CN109488836B - Automatic flaw detection, carbon planing and welding robot for inner wall of pipeline - Google Patents

Automatic flaw detection, carbon planing and welding robot for inner wall of pipeline Download PDF

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Publication number
CN109488836B
CN109488836B CN201811395652.4A CN201811395652A CN109488836B CN 109488836 B CN109488836 B CN 109488836B CN 201811395652 A CN201811395652 A CN 201811395652A CN 109488836 B CN109488836 B CN 109488836B
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welding
carbon
planing
pipeline
ultrasonic
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CN109488836A (en
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杨锋
林盛昌
王凤琴
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Nantong Institute of Technology
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Nantong Institute of Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K28/00—Welding or cutting not covered by any of the preceding groups, e.g. electrolytic welding
    • B23K28/02—Combined welding or cutting procedures or apparatus
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Abstract

The invention provides a robot for automatic flaw detection, carbon planing and welding of the inner wall of a pipeline, which comprises: the device comprises a main pipe body, a traveling mechanism, an ultrasonic flaw detection device, a carbon planing device and a welding device. Realize each device through running gear and remove along pipeline inner wall axis, realize that each device removes along the circumferencial direction at pipeline inner wall through main rotating electrical machines, the ultrasonic inspection device carries out ultrasonic inspection to the welding seam between the pipeline and detects, dig out bad welding seam solder through the carbon planer device in welding problem point department, carry out repair welding through welding set at last, accomplish welding quality's between the pipeline detection and repair automatically, detection efficiency is high, reduce intensity of labour, ensure the welding quality between the pipeline, promote steel construction fail safe nature.

Description

Automatic flaw detection, carbon planing and welding robot for inner wall of pipeline
Technical Field
The invention relates to a pipeline welding quality detection device, in particular to an automatic flaw detection, carbon planing and welding robot for the inner wall of a pipeline.
Background
The steel structure plays an important role in ships and buildings, and the steel pipeline is a very common steel structure and is quite widely applied. The whole steel structure is formed by welding a plurality of sections of steel pipelines, and the welding quality among the pipelines directly influences the connection reliability of the steel structure, which is related to the safety performance of the steel structure. At present, the flaw detection of a steel structure generally adopts manual outer wall flaw detection, and has low efficiency and high labor intensity. Therefore, a device capable of effectively detecting the welding quality of the inner wall between the pipelines and performing the targeted repairing operation is needed.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a robot for automatically detecting the flaw of the inner wall of a pipeline, planing the inner wall by using carbon and welding.
In order to achieve the purpose, the technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a pipeline inner wall automatic flaw detection, carbon plane and welding robot, includes:
a main pipe body, one end of which is provided with a main rotating motor and the other end of which is provided with a main controller;
the travelling mechanism comprises three groups of first tensioning rods and second tensioning rods, wherein the three groups of first tensioning rods and the three groups of second tensioning rods extend outwards from the main pipe body in an inclined mode and are uniformly distributed in the circumferential direction, each group of first tensioning rods and each group of second tensioning rods are arranged in a staggered mode, a travelling motor is installed at the head of each first tensioning rod, a driving wheel is installed on a rotating shaft of the travelling motor, and a driven wheel is installed at the head of each second tensioning rod;
the ultrasonic flaw detection device comprises a first telescopic mechanism, a first rotating mechanism, a probe clamp and an ultrasonic probe, wherein the fixed end of the first telescopic mechanism is connected to the rotating shaft of the main rotating motor, the probe clamp is arranged at the telescopic end of the first telescopic mechanism through the first rotating mechanism, the ultrasonic probe is clamped on the probe clamp, and the ultrasonic probe comprises a transmitting probe and a receiving probe;
the carbon planing device comprises a second telescopic mechanism, a carbon rod and an air planing gun chuck, wherein the fixed end of the second telescopic mechanism is installed on the rotating shaft of the main rotating motor, the air planing gun chuck is installed at the telescopic end of the second telescopic mechanism, the carbon rod is clamped on the air planing gun chuck, and a compressed air jet port is formed in the air planing gun chuck;
the welding device comprises a third telescopic mechanism and a welding head, wherein the fixed end of the third telescopic mechanism is arranged on the rotating shaft of the main rotating motor, and the welding head is arranged at the telescopic end of the third telescopic mechanism.
Compared with the prior art, the device has the advantages that the devices move along the axis of the inner wall of the pipeline through the travelling mechanism, the devices move along the circumferential direction on the inner wall of the pipeline through the main rotating motor, the ultrasonic flaw detection device carries out ultrasonic flaw detection on the welding seam between the pipelines, poor welding seam welding flux is planed through the carbon planing device at the welding problem point, and finally repair welding is carried out through the welding device, so that the detection and repair of the welding quality between the pipelines are automatically completed, the detection efficiency is high, the labor intensity is reduced, the welding quality between the pipelines is ensured, and the safety and the reliability of a steel structure are improved.
Further, still include coupling liquid coating unit, coupling liquid coating unit includes first liquid reserve tank and first hydrojet, first hydrojet with ultrasonic transducer parallel arrangement.
By adopting the preferable scheme, the coupling liquid is coated at the position of the weld joint to be detected, and the ultrasonic probe is attached to the coating surface of the coupling liquid, so that the accuracy of ultrasonic detection is improved.
Furthermore, the coupling liquid coating device further comprises a second liquid storage tank, a liquid pump and an overflow cover, the liquid pump supplies the coupling liquid in the second liquid storage tank into the overflow cover, the overflow cover comprises a rigid cover body part and an overflow soft film covering an opening part of the rigid cover body part, the rigid cover body part sealing cover is arranged around the head end face of the ultrasonic probe, densely distributed overflow holes are formed in the overflow soft film, and the viscosity of the coupling liquid in the second liquid storage tank is smaller than that of the coupling liquid in the first liquid storage tank.
By adopting the preferable scheme, the high-viscosity coupling liquid is sprayed at the welding seam through the first liquid spraying head, then the low-viscosity coupling liquid in the second liquid storage tank is pumped into the overflow cover of the head part of the ultrasonic probe through the liquid pump, the overflow soft film of the overflow cover is attached to the high-viscosity coupling liquid which is coated in advance, and the low-viscosity coupling liquid overflows through the overflow hole, so that the high consistency and the low consistency are matched, and the abutting friction between the ultrasonic probe and the pipe wall is effectively prevented; by adopting the double-coupling liquid coating mode, the pre-coating amount of the high-viscosity coupling liquid can be reduced, and the using amount of the coupling liquid is reduced on the whole.
Further, still include laser range finder, laser range finder includes laser range probe, magnet and reference baffle, magnet is installed at laser range probe's tail end, magnet pass through magnetic force adsorb in the tip of being responsible for the body, the fixed tip of placing at the pipeline of waiting to detect of baffle is referred to.
By adopting the preferable scheme, the travel distance of the robot in the pipeline can be accurately detected, and the position accuracy of the operation points of the operation mechanisms of the ultrasonic flaw detection device, the carbon planing device and the welding device is improved.
Furthermore, the ultrasonic flaw detection device, the carbon planing device and the welding device are all provided with inclination angle sensors.
With the above preferred embodiment, the circumferential positions of the ultrasonic flaw detector, the carbon planer, and the welding device operation mechanism can be accurately detected.
And further, the device further comprises a display device, the ultrasonic flaw detection device and the tilt angle sensor are in signal connection with the main controller, and the main controller receives an ultrasonic feedback signal of the ultrasonic flaw detection device and sends an instruction for controlling the display device to display the quality data of the welding seam between the pipelines after processing.
By adopting the preferable scheme, the welding quality state of the welding seam between the pipelines can be intuitively known through the display device.
Furthermore, the ultrasonic flaw detection device, the coupling liquid coating device, the carbon planing device and the welding device are connected with a rotating shaft of the main rotating motor through a detachable connecting structure.
Further, the ultrasonic flaw detection device, the coupling liquid coating device, the carbon planing device and the welding device are integrally installed on a rotating shaft of the main rotating motor.
By adopting the preferable scheme, the replacement time between devices can be reduced by integrated installation, and the flaw detection efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of one embodiment of the present invention;
FIG. 2 is a schematic structural diagram of one embodiment of the present invention;
FIG. 3 is a schematic structural diagram of one embodiment of the present invention;
FIG. 4 is a schematic structural diagram of one embodiment of the present invention;
FIG. 5 is a schematic structural diagram of one embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another embodiment of the present invention;
FIG. 7 is a schematic structural diagram of another embodiment of the present invention;
FIG. 8 is a schematic structural diagram of another embodiment of the present invention;
FIG. 9 is a schematic structural diagram of another embodiment of the present invention;
FIG. 10 is a schematic structural diagram of another embodiment of the present invention;
fig. 11 is a schematic structural view of another embodiment of the present invention.
Names of corresponding parts represented by numerals and letters in the drawings:
1-a main pipe body; 11-a main rotating electrical machine; 12-a master controller; 2-a traveling mechanism; 21-a first tensioning bar; 22-a second tensioning rod; 23-a walking motor; 24-a driving wheel; 25-a driven wheel; 4-ultrasonic flaw detection device; 41-a first telescoping mechanism; 42-a first rotation mechanism; 43-a probe holder; 44-an ultrasonic probe; 441-a transmission probe; 442-a receiving probe; 45-flaw detection defective points; 5-a carbon planing device; 51-a second telescoping mechanism; 52-carbon rod; 53-gouging gun cartridge; 6-a welding device; 61-a third telescoping mechanism; 62-a welding head; 7-coupling liquid coating device; 71-a first reservoir; 72-first liquid jet head; 73-a second reservoir; 74-liquid pump; 75-a spill cap; 751-a rigid hood portion; 752-overflow soft membrane; 7521-overflow holes; 8-laser rangefinder; 81-laser ranging probe; 82-a magnet; 83-reference baffle; 91-a fourth telescoping mechanism; 92-an outer cover body; 93-inner cover body; 94-water spray pipe; 95-pipette; 96-brush roller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 6, an automatic flaw detection, carbon planing and welding robot for inner walls of pipelines comprises:
a main pipe body 1, one end of which is provided with a main rotating motor 11, and the other end of which is provided with a main controller 12;
the travelling mechanism 2 comprises three groups of first tensioning rods 21 and second tensioning rods 22 which extend outwards from the main pipe body 1 in an inclined mode and are uniformly distributed in the circumferential direction, each group of the first tensioning rods 21 and the second tensioning rods 22 are arranged in a staggered mode, a travelling motor 23 is installed at the head of each first tensioning rod 21, a driving wheel 24 is installed on a rotating shaft of each travelling motor 23, and a driven wheel 25 is installed at the head of each second tensioning rod 22;
an ultrasonic flaw detection device 4 including a first telescoping mechanism 41, a first rotating mechanism 42, a probe holder 43, and an ultrasonic probe 44, wherein a fixed end of the first telescoping mechanism 41 is connected to a rotating shaft of the main rotating motor 11, the probe holder 43 is provided at a telescoping end of the first telescoping mechanism 41 via the first rotating mechanism 42, the ultrasonic probe 44 is held on the probe holder 43, and the ultrasonic probe 44 includes a transmitting probe 441 and a receiving probe 442;
the carbon planing device 5 comprises a second telescopic mechanism 51, a carbon rod 52 and an air planing gun chuck 53, wherein the fixed end of the second telescopic mechanism 51 is installed on a rotating shaft of the main rotating motor 11, the air planing gun chuck 53 is installed at the telescopic end of the second telescopic mechanism 51, the carbon rod 52 is clamped on the air planing gun chuck 53, and a compressed air jet port is formed in the air planing gun chuck 53;
and a welding device 6 including a third telescopic mechanism 61 and a welding head 62, wherein the fixed end of the third telescopic mechanism 61 is mounted on the rotating shaft of the main rotating motor 11, and the welding head 62 is mounted on the telescopic end of the third telescopic mechanism 61.
The beneficial effect of adopting above-mentioned technical scheme is: realize each device through running gear and remove along pipeline inner wall axis, realize that each device removes along the circumferencial direction at pipeline inner wall through main rotating electrical machines, the ultrasonic inspection device carries out ultrasonic inspection to the welding seam between the pipeline and detects, dig out bad welding seam solder through the carbon planer device in welding problem point department, carry out repair welding through welding set at last, accomplish welding quality's between the pipeline detection and repair automatically, detection efficiency is high, reduce intensity of labour, ensure the welding quality between the pipeline, promote steel construction fail safe nature.
As shown in fig. 7, in another embodiment of the present invention, the coupling liquid coating apparatus 7 is further included, and the coupling liquid coating apparatus 7 includes a first liquid tank 71 and a first liquid ejecting head 72, and the first liquid ejecting head 72 is disposed in parallel with the ultrasonic probe 44. The beneficial effect of adopting above-mentioned technical scheme is: coupling liquid is coated on the position of a weld joint to be detected, and the ultrasonic probe is attached to the coating surface of the coupling liquid, so that the ultrasonic detection accuracy is improved.
In another embodiment of the present invention, as shown in fig. 7, the coupling liquid coating apparatus 7 further includes a second liquid tank 73, a liquid pump 74, and a spill cover 75, the liquid pump 74 supplies the coupling liquid in the second liquid tank 73 into the spill cover 75, the spill cover 75 includes a rigid cover portion 751 and a spill soft film 752 covering an opening portion of the rigid cover portion 751, the rigid cover portion 751 is hermetically covered around the head end surface of the ultrasonic probe 44, the spill soft film 752 is provided with densely-arranged spill holes 7521, and the viscosity of the coupling liquid in the second liquid tank 73 is smaller than the viscosity of the coupling liquid in the first liquid tank 71. The beneficial effect of adopting above-mentioned technical scheme is: firstly, spraying high-viscosity coupling liquid at a welding seam through a first liquid spraying head, pumping the low-viscosity coupling liquid in a second liquid storage tank into an overflow cover of the head part of the ultrasonic probe through a liquid pump, attaching an overflow soft film of the overflow cover to the high-viscosity coupling liquid coated in advance, and overflowing the low-viscosity coupling liquid through an overflow hole to promote the high coincidence of the high-viscosity coupling liquid and the low-viscosity coupling liquid and effectively prevent the ultrasonic probe from colliding and rubbing with the pipe wall; by adopting the double-coupling liquid coating mode, the pre-coating amount of the high-viscosity coupling liquid can be reduced, and the using amount of the coupling liquid is reduced on the whole. Most of the coupling liquid can be removed while the carbon planer is used, but the coupling liquid is difficult to be remained in a very small amount, and when the remained coupling liquid affects the welding quality, a welding material with certain tolerance to the coupling liquid is used.
As shown in fig. 11, in another embodiment of the present invention, in order to achieve the purpose of preventing the residual of the coupling liquid for flaw detection from affecting the welding performance, a coupling liquid washing and drying device is further included, which is mounted on the rotating shaft of the main rotating motor 11 through a fourth telescoping mechanism 91, the coupling liquid washing and drying device includes a washing device and a blowing pipe (not shown), the washing device includes an outer cover 92, an inner cover 93, a spraying pipe 94 and a sucking pipe 95, a brush roller 96 is disposed in the inner cover 93, a spraying port of the spraying pipe 94 is disposed in the inner cover 93 and faces the brush roller 96, the sucking pipe 95 is inserted into the outer cover 92, a uniformly and densely distributed liquid sucking port is disposed on the wall of the sucking pipe extending into the inner portion of the outer cover, the spraying pipe 94 is connected to an external water pump through a water pipe, the spraying pipe 95 is connected to the external liquid sucking pump through a water pipe, the blowing pipe (not shown) is connected, after the flaw detection operation is completed, the coupling liquid washing and drying device moves to the coupling liquid coating position, the water spraying pipe 94 sprays water to drive the brush roller 96 to rotate to wash the pipe wall of the pipeline, the liquid suction pipe 95 sucks out waste liquid flowing into the outer cover body 92, and after the washing is completed, the washing surface is dried through the air blowing pipe to obtain a clean and dry pipe wall surface.
As shown in fig. 8 and 9, in other embodiments of the present invention, a laser distance measuring instrument 8 is further included, the laser distance measuring instrument 8 includes a laser distance measuring probe 81, a magnet 82 and a reference baffle 83, the magnet 82 is installed at the tail end of the laser distance measuring probe 81, the magnet 82 is attracted to the main pipe body 1 by magnetic force, and the reference baffle 83 is fixedly placed at the end of the pipeline to be detected. The beneficial effect of adopting above-mentioned technical scheme is: the travel distance of the robot in the pipeline can be accurately detected, and the position accuracy of the operation points of the operation mechanisms of the ultrasonic flaw detection device, the carbon planing device and the welding device is improved.
In other embodiments of the present invention, the ultrasonic testing device, the carbon planing device and the welding device are provided with tilt sensors. The beneficial effect of adopting above-mentioned technical scheme is: the circumferential positions of the ultrasonic flaw detection device, the carbon planing device and the welding device operating mechanism can be accurately detected.
In other embodiments of the present invention, the ultrasonic inspection device further comprises a display device, the ultrasonic inspection device and the tilt sensor are all in signal connection with the main controller, and the main controller receives an ultrasonic feedback signal of the ultrasonic inspection device, processes the ultrasonic feedback signal and sends an instruction for controlling the display device to display the welding seam quality data between the pipelines. The beneficial effect of adopting above-mentioned technical scheme is: the welding quality state of the welding seams between the pipelines can be intuitively known through a display device, as shown in fig. 10, each circular ring represents one welding seam, flaw detection bad points 45 on the welding seams can be marked on the circular rings by round balls, and different defects can be represented by round balls with different colors.
In other embodiments of the present invention, the ultrasonic testing device 4, the carbon shaving device 5, and the welding device 6 may be installed on the rotating shaft of the main rotating motor in a single body, and after each operation is completed, the point searching operation is performed by replacing the devices required for the next process. In another preferred embodiment, the coupling liquid coating device 7, the ultrasonic testing device 4, the carbon shaving device 5 and the welding device 6 are integrally mounted on the rotating shaft of the main rotating motor 11.
The following is the main working principle and process of one embodiment of the invention:
1. writing a program, inputting the program into a robot control device, adjusting a traveling mechanism of the robot, mounting the robot on the inner wall of a pipeline, enabling a driving wheel and a driven wheel of the traveling mechanism to be tightly attached to the inner wall of the pipeline, and enabling the traveling mechanism to move so as to enable the ultrasonic flaw detection device to move to a welding seam of the pipeline;
2. a first rotating mechanism of the ultrasonic flaw detection device rotates to enable an ultrasonic probe to be close to a weld joint, a coupling liquid coating device is synchronously started, a main rotating motor rotates to drive the ultrasonic flaw detection device and the coupling liquid coating device to perform circumferential operation, a first telescopic mechanism acts after one circle is completed, circumferential operation is performed after the first telescopic mechanism moves in an axial direction in a small range, the actions are repeated until the whole weld joint detection is completed, and if no defect is found, a travelling mechanism moves to the next section of weld joint operation in the axial direction;
3. if a poor welding point is detected, the ultrasonic flaw detection device is withdrawn, the carbon planing device moves to the poor welding point, and the second telescopic mechanism drives the carbon rod of the carbon planing device to move to the poor welding point to perform carbon arc gas-induced blasting operation;
4. after the carbon arc gas creation industry is finished, the carbon planing device is retracted, the welding device moves to the carbon planing finished part, and the third telescopic mechanism drives the welding head to move to the carbon planing seam for welding operation;
5. after the welding is finished, the device moves forwards to the next welding line, and the steps 2-4 are repeated until the detection and repair work of the related welding line of the inner wall of the whole pipeline is finished.
6. After finishing the flaw detection, carbon planing and welding work of the inner wall of the whole pipeline, the device is stopped for a period of time, after the welding seam is cooled and the interval time is exceeded (lag welding defects such as cold cracks are prevented), the steps of 2-5 are repeated for the pipeline again, whether new welding defects appear in the previous welding seam repairing work or not is checked and repaired, and the method can only aim at the original bad welding seam points of which the carbon planing and welding work is finished before, and does not aim at the whole welding seam.
The above embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the scope of the present invention.

Claims (6)

1. The utility model provides a pipeline inner wall automatic flaw detection, carbon plane and welding robot which characterized in that includes:
a main pipe body, one end of which is provided with a main rotating motor and the other end of which is provided with a main controller;
the travelling mechanism comprises three groups of first tensioning rods and second tensioning rods, wherein the three groups of first tensioning rods and the three groups of second tensioning rods extend outwards from the main pipe body in an inclined mode and are uniformly distributed in the circumferential direction, each group of first tensioning rods and each group of second tensioning rods are arranged in a staggered mode, a travelling motor is installed at the head of each first tensioning rod, a driving wheel is installed on a rotating shaft of the travelling motor, and a driven wheel is installed at the head of each second tensioning rod;
the ultrasonic flaw detection device comprises a first telescopic mechanism, a first rotating mechanism, a probe clamp and an ultrasonic probe, wherein the fixed end of the first telescopic mechanism is connected to the rotating shaft of the main rotating motor, the probe clamp is arranged at the telescopic end of the first telescopic mechanism through the first rotating mechanism, the ultrasonic probe is clamped on the probe clamp, and the ultrasonic probe comprises a transmitting probe and a receiving probe;
the carbon planing device comprises a second telescopic mechanism, a carbon rod and an air planing gun chuck, wherein the fixed end of the second telescopic mechanism is installed on the rotating shaft of the main rotating motor, the air planing gun chuck is installed at the telescopic end of the second telescopic mechanism, the carbon rod is clamped on the air planing gun chuck, and a compressed air jet port is formed in the air planing gun chuck;
the welding device comprises a third telescopic mechanism and a welding head, wherein the fixed end of the third telescopic mechanism is arranged on the rotating shaft of the main rotating motor, and the welding head is arranged at the telescopic end of the third telescopic mechanism;
the ultrasonic probe is characterized by further comprising a coupling liquid coating device, wherein the coupling liquid coating device comprises a first liquid storage tank and a first liquid spraying head, and the first liquid spraying head and the ultrasonic probe are arranged in parallel;
the coupling liquid coating device further comprises a second liquid storage tank, a liquid pump and a overflowing cover, wherein the liquid pump supplies the coupling liquid in the second liquid storage tank into the overflowing cover, the overflowing cover comprises a rigid cover body part and an overflowing soft film wrapping an opening part of the rigid cover body part, the rigid cover body part is hermetically covered around the head end face of the ultrasonic probe, densely distributed overflowing holes are formed in the overflowing soft film, and the viscosity of the coupling liquid in the second liquid storage tank is smaller than that of the coupling liquid in the first liquid storage tank;
the coupling liquid washing and drying device is arranged on a rotating shaft of the main rotating motor through a fourth telescopic mechanism.
2. The robot for automatically detecting the flaw of the inner wall of the pipeline, digging the carbon and welding the inner wall of the pipeline according to claim 1, further comprising a laser range finder, wherein the laser range finder comprises a laser range finding probe, a magnet and a reference baffle, the magnet is installed at the tail end of the laser range finding probe, the magnet is adsorbed at the end part of the main pipe body through magnetic force, and the reference baffle is fixedly placed at the end part of the pipeline to be detected.
3. The robot for automatically detecting the flaw and planing and welding the inner wall of the pipeline according to claim 2, wherein the ultrasonic flaw detection device, the carbon planing device and the welding device are all provided with an inclination angle sensor.
4. The robot for automatically detecting the flaw, the carbon planing and the welding of the inner wall of the pipeline according to claim 3, further comprising a display device, wherein the display device, the ultrasonic flaw detection device and the inclination angle sensor are in signal connection with a main controller, and the main controller receives an ultrasonic feedback signal of the ultrasonic flaw detection device and sends an instruction for controlling the display device to display the quality data of the welding seam between the pipelines after processing.
5. The robot for automatically detecting the flaw and the carbon planing and welding the inner wall of the pipeline according to claim 4, wherein the ultrasonic flaw detection device, the coupling liquid coating device, the carbon planing device and the welding device are connected with a rotating shaft of the main rotating motor through a detachable connecting structure.
6. The robot for automatically detecting the flaw and the carbon planing and welding the inner wall of the pipeline according to claim 5, wherein the ultrasonic flaw detection device, the coupling liquid coating device, the carbon planing device and the welding device are integrally installed on a rotating shaft of a main rotating motor.
CN201811395652.4A 2018-11-21 2018-11-21 Automatic flaw detection, carbon planing and welding robot for inner wall of pipeline Active CN109488836B (en)

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