CN111043993A

CN111043993A - Pipe wall detection robot

Info

Publication number: CN111043993A
Application number: CN201911318915.6A
Authority: CN
Inventors: 于今; 安庆; 杨昌林; 罗灿
Original assignee: CHONGQING LANGZHENG TECHNOLOGY CO LTD
Current assignee: CHONGQING LANGZHENG TECHNOLOGY CO LTD
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2020-04-21

Abstract

The invention discloses a pipe wall detection robot, which comprises a frame, an antimagnetic electric control cabinet, magnetic adsorption wheels, a driving device and a probe, wherein the antimagnetic electric control cabinet is arranged in the middle of the frame, the magnetic adsorption wheels are arranged at two ends of the frame, the magnetic adsorption wheels comprise permanent magnets, driving wheels and anti-skid skins, the permanent magnets are fixed on a wheel shaft, the driving wheels and the anti-skid skins are both arranged on the magnetic adsorption wheels, and the driving wheels drive the magnetic adsorption wheels to rotate around the wheel shaft under the action of the driving device; the probe is installed at the bottom of the frame through the mechanical arm and can move back and forth, left and right along the frame along with the mechanical arm. The pipe wall detection robot provided by the invention can accurately detect the external defects and thickness of the pipe wall, greatly reduces the labor intensity and improves the detection efficiency; meanwhile, the robot is adsorbed on the pipe wall by utilizing magnetic force, so that the robot is prevented from falling off when the robot travels, and the potential safety hazard is avoided.

Description

Pipe wall detection robot

Technical Field

The invention relates to the technical field of robots, in particular to a pipe wall detection robot.

Background

Water wall tubes in the boiler can be corroded by smoke, coal ash, water vapor and the like in the long-term use process, and are easy to wear and corrode, so that the thickness of the tube wall is locally reduced. Thus, under the repeated action of high-pressure and high-temperature steam in the pipe, the pipe body can burst and leak finally.

However, in order to solve the problems occurring in the inspection of waterwall tubes in boilers, most people have been used to perform inspection of the outer defects and thickness of the tube walls. However, the detection method is high in labor intensity and low in detection efficiency, and people easily fall off from the pipe wall, so that potential safety hazards exist.

Disclosure of Invention

The invention provides a pipe wall detection robot aiming at the problems of high labor intensity, low detection efficiency and potential safety hazard of the existing pipe wall thickness and external defect detection method.

In order to achieve the purpose, the technical scheme of the invention is as follows: a pipe wall detection robot comprises a frame, an antimagnetic electric control cabinet, magnetic adsorption wheels, a driving device and a probe, wherein the antimagnetic electric control cabinet is arranged in the middle of the frame, the magnetic adsorption wheels are arranged at two ends of the frame, the magnetic adsorption wheels comprise permanent magnets, driving wheels and anti-skid skins, the permanent magnets are fixed on a wheel shaft, the driving wheels and the anti-skid skins are both arranged on the magnetic adsorption wheels, and the driving wheels drive the magnetic adsorption wheels to rotate around the wheel shaft under the action of the driving device; the probe is installed at the bottom of the frame through the mechanical arm and can move back and forth, left and right along the frame along with the mechanical arm.

The pipe wall detection robot provided by the invention is adsorbed on the pipe wall by the permanent magnet in the magnetic adsorption wheel through magnetic force, and under the action of the driving device, the driving wheel tyre drives the magnetic adsorption wheel to rotate, so that the pipe wall detection robot moves on the pipe wall; in the process of advancing, the probe fixedly connected with the mechanical arm can move back and forth and left and right along with the mechanical arm, and the probe detects the thickness and the external defects of the pipe wall through the ultrasonic sensor. The pipe wall detection robot can realize full-automatic detection, has high detection efficiency, and the tire is fixed on the pipe wall through the permanent magnet, so that the adsorption force is strong and the safety is high.

Furthermore, the two driving devices are fixed at two ends of the frame and comprise servo motors and synchronous belt wheels fixed on output shafts of the servo motors, and the synchronous belt wheels and the driving wheels are connected by the same synchronous toothed belt. Therefore, the magnetic adsorption wheel is driven by the servo motor to run on the pipe wall through the synchronous toothed belt, and the manufacturing cost is saved.

Further, the frame is further provided with a tensioning mechanism, the tensioning mechanism comprises a base, a guide block, a mounting seat and a tensioning wheel, the guide block is fixed on the base, the mounting seat is arranged on the guide block, an elastic piece is arranged between the mounting seat and the base and drives the mounting seat to slide on the guide block, the tensioning wheel is arranged on the mounting seat, and the tensioning wheel compresses the synchronous toothed belt from the outer side. Therefore, when the synchronous toothed belt has a relaxation trend or a relaxation during the running process, the tensioning mechanism enables the tensioning wheel to always press the synchronous toothed belt by utilizing the elastic force of the elastic component, so that the tensioning state of the synchronous toothed belt is maintained.

Furthermore, the guide block and the installation seat are both provided with two, and two ends of the tensioning wheel are respectively arranged on the two installation seats. Make the take-up pulley both sides all have the mounting point, guaranteed the stability of take-up pulley installation.

Furthermore, a damping spring and a connecting rod are mounted at two ends of the wheel shaft, one end of the connecting rod is hinged to the wheel shaft, and the other end of the connecting rod is hinged to the tensioning mechanism. The arrangement of the damping spring can play a good vibration isolation effect, and the service life of the robot is prolonged; the connecting rod is arranged to prevent the magnetic adsorption wheel from moving in the walking process of the robot.

Further, the mechanical arm is driven by a first motor through a first gear and rack transmission mechanism to move back and forth on a first mounting plate, the first motor is fixed on the first mounting plate, and the mechanical arm is fixedly connected with the first motor through a sliding block; the first mounting panel slides and sets up on the second mounting panel, just first mounting panel can be driven through second rack and pinion drive mechanism by the second motor and is in the side-to-side motion on the second mounting panel, the second mounting panel is fixed the bottom of frame, the second motor is fixed the tip of first mounting panel. The mechanical arm can realize the front-back movement and the left-right movement under the driving of the first motor and the second motor respectively, so that the probe can conveniently detect the surface condition and the thickness of the outer wall of the tube.

Furthermore, the frame is also provided with a safety sling and cameras, two ends of the top of the frame are respectively provided with one safety sling, and one side of the top of the frame is provided with two cameras. The pipe wall detection robot is hung through the safety sling, so that the robot is prevented from falling off the pipe wall when the robot travels; the setting of camera is convenient for observe the condition in robot the place ahead, on the real-time transmission picture signal arrives remote control platform computer for the operator can observe the road surface condition and better control robot motion.

Has the advantages that:

the pipe wall detection robot provided by the invention can accurately detect the external defects and thickness of the pipe wall, greatly reduces the labor intensity and improves the detection efficiency; meanwhile, the robot is adsorbed on the pipe wall by utilizing magnetic force, so that the robot is prevented from falling off when the robot travels, and the potential safety hazard is avoided.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a side view of the present invention;

FIG. 3 is a bottom view of the present invention;

FIG. 4 is a top view of the present invention;

FIG. 5 is a schematic view of the driving device and the magnetic attraction wheel;

FIG. 6 is a front view of FIG. 5;

FIG. 7 is a schematic view of a magnetic attachment wheel;

FIG. 8 is a schematic view of the structure of the robot arm slide apparatus;

FIG. 9 is a front view of FIG. 8;

FIG. 10 is a schematic view of the tensioning arrangement;

labeled as: the device comprises a frame 1, an antimagnetic electric control cabinet 2, a magnetic adsorption wheel 3, a permanent magnet 31, a transmission wheel 32, an antiskid leather 33, a wheel shaft 34, a probe 4, a mechanical arm 5, a servo motor 6, a synchronous pulley 7, a synchronous toothed belt 8, a tensioning mechanism 9, a base 91, a guide block 92, an installation seat 93, a tensioning wheel 94, an elastic part 95, a damping spring 10, a connecting rod 11, a first motor 12, a first gear and rack transmission mechanism 13, a first installation plate 14, a sliding block 15, a second installation plate 16, a second motor 17, a second gear and rack transmission mechanism 18, a safety sling 19 and a camera 20.

Detailed Description

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The invention is further illustrated by the following figures and examples.

Example 1

As shown in fig. 1: the invention provides a pipe wall detection robot, which comprises a frame 1, an antimagnetic electric control cabinet 2, magnetic adsorption wheels 3, a driving device and a probe 4, wherein the antimagnetic electric control cabinet 2 is arranged in the middle of the frame 1, the magnetic adsorption wheels 3 are arranged at two ends of the frame 1, each magnetic adsorption wheel 3 comprises a permanent magnet 31, a driving wheel 32 and an anti-skid leather 33, the permanent magnet 31 is fixed on a wheel shaft 34, the driving wheel 32 and the anti-skid leather 33 are both arranged on the magnetic adsorption wheels 3, and the driving wheel 32 drives the magnetic adsorption wheels 3 to rotate around the wheel shaft 34 under the action of the driving device; the probe 4 is mounted at the bottom of the frame 1 through a mechanical arm 5 and can move back and forth, left and right along the frame 1 along with the mechanical arm 5.

The two driving devices are fixed at two ends of the frame 1 and comprise a servo motor 6 and a synchronous belt wheel 7 fixed on an output shaft of the servo motor 6, and the synchronous belt wheel 7 and the driving wheel 32 are connected by the same synchronous toothed belt 8. Two inertia wheels can be arranged on the servo motor at the same side of the synchronous belt wheel for automatically adjusting the tightness of the synchronous cog belt.

The frame 1 is further provided with a tensioning mechanism 9, the tensioning mechanism 9 includes a base 91, a guide block 92, an installation seat 93 and a tensioning wheel 94, the guide block 92 is fixed on the base 91, the installation seat 93 is arranged on the guide block 92, an elastic member 95 is arranged between the installation seat 93 and the base 91, the elastic member 95 drives the installation seat 93 to slide on the guide block 92, the tensioning wheel 94 is arranged on the installation seat 93, and the tensioning wheel 94 presses the timing toothed belt 8 from the outside.

The number of the guide blocks 92 and the number of the mounting seats 93 are two, and both ends of the tension wheel 94 are respectively disposed on the two mounting seats 93.

The two ends of the wheel shaft 34 are both provided with a damping spring 10 and a connecting rod 11, one end of the connecting rod 11 is hinged on the wheel shaft 34, and the other end is hinged on the tensioning mechanism 9.

The mechanical arm 5 is driven by a first motor 12 through a first gear and rack transmission mechanism 13 to move back and forth on a first mounting plate 14, the first motor 12 is fixed on the first mounting plate 14, and the mechanical arm 5 is fixedly connected with the first motor 12 through a sliding block 15; first mounting panel 14 slides and sets up on second mounting panel 16, just first mounting panel 14 can be driven through second rack and pinion drive mechanism 18 by second motor 17 and be in the side-to-side movement on the second mounting panel 16, second mounting panel 16 is fixed the bottom of frame 1, second motor 17 is fixed the tip of first mounting panel 14.

The frame 1 is further provided with a safety sling 19 and cameras 20, two ends of the top of the frame 1 are respectively provided with one safety sling 19, and one side of the top of the frame 1 is provided with two cameras 20.

Wherein, magnetism adsorbs wheel 3 to be provided with four, and per two magnetism adsorbs wheel 3 parallel arrangement is in the one end of frame 1.

The permanent magnet in the embodiment is in a fan shape, so that the manufacturing cost is reduced under the condition of ensuring enough adsorption force.

The above is only a preferred embodiment of the present invention, and it should be noted that several modifications and improvements made by those skilled in the art without departing from the technical solution should also be considered as falling within the scope of the claims.

Claims

1. A pipe wall detection robot is characterized by comprising a frame (1), an antimagnetic electric control cabinet (2), magnetic adsorption wheels (3), a driving device and a probe (4), wherein the antimagnetic electric control cabinet (2) is arranged in the middle of the frame (1), the magnetic adsorption wheels (3) are arranged at two ends of the frame (1), each magnetic adsorption wheel (3) comprises a permanent magnet (31), a driving wheel (32) and an anti-skid leather (33), the permanent magnet (31) is fixed on a wheel shaft (34), the driving wheel (32) and the anti-skid leather (33) are both arranged on the magnetic adsorption wheels (3), and under the action of the driving device, the driving wheel (32) drives the magnetic adsorption wheels (3) to rotate around the wheel shaft (34); the probe (4) is arranged at the bottom of the frame (1) through a mechanical arm (5) and can move back and forth, left and right along the frame (1) along with the mechanical arm (5).

2. The pipe wall detection robot according to claim 1, wherein the driving devices are two driving devices fixed at two ends of the frame (1), each driving device comprises a servo motor (6) and a synchronous pulley (7) fixed on an output shaft of the servo motor (6), and the synchronous pulleys (7) and the driving wheels (32) are connected by a same synchronous cog belt (8).

3. The pipe wall detection robot according to claim 2, wherein a tensioning mechanism (9) is further disposed on the frame (1), the tensioning mechanism (9) includes a base (91), a guide block (92), a mounting seat (93), and a tensioning wheel (94), the guide block (92) is fixed on the base (91), the mounting seat (93) is disposed on the guide block (92), an elastic member (95) is disposed between the mounting seat (93) and the base (91), the elastic member (95) drives the mounting seat (93) to slide on the guide block (92), the tensioning wheel (94) is disposed on the mounting seat (93), and the tensioning wheel (94) presses the synchronous toothed belt (8) from outside.

4. The pipe wall inspection robot according to claim 3, wherein the guide block (92) and the mounting seat (93) are provided in two, and both ends of the tension wheel (94) are provided on the two mounting seats (93), respectively.

5. The pipe wall detection robot according to claim 3, wherein a damping spring (10) and a connecting rod (11) are mounted at both ends of the wheel shaft (34), and one end of the connecting rod (11) is hinged to the wheel shaft (34) while the other end is hinged to the tensioning mechanism (9).

6. The pipe wall detection robot according to claim 1, wherein the mechanical arm (5) is driven by a first motor (12) through a first gear and rack transmission mechanism (13) to move back and forth on a first mounting plate (14), the first motor (12) is fixed on the first mounting plate (14), and the mechanical arm (5) is fixedly connected with the first motor (12) through a sliding block (15); first mounting panel (14) slide to set up on second mounting panel (16), just first mounting panel (14) can be driven through second rack and pinion drive mechanism (18) by second motor (17) and be in side-to-side movement on second mounting panel (16), second piece mounting panel (16) are fixed the bottom of frame (1), second motor (17) are fixed the tip of first mounting panel (14).

7. The pipe wall detection robot according to claim 1, wherein a safety sling (19) and a camera (20) are further arranged on the frame (1), one safety sling (19) is arranged at each of two ends of the top of the frame (1), and two cameras (20) are arranged on one side of the top of the frame (1).

8. The pipe wall detection robot according to claim 1, wherein four magnetic adsorption wheels (3) are provided, and every two magnetic adsorption wheels (3) are arranged at one end of the frame (1) in parallel.