CN108407909A - It detects a flaw outside pipeline walking robot - Google Patents
It detects a flaw outside pipeline walking robot Download PDFInfo
- Publication number
- CN108407909A CN108407909A CN201810141151.7A CN201810141151A CN108407909A CN 108407909 A CN108407909 A CN 108407909A CN 201810141151 A CN201810141151 A CN 201810141151A CN 108407909 A CN108407909 A CN 108407909A
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- China
- Prior art keywords
- runner
- pipeline
- ring support
- ring
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000523 sample Substances 0.000 claims description 12
- 238000003466 welding Methods 0.000 abstract description 8
- 229910000679 solder Inorganic materials 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000009428 plumbing Methods 0.000 description 1
- 238000005057 refrigeration Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The present invention relates to walking robots of detecting a flaw outside a kind of pipeline, when the sensor positioned at front end detects pad, controller controls the aerodynamic slider on the ring support of front end far from pipeline, the driving device driving runner of the other end is rotated further, to be continued to move along with mobile robot, drive runner all after pad after the ring support positioned at front end, controller drives aerodynamic slider that runner and tube contacts, runner is pushed to drive robot movement；When the sensor on the ring support of rear end detects that front has the solder joint of welding, controller controls the aerodynamic slider on the ring support of front end far from pipeline, runner rotation band mobile robot positioned at front end moves outside pipeline, drive runner all after pad after the ring support positioned at rear end, controller drives aerodynamic slider to push runner and tube contacts, runner drives robot movement, to realize normal walking of the robot of the present invention on the pipeline external surface with pad.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to walking robot of detecting a flaw outside a kind of pipeline.
Background technology
In modern industrial and agricultural production and daily life use a large amount of pipelines, as nuclear power plant steam generator heat-transfer pipe,
Oil, chemical industry, the industrial pipe band of refrigeration industry and gas piping etc., for the job stabilitys such as Pipe installing, maintenance and detection,
The considerations of safety and working efficiency, plumbing installations are more and more required using pipe robot as mobile vehicle come generation
For manual operation.
When detecting a flaw to pipeline outer circumference surface, it is attached, welds in the junction generally use welding of Guan Yuguan
Solder joint be higher than the outer circumference surface of pipeline, robot walking outside pipeline can not be normal through influencing the flaw detection efficiency of robot.
Invention content
The technical problem to be solved by the present invention is to：In order to overcome the junction generally use of prior art middle pipe and pipe to weld
It is attached, the solder joint of welding is higher than the outer circumference surface of pipeline, and robot walking outside pipeline can not be normal through influencing robot
Flaw detection efficiency the problem of, walking robot of detecting a flaw outside a kind of pipeline is provided.
The technical solution adopted by the present invention to solve the technical problems is：It detects a flaw outside a kind of pipeline walking robot, including
Ring support, two ring supports are parallel and interval setting, two ring supports are fixed by the connecting rod connection, institute
It states and is installed with mounting ring in connecting rod, the mounting ring is coaxially disposed with the ring support, circumference in the mounting ring
Ultrasonic probe is uniformly installed, even circumferential is installed with several guide rails, the guide rail on two ring supports
It is overlapped with the radial direction of the ring support, aerodynamic slider is slidably fitted on the guide rail, is fixed on the aerodynamic slider
Mounting bracket is installed, several headstocks are installed in the mounting bracket, runner is rotatablely equipped on the headstock,
The runner has driving device driving rotation, several runners to be set up in parallel along the central axis of ring support, the runner
Axial direction along ring support moves, and sensor is installed in two fixed rings, is fixed in the connecting rod
Controller is installed, the sensor, aerodynamic slider, driving device and ultrasonic probe are electrically connected with the controller.
Ring support and mounting ring are set in pipeline by walking robot of detecting a flaw outside the pipeline of the present invention when in use
Outside, controller drives aerodynamic slider, so that several aerodynamic sliders is moved to the center of ring support along guide rail, waits for that several runners are equal
After being contacted with the outer circumference surface of pipeline, controller controls aerodynamic slider and stops movement, and driving device drives runner rotation, runner to turn
The robot of the dynamic driving present invention moves on pipeline, and while being moved on pipeline, ultrasonic probe is to pipeline for robot
Outer surface is detected a flaw, and when the sensor of robot front end detects that front has the solder joint of welding, sensor passes signal
Pass controller, controller controls the aerodynamic slider on the ring support of front end far from pipeline, i.e. runner far from pipeline, the other end
Driving device driving runner is rotated further, to be continued to move along with mobile robot, due to being equipped in a mounting bracket
It is another also to play support when the runner on only side ring support is contacted with pipeline outer circumference surface for several runners side by side
The effect for holding ring support makes ring support be coaxially disposed always with pipeline；The ring support of front end to be located at drives runner complete
After pad, controller drives aerodynamic slider that runner and tube contacts, runner is pushed to drive robot movement in portion；It waits being located at
When sensor on the ring support of rear end detects that front has the solder joint of welding, signal is passed to controller by sensor,
Controller controls the aerodynamic slider on the ring support of front end far from pipeline, is located at the runner rotation band mobile robot of front end in pipeline
Outer movement drives runner all after pad after the ring support positioned at rear end, and controller drives aerodynamic slider promotion to turn
Wheel and tube contacts, runner drive robot movement, to realize the robot of the present invention outside the pipeline with pad
Normal walking on surface, while flaw detection of the ultrasonic probe to pipeline external surface is nor affected on, improve flaw detection efficiency.
In order to make that there is larger frictional force between runner and pipeline outer circumference surface, make runner when pipeline external surface is walked
The problem of not having skidded, dallying, the runner are rubber wheel.
Preferably, the sensor is infrared sensor.
The beneficial effects of the invention are as follows:It detects a flaw walking robot outside the pipeline of the present invention, in the sensor inspection positioned at front end
When measuring pad, controller controls the aerodynamic slider on the ring support of front end far from pipeline, and the driving device of the other end drives
Runner is rotated further, and to be continued to move along with mobile robot, the ring support of front end to be located at drives runner all to pass through
After pad, controller drives aerodynamic slider that runner and tube contacts, runner is pushed to drive robot movement；Rear end to be located at
When sensor on ring support detects that front has the solder joint of welding, signal is passed to controller, controller by sensor
The aerodynamic slider on the ring support of front end is controlled far from pipeline, the runner rotation band mobile robot positioned at front end moves outside pipeline
It is dynamic, drive runner all after pad after the ring support positioned at rear end, controller drive aerodynamic slider push runner and
Tube contacts, runner drive robot movement, to realize the robot of the present invention in the pipeline external surface with pad
On normal walking, while nor affecting on flaw detection of the ultrasonic probe to pipeline external surface, improve flaw detection efficiency.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the schematic three dimensional views of the present invention；
Fig. 2 is the left view of the present invention；
Fig. 3 is the usage state diagram of the present invention；
Fig. 4 is the left view of the present invention in a state of use.
In figure：1. ring support, 2. connecting rods, 3. mounting rings, 4. ultrasonic probes, 5. guide rails, 6. aerodynamic sliders, 7. peaces
Fill holder, 8. headstocks, 9. runners, 10. pipelines.
Specific implementation mode
Presently in connection with attached drawing, the present invention will be further described in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant to the invention.
It detects a flaw outside a kind of pipeline as depicted in figs. 1 and 2 walking robot, including ring support 1, two annular branch
Frame 1 is parallel and interval setting, two ring supports 1 are fixedly connected by connecting rod 2, are fixedly mounted in the connecting rod 2
There are mounting ring 3, the mounting ring 3 to be coaxially disposed with the ring support 1, even circumferential is equipped with ultrasound in the mounting ring 3
Wave probe 4, even circumferential is installed with three guide rails 5 on two ring supports 1, and three guide rails 5 are located at ring
At the trisection point of shape holder 1, the guide rail 5 is overlapped with the radial direction of the ring support 1, and peace is slided on the guide rail 5
Equipped with aerodynamic slider 6, it is installed with mounting bracket 7 on the aerodynamic slider 6, two are installed in the mounting bracket 7
A headstock 8, runner 9 is rotatablely equipped on the headstock 8, and the runner 9 is rubber wheel.The runner 9 has driving device
Driving rotation, the driving device are motor, and motor drives runner 9 to rotate by retarder, and two runners 9 are propped up along annular
The central axis of frame 1 is set up in parallel, and the runner 9 is moved along the axial direction of ring support 1, solid in two fixed rings
Dingan County is equipped with sensor, and the sensor is infrared sensor, and controller, the biography are installed in the connecting rod 2
Sensor, aerodynamic slider 6, driving device and ultrasonic probe 4 are electrically connected with the controller.
Flaw detection walking robot outside the pipeline 10 of the present invention, when in use, as shown in Figure 3 and Figure 4, by 1 He of ring support
Mounting ring 3 is set in outside pipeline 10, and controller drives aerodynamic slider 6, and three aerodynamic sliders 6 is made to synchronize along guide rail 5 to annular
The center of holder 1 is moved, and after runner 9 is contacted with the outer circumference surface of pipeline 10, controller, which controls aerodynamic slider 6, to be stopped moving
Dynamic, motor drives runner 9 to rotate, and the robot of the rotation driving present invention of runner 9 moves on pipeline 10, and robot is in pipeline 10
While upper mobile, ultrasonic probe 4 detects a flaw to the outer surface of pipeline 10, before the sensor of robot front end detects
When side has the solder joint of welding, signal is passed to controller by sensor, and controller controls the aerodynamic slide on front end ring support 1
Block 6 is far from pipeline 10, i.e., runner 9 is far from pipeline 10, and the motor driving runner 9 of the other end is rotated further, to mobile robot
It continues to move along, since there are two runners 9 side by side for installation in a mounting bracket 7, turns on only side ring support 1
When wheel 9 is contacted with 10 outer circumference surface of pipeline, can also play the role of supporting other end ring support 1, make ring support 1 always with
Pipeline 10 is coaxially disposed；Drive runner 9 all after pad after the ring support 1 positioned at front end, controller driving is pneumatic
Sliding block 6 pushes runner 9 to be contacted with pipeline 10, and runner 9 drives robot movement；Sensing on the ring support 1 of rear end to be located at
When device detects that front has the solder joint of welding, signal is passed to controller by sensor, and controller controls front end ring support 1
On aerodynamic slider 6 far from pipeline 10, the rotation band mobile robot of runner 9 positioned at front end moves outside pipeline 10, after being located at
The ring support 1 at end drives runner 9 all after pad, and controller driving aerodynamic slider 6 pushes runner 9 to be connect with pipeline 10
It touches, runner 9 drives robot movement, to realize the robot of the present invention on 10 outer surface of pipeline with pad
Normal walking, while flaw detection of the ultrasonic probe 4 to 10 outer surface of pipeline is nor affected on, improve flaw detection efficiency.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.
Claims (3)
1. walking robot of detecting a flaw outside a kind of pipeline, it is characterised in that：Including ring support (1), two ring supports (1)
Parallel and interval setting, two ring supports (1) are fixedly connected by connecting rod (2), fixed peace on the connecting rod (2)
Equipped with mounting ring (3), the mounting ring (3) is coaxially disposed with the ring support (1), even circumferential on the mounting ring (3)
Ultrasonic probe (4) is installed, even circumferential is installed with several guide rails (5) on two ring supports (1), described
Guide rail (5) is overlapped with the radial direction of the ring support (1), and aerodynamic slider (6), institute are slidably fitted on the guide rail (5)
It states and is installed with mounting bracket (7) on aerodynamic slider (6), several headstocks are installed on the mounting bracket (7)
(8), runner (9) is rotatablely equipped on the headstock (8), the runner (9) has driving device driving to rotate, several described turns
Wheel (9) is set up in parallel along the central axis of ring support (1), and the runner (9) is moved along the axial direction of ring support (1),
It is installed with sensor in two fixed rings, controller, the sensing are installed on the connecting rod (2)
Device, aerodynamic slider (6), driving device and ultrasonic probe (4) are electrically connected with the controller.
2. walking robot of detecting a flaw outside pipeline as described in claim 1, it is characterised in that：The runner (9) is rubber wheel.
3. walking robot of detecting a flaw outside pipeline as described in claim 1, it is characterised in that：The sensor is infrared ray sensing
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810141151.7A CN108407909A (en) | 2018-02-11 | 2018-02-11 | It detects a flaw outside pipeline walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810141151.7A CN108407909A (en) | 2018-02-11 | 2018-02-11 | It detects a flaw outside pipeline walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108407909A true CN108407909A (en) | 2018-08-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810141151.7A Pending CN108407909A (en) | 2018-02-11 | 2018-02-11 | It detects a flaw outside pipeline walking robot |
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| Country | Link |
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| CN (1) | CN108407909A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110170804A (en) * | 2019-07-02 | 2019-08-27 | 滨州学院 | Submarine pipeline welding method |
| CN110170850A (en) * | 2019-07-02 | 2019-08-27 | 滨州学院 | Submarine pipeline welding robot |
| CN110568075A (en) * | 2019-10-17 | 2019-12-13 | 安徽工程大学 | Pipeline outer wall inspection robot |
| CN110715177A (en) * | 2019-09-29 | 2020-01-21 | 广东聚源管业实业有限公司 | Pipeline leakage position positioning method based on oxygen sensor detection device |
| CN113551160A (en) * | 2021-07-22 | 2021-10-26 | 三门核电有限公司 | Nuclear power plant buried hydrogen pipeline leakage monitoring system and method |
| CN114166940A (en) * | 2021-11-22 | 2022-03-11 | 淄博市特种设备检验研究院 | On-line nondestructive flaw detector for pressure pipeline detection |
| CN114894907A (en) * | 2022-07-12 | 2022-08-12 | 欧米勒电气有限公司 | Transmission structure for pressure pipeline detection and detection device thereof |
| CN115308300A (en) * | 2022-10-11 | 2022-11-08 | 湖南省特种设备检验检测研究院 | Boiler water wall pipe defect eddy current inspection device |
| CN115488557A (en) * | 2022-08-31 | 2022-12-20 | 南京晨光东螺波纹管有限公司 | Automatic welding device for dense welding seams |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110170804A (en) * | 2019-07-02 | 2019-08-27 | 滨州学院 | Submarine pipeline welding method |
| CN110170850A (en) * | 2019-07-02 | 2019-08-27 | 滨州学院 | Submarine pipeline welding robot |
| CN110170850B (en) * | 2019-07-02 | 2020-06-19 | 滨州学院 | Underwater pipeline welding robot |
| CN110170804B (en) * | 2019-07-02 | 2020-06-19 | 滨州学院 | Submarine pipeline welding method |
| CN110715177A (en) * | 2019-09-29 | 2020-01-21 | 广东聚源管业实业有限公司 | Pipeline leakage position positioning method based on oxygen sensor detection device |
| CN110568075A (en) * | 2019-10-17 | 2019-12-13 | 安徽工程大学 | Pipeline outer wall inspection robot |
| CN113551160A (en) * | 2021-07-22 | 2021-10-26 | 三门核电有限公司 | Nuclear power plant buried hydrogen pipeline leakage monitoring system and method |
| CN114166940A (en) * | 2021-11-22 | 2022-03-11 | 淄博市特种设备检验研究院 | On-line nondestructive flaw detector for pressure pipeline detection |
| CN114166940B (en) * | 2021-11-22 | 2024-04-19 | 衡阳鸿成高压气瓶管制造有限公司 | Online nondestructive flaw detector for pressure pipeline detection |
| CN114894907A (en) * | 2022-07-12 | 2022-08-12 | 欧米勒电气有限公司 | Transmission structure for pressure pipeline detection and detection device thereof |
| CN115488557A (en) * | 2022-08-31 | 2022-12-20 | 南京晨光东螺波纹管有限公司 | Automatic welding device for dense welding seams |
| CN115308300A (en) * | 2022-10-11 | 2022-11-08 | 湖南省特种设备检验检测研究院 | Boiler water wall pipe defect eddy current inspection device |
| CN115308300B (en) * | 2022-10-11 | 2022-12-20 | 湖南省特种设备检验检测研究院 | Boiler water wall pipe defect eddy current testing device |
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