CN115356349B - Self-stabilizing pipeline inner wall detection robot - Google Patents
Self-stabilizing pipeline inner wall detection robot Download PDFInfo
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- CN115356349B CN115356349B CN202211169620.9A CN202211169620A CN115356349B CN 115356349 B CN115356349 B CN 115356349B CN 202211169620 A CN202211169620 A CN 202211169620A CN 115356349 B CN115356349 B CN 115356349B
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- 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
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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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
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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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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
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- 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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- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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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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- 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
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention provides a self-stabilizing pipeline inner wall detection robot which comprises a running component and a detection main body component, wherein the running component comprises a running cylindrical shell, the detection main body component comprises a detection cylindrical shell, an inclination angle sensor module and an angular displacement correction component are arranged in the detection cylindrical shell, the angular displacement correction component comprises a first rotary motor and a friction wheel, the first rotary motor and the friction wheel are fixedly connected with the detection cylindrical shell, the friction wheel is in contact with the inner wall of the running cylindrical shell at least partially penetrating through the detection cylindrical shell, the inclination angle sensor module can detect the rotation angle of the detection main body component in the running process, and the first rotary motor can be controlled to run according to the rotation angle detected by the inclination angle sensor module so as to eliminate the rotation angle of the detection main body component by driving the rotation of the friction wheel. The invention enables the detection main body component to recover to the original angle state, namely realizes self-stabilization, thereby realizing the accurate positioning of the circumferential angle of the detection main body component and improving the detection precision.
Description
Technical Field
The invention relates to the technical field of pipeline inner wall detection, in particular to a self-stabilizing pipeline inner wall detection robot.
Background
In production, a large number of pipelines need to be subjected to inner wall detection, such as gas pipelines, petroleum pipelines, tap water pipelines, chemical pipelines, gun barrels and the like, the pipelines need to be subjected to inner wall quality detection and pipe shaft axis straightness detection in the manufacturing process, and the inner wall state needs to be detected in the using process to determine whether maintenance and replacement are needed. Wherein, the defects and cracks on the inner wall of the gun barrel, rifling, the straightness of the axis of the gun barrel, the safety of the inspection of the gun mouth angle, the design accuracy, the service life of the gun, economy and the like.
There are a number of documents and patents relating to the detection of the inner wall and axis of a pipe. Beijing's Confucius Zheng Jun et al, research on comprehensive measurement System of the inner surface of the gun barrel, describe a measurement method and device. The Wanyin weapon test center Li Jianzhong et al, gun barrel curvature and muzzle angle measurement system drive control, describes a travelling drive device of a gun barrel curvature and muzzle angle measurement system and a control method thereof. The patent of the invention of a variable inner diameter pipeline inner wall defect detection robot based on annular structured light vision (patent application No. 202210114881.4) of Beijing aviation aerospace university Sun Junhua describes a variable inner diameter pipeline inner wall defect detection robot.
However, these existing technologies do not pay attention to the disadvantage of the detection device (specifically, the detection body of the detection robot) caused by rotation, specifically, the rotation of the detection device is not processed, so that if rotation occurs in the detection process, the device cannot locate the circumferential angular position where the defect is located, and the detection accuracy is affected.
Disclosure of Invention
The self-stabilizing pipeline inner wall detection robot designed by the invention can solve the technical problems that in the prior art, the circumferential angle position of the pipeline inner wall defect cannot be accurately positioned in the detection process due to the rotation of the detection main body, and the detection precision is reduced.
The invention aims to provide a self-stabilizing pipeline inner wall detection robot, which comprises a running component and a detection main body component, wherein the running component comprises a running cylindrical shell, the detection main body component comprises a detection cylindrical shell, two ends of the detection cylindrical shell are rotatably arranged in the running cylindrical shell through bearings, an inclination sensor module and an angular displacement correction component are arranged in the detection cylindrical shell, the angular displacement correction component comprises a first rotary motor fixedly connected with the detection cylindrical shell and a friction wheel sleeved with a rotary shaft of the first rotary motor, the friction wheel is in contact with the inner wall of the running cylindrical shell at least partially penetrating through the detection cylindrical shell, the inclination sensor module can detect the rotation angle of the detection main body component in the running process, and the first rotary motor can be controlled to run according to the rotation angle detected by the inclination sensor module so as to eliminate the rotation angle of the detection main body component through driving the rotation of the friction wheel.
In some embodiments, the bottom region within the detection cylinder housing is provided with a weight plate, and the tilt sensor module is assembled on a top surface of the weight plate.
In some embodiments, one end of the detection cylindrical shell is connected with a detection camera assembly, the other end of the detection cylindrical shell is connected with a laser ranging reflecting plate, a first balancing weight is connected below the detection camera assembly, and/or a second balancing weight is connected below the laser ranging reflecting plate.
In some embodiments, the first weight is connected to the detection camera assembly by a first flexible cord; and/or the second balancing weight is connected with the laser ranging reflecting plate through a second soft rope.
In some embodiments, the outer side of the travelling barrel-shaped shell is connected with at least three travelling brackets, at least two travelling wheels capable of being driven to run are arranged on each travelling bracket at intervals along the length direction of each travelling bracket, and at least three travelling brackets are uniformly arranged at intervals around the circumference of the travelling barrel-shaped shell.
In some embodiments, the running support comprises a first support section, a second support section and a third support section which are hinged in sequence, wherein the free ends of the first support sections of each running support are hinged to a first ring body together, the free ends of the third support sections of each running support are hinged to a second ring body together, and the first ring body and the second ring body are detachably sleeved at two ends of the running cylindrical shell respectively.
In some embodiments, the outer peripheral wall of the travelling barrel casing is further sleeved with a diameter adjusting structure, and the axial position of the diameter adjusting structure on the travelling barrel casing can be adjusted so as to drive at least three second bracket sections to move inwards or outwards along the radial direction of the travelling barrel casing.
In some embodiments, the diameter adjusting structure comprises a first collar, a second collar and a spiral spring sleeved on the peripheral wall of the running cylindrical shell, the spiral spring is connected between the first collar and the second collar, the first collar and the second collar are both sleeved on the peripheral wall of the running cylindrical shell in a clearance manner, a plurality of adjusting guide rods extending radially along the first collar are arranged on the first collar, each adjusting guide rod is connected with the corresponding second support section to drive the second support section to move along the axial direction of the running cylindrical shell, and the second collar is fixedly connected with the running cylindrical shell through a quick screwing screw.
In some embodiments, the second support section is provided with two support columns arranged at intervals, each support column is perpendicular to the axial direction of the running cylindrical shell, each support column is sleeved with a roller, and the free end of the adjusting guide rod is inserted into a gap formed by the rollers sleeved on the two support columns respectively.
In some embodiments, the diameter of the first end of the travelling barrel housing is greater than the diameter of the second end, the diameter of the first end of the detection barrel housing is greater than the diameter of the second end, the second end of the detection barrel housing is capable of being assembled to the second end of the travelling barrel housing via the first end of the travelling barrel housing, and an axial displacement limiting member is provided between the detection barrel housing and the travelling barrel housing.
According to the self-stabilizing pipeline inner wall detection robot, when the detection main body assembly rotates circumferentially, the corresponding rotation angle is obtained by the inclination sensor of the inclination sensor module and fed back to the corresponding control part, and the control part controls the first rotary motor to rotate so as to drive the friction wheel, so that the detection main body assembly integrally rotates by the same angle opposite to the rotation angle direction around the central axis (namely the coaxial line of the two bearings) under the action of relative friction force between the friction wheel and the inner wall of the running cylindrical shell, the detection main body assembly is restored to the original angle state, self-stabilization is realized, the circumferential angle accurate positioning of the detection main body assembly is realized, and the detection precision is improved.
Drawings
Fig. 1 is a perspective view (partially cut-away) at a view angle of the self-stabilizing inside wall inspection robot of the present invention when applied to a pipe.
Fig. 2 is a schematic diagram showing a disassembled structure of the self-stabilized pipe inspection robot in fig. 1.
Fig. 3 is a schematic perspective view (partially cut-away) of the test body assembly of fig. 1.
Fig. 4 is a schematic perspective view of another embodiment of the detection body assembly of fig. 1.
Fig. 5 is a schematic perspective view of the walking assembly of fig. 1.
Fig. 6 is a partial enlarged view at a in fig. 5.
Fig. 7 is a schematic view (partially cut-away) of a pipe inner wall inspection robot according to another embodiment of the present invention.
In the figure: 1. a walking assembly; 11. a traveling cylindrical housing; 12. a walking bracket; 121. a first bracket section; 122. a second bracket section; 1221. a support column; 1222. a roller; 123. a third carrier section; 13. a running wheel; 131. a running driving rotary motor; 141. a first ring body; 142. a second ring body; 1431. a first collar; 1432. a second collar; 1433. a coil spring; 144. adjusting the guide rod; 2. detecting a main body component; 21. detecting a cylindrical shell; 22. a counterweight plate; 3. a bearing; 41. an inclination sensor module; 421. a first rotary motor; 422. a friction wheel; 51. detecting a camera assembly; 511. An annular light source; 512. a cover glass; 52. a laser ranging unit; 521. a laser ranging reflecting plate; 522. a laser; 53. a first balancing weight; 54. a second balancing weight; 55. a first flexible cord; 56. a second flexible cord; 6. Screwing the screw quickly; 7. an axial displacement restricting member; 8. a voltage conversion module; 9. a cable; 100. a pipeline to be inspected; 200. a ring laser.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. In the drawings, the thickness of regions and layers are exaggerated for clarity. The same reference numerals in the drawings denote the same or similar structures, and thus detailed descriptions thereof will be omitted.
The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the inventive aspects may be practiced without one or more of the specific details, or with other methods, components, materials, etc. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
The embodiments described in the following examples are self-stabilizing pipeline inner wall inspection robots of the present invention, and this example is only a part of the embodiments of the present invention, but the scope of the present invention is not limited thereto. All other embodiments, which can be made by those skilled in the art without the inventive effort, are intended to be encompassed within the scope of the present invention.
Referring to fig. 1 to 7, according to an embodiment of the present invention, there is provided a self-stabilizing inspection robot for an inner wall of a pipe, comprising a traveling assembly 1, an inspection main assembly 2, and a laser ranging unit 52, wherein the inspection main assembly 2 is provided with an inspection camera assembly 51 thereon, the inspection main assembly 51 is used for inspecting the inner wall of the pipe, the traveling assembly 1 carries the inspection main assembly 2 to drive the inspection main assembly 2 to advance or retreat along the length direction of the pipe, the laser ranging unit 52 comprises a laser ranging reflection plate 521 and a laser 522 for emitting laser, the traveling distance of the traveling assembly 1 can be precisely measured, the traveling assembly 1 comprises a traveling cylindrical housing 11, the inspection main assembly 2 comprises an inspection cylindrical housing 21, both ends of the inspection cylindrical housing 21 are rotatably mounted in the traveling cylindrical housing 11 through bearings 3, the detection cylindrical housing 21 has therein an inclination sensor module 41 including an inclination sensor and an angular displacement correction assembly including a first rotary motor 421 fixedly connected to the detection cylindrical housing 21 and a friction wheel 422 fitted with a rotary shaft of the first rotary motor 421, the friction wheel 422 abutting against an inner wall of the travel cylindrical housing 11 passing at least partially through the detection cylindrical housing 21, the inclination sensor module 41 (specifically, through the inclination sensor) being capable of detecting an angle of rotation of the detection main body assembly 2 occurring during operation, the first rotary motor 421 being capable of being controlled to operate according to the angle of rotation detected by the inclination sensor module 41 to eliminate the angle of rotation of the detection main body assembly 2 by driving the rotation of the friction wheel 422, and in particular, the pipe inner wall detection robot has a corresponding control part capable of receiving the aforementioned angle of rotation detected by the inclination sensor module 41, and issues a control command for controlling the rotation of the first rotation motor 421 to eliminate the rotation angle, thereby achieving the self-stabilization design of the robot for detecting the inner wall of the pipe, and of course, it can also be used for controlling the walking of the walking assembly 1, etc., and the aforementioned control means may be, for example, a controller integrated with the detection robot, or a computer (in which corresponding detection software is configured) communicatively connected via the cable 9.
In this technical scheme, when the detecting main body assembly 2 rotates circumferentially, the inclination sensor of the inclination sensor module 41 obtains a corresponding rotation angle and feeds the corresponding rotation angle back to the corresponding control component, and the control component controls the first rotary motor 421 to rotate to drive the friction wheel 422, so that the detecting main body assembly 2 rotates integrally around the central axis (i.e. the coaxial line of the two bearings 3) by the same angle opposite to the rotation angle direction under the action of the relative friction force between the friction wheel 422 and the inner wall of the running cylindrical shell 11, thereby restoring the detecting main body assembly 2 to the original angle state, and further realizing the accurate positioning of the circumferential angle of the detecting main body assembly 2, namely realizing self-stabilization and improving the detection precision.
The aforementioned laser ranging unit 52 adopts the cooperation of the laser ranging reflecting plate 521 and the laser 522 to realize the measurement of the distance of the robot, and can overcome the problem that the axial positioning precision of the defect is poor because the driving wheel (i.e. the traveling wheel 13) slips and the ranging is inaccurate due to the fact that the encoder of the driving mechanism determines the traveling mileage in the prior art.
In a preferred embodiment, the bottom area in the detecting cylindrical casing 21 is provided with a weight plate 22, the inclination sensor module 41 is assembled on the top surface of the weight plate 22, and at this time, the weight plate 22 serves as a mounting carrier for part of the internal components of the detecting main body assembly 2, such as the inclination sensor module 41 and the voltage conversion module 8, so as to facilitate the positioning and mounting of the assembly, and on the other hand, the overall mass center of the detecting main body assembly 2 can be deviated downward by the relatively large weight of the component, so that the occurrence probability of rotation of the detecting main body assembly 2 can be reduced by the structural mode, and under the condition that the requirement on detecting precision is relatively low, the self-stabilizing effect of the robot can be considered to be realized by only adopting the mode of configuring the weight plate 22. Further, as shown in fig. 4, one end of the detection camera assembly 51 is connected to the detection cylindrical housing 21, the first weight 53 is connected to the lower side of the detection camera assembly 51, and/or the other end of the laser ranging reflecting plate 521 is connected to the detection cylindrical housing 21, the second weight 54 is connected to the lower side of the laser ranging reflecting plate 521, and the self-stabilizing effect of the robot can be further enhanced by the arrangement of the first weight 53 and the second weight 54 in terms of mechanical structure. Further, the first balancing weight 53 is connected to the detection camera assembly 51 through a first flexible rope 55; and/or the second balancing weight 54 is connected with the laser ranging reflecting plate 521 through the second soft rope 56, and the positions of the first balancing weight 53 and the second balancing weight 54 can be lower through the soft rope, so that the whole mass center of the detection main body assembly 2 is reduced as much as possible, the relative rest relative to the circumference of the pipeline axis is realized under the action of dead weight, and the detection precision is further ensured. The first flexible rope 55 and the second flexible rope 56, such as flexible steel ropes, ensure the connection reliability and stability of the weight. It can be appreciated that the material densities of the counterweight plate 22, the first counterweight 53 and the second counterweight 54 should be greater than those of other structural members of the detection main body assembly 2, and in general, the material densities of the counterweight plate 22, the first counterweight 53 and the second counterweight 54 are greater than those of the aluminum alloy, such as steel.
It should be noted that, the voltage conversion module 8 is electrically connected to the cable 9, and at this time, the dead weight of the cable 9 can also be applied to the voltage conversion module 8 and the counterweight plate 22 below the voltage conversion module 8, so that the center of mass of the whole detection main body assembly 2 is further moved downward, and the stability of the mechanical structure is further improved. The cable 9 includes a power line electrically connected to an external power source (e.g., a lithium battery having a large volume), and the power line is converted by the voltage conversion module 8 and then supplied to the electrical devices such as the tilt sensor module 41 and the detection camera module 51, and a signal line capable of transmitting the detection signals of the tilt sensor module 41 and the detection camera module 51 to an external control unit such as a computer and transmitting corresponding control instructions from the computer.
Referring to fig. 5, at least three running brackets 12 are connected to the outer side of the running cylindrical housing 11, at least two running wheels 13 capable of being driven to run are arranged on each running bracket 12 at intervals along the length direction of the running bracket 12, and at least three running brackets 12 are uniformly arranged at intervals around the circumference of the running cylindrical housing 11, so that the running assembly 1 can stably bear the forward or backward movement of the detection main body assembly 2 along the preset direction of detection. Each running wheel 13 is driven to rotate by a running driving rotary motor 131, respectively, and running force is stronger.
Referring further to fig. 5, the running support 12 includes a first support section 121, a second support section 122 and a third support section 123 that are hinged in sequence, where the free ends of the first support section 121 and the third support section 123 of each running support 12 are hinged together to a first ring body 141, the free ends of the third support section 123 and the first ring body 141 and the second ring body 142 are hinged together to a second ring body 142, and the first support section 121, the second support section 122 and the third support section 123 of each running support 12 are detachably sleeved at two ends of the running cylindrical shell 11, so it can be understood that, for each running support 12, the first support section 121, the second support section 122 and the third support section 123 form a four-bar structure with the running cylindrical shell 11, where the first support section 121 and the third support section 123 form a parallel, and the second support section 122 forms a parallel with the cylindrical bus bar of the running cylindrical shell 11. In this technical solution, by controlling the included angle between the second support section 122 and the first support section 121, the position of the aforementioned four-bar structure in the radial direction of the running cylindrical housing 11 can be changed, so as to implement the adaptation of the diameter of the running support 12 and the inner wall of the to-be-detected pipeline 100, that is, by using the four-bar structure, the running support 12 of the present invention can be applied to the to-be-detected pipeline 100 within a certain diameter range (related to the maximum height of the parallelogram formed by the four-bar structure), thereby improving the universality of the running assembly 1 of the present application and reducing the use cost of the robot. It should be specifically noted that, at least three running supports 12 in this technical solution are detachably sleeved with the running cylindrical shell 11 through the first ring body 141 and the second ring body 142, for example, quick-screwing screws 6 are respectively arranged on the first ring body 141 and the second ring body 142, so that different running supports 12 can be replaced more conveniently, and the running supports 12 with more proper travel can be replaced according to the inner diameters of different pipelines to be inspected 100, so that the running supports can adapt to the pipe diameter pipelines with different spans, and the economic efficiency, the cost saving and the disassembly and assembly are increased. The length of the aforementioned second bracket section 122 matches, i.e., is approximately equal to, the axial length of the traveling cylindrical shell 11.
In a preferred embodiment, the outer peripheral wall of the travelling barrel casing 11 is further provided with a diameter adjustment structure (not shown) which is adjustable in axial position of the travelling barrel casing 11 to move at least three second support segments 122 (i.e. the respective travelling supports 12 attached to the outer peripheral wall of the travelling barrel casing 11) radially inwardly or outwardly of the travelling barrel casing 11. In this embodiment, the second support section 122 can be adapted to the inner wall of the smaller diameter pipe 100 to be inspected when moving radially inwards, and can be adapted to the inner wall of the larger diameter pipe 100 to be inspected when moving radially outwards, so as to ensure the pipe inner diameter adaptability of the running support 12. It should be noted that the running wheels 13 are rotatably connected to the second support section 122, and at least two running wheels 13 are provided, which are respectively disposed corresponding to the first end and the second end of the running cylindrical housing 11, so as to ensure stability of the running posture.
In a specific embodiment, the diameter adjusting structure includes a first collar 1431, a second collar 1432, and a coil spring 1433 sleeved on the outer peripheral wall of the running cylindrical housing 11, the coil spring 1433 is connected between the first collar 1431 and the second collar 1432, the first collar 1431 and the second collar 1432 are both sleeved on the outer peripheral wall of the running cylindrical housing 11 at intervals, the first collar 1431 is provided with a plurality of adjusting guide rods 144 extending along the radial direction thereof, each adjusting guide rod 144 is connected to the corresponding second bracket section 122 to drive the second bracket section 122 to move along the axial direction of the running cylindrical housing 11, and the second collar 1432 is fixedly connected with the running cylindrical housing 11 through a quick screw 6, so that the second collar 1432 can be positioned in the axial direction of the running cylindrical housing 11. In this technical scheme, the position adjustment of the first lantern ring 1431 through the second support section 122 is driven by the free end of the adjusting guide rod 144, the position adjustment of the first lantern ring 1431 is realized through the second lantern ring 1432 and the spiral spring 1433 clamped between the two, that is, when the radial position of each second support section 122 needs to be adjusted, that is, the diameter of the running support 12 needs to be adjusted, the axial position of the first lantern ring 1431 only needs to be adjusted, the arrangement of the spiral spring 1433 is very simple and convenient, and the running support 12 can adapt to the pipe diameter change caused by the protrusion or the depression possibly occurring on the inner wall of the pipeline in the axial running or the retreating process of the robot along the pipeline 100, so that the running wheel 13 can tightly collide with the inner wall of the pipeline all the time, the obstacle crossing capability of the robot is improved, and the running stability and reliability are ensured. It will be appreciated that the stiffness of the coil spring 1433 may be reasonably configured according to actual needs. In a specific embodiment, the outer peripheral wall of the travelling cylindrical shell 11 has scale values spaced along the axial direction thereof, the scale values correspond to the inner diameter of the pipeline 100 to be inspected used by the travelling support 12, and the second collar 1432 is positioned at the corresponding scale values to achieve rapid inner diameter adaptation. It can be appreciated that when the robot is not placed in the pipe 100 to be inspected, the outer support diameter of the second support section 122 should be larger than the maximum value of the inner diameter of the actual pipe 100 to be inspected, so as to ensure that the running component 1 can tightly collide with the inner wall of the pipe and have a certain pressure in the whole running process, and ensure the running reliability.
Referring to fig. 6, the second support section 122 has two support columns 1221 disposed at intervals, each support column 1221 is perpendicular to the axial direction of the travelling barrel-shaped housing 11, each support column 1221 is sleeved with a roller 1222, and the free end of the adjusting guide rod 144 is inserted into a gap formed by the rollers 1222 sleeved on the two support columns 1221. The rollers 1222 are respectively located at two opposite sides of the adjusting guide rod 144, when the radial position of the second support frame section 122 is changed inwards or outwards, the adjusting guide rod 144 and the rollers 1222 are in rolling contact, the adjusting process is smoother, meanwhile, the abrasion between the two parts can be reduced, and the effect is particularly suitable for the condition that the uniformity of the pipe diameter of the inner wall of the pipeline 100 to be detected is poor in the robot walking process, and the abrasion between the adjusting guide rod 144 and the rollers 1222 caused by frequent adjustment of the applicable diameter of the walking support frame 12 can be greatly reduced.
In some embodiments, the diameter of the first end of the running cylinder casing 11 is larger than the diameter of the second end, the diameter of the first end of the detecting cylinder casing 21 is larger than the diameter of the second end, the second end of the detecting cylinder casing 21 can be assembled to the second end of the running cylinder casing 11 via the first end of the running cylinder casing 11, and an axial displacement limiting member 7 is provided between the detecting cylinder casing 21 and the running cylinder casing 11, as shown in fig. 2 and 3, the axial displacement limiting member 7 includes a ball (which may also be referred to as a marble, not shown in the drawing) capable of elastically self-resetting provided on the outer circumferential wall of the detecting cylinder casing 21, the ball card is located on the end side wall of the inner ring of the bearing 3 at one end of the running cylinder casing 11 (specifically, the side of the bearing 3 away from the small diameter end of the running cylinder casing 11) to limit the axial displacement of the running assembly 1 and the detecting body assembly 2, and the detecting body assembly 2 can rotate together with the inner ring of the bearing 3 relative to the running assembly 1. During assembly, the balls are retracted into the detection cylindrical shell 21 under the compression of the assembly pressure, and are ejected out after passing through the bearing 3, so that the limit effect is achieved, and during disassembly, the balls are retracted into the detection cylindrical shell 21 under the compression of the assembly pressure, so that the detection main body assembly 2 can be smoothly separated from the running assembly 1. In this technical scheme, the diameters of the ends of the running cylindrical shell 11 and the detecting cylindrical shell 21 correspond to each other, and when the running assembly 1 and the detecting main body assembly 2 are specifically assembled, the running assembly and the detecting main body assembly can be reliably connected by insertion, so that the running assembly and the detecting main body assembly are extremely convenient.
Referring to fig. 2, the whole robot is generally divided into three relatively independent modules, namely, a traveling assembly 1, a detection main assembly 2 and a laser ranging unit 52 formed by a laser ranging reflecting plate 521 and a laser 522, the assembly between the modules is very simple and quick, during the specific assembly, the small diameter end of the detection main assembly 2 is inserted into the large diameter end of the traveling assembly 1, so as to enter a central hole of the traveling cylindrical shell 11 (specifically, for example, under the orientation shown in fig. 1, the detection main assembly 2 is inserted into the traveling cylindrical shell 11 from right to left), until the small diameter end of the detection main assembly 2 corresponds to the small diameter end of the traveling assembly 1 and is to be erected in a bearing 3 of the small diameter end of the traveling assembly 1, at this time, the large diameter end of the detection main assembly 2 corresponds to the large diameter end of the traveling assembly 1 and is to be erected in a bearing 3 of the large diameter end of the traveling assembly 1, during the specific assembly, the axial displacement limiting component 7 simultaneously limits the axial positions of the two, after the rapid ranging reflecting plate is completed, the small diameter end of the detection main assembly 2 corresponds to the small diameter end of the traveling assembly 2, the small diameter end of the detection main assembly 2 corresponds to the small diameter end of the laser ranging reflecting plate 521, and the laser ranging reflecting plate 521 is arranged in a corresponding position of the laser pipe 521, and the laser ranging reflecting plate 521 is arranged in a corresponding position of the robot to be assembled on one side of the robot (corresponding to a laser pipe 521). The assembly and disassembly processes of the robot are opposite to the assembly processes, and are not described in detail herein. That is, the inspection robot in this technical solution is formed by assembling three relatively independent modules of the traveling assembly 1, the inspection main body assembly 2 and the laser ranging unit 52, wherein the inspection main body assembly 2 is rotatably erected and connected by the inspection cylindrical shell 21 through the insertion of one end of the traveling cylindrical shell 11 under the action of the bearing 3, the axial displacement limiting component 7 simultaneously limits the axial positions of the two, and the whole machine assembling and disassembling of the inspection robot only has the steps of insertion, axial positioning and connection of the laser ranging reflecting plate 521, so that the assembling process is extremely simple and rapid, and meanwhile, the coaxiality is effectively ensured due to the insertion and assembly between the traveling cylindrical shell 11 and the inspection cylindrical shell 21 through the two bearings 3, thereby relatively improving the inspection precision. More importantly, the detection main body component 2 and the running component 1 in the invention can respectively have different specifications, for example, the functions of the detection camera component 51 of the detection main body component 2 can be different, and the running speed and the applicable pipeline inner wall diameter range of the running component 1 are different, so that the multifunctional quick-change combination can be realized by changing different detection main body components 2 or running components 1, and the multi-parameter detection and multi-caliber detection can be realized.
The foregoing inspection camera assembly 51 can inspect the surface flaws and cracks of the inner wall of the pipe, and in a specific embodiment, it can be replaced to adapt to different inspection requirements, as shown in fig. 7, the inspection camera assembly 51 specifically uses the ring laser 200, and can inspect the relevant parameters of the spiral line in the pipe, such as the helix angle, the straightness of the pipe axis, the nozzle angle of the gun barrel, and can also form the 3D image of the pipe inner cavity. Specifically, the ring laser 200 is collected at high frequency through the camera to form an aperture on the inner wall of the pipeline, the program splices the scanning aperture of the inner wall of the pipeline in a full time period into a 3D image, so that the three-dimensional defect can be detected, the curvature of the central axis of the pipeline can be calculated in a fitting manner, and the angle of the pipe mouth of the gun barrel can be calculated according to the curvature of the axis.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The self-stabilizing pipeline inner wall detection robot is characterized by comprising a running assembly (1) and a detection main body assembly (2), wherein the running assembly (1) comprises a running cylindrical shell (11), the detection main body assembly (2) comprises a detection cylindrical shell (21), two ends of the detection cylindrical shell (21) are rotatably erected in the running cylindrical shell (11) through bearings (3), an inclination sensor module (41) and an angular displacement correction assembly are arranged in the detection cylindrical shell (21), the angular displacement correction assembly comprises a first rotary motor (421) fixedly connected with the detection cylindrical shell (21) and a friction wheel (422) sleeved with a rotary shaft of the first rotary motor (421), the friction wheel (422) is abutted against the inner wall of the running cylindrical shell (11) at least partially penetrating through the detection cylindrical shell (21), the inclination sensor module (41) can detect the rotation angle of the detection main body assembly (2) in the running process, and the first rotary motor (421) can be driven by the rotation sensor module (421) to eliminate the rotation angle according to the rotation angle of the detection main body (41); one end of the detection cylindrical shell (21) is connected with a detection camera assembly (51), and the detection camera assembly (51) detects surface flaws and cracks of the inner wall of the pipeline.
2. The self-stabilizing pipe inner wall inspection robot according to claim 1, wherein a bottom area within the inspection cylinder housing (21) is provided with a weight plate (22), and the inclination sensor module (41) is assembled on a top surface of the weight plate (22).
3. The self-stabilizing pipeline inner wall detection robot according to claim 2, wherein the other end of the detection cylindrical shell (21) is connected with a laser ranging reflecting plate (521), a first balancing weight (53) is connected below the detection camera assembly (51), and/or a second balancing weight (54) is connected below the laser ranging reflecting plate (521).
4. A self-stabilizing pipe inner wall inspection robot according to claim 3, characterized in that the first weight (53) is connected to the inspection camera assembly (51) by a first flexible rope (55); and/or the second balancing weight (54) is connected with the laser ranging reflecting plate (521) through a second soft rope (56).
5. The self-stabilizing pipeline inner wall detection robot according to claim 1, wherein at least three running brackets (12) are connected to the outer side of the running cylindrical shell (11), at least two running wheels (13) capable of being driven to run are arranged on each running bracket (12) at intervals along the length direction of the running bracket, and at least three running brackets (12) are evenly arranged at intervals around the circumference of the running cylindrical shell (11).
6. The self-stabilizing pipeline inner wall detection robot according to claim 5, wherein the running support (12) comprises a first support section (121), a second support section (122) and a third support section (123) which are hinged in sequence, wherein the free ends of the first support sections (121) respectively provided by the running supports (12) are hinged to a first ring body (141) in a common mode, the free ends of the third support sections (123) respectively provided by the running supports (12) are hinged to a second ring body (142) in a common mode, and the first ring body (141) and the second ring body (142) are respectively detachably sleeved at two ends of the running cylindrical shell (11).
7. The self-stabilizing pipeline inner wall detection robot according to claim 6, wherein a diameter adjusting structure is further sleeved on the outer peripheral wall of the running cylindrical shell (11), and the axial position of the diameter adjusting structure on the running cylindrical shell (11) can be adjusted so as to drive at least three second bracket sections (122) to move inwards or outwards along the radial direction of the running cylindrical shell (11).
8. The self-stabilizing pipeline inner wall detection robot according to claim 7, wherein the diameter adjustment structure comprises a first collar (1431), a second collar (1432) and a spiral spring (1433) sleeved on the outer peripheral wall of the running cylindrical shell (11), the spiral spring (1433) is connected between the first collar (1431) and the second collar (1432), the first collar (1431) and the second collar (1432) are sleeved on the outer peripheral wall of the running cylindrical shell (11) in a clearance manner, a plurality of adjustment guide rods (144) extending along the radial direction of the first collar (1431) are arranged on the first collar (1431), each adjustment guide rod (144) is connected corresponding to the second support section (122) to drive the second support section (122) to move along the axial direction of the running cylindrical shell (11), and the second collar (1432) is fixedly connected with the running cylindrical shell (11) through a quick screw (6).
9. The self-stabilizing pipeline inner wall detection robot according to claim 8, wherein the second support frame section (122) is provided with two support columns (1221) arranged at intervals, each support column (1221) is perpendicular to the axial direction of the running cylindrical shell (11), each support column (1221) is sleeved on a roller (1222), and the free end of the adjusting guide rod (144) is inserted in a gap formed by the rollers (1222) sleeved on the two support columns (1221) respectively.
10. The self-stabilizing pipe inner wall inspection robot according to claim 1, characterized in that the diameter of the first end of the running cylindrical housing (11) is larger than the diameter of the second end, the diameter of the first end of the inspection cylindrical housing (21) is larger than the diameter of the second end, the second end of the inspection cylindrical housing (21) is assembled to the second end of the running cylindrical housing (11) via the first end of the running cylindrical housing (11), and an axial displacement limiting member (7) is provided between the inspection cylindrical housing (21) and the running cylindrical housing (11).
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