CN203839819U (en) * | 2014-05-09 | 2014-09-17 | 哈尔滨工程大学 | Obstacle surmounting mechanical arm suitable for power transmission line inspection robot |
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