CN114658958B - A metal pipeline detection device - Google Patents
A metal pipeline detection device Download PDFInfo
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- CN114658958B CN114658958B CN202210292223.4A CN202210292223A CN114658958B CN 114658958 B CN114658958 B CN 114658958B CN 202210292223 A CN202210292223 A CN 202210292223A CN 114658958 B CN114658958 B CN 114658958B
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- 238000001514 detection method Methods 0.000 title claims abstract description 59
- 239000002184 metal Substances 0.000 title claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 230000007704 transition Effects 0.000 claims abstract description 43
- 239000000523 sample Substances 0.000 claims abstract description 29
- 238000009434 installation Methods 0.000 claims description 29
- 230000008878 coupling Effects 0.000 claims description 18
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- 238000005859 coupling reaction Methods 0.000 claims description 18
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 238000007689 inspection Methods 0.000 claims description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
本发明涉及金属管道检测技术领域，具体涉及一种金属管道检测装置，包括动力输出机构、辅助调整机构、过渡接头、金属探伤装置，动力输出机构、辅助调整机构、过渡接头、金属探伤装置从右往左依次设置，金属探伤装置与动力输出机构通过过渡接头连接，本发明通过设置过渡接头实现了全方位多角度方向调节，提高了金属管道检测装置的灵活性，适用于变径、弯曲管道，提高装置的通用性；通过设置辅助调整机构可实现整体形态位置的微调，使检测作业更加准确；弹簧顶杆通过滑块座向前顶压，滑块座推动横向调节杆张开将压电超声检测探头贴合管道内壁，纵向调节杆起到稳定支撑用，使得压电超声检测探头在使用过程中更加稳定，确保精确度。
The invention relates to the technical field of metal pipeline detection, in particular to a metal pipeline detection device, including a power output mechanism, an auxiliary adjustment mechanism, a transition joint, and a metal flaw detection device. Set up in sequence to the left, the metal flaw detection device and the power output mechanism are connected through a transition joint. The invention realizes all-round multi-angle direction adjustment by setting the transition joint, improves the flexibility of the metal pipeline detection device, and is suitable for variable diameter and curved pipelines. Improve the versatility of the device; the fine adjustment of the overall shape and position can be realized by setting the auxiliary adjustment mechanism, so that the detection operation is more accurate; the spring ejector rod presses forward through the slider seat, and the slider seat pushes the horizontal adjustment rod to open to open the piezoelectric ultrasonic The detection probe is attached to the inner wall of the pipeline, and the longitudinal adjustment rod acts as a stable support, making the piezoelectric ultrasonic detection probe more stable during use and ensuring accuracy.
Description
技术领域technical field
本发明涉及金属管道检测技术领域，具体涉及一种金属管道检测装置。The invention relates to the technical field of metal pipeline detection, in particular to a metal pipeline detection device.
背景技术Background technique
为保证金属管道安全运行需对其进行检测，根据检测方式不同，分为管道内检和管道外检，用于检测裂纹、腐蚀、损伤等管道问题，压电超声检测由于准确的检测出各种缺陷而被广泛使用，但有些管道埋在地下或其他特殊工作环境无法使用管道外检，一般通过压电超声探头伸入到管道内部，即可对管道内壁进行相关的检测作业，然而对于空间狭小的长距离管道，检测人员无法进入管道内部时，则无法完成相关检测任务。In order to ensure the safe operation of metal pipelines, it is necessary to detect them. According to different detection methods, they are divided into pipeline internal inspection and pipeline external inspection, which are used to detect cracks, corrosion, damage and other pipeline problems. Piezoelectric ultrasonic testing can accurately detect various However, some pipelines are buried in the ground or other special working environments cannot be used for external pipeline inspection. Generally, the piezoelectric ultrasonic probe can be inserted into the interior of the pipeline to perform related inspection operations on the inner wall of the pipeline. However, for small spaces For long-distance pipelines, inspection personnel cannot complete relevant inspection tasks when they cannot enter the interior of the pipeline.
在授权公告号为CN109488836的中国专利中公开了一种管道内壁自动探伤、碳刨与焊接机器人，通过行走机构实现各装置沿管道内壁轴线移动，主旋转电机实现各装置在管道内壁沿圆周向移动，超声波探伤装置对管道间焊缝进行超声波探伤检测，然而该装置只能事先根据对应管道直径调整其行走机构大小，仅适用于单一直径管道，如遇到变径、弯曲管道则无法使用，且无法实现转弯，方向调整等功能，在使用上具有一定局限性。In the Chinese patent with the authorized announcement number CN109488836, an automatic flaw detection, carbon planing and welding robot for the inner wall of the pipeline is disclosed. The moving mechanism realizes the movement of each device along the axis of the inner wall of the pipeline, and the main rotating motor realizes the movement of each device along the inner wall of the pipeline along the circumferential direction. , the ultrasonic flaw detection device performs ultrasonic flaw detection on the welds between pipes. However, the device can only adjust the size of its traveling mechanism according to the diameter of the corresponding pipe in advance, and it is only suitable for single-diameter pipes. Functions such as turning and direction adjustment cannot be realized, and there are certain limitations in use.
发明内容Contents of the invention
针对上述存在的问题，本发明提出了一种金属管道检测装置，通过设置过渡接头实现了全方位多角度方向调节，提高了金属管道检测装置的灵活性，适用于变径、弯曲管道，提高装置的通用性；通过设置辅助调整机构可实现整体形态位置的微调，使检测作业更加准确；弹簧顶杆通过滑块座向前顶压，滑块座推动横向调节杆张开将压电超声检测探头贴合管道内壁，纵向调节杆起到稳定支撑用，使得压电超声检测探头在使用过程中更加稳定，确保精确度。In view of the above-mentioned problems, the present invention proposes a metal pipeline detection device, which realizes all-round multi-angle direction adjustment by setting transition joints, improves the flexibility of the metal pipeline detection device, is suitable for variable diameter and curved pipelines, and improves the device Versatility; fine-tuning of the overall shape and position can be realized by setting an auxiliary adjustment mechanism, making the detection operation more accurate; the spring ejector rod presses forward through the slider seat, and the slider seat pushes the horizontal adjustment rod to open to open the piezoelectric ultrasonic detection probe Fitting the inner wall of the pipe, the longitudinal adjustment rod acts as a stable support, making the piezoelectric ultrasonic detection probe more stable during use and ensuring accuracy.
为了实现上述的目的，本发明采用以下的技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
一种金属管道检测装置，包括动力输出机构、辅助调整机构、过渡接头、金属探伤装置，动力输出机构、辅助调整机构、过渡接头、金属探伤装置从右往左依次设置，金属探伤装置与动力输出机构通过过渡接头连接，且动力输出机构包括同步动力输出机构、弹力机构、第一中心安装管，第一中心安装管上设置有弹力机构和同步动力输出机构。A metal pipeline detection device, including a power output mechanism, an auxiliary adjustment mechanism, a transition joint, and a metal flaw detection device, the power output mechanism, an auxiliary adjustment mechanism, a transition joint, and a metal flaw detection device are arranged in sequence from right to left, and the metal flaw detection device and the power output The mechanisms are connected through a transition joint, and the power output mechanism includes a synchronous power output mechanism, an elastic force mechanism, and a first central installation pipe, and the elastic force mechanism and the synchronous power output mechanism are arranged on the first central installation pipe.
优选的，同步动力输出机构包括输出电机，且输出电机的输出端连接有输出齿轮，第一中心安装管的一端转动连接有与输出齿轮相啮合的小齿轮，且小齿轮的另一端连接有过渡齿轮，第一中心安装管的末端固定连接动力架，且动力架的外侧转动连接有多组从动轮，动力架连接有连杆，且动力架通过连杆转动连接有主动轮，主动轮与从动轮的外侧套接有同步带，动力架一侧转动连接有与过渡齿轮相啮合的锥形齿轮组件，从动轮连接有与锥形齿轮组件相啮合的齿轮，弹力机构包括与第一中心安装管套接的弹力安装套，且弹力安装套的外侧转动联动连接有支撑杆，支撑杆的另一端与连杆的中间位置转动连接，第一中心安装管的外侧位于弹力安装套与端部法兰之间套接有主弹簧。Preferably, the synchronous power output mechanism includes an output motor, and the output end of the output motor is connected to an output gear, and one end of the first central mounting tube is rotatably connected to a pinion meshed with the output gear, and the other end of the pinion is connected to a transition Gear, the end of the first central installation tube is fixedly connected to the power frame, and the outer side of the power frame is connected to multiple sets of driven wheels, the power frame is connected to the connecting rod, and the power frame is connected to the driving wheel through the connecting rod. The outer side of the driving wheel is sleeved with a synchronous belt, one side of the power frame is connected with a bevel gear assembly meshing with the transition gear, and the driven wheel is connected with a gear meshing with the bevel gear assembly. The elastic installation sleeve is socketed, and the outer side of the elastic installation sleeve is connected to the support rod in a rotational linkage, the other end of the support rod is rotationally connected with the middle position of the connecting rod, and the outer side of the first central installation tube is located between the elastic installation sleeve and the end flange A main spring is socketed between them.
优选的，辅助调整机构包括、辅助动力输出机构、转向机构，第二中心安装管、辅助调整轮安装座；Preferably, the auxiliary adjustment mechanism includes an auxiliary power output mechanism, a steering mechanism, a second central mounting tube, and an auxiliary adjustment wheel mounting seat;
第二中心安装管的外侧固定设置有多组辅助调整轮安装座，且多组辅助调整轮安装座外侧皆固定设置有弹性连杆，弹性连杆的末端连接有转向机构、辅助动力输出机构。The outer side of the second center mounting tube is fixedly provided with multiple groups of auxiliary adjustment wheel mounting seats, and the outer sides of the multiple groups of auxiliary adjustment wheel mounting seats are all fixedly provided with elastic connecting rods, and the ends of the elastic connecting rods are connected with a steering mechanism and an auxiliary power output mechanism.
优选的，辅助动力输出机构包括辅助动力输出电机、电磁离合器、齿轮组件；Preferably, the auxiliary power output mechanism includes an auxiliary power output motor, an electromagnetic clutch, and a gear assembly;
弹性连杆末端固定设置有电机座，且电机座中安装有辅助动力输出电机，辅助动力输出电机的输出端连接有电磁离合器，且电磁离合器的输出端连接有齿轮组件。A motor seat is fixedly arranged at the end of the elastic connecting rod, and an auxiliary power output motor is installed in the motor seat, the output end of the auxiliary power output motor is connected with an electromagnetic clutch, and the output end of the electromagnetic clutch is connected with a gear assembly.
优选的，转向机构包括转向电机、转向齿轮、回转齿圈、转轮座；Preferably, the steering mechanism includes a steering motor, a steering gear, a slewing ring gear, and a wheel base;
电磁离合器的外侧固定设置有回转齿圈安装座，且回转齿圈安装座的顶部转动连接有回转齿圈，回转齿圈的顶部固定设置有转轮座，且转轮座的中转动连接有辅助调整轮，回转齿圈安装座的底部安装有转向电机，且转向电机的输出端延伸至回转齿圈安装座顶部连接有与回转齿圈相啮合的转向齿轮，辅助调整轮与齿轮组件相啮合。The outer side of the electromagnetic clutch is fixed with a rotary ring gear mounting seat, and the top of the rotary ring gear mounting seat is rotatably connected with a rotary ring gear. The bottom of the adjusting wheel and the slewing ring gear mounting seat is equipped with a steering motor, and the output end of the steering motor extends to the top of the slewing ring gear mounting seat and is connected with a steering gear meshed with the slewing ring gear, and the auxiliary adjusting wheel is meshed with the gear assembly.
优选的，过渡接头包括过渡接头安装座、左调整臂、右调整臂、调整电机、电机输出轴、左臂调整轮、右臂调整轮、联轴装置；Preferably, the transition joint includes a transition joint mounting seat, a left adjustment arm, a right adjustment arm, an adjustment motor, a motor output shaft, a left arm adjustment wheel, a right arm adjustment wheel, and a coupling device;
过渡接头安装座的两侧分别设置有左调整臂和右调整臂，且第二中心安装管与过渡接头安装座的端部法兰固定连接，第二中心安装管与右调整臂套接，且右调整臂的末端与第一中心安装管相连接，过渡接头安装座装有多组调整电机，且多组调整电机皆连接有电机输出轴，电机输出轴连接有联轴装置，且多组电机输出轴通过联轴装置分别连接有左臂调整轮、右臂调整轮，左臂调整轮和右臂调整轮的联轴装置安装方向相反，且左臂调整轮和左调整臂之间连接有钢丝，右臂调整轮和右调整臂之间连接钢丝，左调整臂和右调整臂皆由多个机械关节组成，且关节内部设置有弹簧。The two sides of the transition joint mounting seat are respectively provided with a left adjustment arm and a right adjustment arm, and the second central mounting pipe is fixedly connected to the end flange of the transition joint mounting seat, and the second central mounting pipe is socketed with the right adjusting arm, and The end of the right adjustment arm is connected with the first central installation pipe, and the transition joint mounting seat is equipped with multiple sets of adjustment motors, and the multiple sets of adjustment motors are connected to the motor output shaft, the motor output shaft is connected with a coupling device, and the multiple sets of motors The output shaft is respectively connected with the left arm adjustment wheel and the right arm adjustment wheel through the coupling device. The installation direction of the coupling device of the left arm adjustment wheel and the right arm adjustment wheel is opposite, and a steel wire is connected between the left arm adjustment wheel and the left adjustment arm A steel wire is connected between the right arm adjustment wheel and the right adjustment arm, the left adjustment arm and the right adjustment arm are composed of a plurality of mechanical joints, and springs are arranged inside the joints.
优选的，联轴装置包括转轮、斜面段、滚珠、复位弹簧、连接转套；Preferably, the coupling device includes a runner, an inclined section, a ball, a return spring, and a connecting sleeve;
电机输出轴的外侧固定连接有转轮，且转轮的外侧套接有连接转套，连接转套的外侧固定设置有左臂调整轮、右臂调整轮，转轮的外侧等距设置有多组斜面段，且多组斜面段与连接转套内壁之间设置有滚珠，滚珠与转轮之间设置有复位弹簧，斜面段与连接转套内壁之间距离沿复位弹簧端逐渐变大，且斜面段与连接转套内壁之间的最大距离不小于滚珠的直径。The outer side of the output shaft of the motor is fixedly connected with a runner, and the outer side of the runner is sleeved with a connecting swivel, and the outer side of the connecting swivel is fixedly provided with a left arm adjustment wheel and a right arm adjustment wheel. A set of inclined plane sections, and balls are arranged between multiple sets of inclined plane sections and the inner wall of the connecting sleeve, and a return spring is arranged between the ball and the runner, and the distance between the inclined plane section and the inner wall of the connecting sleeve gradually increases along the end of the returning spring, and The maximum distance between the inclined section and the inner wall of the connecting sleeve is not less than the diameter of the ball.
优选的，金属探伤装置包括第三中心安装管、调节安装座、弹簧顶杆、滑条、激光扫描仪、滑块座、横向调节杆、压电超声检测探头、纵向调节杆、摄像头、探头安装座；Preferably, the metal flaw detection device includes a third central installation tube, an adjustment mounting seat, a spring ejector rod, a slide bar, a laser scanner, a slider seat, a lateral adjustment rod, a piezoelectric ultrasonic detection probe, a longitudinal adjustment rod, a camera, and a probe installation seat;
过渡接头安装座通过左调整臂连接有第三中心安装管，且第三中心安装管的外侧固定设置有多组调节安装座，调节安装座连接有弹簧顶杆，且弹簧顶杆的另一端连接有滑块座，第三中心安装管的外侧固定设置有多组滑条，且滑条外侧转动连接有纵向调节杆，滑块座与滑条滑动连接，且滑块座外侧转动连接有横向调节杆，纵向调节杆的末端转动连接有探头安装座，且探头安装座上安装有压电超声检测探头，横向调节杆的末端与探头安装座转动连接，第三中心安装管的前端安装有摄像头，且摄像头通过信号连接有操作台。The transition joint mounting seat is connected to the third central mounting pipe through the left adjustment arm, and the outside of the third central mounting pipe is fixedly provided with multiple sets of adjusting mounting seats. There is a slider seat, and the outer side of the third central installation tube is fixed with multiple sets of slide bars, and the outer side of the slide bar is rotatably connected with a longitudinal adjustment rod, the slider seat is slidably connected with the slider bar, and the outer side of the slider seat is rotatably connected with a horizontal adjustment rod The end of the longitudinal adjustment rod is rotatably connected to the probe mounting base, and the piezoelectric ultrasonic detection probe is installed on the probe mounting base, the end of the horizontal adjustment rod is rotatably connected to the probe mounting base, and the front end of the third central mounting tube is equipped with a camera. In addition, the camera is connected to the console through a signal.
由于采用上述的技术方案，本发明的有益效果是：本发明通过设置过渡接头实现了全方位多角度方向调节，提高了金属管道检测装置的灵活性，适用于变径、弯曲管道，提高装置的通用性；通过设置辅助调整机构可实现整体形态位置的微调，使检测作业更加准确；弹簧顶杆通过滑块座向前顶压，滑块座推动横向调节杆张开将压电超声检测探头贴合管道内壁，纵向调节杆起到稳定支撑用，使得压电超声检测探头在使用过程中更加稳定，确保精确度。Due to the adoption of the above-mentioned technical scheme, the beneficial effects of the present invention are: the present invention realizes omni-directional and multi-angle direction adjustment by setting transition joints, improves the flexibility of the metal pipeline detection device, is suitable for variable diameter and curved pipelines, and improves the performance of the device. Versatility; the fine adjustment of the overall shape and position can be realized by setting the auxiliary adjustment mechanism, so that the detection operation is more accurate; the spring ejector rod presses forward through the slider seat, and the slider seat pushes the horizontal adjustment rod to open to attach the piezoelectric ultrasonic detection probe Fitting the inner wall of the pipeline, the longitudinal adjustment rod acts as a stable support, making the piezoelectric ultrasonic detection probe more stable during use and ensuring accuracy.
附图说明Description of drawings
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的，保护一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings that are required for the description of the embodiments. Obviously, the drawings in the following description are only for the present invention and protect some embodiments. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.
图1为本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图2为本发明的辅助调整轮结构示意图；Fig. 2 is a schematic structural view of the auxiliary adjustment wheel of the present invention;
图3为本发明辅助调整机构的结构示意图；Fig. 3 is a schematic structural view of the auxiliary adjustment mechanism of the present invention;
图4为本发明辅助动力输出机构结构示意图；Fig. 4 is a schematic structural diagram of the auxiliary power output mechanism of the present invention;
图5为本发明过渡接头的结构示意图；Fig. 5 is the structural representation of transition joint of the present invention;
图6为本发明联轴装置的结构示意图；Fig. 6 is the structural representation of shaft coupling device of the present invention;
图7为本发明金属探伤装置的结构示意图。Fig. 7 is a structural schematic diagram of the metal flaw detection device of the present invention.
图中：1、动力输出机构；11、同步动力输出机构；12、弹力机构；13、第一中心安装管；14、弹力安装套；2、辅助调整机构；21、辅助调整轮；22、辅助动力输出机构；221、辅助动力输出电机；222、电磁离合器；223、齿轮组件；23、转向机构；231、转向电机；232、转向齿轮；233、回转齿圈；234、转轮座；24、第二中心安装管；25、辅助调整轮安装座；3、过渡接头；31、渡接头安装座；32、左调整臂；33、右调整臂；34、调整电机；35、电机输出轴；36、左臂调整轮；37、右臂调整轮；38、联轴装置；381、转轮；382、斜面段；383、滚珠；384、复位弹簧；385、连接转套；4、金属探伤装置；41、第三中心安装管；42、调节安装座；43、弹簧顶杆；44、滑条；45、激光扫描仪；46、滑块座；47、横向调节杆；48、压电超声检测探头；49、纵向调节杆；410、摄像头；411、探头安装座。In the figure: 1. Power output mechanism; 11. Synchronous power output mechanism; 12. Elastic mechanism; 13. First center installation tube; 14. Elastic installation sleeve; 2. Auxiliary adjustment mechanism; 21. Auxiliary adjustment wheel; 22. Auxiliary Power output mechanism; 221, auxiliary power output motor; 222, electromagnetic clutch; 223, gear assembly; 23, steering mechanism; 231, steering motor; 232, steering gear; 233, rotary ring gear; 234, runner seat; 24, The second central installation tube; 25, auxiliary adjustment wheel mounting seat; 3, transition joint; 31, ferry joint mounting seat; 32, left adjustment arm; 33, right adjustment arm; 34, adjustment motor; 35, motor output shaft; 36 , left arm adjustment wheel; 37, right arm adjustment wheel; 38, coupling device; 381, runner; 382, slope section; 383, ball; 384, return spring; 385, connecting sleeve; 41. The third central installation tube; 42. Adjusting the mounting seat; 43. Spring ejector rod; 44. Slide bar; 45. Laser scanner; 46. Slider seat; 47. Horizontal adjustment rod; 48. Piezoelectric ultrasonic detection probe ; 49, a longitudinal adjustment rod; 410, a camera; 411, a probe mount.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例，对本发明实施例中的技术方案进行清楚、完整地描述。基于本发明的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
如图1-图7所示，一种金属管道检测装置，包括动力输出机构1、辅助调整机构2、过渡接头3、金属探伤装置4从右往左依次设置，动力输出机构1、辅助调整机构2、过渡接头3、金属探伤装置4，金属探伤装置4与动力输出机构1通过过渡接头3连接，且动力输出机构1包括同步动力输出机构11、弹力机构12、第一中心安装管13，第一中心安装管13上设置有弹力机构12和同步动力输出机构11。As shown in Figures 1-7, a metal pipeline detection device includes a power output mechanism 1, an auxiliary adjustment mechanism 2, a transition joint 3, and a metal flaw detection device 4 arranged in sequence from right to left, and the power output mechanism 1 and auxiliary adjustment mechanism 2. The transition joint 3, the metal flaw detection device 4, the metal flaw detection device 4 is connected with the power output mechanism 1 through the transition joint 3, and the power output mechanism 1 includes a synchronous power output mechanism 11, an elastic force mechanism 12, a first central installation pipe 13, and a second A central installation tube 13 is provided with an elastic force mechanism 12 and a synchronous power output mechanism 11 .
同步动力输出机构11包括输出电机，且输出电机的输出端连接有输出齿轮，第一中心安装管13的一端转动连接有与输出齿轮相啮合的小齿轮，且小齿轮的另一端连接有过渡齿轮，第一中心安装管13的末端固定连接动力架，且动力架的外侧转动连接有多组从动轮，动力架连接有连杆，且动力架通过连杆转动连接有主动轮，主动轮与从动轮的外侧套接有同步带，动力架一侧转动连接有与过渡齿轮相啮合的锥形齿轮组件，从动轮连接有与锥形齿轮组件相啮合的齿轮，弹力机构12包括与第一中心安装管13套接的弹力安装套14，且弹力安装套14的外侧转动联动连接有支撑杆，支撑杆的另一端与连杆的中间位置转动连接，第一中心安装管13的外侧位于弹力安装套14与端部法兰之间套接有主弹簧。The synchronous power output mechanism 11 includes an output motor, and the output end of the output motor is connected with an output gear, and one end of the first central installation tube 13 is rotatably connected with a pinion meshed with the output gear, and the other end of the pinion is connected with a transition gear , the end of the first central mounting pipe 13 is fixedly connected to the power frame, and the outer side of the power frame is rotatably connected to multiple groups of driven wheels, the power frame is connected to a connecting rod, and the power frame is rotatably connected to a driving wheel through the connecting rod. The outer side of the driving wheel is sleeved with a synchronous belt, one side of the power frame is connected with a bevel gear assembly meshed with the transition gear, the driven wheel is connected with a gear meshed with the bevel gear assembly, and the elastic mechanism 12 includes The tube 13 is socketed with an elastic installation sleeve 14, and the outer side of the elastic installation sleeve 14 is connected to a support rod in a rotational linkage, and the other end of the support rod is rotationally connected with the middle position of the connecting rod. The outer side of the first central installation tube 13 is located A main spring is sleeved between 14 and the end flange.
辅助调整机构2包括、辅助动力输出机构22、转向机构23，第二中心安装管24、辅助调整轮安装座25；The auxiliary adjustment mechanism 2 includes an auxiliary power output mechanism 22, a steering mechanism 23, a second center mounting pipe 24, and an auxiliary adjustment wheel mounting seat 25;
第二中心安装管24的外侧固定设置有多组辅助调整轮安装座25，且多组辅助调整轮安装座25外侧皆固定设置有弹性连杆，弹性连杆的末端连接有转向机构23、辅助动力输出机构22。The outer side of the second center mounting pipe 24 is fixedly provided with multiple groups of auxiliary adjustment wheel mounting seats 25, and the outer sides of the multiple groups of auxiliary adjustment wheel mounting seats 25 are all fixedly provided with elastic connecting rods, and the ends of the elastic connecting rods are connected with steering mechanisms 23, auxiliary Power take-off mechanism 22.
辅助动力输出机构22包括辅助动力输出电机221、电磁离合器222、齿轮组件223；The auxiliary power output mechanism 22 includes an auxiliary power output motor 221, an electromagnetic clutch 222, and a gear assembly 223;
弹性连杆末端固定设置有电机座，且电机座中安装有辅助动力输出电机221，辅助动力输出电机221的输出端连接有电磁离合器222，且电磁离合器222的输出端连接有齿轮组件223。The end of the elastic connecting rod is fixedly provided with a motor seat, and an auxiliary power output motor 221 is installed in the motor seat, the output end of the auxiliary power output motor 221 is connected with an electromagnetic clutch 222 , and the output end of the electromagnetic clutch 222 is connected with a gear assembly 223 .
转向机构23包括转向电机231、转向齿轮232、回转齿圈233、转轮座234；The steering mechanism 23 includes a steering motor 231, a steering gear 232, a rotary ring gear 233, and a wheel base 234;
电磁离合器222的外侧固定设置有回转齿圈安装座，且回转齿圈安装座的顶部转动连接有回转齿圈233，回转齿圈233的顶部固定设置有转轮座234，且转轮座234的中转动连接有辅助调整轮21，回转齿圈安装座的底部安装有转向电机231，且转向电机231的输出端延伸至回转齿圈安装座顶部连接有与回转齿圈233相啮合的转向齿轮232，辅助调整轮21与齿轮组件223相啮合。The outer side of the electromagnetic clutch 222 is fixedly provided with a rotary ring gear mounting seat, and the top of the rotary ring gear mounting seat is rotatably connected with a rotary ring gear 233, and the top of the rotary ring gear 233 is fixedly provided with a runner seat 234, and the top of the rotary wheel seat 234 Auxiliary adjustment wheel 21 is connected to the middle rotation, and a steering motor 231 is installed on the bottom of the rotary ring gear mounting seat, and the output end of the steering motor 231 extends to the top of the rotary ring gear mounting seat, and a steering gear 232 meshing with the rotary ring gear 233 is connected. , the auxiliary adjustment wheel 21 meshes with the gear assembly 223 .
辅助调整轮21在电磁离合器222作用下，通过辅助动力输出电机221可以在金属管道内壁调整检测装置的形态，通过转向电机231调整辅助调整轮21的方向，实现微调，电磁离合器222不作用时，辅助调整轮21跟随动力输出机构1的动力输出轮自由的前进后退。The auxiliary adjustment wheel 21 is under the action of the electromagnetic clutch 222, and the form of the detection device can be adjusted on the inner wall of the metal pipe through the auxiliary power output motor 221, and the direction of the auxiliary adjustment wheel 21 is adjusted by the steering motor 231 to realize fine adjustment. When the electromagnetic clutch 222 is not active, The auxiliary adjusting wheel 21 follows the power output wheel of the power output mechanism 1 to move forward and backward freely.
过渡接头3包括过渡接头安装座31、左调整臂32、右调整臂33、调整电机34、电机输出轴35、左臂调整轮36、右臂调整轮37、联轴装置38；The transition joint 3 includes a transition joint mounting seat 31, a left adjustment arm 32, a right adjustment arm 33, an adjustment motor 34, a motor output shaft 35, a left arm adjustment wheel 36, a right arm adjustment wheel 37, and a coupling device 38;
过渡接头安装座31的两侧分别设置有左调整臂32和右调整臂33，且第二中心安装管24与过渡接头安装座31的端部法兰固定连接，第二中心安装管24与右调整臂33套接，且右调整臂33的末端与第一中心安装管13相连接，过渡接头安装座31装有多组调整电机34，且多组调整电机34皆连接有电机输出轴35，电机输出轴35连接有联轴装置38，且多组电机输出轴35通过联轴装置38分别连接有左臂调整轮36、右臂调整轮37，左臂调整轮36和右臂调整轮37的联轴装置38安装方向相反，且左臂调整轮36和左调整臂32之间连接有钢丝，右臂调整轮37和右调整臂33之间连接钢丝，左调整臂32和右调整臂33皆由多个机械关节组成，且关节内部设置有弹簧。Both sides of the transition joint mount 31 are respectively provided with a left adjustment arm 32 and a right adjustment arm 33, and the second central installation pipe 24 is fixedly connected with the end flange of the transition joint mount 31, and the second central installation pipe 24 is connected to the right The adjustment arm 33 is socketed, and the end of the right adjustment arm 33 is connected to the first central installation pipe 13. The transition joint mounting seat 31 is equipped with multiple sets of adjustment motors 34, and the multiple sets of adjustment motors 34 are connected to the motor output shaft 35. Motor output shaft 35 is connected with coupling device 38, and multiple groups of motor output shafts 35 are respectively connected with left arm adjustment wheel 36, right arm adjustment wheel 37 by coupling device 38, left arm adjustment wheel 36 and right arm adjustment wheel 37. The installation direction of shaft coupling 38 is opposite, and a steel wire is connected between the left arm adjustment wheel 36 and the left adjustment arm 32, and a steel wire is connected between the right arm adjustment wheel 37 and the right adjustment arm 33, and the left adjustment arm 32 and the right adjustment arm 33 are both It consists of multiple mechanical joints, and springs are arranged inside the joints.
联轴装置38包括转轮381、斜面段382、滚珠383、复位弹簧384、连接转套385；The shaft coupling 38 includes a runner 381, an inclined plane section 382, a ball 383, a return spring 384, and a connecting sleeve 385;
电机输出轴35的外侧固定连接有转轮381，且转轮381的外侧套接有连接转套385，连接转套385的外侧固定设置有左臂调整轮36、右臂调整轮37，转轮381的外侧等距设置有多组斜面段382，且多组斜面段382与连接转套385内壁之间设置有滚珠383，滚珠383与转轮381之间设置有复位弹簧384，斜面段382与连接转套385内壁之间距离沿复位弹簧384端逐渐变大，且斜面段382与连接转套385内壁之间的最大距离不小于滚珠383的直径。The outer side of the motor output shaft 35 is fixedly connected with a runner 381, and the outer side of the runner 381 is sleeved with a connecting swivel 385, and the outer side of the connecting swivel 385 is fixedly provided with a left arm adjustment wheel 36, a right arm adjustment wheel 37, and the runner The outside of 381 is equidistantly provided with multiple groups of inclined plane sections 382, and balls 383 are arranged between the multiple groups of inclined plane sections 382 and the inner wall of connecting swivel sleeve 385, and a return spring 384 is arranged between the balls 383 and the running wheel 381, and the inclined plane sections 382 and The distance between the inner walls of the connecting swivel 385 gradually increases along the end of the return spring 384 , and the maximum distance between the slope section 382 and the inner wall of the connecting swivel 385 is not less than the diameter of the ball 383 .
当调整电机34逆时针转动时，电机输出轴35带动转轮381转动，由于滚珠383卡住转轮381的斜面段和转套385内壁，转轮381带动连接转套385转动，连接转套38带动右臂调整轮37转动，而此时左臂调整轮36不动；当调整电机34顺时针转动时，右臂调整轮37不动，左臂调整轮36转动，进而带动钢丝使对应调整臂弯曲调整方向。When the adjustment motor 34 rotates counterclockwise, the motor output shaft 35 drives the runner 381 to rotate. Since the ball 383 blocks the inclined section of the runner 381 and the inner wall of the rotary sleeve 385, the runner 381 drives the connecting rotary sleeve 385 to rotate, and the connecting rotary sleeve 38 Drive the right arm adjustment wheel 37 to rotate, and now the left arm adjustment wheel 36 does not move; when the adjustment motor 34 rotates clockwise, the right arm adjustment wheel 37 does not move, and the left arm adjustment wheel 36 rotates, and then drives the steel wire to make the corresponding adjustment arm Bend to adjust direction.
过渡接头3可以调节前端金属探伤装置4及后方动力输出机构1的方向，可适应复杂弯曲管道，调整电机34可单独转动调整一侧方向也可以联动实现多方向调整，实现了全方位多角度方向调节，提高了装置的灵活性。The transition joint 3 can adjust the direction of the front metal flaw detection device 4 and the rear power output mechanism 1, which can adapt to complex curved pipelines. The adjustment motor 34 can be rotated independently to adjust the direction of one side, and can also be linked to achieve multi-directional adjustment, realizing all-round and multi-angle directions. Adjustment improves the flexibility of the device.
金属探伤装置4包括第三中心安装管41、调节安装座42、弹簧顶杆43、滑条44、激光扫描仪45、滑块座46、横向调节杆47、压电超声检测探头48、纵向调节杆49、摄像头410、探头安装座411；The metal flaw detection device 4 includes a third central installation tube 41, an adjustment mounting seat 42, a spring ejector rod 43, a slide bar 44, a laser scanner 45, a slider seat 46, a horizontal adjustment rod 47, a piezoelectric ultrasonic detection probe 48, a longitudinal adjustment Rod 49, camera 410, probe mount 411;
过渡接头安装座31通过左调整臂32连接有第三中心安装管41，且第三中心安装管41的外侧固定设置有多组调节安装座42，调节安装座42连接有弹簧顶杆43，且弹簧顶杆43的另一端连接有滑块座46，第三中心安装管41的外侧固定设置有多组滑条44，且滑条44外侧转动连接有纵向调节杆49，滑块座46与滑条44滑动连接，且滑块座46外侧转动连接有横向调节杆47，纵向调节杆49的末端转动连接有探头安装座411，且探头安装座411上安装有压电超声检测探头48，横向调节杆47的末端与探头安装座411转动连接，第三中心安装管41的前端安装有摄像头410，且摄像头410通过信号连接有操作台。The transition joint mounting seat 31 is connected with a third central mounting pipe 41 through the left adjustment arm 32, and the outside of the third central mounting pipe 41 is fixedly provided with multiple groups of adjusting mounting seats 42, and the adjusting mounting seats 42 are connected with spring ejector rods 43, and The other end of spring push rod 43 is connected with slide block seat 46, and the outside of the 3rd central installation pipe 41 is fixedly provided with multiple sets of slide bars 44, and slide bar 44 outside rotation is connected with longitudinal adjustment rod 49, and slide block seat 46 is connected with slide bar. The bar 44 is slidingly connected, and the outer side of the slider seat 46 is rotatably connected with a horizontal adjustment rod 47, and the end of the longitudinal adjustment rod 49 is rotatably connected with a probe mounting seat 411, and a piezoelectric ultrasonic detection probe 48 is installed on the probe mounting seat 411 for horizontal adjustment. The end of the rod 47 is rotatably connected to the probe mounting base 411, and the front end of the third central mounting tube 41 is equipped with a camera 410, and the camera 410 is connected to the console through a signal.
通过摄像头410与操作台信号连接，实现可视化操作，激光扫描仪45对管道内壁进行激光扫描，并通过软件生成可视化图片，将管道内部焊缝生成三维图作为管道质量评测提供参考，压电超声检测探头48贴合管道内壁进行检测作业；激光扫描仪45可替换成激光探伤仪用于检测金属管道内壁的表面缺陷。Through the signal connection between the camera 410 and the operation console, the visual operation is realized. The laser scanner 45 performs laser scanning on the inner wall of the pipeline, and generates a visual image through software, and generates a three-dimensional image of the internal weld seam of the pipeline as a reference for pipeline quality evaluation. Piezoelectric ultrasonic detection The probe 48 is attached to the inner wall of the pipeline for inspection; the laser scanner 45 can be replaced by a laser flaw detector for detecting surface defects on the inner wall of the metal pipeline.
本发明的使用方法：在运行检测过程中，金属探伤装置4在动力输出机构1推动下前进或后退，在辅助调整机构2作用下可实现在金属管壁内进行旋转调整方向，弹簧顶杆43通过滑块座46向前顶压，滑块座46推动横向调节杆47张开将压电超声检测探头48贴合管道内壁，纵向调节杆49起到稳定支撑用，使得压电超声检测探头48在使用过程中更加稳定，确保精确度。动力输出机构1提供同步前进动力，推动金属探伤装置4在管道内前进进行检测，通过辅助调整机构2实现局部位置的调整及在管道内进行旋转检测作业，过渡接头3可以实现弯曲多向调整，调整金属探伤装置4的角度及辅助调整机构2和动力输出机构1的角度。The use method of the present invention: during the operation detection process, the metal flaw detection device 4 is pushed forward or backward by the power output mechanism 1, and can be rotated and adjusted in the metal pipe wall under the action of the auxiliary adjustment mechanism 2, and the spring ejector rod 43 Pressed forward by the slider seat 46, the slider seat 46 pushes the horizontal adjustment rod 47 to open to fit the piezoelectric ultrasonic detection probe 48 to the inner wall of the pipeline, and the longitudinal adjustment rod 49 acts as a stable support, so that the piezoelectric ultrasonic detection probe 48 It is more stable during use and ensures accuracy. The power output mechanism 1 provides synchronous forward power, pushes the metal flaw detection device 4 to advance in the pipeline for detection, realizes local position adjustment and rotation detection operations in the pipeline through the auxiliary adjustment mechanism 2, and the transition joint 3 can realize bending multi-directional adjustment, Adjust the angle of the metal flaw detection device 4 and the angles of the auxiliary adjustment mechanism 2 and the power output mechanism 1 .
在本说明书的描述中，参考术语“一个实施例”、“示例”、“具体示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料过着特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, descriptions referring to the terms "one embodiment", "example", "specific example" and the like mean that the specific features, structures, materials and characteristics described in conjunction with the embodiment or example are included in the scope of the present invention. In at least one embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
以上公开的本发明优选实施例只是用于帮助阐述本发明。优选实施例并没有详尽叙述所有的细节，也不限制该发明仅为的具体实施方式。显然，根据本说明书的内容，可作很多的修改和变化。本说明书选取并具体描述这些实施例，是为了更好地解释本发明的原理和实际应用，从而使所属技术领域技术人员能很好地理解和利用本发明。本发明仅受权利要求书及其全部范围和等效物的限制。The preferred embodiments of the invention disclosed above are only to help illustrate the invention. The preferred embodiments do not exhaust all details nor limit the invention to only specific embodiments. Obviously, many modifications and variations can be made based on the contents of this specification. This description selects and specifically describes these embodiments in order to better explain the principle and practical application of the present invention, so that those skilled in the art can well understand and utilize the present invention. The invention is to be limited only by the claims, along with their full scope and equivalents.
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Application publication date: 20220624 Assignee: Dangtu Zhenxing Water Conservancy Engineering Co.,Ltd. Assignor: ANHUI University OF TECHNOLOGY Contract record no.: X2024980009691 Denomination of invention: A metal pipeline detection device Granted publication date: 20230718 License type: Exclusive License Record date: 20240718 |