CN109373943B - Thickness measuring device and thickness detecting method for pipeline - Google Patents
Thickness measuring device and thickness detecting method for pipeline Download PDFInfo
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- CN109373943B CN109373943B CN201811234948.8A CN201811234948A CN109373943B CN 109373943 B CN109373943 B CN 109373943B CN 201811234948 A CN201811234948 A CN 201811234948A CN 109373943 B CN109373943 B CN 109373943B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000000523 sample Substances 0.000 claims abstract description 49
- 238000001514 detection method Methods 0.000 claims description 75
- 230000008878 coupling Effects 0.000 claims description 55
- 238000010168 coupling process Methods 0.000 claims description 55
- 238000005859 coupling reaction Methods 0.000 claims description 55
- 239000007788 liquid Substances 0.000 claims description 55
- 238000009434 installation Methods 0.000 claims description 48
- 238000001179 sorption measurement Methods 0.000 claims description 29
- 238000004891 communication Methods 0.000 claims description 24
- 238000005192 partition Methods 0.000 claims description 12
- 238000012360 testing method Methods 0.000 claims description 9
- 239000007921 spray Substances 0.000 claims description 8
- 230000002457 bidirectional effect Effects 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 5
- 239000011248 coating agent Substances 0.000 claims description 4
- 238000000576 coating method Methods 0.000 claims description 4
- 230000005389 magnetism Effects 0.000 claims description 4
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- 238000001125 extrusion Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 description 6
- 238000003466 welding Methods 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000007547 defect Effects 0.000 description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000003345 natural gas Substances 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 208000032544 Cicatrix Diseases 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000003208 petroleum Substances 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000037387 scars Effects 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
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- 239000000126 substance Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
Abstract
The invention relates to a thickness measuring device and a thickness measuring method for a pipeline, wherein the thickness measuring device comprises a shell, a sub-driving motor and an angle rotating motor, wherein a driving shaft of the driving motor is fixedly connected with a driving Mecanum wheel; the rotating shaft of the angle rotating motor and the detecting head arranged on the side edge of the shell are provided with a mounting cavity extending towards the central line direction of the detecting head, a thickness detecting probe is arranged in the mounting cavity, the thickness detecting probe is fixedly connected with the bottom of the mounting cavity through a probe telescopic electric cylinder, a driven Mecanum wheel with the same diameter as the driving Mecanum wheel is sleeved outside the end part of the shell, which is close to the angle rotating motor, and the driven Mecanum wheel is fixedly connected with the shell through a connecting bearing. Simple structure can creep in the pipeline, can detect the thickness of pipeline in the pipeline, and the data error that detects is little, and is more accurate.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a thickness measuring device and a thickness measuring method for a pipeline.
Background
With the development of society and the improvement of the living standard of people, the application of natural gas pipelines and various conveying pipelines is increasing. In China and various countries of the world, due to the limitation of topography and limited land resources, a plurality of conveying pipelines are buried underground, and a plurality of buildings, highways and the like are built on the ground with the pipelines buried, so that great difficulty is caused to the maintenance and the repair of the pipelines. On the other hand, most of pipeline engineering in petroleum, natural gas, chemical industry, electric power, metallurgy and other industries adopts welded pipelines, and the pipeline engineering has horizontal pipelines and vertical pipelines. In order to ensure the welding quality and operation safety of the welded pipeline, pipeline engineers need to detect the welding seam and detect whether the welding defects such as cold joint, missing welding, scars and the like exist at the welding position.
Because the pipeline internal structure is complicated, the environment is severe and dangerous and the internal diameter is small, the pipeline crawler is difficult to work under such an environment, and can replace people to carry different functional modules for precise operation, detection or operation in a narrow space. The technology improves the accuracy of pipeline detection, is convenient for pipeline engineering management maintenance personnel to analyze and know the cause of the occurrence of the pipeline defect, develop the assessment of the defect, and make a pipeline maintenance scheme, eliminate the potential safety hazard of the pipeline, and schedule the maintenance or replacement of the pipeline section before the accident occurs, thereby saving a great deal of maintenance cost and reducing the maintenance cost of the pipeline.
The existing pipeline side thickness device basically detects outside the pipeline, and the measured thickness error is relatively large.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide an in-pipeline thickness measuring device and a thickness measuring method which have simple structures and can creep in a pipeline and detect the thickness of the pipeline in the pipeline.
In order to achieve the above purpose, the invention adopts the following technical scheme that the thickness measuring device used in the pipeline comprises a shell, a driving motor and an angle rotating motor which are respectively fixedly arranged at two ends of the shell, wherein a driving shaft close to the driving motor is fixedly connected with a driving Mecanum wheel, the driving Mecanum wheel is positioned at the side edge of the shell, the central line of the driving Mecanum wheel and the central line of the shell are positioned on the same straight line, and the diameter of the driving Mecanum wheel is larger than that of the shell; the device comprises a rotating shaft of an angle rotating motor and a detection head arranged on the side edge of a shell, wherein an installation cavity extending towards the center line direction of the detection head is arranged on the peripheral surface of the detection head, a thickness detection probe is arranged in the installation cavity, the thickness detection probe is fixedly connected with the bottom of the installation cavity through a probe telescopic electric cylinder, a driven Mecanum wheel with the same diameter as that of a driving Mecanum wheel is sleeved outside the end part of the shell, which is close to the angle rotating motor, and the driven Mecanum wheel is fixedly connected with the shell through a connecting bearing;
the driving motor drives the Mecanum wheel to rotate, the Mecanum wheel is driven to perform curvilinear motion in the pipeline, when a detection point is required to be detected, the probe telescopic electric cylinder pushes the thickness detection probe to enable the thickness detection probe to be in contact with the inner wall of the pipeline, the thickness of the pipeline is detected, and the angle rotating motor drives the detection head to rotate to perform multipoint thickness detection after the detection is completed.
The thickness detection probe comprises a circular ring shell fixedly connected with the telescopic end of the probe telescopic electric cylinder and a thickness detection sensor, the circular ring shell is fixedly arranged in the circular ring shell and is divided into an upper cavity and a lower cavity, an inner ring body which is concentric with the circular ring shell and is sleeved in the upper cavity of the circular ring shell, a plurality of annular elastic sheets are arranged in the inner ring body, and the thickness detection sensor is arranged in the inner ring body and is clamped and fixed through the annular elastic sheets.
The upper end of the circular ring shell is fixedly connected with an upper sealing cover, a coupling liquid box body used for coating coupling liquid on the inner wall of a pipeline is fixedly arranged in a lower cavity of the circular ring shell, an outlet of the coupling liquid box body is connected with a coupling liquid pipeline, the end part of the coupling liquid pipeline sequentially penetrates through a circular partition plate, the circular ring shell and the annular cavity formed by the inner ring body and is communicated with a coupling liquid spray head arranged on the upper sealing cover, and a coupling liquid pump used for pumping coupling liquid in the coupling liquid box body into the coupling liquid spray head is arranged on the coupling liquid pipeline.
The utility model provides a pipeline, including shell, support electric jar, the shell on be equipped with respectively with the parallel mounting groove of shell central line on the circumference face both sides of shell, the bottom of mounting groove be equipped with the slotted hole the same with the shell inner chamber, the mounting groove in be equipped with the bracing piece, the one end and the tip swing joint of mounting groove of this bracing piece, the other end is connected with and is used for carrying out absorptive adsorption equipment with the pipeline, the shell in be equipped with the support electric jar, the shrink end of this support electric jar passes the middle part swing joint of slotted hole and bracing piece, just the support electric jar promote the bracing piece and make the adsorption equipment of bracing piece tip adsorb with the pipeline inner wall, perhaps support electric jar is flexible in the bracing piece arranges the mounting groove in.
The adsorption device comprises an adsorption shell, a connecting seat which is arranged at the lower end of the adsorption shell and is movably connected with the end part of the supporting rod, a shielding shell is arranged in the adsorption shell, the outer wall of the shielding shell is fixedly connected with the adsorption shell, an electromagnet column is arranged in the shielding shell, an electromagnetic coil is wound on the electromagnet column, and the electromagnet column generates magnetism to be adsorbed with the inner wall of the pipeline under the condition of electrifying.
The two ends of the shell are respectively fixedly connected with a first flange cover and a second flange cover, the driving motor is fixed in one end of the shell through the first flange cover, a driving shaft of the driving motor penetrates through the first flange cover and is connected with the first flange cover through a driving shaft bearing, the angle rotating motor is fixed in the other end of the shell through the second flange cover, and a rotating shaft of the angle rotating motor penetrates through the second flange cover and is connected with the second flange cover through a rotating shaft bearing.
A first baffle plate and a second baffle plate are arranged in the shell, and the first baffle plate and the second baffle plate divide the shell into a driving motor mounting cavity, a middle cavity and an angle rotating motor mounting cavity; and driving motor fixed mounting in driving motor installation cavity, angle rotating electrical machines fixed mounting is in angle rotating electrical machines installation cavity, the middle part cavity be equipped with components and parts installation sleeve pipe, this components and parts installation sleeve pipe's both ends respectively with first baffle and second baffle fixed connection, establish the cylinder body and components and parts installation sleeve pipe's of the support electric jar in the shell outer wall fixed connection.
The motor mounting cavity is internally provided with a motor mounting shell, a gap is formed in the circumferential surface of the motor mounting shell, protrusions are arranged in the motor mounting shell, locking grooves are formed in two sides of a shell corresponding to the driving motor mounting cavity, the bottom of each locking groove is provided with a threaded hole communicated with the inside of the shell, a locking screw is connected in each threaded hole, the end part of each locking screw extends into the shell and is abutted against the motor mounting shell, the motor mounting shell is deformed, and the driving motor is fixed in the motor mounting shell through the protrusions in the motor mounting shell and surface extrusion of the driving motor;
and the inner side surface of the second flange cover is fixedly connected with a pressing plate, and the angle rotating motor is pressed in the angle rotating motor mounting cavity through the pressing plate.
The device comprises a component mounting sleeve, a driving motor, an angle rotating motor, a probe telescopic electric cylinder, a supporting electric cylinder, a thickness detection sensor, a microprocessor, a communication module, a remote controller and a power module, wherein the component mounting sleeve is internally provided with the PCB, the PCB is provided with the microprocessor, the communication module, the control module and the power module, the power module is respectively and electrically connected with the driving motor, the angle rotating motor, the probe telescopic electric cylinder and the supporting electric cylinder through the control module, the microprocessor is electrically connected with the control module, the thickness detection sensor is electrically connected with the microprocessor in a bidirectional manner, the microprocessor is connected with the communication module in a bidirectional manner, and the communication module is in wireless connection with the remote controller;
the controller sends out instructions, the communication module receives the instructions generated by the controller and sends the received instructions to the microprocessor, the microprocessor controls the driving motor, the angle rotating motor, the probe telescopic electric cylinder and the supporting electric cylinder to move relatively according to the received sent instructions, when the specified position is reached, the thickness detection sensor detects the thickness of the pipeline and sends detected data to the microprocessor, and the microprocessor sends the received data to the controller for storage and reading through the communication module.
The side thickness method is carried out according to the following steps:
step one: the thickness measuring device is placed in a pipeline, a driving motor is started by a controller to drive a Mecanum wheel to rotate, and the thickness measuring device performs curve motion in the pipeline;
step two: when the position to be detected is reached, the microprocessor controls the supporting electric cylinder to push the supporting rod to stand, when the adsorption device at the end part of the supporting rod is contacted with the pipeline, the microprocessor connects the power supply with the electromagnetic coil, the electromagnetic iron column generates electromagnetic force to adsorb the pipeline, and the whole robot is fixed;
step three: when the robot in the second step is fixed, the microprocessor controls the probe telescopic electric cylinder to push the end part of the thickness detection sensor to contact with the inner wall of the pipeline, and the microprocessor controls the coupling liquid pump to work while contacting, the coupling liquid in the coupling liquid box body is coated on the pipeline through the coupling liquid spray head, the thickness detection sensor detects the thickness of the pipeline and transmits detected data to the microprocessor, and the microprocessor transmits the detected data to the controller for storage and reading through the communication module to finish detection of one point;
step four: after one-point detection is completed, the probe telescopic electric cylinder is retracted, the microprocessor controls the angle rotating motor to rotate, the thickness detection sensor is driven to rotate ninety degrees, the second-point test is performed according to the third step, and the four-point test is completed in sequence.
The beneficial effects of the invention are as follows: simple structure can creep in the pipeline, can detect the thickness of pipeline in the pipeline, and the data error that detects is little, and is more accurate.
Drawings
FIG. 1 is a schematic view of a robot in the present invention;
FIG. 2 is a schematic cross-sectional view of a thickness detection probe according to the present invention;
FIG. 3 is a schematic view of the structure of the adsorption apparatus of the present invention;
FIG. 4 is a schematic view of the motor mounting housing of the present invention;
fig. 5 is a schematic diagram of an electrical connection structure in the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second" may include one or more such features, either explicitly or implicitly; in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
Example 1
The thickness measuring device for the pipeline in the figure 1 comprises a shell 1, wherein the shell 1 is cylindrical, the inner wall of the pipeline can not be collided when walking in the pipeline, the pipeline is damaged, a driving motor 6 and an angle rotating motor 8 which are respectively fixedly arranged at two ends of the shell 1 are fixedly connected with a driving Mecanum wheel 7 which is close to the driving motor 6, the driving Mecanum wheel 7 is positioned at the side edge of the shell 1, the central line of the driving Mecanum wheel 7 and the central line of the shell 1 are positioned on the same straight line, and the diameter of the driving Mecanum wheel 7 is larger than that of the shell 1; the driving Mecanum wheel 7 is used as a driving wheel, so that the whole robot can move in multiple directions, meanwhile, the driving Mecanum wheel 7 is used for ensuring that the robot can move in a curve in a pipeline and can move forwards, the rotating shaft of the angle rotating motor 8 and the detecting head 9 arranged on the side edge of the shell 1 are arranged, the peripheral surface of the detecting head 9 is provided with a mounting cavity 10 extending towards the central line direction of the detecting head 9, the mounting cavity 10 is internally provided with a thickness detecting probe 12, the thickness detecting probe 12 is fixedly connected with the bottom of the mounting cavity 10 through a probe telescopic cylinder 11, the thickness detecting probe 12 is used for detecting the thickness of the pipeline, the angle rotating motor 8 drives the detecting head to rotate in an angle, the angle in the embodiment is adjusted to 90 degrees, the detection is stopped after the rotation of 90 degrees, the thickness detection of multiple points can be realized, and the accuracy of the detection is ensured; the end part of the shell 1, which is close to the angle rotating motor 8, is sleeved with a driven Mecanum wheel 14 with the same diameter as the driving Mecanum wheel 7, and the driven Mecanum wheel 14 is fixedly connected with the shell 1 through a connecting bearing 13; the driven Mecanum wheel and the driving Mecanum wheel are matched with each other, so that the robot can stably walk in a curve in the pipeline, the size of the whole robot is reduced by adopting the structural mode, and meanwhile, the robot is prevented from walking in the pipeline in a full-circle and omnibearing manner;
specifically, during detection, the driving motor 6 drives the Mecanum wheel 7 to rotate, the Mecanum wheel 7 is driven to perform curvilinear motion in the pipeline, when reaching a detection point required to be performed, the probe telescopic electric cylinder 11 pushes the thickness detection probe 12 to enable the thickness detection probe 12 to be in contact with the inner wall of the pipeline, the thickness of the pipeline is detected, and the angle rotating motor 8 drives the detection head 9 to rotate to perform multipoint thickness detection after detection is completed.
Further, as shown in fig. 2, in order to ensure that the thickness detection sensor in the thickness detection probe is convenient to install, the thickness detection probe 12 includes a circular ring housing 1201 fixedly connected with the telescopic end of the telescopic electric cylinder 11 of the probe and a thickness detection sensor 1205, a circular partition 1203 fixedly arranged in the circular ring housing 1201 to divide the circular ring housing 1201 into an upper cavity and a lower cavity, an inner ring 1202 sleeved in the upper cavity of the circular ring housing 1201 and concentric with the circular ring housing 1201, wherein a plurality of annular elastic sheets 1206 are arranged in the inner ring 1202, and the thickness detection sensor 1205 is arranged in the inner ring 1203 and is clamped and fixed by the annular elastic sheets 1206. The probe telescopic electric cylinder 11 can push out the thickness detection sensor from the upper cavity, is that the sensor contacts with the pipeline, can detect the thickness of the pipeline, after detection is completed, the probe telescopic electric cylinder 11 pulls back the sensor into the upper cavity, so that the sensor is prevented from being damaged due to collision between the sensor and the pipeline in the walking process, meanwhile, the annular elastic piece is adopted to clamp and fix the sensor, the sensor is convenient to replace, the side thickness sensor in the embodiment adopts an ultrasonic side thickness probe, and the ultrasonic side thickness sensor belongs to common knowledge in the technical field and is not described in detail herein.
Meanwhile, in order to ensure that the sensor can be in close contact with the inner wall of the pipeline after testing and ensure that detected data are more accurate, the upper end of the circular ring shell 1201 is fixedly connected with the upper sealing cover 1204, a coupling liquid box 1209 for coating coupling liquid on the inner wall of the pipeline is fixedly arranged in a lower cavity of the circular ring shell 1201, a coupling liquid pipeline 1208 is connected to an outlet of the coupling liquid box 1209, and the end part of the coupling liquid pipeline 1208 sequentially penetrates through a circular partition 1203, an annular cavity formed by the circular ring shell 1201 and the inner ring 1202 and is communicated with a coupling liquid nozzle 1207 arranged on the upper sealing cover 1204, and a coupling liquid pump 1210 for pumping coupling liquid in the coupling liquid box 1209 into the coupling liquid nozzle 1207 is arranged on the coupling liquid pipeline 1208. When the thickness measurement is carried out, the error of the detected data can be effectively guaranteed to be minimum by coating the coupling liquid, particularly when the thickness detection probe 12 is pushed out of the upper cavity by the probe telescopic electric cylinder, before the sensor is in contact with a pipeline, the coupling liquid pump 1210 pumps the coupling liquid in the coupling liquid box 1209 into the coupling liquid spray head 1207, the coupling liquid is sprayed on the pipeline through the coupling liquid spray head 1207, and meanwhile, in order to guarantee omnibearing spraying, the number of the coupling liquid spray heads 1207 is multiple, and the coupling liquid uniformly surrounds the upper cover 1204.
Example 2
On the basis of embodiment 1, in order to enable the robot to be stably placed in the pipeline when detecting the thickness, a supporting device is required to temporarily connect the robot with the pipeline, specifically, mounting grooves 20 parallel to the central line of the shell 1 are respectively arranged on two sides of the circumferential surface of the shell 1, a slot hole 22 identical to the inner cavity of the shell 1 is arranged at the bottom of the mounting groove 20, a supporting rod 21 is arranged in the mounting groove 20, one end of the supporting rod 21 is movably connected with the end part of the mounting groove 20, the other end of the supporting rod is connected with an adsorption device 23 for adsorbing with the pipeline, a supporting cylinder 24 is arranged in the shell 1, the shrinking end of the supporting cylinder 24 penetrates through the slot hole 22 and is movably connected with the middle part of the supporting rod 21, and the supporting cylinder 24 pushes the adsorption device 23 at the end part of the supporting rod 21 to adsorb the inner wall of the pipeline, or the supporting cylinder 24 stretches and contracts to place the supporting rod 21 in the mounting groove 20. The symmetrical mounting grooves are formed, the support rods are arranged in the mounting grooves, the whole robot can be stably supported and fixed in a pipeline, the support rods can be supported or retracted when the electric cylinder 24 is supported, the robot can be supported when the robot needs to be supported, the robot is not affected when the robot walks in the pipeline, particularly, the end parts of the support rods 21 are movably connected with one side of the mounting grooves 20 through hinges, the support rods 21 can be enabled to stand up, and the slotted holes 22 can be arranged to ensure that the electric cylinder 24 is supported without interference when the support rods are supported;
specifically, after the support is carried out, as shown in fig. 3, the adsorption device 23 includes an adsorption housing 2301, a connection seat 2306 provided at the lower end of the adsorption housing 2301 and movably connected to the end of the support rod 21, and when the support rod is connected to the connection seat 2306, the connection seat is connected through a rotation shaft, so that the adsorption device is guaranteed to rotate at the end of the support rod, specifically, when the end of the support rod is about to contact with the inner wall of the pipeline, the adsorption device rotates around the support rod to adsorb with the inner wall of the pipeline, so that the adsorption device can stably adsorb with the inner wall of the pipeline under any condition; a shielding shell 2302 is arranged in the adsorption shell 2301, the outer wall of the shielding shell 2302 is fixedly connected with the adsorption shell 2301, an electromagnetic column 2304 is arranged in the shielding shell 2302, an electromagnetic coil 2305 is wound on the electromagnetic column 2304, and the electromagnetic column 2304 generates magnetism to be adsorbed on the inner wall of a pipeline under the condition of electrifying the electromagnetic coil 2305. The electromagnetic coil and the electromagnetic iron column form an electromagnet, magnetism is generated to adsorb the pipeline under the condition that the electromagnetic coil is electrified, the whole robot is connected in the pipeline, and then the thickness is detected, so that the detection process is more stable.
Example 3
On the basis of embodiment 1, in order to facilitate the installation of components in the whole robot, two ends of the housing 1 are fixedly connected with a first flange cover 4 and a second flange cover 5 respectively, the driving motor 6 is fixed in one end of the housing 1 through the first flange cover 4, a driving shaft of the driving motor 6 passes through the first flange cover 4 and is connected with the first flange cover 4 through a driving shaft bearing 16, the angle rotating motor 8 is fixed in the other end of the housing 1 through the second flange cover 5, and a rotating shaft of the angle rotating motor 8 passes through the second flange cover 5 and is connected with the second flange cover 5 through a rotating shaft bearing 17. Through bearing connection, can guarantee that the frictional force between motor and the flange lid is less when rotating.
A first partition plate 2 and a second partition plate 3 are arranged in the shell 1, and the first partition plate 2 and the second partition plate 3 divide the shell 1 into a driving motor mounting cavity, a middle cavity and an angle rotating motor mounting cavity; and driving motor 6 fixed mounting in driving motor installation cavity, angle rotating electrical machines 8 fixed mounting is in angle rotating electrical machines installation cavity, the middle part cavity be equipped with components and parts installation sleeve 19, the both ends of this components and parts installation sleeve 19 respectively with first baffle 2 and second baffle 3 fixed connection, establish the cylinder body and the outer wall fixed connection of components and parts installation sleeve 19 of the support electric jar 24 in shell 1. Different cavities are adopted for installation, so that the mutual magnetic interference during working is avoided.
Further, in order to facilitate the installation of the motor, a motor installation shell 15 is arranged in the driving motor installation cavity, a gap 1501 is formed on the circumferential surface of the motor installation shell 15, a protrusion 1502 is arranged in the motor installation shell 15, locking grooves 25 are formed on two sides of the shell 1 corresponding to the driving motor installation cavity, threaded holes 26 communicated with the shell 1 are formed in the bottoms of the locking grooves 25, locking screws 27 are connected in the threaded holes 26, the end parts of the locking screws 27 extend into the shell 1 and are in contact with the motor installation shell 15, the motor installation shell 15 is deformed, and the driving motor 6 is fixed in the motor installation shell 15 through the protrusion 1502 in the motor installation shell 15 and surface extrusion of the driving motor 6; the motor installation casing 15 be made by steel alloy, the breach that is equipped with in order to guarantee when locking through locking screw, the breach department takes place to warp when can, with driving motor fixed mounting in the motor installation casing 15, the motor installation casing 15 carries out fixed connection through locking screw and shell simultaneously, has made things convenient for the installation and the dismantlement of motor.
Since the angular rotation motor vibrates less when in use, a pressing plate 18 is fixedly connected to the inner side surface of the second flange cover 5 during installation, and the angular rotation motor 8 is pressed into the angular rotation motor installation cavity through the pressing plate 18.
Further, in order to ensure that the robot can operate conveniently, a PCB board is arranged in the component mounting sleeve 19, a microprocessor, a communication module, a control module and a power module are arranged on the PCB board, the power module is electrically connected with the driving motor 6, the angle rotating motor 8, the probe telescopic electric cylinder 11 and the supporting electric cylinder 24 respectively through the control module, the microprocessor is electrically connected with the control module, the thickness detection sensor 1205 is electrically connected with the microprocessor in a bidirectional manner, the microprocessor is connected with the communication module in a bidirectional manner, and the communication module is wirelessly connected with a remote controller; the microprocessor is a chip known in the technical field, when in use, the microprocessor mainly receives signals sent by the controller, sends out instructions to the control module according to the received signals, simultaneously receives data sent by the thickness detection sensor, and sends the received data to the controller end through the communication module, the communication module adopts a wireless communication module, specifically a 3G or 4G communication module or a WIFI communication module, can ensure wireless connection between the controller and the whole robot end, carries out data transmission and control, the power module adopts a rechargeable lithium battery to supply power to the whole robot, ensures normal operation of the whole robot, and the control module can control the power module to be connected with and disconnected from the driving motor 6, the angle rotating motor 8, the probe telescopic cylinder 11, the electromagnetic coil of the supporting cylinder 24 and the coupling liquid pump, ensures normal operation of each component.
In a specific detection process, the controller sends out an instruction, the communication module receives the instruction generated by the controller and sends the received instruction to the microprocessor, the microprocessor controls the driving motor 6, the angle rotating motor 8, the probe telescopic electric cylinder 11 and the supporting electric cylinder 24 to move relatively according to the received sent instruction, when the specified position is reached, the thickness detection sensor 1205 detects the thickness of the pipeline and sends detected data to the microprocessor, and the microprocessor sends the received data to the controller for storage and reading through the communication module.
The side thickness method is carried out according to the following steps:
step one: the thickness measuring device is placed in a pipeline, and a driving motor 6 is started by a controller to drive a Mecanum wheel 7 to rotate, so that the thickness measuring device performs curve motion in the pipeline; the motion track of the side thickness robot in the pipeline is a curve motion track;
step two: when the position to be detected is reached, the microprocessor controls the supporting cylinder 24 to push the supporting rod 21 to stand, when the adsorption device 23 at the end part of the supporting rod 21 is in contact with a pipeline, the microprocessor connects a power supply with the electromagnetic coil 2305, and the electromagnetic coil 2304 generates electromagnetic force to adsorb the pipeline, so that the whole robot is fixed;
step three: when the fixing of the robot in the second step is completed, the microprocessor controls the probe telescopic cylinder 11 to push the end part of the thickness detection sensor 1205 to contact with the inner wall of the pipeline, and simultaneously controls the coupling liquid pump 1210 to work while contacting, the coupling liquid in the coupling liquid box 1209 is coated on the pipeline through the coupling liquid spray head 1207, the thickness detection sensor 1205 detects the thickness of the pipeline, detected data are transmitted to the microprocessor, and the microprocessor transmits the detected data to the controller through the communication module to be stored and read, so that the detection of one point is completed;
step four: after one-point detection is completed, the probe telescopic electric cylinder 11 is retracted, the microprocessor controls the angle rotating motor 8 to rotate, drives the thickness detection sensor 1205 to rotate ninety degrees, and tests the second point according to the third step, so that the four-point test is completed in sequence.
When the side view of the thickness is completed, the adsorption device is loosened from the inner wall of the pipeline, the supporting rods are retracted into the mounting grooves, the driving motor drives the Mecanum wheel 7 to rotate, and the test is carried out to the next test point.
The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the scope of the present invention, and all designs which are the same or similar to the present invention are within the scope of the present invention.
Claims (8)
1. The thickness measuring device for the pipeline is characterized by comprising a shell (1), a driving motor (6) and an angle rotating motor (8) which are respectively and fixedly arranged at two ends of the shell (1), wherein a driving shaft close to the driving motor (6) is fixedly connected with a driving Mecanum wheel (7), the driving Mecanum wheel (7) is positioned at the side edge of the shell (1), the central line of the driving Mecanum wheel (7) and the central line of the shell (1) are positioned on the same straight line, and the diameter of the driving Mecanum wheel (7) is larger than that of the shell (1); the device is characterized in that a rotating shaft of the angle rotating motor (8) and a detection head (9) arranged on the side edge of the shell (1) are arranged on the peripheral surface of the detection head (9), an installation cavity (10) extending towards the central line direction of the detection head (9) is arranged on the peripheral surface of the detection head, a thickness detection probe (12) is arranged in the installation cavity (10), the thickness detection probe (12) is fixedly connected with the bottom of the installation cavity (10) through a probe telescopic cylinder (11), a driven Mecanum wheel (14) with the same diameter as the driving Mecanum wheel (7) is sleeved outside the end part of the shell (1) close to the angle rotating motor (8), and the driven Mecanum wheel (14) is fixedly connected with the shell (1) through a connecting bearing (13);
the driving motor (6) drives the Mecanum wheel (7) to rotate, the Mecanum wheel (7) is driven to perform curve motion in the pipeline, when a detection point is required to be performed, the probe telescopic electric cylinder (11) pushes the thickness detection probe (12) to enable the thickness detection probe (12) to be in contact with the inner wall of the pipeline, the thickness of the pipeline is detected, and the angle rotating motor (8) drives the detection head (9) to rotate to perform multi-point thickness detection after the detection is completed;
the thickness detection probe (12) comprises a circular ring shell (1201) fixedly connected with the telescopic end of the probe telescopic electric cylinder (11) and a thickness detection sensor (1205), a circular partition plate (1203) which is fixedly arranged in the circular ring shell (1201) and divides the circular ring shell (1201) into an upper cavity and a lower cavity is sleeved in the upper cavity of the circular ring shell (1201) and is concentric with the circular ring shell (1201), a plurality of annular elastic sheets (1206) are arranged in the inner ring (1202), and the thickness detection sensor (1205) is arranged in the inner ring (1203) and is clamped and fixed through the annular elastic sheets (1206);
the upper end of ring casing (1201) fixed connection upper cover (1204), ring casing (1201) in the cavity down in be equipped with fixedly and be equipped with coupling liquid box (1209) that are used for coating coupling liquid on the pipeline inner wall, the exit linkage of coupling liquid box (1209) have coupling liquid pipeline (1208), the tip of coupling liquid pipeline (1208) pass annular cavity that circular baffle (1203), ring casing (1201) and inner ring body (1202) formed in proper order to with coupling liquid shower nozzle (1207) intercommunication that is equipped with on upper cover (1204), coupling liquid pipeline (1208) on be equipped with coupling liquid pump (1210) in coupling liquid box (1209) coupling liquid pump into coupling liquid shower nozzle (1207).
2. The thickness measuring device for the pipeline according to claim 1, wherein mounting grooves (20) parallel to the central line of the shell (1) are respectively arranged on two sides of the circumferential surface of the shell (1), slotted holes (22) which are the same as the inner cavity of the shell (1) are formed in the bottoms of the mounting grooves (20), supporting rods (21) are arranged in the mounting grooves (20), one ends of the supporting rods (21) are movably connected with the end parts of the mounting grooves (20), the other ends of the supporting rods are connected with adsorption devices (23) used for adsorbing the pipeline, supporting electric cylinders (24) are arranged in the shell (1), the shrinking ends of the supporting electric cylinders (24) penetrate through the slotted holes (22) and are movably connected with the middle parts of the supporting rods (21), and the supporting electric cylinders (24) push the supporting rods (21) to enable the adsorption devices (23) at the end parts of the supporting rods (21) to be adsorbed with the inner walls of the pipeline, or the supporting electric cylinders (24) stretch and retract, and the supporting rods (21) are arranged in the mounting grooves (20).
3. The device for measuring thickness in a pipeline according to claim 2, wherein the adsorption device (23) comprises an adsorption shell (2301), a connecting seat (2306) which is arranged at the lower end of the adsorption shell (2301) and is movably connected with the end part of the supporting rod (21), a shielding shell (2302) is arranged in the adsorption shell (2301), the outer wall of the shielding shell (2302) is fixedly connected with the adsorption shell (2301), an electromagnet column (2304) is arranged in the shielding shell (2302), an electromagnetic coil (2305) is wound on the electromagnet column (2304), and the electromagnet column (2304) generates magnetism to be adsorbed with the inner wall of the pipeline under the condition of electrifying.
4. A thickness measuring device for a pipeline according to claim 3, characterized in that the two ends of the housing (1) are fixedly connected with a first flange cover (4) and a second flange cover (5) respectively, the driving motor (6) is fixed in one end of the housing (1) through the first flange cover (4), the driving shaft of the driving motor (6) passes through the first flange cover (4) and is connected with the first flange cover (4) through a driving shaft bearing (16), the angle rotating motor (8) is fixed in the other end of the housing (1) through the second flange cover (5), and the rotating shaft of the angle rotating motor (8) passes through the second flange cover (5) and is connected with the second flange cover (5) through a rotating shaft bearing (17).
5. The device for measuring the thickness in the pipeline according to claim 4, wherein the shell (1) is internally provided with a first partition board (2) and a second partition board (3), and the first partition board (2) and the second partition board (3) divide the shell (1) into a driving motor mounting cavity, a middle cavity and an angle rotating motor mounting cavity; and driving motor (6) fixed mounting in driving motor installation cavity, angle rotating electrical machines (8) fixed mounting is in angle rotating electrical machines installation cavity, the middle part cavity be equipped with components and parts installation sleeve (19), the both ends of this components and parts installation sleeve (19) respectively with first baffle (2) and second baffle (3) fixed connection, establish the cylinder body and the outer wall fixed connection of components and parts installation sleeve (19) of support electric jar (24) in shell (1).
6. The thickness measuring device for the pipeline according to claim 5, wherein the motor installation cavity is internally provided with a motor installation shell (15), a gap (1501) is formed in the circumferential surface of the motor installation shell (15), a bulge (1502) is formed in the motor installation shell (15), locking grooves (25) are formed in two sides of the shell (1) corresponding to the motor installation cavity, threaded holes (26) communicated with the shell (1) are formed in the bottoms of the locking grooves (25), locking screws (27) are connected in the threaded holes (26), the ends of the locking screws (27) extend into the shell (1) and are in collision with the motor installation shell (15), the motor installation shell (15) is deformed, and the driving motor (6) is fixed in the motor installation shell (15) through surface extrusion of the bulge (1502) in the motor installation shell (15) and the surface of the driving motor (6);
the inner side surface of the second flange cover (5) is fixedly connected with a pressing plate (18), and the angle rotating motor (8) is pressed in the angle rotating motor mounting cavity through the pressing plate (18).
7. The device for measuring thickness in a pipeline according to claim 6, wherein a PCB board is arranged in the component mounting sleeve (19), a microprocessor, a communication module, a control module and a power module are arranged on the PCB board, the power module is respectively and electrically connected with the driving motor (6), the angle rotating motor (8), the probe telescopic cylinder (11) and the supporting cylinder (24) through the control module, the microprocessor is electrically connected with the control module, the thickness detection sensor (1205) is electrically connected with the microprocessor in a bidirectional manner, the microprocessor is connected with the communication module in a bidirectional manner, and the communication module is wirelessly connected with a remote controller;
the controller sends out an instruction, the communication module receives the instruction generated by the controller and sends the received instruction to the microprocessor, the microprocessor controls the driving motor (6), the angle rotating motor (8), the probe telescopic electric cylinder (11) and the supporting electric cylinder (24) to move relatively according to the received sent instruction, when the specified position is reached, the thickness detection sensor (1205) detects the thickness of the pipeline and sends detected data to the microprocessor, and the microprocessor sends the received data to the controller for storage and reading through the communication module.
8. A method for providing a side thickness measurement apparatus for an in-line thickness measurement according to claim 7, wherein: the method comprises the following steps of:
step one: the thickness measuring device is placed in a pipeline, a driving motor (6) is started by a controller to drive a Mecanum wheel (7) to rotate, and the thickness measuring device performs curve motion in the pipeline;
step two: when the position to be detected is reached, the microprocessor controls the supporting cylinder (24) to push the supporting rod (21) to stand, when the adsorption device (23) at the end part of the supporting rod (21) is in contact with a pipeline, the microprocessor is connected with the power supply and the electromagnetic coil (2305), and the electromagnetic column (2304) generates electromagnetic force to adsorb the pipeline, so that the whole robot is fixed;
step three: when the robot in the second step is fixed, the microprocessor controls the probe telescopic cylinder (11) to push the end part of the thickness detection sensor (1205) to contact with the inner wall of the pipeline, and simultaneously controls the coupling liquid pump (1210) to work while contacting, the coupling liquid in the coupling liquid box (1209) is coated on the pipeline through the coupling liquid spray head (1207), the thickness detection sensor (1205) detects the thickness of the pipeline and transmits detected data to the microprocessor, and the microprocessor transmits the detected data to the controller for storage and reading through the communication module, so that the detection of one point is completed;
step four: after one-point detection is completed, the probe telescopic electric cylinder (11) is retracted, the microprocessor controls the angle rotating motor (8) to rotate, the thickness detection sensor (1205) is driven to rotate ninety degrees, the second-point test is performed according to the third step, and the four-point test is completed in sequence.
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| CN201811234948.8A CN109373943B (en) | 2018-10-23 | 2018-10-23 | Thickness measuring device and thickness detecting method for pipeline |
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| CN201811234948.8A CN109373943B (en) | 2018-10-23 | 2018-10-23 | Thickness measuring device and thickness detecting method for pipeline |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112284308B (en) * | 2019-07-24 | 2023-04-07 | 中国石油天然气股份有限公司 | Electromagnetic ultrasonic transverse wave thickness measuring probe |
| CN112985279A (en) * | 2021-03-05 | 2021-06-18 | 深圳市华讯方舟光电技术有限公司 | Detection device |
| CN114562966A (en) * | 2022-03-15 | 2022-05-31 | 广东省特种设备检测研究院珠海检测院 | Carbon steel pipeline residual wall thickness rapid inspection device and use method thereof |
| CN114577154B (en) * | 2022-04-28 | 2022-07-15 | 广东环达工程检测有限公司 | Pipeline coating thickness detection device and detection method thereof |
| CN116026714B (en) * | 2023-03-28 | 2023-06-23 | 中山大学 | Horizontal hole rock hardness measuring device |
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