CN113203001A - Pipeline inner wall detection robot - Google Patents
Pipeline inner wall detection robot Download PDFInfo
- Publication number
- CN113203001A CN113203001A CN202110603293.2A CN202110603293A CN113203001A CN 113203001 A CN113203001 A CN 113203001A CN 202110603293 A CN202110603293 A CN 202110603293A CN 113203001 A CN113203001 A CN 113203001A
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- robot
- detection
- main body
- pipeline inner
- pipeline
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
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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
Abstract
The invention relates to a pipeline inner wall detection robot, which comprises a robot main body, a detection mechanism, an energy supply mechanism and a traveling mechanism, wherein the detection mechanism, the energy supply mechanism and the traveling mechanism are arranged on the robot main body; energy supply mechanism and running gear all include a plurality of sets, and a plurality of sets of robot energy supply mechanism and running gear axial evenly distribute around the robot main part. The light weight material is adopted, so that the running energy consumption is reduced, and the operation speed is improved; according to the invention, the main body support is a hollow frame, the triangular bottom surface frames at two ends and the three side edge rods connected with the bottom surface frames are arranged, and related structures cannot stretch into the main body support in the moving process of the robot, so that the structure and the material consumption of the robot are simplified, and the self weight of the robot is further reduced; the pipeline inner wall detection robot can adapt to a bent pipeline, and when the inner diameter of the pipeline changes within a certain range, the robot can smoothly walk by adjusting the gas spring.
Description
Technical Field
The invention relates to a robot, in particular to a pipeline inner wall detection robot capable of carrying out nondestructive detection on the inner wall of a pipeline of a petroleum pipeline.
Background
Pipelines relate to a wide range of industries, but are easy to malfunction due to factors such as time and use environment. The corrosion conditions of the inner walls of different process pipelines in an refining enterprise are complex and various, the shapes of the pipelines are variable, the pipelines often have considerable lengths, and the difficulty of troubleshooting is very high. When the oil refining device is stopped and overhauled, people are required to be sent to key parts of various oil refining devices for inspection. At the present stage, only the inspection of the key points of the counterweight can be performed, and meanwhile, for the inspection of the high-altitude pipeline, a scaffold needs to be built, so that the working efficiency is low, and the working risk is high. Therefore, the pipeline robot is widely applied to pipeline detection and troubleshooting.
At present, pipeline detection robots at home and abroad can be generally divided into medium pressure difference, wheels, spiral driving type, crawler type, multi-foot crawling type and the like according to movement modes. The wheel type movement mode is simple in structure and stable in speed, and is widely applied to pipeline operation. However, large petroleum pipelines often involve the problem of robot over-bending during traveling, so that the problems of improving the effective dragging rate of the robot and reducing the abrasion of transmission parts and the like while ensuring that the robot smoothly over-bends need to be considered.
At present, the pipeline robots at home and abroad can not meet the internal detection requirements of various process pipelines of refining enterprises on the aspects of the running capability and the detection means, so that a novel pipeline inner wall robot detection device needs to be researched and developed, and the pipeline inner wall detection robot can enter the pipeline, take pictures of the inner wall of the pipeline, take a picture of the inner wall of the pipeline, scan the information of the inner wall of the pipeline through full-stroke pulse eddy current after the inner wall of the pipeline is cleaned, and transmit the information to a ground workbench.
Disclosure of Invention
In view of the above problems, a primary object of the present invention is to provide a robot for inspecting an inner wall of a petroleum pipeline, which can perform nondestructive inspection on the inner wall of the petroleum pipeline.
The invention solves the technical problems through the following technical scheme: an inner pipe wall inspection robot, comprising: the robot comprises a robot main body, a detection mechanism, an energy supply mechanism and a traveling mechanism, wherein the detection mechanism, the energy supply mechanism and the traveling mechanism are arranged on the robot main body; energy supply mechanism and running gear all include a plurality of sets, and a plurality of sets of robot energy supply mechanism and running gear circumference evenly distribute around the robot main part.
In a specific embodiment of the present invention, the robot main body includes: the upper plate of the triangular structure, the lower plate of the triangular structure and the middle plate of the annular structure are fixed to form a regular triangular frame, a threaded rod is arranged inside the regular triangular frame, the upper end and the lower end of the threaded rod are fixed to the upper plate and the lower plate, a three-ring support is arranged on the threaded rod and used for connecting a traveling mechanism, and a sliding block and a limiting ring are adopted to fix the three-ring support on the threaded rod of the robot main body.
In an embodiment of the present invention, the energy supply mechanism includes a leg cylinder, an upper flange plate, a middle flange plate, a lower flange plate, and a dc brush motor, wherein one end of the upper flange plate is hinged to the upper plate or the lower plate of the robot body, the other end of the upper flange plate is connected to the leg cylinder nut, the middle flange plate and the dc brush motor are disposed inside the leg cylinder, one end of the lower flange plate is connected to the leg cylinder, and the other end of the lower flange plate is connected to the traveling mechanism.
In a specific implementation example of the invention, the traveling mechanism comprises a gas spring, a traveling wheel, a driving wheel shaft and a bevel gear reversing box, wherein one end of the gas spring is connected to the three-ring support through a bolt, the other end of the gas spring is hinged to the bevel gear reversing box, the driving wheel shaft is meshed with the bevel gear reversing box, and the traveling wheel is fixedly arranged on the driving wheel shaft.
In an embodiment of the present invention, the traveling wheels are made of rubber.
In a specific implementation example of the invention, the number of the travelling mechanisms is six, every two travelling mechanisms staggered up and down are uniformly distributed along the circumferential direction of the robot main body, the travelling wheels are made of hard aluminum alloy, and the surface of the travelling wheels is nested with NR natural rubber travelling wheels.
In a specific implementation example of the present invention, the detection mechanism includes a panoramic camera, a detection probe, a camera disc, a support rod frame, a dc brushless motor and a motor base; the panoramic camera and the camera disc are fixed on the support rod frame in a self-locking way through threads, and the panoramic camera and the camera disc with the round lower half part are overlapped together; one end of the detection probe is fixed in a groove arranged on the support rod frame by a waterproof electric connector lug, and the direct current brushless motor and the motor base are arranged between the upper plate and the support rod frame; the direct current brushless motor is installed on the motor base.
In an embodiment of the present invention, the number of the detection probes is several, and the detection probes are distributed around the support rod frame, all the detection probes are fixed in the grooves arranged on the support rod frame, the support rod frame is sleeved on the dc brushless motor, and the support rod frame can rotate around the circumference of the dc brushless motor.
The positive progress effects of the invention are as follows: the pipeline inner wall detection robot provided by the invention has the following advantages: the robot main body is constructed by aviation aluminum materials; the lightweight material helps to reduce the operation energy consumption, improves the operation speed and further improves the working efficiency. In addition, the lighter dead weight also has obvious benefits for reducing the motion inertia and increasing the motion accuracy of the robot.
According to the pipeline inner wall detection robot, the main body support is a hollow frame, the triangular bottom surface frames at two ends and the three side edge rods connected with the bottom surface frames are arranged, and related structures cannot stretch into the main body support in the moving process of the robot, so that the structure and the material consumption of the robot are simplified, and the self weight of the robot is further reduced.
The pipeline inner wall detection robot can adapt to a bent pipeline, and when the inner diameter of the pipeline changes within a certain range, the robot can smoothly walk by adjusting the gas spring; when the robot main body walks in the pipeline and a single walking wheel encounters a small obstacle, based on the small adjusting function of the buffer mechanism, the self-adaptive small adjustment of the single walking wheel can be realized.
The modules of the pipeline inner wall detection robot are connected through the bolts, and can be independently updated and replaced, so that the later maintenance and overhaul of the pipeline inner wall detection robot are facilitated, and the detection and maintenance cost is reduced.
The limiting ring is additionally arranged on the main threaded rod and used for limiting the position of the threaded rod, the air spring and the three-ring support when the threaded rod, the air spring and the three-ring support are matched for use, so that the threaded rod, the air spring and the three-ring support are tightly fixed together, the phenomenon that the three-ring support and the three-ring sliding block are loosened in the motion process of the robot is effectively prevented, and the robot is safer and more reliable.
The pipeline inner wall detection robot adopts a pulse eddy current detection method, a probe rotates along with the movement of the robot, pulses are generated through amplification, the internal condition of a pipeline is obtained through pulse signal processing, and the detection requirement in the pipeline is met.
Drawings
Fig. 1 is a schematic structural view of a pipeline inner wall inspection robot according to the present invention.
Fig. 2 is a schematic structural view of the robot main body of the present invention.
Fig. 3-1 is an external schematic view of a structural schematic of the power supply mechanism of the present invention.
Fig. 3-2 is an internal schematic view of a structural schematic of the power supply mechanism of the present invention.
Fig. 4 is a schematic structural view of the traveling mechanism of the present invention.
Fig. 5 is a schematic structural view of the detection mechanism of the present invention.
The following are the names corresponding to the reference numbers in the invention:
the robot comprises a robot main body 1, an energy supply mechanism 2, a traveling mechanism 3 and a detection mechanism 4;
an upper plate 101, a middle plate 102, a lower plate 103, a threaded rod 104, a support rod 105, a three-ring bracket 106, a sliding block 107, a limit ring 108 and a clamping ring 109;
a supporting leg cylinder 201, an upper flange plate 202, a middle flange plate 203, a lower flange plate 204 and a direct current brush motor 205;
a gas spring 301, a travelling wheel 302, a driving wheel shaft 303, a hinge bracket 304 and a bevel gear reversing box 305;
the device comprises a panoramic camera 401, a detection probe 402, a camera disc 403, a support rod frame 404, a direct current brushless motor 405 and a motor base 406.
Detailed Description
The following provides a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a pipeline inner wall detection robot of the present invention, as shown in fig. 1: the invention provides a pipeline inner wall detection robot, which comprises: the robot comprises a robot main body 1, a detection mechanism 4, an energy supply mechanism 2 and a traveling mechanism 3, wherein the detection mechanism 4, the energy supply mechanism 2 and the traveling mechanism 3 are installed on the robot main body 1; energy supply mechanism 2 and running gear 3 all include a plurality of sets, and a plurality of sets of robot energy supply mechanism 2 and running gear 3 axial evenly distribute around robot main part 1.
Fig. 2 is a schematic structural diagram of a robot main body of the present invention, as shown in fig. 2: the robot main body 1 of the present invention includes: the robot comprises an upper plate 101 with a triangular structure, a lower plate 103 with a triangular structure and a middle plate 102 with an annular structure, wherein the upper plate 101, the lower plate 103, the middle plate 102 and three support rods 105 are fixed to form a regular triangular frame, a threaded rod 104 is arranged inside the regular triangular frame, the upper end and the lower end of the threaded rod 104 are fixed to the upper plate 101 and the lower plate 103, a three-ring support 106 is arranged on the threaded rod 104, the three-ring support 106 is used for being connected with a gas spring 301, and a three-ring sliding block 107 and a limiting ring 108 fix the three-ring support 106 on the robot main body 1.
Fig. 3-1 is an external schematic view of a structural schematic view of the power supply mechanism of the present invention, and fig. 3-2 is an internal schematic view of the structural schematic view of the power supply mechanism of the present invention, as shown in fig. 3-1 and 3-2: the energy supply mechanism 2 comprises a leg cylinder 201, an upper flange plate 202, a middle flange plate 203, a lower flange plate 204 and a direct current brush motor 205, wherein one end of the upper flange plate 202 is hinged with the upper plate 101 or the lower plate 103 of the robot main body 1, the other end of the upper flange plate is in nut connection with the leg cylinder 201, the middle flange plate 203 and the direct current brush motor 205 are arranged inside the leg cylinder 201, one end of the lower flange plate 204 is connected with the leg cylinder 201, and the other end of the lower flange plate is connected with the walking mechanism 3, so that sufficient power is provided for the movement of the robot.
Fig. 4 is a schematic structural diagram of the traveling mechanism of the present invention, as shown in fig. 4: the walking mechanism 3 comprises a plurality of sets of walking mechanisms, each walking mechanism 3 comprises a gas spring 301, a walking wheel 302, a driving wheel shaft 303, a hinge support 304 and a bevel gear reversing box 305, one end of the gas spring 301 is connected to the three-ring support 106 through a bolt, the other end of the gas spring 301 is hinged to the bevel gear reversing box 305, and the detection robot in the pipeline can meet the detection requirements of different pipe diameters through adjustment of the gas spring 301. The hinge bracket 304 is arranged on the side surface of the bevel gear reversing box 305; the driving wheel shaft 303 is meshed with the bevel gear reversing box 305, the walking wheel 302 is fixedly arranged on the driving wheel shaft 303, and in the specific implementation process, the walking wheel is made of rubber, so that the friction force is strong, and the safety is high. The pipeline inner wall detection robot realizes the advancing and bending passing in the pipeline by the energy supply mechanism 2 and the walking mechanism 3.
In a specific implementation process, the number of the traveling mechanisms 3 in the robot is preferably six, and every two of the traveling mechanisms 3 staggered up and down are uniformly distributed along the circumferential direction of the robot main body 1. The distribution is favorable for the pipeline inner wall detection robot to better adapt to the environment in a pipeline, and the walking wheels 302 are arranged on the driving wheel shafts 303, are in contact with the inner wall of the pipeline and apply certain pressure to the inner wall of the pipeline so as to have enough dragging force in the walking process; the main body of the traveling wheel 302 is made of hard aluminum alloy, and NR natural rubber is embedded in the surface of the traveling wheel, so that the friction force between the traveling wheel and the inner wall of a pipeline is increased.
In a specific implementation process, the gas spring 301 of the present invention may be other buffering devices, and may adopt an existing buffering device with elasticity or damping effect, such as a hydraulic buffer, a polyurethane buffer, a spring buffer, etc., and the gas spring 301 selected in the present invention has a certain compression stroke under a certain pressure, which satisfies a fine adjustment of the inner diameter of the robot that can walk.
Fig. 5 is a schematic structural diagram of the detection mechanism of the present invention, as shown in fig. 5: the detection mechanism 4 comprises a panoramic camera 401, a detection probe 402, a camera disc 403, a support rod frame 404, a direct current brushless motor 405 and a motor base 406; panoramic camera 401 and camera dish 403 all fix on strut frame 404 through the line auto-lock, and panoramic camera 401 and camera dish 403 superpose together.
One end of the detection probe 402 is fixed in a groove arranged on the support rod frame 404 by a waterproof electric connector lug, and the direct current brushless motor 405 and the motor base 406 are arranged between the upper plate 101 and the support rod frame 404 and used for supplying energy for the detection mechanism 4; a dc brushless motor 405 is mounted on a motor base 406.
In a specific implementation process, the number of the detecting probes 402 in the present invention may be multiple, and the detecting probes are distributed around the strut frame 404, in the drawings given in this embodiment, only one detecting probe 402 is illustrated, and all the detecting probes 402 are fixed in different grooves on the strut frame 404.
In a specific implementation, the rod support 404 is sleeved on the dc brushless motor 405, and the rod support 404 can rotate circumferentially.
In the specific implementation process, the camera can realize 360-degree radial shooting, high-definition images are output, the detection accuracy is improved, the detection probe is used for pulse eddy current detection, defects such as pipe wall cracks, corrosion pits and abrasion thinning can be directly detected without auxiliary methods such as magnetic saturation, and the detection result has instantaneity and high sensitivity.
When the pipeline inner wall detection robot needs to bend, the rotating speed of the walking wheels 302 of the walking mechanism 3 can be adjusted to a set range, and the rotating speed difference between the walking wheels 302 can meet the bending requirement.
After the pipeline inner wall detection robot is assembled, the pipeline inner wall detection robot has a compact structure, runs stably, is qualified in debugging, and successfully passes a vertical climbing test, a curve walking test, a pipeline reducing walking test, a pipeline inner wall detection test and the like. The walking effect is good, and the requirements of vertical climbing and curve walking of the robot can be met. The pipeline inner wall detection robot has the advantages of simple structure, strong driving force, strong self-adaptive capacity and good detection effect. The design method of the robot is not limited to be used for petroleum pipeline detection robots, and has reference significance in similar environments.
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 merely illustrative of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims and their equivalents.
Claims (8)
1. A pipeline inner wall inspection robot which characterized in that: the pipeline inner wall inspection robot includes: the robot comprises a robot main body, a detection mechanism, an energy supply mechanism and a traveling mechanism, wherein the detection mechanism, the energy supply mechanism and the traveling mechanism are arranged on the robot main body; energy supply mechanism and running gear all include a plurality of sets, and a plurality of sets of robot energy supply mechanism and running gear circumference evenly distribute around the robot main part.
2. The pipeline inner wall inspection robot according to claim 1, wherein: the robot main body includes: the upper plate of the triangular structure, the lower plate of the triangular structure and the middle plate of the annular structure are fixed to form a regular triangular frame, a threaded rod is arranged inside the regular triangular frame, the upper end and the lower end of the threaded rod are fixed to the upper plate and the lower plate, a three-ring support is arranged on the threaded rod and used for connecting a traveling mechanism, and a sliding block and a limiting ring are adopted to fix the three-ring support on the threaded rod of the robot main body.
3. The pipeline inner wall detection robot according to claim 2, characterized in that: energy supply mechanism has brush motor including a landing leg section of thick bamboo, last flange board, well flange board, lower flange board and direct current, go up flange board one end with the upper portion board or the lower part board of robot main part are articulated, the other end with landing leg section of thick bamboo nut is connected, and well flange board and direct current have brush motor to arrange inside a landing leg section of thick bamboo in, and lower flange board one end is connected on a landing leg section of thick bamboo, and one end is connected with running gear.
4. The pipeline inner wall inspection robot according to claim 3, wherein: the traveling mechanism comprises a gas spring, traveling wheels, a driving wheel shaft and a bevel gear reversing box, one end of the gas spring is connected to the three-ring support through bolts, the other end of the gas spring is hinged to the bevel gear reversing box, the driving wheel shaft is meshed with the bevel gear reversing box, and the traveling wheels are fixedly mounted on the driving wheel shaft.
5. The pipeline inner wall inspection robot according to claim 4, wherein: the walking wheel is made of rubber.
6. The pipeline inner wall inspection robot according to claim 1 or 3, characterized in that: the number of the walking mechanisms is six, every two walking mechanisms which are staggered up and down are uniformly distributed along the circumferential direction of the robot main body, the walking wheels are formed by processing hard aluminum alloy as the main body, and the walking wheels of NR natural rubber are nested on the surfaces of the walking wheels.
7. The pipeline inner wall inspection robot according to claim 1, wherein: the detection mechanism comprises a panoramic camera, a detection probe, a camera disc, a support rod frame, a direct current brushless motor and a motor base; the panoramic camera and the camera disc are fixed on the support rod frame in a self-locking way through threads, and the panoramic camera and the camera disc with the round lower half part are overlapped together; one end of the detection probe is fixed in a groove arranged on the support rod frame by a waterproof electric connector lug, and the direct current brushless motor and the motor base are arranged between the upper plate and the support rod frame; the direct current brushless motor is installed on the motor base.
8. The pipeline inner wall inspection robot according to claim 7, wherein: the detection probes are distributed on the circumference of the support rod frame, all the detection probes are fixed in grooves formed in the support rod frame, the support rod frame is sleeved on the direct-current brushless motor, and the support rod frame can rotate around the circumference of the direct-current brushless motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110603293.2A CN113203001A (en) | 2021-05-31 | 2021-05-31 | Pipeline inner wall detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110603293.2A CN113203001A (en) | 2021-05-31 | 2021-05-31 | Pipeline inner wall detection robot |
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| CN113203001A true CN113203001A (en) | 2021-08-03 |
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| CN202110603293.2A Pending CN113203001A (en) | 2021-05-31 | 2021-05-31 | Pipeline inner wall detection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114738593A (en) * | 2022-01-27 | 2022-07-12 | 中国铁建重工集团股份有限公司 | Pipeline robot walking and obstacle crossing device and pipeline robot |
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2021
- 2021-05-31 CN CN202110603293.2A patent/CN113203001A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114738593A (en) * | 2022-01-27 | 2022-07-12 | 中国铁建重工集团股份有限公司 | Pipeline robot walking and obstacle crossing device and pipeline robot |
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