CN115235708A - Fluid pipeline leak detection robot - Google Patents
Fluid pipeline leak detection robot Download PDFInfo
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- CN115235708A CN115235708A CN202210871668.8A CN202210871668A CN115235708A CN 115235708 A CN115235708 A CN 115235708A CN 202210871668 A CN202210871668 A CN 202210871668A CN 115235708 A CN115235708 A CN 115235708A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/40—Investigating fluid-tightness of structures by using electric means, e.g. by observing electric discharges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/38—Investigating fluid-tightness of structures by using light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
Abstract
The invention discloses a fluid pipeline leakage detection robot, which relates to the technical field of pipeline leakage detection and comprises the following components: the device comprises a full-circle clamping ring, a detection sensor, a driving mechanism, a self-propelled power device and a sliding mechanism, wherein the full-circle clamping ring is arranged outside a pipeline in a sleeved mode, the detection sensor is arranged on the full-circle clamping ring, the driving mechanism is arranged on the full-circle clamping ring and used for driving the detection sensor to rotate in an annular mode with the circle center of the full-circle clamping ring as the center, the self-propelled power device drives the full-circle clamping ring to move on the pipeline, and the sliding mechanism is used for moving the full-circle clamping ring on a fluid pipeline and automatically clamping the device. The leak detection robot can realize automatic flaw detection of the periphery of the pipeline, so that an operator can timely and accurately judge the damaged part outside the pipeline, and the whole circular clamping ring can automatically clamp and separate the pipeline, thereby realizing intelligent identification starting and greatly improving the intelligent automation degree of the robot.
Description
Technical Field
The invention relates to the technical field of pipeline leak detection, in particular to a fluid pipeline leak detection robot, and particularly relates to a novel leak detection device for external detection of a fluid pipeline.
Background
Fluid conduits are fluid transport devices for transporting gases, liquids or entrained solid particles, which are connected by pipes, pipe couplings, valves, etc. Many fluid pipelines usually adopt steel pipes or other alloy pipes, but the problems of corrosion, cracks and the like can occur in the use process of metal pipelines, particularly at the positions of welded joints of the pipelines, the problems are more obvious, and workers often need to detect and detect the pipelines regularly or irregularly so as to ensure the use safety of the fluid pipelines and prevent serious conditions such as fluid leakage or pipeline burst. At present, the technology, means and device for detecting the pipeline leakage are various, most of the robots enter the pipeline, the robots are particularly applied to buried pipelines, the internal inspection robot mainly comprises a self-driving device and a detection sensor, but the efficiency and the effect of the internal inspection robot are not good in the implementation process due to the fact that the harsh environment and uncertain factors of the internal environment of the pipeline are too many, and the operation cost is high.
Disclosure of Invention
Based on the above, the present invention provides a robot for detecting leakage of an open-air fluid pipeline, especially a long fluid pipeline with a large outer diameter, and specifically, the robot for detecting leakage of a pipeline comprises:
the self-propelled power device comprises a set of full-circle clamp ring arranged outside the pipeline, a detection sensor arranged on the full-circle clamp ring, a driving mechanism arranged on the full-circle clamp ring and used for driving the detection sensor to rotate in the circumferential direction by taking the circle center of the full-circle clamp ring as the center, a self-propelled power device driving the full-circle clamp ring to move on the pipeline, and a sliding mechanism used for moving the full-circle clamp ring on the fluid pipeline, wherein the self-propelled power device is preferably a modularized transverse and longitudinal moving platform.
Furthermore, the full-circle clamp ring is composed of a pair of semi-circle clamp rings, the two semi-circle clamp rings can be respectively butted through two ends to form a full-circle clamp ring, the full-circle clamp ring is sleeved outside the fluid pipeline in a matching manner, a transverse connecting plate is arranged on the lateral part of one end of each semi-circle clamp ring, a first through hole is formed in each connecting plate, a bolt assembly is arranged in each first through hole, and one end of each of the two semi-circle clamp rings is connected through the corresponding connecting plate and the corresponding bolt assembly; the lateral part of the other end of the semicircular clamping ring is provided with a transverse rotating rod, the side of the whole circular clamping ring is provided with a linkage part, the outer ends of the upper rotating rod and the lower rotating rod are respectively hinged with the top end and the bottom end of the linkage part, the top of the self-propelled power device is provided with a supporting column, the top end of the supporting column is hinged with the middle part of the linkage part, and the supporting column is arranged by adopting an electric telescopic rod; the detection sensor is arranged on the side part of the semicircular clamping ring, when the two semicircular clamping rings are connected to form a whole circular clamping ring, the detection sensor can rotate and move through the arranged driving mechanism, the moving track of the detection sensor is circular motion taking the circle center of the whole circular clamping ring as the center, and the detection end of the detection sensor correspondingly faces the fluid pipeline; the sliding mechanism is composed of a plurality of pulley structures, the plurality of pulley structures are arranged on the inner ring of the semicircular clamping ring in an annular array mode by taking the circle center of the semicircular clamping ring as the center, each pulley structure comprises a first pulley, and when the whole circular clamping ring is sleeved on the fluid pipeline in a matched mode, the first pulleys are abutted against the outer portion of the fluid pipeline; a semicircular cavity communicated with two ends of the semicircular clamping ring is formed in the semicircular clamping ring, a semicircular arc groove is formed in the side part of one side of the semicircular clamping ring, and the semicircular arc groove is communicated with the semicircular cavity; when the two semicircular clamping rings are connected to form a full-circle clamping ring, the two semicircular cavities form a full-circle cavity, and the two semicircular arc grooves form a full-circle arc groove;
the drive mechanism includes: the power output shaft of the first motor penetrates through the semicircular clamping ring to the semicircular cavity; a semicircular gear ring and a semicircular ring which are arranged in the semicircular cavity; the inner gear is connected to the power output end of the first motor and is positioned in the semicircular cavity; and a support structure disposed in the semi-circular cavity; when the two semicircular clamping rings are connected to form a whole circular clamping ring, the end parts of the two semicircular rotating rings in the semicircular rotating ring are just butted to form a whole circular rotating ring, and the width of the whole circular rotating ring is just matched with the width of the semicircular cavity; the inner ring of the semicircular toothed ring is provided with a tooth groove, the inner gear is positioned between the semicircular toothed ring and the semicircular ring, and the inner gear is meshed and connected with the tooth groove on the inner ring of the semicircular toothed ring; the supporting structure comprises a plurality of outer supporting wheels which are abutted and supported with the outer ring of the semicircular gear ring and a plurality of inner supporting wheels which are abutted and supported with the inner ring of the semicircular gear ring; the outer supporting wheels and the inner supporting wheels are arranged in an annular array by taking the circle center of the whole circular clamping ring as the center; the detection sensor is connected with the full-circle rotating ring and is driven by the full-circle rotating ring to rotate.
Furthermore, a plurality of grooves are formed in the inner ring of the semicircular clamping ring, the first pulley is arranged in the grooves, the first supporting parts are arranged on the inner ring of the semicircular clamping ring on two sides of each groove, the center of the first pulley is provided with a rotating shaft, and the end part of the rotating shaft is rotatably connected to the first supporting parts on the corresponding sides.
Furthermore, the outer supporting wheel comprises a first supporting part and a second pulley which is rotatably connected to one end of the second supporting part, the other end of the second supporting part is fixedly connected to the outer side wall of the semicircular cavity, and the second pulley is abutted to the outer ring of the semicircular gear ring; the inner supporting wheel comprises a third supporting part and a third pulley which is rotatably connected to one end of the third supporting part, the other end of the third supporting part is fixedly connected to the inner side wall of the semicircular cavity, and the third pulley is abutted to the inner ring of the semicircular cavity.
Further, the leak detection robot further includes:
the sleeve seat is used for clamping the detection sensor, the sleeve seat is connected with a strip-shaped plate through a connecting rod arranged on the side portion of the sleeve seat, the connecting rod penetrates through the semicircular arc groove, the inner end of the connecting rod is fixedly connected with the middle portion of the strip-shaped plate, a threaded hole is formed in the side portion of the sleeve seat, a fastening bolt is connected into the threaded hole, the detection sensor can be inserted into the sleeve seat in a matched mode, and the detection sensor can be abutted and fixed through the fastening bolt.
As an improved scheme of the invention, the linkage piece is replaced by an automatic clamping device, and the automatic clamping device comprises a box body, an upper rotating shaft and a lower rotating shaft which are symmetrically arranged in the box body, an upper gear and a lower gear, an upper U-shaped rod and a lower U-shaped rod, a second motor and a rack; the bottom of the box body is connected to the top end of a supporting column, two ends of an upper rotating shaft and two ends of a lower rotating shaft are respectively and vertically connected with the inner wall of the box body, one end of the upper rotating shaft or one end of the lower rotating shaft extend to the outer side of the box body, a second motor is arranged outside the box body, the power output end of the second motor is connected with the outer end of the upper rotating shaft or the outer end of the lower rotating shaft, the upper rotating shaft is arranged right above the lower rotating shaft, an upper gear is fixedly sleeved at the middle position of the upper rotating shaft, a lower gear is fixedly sleeved at the middle position of the lower rotating shaft, second through holes are formed in the central positions of the left side part and the right side part of the box body, a rack horizontally penetrates through the second through holes on two sides, the rack comprises an upper tooth groove and a lower tooth groove, the upper tooth groove is meshed with the upper gear, the lower tooth groove is meshed with the lower gear, a touch switch is arranged at one end of the rack, and the touch switch is used for controlling the starting and stopping of the second motor; the box body on the two sides of the upper side and the lower side of the second through hole is respectively provided with an L-shaped rotary groove, the L-shaped rotary grooves are communicated into the inner cavity of the box body, the two ends of the upper U-shaped rod penetrate through the L-shaped rotary grooves on the upper side and are fixedly connected with the upper rotating shaft in the box body, the upper gear is positioned between the two ends of the upper U-shaped rod, the two ends of the lower U-shaped rod penetrate through the L-shaped rotary grooves on the lower side and are fixedly connected with the lower rotating shaft in the box body, the lower gear is positioned between the two ends of the lower U-shaped rod, and the middle parts of the upper U-shaped rod and the lower U-shaped rod are respectively connected with the rotary rods on the two semicircular clamping rings.
Further, the leak detection robot further includes:
the controller and siren, the siren setting is on controller or semicircle clamp ring, first motor, second motor, touch switch, detection sensor, siren all pass through wire electric connection or short distance wireless communication with the controller and are connected.
By the aid of the fluid pipeline detection device, a user can realize intelligent detection on a fluid pipeline, specifically, the self-propelled power device is controlled to drive the robot to lean against the pipeline, and meanwhile, the self-propelled fluid pipeline detection device has the function of driving the whole circular clamping ring to slide on the pipeline, so that the detection position of the whole circular clamping ring on the pipeline is adjusted;
the structural design of the linkage part hinged to the top end of the support column, the rotating rod respectively hinged to two ends of the linkage part and the semicircular clamping ring connected to one end of the rotating rod is convenient for the whole-circle clamping ring to clamp the pipeline and adjust the clamping angle position of the whole-circle clamping ring to the pipeline, and the device can be applied to fluid pipelines in various states and heights;
the arrangement of the structures such as the whole circular clamping ring, the detection sensor, the driving mechanism, the control switch, the alarm and the like can realize automatic flaw detection of the periphery of the pipeline, so that an operator can timely and accurately judge the damaged part of the outside of the pipeline;
due to the arrangement of the automatic positioning and clamping device, the whole circular clamping ring can automatically clamp and separate the pipeline, the intelligent identification starting is realized, and the intelligent automation degree of the robot is greatly improved;
therefore, the leak detection robot has the effects of automatic intelligence, time and labor saving, accurate leak detection position and the like, and has unique advantages and application occasions compared with the traditional internal detection robot.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view (separation) of a leak detection robot in example 1;
FIG. 2 is a schematic structural view (clamping) of the leak detection robot in embodiment 1;
FIG. 3 is a schematic structural diagram of the leak detection robot in example 1 (height adjustment of the clamping height);
FIG. 4 is an internal sectional view of the full-circle clip ring of embodiment 1;
FIG. 5 is an enlarged view of a portion of FIG. 4 at A;
FIG. 6 is a schematic perspective view (front view) of the full-circle clamp ring of example 1;
FIG. 7 is a schematic perspective view of a semicircular clip ring in example 1;
FIG. 8 is a schematic perspective view (rear view) of the full-circle clip ring in example 1;
FIG. 9 is a schematic structural diagram of a leak detection robot in example 3 (flush joint with a pipeline before clamping);
FIG. 10 is a schematic view of the internal structure of the automatic clamping apparatus according to embodiment 3;
fig. 11 is an external structural view of the automatic clamping apparatus according to embodiment 3;
FIG. 12 is a perspective view showing the connection between the upper and lower rotary shafts, the upper and lower gears, and the upper and lower U-shaped levers according to embodiment 3;
FIG. 13 is a schematic view of the leak detection robot in example 3 (touch switch abutting against the pipe activates the second motor);
FIG. 14 is a schematic structural view of the leak detection robot in example 3 (after clamping);
labeled in the figure as:
1. a semicircular clamping ring; 101. a connecting plate; 102. a first through hole; 103. a bolt assembly; 104. a rotating rod; 105. a linkage; 106. a groove; 107. a first pulley; 108. a semicircular cavity; 109. a semicircular arc groove;
2. a self-propelled power plant;
3. a support column;
4. a detection sensor;
5. a first motor; 6. a semicircular toothed ring; 7. a semicircular ring; 8. an inner gear; 9. a strip plate; 10. a second pulley; 11. a second support portion; 12. a third pulley; 13. a third support portion; 14. a sleeve seat;
15. an automatic clamping device; 1501. a box body; 1502. an upper rotating shaft; 1503. a lower rotating shaft; 1504. a second motor; 1505. an upper gear; 1506. a lower gear; 1507. a rack; 1508. an upper U-shaped bar; 1509. a lower U-shaped bar; 1510. a second perforation; 1511. a touch switch; 1512. an L-shaped rotary groove;
16. a pipeline.
Detailed Description
In order to make the objects, 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 with reference to the drawings in the embodiments of the present invention.
Example 1
Referring to fig. 1 to 8, this embodiment provides a fluid pipeline leak detection robot, which mainly includes a set of full-circle clamp rings disposed outside a pipeline 16, a detection sensor 4 disposed on the full-circle clamp rings, a driving mechanism disposed on the full-circle clamp rings and used for driving the detection sensor 4 to rotate around the center of the full-circle clamp rings, and a self-propelled power device 2 driving the full-circle clamp rings to move on the pipeline 16, where the self-propelled power device 2 is preferably a modular horizontal and vertical moving platform (vehicle).
In view of the above, the leak detection robot of this embodiment specifically includes:
the device comprises a pair of semicircular clamping rings 1, wherein the two semicircular clamping rings 1 can be respectively butted through two ends to form a whole-circle clamping ring, the whole-circle clamping ring is sleeved outside a fluid pipeline 16 in a matching manner, a transverse connecting plate 101 is arranged on the side part of one end of each semicircular clamping ring 1, a first through hole 102 is formed in each connecting plate 101, a bolt assembly 103 is arranged in each first through hole 102, and one ends of the two semicircular clamping rings 1 are connected through the connecting plates 101 and the bolt assemblies 103 which are respectively arranged on the same side; the lateral part of the other end of each semicircular clamping ring 1 is provided with a transverse rotating rod 104, a linkage part 105 is arranged on the lateral side of each full-circle clamping ring, the outer ends of the upper rotating rod 104 and the lower rotating rod 104 are hinged with the top end and the bottom end of the linkage part 105 respectively, so that the relative rotation of the two semicircular clamping rings 1 on the linkage part 105 is realized, furthermore, the top of the self-propelled power device 2 is provided with a support column 3, the top ends of the support columns 3 are hinged with the middle part of the linkage part 105, the structure design is convenient for the clamping of the full-circle clamping rings on the pipeline 16 and the adjustment of the clamping angle position of the full-circle clamping rings on the pipeline 16, and the self-propelled power device can be applied to fluid pipelines in various states and heights.
A detection sensor 4, detection sensor 4 sets up on one of them semicircle clamp ring 1, when two semicircle clamp rings 1 connect and form a whole circle clamp ring, detection sensor 4 can be through the actuating mechanism rotary motion that is equipped with, and the moving track of detection sensor 4 is with the circular motion of doing as the center with the centre of a circle of whole circle clamp ring, detection sensor 4 sets up at semicircle clamp ring 1 lateral part, the sense terminal of detection sensor 4 corresponds towards fluid pipeline 16, furthermore, the sense terminal of detection sensor 4 is not more than 1.25cm with the outside interval of fluid pipeline 16. In this embodiment, the detection sensor 4 may be an eddy current sensor, and the detection principle is as follows: if a crack formation is encountered in the fluid conduit 16, the output signal of the eddy current sensor will have a variable amount, which can be identified as the presence or absence of a crack. In addition, the detection sensor 4 may also adopt an infrared detection or ultrasonic flaw detection technique.
The sliding mechanism is used for moving the whole circular clamping ring on the fluid pipeline 16, and is composed of a plurality of pulley structures, the pulley structures are preferably arranged on the inner ring of the semicircular clamping ring 1 in an annular array mode by taking the circle center of the semicircular clamping ring 1 as the center, further, a plurality of grooves 106 are formed in the inner ring of the semicircular clamping ring 1, the pulley structures are arranged in the grooves 106, specifically, the sliding structure comprises first pulleys 107, the first pulleys 107 are arranged in the grooves 106, first supporting parts are arranged on the inner rings of the semicircular clamping rings 1 on two sides of the grooves 106, a rotating shaft is arranged at the center of the first pulleys 107, the end parts of the rotating shaft are rotatably connected to the first supporting parts on the corresponding sides, when the whole circular clamping ring is sleeved on the fluid pipeline 16 in a matched mode, the first pulleys 107 abut against the outer portion of the fluid pipeline 16, and the whole circular clamping ring can be dragged to slide on the fluid pipeline 16.
Based on the above;
in the embodiment, a semicircular cavity 108 communicated with two ends of the semicircular clamping ring 1 is further formed in the semicircular clamping ring 1, a semicircular arc groove 109 is formed in the side portion of one side of the semicircular clamping ring 1, and the semicircular arc groove 109 is communicated with the semicircular cavity 108; when the two semicircular clamping rings 1 are connected to form a full-circle clamping ring, the two semicircular cavities 108 form a full-circle cavity, and the two semicircular arc grooves 109 form a full-circle arc groove;
the drive mechanism includes:
the first motor 5 is fixedly arranged on the side part of one semicircular clamping ring 1, the first motor 5 and the semicircular arc groove 109 are arranged oppositely, the first motor 5 and the semicircular arc groove 109 are respectively arranged on the side parts of two sides of the semicircular clamping ring 1, the first motor 5 is horizontally arranged, and a power output shaft of the first motor 5 penetrates through the semicircular clamping ring 1 to the semicircular cavity 108;
a semicircular gear ring 6 and a semicircular ring 7 which are arranged in the semicircular cavities 108 of the semicircular clamping rings 1;
the inner gear 8 is connected to the power output end of the first motor 5, and the inner gear 8 is positioned in the semicircular cavity 108;
and a support structure disposed in the semi-circular shaped cavity 108.
Wherein, semicircle ring gear 6's radius is greater than semicircle ring gear 7 radius, and semicircle ring gear 6 and semicircle ring gear 7 connect into a semicircle change through a plurality of strip shaped plates 9 that the lateral part was equipped with, and strip shaped plate 9 is located semicircular arc groove 109 one side, and when two semicircle clamp rings 1 connect and form whole circle clamp ring, the tip of two semicircle change rings in it just docks and forms a whole circle change ring, the width of whole circle change ring just in time with the width looks adaptation of semicircular cavity 108.
The tooth grooves of the semicircular tooth ring 6 are formed in the inner ring of the semicircular tooth ring 6, the internal gear 8 is located between the semicircular tooth ring 6 and the semicircular ring 7, and the internal gear 8 is meshed with the tooth grooves in the inner ring of the semicircular tooth ring 6.
In order to realize that the full-circle swivel rotates in the full-circle cavity, the supporting structure is arranged in the embodiment and comprises a plurality of outer supporting wheels and inner supporting wheels, on one hand, the supporting structure can realize the fixed supporting effect on the full-circle swivel, and on the other hand, the supporting structure can assist the full-circle swivel to rotate in the full-circle cavity.
Specifically, the plurality of outer support wheels and the plurality of inner support wheels are all preferably arranged in an annular array by taking the circle center of the whole circular clamping ring as the center, each outer support wheel comprises a second support part 11 and a second pulley 10 which is rotatably connected to one end of the second support part 11, the other end of the second support part 11 is fixedly connected to the outer side wall of the semicircular cavity 108, and the second pulley 10 abuts against the outer ring of the semicircular gear ring 6; the inner support wheel comprises a third support part 13 and a third pulley 12 rotatably connected to one end of the third support part 13, the other end of the third support part 13 is fixedly connected to the inner side wall of the semicircular cavity 108, and the third pulley 12 abuts against the inner ring of the semicircular ring 7.
Further, the method comprises the following steps of;
the leak detection device of this embodiment is still including the fixing base that is used for the clamping to detect sensor 4, the fixing base passes through the connecting rod and is connected with a shaped plate 9 on the full circle swivel, the connecting rod that sets up promptly runs through semicircular arc groove 109, its inner and a shaped plate 9 rigid coupling, the connecting rod outer end is connected with the fixing base, the fixing base is a cover seat 14, cover seat 14 and connecting rod rigid coupling, a screw hole has been seted up at cover seat 14 lateral part, be connected with a fastening bolt in the screw hole, detect sensor 4 insert establish to cover seat 14 in after, can carry out the butt through rotating fastening bolt to detect sensor 4 and fix, should adopt cover seat 14 as fixing base simple structure, the dismouting and the adjustment of also being convenient for detect sensor 4 of using simultaneously, its adjustment is mainly the distance between detect end or the test probe of detecting sensor 4 and the fluid pipeline 16 outsides.
In addition, the leak detection device also comprises a controller and an alarm, the alarm can be arranged on the controller or the semicircular clamping ring 1, the self-propelled power device 2, the first motor 5, the detection sensor 4 and the alarm are electrically connected with the controller through wires or in short-distance wireless communication connection, and when the short-distance wireless communication connection is adopted, the controller is a handheld remote controller.
When the fluid pipeline 16 leak detection robot is used, the two semicircular clamping rings 1 are rotated to be matched and sleeved outside the pipeline 16, and then are connected into a whole through the bolt assembly 103 on one side, at the moment, the sliding mechanism is connected with the outside of the pipeline 16, and then the whole circular clamping ring is driven to move along the length direction of the pipeline 16 by controlling the longitudinal movement of the self-propelled power device 2 so as to adjust the detection position;
through starting first motor 5 forward and reverse rotation, it is rotatory in the whole round die cavity to drive the whole round swivel, and then drive detection sensor 4 rotation and carry out automatic flaw detection to 16 circumference of pipeline, when detection sensor 4's sense terminal detects the impaired circumstances such as having crackle, corruption, pit, pore on pipeline 16, detection sensor 4 sends the police dispatch newspaper promptly, tells that operating personnel pipeline 16 specifically which position has the abnormal damage to operating personnel in time, accurately make the processing repair maintenance to fluid conveying pipeline 16.
Example 2
Based on embodiment 1, in order to realize the lift to the whole ring clip to deal with not high pipeline 16, the scheme of this embodiment 2 is to adopt electric telescopic handle to replace support column 3 in embodiment 1, and is concrete, and electric telescopic handle's motor end fixed mounting is at self-propelled power device 2 top, and electric telescopic handle's flexible end is articulated with linkage 105 middle part.
Example 3
In order to automatically clamp the pipe 16 by the full-circle clamp ring based on embodiment 1 or embodiment 2, and to omit the manual operation and the bolt assembly 103 for connecting the two half-circle clamp rings 1, the present embodiment replaces the link 105 with the automatic clamping device 15, and as shown in fig. 9-14, the automatic clamping device 15 includes a box 1501, an upper rotating shaft 1502 and a lower rotating shaft 1503 symmetrically arranged in the box 1501, an upper gear 1505 and a lower gear 1506, an upper U-shaped bar 1508 and a lower U-shaped bar 1509, and a second motor 1504 and a rack 1507.
The bottom of the box 1501 is connected to the top end of a support column 3 or an electric telescopic rod, two ends of an upper rotating shaft 1502 and a lower rotating shaft 1503 are respectively and vertically connected with the inner wall of the box 1501 (the upper rotating shaft 1502 and the lower rotating shaft 1503 are connected with the box 1501 through bearings sleeved with the upper rotating shaft 1502 and the lower rotating shaft 1503), one end of the upper rotating shaft 1502 or the lower rotating shaft 1503 extends to the outer side of the box 1501, a second motor 1504 is horizontally and fixedly installed outside the box 1501, a power output end of the second motor 1504 is connected with the outer end of the upper rotating shaft 1502 or the lower rotating shaft 1503, the upper rotating shaft 1502 is located right above the lower rotating shaft 1503, an upper gear 1505 is fixedly sleeved at the middle position of the upper rotating shaft 1502, a lower gear 1506 is fixedly sleeved at the middle position of the lower rotating shaft 1503, second through holes 1510 are respectively formed in the center positions of the left side portion and the right side portion of the box 1501, a rack 1507 horizontally penetrates through the second through holes 1510 on two sides, the rack 1507 comprises an upper tooth groove and a lower tooth groove, the upper tooth groove is meshed with the upper tooth groove and connected with the lower tooth, the lower tooth groove, one end (located on one side of a full circle clamp ring) of the rack 1507 is provided with a touch switch 1511, and is in electrical connection with the second short-distance wireless communication connection through a wire lead 1506 or a wireless communication connection.
In view of the above, the box 1501 on both sides above and below the second through hole 1510 is respectively provided with an L-shaped slot 1512, the L-shaped slot 1512 is communicated into the inner cavity of the box 1501, both ends of the upper U-shaped bar 1508 penetrate through the upper L-shaped slot 1512 to be vertically fixedly connected with the upper rotating shaft 1502 in the box 1501, the upper gear 1505 is located between both ends of the upper U-shaped bar 1508, both ends of the lower U-shaped bar 1509 penetrate through the lower L-shaped slot 1512 to be vertically fixedly connected with the lower rotating shaft 1503 in the box 1501, the lower gear 1506 is located between both ends of the lower U-shaped bar 1509, and the middle parts of the upper U-shaped bar 1508 and the lower U-shaped bar 1509 are respectively connected with the rotating bars 104 on the two semicircular clamping rings 1.
When the automatic clamping device 15 in this embodiment is used, the two semicircular clamping rings 1 are connected to form a full-circle clamping ring (the touch switch 1511 at one end of the rack 1507 points to the center of the full-circle clamping ring), the self-propelled power device 2 is operated to move the robot to the pipeline 16, and the connecting plate 101 at one side of the full-circle clamping ring and the electric telescopic rod are used to realize the alignment and height of the center line at the side of the pipeline 16, as shown in fig. 9;
then, the second motor 1504 is operated to start up to drive the upper and lower rotating shafts 1503, the upper and lower gears 1506 and the upper and lower U-shaped rods 1509 to rotate, so as to open the two semicircular clamping rings 1, the self-propelled power device 2 is operated to move the robot to the pipeline 16 in a transverse direction continuously until the touch switch 1511 at one end of the rack 1507 is abutted to the outside of the pipeline 16, as shown in fig. 13, the second motor 1504 is then automatically started up to drive the upper and lower rotating shafts 1503, the upper and lower gears 1506 and the upper and lower U-shaped rods 1509 to rotate, so as to drive the upper and lower semicircular clamping rings 1 to rotate relatively to form a whole circular clamping ring, so as to realize automatic touch identification clamping on the pipeline 16, and during the period, the rack 1507 is gradually away from the pipeline 16 under the transmission of the upper and lower gears 1506 until the touch switch 1511 end of the rack 1507 retracts to the side of the whole circular clamping ring, as shown in fig. 14.
Then the self-propelled power device 2 is controlled to move longitudinally to drive the whole circular clamping ring to move along the length direction of the pipeline 16, so as to adjust the detection position; during the period, the first motor 5 is started to rotate in the forward and reverse directions, the detection sensor 4 is driven to rotate to carry out automatic flaw detection on the circumferential direction of the pipeline 16, and when the detection end of the detection sensor 4 detects that the abnormal damage condition exists on the pipeline 16, the alarm generates an alarm to remind an operator of which specific part is damaged and needs to be repaired.
After the detection is completed, the second motor 1504 may separate the full-circle clamp ring from the pipe 16, and the robot is moved by the self-propelled power unit 2.
In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. It should also be noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be construed broadly, as meaning, for example, permanently connected, removably connected, or integrally connected; the connection can be mechanical connection or circuit connection; may be directly connected or indirectly connected through an intermediate medium. Specific meanings of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A fluid conduit leak detection robot, comprising:
the device comprises a full-circle clamping ring, a detection sensor, a driving mechanism and a self-propelled power device, wherein the full-circle clamping ring is sleeved outside the pipeline, the detection sensor is arranged on the full-circle clamping ring, the driving mechanism is arranged on the full-circle clamping ring and used for driving the detection sensor to rotate in the circumferential direction by taking the circle center of the full-circle clamping ring as the center, and the self-propelled power device drives the full-circle clamping ring to move on the pipeline; and
and the sliding mechanism is used for moving the full-circle clamp ring on the fluid pipeline.
2. The leak detection robot according to claim 1, wherein the full-circle clamp ring is formed by a pair of semicircular clamp rings, the two semicircular clamp rings can be respectively butted at two ends to form a full-circle clamp ring, the full-circle clamp ring is sleeved outside the fluid pipeline in a matching manner, a transverse connecting plate is arranged on the lateral part of one end of each semicircular clamp ring, a first through hole is formed in each connecting plate, a bolt assembly is arranged in each first through hole, and one end of each semicircular clamp ring is connected with the bolt assembly through the connecting plate; the lateral part of the other end of the semicircular clamping ring is provided with a transverse rotating rod, the side of the whole circular clamping ring is provided with a linkage piece, the outer ends of the upper rotating rod and the lower rotating rod are respectively hinged with the top end and the bottom end of the linkage piece, the top of the self-propelled power device is provided with a supporting column, and the top end of the supporting column is hinged with the middle part of the linkage piece;
the detection sensor is arranged on the side part of the semicircular clamping ring, when the two semicircular clamping rings are connected to form a whole circular clamping ring, the detection sensor can rotate and move through the arranged driving mechanism, the moving track of the detection sensor is circular motion taking the circle center of the whole circular clamping ring as the center, and the detection end of the detection sensor correspondingly faces the fluid pipeline;
the sliding mechanism is composed of a plurality of pulley structures, the plurality of pulley structures are arranged on the inner ring of the semicircular clamping ring in an annular array mode by taking the circle center of the semicircular clamping ring as the center, each pulley structure comprises a first pulley, and when the whole circular clamping ring is sleeved on the fluid pipeline in a matched mode, the first pulleys abut against the outer portion of the fluid pipeline;
a semicircular cavity communicated with two ends of the semicircular clamping ring is formed in the semicircular clamping ring, a semicircular arc groove is formed in the side part of one side of the semicircular clamping ring, and the semicircular arc groove is communicated with the semicircular cavity; when the two semicircular clamping rings are connected to form the full-circle clamping ring, the two semicircular cavities form a full-circle cavity, and the two semicircular arc grooves form a full-circle arc groove.
3. The leak detection robot of claim 2, wherein the drive mechanism comprises:
the power output shaft of the first motor penetrates through the semicircular clamping ring to the semicircular cavity;
a semicircular gear ring and a semicircular ring which are arranged in the semicircular cavity;
the inner gear is connected to the power output end of the first motor and is positioned in the semicircular cavity;
and a support structure disposed in the semi-circular cavity;
when the two semicircular clamping rings are connected to form a whole circular clamping ring, the end parts of the two semicircular rotating rings in the semicircular clamping ring are just butted to form a whole circular rotating ring, and the width of the whole circular rotating ring is just matched with the width of the semicircular cavity; the inner ring of the semicircular toothed ring is provided with a toothed groove, the inner gear is positioned between the semicircular toothed ring and the semicircular ring, and the inner gear is meshed and connected with the toothed groove on the inner ring of the semicircular toothed ring;
the supporting structure comprises a plurality of outer supporting wheels which are abutted and supported with the outer rings of the semicircular rings and a plurality of inner supporting wheels which are abutted and supported with the inner rings of the semicircular rings; the plurality of outer supporting wheels and the plurality of inner supporting wheels are arranged in an annular array by taking the circle center of the whole circular clamping ring as the center; the detection sensor is connected with the full-circle rotating ring and is driven by the full-circle rotating ring to rotate.
4. The leak detection robot according to claim 2, wherein a plurality of grooves are formed in the inner ring of the semicircular clamping ring, the first pulley is disposed in the grooves, the inner rings of the semicircular clamping rings on both sides of the grooves are provided with first supporting portions, a rotating shaft is disposed at the center of the first pulley, and the end of the rotating shaft is rotatably connected to the first supporting portion on the corresponding side.
5. The leak detection robot as claimed in claim 3, wherein the outer support wheel includes a first support portion and a second pulley rotatably connected to one end of the second support portion, the other end of the second support portion is fixedly connected to the outer side wall of the semicircular cavity, and the second pulley abuts against the outer ring of the semicircular gear ring; the inner supporting wheel comprises a third supporting part and a third pulley which is rotatably connected to one end of the third supporting part, the other end of the third supporting part is fixedly connected to the inner side wall of the semicircular cavity, and the third pulley is abutted to the semicircular ring.
6. The leak detection robot of claim 3, further comprising:
the sleeve seat is used for clamping the detection sensor, the sleeve seat is connected with a strip-shaped plate through a connecting rod arranged on the side portion of the sleeve seat, the connecting rod penetrates through the semicircular arc groove, the inner end of the connecting rod is fixedly connected with the middle portion of the strip-shaped plate, a threaded hole is formed in the side portion of the sleeve seat, a fastening bolt is connected into the threaded hole, the detection sensor can be inserted into the sleeve seat in a matched mode, and the detection sensor can be abutted and fixed through the fastening bolt.
7. Leak detection robot according to claim 6,
the linkage piece is replaced by an automatic clamping device which comprises a box body, an upper rotating shaft, a lower rotating shaft, an upper gear, a lower gear, an upper U-shaped rod, a lower U-shaped rod, a second motor and a rack, wherein the upper rotating shaft and the lower rotating shaft are symmetrically arranged in the box body;
the bottom of the box body is connected to the top end of a supporting column, two ends of an upper rotating shaft and two ends of a lower rotating shaft are respectively and vertically connected with the inner wall of the box body, one end of the upper rotating shaft or one end of the lower rotating shaft extend to the outer side of the box body, a second motor is arranged outside the box body, the power output end of the second motor is connected with the outer ends of the upper rotating shaft or the lower rotating shaft, the upper rotating shaft is arranged right above the lower rotating shaft, an upper gear is fixedly sleeved at the middle position of the upper rotating shaft, a lower gear is fixedly sleeved at the middle position of the lower rotating shaft, second through holes are formed in the center positions of the left side part and the right side part of the box body, a rack horizontally penetrates through the second through holes in two sides, the rack comprises an upper tooth groove and a lower tooth groove, the upper tooth groove is meshed with the upper gear, the lower tooth groove is meshed with the lower gear, one end of the rack is provided with a touch switch, and the touch switch is used for controlling the start and stop of the second motor;
the box body on the two sides above and below the second through hole is evenly provided with an L-shaped rotary groove, the L-shaped rotary groove is communicated into the inner cavity of the box body, the two ends of the upper U-shaped rod penetrate through the L-shaped rotary groove above the second through hole and are fixedly connected with the upper rotating shaft in the box body, the upper gear is located between the two ends of the upper U-shaped rod, the two ends of the lower U-shaped rod penetrate through the L-shaped rotary groove below the lower U-shaped rod and are fixedly connected with the lower rotating shaft in the box body, the lower gear is located between the two ends of the lower U-shaped rod, and the middle parts of the upper U-shaped rod and the lower U-shaped rod are respectively connected with the rotary rods on the two semicircular clamping rings.
8. The leak detection robot of claim 7, further comprising:
the controller and siren, the siren setting is on controller or semicircle clamp ring, first motor, second motor, touch switch, detection sensor, siren all pass through wire electric connection or short distance wireless communication with the controller and are connected.
9. The leak detection robot of claim 1, wherein the self-propelled power unit is a modular traverse and traverse moving platform.
10. The leak detection robot of claim 2, wherein the support columns are arranged using electrically-operated telescoping rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210871668.8A CN115235708A (en) | 2022-07-22 | 2022-07-22 | Fluid pipeline leak detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210871668.8A CN115235708A (en) | 2022-07-22 | 2022-07-22 | Fluid pipeline leak detection robot |
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| CN115235708A true CN115235708A (en) | 2022-10-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210871668.8A Pending CN115235708A (en) | 2022-07-22 | 2022-07-22 | Fluid pipeline leak detection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117563885A (en) * | 2024-01-15 | 2024-02-20 | 三鑫特材(常州)股份有限公司 | Online electrostatic oiling device for roller |
| CN117563885B (en) * | 2024-01-15 | 2024-04-26 | 三鑫特材(常州)股份有限公司 | Online electrostatic oiling device for roller |
-
2022
- 2022-07-22 CN CN202210871668.8A patent/CN115235708A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117563885A (en) * | 2024-01-15 | 2024-02-20 | 三鑫特材(常州)股份有限公司 | Online electrostatic oiling device for roller |
| CN117563885B (en) * | 2024-01-15 | 2024-04-26 | 三鑫特材(常州)股份有限公司 | Online electrostatic oiling device for roller |
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