CN111505120A - Metal pipeline inner wall robot of detecting a flaw - Google Patents
Metal pipeline inner wall robot of detecting a flaw Download PDFInfo
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- CN111505120A CN111505120A CN202010387718.6A CN202010387718A CN111505120A CN 111505120 A CN111505120 A CN 111505120A CN 202010387718 A CN202010387718 A CN 202010387718A CN 111505120 A CN111505120 A CN 111505120A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
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Abstract
The invention discloses a flaw detection robot for the inner wall of a metal pipeline, which comprises a robot body, wherein a driving cavity is arranged in the robot body, telescopic wheel seats are symmetrically arranged in the upper end surface and the lower end surface of the robot body from left to right, a telescopic cavity communicated with the driving cavity is arranged in the end surface of one side, far away from the robot body, of each telescopic wheel seat, and a telescopic driving wheel device capable of driving the robot body to move in the metal pipeline is slidably arranged in each telescopic cavity; the flaw detection robot can perform movable detection on the inner wall of the metal pipeline through the movable wheel driven by the motor, the ultrasonic pen probe linked with the movable wheel can perform annular detection on the inner wall of the metal pipeline while moving in the inner wall of the metal pipeline, and flaw detection can be performed on the metal pipeline with different diameters through the adjusting device capable of adjusting the expansion and contraction of the movable wheel.
Description
Technical Field
The invention relates to the technical field of related detectors, in particular to a flaw detection robot for an inner wall of a metal pipeline.
Background
The metal pipeline has wide application in the industrial field, and in some important places, the quality of the metal pipeline directly influences the safety and the usability of factory equipment, so that flaw detection of the metal pipeline for industrial application is particularly important, but the traditional detection mode is influenced by the shape and motion factors of the metal pipeline, so that the detection effect is poor, and particularly, the flaw detection of the metal pipeline with different diameters in the front and back is difficult.
Disclosure of Invention
The invention aims to provide a flaw detection robot for the inner wall of a metal pipeline, which is used for overcoming the defects in the prior art.
The flaw detection robot for the inner wall of the metal pipeline comprises a robot body, wherein a driving cavity is formed in the robot body, telescopic wheel seats are symmetrically arranged in the upper end face and the lower end face of the robot body in a left-right mode, a telescopic cavity communicated with the driving cavity is formed in the end face, far away from the robot body, of each telescopic wheel seat, a telescopic driving wheel device capable of driving the robot body to move in the metal pipeline is slidably mounted in each telescopic cavity, a first rotating base is arranged at the front end face of the robot body in a facing mode, a balance wheel device capable of enabling the robot body to be stable in the metal pipeline is rotatably mounted in each first rotating base, a rotating base is rotatably mounted on the end face of the front end of the robot body, a spring cavity is formed in the end face of the upper side of the rotating base, and a telescopic rod with the top end extending out of the end face of the rotating, the bottom of telescopic link with be equipped with a spring between the diapire in spring chamber, the telescopic link is located the device of detecting a flaw that can carry out rotatory flaw detection to the metal pipeline inner wall is installed to the outer one end in spring chamber, the drive intracavity is equipped with by the diapire position and can drives rotating base with removal wheel pivoted drive arrangement among the flexible drive wheel device, the upper and lower terminal surface of robot organism leans on the left side position to be equipped with can measure the distancer of metal pipeline inner wall diameter, correspond about the upper and lower wall in drive chamber be equipped with the regulation chamber of telescopic wheel seat intercommunication, correspond from top to bottom the regulation chamber with the drive chamber intercommunication is equipped with can be according to the distancer is adjusted the adjusting device of the flexible length of removal wheel.
On the basis of the technical scheme, the telescopic driving wheel device comprises a telescopic pipe which is slidably arranged in the telescopic cavity, one end of the extension tube, which is far away from the robot body, is fixedly provided with a first moving wheel seat, a rotating cavity is arranged in the end surface of one side of the first moving wheel seat, which is far away from the robot body, a first rotating shaft is rotatably communicated with the front end surface and the rear end surface of the first movable wheel seat through a first bearing, a movable wheel is fixedly arranged on the shaft end of the first rotating shaft positioned outside the front end surface and the rear end surface of the first movable wheel seat, a first bevel gear is fixedly arranged on the shaft body of the first rotating shaft positioned in the rotating cavity, one side of the first bevel gear, which is close to the robot body, is meshed with a second bevel gear, and the second bevel gear is fixedly installed on one end, which is far away from the robot body, of a spline shaft, which is rotatably installed in the telescopic pipe, of a shaft body.
On the basis of the technical scheme, the balance wheel device comprises a second rotating base which is symmetrically and fixedly arranged on the front end surface and the rear end surface of the robot body in a front-back mode, a rotating plate is rotatably arranged in the second rotating base through a third rotating shaft, a balance wheel seat is fixedly arranged at the top end, far away from the robot body, of the rotating plate, a balance wheel is rotatably arranged in the balance wheel seat through a fourth rotating shaft, baffle plates are correspondingly and fixedly arranged on the left side and the right side between the front wall and the rear wall of the driving cavity, the baffle plates corresponding to the left side and the right side are fixedly connected through sliding shafts, a sliding block is slidably arranged on the shaft body of each sliding shaft, a second spring is arranged between the end surface on the right side of each sliding block and the baffle plate on the right side, sliding grooves are communicated with the left side and the right side of the plate body of the rotating plate, sliding plates are slidably arranged in the, the sliding plates which correspond up and down are fixedly connected with the upper end and the lower end of the sliding block through the through grooves.
On the basis of the technical scheme, the device of detecting a flaw including set firmly in the base of detecting a flaw on the telescopic link top, be equipped with the probe chamber in the upside terminal surface of the base of detecting a flaw, install the ultrasonic transducer that can carry out crack detection to metal pipeline through No. three spring elasticity on the diapire in probe chamber, ultrasonic transducer's left side is equipped with No. two and removes the wheel seat, rotate through No. five axes of rotation in No. two removal wheel seats and install and can make ultrasonic transducer presses close to the wheel of detecting a flaw that the metal pipeline inner wall removed, the bottom fixed mounting that removes the wheel base No. two has No. six axes of rotation, No. six axes of rotation rotate through No. two bearings and install in the upside terminal surface of the base of detecting.
On the basis of the technical scheme, the driving device comprises a driving motor fixedly arranged on the bottom wall of the driving cavity, the left end and the right end of the driving motor are correspondingly provided with a seven-number rotating shaft, one end, far away from the driving motor, of the seven-number rotating shaft corresponding to the left and the right, is fixedly provided with a third bevel gear, the lower side of the third bevel gear is meshed with a fourth bevel gear, the fourth bevel gear is fixedly arranged on a pipe body of the spline pipe, and the upper end and the lower end of the spline pipe are respectively connected with the spline shaft corresponding to the upper end and the lower end of the spline pipe through a.
On the basis of the technical scheme, the driving device further comprises a large conical fluted disc meshed with the left side of the fourth conical gear on the left side, the left end of the large conical fluted disc is fixedly installed on the right end of an eighth rotating shaft, and the eighth rotating shaft is rotatably installed in the left side wall of the driving cavity and the left side end face of the robot body through a fourth bearing and is fixedly connected with the left end of the eighth rotating shaft outside the left end of the robot body and the right end of the rotating base.
On the basis of the technical scheme, the adjusting device comprises an adjusting motor fixedly arranged on the rear side wall of the driving cavity, nine rotating shafts are correspondingly arranged at the upper end and the lower end of the adjusting motor, the nine rotating shafts which are vertically corresponding are rotatably arranged between the left wall and the right wall of the adjusting cavity which are vertically corresponding through five bearings, a fifth bevel gear is fixedly arranged at one end of the ninth rotating shaft, which is positioned in the adjusting cavity and corresponds to the ninth rotating shaft up and down, the front end of the fifth bevel gear is meshed with the sixth bevel gear which is fixedly arranged on the rear end of the tenth rotating shaft, the number ten rotating shaft is rotatably arranged in the front side wall of the adjusting cavity and the rear side of the telescopic cavity through a number six bearing, the number ten axis of rotation is located fixed mounting has the meshing gear on one side shaft body of flexible intracavity, be equipped with on the right side terminal surface of flexible pipe with the tooth strip of meshing gear.
The invention has the beneficial effects that: the flaw detection robot can perform movable detection on the inner wall of the metal pipeline through the movable wheel driven by the motor, the ultrasonic pen probe linked with the movable wheel can perform annular detection on the inner wall of the metal pipeline while moving in the inner wall of the metal pipeline, and flaw detection can be performed on the metal pipeline with different diameters through the distance meter capable of measuring the diameter of the inner wall of the metal pipeline and the adjusting device capable of adjusting the expansion of the movable wheel.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic overall structure diagram of a metal pipeline inner wall inspection robot of the present invention;
FIG. 2 is a schematic view of the structure in the direction of 'A-A' in FIG. 1;
FIG. 3 is a schematic view of the structure in the direction of 'B-B' in FIG. 1;
FIG. 4 is an enlarged schematic view of the telescopic drive wheel assembly of FIG. 2;
fig. 5 is an enlarged schematic configuration diagram of the flaw detector in fig. 1.
Detailed Description
The invention will now be described in detail with reference to fig. 1-5, for convenience of description, the following orientations will now be defined: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
Referring to fig. 1 to 5, a metal pipeline inner wall flaw detection robot according to an embodiment of the present invention includes a robot body 10 having a driving cavity 11 therein, telescopic wheel bases 13 are symmetrically installed in the upper and lower end surfaces of the robot body 10, a telescopic cavity 15 communicating with the driving cavity 11 is provided in an end surface of one side of the telescopic wheel base 13 away from the robot body 10, a telescopic driving wheel device 001 capable of driving the robot body 10 to move in a metal pipeline is slidably installed in the telescopic cavity 15, a first rotating base 64 is provided in front of and behind the robot body 10, a balance wheel device 002 capable of stabilizing the robot body 10 in the metal pipeline is rotatably installed in the first rotating base 64, a rotating base 50 is rotatably installed on the front end surface of the robot body 10, and a spring cavity 46 is provided in an upper end surface of the rotating base 50, a telescopic rod 45 with the top end extending out of the end surface of the rotating base 50 is arranged in the spring cavity 46 in a sliding mode, a first spring 49 is arranged between the bottom end of the telescopic rod 45 and the bottom wall of the spring cavity 46, a flaw detection device 003 capable of performing rotary flaw detection on the inner wall of the metal pipeline is installed at one end of the telescopic rod 45, which is positioned outside the spring cavity 46, a driving device 004 capable of driving the rotating base 50 and the moving wheel 18 in the telescopic driving wheel device 001 to rotate is arranged in the driving cavity 11 close to the bottom wall, a distance measuring device 51 capable of measuring the diameter of the inner wall of the metal pipeline is arranged at the left side of the upper end surface and the lower end surface of the robot body 10, the upper wall and the lower wall of the driving cavity 11 are correspondingly provided with adjusting cavities 28 communicated with the telescopic wheel seat 13 from left to right, and the adjusting cavities 28 corresponding from top to bottom are communicated with the driving cavity 11 and are provided with adjusting devices 005 capable of adjusting the telescopic length of the movable wheels 18 according to the distance measuring devices 51.
In addition, in one embodiment, the telescopic driving wheel device 001 includes a telescopic tube 16 slidably installed in the telescopic cavity 15, one end of the telescopic tube 16 far away from the robot body 10 is fixedly provided with a first moving wheel seat 17, a rotating cavity 20 is arranged in an end surface of the first moving wheel seat 17 far away from the robot body 10, a first rotating shaft 22 is rotatably communicated with front and rear end surfaces of the first moving wheel seat 17 through a first bearing 19, a moving wheel 18 is fixedly installed on an axial end of the first rotating shaft 22 located outside the front and rear end surfaces of the first moving wheel seat 17, a first bevel gear 21 is fixedly installed on an axial body of the first rotating shaft 22 located in the rotating cavity 20, one side of the first bevel gear 21 close to the robot body 10 is engaged with a second bevel gear 23, the second bevel gear 23 is fixedly installed on an axial body, and a spline shaft 33 rotatably installed in the telescopic tube 16 is far away from the robot body On one end of the robot body 10; thus, the second bevel gear 23 can be driven to rotate by the rotation of the spline shaft 33, and the first bevel gear 21 engaged with the second bevel gear 23 drives the moving wheel 18 to rotate via the first rotating shaft 22.
In addition, in one embodiment, the balance wheel device 002 includes a second rotating base 64 fixedly mounted on the front and rear end surfaces of the robot body 10 in a front-rear symmetrical manner, a rotating plate 67 is rotatably mounted in the second rotating base 64 through a third rotating shaft 65, a balance wheel seat 69 is fixedly mounted on the top end of the rotating plate 67 far away from the robot body 10, a balance wheel 70 is rotatably mounted in the balance wheel seat 69 through a fourth rotating shaft 71, baffle plates 58 are fixedly mounted between the front and rear walls of the driving cavity 11 in a left-right correspondence manner, the baffle plates 58 in the left-right correspondence manner are fixedly connected through a sliding shaft 59, a slider 60 is slidably mounted on the shaft body of the sliding shaft 59, a second spring 63 is disposed between the right end surface of the slider 60 and the baffle plate on the right side, a sliding groove 68 is disposed on the left-right communication of the plate body of the rotating plate 67, a sliding plate 62 is slidably mounted in the sliding, a through groove 61 is communicated between the upper end surface and the lower end surface of the robot body 10 and the upper wall and the lower wall of the driving cavity 11, and the sliding plates 62 corresponding to each other up and down are fixedly connected with the upper end and the lower end of the sliding block 60 through the through groove 61; therefore, the second spring 63 can push the sliding block 60 to slide on the sliding rod 59 to the left, the sliding plate 62 fixedly connected with the sliding block 60 drives the rotating rod 67 to rotate through the sliding pin 66, and the balance wheel 70 fixedly installed at the top end of the rotating rod 67 can be attached to the inner wall of the metal pipeline to move.
In addition, in one embodiment, the flaw detection device 003 includes a flaw detection base 37 fixedly arranged on the top end of the telescopic rod 45, a probe cavity 39 is arranged in the upper end face of the flaw detection base 37, an ultrasonic probe 36 capable of detecting cracks of the metal pipeline is elastically installed on the bottom wall of the probe cavity 39 through a third spring 38, a second moving wheel seat 42 is arranged on the left side of the ultrasonic probe 36, a flaw detection wheel 40 capable of enabling the ultrasonic probe 36 to move close to the inner wall of the metal pipeline is rotatably installed in the second moving wheel seat 42 through a fifth rotating shaft 41, a sixth rotating shaft 44 is fixedly installed at the bottom end of the second moving wheel seat 42, and the sixth rotating shaft 44 is rotatably installed in the upper end face of the flaw detection base 37 through a second bearing 43; thus, the ultrasonic probe can be closely contacted with the inner wall of the metal pipeline through the third spring 38, and the friction force between the ultrasonic probe 36 and the inner wall of the metal pipeline can be reduced by rotating the flaw detection wheel 40 arranged on the flaw detection base 37.
In addition, in one embodiment, the driving device 004 includes a driving motor 54 fixedly arranged on the bottom wall of the driving chamber 11, a seventh rotating shaft 53 is correspondingly arranged at the left end and the right end of the driving motor 54, a third bevel gear 55 is fixedly arranged at the end, away from the driving motor 54, of the seventh rotating shaft 53 corresponding to the left end and the right end, the lower side of the third bevel gear 55 is engaged with a fourth bevel gear 56, the fourth bevel gear 56 is fixedly arranged on the tube body of the spline tube 12, and the upper end and the lower end of the spline tube 12 are respectively in spline connection with the spline shafts 33 corresponding to the upper end and the lower end through a third bearing 14; therefore, the drive motor 54 is started to drive the corresponding left and right seven rotating shafts 53 to rotate, the third bevel gears 55 fixedly arranged at the left and right ends of the seven rotating shafts 53 drive the spline pipes 12 to rotate through the fourth bevel gears 56, and the spline pipes 12 drive the moving wheels 18 to rotate through the spline shafts 33 in spline connection with the spline pipes 12.
In addition, in one embodiment, the driving device 004 further includes a big bevel gear disc 52 engaged with the left side of the fourth bevel gear 55 on the left side, the left end of the big bevel gear disc 52 is fixedly installed on the right end of an eighth rotating shaft 47, the eighth rotating shaft 47 is rotatably installed in the left side wall of the driving cavity 11 and the left side end surface of the robot body 10 through a fourth bearing 48, and the left end of the eighth rotating shaft 47 outside the left end of the robot body 10 is fixedly connected with the right end of the rotating base 50; therefore, the large bevel gear disc 52 can be driven to rotate slowly by the rotation of the fourth bevel gear 55, and the large bevel gear disc 52 drives the rotating base 50 to rotate slowly by the eighth rotating shaft 47.
In addition, in one embodiment, the adjusting device 005 comprises an adjusting motor 57 fixedly arranged on the rear side wall of the driving chamber 11, nine rotating shafts 30 are correspondingly arranged at the upper and lower ends of the adjusting motor 57, the corresponding nine rotating shafts 30 are rotatably arranged between the corresponding left and right walls of the adjusting chamber 28 through five bearings 29, one end of each nine rotating shaft 30 located in the corresponding adjusting chamber 28 is fixedly provided with a five-angle gear 27, the front end of each five-angle gear 27 is engaged with a six-angle gear 26, the six-angle gear 26 is fixedly arranged on the rear end of a ten rotating shaft 35, the ten rotating shaft 35 is rotatably arranged in the front side wall of the adjusting chamber 28 and the rear side of the telescopic chamber 15 through a six-angle bearing 25, one side shaft body of the ten rotating shaft 35 located in the telescopic chamber 15 is fixedly provided with an engaging gear 34, the right end face of the telescopic pipe 16 is provided with a rack grain 24 meshed with the gear 34; therefore, the corresponding nine-number rotating shaft 30 can be driven to rotate up and down by starting the adjusting motor 57, the fifth bevel gear 27 fixedly arranged at one end of the nine-number rotating shaft 30 far away from the adjusting motor 57 drives the ten-number rotating shaft 35 to rotate through the sixth bevel gear 26, and the gear 34 fixedly arranged on the shaft of the ten-number rotating shaft 35 drives the extension tube 6 to move up and down in the extension cavity 15 through the gear stripes 34 meshed with the gear 34.
When flaw detection is required to be carried out on the inner wall of the metal pipeline, the driving motor 54 is started to drive the corresponding left and right seven rotating shafts 53 to rotate, the seven rotating shafts 53 drive the moving wheels 18 to rotate, and the moving wheels 18 drive the robot body 10 to move along the inner wall of the metal pipeline; meanwhile, the seventh rotating shaft 53 also drives the large conical gear disc 52 to rotate slowly, and the large conical gear disc 52 drives the ultrasonic probe 36 to perform mobile flaw detection along the inner wall of the metal pipeline.
When the robot body 10 moves to a place where the diameters of the metal pipes are different, the diameter distance of the metal pipes is detected by the distance measuring device 51; then, the adjusting motor 57 is started to drive the telescopic pipe 16 to extend and retract up and down in the telescopic cavity 15, so that the distance between the moving wheel 18 and the inner wall of the metal pipeline is adjusted; meanwhile, the balance wheel 70 tightly attached to the inner wall of the metal pipe through the second spring 63 can keep the balance and stability of the robot body 10 when the movable wheel 18 is adjusted to be extended or retracted.
The invention has the beneficial effects that: the flaw detection robot can perform movable detection on the inner wall of the metal pipeline through the movable wheel driven by the motor, the ultrasonic pen probe linked with the movable wheel can perform annular detection on the inner wall of the metal pipeline while moving in the inner wall of the metal pipeline, and flaw detection can be performed on the metal pipeline with different diameters through the distance meter capable of measuring the diameter of the inner wall of the metal pipeline and the adjusting device capable of adjusting the expansion of the movable wheel.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. The utility model provides a metal pipeline inner wall inspection robot, includes that inside is equipped with the robot organism in drive chamber, its characterized in that: telescopic wheel seats are symmetrically arranged in the upper end surface and the lower end surface of the robot body in a bilateral mode, a telescopic cavity communicated with the driving cavity is arranged in one side end surface, away from the robot body, of each telescopic wheel seat, a telescopic driving wheel device capable of driving the robot body to move in the metal pipeline is slidably mounted in each telescopic cavity, a first rotating base is arranged at the front end surface and the rear end surface of the robot body in a facing mode, a balance wheel device capable of enabling the robot body to be stable in the metal pipeline is rotatably mounted on the first rotating base, a rotating base is rotatably mounted on the front end surface of the robot body, a spring cavity is arranged in the upper end surface of the rotating base, a telescopic rod with the top end extending out of the end surface of the rotating base is slidably mounted in the spring cavity, and a first spring is arranged between the bottom end of the telescopic rod and the, the telescopic link is located the flaw detection device that can carry out rotatory detection to the metal pipeline inner wall is installed to the outer one end of spring chamber, the drive intracavity is equipped with by the diapire position and can drives rotating base with removal wheel pivoted drive arrangement among the telescopic driving wheel device, the upper and lower terminal surface of robot organism leans on the left side position to be equipped with the distancer that can measure the metal pipeline inner wall diameter, the upper and lower wall left and right sides correspondence in drive chamber be equipped with the regulation chamber of telescopic wheel seat intercommunication, correspond from top to bottom adjust the chamber with the drive chamber intercommunication is equipped with can be according to the distancer is adjusted the adjusting device of the flexible length of removal wheel.
2. The metal pipeline inner wall flaw detection robot of claim 1, wherein: the telescopic driving wheel device comprises a telescopic pipe which is arranged in the telescopic cavity in a sliding way, one end of the telescopic pipe, which is far away from the robot body, is fixedly provided with a first movable wheel seat, a rotating cavity is arranged in the end face of one side of the first moving wheel seat far away from the robot body, a first rotating shaft is rotatably communicated with the front and rear end faces of the first moving wheel seat through a first bearing, a moving wheel is fixedly arranged on the shaft end of the first rotating shaft positioned outside the front and rear end faces of the first moving wheel seat, a first bevel gear is fixedly arranged on the shaft body of the first rotating shaft positioned in the rotating cavity, one side of the first bevel gear, which is close to the robot body, is meshed with a second bevel gear, and the second bevel gear is fixedly installed on one end, which is far away from the robot body, of a spline shaft, which is rotatably installed in the telescopic pipe, of a shaft body.
3. The metal pipeline inner wall flaw detection robot of claim 1, wherein: the balance wheel device comprises a second rotating base which is symmetrically and fixedly arranged on the front end surface and the rear end surface of the robot body in a front-back mode, a rotating plate is rotatably arranged in the second rotating base through a third rotating shaft, a balance wheel seat is fixedly arranged at the top end, far away from the robot body, of the rotating plate, a balance wheel is rotatably arranged in the balance wheel seat through a fourth rotating shaft, baffle plates are correspondingly and fixedly arranged between the front wall and the rear wall of the driving cavity in a left-right mode, the baffle plates corresponding to the left side and the right side are fixedly connected through a sliding shaft, a sliding block is slidably arranged on the shaft body of the sliding shaft, a second spring is arranged between the right side end surface of the sliding block and the baffle plate on the right side, a sliding groove is communicated between the plate body of the rotating plate in the left-right mode, a sliding plate is slidably arranged in the sliding groove through a, the sliding plates which correspond up and down are fixedly connected with the upper end and the lower end of the sliding block through the through grooves.
4. The metal pipeline inner wall flaw detection robot of claim 1, wherein: the device of detecting a flaw including set firmly in the base of detecting a flaw on the telescopic link top, be equipped with the probe chamber in the upside terminal surface of the base of detecting a flaw, install the ultrasonic transducer that can carry out the crack detection to metal pipeline through No. three spring elasticity on the diapire in probe chamber, ultrasonic transducer's left side is equipped with No. two removal wheel seats, rotate through No. five axis of rotation in No. two removal wheel seats and install and can make ultrasonic transducer presses close to the wheel of detecting a flaw that the metal pipeline inner wall removed, the bottom fixed mounting of No. two removal wheel bases has No. six axes of rotation, No. six axes of rotation are installed through No. two bearing rotations in the upside terminal surface of the base of detecting a flaw.
5. The metal pipeline inner wall flaw detection robot of claim 1, wherein: the driving device comprises a driving motor fixedly arranged on the bottom wall of the driving cavity, a seventh rotating shaft is correspondingly arranged at the left end and the right end of the driving motor, a third bevel gear is fixedly arranged at one end, away from the driving motor, of the seventh rotating shaft, the left end and the right end of the seventh rotating shaft are correspondingly arranged, the lower side of the third bevel gear is meshed with a fourth bevel gear, the fourth bevel gear is fixedly arranged on a pipe body of the spline pipe, and the upper end and the lower end of the spline pipe are respectively connected with the spline shaft in a vertically corresponding mode through a third bearing.
6. The metal pipeline inner wall flaw detection robot of claim 1, wherein: the driving device further comprises a large bevel gear disc meshed with the left side of the fourth bevel gear on the left side, the left end of the large bevel gear disc is fixedly installed at the right end of the eighth rotating shaft, the eighth rotating shaft is rotatably installed in the left side wall of the driving cavity and the left side end face of the robot body through a fourth bearing, and the left end of the eighth rotating shaft outside the left end of the robot body is fixedly connected with the right end of the rotating base.
7. The metal pipeline inner wall flaw detection robot of claim 1, wherein: adjusting device including set firmly in adjusting motor on the wall of drive chamber rear side, adjusting motor's last lower extreme corresponds installs No. nine axis of rotation, corresponds from top to bottom No. nine axis of rotation is installed through No. five bearing rotation and is corresponded from top to bottom between the wall of adjusting the chamber left and right sides, No. nine axis of rotation is located corresponds from top to bottom one end fixed mounting in the regulation intracavity has No. five bevel gears, No. five bevel gear's front end meshing No. six bevel gears, No. six bevel gear fixed mounting is on the rear end of No. ten axis of rotation, No. ten axis of rotation is installed through No. six bearing rotation adjust the preceding lateral wall in chamber with in the rear side in flexible chamber, No. ten axis of rotation is located fixed mounting has the tooth wheel on one side axle body in flexible intracavity, be equipped with on the right side terminal surface of flexible pipe with the tooth wheel meshing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010387718.6A CN111505120B (en) | 2020-05-09 | 2020-05-09 | Metal pipeline inner wall robot of detecting a flaw |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010387718.6A CN111505120B (en) | 2020-05-09 | 2020-05-09 | Metal pipeline inner wall robot of detecting a flaw |
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| Publication Number | Publication Date |
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| CN111505120A true CN111505120A (en) | 2020-08-07 |
| CN111505120B CN111505120B (en) | 2021-01-05 |
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| CN202010387718.6A Active CN111505120B (en) | 2020-05-09 | 2020-05-09 | Metal pipeline inner wall robot of detecting a flaw |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112677166A (en) * | 2021-01-13 | 2021-04-20 | 深圳玖伍微联信息技术有限公司 | Robot is to stable positioner of sound source |
| CN113954089A (en) * | 2021-09-30 | 2022-01-21 | 安徽华昇检测科技有限责任公司 | Intelligent detection device and method for nondestructive detection robot |
| CN114280162A (en) * | 2021-12-29 | 2022-04-05 | 长沙航空职业技术学院 | A robot for tap water pipeline detects a flaw |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112677166A (en) * | 2021-01-13 | 2021-04-20 | 深圳玖伍微联信息技术有限公司 | Robot is to stable positioner of sound source |
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| WO2023035377A1 (en) * | 2021-09-09 | 2023-03-16 | 南京蹑波物联网科技有限公司 | Pipeline evaluation robot having diameter measurement function, and evaluation method therefor |
| CN113954089A (en) * | 2021-09-30 | 2022-01-21 | 安徽华昇检测科技有限责任公司 | Intelligent detection device and method for nondestructive detection robot |
| CN114280162A (en) * | 2021-12-29 | 2022-04-05 | 长沙航空职业技术学院 | A robot for tap water pipeline detects a flaw |
| CN114941763A (en) * | 2022-05-30 | 2022-08-26 | 太仓阿尔法数字科技有限公司 | Anti-interference flaw detection robot for in-service pipeline |
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Denomination of invention: A robot for detecting inner wall of metal pipeline Effective date of registration: 20220617 Granted publication date: 20210105 Pledgee: Zhejiang Tailong Commercial Bank Co.,Ltd. Wenzhou Pingyang Wanquan small and micro enterprise franchise sub branch Pledgor: WENZHOU TONGAN ELECTROMECHANICAL ACCESSORIES CO.,LTD. Registration number: Y2022330001011 |