CN112728291A - Pipeline inner wall flaw detection crawling robot and using method thereof - Google Patents
Pipeline inner wall flaw detection crawling robot and using method thereof Download PDFInfo
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- CN112728291A CN112728291A CN202110095935.2A CN202110095935A CN112728291A CN 112728291 A CN112728291 A CN 112728291A CN 202110095935 A CN202110095935 A CN 202110095935A CN 112728291 A CN112728291 A CN 112728291A
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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
- 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
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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
- F16L55/40—Constructional aspects of the body
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention provides a pipeline inner wall flaw detection crawling robot and a use method thereof, wherein the pipeline inner wall flaw detection crawling robot comprises a mounting assembly, a first triangular mounting plate and triangular plate butt-joint rods are arranged in the mounting assembly, a second triangular mounting plate is fixedly mounted on the surface of the front end of the first triangular mounting plate through a plurality of triangular plate butt-joint rods, a supporting butt-joint base is fixedly mounted on the second triangular mounting plate through the output end of a motor, a main device rod is fixedly mounted at the front end of the supporting butt-joint base, forward rotation threads are arranged at the front end of a main device rod body, and reverse rotation threads are arranged at the rear end of the main device rod body; compared with the traditional pipeline detection scheme, the pipeline detection device adopts a modular structure design, and has the advantages of simple structure, wide application field, safety, reliability, high cost performance, certain turning function, suitability for detection of the reducing pipeline, flexible control mode and the like.
Description
Technical Field
The invention relates to the technical field of crawling robots, in particular to a pipeline inner wall flaw detection crawling robot and a using method thereof.
Background
Once the oil gas conveying pipeline is damaged, leakage pollution is easily caused, serious environmental protection problems are caused, even burning and explosion accidents can be caused, casualties are caused, and the intolerable loss is generated. If the damage to the pipeline can be detected in advance, it is possible to avoid such a loss.
Similarly, similar problems exist in the fields of central air conditioning, nuclear industry, boiler piping, and the like. The core of avoiding accidents is to prevent the accidents in advance, and the basis of the prevention is to detect the damage condition of the pipeline regularly.
At present, pipeline detection devices and schemes are more, and the market also has more products, but most of these products have the problems of complex structure, insufficient obstacle crossing capability, single adaptive pipe diameter, inconvenient control, low reliability, high price, poor applicability and the like. Compared with other schemes, the invention has the outstanding advantages of adopting a modular design, having a turning function, being suitable for the variable diameter pipeline, having certain obstacle crossing capability and the like, and having various control modes such as remote control, automatic operation according to a preset program and the like. Wide application range and field and wide market application prospect. The pipeline robot is mainly applied to the interior or exterior of some pipelines inconvenient for manual operation, and the research of the pipeline robot relates to a plurality of technologies, and is one of the important development directions of the robot in the future. The traditional pipeline robot has many defects, such as insufficient obstacle crossing capability, single adaptive pipe diameter, inconvenience in control and the like.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a pipeline inner wall flaw detection crawling robot and a using method thereof, and solves the problems of insufficient obstacle crossing capability, single adaptive pipe diameter, inconvenience in control and the like.
(II) technical scheme
In order to achieve the purpose, the invention adopts the technical scheme that:
a crawling robot for flaw detection of inner wall of pipeline comprises
The mounting component comprises a first triangular mounting plate and triangular plate butt-joint rods, a second triangular mounting plate is fixedly mounted on the surface of the front end of the first triangular mounting plate through a plurality of triangular plate butt-joint rods, a supporting butt-joint base is fixedly mounted on the second triangular mounting plate through the output end of a motor, a device main rod is fixedly mounted at the front end of the supporting butt-joint base, forward rotation threads are arranged at the front end of a rod body of the device main rod, and reverse rotation threads are arranged at the rear end of the rod body of the device main rod;
the walking assembly comprises an anti-skid crawler belt and an assembly mounting plate, the assembly mounting plate is provided with three assembly baffles, each outer surface is fixedly provided with an assembly baffle through a C-shaped mounting plate, and the front end and the rear end of each assembly mounting plate are fixedly provided with a rotating butt joint block;
the auxiliary assembly comprises an assembly base and an assembly shell, the assembly base is fixedly installed at the bottom end of the assembly shell, and a partition plate is fixedly installed in the assembly shell;
the movable assembly comprises a forward rotation threaded sleeve and a reverse rotation threaded sleeve, the forward rotation threaded sleeve is sleeved on the outside of the forward rotation threads, the reverse rotation threaded sleeve is sleeved on the outside of the reverse rotation threads, and a front side fixing sleeve is fixedly mounted on the front side of a rod body of the device main rod.
As preferred, first triangle mounting panel front end surface triangle respectively fixed mounting have three set-square docking rod, it is three the set-square docking rod front end is fixed mounting respectively at second triangle mounting panel back triangle, fixed mounting has the motor in the middle of the second triangle mounting panel back, motor front end output runs through second triangle mounting panel fixed mounting and supports the butt joint base, run through in the middle of the first triangle mounting panel and install screw thread installation pole, screw thread installation pole front end screw thread installs fixation nut.
Preferably, every both ends are rotated through the pivot mounting groove around the subassembly baffle is inside and are installed two transmission pivots, every front end transmission pivot axle body fixed mounting has first track transmission shaft, every rear end transmission pivot axle body fixed mounting has second track transmission shaft, every be equipped with a plurality of meshing tooth in the middle of the first track transmission shaft axle body respectively.
As preferred, every first track transmission shaft and second track transmission shaft axle body transmission are connected with anti-skidding track, every both sides fixed mounting respectively has C type mounting panel, every around the subassembly baffle surface C type mounting panel lower extreme is respectively through subassembly mounting hole screw rod fixed mounting respectively at every subassembly mounting panel surface, every one end the inboard equal fixed mounting of subassembly baffle has motor mounting panel, every the equal fixed mounting of motor mounting panel surface has the motor, every the equal fixed mounting of motor output has meshing gear, every meshing gear front end meshing respectively is connected with meshing tooth.
Preferably, the baffle front end is equipped with stores the storehouse, the subassembly shell just runs through being equipped with on storing the storehouse top and stores the mouth, store the mouth and install through the hinge at subassembly shell surface and store the storehouse door, fixed mounting has the screw thread installation pole in the middle of the subassembly shell front end.
Preferably, the front end of the assembly base is fixedly provided with three roller transmission rod mounting seats respectively inside the assembly shell, each roller transmission rod mounting seat is rotatably provided with a roller transmission rod inside through a butt joint rotating rod, and the assembly base is respectively provided with three roller transmission rod moving holes in a penetrating manner and corresponds to the three roller transmission rods.
Preferably, the device mobile jib pole body top fixed mounting has the equipment fixing dish, the equipment fixing dish shaft is equipped with four fixed screw holes respectively, equipment fixing dish, corotation thread bush and reversal thread bush outer lane all are equipped with three transfer line mount pad, the three transfer line mount pad of equipment fixing dish installation all rotates through the butt joint bull stick and installs front side drive rod one end.
Preferably, the other ends of the three front side transmission rods are respectively and rotatably provided with a front-end rotating butt joint block through butt joint rotating rods, three transmission rod installation seats installed on each forward rotation threaded sleeve are respectively and rotatably provided with forward rotation transmission rods through butt joint rotating rods, each forward rotation transmission rod is respectively and rotatably installed in the middle of each forward rotation transmission rod body through the butt joint rotating rods, and the three transmission rod installation seats installed on the reverse rotation threaded sleeves are respectively and rotatably provided with one end of a reverse rotation transmission rod through the butt joint rotating rods.
Preferably, the other end of the reversing transmission rod is provided with a rotating butt joint block at the rear end in a rotating mode through a butt joint rotating rod, the middle two ends of the rod body of the reversing transmission rod are provided with a first rear transmission rod and one end of a second rear transmission rod in a rotating mode through the butt joint rotating rod respectively, the other ends of the first rear transmission rod and the second rear transmission rod are arranged at the two ends of the rod body of the roller transmission rod in a rotating mode through the butt joint rotating rod respectively, the outer end of the roller transmission rod is provided with a roller mounting groove, and the roller mounting grooves are three in which auxiliary rollers are arranged in a rotating mode.
Meanwhile, the invention also discloses a use method of the pipeline inner wall flaw detection crawling robot, which comprises the following operation steps:
s1: firstly, according to a pipeline needing to enter, a main rod of the device is driven to rotate by a motor, so that a forward rotation threaded sleeve and a reverse rotation threaded sleeve are driven to move forward and backward;
s2: through the movable adjustment of the forward rotation threaded sleeve, the forward rotation transmission rod can drive the front side transmission rod and adjust the position of the rotary butt joint block at the front end;
s3: the assembly mounting plate is provided with a rotary butt-joint block at the rear end, a rotary screw sleeve is arranged at the front end of the assembly mounting plate, and the rotary butt-joint block at the front end and the rear end of the assembly mounting plate are respectively provided with a rotary butt-joint block at the rear end;
s4: the rear end is connected with a reverse transmission rod and a roller transmission rod through the first rear transmission rod and the second rear transmission rod, so that the rear end can also perform the inside and outside expansion movement of the front end, and the walking assembly can be assisted to perform the in-pipe movement;
s5: the inside storage storehouse that is equipped with of auxiliary assembly is inside to be stored article and through four fixed screw hole different equipment of equipment fixing disk front end installation before using also can utilize.
Compared with the prior art, the invention has the following beneficial effects:
compared with the traditional pipeline detection scheme, the pipeline detection device adopts a modular structure design, has the advantages of simple structure, wide practical field, safety, reliability, high cost performance, certain turning function, suitability for detection of the reducing pipeline, flexible control mode and the like, can be suitable for detection of oil and gas conveying pipelines and buried pipelines in the petroleum and petrochemical industry, and can be used in the fields of natural gas pipelines, municipal pipelines, central air conditioners, boiler industry and the like after modification. Adopt multistage formula modular structure design, the upgrading of being convenient for can realize the turn function simultaneously, can realize the quarter turn under the less turning radius under the ideal condition, adopts crawler-type tricycle leg structure, and the annular space is great, has certain obstacle-surmounting ability, can effectively avoid local pipeline deformation and damaged position and not influence the detection that moves ahead continuously. Thereby drive the nut through the motor drive lead screw and remove, then promote the connecting rod and change initiative crank and driven crank support angle and adjust the sufficient angle that opens and shuts of track to adapt to different pipe diameters.
The crawler wheel and the supporting wheel structure can easily change the overall passing diameter by combining a lead screw nut with a connecting rod mechanism, so that the detection of the inner wall of the reducing pipeline is realized. Each crawler wheel is independently controlled by an independent motor to realize rotation speed control, so that the turning function is realized; different detection requirements can be met by carrying different detection instruments, for example, the damage detection of the inner wall of the pipeline is achieved by carrying an eddy current nondestructive detection mode, the visual display observation of the internal condition of the pipeline can be achieved by configuring an LED light source and carrying a camera, and the damaged part can be determined. The configurable large-capacity memory card stores the collected information so as to read the information after exiting, and the high-performance lithium battery has better cruising ability, so that the detection work of a longer pipeline can be completed.
Drawings
FIG. 1 is a front view of a crawling robot for pipeline inner wall flaw detection according to the present invention;
FIG. 2 is a schematic rear view of a crawling robot for flaw detection on the inner wall of a pipeline according to the present invention;
FIG. 3 is a left side view structural schematic diagram of the inspection crawling robot for the inner wall of the pipeline;
FIG. 4 is a right view structural section of the inspection crawling robot for the inner wall of the pipeline;
FIG. 5 is a schematic structural view of a walking assembly of the crawling robot for pipeline inner wall flaw detection of the invention;
fig. 6 is a schematic diagram of the internal structure of a walking component of the pipeline inner wall flaw detection crawling robot.
In the figure: 1. supporting the docking station; 2. mounting the component; 201. a motor; 202. reversing the thread; 203. forward rotation threads; 204. a first triangular mounting plate; 205. a set square butt-joint rod; 206. a second triangular mounting plate; 3. a walking assembly; 301. an anti-skid crawler belt; 302. a rotating shaft mounting groove; 303. a component mounting plate; 304. a C-shaped mounting plate; 305. rotating the butt-joint block; 306. a component mounting hole; 307. a module baffle; 308. a transmission rotating shaft; 309. a first track drive shaft; 310. a meshing gear; 311. a motor mounting plate; 312. engaging teeth; 313. a motor; 314. a second track drive shaft; 4. an auxiliary component; 401. an assembly base; 402. a storage bin door; 403. a component housing; 404. fixing a nut; 405. a threaded mounting rod; 406. a storage bin; 407. a movable hole of the roller transmission rod; 408. a partition plate; 409. a roller transmission rod mounting seat; 410. a storage port; 5. butting the rotating rods; 6. an equipment mounting plate; 7. fixing the threaded hole; 8. an auxiliary roller; 9. a movable component; 901. a first rear drive link; 902. a second rear drive link; 903. a reverse thread sleeve; 904. a reverse drive rod; 905. mounting grooves for rollers; 906. a forward rotation transmission rod; 907. a transmission rod mounting seat; 908. a front side fixing sleeve; 909. a front side transmission rod; 910. a forward rotation thread sleeve; 911. a roller transmission rod; 10. the device main rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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.
Examples
As shown in figures 1-6, a crawling robot for pipeline inner wall flaw detection comprises
The mounting component 2 comprises a first triangular mounting plate 204 and triangular plate butt-joint rods 205 inside the mounting component 2, a second triangular mounting plate 206 is fixedly mounted on the surface of the front end of the first triangular mounting plate 204 through a plurality of triangular plate butt-joint rods 205, a supporting butt-joint base 1 is fixedly mounted on the second triangular mounting plate 206 through the output end of a motor 201, a device main rod 10 is fixedly mounted on the front end of the supporting butt-joint base 1, forward rotation threads 203 are arranged at the front end of the rod body of the device main rod 10, and reverse rotation threads 202 are arranged at the rear end of the rod body of the device;
the walking assembly 3 comprises an anti-skid crawler 301 and an assembly mounting plate 303 inside the walking assembly 3, the assembly mounting plate 303 is provided with three assembly baffles 307, each outer surface of each assembly baffle is fixedly provided with an assembly baffle 307 through a C-shaped mounting plate 304, and the front end and the rear end of each assembly mounting plate 303 are fixedly provided with a rotating butt-joint block 305;
the auxiliary assembly 4 comprises an assembly base 401 and an assembly shell 403 inside the auxiliary assembly 4, the assembly base 401 is fixedly installed at the bottom end of the assembly shell 403, and a partition plate 408 is fixedly installed inside the assembly shell 403;
the movable assembly 9 comprises a forward rotation threaded sleeve 910 and a reverse rotation threaded sleeve 903 inside the movable assembly 9, the forward rotation threaded sleeve 910 is sleeved outside the forward rotation threads 203, the reverse rotation threaded sleeve 903 is sleeved outside the reverse rotation threads 202, and a front side fixing sleeve 908 is fixedly mounted on the front side of the rod body of the device main rod 10.
Through the technical scheme, compared with the traditional pipeline detection scheme, the pipeline detection device adopts a modular structure design, has the advantages of simple structure, wide practical field, safety, reliability, high cost performance, certain turning function, adaptability to detection of the reducing pipeline, flexible control mode and the like, can be suitable for detection of oil and gas conveying pipelines and buried pipelines in the petroleum and petrochemical industry, and can be used in the fields of natural gas pipelines, municipal pipelines, central air conditioners, boiler industry and the like after being modified. Adopt multistage formula modular structure design, the upgrading of being convenient for can realize the turn function simultaneously, can realize the quarter turn under the less turning radius under the ideal condition, adopts crawler-type tricycle leg structure, and the annular space is great, has certain obstacle-surmounting ability, can effectively avoid local pipeline deformation and damaged position and not influence the detection that moves ahead continuously. Thereby drive the screw through motor 201 and drive the nut and remove, then promote the connecting rod and change initiative crank and driven crank support angle and adjust the sufficient angle that opens and shuts of track to adapt to different pipe diameters.
The crawler wheel and the supporting wheel structure can easily change the overall passing diameter by combining a lead screw nut with a connecting rod mechanism, so that the detection of the inner wall of the reducing pipeline is realized. Each crawler wheel is independently controlled by an independent motor to realize rotation speed control, so that the turning function is realized; different detection requirements can be met by carrying different detection instruments, for example, the damage detection of the inner wall of the pipeline is achieved by carrying an eddy current nondestructive detection mode, the visual display observation of the internal condition of the pipeline can be achieved by configuring an LED light source and carrying a camera, and the damaged part can be determined. The configurable large-capacity memory card stores the collected information so as to read the information after exiting, and the high-performance lithium battery has better cruising ability, so that the detection work of a longer pipeline can be completed.
In this embodiment, three triangular plate butt-joint rods 205 are respectively and fixedly mounted on the surface triangle of the front end of the first triangular mounting plate 204, the front ends of the three triangular plate butt-joint rods 205 are respectively and fixedly mounted on the triangle of the back of the second triangular mounting plate 206, a motor 201 is fixedly mounted in the middle of the back of the second triangular mounting plate 206, the front end output end of the motor 201 penetrates through the second triangular mounting plate 206 and is fixedly mounted on the support butt-joint base 1, a threaded mounting rod 405 is installed in the middle of the first triangular mounting plate 204 in a penetrating manner, a fixing nut 404 is installed on the front end of the threaded mounting rod 405 in a threaded manner, two transmission rotating shafts 308 are rotatably mounted at the front end and the back end of the inside of each assembly baffle 307 through the rotating shaft mounting groove 302, a first crawler transmission shaft 309 is fixedly mounted on the shaft body of each front end transmission rotating shaft 308, a second crawler. Through the structure, the first triangular mounting plate 204 and the second triangular mounting plate 206 can realize the mounting, mounting and butting between the auxiliary component 4 and the mounting component 2.
It should be noted that each of the first track transmission shaft 309 and the second track transmission shaft 314 is connected to the antiskid track 301 in a shaft body transmission manner, C-shaped mounting plates 304 are respectively and fixedly mounted on the front side and the rear side of the outer surface of each of the assembly baffles 307, the lower end of each of the C-shaped mounting plates 304 is respectively and fixedly mounted on the outer surface of each of the assembly mounting plates 303 through a screw rod of each of the assembly mounting holes 306, a motor mounting plate 311 is respectively and fixedly mounted on the inner side of each of the one-end assembly baffles 307, a motor 313 is respectively and fixedly mounted on the outer surface of each of the motor mounting plates 311, an engaging gear 310 is respectively and fixedly mounted. Through the structure, the walking assembly 3 can drive the walking of the whole invention, so that the moving operation of the robot is realized.
When the assembly base is specifically arranged, a storage bin 406 is arranged at the front end of the partition 408, a storage port 410 is arranged on the top end of the storage bin 406 in a penetrating mode through the assembly shell 403, a storage bin door 402 is arranged on the outer surface of the assembly shell 403 through hinges, a threaded mounting rod 405 is fixedly mounted in the middle of the front end of the assembly shell 403, three idler wheel transmission rod mounting seats 409 are fixedly mounted at the front end of the assembly base 401 and inside the assembly shell 403 respectively, an idler wheel transmission rod 911 is rotatably mounted inside each idler wheel transmission rod mounting seat 409 through a butt joint rotating rod 5, and the assembly base 401 is provided with three idler wheel transmission rod movable holes 407 in a penetrating mode and corresponds to the three idler. Thereby can realize the installation of gyro wheel transfer pole 911 and store the placing object article inside through above-mentioned structure to can also realize the transmission of article and save time.
Wherein, the top end of the main rod body 10 of the device is fixedly provided with an equipment installation plate 6, the body of the equipment installation plate 6 is respectively provided with four fixed threaded holes 7 and the equipment installation plate 6, the outer rings of the forward rotation threaded sleeve 910 and the reverse rotation threaded sleeve 903 are respectively provided with three transmission rod installation seats 907, the three transmission rod installation seats 907 installed on the equipment installation disk 6 are respectively and rotatably provided with one end of a front side transmission rod 909 through a butt joint rotating rod 5, the other ends of the three front side transmission rods 909 are respectively and rotatably provided with a front end rotating butt joint block 305 through the butt joint rotating rod 5, the three transmission rod installation seats 907 installed on each forward rotation threaded sleeve 910 are respectively and rotatably provided with a forward rotation transmission rod 906 through the butt joint rotating rod 5, each forward rotation transmission rod 906 is respectively and rotatably installed in the middle of each forward rotation transmission rod 906, and the three transmission rod installation seats 907 installed on the reverse rotation threaded sleeve 903 are respectively and rotatably provided with one end of a reverse rotation transmission rod 904. Thereby can realize carrying out inside and outside expansion activity to the rotation butt joint piece 305 of front and back end through above-mentioned structure, realize the position control to running gear 3.
It can be understood that in this application, the rotation butt joint piece 305 of rear end is all installed through butt joint bull stick 5 rotation to the three reversal transfer line 904 other end, both ends rotate through butt joint bull stick 5 respectively and install first rear side drive rod 901 and second rear side drive rod 902 one end in the middle of the three reversal transfer line 904 pole body, the three first rear side drive rod 901 and the second rear side drive rod 902 other end rotate through butt joint bull stick 5 respectively and install the pole body both ends at gyro wheel transfer line 911, three gyro wheel transfer line 911 outer end all is equipped with gyro wheel mounting groove 905, three inside all rotation of gyro wheel mounting groove 905 installs supplementary gyro wheel 8. Thereby can realize the installation of the supplementary gyro wheel 8 of rear end through above-mentioned structure to can assist running gear 3 to carry out the position removal and support stably to whole device.
Meanwhile, the invention also discloses a use method of the pipeline inner wall flaw detection crawling robot, which comprises the following operation steps:
s1: firstly, according to a pipeline needing to enter, the main rod 10 of the device is driven to rotate by the motor 201, so that the forward rotation threaded sleeve 910 and the reverse rotation threaded sleeve 903 are driven to move forward and backward;
s2: through the movable adjustment of the forward rotation threaded sleeve 910, the forward rotation transmission rod 906 can drive the front side transmission rod 909, and the position of the front end rotation butt joint block 305 can be adjusted;
s3: the position of the butt-joint block 305 can be adjusted by driving the rotation of the rear end through the reverse rotation transmission rod 904 through the movable adjustment of the reverse rotation threaded sleeve 903, and the assembly mounting plate 303 can be expanded and moved inside and outside through adjusting the positions of the butt-joint block 305 through the rotation of the front end and the rear end, so that the assembly mounting plate can be suitable for a plurality of different pipelines to adjust the positions;
s4: the reverse transmission rod 904 and the roller transmission rod 911 are connected to the two ends of the rear end through the first rear transmission rod 901 and the second rear transmission rod 902, so that the rear end can perform the inside and outside expansion movement of the front end, and the walking assembly 3 can be assisted to perform the in-pipe movement;
s5: before use, the storage bin 406 arranged inside the auxiliary assembly 4 can be used for storing articles, and different equipment can be arranged at the front end of the equipment mounting plate 6 through the four fixing threaded holes 7.
This pipeline inner wall is detected a flaw and is crawled machine people's theory of operation:
when in use, firstly, according to a pipeline needing to enter, the motor 201 drives the device main rod 10 to rotate, so as to drive the forward rotation threaded sleeve 910 and the reverse rotation threaded sleeve 903 to move forward and backward; through the movable adjustment of the forward rotation threaded sleeve 910, the forward rotation transmission rod 906 can drive the front side transmission rod 909, and the position of the front end rotation butt joint block 305 can be adjusted; the position of the butt-joint block 305 can be adjusted by driving the rotation of the rear end through the reverse rotation transmission rod 904 through the movable adjustment of the reverse rotation threaded sleeve 903, and the assembly mounting plate 303 can be expanded and moved inside and outside through adjusting the positions of the butt-joint block 305 through the rotation of the front end and the rear end, so that the assembly mounting plate can be suitable for a plurality of different pipelines to adjust the positions; the reverse transmission rod 904 and the roller transmission rod 911 are connected to the two ends of the rear end through the first rear transmission rod 901 and the second rear transmission rod 902, so that the rear end can perform the inside and outside expansion movement of the front end, and the walking assembly 3 can be assisted to perform the in-pipe movement; before use, the storage bin 406 arranged inside the auxiliary assembly 4 can be used for storing articles, and different equipment can be arranged at the front end of the equipment mounting plate 6 through the four fixing threaded holes 7.
It should be noted that the specific model specification of the motor 201 is HSTM 42-1.8-D-26-4-0.4; the specific model specification of the motor 313 is M6RX6G4 GGA.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A crawling robot for flaw detection of inner wall of pipeline is characterized by comprising
The device comprises a mounting assembly (2), wherein a first triangular mounting plate (204) and triangular plate butt-joint rods (205) are arranged inside the mounting assembly (2), a second triangular mounting plate (206) is fixedly mounted on the surface of the front end of the first triangular mounting plate (204) through a plurality of triangular plate butt-joint rods (205), a supporting butt-joint base (1) is fixedly mounted on the second triangular mounting plate (206) through the output end of a motor (201), a device main rod (10) is fixedly mounted on the front end of the supporting butt-joint base (1), forward rotation threads (203) are arranged at the front end of a rod body of the device main rod (10), and reverse rotation threads (202) are arranged at the rear end of the rod body of the device main;
the walking assembly (3), the inside of the walking assembly (3) comprises an anti-skidding crawler belt (301) and assembly mounting plates (303), the number of the assembly mounting plates (303) is three, assembly baffles (307) are fixedly mounted on the outer surfaces of the assembly mounting plates through C-shaped mounting plates (304), and rotary butt-joint blocks (305) are fixedly mounted at the front end and the rear end of each assembly mounting plate (303);
the auxiliary assembly (4), the inside of the auxiliary assembly (4) comprises an assembly base (401) and an assembly shell (403), the assembly base (401) is fixedly installed at the bottom end of the assembly shell (403), and a partition plate (408) is fixedly installed inside the assembly shell (403);
the movable assembly (9), movable assembly (9) is inside including corotation thread bush (910) and reversal thread bush (903), corotation thread bush (910) thread bush is established in corotation screw thread (203) outside, reversal thread bush (903), thread bush are established in reversal screw thread (202) outside, the fixed cover of front side (908) is installed to device mobile jib (10) pole body front side fixed mounting.
2. The pipeline inner wall flaw detection crawling robot of claim 1, wherein: first triangle mounting panel (204) front end surface triangle respectively fixed mounting have three set-square butt joint pole (205), it is three the set-square butt joint pole (205) front end is fixed mounting at second triangle mounting panel (206) back triangle respectively, fixed mounting has motor (201) in the middle of second triangle mounting panel (206) the back, motor (201) front end output runs through second triangle mounting panel (206) fixed mounting and supports butt joint base (1), run through in the middle of first triangle mounting panel (204) and install screw thread installation pole (405), screw thread installation pole (405) front end screw thread installs fixation nut (404).
3. The pipeline inner wall flaw detection crawling robot of claim 1, wherein: every both ends are rotated through pivot mounting groove (302) around subassembly baffle (307) is inside and are installed two transmission pivot (308), every front end transmission pivot (308) axle body fixed mounting has first track transmission shaft (309), every rear end transmission pivot (308) axle body fixed mounting has second track transmission shaft (314), every be equipped with a plurality of meshing tooth teeth (312) respectively in the middle of first track transmission shaft (309) axle body.
4. The pipeline inner wall flaw detection crawling robot of claim 3, wherein: every first track transmission shaft (309) and second track transmission shaft (314) axle body transmission are connected with anti-skidding track (301), every both sides fixed mounting respectively has C type mounting panel (304), every around subassembly baffle (307) surface C type mounting panel (304) lower extreme respectively through subassembly mounting hole (306) screw rod fixed mounting respectively at every subassembly mounting panel (303) surface, every one end the equal fixed mounting of subassembly baffle (307) inboard has motor mounting panel (311), every the equal fixed mounting of motor mounting panel (311) surface has motor (313), every the equal fixed mounting of motor (313) output has meshing gear (310), every meshing gear (310) front end meshing respectively is connected with meshing tooth (312).
5. The pipeline inner wall flaw detection crawling robot of claim 1, wherein: baffle (408) front end is equipped with stores storehouse (406), subassembly shell (403) just run through on storing storehouse (406) top and be equipped with and store mouthful (410), store mouthful (410) and install through the hinge at subassembly shell (403) surface and store storehouse door (402), fixed mounting has screw thread installation pole (405) in the middle of subassembly shell (403) front end.
6. The pipeline inner wall flaw detection crawling robot of claim 5, wherein: subassembly base (401) front end and inside respectively fixed mounting have three gyro wheel transfer line mount pad (409), every inside butt joint bull stick (5) of gyro wheel transfer line mount pad (409) is rotated and is installed gyro wheel transfer line (911), it is corresponding with three gyro wheel transfer line (911) to run through respectively in subassembly base (401) is equipped with three gyro wheel transfer line activity hole (407) and three gyro wheel transfer line (911).
7. The pipeline inner wall flaw detection crawling robot of claim 1, wherein: the device is characterized in that an equipment mounting disc (6) is fixedly mounted at the top end of a main rod body of the device (10), four fixing threaded holes (7) are formed in a disc body of the equipment mounting disc (6), three transmission rod mounting seats (907) are arranged on outer rings of the equipment mounting disc (6), a forward rotation threaded sleeve (910) and a reverse rotation threaded sleeve (903), and one end of a front side transmission rod (909) is rotatably mounted on each of the three transmission rod mounting seats (907) mounted on the equipment mounting disc (6) through a butt joint rotating rod (5).
8. The pipeline inner wall flaw detection crawling robot of claim 7, wherein: the other ends of the three front side transmission rods (909) are respectively and rotatably provided with a front-end rotating butt joint block (305) through a butt joint rotating rod (5), three transmission rod installation seats (907) installed on each forward rotation threaded sleeve (910) are respectively and rotatably provided with forward rotation transmission rods (906) through the butt joint rotating rod (5), each forward rotation transmission rod (906) is respectively and rotatably installed in the middle of each forward rotation transmission rod (906) through the butt joint rotating rod (5), and three transmission rod installation seats (907) installed on the reverse rotation threaded sleeve (903) are respectively and rotatably provided with one end of a reverse rotation transmission rod (904) through the butt joint rotating rod (5).
9. The pipeline inner wall flaw detection crawling robot of claim 8, wherein: it is three reversal transfer line (904) other end all rotates through butt joint bull stick (5) and installs rotation butt joint piece (305) of rear end, and is three in the middle of reversal transfer line (904) pole body both ends rotate through butt joint bull stick (5) respectively and install first rear side transfer line (901) and second rear side transfer line (902) one end, and is three first rear side transfer line (901) and second rear side transfer line (902) other end rotate through butt joint bull stick (5) respectively and install the pole body both ends at gyro wheel transfer line (911), and are three gyro wheel transfer line (911) outer end all is equipped with gyro wheel mounting groove (905), and is three inside all rotates and installs auxiliary roller (8) gyro wheel (905).
10. The use method of the pipeline inner wall flaw detection crawling robot according to any one of claims 1 to 9, characterized by comprising the following steps of: the method comprises the following operation steps:
s1: firstly, according to a pipeline needing to enter, a main rod (10) of the device is driven to rotate by a motor (201), so that a forward rotation threaded sleeve (910) and a reverse rotation threaded sleeve (903) are driven to move forward and backward;
s2: through the movable adjustment of the forward rotation threaded sleeve (910), the forward rotation transmission rod (906) can drive the front side transmission rod (909) and carry out position adjustment on the rotation butt joint block (305) at the front end;
s3: the assembly mounting plate is characterized in that the assembly mounting plate is movably adjusted through the movable adjustment of the reverse threaded sleeve (903), so that the reverse transmission rod (904) can drive the rotary butt joint block (305) at the rear end to perform position adjustment, and the rotary butt joint block (305) at the front end and the rear end is subjected to position adjustment, so that the assembly mounting plate (303) can perform inner and outer expansion movement, and can be adapted to a plurality of different pipelines to perform position adjustment;
s4: the reverse transmission rod (904) and the roller transmission rod (911) are connected to the two ends of the rear end through the first rear transmission rod (901) and the second rear transmission rod (902), so that the rear end can perform inner and outer expansion movement of the front end, and the walking assembly (3) can be assisted to perform in-pipe movement;
s5: before use, articles can be stored in a storage bin (406) arranged in the auxiliary assembly (4), and different equipment can be mounted at the front end of the equipment mounting plate (6) through four fixing threaded holes (7).
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| CN202110095935.2A CN112728291B (en) | 2021-01-25 | 2021-01-25 | Pipeline inner wall flaw detection crawling robot and using method thereof |
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| CN202110095935.2A CN112728291B (en) | 2021-01-25 | 2021-01-25 | Pipeline inner wall flaw detection crawling robot and using method thereof |
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| CN112728291B CN112728291B (en) | 2023-04-07 |
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| CN113513658A (en) * | 2021-08-09 | 2021-10-19 | 聂海涛 | Hydraulic engineering pipe connection sealing device |
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Effective date of registration: 20230720 Address after: Room 4F401-06, Building 1, No. 800 Naxian Road, China (Shanghai) Pilot Free Trade Zone, Pudong New Area, Shanghai, 201210 Patentee after: Shanghai Bangding Smart Technology Co.,Ltd. Address before: 257000 No. two, 271 North Road, Dongying District, Shandong, Dongying Patentee before: Shandong Institute of petroleum and chemical engineering |