CN114234018A - Disconnect-type pipeline inspection robot - Google Patents
Disconnect-type pipeline inspection robot Download PDFInfo
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- CN114234018A CN114234018A CN202111562293.9A CN202111562293A CN114234018A CN 114234018 A CN114234018 A CN 114234018A CN 202111562293 A CN202111562293 A CN 202111562293A CN 114234018 A CN114234018 A CN 114234018A
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- pipeline
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- side plate
- supporting
- detection
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/14—Power transmissions between power sources and drums or barrels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
- B66D1/74—Capstans
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
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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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
Abstract
The invention relates to the technical field of pipeline detection, in particular to a separated pipeline detection robot, wherein a climbing mechanism comprises a linear sliding module and two clamping jaw assemblies, the linear sliding module is used for driving the two clamping jaw assemblies to relatively approach or depart from each other, and the linear sliding module is matched with the two clamping jaw assemblies to realize climbing of the climbing mechanism along a pipeline; the rolling wheel device is arranged at the bottom of the detection vehicle body in the detection mechanism, the camera is arranged below the supporting box plate, the air suction port of the suction device is arranged on the bottom surface of the detection vehicle body, the air exhaust port of the suction device is arranged on the top surface of the detection vehicle body, the suction device is used for pipeline adsorption and dust removal, and the winding end of the winding device is connected to the lateral outer wall of the linear sliding module through a traction rope. The camera in the detection mechanism shoots the appearance picture of the pipeline, and the ultrasonic sensor detects the distance from the roller to the pipeline and is used for measuring the diameter of the pipeline. Detection device and climbing mechanism separation in this robot, detection mechanism can be stable depend on in the pipeline outside to improve the precision that detects.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a separated pipeline detection robot.
Background
In recent years, the rapid development of domestic and foreign industries has led to an increasing number of scenarios requiring the use of pipelines. Superheater pipelines play an important role in daily life of people and play an extremely important role in the fields of fossil energy, chemical industry, electric power, natural gas, water conservancy and hydropower engineering and the like. However, in daily life, after a pipeline runs for a period of time, potential safety hazards such as damage, corrosion, stress deformation and the like may occur, and once the pipeline breaks down, not only the running of various devices is affected to cause economic loss, but also accidents may be caused to cause casualties and even harm the environment. Therefore, it is crucial to monitor and maintain the pipeline in service regularly. However, some pipelines have to be laid at very high positions due to structural design requirements or geographical position limitations, the surrounding working environment is very severe, and the main work of part of pipelines is to convey harmful substances or high-temperature substances. In this case, safety accidents caused by the high-altitude maintenance and detection of the superheater pipeline occur, and due to the fact that no proper equipment is used for replacing workers to complete related work, negative influences are brought to the safety of the workers, profits of enterprises and sustainable development.
The superheater pipeline detection robot belongs to one of the pipeline robot research field, and the equipment can climb on the outer surface of a complex superheater pipeline at will, has certain trafficability to obstacles on the pipeline, and can complete the detection work on the superheater pipeline if a detection mechanism is additionally arranged at the tail end of the robot. The superheater detection robot can realize that machinery replaces manual work to detect under adverse circumstances, avoids the workman to carry out relevant work under dangerous environment to greatly improve the security of workman's work, its work efficiency, precision are higher than artifical again far away, have very big using value and industrial prospect in modern industry.
The specific environment of the invention is a complex environment in which the superheater multiple tube panels in the boiler are parallel and the distance between single tubes and the distance between tube panels are small. The multitubular pipe that interlocks at the top of over heater tightens up, then is the comb shape closing plate down, and this comb shape closing plate outburst exit tube row face is certain width. The comb-shaped sealing plate is provided with a plurality of comb-shaped sealing plates, and the comb-shaped sealing plates are arranged in rows at certain intervals to form a tube panel. The connecting piece composed of four groups of movable clamping blocks of vertical tube rows and a group of movable clamping blocks in an inverted V shape is arranged below the ceiling tube panel and used for connecting adjacent ceiling tubes.
At the present stage, the pipeline robot has two subcategories, which are an in-pipeline robot and an out-pipeline robot, wherein the in-pipeline robot is the current main research direction. But the robotic development of the outer wall of the pipe is less intensive. In recent years, as the detection of high-altitude cables and pipelines is performed by pipeline robots instead of human beings to a certain extent, pipeline outer wall detection robots are also gradually paid attention by research and development personnel and related enterprises. According to the current development trend at home and abroad, the pipeline robot generally adopts the bionic design, however, certain limitation always exists in the actual work, most of the pipeline robots can not realize the transition between two pipelines, and the pipeline robot has great requirements on the smoothness of the outer wall of the pipeline and hardly meets the detection requirements of actual working conditions. Therefore, the development of the pipeline outer wall detection robot is extremely important, has a very wide commercial prospect, and is very significant for improving the production safety and the working quality.
The existing robot walking outside the pipe is developed, and typical devices mainly comprise the following devices:
1. pneumatic peristaltic type: such devices move in a peristaltic fashion. The reciprocating motion of the mechanism can be realized through the action matching and the sequence of the cylinder and the clamping mechanism, and at least one pair of claws is ensured to clamp the pipeline in the process. The mechanism is simple in structure and easy to operate, but the climbing height is limited by the air supply pipeline, and the movement speed is limited by the clamping time. The simple pipe climbing mechanism adopts a self-locking principle and keeps static by utilizing the basic characteristics of a spring, a rubber ball, an inclined plane and the like. Such devices are only suitable for straight pipe crawling and have poor passage when encountering obstacles.
2. The inner frame is spiral: the device consists of a cylindrical frame and three identical trolleys which are uniformly distributed. After the wheels tightly hold the pipe wall, the device can spirally ascend or descend by driving the wheels. Through adjusting nut, the initial power of hugging of adjusting device, but the device is along with the change of pipeline external diameter automatically regulated. The device has large load capacity and stable operation, is suitable for pipe fittings with different diameters, can only be applied to continuous pipe fittings, and cannot pass through when encountering obstacles.
3. The articulated type: such devices consist of a series of rotating and moving joints that are held to enable walking on the pipe. The external climbing structure of the articulated pipe is complex, so that the flexibility is high, common obstacles on the pipeline and among the pipelines can be spanned, but the design and manufacturing cost are high, and the popularization is low.
4. Parallel connection: the device is divided into two forms, one of which consists of a platform, a clamping device, a linear driver, an operating arm and a hinge; the device consists of a platform, a linear driver and a plurality of legs. The parallel type external pipe robot has the advantages of simple structure, high advancing speed, low manufacturing cost and the like, but the control is more complex, and the parallel type external pipe robot can normally work after a motion equation is calculated.
The pipeline overhauling devices have the disadvantages.
Disclosure of Invention
In order to solve the problems, the invention provides a separated pipeline detection robot, wherein a detection device is separated from a climbing mechanism, and compared with the traditional pipeline external robot, the detection device is separated from the climbing mechanism, and the detection mechanism can be stably attached to the outer side of a pipeline, so that the detection precision is improved.
In order to achieve the purpose, the invention adopts the technical scheme that:
a separated pipeline detection robot comprises a climbing mechanism, a traction rope and a detection mechanism, wherein the climbing mechanism comprises a linear sliding module and two clamping jaw assemblies, the two clamping jaw assemblies are respectively installed at two sliding ends of the linear sliding module, the linear sliding module is used for driving the two clamping jaw assemblies to relatively approach or depart from each other, and the linear sliding module is matched with the two clamping jaw assemblies to realize climbing of the climbing mechanism along a pipeline;
the detection mechanism comprises a camera, an ultrasonic sensor, a detection vehicle body, a suction device, a rolling wheel device and a winding device, wherein the rolling wheel device is installed at the bottom of the detection vehicle body, the suction device, the winding device, the ultrasonic sensor and the camera are all installed on the detection vehicle body, a suction port of the suction device is formed in the bottom surface of the detection vehicle body, an exhaust port of the suction device is formed in the top surface of the detection vehicle body, the suction device is used for removing dust on the outer wall of a pipeline and adsorbing the detection mechanism to the outside of the pipeline in a pneumatic mode, and a winding end of the winding device is connected to the lateral outer wall of the linear sliding module through a traction rope; the camera in the detection mechanism shoots the appearance picture of the pipeline, and the ultrasonic sensor is used for detecting the distance from the roller to the pipeline so as to measure the diameter of the pipeline.
The detection mechanism is adsorbed outside the pipeline in a pneumatic adsorption mode through the suction device, and the climbing mechanism pulls the detection mechanism to move outside the pipeline through the traction rope.
Preferably, the two clamping jaw assemblies comprise a first rotating module, a second rotating module, a third rotating module, a fourth rotating module, a first clamping jaw module and a second clamping jaw module which are electrically driven, wherein bases of the first rotating module and the second rotating module are connected to two sliding ends of the linear sliding module respectively, bases of the third rotating module and the fourth rotating module are connected to rotating ends of the first rotating module and the second rotating module respectively, bases of the first clamping jaw module and the second clamping jaw module are connected to rotating ends of the third rotating module and the fourth rotating module respectively, the telescopic direction of the linear sliding module is the X-axis direction, the rotating shafts of the first rotating module and the second rotating module are the Y-axis direction, and the rotating shafts of the third rotating module and the fourth rotating module are the Z-axis direction.
Preferably, the side surface of the linear sliding module is provided with a rotary lifting ring module, and the end part of the traction rope is connected to the side surface of the linear sliding module through the rotary lifting ring module.
Preferably, two supporting and lifting devices are respectively arranged on two sides of the moving direction of the detection vehicle body, each supporting and lifting device comprises a supporting support, a miniature electric push rod, a fork-shaped seat and a common roller, the supporting supports are mounted on the side faces of the detection vehicle body, a base of the miniature electric push rod is mounted on the supporting supports, the extending end of the miniature electric push rod is arranged downwards, the fork-shaped seats are mounted at the lower tail ends of the miniature electric push rods, and the common roller is connected into the fork-shaped seats through a rotating shaft.
Preferably, the detection vehicle body comprises a storage box, a first supporting side plate, a supporting box plate, a second supporting side plate, a first shock absorber, an I-shaped plate and a second shock absorber, wherein the suction device and the winding device are installed in the storage box, the camera is installed below the supporting box plate, the I-shaped plate is connected to the bottom of the storage box, the first shock absorber, the I-shaped plate, the supporting box plate and the second shock absorber penetrate through a hollow area in the middle of the first supporting side plate through a copper column, the other pair of the first shock absorber, the second shock absorber, the other end of the I-shaped plate and the other end of the supporting box plate penetrate through a hollow area in the middle of the second supporting side plate through a copper column, the first supporting side plate and the second supporting side plate are respectively located on two opposite sides of the storage box, the buffering directions of the first shock absorber and the second shock absorber are vertical, the supporting lifting devices are respectively installed on the I-shaped plate, the rolling wheel devices and the ultrasonic ranging sensors are installed between the first supporting side plate and the second supporting side plate On the shaft, the ultrasonic sensor can move axially along with the rolling wheel device.
Preferably, the first supporting side plate and the second supporting side plate are both of upright trapezoidal plate structures, two groups of rolling wheel devices are arranged, and the two groups of rolling wheel devices are connected between the first supporting side plate and the second supporting side plate and are respectively arranged at the front part and the rear part of the storage box.
Preferably, the middle parts of the first supporting side plate and the second supporting side plate are provided with hollow areas, the I-shaped plate penetrates through the hollow areas in the middle parts of the first supporting side plate and the second supporting side plate, and the supporting and lifting device is installed on the outer sides of the first supporting side plate and the second supporting side plate.
Preferably, the rolling wheel device is an adaptive rolling wheel device, the adaptive rolling wheel device comprises a pipeline roller, a third shock absorber, a bearing assembly, a fourth shock absorber, a baffle and a wheel shaft, a shaft shoulder is arranged in the middle of the wheel shaft, the pipeline roller is arranged between the shaft shoulder and the tail end of the wheel shaft, the pipeline roller is rotatably arranged on the wheel shaft through the bearing assembly, the third shock absorber and the fourth shock absorber are sleeved on the wheel shaft, two ends of the third shock absorber are abutted against the shaft shoulder and the bearing assembly, and two ends of the fourth shock absorber are abutted against the bearing assembly and the baffle at the tail end of the wheel shaft respectively.
Preferably, one side of the shaft shoulder, which faces the third shock absorber, is provided with an annular groove, and the end part of the third shock absorber is embedded into the annular groove of the shaft shoulder; the pipeline roller is a V-shaped wheel, the bearing assembly comprises a ball bearing, a transition shaft sleeve and a linear bearing, the linear bearing is sleeved on the wheel shaft, the outer ring of the linear bearing is fixedly arranged on the inner annular surface of the transition shaft sleeve, the inner ring of the ball bearing is fixedly arranged on the outer annular surface of the transition shaft sleeve, and the outer ring of the ball bearing is fixedly arranged on the inner annular surface of the pipeline roller; the axial length of transition axle sleeve and linear bearing is unanimous and the tip aligns, ball bearing has two sets ofly, two ball bearing installs respectively and is close to terminal surface department between transition axle sleeve and the pipeline gyro wheel.
Preferably, the winding device comprises a worm wheel, a bearing support, a worm, a rigid coupling, a winding motor support, a winding support and a winding roller, wherein the winding support is a U-shaped support, the winding roller is installed in the winding support through a rotating shaft, the rotating shaft extends out of the winding support, the worm wheel is installed on the rotating shaft and located on the outer side of the winding support, the tail end of the bearing is installed on the detection vehicle body through the bearing support, the winding motor is installed on the detection vehicle body through the winding motor support, the power end of the winding motor is connected with the worm through the rigid coupling, and the worm wheel are meshed to form transmission;
the camera is arranged below a supporting box plate of the detection mechanism, shoots an appearance picture of the pipeline and transmits the picture to the computer for storage through a wireless network;
the ultrasonic sensor is arranged on a shaft between the first supporting side plate and the second supporting side plate of the detection mechanism, is positioned in front of the central axis of the roller, and measures the distance from the roller to the pipeline, so that the diameter of the pipeline is calculated.
The beneficial effects of the invention are as follows:
1. the invention adopts a separated structure, thus reducing the mutual influence, realizing the separation of the climbing mechanism and the detection mechanism, improving the replaceability of the climbing mechanism and the detection mechanism, and when any mechanism breaks down, not influencing the other mechanism, and at the moment, the inspection and the maintenance or the replacement of the broken mechanism are more convenient.
2. The suction device of the invention adopts strong wind power generated by the ducted fan to be matched with the traction rope so that the detection mechanism is firmly attached to one side of the pipeline. The existing pipeline detection robot adopts a magnetic adsorption device or an encircling mechanical structure to strongly clamp a pipeline: the magnetic adsorption device has great limitation, is only suitable for steel pipelines, iron pipelines and other pipelines which can be adsorbed by the magnet, and can not be used as a force for non-magnetic pipelines; the surrounding mechanical mechanism is only suitable for the scene with larger distance between pipelines, and the surrounding mechanical mechanism is not good at the place with smaller distance between pipelines and screens. The suction device only comprises the ducted fan and the ducted fan mounting plate, and has the advantages of simple structure, simple driving process and flexible and changeable mounting position.
3. The self-adaptive rolling wheel device in the robot can automatically adapt to abnormal conditions of bending, reducing and the like of a pipeline. When the longitudinal pipeline is transversely bent, the existing pipeline detection robot is either of an encircling type or a magnetic adsorption type, and the detection device or the crawling mechanism inevitably can incline to cause detection errors when passing through an abnormal area.
4. The diameter of the pipeline is measured by adopting the V-shaped wheels and the ultrasonic distance measuring sensor, and the measuring mode is simple and easy to realize.
Drawings
Fig. 1 is a schematic view of the overall mechanism of the split-type pipeline inspection robot of the present invention.
Fig. 2 is a schematic diagram of a climbing mechanism in the separated pipeline inspection robot.
Fig. 3 is a schematic diagram of a climbing mechanism in the split-type pipeline inspection robot of the present invention.
Fig. 4 is a schematic diagram of climbing mechanism crossing obstacles in the separated pipeline inspection robot.
Fig. 5 is a schematic view of a detection mechanism in the split-type pipeline detection robot according to the present invention.
Fig. 6 is a schematic view of a detection vehicle body in the split type pipeline detection robot of the present invention.
Fig. 7 is a sectional view of an adaptive roller in the separated type pipeline inspection robot according to the present invention.
Fig. 8 is a schematic view of a supporting and lifting device in the split-type pipeline inspection robot according to the present invention.
Fig. 9 is a schematic view of a winding device in the split-type pipeline inspection robot according to the present invention.
Fig. 10 is a schematic diagram of a detection mechanism crossing an obstacle in the split-type pipeline detection robot according to the present invention.
The reference numerals include:
1-a climbing mechanism, 11-a linear sliding module, 12-a first rotating module, 13-a second rotating module, 14-a third rotating module, 15-a fourth rotating module, 16-a first clamping jaw module, 17-a second clamping jaw module, 18-a rotating lifting ring module;
2-a traction rope;
3-detection mechanism, 31-detection car body, 311-storage box, 312-first support side plate, 313-support box plate, 314-second support side plate, 315-first shock absorber, 316-I-shaped plate, 317-second shock absorber, 32-suction device, 33-adaptive rolling wheel device, 331-pipeline roller, 332-third shock absorber, 333-ball bearing, 334-transition shaft sleeve, 335-linear bearing, 336-fourth shock absorber, 337-wheel shaft, 34-support lifting device, 341-support pedestal, 342-miniature electric push rod, 343-fork pedestal, 345-common roller, 35-coiling device, 351-worm wheel, 352-bearing pedestal, 353-worm, 354-rigid coupling, 355-winding motor, 356-winding motor support, 357-winding support, 358-winding roller, 36-camera, 37-ultrasonic sensor.
Detailed Description
In order to make the purpose, technical solution and advantages of the present technical solution more clear, the present technical solution is further described in detail below with reference to specific embodiments. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present teachings.
As shown in fig. 1 to 10, the embodiment provides a separated pipeline inspection robot, which includes a climbing mechanism 1, a traction rope 2 and an inspection mechanism 3, wherein the climbing mechanism 1 includes a linear sliding module 11 and two clamping jaw assemblies, the two clamping jaw assemblies are respectively installed at two sliding ends of the linear sliding module 11, the linear sliding module 11 is used for driving the two clamping jaw assemblies to relatively approach or depart from each other, and the linear sliding module 11 is matched with the two clamping jaw assemblies to realize that the climbing mechanism 1 climbs on a pipeline; the detection mechanism 3 comprises a detection vehicle body 31, a suction device 32, a rolling wheel device 33 and a winding device 35, wherein the rolling wheel device 33 is installed at the bottom of the detection vehicle body 31, the suction device 32, the winding device 35 and a camera 36 are all installed on the detection vehicle body 31, a suction port of the suction device 32 is arranged at the bottom surface of the detection vehicle body 31, an exhaust port is arranged at the top surface of the detection vehicle body 31, the suction device 32 is used for adsorbing the detection mechanism 3 to the outside of a pipeline in a pneumatic mode and removing dust in the pipeline, and a winding end of the winding device 35 is connected to the lateral outer wall of the linear sliding module 11 through a traction rope 2; the detection mechanism 3 is adsorbed outside the pipeline in a pneumatic adsorption mode through the suction device 32 in the storage box, and the climbing mechanism 1 drags the detection mechanism 3 to move outside the pipeline through the traction rope 2.
The separated pipeline detection robot is divided into a climbing mechanism 1, a traction rope 2 and a detection mechanism 3. The traction rope 2 is used for connecting the climbing mechanism 1 and the detection mechanism 3 of the separated pipeline detection robot, so that the operation burden of a single robot is reduced. The climbing mechanism 1 of the separated pipeline detection robot finishes climbing work on a boiler superheater through various designed gaits, and comprises single-pipe climbing, pipe-to-pipe transition and pipe-to-pipe-panel transition. And is clamped above the pipeline to assist the robot detection mechanism 3 in detecting. The detection mechanism 3 adopts a wheel type mechanism, and the detection mechanism 3 can be attached to a pipeline to move through the winding and suction device 32 of the traction rope 2, so that the detection task is completed. The detection mechanism 3 should also have a certain obstacle-surmounting capability due to the presence of the connection between the individual pipes.
The following describes each part of the present apparatus in detail.
As shown in fig. 2, the two jaw assemblies include a first rotation module 12, a second rotation module 13, a third rotation module 14, a fourth rotation module 15, a first jaw module 16 and a second jaw module 17, all of which are electrically driven, wherein the bases of the first rotating module 12 and the second rotating module 13 are respectively connected with two sliding ends of the linear sliding module 11, the bases of the third rotating module 14 and the fourth rotating module 15 are respectively connected with rotating ends of the first rotating module 12 and the second rotating module 13, the bases of the first clamping jaw module 16 and the second clamping jaw module 17 are respectively connected with rotating ends of the third rotating module 14 and the fourth rotating module 15, the extending and retracting direction of the linear sliding module 11 is the X-axis direction, the rotation axes of the first rotating module 12 and the second rotating module 13 are the Y-axis direction, and the rotation axes of the third rotating module 14 and the fourth rotating module 15 are the Z-axis direction.
The linear sliding module 11 is composed of a motor for a linear module, a gear pair, a coupler, a screw rod, a sliding block, a sliding rail and a main board connecting plate. The linear module is changed by the motor through the gear pair and then drives the screw rod to rotate through the coupler, so that the sliding block moves back and forth on the sliding rail, and the main board connecting plate is connected to the sliding block through the bolt so as to move back and forth together with the sliding block. The first rotation module 12, the second rotation module 13, the third rotation module 14 and the fourth rotation module 15 are all composed of a motor and a connecting flange, wherein the first rotation module 12 and the second rotation module 13 are completely the same, and the third rotation module 14 and the fourth rotation module 15 are completely the same. The first clamping jaw module 16 and the second clamping jaw module 17 are completely the same and mainly comprise a clamping jaw connecting piece, a motor for the clamping jaw, a gear connecting rod, an outer connecting rod and a clamping clip. The jack catch realizes the loosening and clamping of the clamping through the driving gear connecting rod by the motor. The first rotating module 12 and the second rotating module 13 are connected with the linear slider module through connecting flanges, motors of the first rotating module 12 and the second rotating module 13 respectively control the rotation of the third rotating module 14 and the fourth rotating module 15 through the connecting flanges, and the jaw connecting piece fixedly connects the third rotating module 14 and the fourth rotating module 15 with the first clamping jaw module 16 and the second clamping jaw module 17 respectively.
Preferably, the side of the linear sliding module 11 has a rotating eye module 18, and the end of the traction rope 2 is connected to the side of the linear sliding module 11 via the rotating eye module 18. The rotary bail module 18 has the advantage of being adaptive to the pull rope pull angle for various angles.
As shown in fig. 4, the climbing mechanism 1 works as follows.
Single-pipe crawling: in this process, the climbing of climbing mechanism 1 on a single pipe is achieved by the extension and retraction of linear sliding module 11 in climbing mechanism 1 and the alternate loosening and clamping of the two jaws. In the whole crawling movement process, the four rotating joints of the climbing mechanism 1 do not rotate.
Single tube crossing disorders: in the process of moving the climbing mechanism 1 on a single pipeline to cross an obstacle, the third rotating joint and the fourth rotating joint do not rotate, and other joints participate in the movement. The obstacle crossing process is as shown in fig. 4, when the upper end of the climbing mechanism 1 meets an obstacle, the second jaw module is loosened, the first rotary joint and the second rotary joint rotate to enable the second jaw module to be separated from a pipeline, the linear sliding module 11 extends to enable the upper half part of the robot to cross the obstacle, then the first rotary joint and the second rotary joint rotate to enable the second jaw module to grasp the pipeline, and the linear sliding module 11 contracts to enable the climbing mechanism 1 to recover to a normal climbing state. When climbing mechanism 1 lower extreme was more obstructed, straight line slip module 11 was in the extension state, loosens first jack catch module earlier, and first rotary joint rotates and makes first jack catch module break away from the pipeline, and the straight line slip module 11 contracts and makes the latter half of robot stride across the obstacle, and first rotary joint and second rotary joint rotate simultaneously and make first jack catch module promptly the pipeline, finely tune first rotary joint and second rotary joint and make climbing mechanism 1 resume normal crawl state.
Transition between pipes: in the process of movement of the climbing mechanism 1 for inter-pipe transition, the first rotating module 12, the second rotating module 13, the third rotating module 14 and the fourth rotating module 15 are rotated in coordination, and whether the movement of the linear sliding module 11 is needed to match the movement of the whole climbing mechanism 1 or not can be determined according to the distance between a pipeline and a pipeline.
As shown in fig. 8, two supporting and lifting devices 34 are respectively disposed on two sides of the moving direction of the detection vehicle body 31, each supporting and lifting device 34 includes a supporting seat 341, a micro electric push rod 342, a fork seat 343, and a common roller 345, wherein the supporting seat 341 is mounted on a side surface of the detection vehicle body 31, a base of the micro electric push rod 342 is mounted on the supporting seat 341, an extending end of the micro electric push rod 342 is disposed downward, the fork seat 343 is mounted at a lower end of the micro electric push rod 342, and the common roller 345 is connected in the fork seat 343 through a rotating shaft. The supporting and lifting device 34 is used for lifting the vehicle body so as to achieve the purpose that the detection mechanism 3 crosses the obstacle.
As shown in fig. 5 and 6, in detail, the detection vehicle body 31 includes a storage box 311, a first supporting side plate 312, a supporting box plate 313, a second supporting side plate 314, a first shock absorber 315, an i-shaped plate 316 and a second shock absorber 317, wherein the suction device 32 and the winding device 35 are installed in the storage box 311, the camera 36 is installed below the supporting box plate 313, the i-shaped plate 316 is connected to the bottom of the storage box 311, the first shock absorber 315, the i-shaped plate 316, the supporting box plate 313 and the second shock absorber 317 penetrate through a hollow area in the middle of the first supporting side plate 312 through a copper pillar, the other pair of the first shock absorber 315 and the second shock absorber 317 and the other end of the i-shaped plate 316, the other end of the supporting box plate 313 penetrate through a hollow area in the middle of the second supporting side plate 314 through a copper pillar, the first supporting side plate 312 and the second supporting side plate 314 are respectively located at two opposite sides of the storage box 311, and the buffering directions of the first shock absorber 315 and the second shock absorber 317 are vertical, the supporting and lifting devices 34 are respectively installed on the i-shaped plate 316, and the rolling wheel devices are installed on the first supporting side plate 312 and the second supporting side plate 314.
The storage case 311 is used to store the wire winding device 35, the circuit board, the battery, and the like, and includes a case cover and a case body. When the pipeline surface has micro-protrusions, the four first shock absorbers 315 and the four second shock absorbers 317 can ensure that the detection vehicle body 31 does not generate large vibration, thereby damaging other parts of the detection mechanism 3. In this embodiment, the suction device 32 includes a ducted fan and a ducted fan mounting plate, and the ducted fan is mounted on the cover of the storage box 311 by the ducted fan mounting plate.
As shown in fig. 6, the first supporting side plate 312 and the second supporting side plate 314 are both of an upright trapezoidal plate-shaped structure, and two sets of rolling wheel devices are provided, and are connected between the first supporting side plate 312 and the second supporting side plate 314 and are respectively arranged at the front and the rear of the storage box 311. The first supporting side plate 312 and the second supporting side plate 314 enable the vertical projection of the adaptive rolling wheel device 33 to be outside the vertical projection of the detection vehicle body 31, so that the detection vehicle body 31 can move more stably, and the detection vehicle body 31 is prevented from toppling over.
In addition, the middle parts of the first supporting side plate 312 and the second supporting side plate 314 are provided with a hollow area, the i-shaped plate 316 penetrates through the hollow area in the middle parts of the first supporting side plate 312 and the second supporting side plate 314, and the supporting and lifting device 34 is installed at the outer sides of the first supporting side plate 312 and the second supporting side plate 314. In this embodiment, the supporting and lifting device 34 is rigidly connected to and integral with the storage box 311 via the I-shaped plate 316. And the storage box 311 forms a shock absorption structure with the adaptive rolling wheel device 33 through the first shock absorber 315 and the second shock absorber 317, so that the storage box 311 has a chassis structure adapted to a detection ring shape.
As shown in fig. 7, the rolling wheel device is an adaptive rolling wheel device 33, the adaptive rolling wheel device 33 includes a tunnel roller 331, a third damper 332, a bearing assembly, a fourth damper 336, a baffle plate, and a wheel axle 337, a shoulder is provided in the middle of the wheel axle 337, the tunnel roller 331 is mounted between the shoulder and the end of the wheel axle 337, the tunnel roller 331 is rotatably mounted on the wheel axle 337 via the bearing assembly, the third damper 332 and the fourth damper 336 are both mounted on the wheel axle 337, both ends of the third damper 332 abut against the shoulder and the bearing assembly, and both ends of the fourth damper 336 abut against the bearing assembly and the baffle plate at the end of the wheel axle 337, respectively.
Specifically, an annular groove is formed in one side of the shaft shoulder facing the third damper 332, and the end of the third damper 332 is embedded into the annular groove of the shaft shoulder; the pipeline roller 331 is a V-shaped wheel, the bearing assembly comprises a ball bearing 333, a transition shaft sleeve 334 and a linear bearing 335, the linear bearing 335 is sleeved on the wheel shaft 337, the outer ring of the linear bearing 335 is fixedly arranged on the inner annular surface of the transition shaft sleeve 334, the inner ring of the ball bearing 333 is fixedly arranged on the outer annular surface of the transition shaft sleeve 334, and the outer ring of the ball bearing 333 is fixedly arranged on the inner annular surface of the pipeline roller 331; the axial length of the transition shaft sleeve 334 is consistent with that of the linear bearing 335, the ends of the transition shaft sleeve are aligned, two groups of ball bearings 333 are arranged, and the two ball bearings 333 are respectively arranged between the transition shaft sleeve 334 and the pipeline roller 331 and close to the end face.
The pipeline gyro wheel 331 adopts the V type structure, can block and advance on the pipeline, guarantees that detection mechanism 3 does not have some squints to link firmly together with ball bearing 333, excessive axle sleeve 334 and linear bearing 335, thereby guarantee that its whole can vertically roll along the pipeline, third bumper shock absorber 332 and fourth bumper shock absorber 336 can guarantee that pipeline gyro wheel 331 can lateral shifting when longitudinal curvature takes place for the pipeline, thereby protection detection mechanism 3 can not take place to jolt and slope.
As shown in fig. 9, the winding device 35 is composed of a worm gear 351, a bearing support 352, a worm 353, a rigid coupling 354, a winding motor 355, a winding motor support 356, a winding support 357 and a winding roller 358, wherein the winding support 357 is a "U" shaped bracket, the winding roller 358 is installed in the winding support 357 through a rotating shaft, the rotating shaft extends out of the winding support 357, the worm gear 351 is installed on the rotating shaft and located outside the winding support 357, the end of the bearing is installed on the detection vehicle body 31 through the bearing support 352, the winding motor 355 is installed on the detection vehicle body 31 through the winding motor support 356, the power end of the winding motor 355 is connected with the worm 353 through the rigid coupling 354, and the worm 353 is engaged with the worm gear 351 to form transmission. The winding motor 355 outputs a large torque after being decelerated by the rigid coupling 354, the worm wheel 351, and the worm 353, and rotates the winding drum 358 to wind the traction rope 2, thereby lifting the detection mechanism 3.
As shown in fig. 10, the operation principle of the present detection mechanism 3 is as follows.
Climbing through a straight pipe: when the detection mechanism 3 crawls along the pipeline, the climbing mechanism 1 drives the traction rope to travel to a certain position at a high position, the detection mechanism 3 is suspended in the air, the ducted fan in the suction device 32 works, the thrust generated by the ducted fan enables the detection mechanism 3 to be in contact with the pipeline, and at the moment, the self-adaptive roller device is in actual contact with the pipeline. The winding motor 355 outputs large torque after being decelerated through the worm wheel 351 and the worm 353, the winding roller 358 is rotated to wind the traction rope 2, so that the detection mechanism 3 is driven to ascend, the pipeline roller 331 with the V-shaped structure can relatively fix the detection mechanism 3 on a pipeline to advance, and the detection mechanism 3 is guaranteed not to deviate. When the pipeline is longitudinally bent, the third damper 332 and the fourth damper 336 are matched with the pipeline roller 331 to move a little transversely, so that the detection mechanism 3 is ensured not to bump or tilt.
Crossing the obstacle: when a large obstacle exists in front of the detection mechanism 3, the micro electric push rods 342 in the four supporting and lifting devices 34 extend, the detection mechanism 3 is firstly lifted away from the pipeline transversely, the winding device 35 winds the traction rope 2, the traction rope 2 is shortened so as to lift the detection mechanism 3, when the front-end adaptive rolling wheel device 33 crosses the obstacle, the micro electric push rods 342 in the four supporting and lifting devices 34 contract, the traction rope 2 is shortened to continue to lift the detection mechanism 3 until the rear-end adaptive rolling wheel device 33 contacts the obstacle, at the moment, the micro electric push rods 342 in the four supporting and lifting devices 34 extend to lift the detection mechanism 3 away from the pipeline, and the traction rope 2 is shortened to continue to lift the detection mechanism 3 so as to enable the rear-end adaptive rolling wheel device 33 to cross the obstacle.
Preferably, the ultrasonic sensor 37 is installed on a shaft between the first support side plate 312 and the second support side plate 314 of the detecting mechanism 3, the ultrasonic sensor 37 is located in front of a central axis of the roller 331, and a distance from the roller 331 to the pipe is measured, thereby calculating a diameter of the pipe. If the distance from the axis of the roller 331 to the pipeline is h, and the V-shaped included angle of the roller 331 is 2 θ, the radius of the pipeline is R ═ h × sin θ.
This disconnect-type pipeline inspection robot, its detection device with scramble 1 separation of mechanism, compare the outer robot of pipeline in the past because its detection device with scramble 1 separation of mechanism, detection mechanism 3 can be stable depend on in the pipeline outside to improve the precision that detects.
The foregoing is only a preferred embodiment of the present invention, and many variations in the specific embodiments and applications of the invention may be made by those skilled in the art without departing from the spirit of the invention, which falls within the scope of the claims of this patent.
Claims (10)
1. The utility model provides a disconnect-type pipeline inspection robot which characterized in that: the clamping jaw climbing device comprises a climbing mechanism, a traction rope and a detection mechanism, wherein the climbing mechanism comprises a linear sliding module and two clamping jaw assemblies, the two clamping jaw assemblies are respectively installed at two sliding ends of the linear sliding module, the linear sliding module is used for driving the two clamping jaw assemblies to relatively approach or keep away, and the linear sliding module is matched with the two clamping jaw assemblies to realize that the climbing mechanism climbs along a pipeline;
the detection mechanism comprises a camera, an ultrasonic sensor, a detection vehicle body, a suction device, a rolling wheel device and a winding device, wherein the rolling wheel device is installed at the bottom of the detection vehicle body, the suction device, the winding device, the ultrasonic sensor and the camera are all installed on the detection vehicle body, a suction port of the suction device is formed in the bottom surface of the detection vehicle body, an exhaust port of the suction device is formed in the top surface of the detection vehicle body, the suction device is used for removing dust on the outer wall of a pipeline and adsorbing the detection mechanism to the outside of the pipeline in a pneumatic mode, and a winding end of the winding device is connected to the lateral outer wall of the linear sliding module through a traction rope; a camera in the detection mechanism shoots an appearance picture of the pipeline, and the ultrasonic sensor is used for detecting the distance from the roller to the pipeline so as to measure the diameter of the pipeline;
the detection mechanism is adsorbed outside the pipeline in a pneumatic adsorption mode through the suction device, and the climbing mechanism pulls the detection mechanism to move outside the pipeline through the traction rope.
2. The split pipe inspection robot of claim 1, wherein: two the clamping jaw subassembly is including being electric drive's first rotation module, second rotation module, third rotation module, fourth rotation module, first clamping jaw module and second clamping jaw module, and wherein two slip ends at sharp slip module are connected respectively to the base of first rotation module and second rotation module, the rotation end at first rotation module and second rotation module is connected respectively to the base of third rotation module and fourth rotation module, the rotation end at third rotation module and fourth rotation module is connected respectively to the base of first clamping jaw module and second clamping jaw module, just the flexible direction of sharp slip module is the X axle direction, the axis of rotation of first rotation module and second rotation module is the Y axle direction, the axis of rotation of third rotation module and fourth rotation module is the Z axle direction.
3. The split pipe inspection robot of claim 1, wherein: the side of the linear sliding module is provided with a rotary lifting ring module, and the end part of the traction rope is connected to the side of the linear sliding module through the rotary lifting ring module.
4. The split pipe inspection robot of claim 1, wherein: the two sides of the moving direction of the detection vehicle body are respectively provided with two supporting and lifting devices, each supporting and lifting device comprises a supporting support, a miniature electric push rod, a fork-shaped seat and a common roller wheel, the supporting supports are arranged on the side face of the detection vehicle body, the base of the miniature electric push rod is arranged on the supporting supports, the extending end of the miniature electric push rod is arranged downwards, the fork-shaped seat is arranged at the lower tail end of the miniature electric push rod, and the common roller wheels are connected into the fork-shaped seat through rotating shafts.
5. The split pipe inspection robot of claim 4, wherein: the detection vehicle body comprises a storage box, a first supporting side plate, a supporting box plate, a second supporting side plate, a first shock absorber, an I-shaped plate and a second shock absorber, wherein a suction device and a winding device are arranged in the storage box, a camera is arranged below the supporting box plate, the I-shaped plate is connected to the bottom of the storage box, the first shock absorber, the I-shaped plate, the supporting box plate and the second shock absorber penetrate through a hollow area in the middle of the first supporting side plate through a copper column, the other pair of the first shock absorber and the second shock absorber, the other end of the I-shaped plate and the other end of the supporting box plate penetrate through a hollow area in the middle of the second supporting side plate through a copper column, the first supporting side plate and the second supporting side plate are respectively positioned on two opposite sides of the storage box, the directions of the first shock absorber and the second shock absorber are vertical, the supporting and lifting devices are respectively arranged on the I-shaped plate, the rolling wheel devices and the ultrasonic ranging sensors are arranged on a shaft between the first supporting side plate and the second supporting side plate, the ultrasonic sensor can move axially with the rolling wheel device.
6. The split pipe inspection robot of claim 5, wherein: the first supporting side plate and the second supporting side plate are both of upright trapezoidal plate structures, the rolling wheel devices are arranged in two groups, and the two groups of rolling wheel devices are connected between the first supporting side plate and the second supporting side plate and are respectively arranged at the front part and the rear part of the storage box.
7. The split pipe inspection robot of claim 5, wherein: the middle parts of the first supporting side plate and the second supporting side plate are provided with hollowed-out areas, the I-shaped plate penetrates through the hollowed-out areas in the middle parts of the first supporting side plate and the second supporting side plate, and the supporting and lifting device is installed on the outer sides of the first supporting side plate and the second supporting side plate.
8. The split pipe inspection robot of any one of claims 1-7, wherein: the rolling wheel device is a self-adaptive rolling wheel device, the self-adaptive rolling wheel device comprises a pipeline roller wheel, a third shock absorber, a bearing assembly, a fourth shock absorber, a baffle and a wheel shaft, a shaft shoulder is arranged in the middle of the wheel shaft, the pipeline roller wheel is arranged between the shaft shoulder and the tail end of the wheel shaft, the pipeline roller wheel is rotatably arranged on the wheel shaft through the bearing assembly, the third shock absorber and the fourth shock absorber are sleeved on the wheel shaft, two ends of the third shock absorber are abutted against the shaft shoulder and the bearing assembly, and two ends of the fourth shock absorber are abutted against the bearing assembly and the baffle at the tail end of the wheel shaft respectively.
9. The split pipe inspection robot of claim 8, wherein: an annular groove is formed in one side, facing the third shock absorber, of the shaft shoulder, and the end part of the third shock absorber is embedded into the annular groove of the shaft shoulder; the pipeline roller is a V-shaped wheel, the bearing assembly comprises a ball bearing, a transition shaft sleeve and a linear bearing, the linear bearing is sleeved on the wheel shaft, the outer ring of the linear bearing is fixedly arranged on the inner annular surface of the transition shaft sleeve, the inner ring of the ball bearing is fixedly arranged on the outer annular surface of the transition shaft sleeve, and the outer ring of the ball bearing is fixedly arranged on the inner annular surface of the pipeline roller; the axial length of transition axle sleeve and linear bearing is unanimous and the tip aligns, ball bearing has two sets ofly, two ball bearing installs respectively and is close to terminal surface department between transition axle sleeve and the pipeline gyro wheel.
10. The split pipe inspection robot of claim 1, wherein: the coiling device comprises a worm gear, a bearing support, a worm, a rigid coupling, a coiling motor support, a coiling support and a coiling roller, wherein the coiling support is a U-shaped support, the coiling roller is arranged in the coiling support through a rotating shaft, the rotating shaft extends out of the coiling support, the worm gear is arranged on the rotating shaft and positioned outside the coiling support, the tail end of the bearing is arranged on a detection vehicle body through the bearing support, the coiling motor is arranged on the detection vehicle body through the coiling motor support, the power end of the coiling motor is connected with the worm through the rigid coupling, and the worm is meshed with the worm gear to form transmission;
the camera is arranged below a supporting box plate of the detection mechanism, shoots an appearance picture of the pipeline and transmits the picture to the computer for storage through a wireless network;
the ultrasonic sensor is arranged on a shaft of the detection mechanism between the first supporting side plate and the second supporting side plate, and the ultrasonic sensor is positioned in front of the central axis of the roller and used for measuring the distance from the roller to the pipeline, so that the diameter of the pipeline is calculated.
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| CN114234018B (en) | 2022-10-21 |
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