CN113954089B - Intelligent detection device and method for nondestructive detection robot - Google Patents
Intelligent detection device and method for nondestructive detection robot Download PDFInfo
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- CN113954089B CN113954089B CN202111164060.3A CN202111164060A CN113954089B CN 113954089 B CN113954089 B CN 113954089B CN 202111164060 A CN202111164060 A CN 202111164060A CN 113954089 B CN113954089 B CN 113954089B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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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
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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
Abstract
The invention relates to an intelligent detection device for a nondestructive detection robot, which comprises a pipeline flaw detection system and a ground control system, wherein the pipeline flaw detection system sends pipeline flaw detection data to the ground control system through a wireless module; the pipeline flaw detection system comprises a pipeline crawler running in a pipeline, an ultrasonic flaw detector installed on the pipeline crawler, a servo motor and spraying marking equipment, wherein the servo motor drives the ultrasonic flaw detector to rotate, the rotating ultrasonic flaw detector detects flaw detection on the pipeline, and the detected pipeline defect position is sprayed and marked by the spraying marking equipment. The invention utilizes the multi-probe rotary flaw detection technology, can realize comprehensive intelligent detection of the pipeline, has high detection precision, can control the spraying marking equipment to mark the defect part, is convenient for rapid positioning to the defect part during subsequent maintenance, and realizes rapid maintenance.
Description
Technical Field
The invention belongs to the technical field of pipeline flaw detection, and particularly relates to an intelligent detection device and method for a nondestructive detection robot.
Background
Pipeline transportation is used as an efficient special transportation means and has played an increasing role in the fields of petroleum and natural gas transportation and the like. Most long-distance pipelines are in the field and are affected by environments such as climate, altitude, topography and the like, the pipeline weld joint flaw detection has high working difficulty, more potential safety hazards, low working efficiency, subjective consciousness judgment by people and the like, and the accuracy of a detection report can be directly affected due to high error value of a detection result by using a traditional detection method.
In this regard, in the prior art, pipeline inspection work is often performed in a pipeline by using a pipeline crawler in combination with pipeline inspection equipment, but the defects are that: the coverage range of flaw detection equipment is limited, so that the detection of a pipeline is incomplete, multi-azimuth detection cannot be performed in the running process, and the like.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide an intelligent inspection apparatus and method for a nondestructive inspection robot.
The invention realizes the above purpose through the following technical scheme:
the intelligent detection device for the nondestructive detection robot comprises a pipeline flaw detection system and a ground control system, wherein the pipeline flaw detection system sends pipeline flaw detection data to the ground control system through a wireless module;
the pipeline flaw detection system comprises a pipeline crawler running in a pipeline, an ultrasonic flaw detector arranged on the pipeline crawler, a servo motor and spraying marking equipment, wherein the servo motor drives the ultrasonic flaw detector to rotate, the rotating ultrasonic flaw detector detects flaw detection of the pipeline, and the detected pipeline defect position is sprayed and marked by the spraying marking equipment;
the ultrasonic flaw detector comprises a cylindrical rod, a plurality of probe connecting structures which are sequentially sleeved outside the cylindrical rod and connected with ultrasonic probes, and a fixing cap which is arranged at the front end of the cylindrical rod and used for limiting the probe connecting structures, wherein the ultrasonic probes on the plurality of probe connecting structures are distributed in an annular array outside the cylindrical rod.
As a further optimization scheme of the invention, a cylindrical rod at one end of the ultrasonic flaw detector is connected with an output shaft of a servo motor, an electric telescopic rod is fixedly arranged at the bottom of the servo motor, the bottom end of the electric telescopic rod is connected with a pipeline crawler, a circuit board, an intelligent controller and a storage battery are arranged in the pipeline crawler, and the intelligent controller is connected with the circuit board through a wire.
As a further optimization scheme of the invention, the rear end of the servo motor is hinged with a connecting rod, two sides of one end of the connecting rod, which is close to the pipeline crawler, are fixedly provided with sliding rods, the pipeline crawler is provided with a U-shaped seat, the inner side wall of the U-shaped seat is provided with a sliding groove corresponding to the sliding rods, and the sliding rods are arranged in the sliding groove in a sliding way and rotate in the sliding groove.
As a further optimization scheme of the invention, an external thread is arranged on the outer wall of one end of the cylindrical rod far away from the servo motor, a thread groove is formed on one end face, close to the external thread, of the fixing cap, the fixing cap is in threaded connection with the cylindrical rod, a plurality of limit grooves with different lengths are formed on the outer side wall of the cylindrical rod in an annular array, a baffle is fixedly arranged on one end, far away from the fixing cap, of the cylindrical rod, and a rotary encoder is arranged on one end, close to the servo motor, of the cylindrical rod.
As a further optimization scheme of the invention, one end of the fixing cap far away from the external thread is fixedly provided with an infrared hemispherical camera, the infrared hemispherical camera is used for collecting images in a pipeline, the spraying marking equipment is arranged in the fixing cap, a first plug is fixedly arranged in the thread groove, a first socket is embedded in the end face of a cylindrical rod corresponding to the first plug, and the infrared hemispherical camera and the spraying marking equipment are connected with the intelligent controller through the first plug and the first socket.
As a further optimization scheme of the invention, the spraying marking device comprises a pigment tank for storing pigment, a spraying pipe, a pressure pump and a nozzle, wherein one end of the spraying pipe is connected with the pigment tank, the other end of the spraying pipe extends to the outer side wall of the fixing cap, the pressure pump is arranged on the spraying pipe, and the nozzle is arranged at the other end of the spraying pipe.
As a further optimization scheme of the invention, the probe connecting structure comprises a sleeve, a limiting plate and a fan-shaped connecting frame, wherein the fan-shaped connecting frame is fixedly arranged on the outer wall of the sleeve, the ultrasonic probe is arranged on an arc-shaped frame of the fan-shaped connecting frame, the limiting plate is fixedly arranged on the inner wall of the sleeve and is clamped with the limiting groove, and the diameter of the baffle is larger than the inner diameter of the sleeve.
As a further optimization scheme of the invention, two adjacent sleeves, a baffle and one side sleeve are connected through a second plug and a second socket, an ultrasonic probe arranged on a probe connecting structure is connected with the second plug/second socket on the ultrasonic probe through a wire, the socket on the baffle is connected with an ultrasonic flaw detection controller in a cylindrical rod through a wire, and the ultrasonic flaw detection controller is connected with a circuit board through a wire.
As a further optimization scheme of the invention, the pipeline flaw detection system further comprises a GPS (global positioning system) positioner, wherein the GPS positioner is used for positioning the position of the pipeline flaw detection system, and when the ultrasonic flaw detector detects a pipeline flaw, the pipeline flaw position information is sent to a ground control system, so that the pipeline flaw detection system is convenient for subsequent maintenance.
An intelligent detection method for a nondestructive detection robot, comprising the following steps:
s1, a pipeline crawler carries an ultrasonic flaw detector to run in a pipeline, a servo motor drives the ultrasonic flaw detector to rotate, and flaw detection is carried out on the pipeline;
s2, analyzing and processing pipeline flaw detection data obtained by flaw detection by an ultrasonic flaw detector, judging whether a pipeline has a flaw, if so, sending the pipeline flaw detection data to a ground control system, starting a spraying marking device to spray mark the flaw part of the pipeline, and if not, continuing running detection.
The invention has the beneficial effects that:
1) According to the invention, the pipeline crawler is used for conveying structures such as an ultrasonic flaw detector, a spraying marking device and a camera, the ground control system remotely controls the pipeline flaw detection system to run for flaw detection, and the multi-probe rotary flaw detection technology is utilized, so that the comprehensive intelligent detection of the pipeline can be realized, the detection precision is high, the spraying marking device can be controlled to mark the defect part, the defect part can be conveniently and quickly positioned during subsequent maintenance, and the rapid maintenance is realized;
2) The ultrasonic probe, the camera and the spraying marking equipment are detachably designed, so that the ultrasonic probe is convenient to assemble, disassemble and replace, simple and ingenious in structure, free of occupied space, collision-reducing, and suitable for being used in a narrow pipeline space.
Drawings
Fig. 1 is an overall system block diagram of the present invention.
Fig. 2 is a schematic structural view of the pipeline inspection system of the present invention.
FIG. 3 is a schematic view of the ultrasonic flaw detector according to the present invention when installed.
FIG. 4 is a schematic cross-sectional view of the ultrasonic flaw detector of the present invention when installed.
Fig. 5 is a schematic view of the internal structure of the pipe crawler of the present invention.
In the figure: 1. a pipeline flaw detection system; 2. a ground control system; 3. an electric telescopic rod; 4. a circuit board; 5. an intelligent controller; 6. a storage battery; 7. a connecting rod; 8. a slide bar; 9. a U-shaped seat; 10. a chute; 11. a pipe crawler; 12. an ultrasonic flaw detector; 121. a cylindrical rod; 1211. a limit groove; 1212. a baffle; 1213. a rotary encoder; 122. an ultrasonic probe; 123. a probe connection structure; 1231. a sleeve; 1232. a limiting plate; 1233. a fan-shaped connecting frame; 124. a fixing cap; 125. an ultrasonic flaw detection controller; 13. a servo motor; 14. a spray marking device; 141. a pigment tank; 142. a spray pipe; 143. a pressure pump; 144. a nozzle; 15. an infrared hemispherical camera; 16. a first plug; 17. a first socket; 18. a second plug; 19. a second socket; 20. GPS locator.
Detailed Description
The following detailed description of the present application is provided in conjunction with the accompanying drawings, and it is to be understood that the following detailed description is merely illustrative of the application and is not to be construed as limiting the scope of the application, since numerous insubstantial modifications and adaptations of the application will be to those skilled in the art in light of the foregoing disclosure.
In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention; in the description of the present invention, unless otherwise indicated, the meaning of "a plurality", "a number" or "a plurality" is two or more.
Example 1
As shown in fig. 1-5, an intelligent detection device for a nondestructive detection robot comprises a pipeline flaw detection system 1 and a ground control system 2, wherein the pipeline flaw detection system 1 sends pipeline flaw detection data to the ground control system 2 through a wireless module;
the pipeline flaw detection system 1 comprises a pipeline crawler 11 running in a pipeline, an ultrasonic flaw detector 12 arranged on the pipeline crawler 11, a servo motor 13 and a spraying marking device 14, wherein the servo motor 13 drives the ultrasonic flaw detector 12 to rotate, the rotating ultrasonic flaw detector 12 detects flaw detection on the pipeline, and the detected pipeline flaw position is marked by spraying by the spraying marking device 14.
The method for performing intelligent pipeline detection based on the intelligent detection device for the nondestructive detection robot comprises the following steps:
s1, a pipeline crawler 11 carries an ultrasonic flaw detector 12 to run in a pipeline, a servo motor 13 drives the ultrasonic flaw detector 12 to rotate, and flaw detection is carried out on the pipeline;
s2, analyzing and processing pipeline flaw detection data obtained by flaw detection by the ultrasonic flaw detector 12, judging whether a pipeline has a flaw, if so, sending the pipeline flaw detection data to the ground control system 2, starting the spraying marking equipment 14 to spray mark the flaw part of the pipeline, and if not, continuing to run and detect.
When the pipeline flaw is detected, the ground control system 2 remotely sends a crawling instruction to the pipeline crawler 11 through the wireless communication module, so that the pipeline crawler moves in the pipeline and carries the ultrasonic flaw detector 12 to detect the flaw of the pipeline, the servo motor 13 drives the ultrasonic flaw detector 12 to rotate for detection, the spraying marking device 14 is started to spray and mark the defect part of the pipeline when the pipeline flaw is detected, meanwhile, the detection result is output to the ground control system 2, and the ground control system 2 calls the staff to overhaul based on the detected flaw.
As shown in fig. 2-4, the ultrasonic flaw detector 12 includes a cylindrical rod 121, a plurality of probe connection structures 123 sequentially sleeved outside the cylindrical rod 121 and connected with ultrasonic probes 122, and a fixing cap 124 mounted at the front end of the cylindrical rod 121 and used for limiting the probe connection structures 123, wherein the ultrasonic probes 122 on the plurality of probe connection structures 123 are distributed in an annular array outside the cylindrical rod 121.
The cylindrical rod 121 of ultrasonic flaw detector 12 one end is connected servo motor 13 output shaft, servo motor 13 bottom is fixed to be equipped with electric telescopic handle 3, electric telescopic handle 3 bottom is connected with pipeline crawler 11, be provided with circuit board 4, intelligent control ware 5 and battery 6 in the pipeline crawler 11, intelligent control ware 5 passes through wire connection circuit board 4.
The rear end of the servo motor 13 is hinged with the connecting rod 7, two sides of one end of the connecting rod 7, which is close to the pipeline crawler 11, are fixedly provided with the sliding rods 8, the pipeline crawler 11 is provided with the U-shaped seat 9, the inner side wall of the U-shaped seat 9 is provided with the sliding grooves 10 corresponding to the sliding rods 8, the sliding rods 8 are arranged in the sliding grooves 10 in a sliding manner and rotate in the sliding grooves 10, and when the electric telescopic rod 3 drives the ultrasonic flaw detector 12 to move up and down to adapt to different pipe diameters, the connecting rod 7 at the rear end of the servo motor 13 drives the sliding rods 8 to move and rotate in the sliding grooves 10, so that the center of a circle of the ultrasonic flaw detector 12 is located in the middle of a pipeline, and the ultrasonic probe 122 is prevented from colliding with the pipe walls.
The outer wall of one end of the cylindrical rod 121 far away from the servo motor 13 is provided with external threads, a thread groove is formed in one end face, close to the external threads, of the fixing cap 124, the fixing cap 124 is in threaded connection with the cylindrical rod 121, a plurality of limit grooves 1211 with different lengths are formed in the annular array of the outer side wall of the cylindrical rod 121, a baffle 1212 is fixedly arranged at one end, far away from the fixing cap 124, of the cylindrical rod 121, and a rotary encoder 1213 is arranged at one end, close to the servo motor 13, of the cylindrical rod 121. The fixed cap 124 is kept away from the fixed infrared dome 15 that is equipped with of one end of external screw thread, infrared dome 15 is used for gathering the intraductal image, spraying marking device 14 sets up in the fixed cap 124 inside.
The probe connection structure 123 comprises a sleeve 1231, a limiting plate 1232 and a fan-shaped connection frame 1233, the fan-shaped connection frame 1233 is fixedly arranged on the outer wall of the sleeve 1231, the ultrasonic probe 122 is mounted on the arc-shaped frame of the fan-shaped connection frame 1233, the limiting plate 1232 is fixedly arranged on the inner wall of the sleeve 1231 and is clamped with the limiting groove 1211, and the diameter of the baffle 1212 is larger than the inner diameter of the sleeve 1231.
The spraying marking device 14 comprises a pigment tank 141 storing pigment, a spraying pipe 142, a pressure pump 143 and a nozzle 144, wherein one end of the spraying pipe 142 is connected with the pigment tank 141, the other end of the spraying pipe 142 extends to the outer side wall of the fixed cap 124, the nozzle 144 is arranged on the spraying pipe 142, the other end of the spraying pipe 142 is provided with a pigment adding port connected with the pigment tank 141, and a sealing plug is arranged in the pigment adding port, so that pigment can be added conveniently.
The pipeline inspection system 1 further comprises a GPS positioner 20, wherein the GPS positioner 20 is used for positioning the position of the pipeline inspection system 1, and when the ultrasonic inspection instrument 12 detects the pipeline defect, the pipeline defect position information is sent to the ground control system 2.
It should be noted that, when the ultrasonic flaw detector 12 performs flaw detection, the output shaft of the servo motor 13 drives the cylindrical rod 121 to rotate, the probe connecting structure 123 is connected with the cylindrical rod 121 through the limiting plate 1232 and the limiting groove 1211, the fixing cap 124 is in threaded connection with one end of the cylindrical rod 121 and is matched with the baffle 1212 to limit and fix a plurality of probe connecting structures 123 between the two, so when the cylindrical rod 121 rotates, the probe connecting structure 123 and the ultrasonic probes 122 mounted on the probe connecting structure are driven to rotate, and because the ultrasonic probes 122 are distributed in an annular array on the outer side of the circumferential surface of the cylindrical rod 121 and uniformly distributed at intervals in the circumferential direction of the cylindrical rod 121, when the ultrasonic probes 122 rotate, a plurality of ultrasonic probes 122 can simultaneously detect a plurality of annular surfaces in a pipeline, detection data are sent to the ultrasonic flaw detection controller 125 for analysis, the detection efficiency is high, and when the pipeline crawler 11 runs, the rotation detection paths of the plurality of ultrasonic probes 122 are a plurality of overlapped spiral lines, so when the pipeline flaw detection system 1 runs slowly and rotates for detection, the condition of leakage detection cannot be generated, and detection is more comprehensive;
when the ultrasonic probe 122 is damaged, the fixing cap 124 can be removed, the sleeve 1231 is directly pulled out, the sleeve 1231 drives the fan-shaped connecting frame 1233 and the ultrasonic probe 122 to be separated from the cylindrical rod 121, the ultrasonic probe can be replaced quickly and conveniently, and after the replacement is finished, the fixing cap 124 is installed in a threaded manner;
when a pipeline defect is detected, the ultrasonic flaw detector 12 sends a defect signal to the intelligent controller 5, at the moment, the rotary encoder 1213 determines the rotation angle of the cylindrical rod 121, the intelligent controller 5 controls the servo motor 13 to drive the cylindrical rod 121 to rotate based on the angle of the ultrasonic flaw detector 12 for detecting the defect on the cylindrical rod 121 and the rotation angle of the cylindrical rod 121, the pipeline crawler 11 carries out position adjustment of the nozzle 144 based on the interval between the ultrasonic probe 122 for detecting the defect part and the nozzle 144 until the nozzle 144 corresponds to the pipeline defect part, the intelligent controller 5 controls the pressure pump 143 to work, and then cooperates with the front and back position adjustment of the pipeline crawler 11 to extract and spray the pigment in the pigment tank 141 on the surface of the pipeline defect position, the intelligent controller 5 receives the pipeline image acquired by the infrared hemispherical camera 15 and sends the pipeline image to the ground control system 2, and the ground control system 2 can store the image and remotely observe the defect part in the pipeline, so that a subsequent maintainer can accurately find the position for maintenance;
meanwhile, the intelligent controller 5 also transmits the pipeline flaw detection data and the position information of the pipeline flaw detection system 1 positioned by the GPS positioner 20 to the ground control system 2, and the ground control system 2 transmits the positioning information and the pipeline flaw detection data to a maintenance personal terminal, so that the rapid positioning maintenance is facilitated.
As shown in fig. 3-4, a first plug 16 is fixedly arranged in the thread groove, a first socket 17 is embedded in the end face of the cylindrical rod 121 corresponding to the first plug 16, and the infrared hemispherical camera 15 and the spraying marking device 14 are connected with the intelligent controller 5 through the first plug 16 and the first socket 17.
The two adjacent sleeves 1231, the baffle 1212 and the sleeve 1231 on one side are connected through the second plug 18 and the second socket 19, the ultrasonic probe 122 arranged on the probe connecting structure 123 is connected with the second plug 18/the second socket 19 on the ultrasonic probe 122 through wires, the socket on the baffle 1212 is connected with the ultrasonic flaw detection controller 125 in the cylindrical rod 121 through wires, and the ultrasonic flaw detection controller 125 is connected with the circuit board 4 through wires.
It should be noted that, in order to facilitate the quick assembly disassembly of the fixing cap 124 and the sleeve 1231, the ultrasonic probe 122, the infrared dome camera 15 and the spraying marking device 14 are powered on and communicate in a manner of matching a plug and a socket, and the powered on communication can be realized when the sleeve 1231 and the fixing cap 124 are installed, so that the structure is simple and the operation is convenient.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (7)
1. A intelligent detection device for nondestructive test robot, its characterized in that: the pipeline flaw detection system (1) sends pipeline flaw detection data to the ground control system (2) through a wireless module;
the pipeline flaw detection system (1) comprises a pipeline crawler (11) which runs in a pipeline, an ultrasonic flaw detector (12) which is arranged on the pipeline crawler (11), a servo motor (13) and a spraying marking device (14), wherein the servo motor (13) drives the ultrasonic flaw detector (12) to rotate, the rotating ultrasonic flaw detector (12) detects flaw detection of the pipeline, and the detected pipeline flaw position is sprayed and marked by the spraying marking device (14);
the ultrasonic flaw detector (12) comprises a cylindrical rod (121), a plurality of probe connecting structures (123) which are sequentially sleeved outside the cylindrical rod (121) and connected with ultrasonic probes (122), and a fixing cap (124) which is arranged at the front end of the cylindrical rod (121) and used for limiting the probe connecting structures (123), wherein the ultrasonic probes (122) on the plurality of probe connecting structures (123) are distributed outside the cylindrical rod (121) in an annular array;
the outer wall of one end, far away from the servo motor (13), of the cylindrical rod (121) is provided with an external thread, a thread groove is formed in one end face, close to the external thread, of the fixing cap (124), the fixing cap (124) is in threaded connection with the cylindrical rod (121), a plurality of limit grooves (1211) with different lengths are formed in the outer side wall of the cylindrical rod (121) in an annular array, a baffle (1212) is fixedly arranged at one end, far away from the fixing cap (124), of the cylindrical rod (121), and a rotary encoder (1213) is arranged at one end, close to the servo motor (13), of the cylindrical rod (121);
an infrared hemispherical camera (15) is fixedly arranged at one end, far away from external threads, of the fixing cap (124), the infrared hemispherical camera (15) is used for collecting images in a pipeline, the spraying marking equipment (14) is arranged inside the fixing cap (124), a first plug (16) is fixedly arranged in the thread groove, a first socket (17) is embedded in the end face of a cylindrical rod (121) corresponding to the first plug (16), and the infrared hemispherical camera (15) and the spraying marking equipment (14) are connected with the intelligent controller (5) through the first plug (16) and the first socket (17);
the utility model discloses a pipeline intelligent control ware, including fixed cap (124), external screw thread's one end is kept away from fixed infrared hemisphere camera (15), infrared hemisphere camera (15) are used for gathering the pipeline internal image, spraying marking device (14) set up inside fixed cap (124), screw thread inslot fixed be equipped with plug (16), the cylinder pole (121) terminal surface that plug (16) corresponds inlays and is equipped with socket (17) No. one, infrared hemisphere camera (15) and spraying marking device (14) are all connected with intelligent control ware (5) through plug (16) and socket (17) No. one.
2. An intelligent detection apparatus for a nondestructive inspection robot according to claim 1, wherein: the ultrasonic flaw detector is characterized in that a cylindrical rod (121) at one end of the ultrasonic flaw detector (12) is connected with an output shaft of a servo motor (13), an electric telescopic rod (3) is fixedly arranged at the bottom of the servo motor (13), the bottom end of the electric telescopic rod (3) is connected with a pipeline crawler (11), a circuit board (4), an intelligent controller (5) and a storage battery (6) are arranged in the pipeline crawler (11), and the intelligent controller (5) is connected with the circuit board (4) through a wire.
3. An intelligent detection apparatus for a nondestructive inspection robot according to claim 2, wherein: the utility model discloses a pipeline crawler, including servo motor (13), connecting rod (7), pipeline crawler (11), slide bar (8) are all fixed in one end both sides that servo motor (13) rear end hinge is connected with connecting rod (7), connecting rod (7) are close to pipeline crawler (11), be provided with U type seat (9) on pipeline crawler (11), spout (10) that correspond with slide bar (8) have been seted up on U type seat (9) inside wall, slide bar (8) slip sets up in spout (10) and rotates in spout (10).
4. An intelligent detection apparatus for a nondestructive inspection robot according to claim 1, wherein: the probe connection structure (123) comprises a sleeve (1231), a limiting plate (1232) and a fan-shaped connecting frame (1233), wherein the fan-shaped connecting frame (1233) is fixedly arranged on the outer wall of the sleeve (1231), the ultrasonic probe (122) is arranged on an arc-shaped frame of the fan-shaped connecting frame (1233), the limiting plate (1232) is fixedly arranged on the inner wall of the sleeve (1231) and is clamped with the limiting groove (1211), and the diameter of the baffle (1212) is larger than the inner diameter of the sleeve (1231).
5. An intelligent detection apparatus for a nondestructive inspection robot according to claim 4, wherein: the ultrasonic probe (122) arranged on the probe connecting structure (123) is connected with the second plug (18)/the second socket (19) on the ultrasonic probe (122) through wires, the socket on the baffle (1212) is connected with the ultrasonic flaw detection controller (125) in the cylindrical rod (121) through wires, and the ultrasonic flaw detection controller (125) is connected with the circuit board (4) through wires.
6. An intelligent detection apparatus for a nondestructive inspection robot according to claim 1, wherein: the pipeline flaw detection system (1) further comprises a GPS (global positioning system) positioner (20), the GPS positioner (20) is used for positioning the position of the pipeline flaw detection system (1), and when the ultrasonic flaw detector (12) detects a pipeline flaw, the pipeline flaw position information is sent to the ground control system (2).
7. A detection method of an intelligent detection apparatus for a nondestructive inspection robot according to any one of claims 1 to 6, comprising the steps of:
s1, a pipeline crawler (11) carries an ultrasonic flaw detector (12) to run in a pipeline, a servo motor (13) drives the ultrasonic flaw detector (12) to rotate, and flaw detection is carried out on the pipeline;
s2, analyzing and processing pipeline flaw detection data obtained by flaw detection by an ultrasonic flaw detector (12), judging whether a pipeline has a flaw, if so, sending the pipeline flaw detection data to a ground control system (2), starting a spraying marking device (14) to spray mark the flaw part of the pipeline, and if not, continuing running detection.
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| CN202111164060.3A CN113954089B (en) | 2021-09-30 | 2021-09-30 | Intelligent detection device and method for nondestructive detection robot |
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| CN113954089B true CN113954089B (en) | 2023-05-23 |
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| CN114484144A (en) * | 2022-02-18 | 2022-05-13 | 吉林大学 | Underground pipeline detection trolley based on ultrasonic principle and control method thereof |
| CN116203139B (en) * | 2023-05-06 | 2023-07-14 | 山东泰阳特种设备检测科技有限公司 | Nondestructive testing device for welding line of inner wall of normal pressure storage tank |
| CN116423467B (en) * | 2023-06-08 | 2023-09-19 | 潍坊潍尔达石油机械有限公司 | Automatic flaw detection device |
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| CN103969330B (en) * | 2014-04-28 | 2016-08-17 | 河海大学常州校区 | A kind of pipe interior defect reflectoscope |
| CN107064305B (en) * | 2017-05-08 | 2020-05-05 | 天津出入境检验检疫局化矿金属材料检测中心 | Portable automatic crawling ultrasonic flaw detection scanning device for inner wall of pipeline and using method |
| CN109483568B (en) * | 2018-11-21 | 2022-02-11 | 南通理工学院 | Automatic flaw detection, carbon planing and welding robot for outer wall of pipeline |
| CN209559819U (en) * | 2019-02-26 | 2019-10-29 | 张璐涵 | A kind of robot for metal pipeline flaw detection |
| KR102290235B1 (en) * | 2019-10-07 | 2021-08-20 | 코렐테크놀로지(주) | Robotic system for pipe non-destructive inspection |
| CN110566749A (en) * | 2019-10-28 | 2019-12-13 | 长春大学 | Ultrasonic flaw detection marking robot for natural gas pipeline |
| CN111505120B (en) * | 2020-05-09 | 2021-01-05 | 温州同岸机电配件股份有限公司 | Metal pipeline inner wall robot of detecting a flaw |
| CN111983021B (en) * | 2020-08-26 | 2022-11-04 | 广东泰升工程质量检测有限公司 | Building hollowing detection device |
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