CN115419781A - In-service ultra-long bent pipeline inspection robot - Google Patents
In-service ultra-long bent pipeline inspection robot Download PDFInfo
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- CN115419781A CN115419781A CN202211174037.7A CN202211174037A CN115419781A CN 115419781 A CN115419781 A CN 115419781A CN 202211174037 A CN202211174037 A CN 202211174037A CN 115419781 A CN115419781 A CN 115419781A
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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
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
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- B08B1/10—
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- B08B1/30—
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
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- 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
- 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
- G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
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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
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- G—PHYSICS
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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
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- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N2291/26—Scanned objects
- G01N2291/263—Surfaces
- G01N2291/2636—Surfaces cylindrical from inside
Abstract
The invention discloses an in-service ultra-long bent pipeline inspection robot which comprises a second adaptive pipe diameter mechanism, a driver, a protection frame and a sealing box, wherein a plurality of groups of first telescopic rods are installed on the outer wall of one side of the second adaptive pipe diameter mechanism, a plurality of groups of second telescopic rods are installed on the outer wall of the other side of the second adaptive pipe diameter mechanism, a sliding groove is installed on the inner wall of the driver, a piston is installed at one end of a return spring, a plurality of groups of backward water jetting holes are formed in one side of the driver, and a plurality of groups of forward water jetting holes are formed in the other side of the driver. According to the invention, the inspection robot can not vibrate when walking in the pipeline by installing the driver and the rubber block, the pipeline inspection robot stably and smoothly moves forwards in the oil-gas pipeline, the inspection robot walks in the oil-gas pipeline, the inspection robot is limited and supported by the rubber block, the phenomenon that the inspection result is interfered by vibration generated by walking is avoided, and accurate flaw detection can be carried out on the inner wall of the pipeline.
Description
Technical Field
The invention relates to the technical field of pipeline inspection robots, in particular to an in-service ultra-long bent pipeline inspection robot.
Background
With the increase of oil and gas pipelines at home and abroad, the demand for pipeline detection is gradually increased, the explosion accidents of the oil and gas pipelines are increasingly increased, common defects such as cracks and corrosion exist, the detection of the oil and gas pipelines at present comprises an external detection technology and an internal detection technology, under the conditions of non-excavation and non-contact, the pipeline detection is carried out by using professional detection equipment, the adverse factors of pipeline transportation such as corrosion defects and damaged anticorrosive coatings of the pipelines can be detected, the cathodic protection and anti-interference measures can be realized on the pipelines, the management and maintenance work of the pipeline operation is guided, the earliest in-pipeline detection technology appears in the 60 th century, various detection methods such as pipeline magnetic leakage, eddy current, ultrasonic wave and the like can be adopted to develop to the present, the in-pipeline detection technology applies an internal detector to detect the pipelines in the pipelines, the analysis of the pipeline defects such as positioning, qualitative and quantitative analysis can be effectively carried out, and the like, and the detection method is an important detection means for ensuring the safe operation of the oil and gas pipelines, and pipeline defect signals can be easily interfered by the vibration generated in the routing inspection process of a routing inspection robot when the robot walks in the pipelines.
The existing pipeline inspection robot has the following defects:
1. patent document CN112128512A discloses pipeline robot and pipeline inspection equipment, "pipeline robot includes the host computer body, the vision module, drive module and control module, the vision module sets up in the host computer body, the drive module includes two driving motor and rotates respectively and sets up in the drive wheelset of host computer body both sides, two driving motor are connected with two drive wheelset transmissions respectively, connect through the driving medium transmission that is located the host computer body outside between each drive wheel of drive wheelset, the vision module, driving motor and control module all are connected with the electric mortiser union piece. Therefore, the transmission part does not occupy the internal space of the main body, so that the overall size of the pipeline robot can be smaller, and the pipeline robot is suitable for a ditch pipeline with a smaller pipe diameter, and thus the pipeline robot of the embodiment of the application can improve the advancing power and obstacle crossing capability of the pipeline robot, simultaneously realize the miniaturization of the overall size, and further can rapidly advance in the ditch pipeline with the smaller pipe diameter;
2. patent document CN217272822U discloses an intelligent robot is patrolled and examined to six pushing-type pipelines, "including making the inner box, control inner box shell sets up the casing into hexagonal prism form, and control inner box outside is provided with six propellers, the outer wall edge of control inner box is provided with the mounting bracket, the mounting bracket bottom is provided with the clearance subassembly, the clearance subassembly includes the mounting panel, the mounting panel bottom is provided with the elastic mounting subassembly, and the mounting panel installs the clearance ring through the elastic mounting subassembly, the spatial structure of clearance ring is the C type, and clearance ring opening part cooperates in the pipeline, the mounting panel both sides set up the location mouth, set up locating component in the location mouth, locating component includes the fixed part, the fixed part is installed on the mounting bracket, and fixed part bottom bilateral symmetry is provided with a pair of fastening leg. The utility model provides an inspection robot can satisfy different environmental requirements, and the clearance sample function that sets up can clear up the sample to the foreign matter above the pipeline ", however the pipeline inspection intelligent robot of above-mentioned publication mainly considers to clear up the sample to the foreign matter above the pipeline, does not consider the problem of solving the pipeline and missing the detection, the mistake is examined the problem, therefore, it is necessary to study out a structure that can carry out comprehensive shooting to the pipeline inside, and then can prevent to take place the mistake and examine the phenomenon when detecting a flaw to the pipeline;
3. patent document CN216618993U discloses an intelligent underwater pipeline inspection robot, which comprises a circular end cover, a threading joint, an end cover flange, an edge propeller, a middle propeller, a support, a U-shaped pipe clamp, a bulb pressure-resistant cabin, a central bearing frame plate, a power supply transformation device, a control device, an information processing device, an illumination and image acquisition device and a power supply. The utility model discloses can independently advance, retreat, the come-up, dive and turn to, can follow the pipeline and independently advance, thereby make its depthkeeping keep certain distance with the pipeline through adjustment control parameter, avoid being blocked by the barrier on the pipeline, the robot discovers that the pipeline can send different forms's alarm signal when having abnormal conditions, it is accurate to detect, the artifical potential safety hazard of patrolling and examining the existence of having avoided, however the intelligence of above-mentioned open literature is patrolled and examined the machine and has mainly considered the potential safety hazard of having avoided the artifical existence of patrolling and examining, do not consider the problem that reduces the reflection of ultrasonic, therefore, it is necessary to study out one kind and to reduce the reflection configuration of ultrasonic, and then can improve the efficiency of patrolling and examining the robot to detect a flaw of pipeline.
Disclosure of Invention
The invention aims to provide an in-service ultra-long bent pipeline inspection robot, which solves the problems of avoiding walking vibration, preventing false detection and reducing ultrasonic reflection in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the in-service overlong bent pipeline inspection robot comprises a second adaptive pipe diameter mechanism, a driver, a protective frame and a seal box, wherein a plurality of groups of first telescopic rods are arranged on the outer wall of one side of the second adaptive pipe diameter mechanism, and a plurality of groups of second telescopic rods are arranged on the outer wall of the other side of the second adaptive pipe diameter mechanism;
a sliding groove is arranged on the inner wall of the driver, a return spring is arranged on the inner wall of the sliding groove, a piston is arranged at one end of the return spring, and a plurality of groups of backward water jetting holes are formed in one side of the driver;
and a plurality of groups of forward water jet holes are formed in the other side of the driver.
Preferably, the inner wall of sliding tray runs through and installs the inlet tube, and the inlet tube is located one side of reset spring, the restorer is installed to one side outer wall of No. two adaptation pipe diameter mechanisms, a spring is installed to the inner wall of restorer, the slider is installed to the one end of a spring, the connecting rod is installed to the outer wall of slider, and the one end of a connecting rod and the outer wall fixed connection of driver, no. two connecting rods are installed to one side outer wall of driver, the inner wall of driver is equipped with the basin No. one, no. one the conveyer pipe is installed to the outer wall of basin, no. one the drain pipe is installed to the one end of a conveyer pipe, and the one end in advance water jet hole extends to the outer wall of No. two drain pipes, and the one end in back water jet hole extends to the outer wall of No. one drain pipe, no. two sets of sealers are installed to the inner wall of sealers, the guide arm is installed to the inner wall of sealers, no. two springs are installed to the inner wall of sealers, the one end of No. two springs is installed the guide way, the inner wall of sealing block is equipped with the guide way, and the stopper is installed to the guide frame.
Preferably, one end fixed mounting of a telescopic link has an adaptation pipe diameter mechanism, and the one end fixed mounting of No. two telescopic links has No. three adaptation pipe diameter mechanisms, and the back of an adaptation pipe diameter mechanism, no. two adaptation pipe diameter mechanisms and No. three adaptation pipe diameter mechanisms all is equipped with three slides, and the back of an adaptation pipe diameter mechanism, no. two adaptation pipe diameter mechanisms and No. three adaptation pipe diameter mechanisms all is equipped with the through hole, and the through hole is located one side of slide, and the support frame is all installed to the inner wall of an adaptation pipe diameter mechanism, no. two adaptation pipe diameter mechanisms and No. three adaptation pipe diameter mechanisms.
Preferably, driving motor is installed to the inner wall of support frame, and a gear is installed to driving motor's output, and the axis of rotation is installed to the inner wall of support frame, and the outer wall of axis of rotation encircles and installs No. two gears, and the supporting shoe is installed to the one end of a gear and No. two gear engaged with axis of rotation, and the outer wall of supporting shoe encircles and installs three spouts of group, and the inner wall of spout runs through and installs the sliding plate, and the bearing is installed to the outer wall of sliding plate, and the one end of bearing extends to the inside of slide.
Preferably, the CCD camera is installed to the protection frame inner wall, and the lens is installed to the outer wall of CCD camera, and the outer wall of protection frame is equipped with two sets of mounting grooves, and the screw lead screw is installed to the inner wall of mounting groove, and the outer wall of screw lead screw encircles and installs the slip ring, and a link is installed to the outer wall of slip ring, and the rubber slab is installed to the outer wall of a link, and the protecting crust is installed to the outer wall of protection frame, and servo motor is installed to the inner wall of protecting crust, and the one end of screw lead screw and servo motor's output fixed connection.
Preferably, the containing frame is installed to the inner wall of seal box, and two sets of draw bars are installed to the bottom of containing frame, and No. two links are installed in the front of containing frame, and miniature push rod is all installed to the both sides outer wall of seal box, and the one end of miniature push rod and the outer wall fixed connection of No. two links, and ultrasonic probe is installed to the inner wall of containing frame.
Preferably, a rubber block is installed at the top of the sealing box, and one end of the ultrasonic probe extends to the inside of the rubber block.
Preferably, a silicon rubber film is arranged on the inner wall of the rubber block.
Preferably, the working steps of the pipeline inspection robot are as follows:
s1, an output end of a driving motor rotates to drive a first gear to rotate, the first gear rotates to drive a rotating shaft to rotate through a second gear, the rotating shaft rotates to drive a supporting block to rotate, the supporting block rotates to drive a sliding chute to rotate, the sliding chute rotates to drive a sliding plate to rotate, the sliding plate moves in a slide way when moving, the sliding plate moves in the sliding chute when moving, the sliding plate pushes a sealing box to move when moving, the sealing box pushes a rubber block to move when moving, the outer wall of the rubber block moves to be in contact with the inner wall of a pipeline and then supports and limits a supporting frame, and the supporting frame is used for supporting and limiting a mechanism adapting to the pipe diameter;
s2, when the inspection robot moves in the oil-gas pipeline, the first pipe diameter adapting mechanism, the second pipe diameter adapting mechanism and the third pipe diameter adapting mechanism are all abutted against the inner wall of the oil-gas pipeline, two groups of drivers are in a tightening state, firstly, the first pipe diameter adapting mechanism withdraws a rubber block, the first pipe diameter adapting mechanism is not limited any more, an external water source enters the inside of the sliding groove through a water inlet pipe, the external water source adjusts the pressure of high-pressure water flow entering the sliding groove through a booster pump to push a piston to move, the piston moves to the bottom of the second water tank and then pushes a limiting block to move, the limiting block drives a sealing block to move horizontally on the outer wall of a guide rod when moving, the sealing block does not seal the second water tank any more after moving out of the inside of the second water tank, so that the water source flows through the second water tank and enters the inside of the second conveying pipe while keeping the water pressure balanced with the elasticity of a reset spring, high-pressure water flow enters the interior of the second conveying pipe and then enters the interior of the second drainage pipe, the high-pressure water flow is discharged to the outside through the forward water jet hole after entering the interior of the second drainage pipe and then pushes the driver to move forward, the second connecting rod is pushed to move when the driver moves, the first adaptive pipe diameter mechanism is pushed to move when the second connecting rod moves, the first telescopic rod stretches to guide the first adaptive pipe diameter mechanism when the first adaptive pipe diameter mechanism moves, the first adaptive pipe diameter mechanism moves forward and then supports rubber blocks on the pipe wall, the first adaptive pipe diameter mechanism moves forward one step, then the second adaptive pipe diameter mechanism retracts the rubber blocks, the second adaptive pipe diameter mechanism is not limited any more, and the other group of drivers are adjusted to do the above actions to push the second adaptive pipe diameter mechanism to move, meanwhile, the elasticity of the first spring can pull the sliding block to reset, the sliding block resets and pulls the driver to move through the first connecting rod, the reset guide frame can limit the driver after the driver moves one end for a distance, and further can limit the position of the sliding block, because the two ends of the first spring are respectively and fixedly connected with the outer wall of the sliding block and the inner wall of the restorer, the elasticity of the first spring can pull the restorer to continue moving, one end of the restorer is fixedly connected with the outer wall of the second adaptive pipe diameter mechanism, and further can pull the moving position of the second adaptive pipe diameter mechanism, and then the second adaptive pipe diameter mechanism moves forwards and then supports the rubber block on the inner wall of the oil-gas pipeline, so that the second adaptive pipe diameter mechanism advances one step forwards, and then the third adaptive pipe diameter mechanism retracts the rubber block, the outer wall of the other group of repositors is fixedly connected with the outer wall of the third adaptive pipe diameter mechanism, the other group of repositors is changed into a tightening state, the first connecting rod is retracted, the rubber block is abutted against the pipe wall after the third adaptive pipe diameter mechanism moves forwards, the steps are repeated, the pipeline inspection robot can stably and smoothly move forwards in the oil-gas pipeline, the rubber block is made of wear-resistant high polymer materials, the inspection robot walks in the oil-gas pipeline, the inspection robot is limited and supported by the rubber block, the phenomenon that the inspection result is interfered by vibration caused by walking is avoided, and accurate inspection can be carried out on the inner wall of the pipeline when the inner wall of the oil-gas pipeline is detected;
s3, three groups of protective frames are arranged inside the first pipe diameter adapting mechanism, the second pipe diameter adapting mechanism and the third pipe diameter adapting mechanism in a staggered mode, a CCD camera is also arranged in a staggered mode, dead-angle-free comprehensive shooting can be conducted on the inner wall of a pipeline, external workers can know the comprehensive condition of the interior of an oil-gas pipeline through shooting, defect ultrasonic phased array flexible coupling detection is conducted on the interior of the oil-gas pipeline, accurate and comprehensive flaw detection of the pipeline can be guaranteed, when the CCD camera detects the condition of the interior of the oil-gas pipeline, if more dirt is adsorbed on the outer wall of a lens, the detection effect can be influenced, when impurities adsorbed on the outer wall of the lens are removed, the output ends of two groups of servo motors synchronously rotate to drive a threaded lead screw to rotate, the threaded lead screw rotates to move a sliding ring to move, the first connecting frame is driven to move when the sliding ring moves, the first connecting frame drives a rubber plate to move, when the rubber plate moves, the bottom of the rubber plate is attached to the outer wall of the lens, the impurities adsorbed on the outer wall of the lens can be removed, the purpose that the impurities are adsorbed on the outer wall of the lens is achieved, and the CCD camera can be prevented from being influenced by the detection effect of the camera too much;
s4, a certain amount of water is contained in the silicon rubber film to serve as a coupling agent, ultrasonic attenuation can be reduced, the silicon rubber film is made of a water bag flexible coupling material with the thickness of 0.1mm, the material of the silicon rubber film is close to an oil-gas pipeline, reflection of ultrasonic waves can be effectively reduced, the silicon rubber film has certain elasticity, good coupling effect of the water in the water bag and an insulator can be achieved, when an ultrasonic probe detects a flaw of the pipeline, ultrasonic waves penetrate through the water bag to transmit to the pipeline, a certain amount of water is contained in the silicon rubber film to serve as the coupling agent, the ultrasonic attenuation phenomenon can be effectively reduced, when the ultrasonic probe needs to be maintained, the micro push rod works to push the second connecting frame to move, the second connecting frame is driven to move when the second connecting frame moves, the sliding strip enables the containing frame to horizontally move out of the inside of the sealing box when the containing frame moves, and the ultrasonic probe can be maintained after being driven by the containing frame to move out of the inside of the sealing box.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention can ensure that the inspection robot can not vibrate when walking in the pipeline by installing the driver and the rubber block, so that the first pipe diameter adapting mechanism, the second pipe diameter adapting mechanism and the third pipe diameter adapting mechanism are all abutted against the inner wall of the oil and gas pipeline, firstly, the first pipe diameter adapting mechanism withdraws the rubber block, the first pipe diameter adapting mechanism is not limited any more, an external water source enters the inside of the sliding groove through the water inlet pipe, the water source flows into the inside of the second conveying pipe through the second water tank, high-pressure water flow is discharged to the outside through the forward water jetting hole to push the driver to advance, the driver pushes the second connecting rod to move when moving, the first pipe diameter adapting mechanism is pushed to move when moving, the first telescopic rod stretches to guide the first pipe diameter adapting mechanism when the first pipe diameter adapting mechanism moves, and the first pipe diameter adapting mechanism pushes the rubber block against the pipe wall after advancing forwards, the first adaptive pipe diameter mechanism moves forward by one step, then the second adaptive pipe diameter mechanism withdraws the rubber block, water pressure is adjusted to enable another group of drivers to do the action to push the second adaptive pipe diameter mechanism to move, meanwhile, the elasticity of the first spring can drive the sliding block to reset, the sliding block resets and drives the drivers to move through the first connecting rod, the reset guide frame can limit the drivers after the drivers move one end distance, and further can limit the position of the sliding block, because the two ends of the first spring are respectively and fixedly connected with the outer wall of the sliding block and the inner wall of the restorer, the elasticity of the first spring can drive the restorer to continue moving, one end of the restorer is fixedly connected with the outer wall of the second adaptive pipe diameter mechanism, and further can drive the second adaptive pipe diameter mechanism to move forward and then support the rubber block on the inner wall of an oil-gas pipeline, the inspection robot moves forwards in the oil-gas pipeline stably and smoothly, the rubber blocks are made of wear-resistant high polymer materials, the inspection robot walks in the oil-gas pipeline, the inspection robot is limited and supported by the rubber blocks, the phenomenon that the inspection result is interfered by vibration caused by walking cannot occur, and accurate flaw detection can be performed on the inner wall of the pipeline when the inner wall of the oil-gas pipeline is detected;
2. the invention can shoot the inside of the pipeline without dead angles by installing a CCD camera, three groups of protective frames are arranged inside a first pipe diameter adapting mechanism, a second pipe diameter adapting mechanism and a third pipe diameter adapting mechanism in degrees, the CCD camera is also arranged in degrees, the inner wall of the pipeline can be shot completely without dead angles, external workers can know the comprehensive condition of the inside of an oil-gas pipeline by shooting, and then defect ultrasonic phased array flexible coupling detection is carried out on the inside of the oil-gas pipeline, so that accurate and complete flaw detection of the pipeline can be ensured;
3. the silicon rubber film is installed to reduce ultrasonic reflection, a certain amount of water is contained in the silicon rubber film to serve as a coupling agent, ultrasonic attenuation can be reduced, the silicon rubber film is 0.1mm thick and serves as a water bag flexible coupling material, the material is close to an oil and gas pipeline, reflection of ultrasonic waves can be effectively reduced, the silicon rubber film has certain elasticity, good coupling effects of water in the water bag and an insulator can be achieved, when an ultrasonic probe detects flaws of the pipeline, ultrasonic waves penetrate through the water bag to transmit to the pipeline, a certain amount of water is contained in the film to serve as the coupling agent, the ultrasonic attenuation phenomenon can be effectively reduced, when the ultrasonic probe needs to be maintained, the micro push rod works to push the second connecting frame to move, the second connecting frame drives the containing frame to move when the second connecting frame moves, the sliding strip enables the containing frame to horizontally move out of the sealing box when the containing frame moves out of the sealing box, the containing frame drives the ultrasonic probe to move out of the sealing box, and then the ultrasonic probe can be maintained.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the guide frame of the present invention;
FIG. 3 is a schematic view of the structure of the driver of the present invention;
FIG. 4 is a schematic view of the structure of the chute of the present invention;
FIG. 5 is a schematic view of the chute of the present invention;
FIG. 6 is a schematic view of the supporting frame of the present invention;
FIG. 7 is a schematic view of a protective frame according to the present invention;
FIG. 8 is a schematic view of the seal box of the present invention;
FIG. 9 is a schematic view of the rubber block structure of the present invention;
fig. 10 is a schematic view of the sealer structure of the present invention.
In the figure: 1. a second mechanism for adapting pipe diameter; 2. a first telescopic rod; 3. a second telescopic rod; 4. a first pipe diameter adapting mechanism; 5. a third mechanism for adapting pipe diameter; 6. a driver; 7. a guide frame; 8. a repositor; 9. a first connecting rod; 10. a second connecting rod; 11. a slideway; 12. a through hole; 13. a support frame; 14. a drive motor; 15. a first gear; 16. a rotating shaft; 17. a second gear; 18. a support block; 19. a chute; 20. a sliding plate; 21. a bearing; 22. a CCD camera; 23. a lens; 24. mounting grooves; 25. a threaded lead screw; 26. a slip ring; 27. a first connecting frame; 28. a rubber plate; 29. a protective shell; 30. a servo motor; 31. a limiting block; 32. a sliding groove; 33. a protective frame; 34. a sealing box; 35. a storage rack; 36. a second connecting frame; 37. a micro push rod; 38. a slide bar; 39. an ultrasonic probe; 40. a rubber block; 41. a silicone rubber film; 42. a first spring; 43. a slider; 44. a first water tank; 45. a second water tank; 46. a first conveying pipe; 47. a first water drain pipe; 48. backward water injection holes; 49. a second conveying pipe; 50. a second water drainage pipe; 51. an advancing water jet hole; 52. a water inlet pipe; 53. a piston; 54. a return spring; 55. a sealer; 56. a guide bar; 57. a second spring; 58. a sealing block; 59. a guide groove.
Detailed Description
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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Referring to fig. 1, an embodiment of the present invention: robot is patrolled and examined at super long crooked pipeline in labour, including No. two adaptation pipe diameter mechanisms 1, driver 6, protection frame 33 and seal box 34, one side outer wall of No. two adaptation pipe diameter mechanisms 1 installs the telescopic link 2 of multiunit, no. two telescopic link 3 of multiunit are installed to the opposite side outer wall of No. two adaptation pipe diameter mechanisms 1, no. two adaptation pipe diameter mechanisms 1 provides installation space for telescopic link 2 and No. two telescopic link 3, examine the robot and examine when the pipeline is examined in the inside removal of oil gas pipeline in the super long crooked pipeline in labour, telescopic link 2 and No. two telescopic link 3 can stretch out and draw back, lead to adaptation pipe diameter mechanism 4 and No. three adaptation pipe diameter mechanisms 5, can the horizontal migration position when making an adaptation pipe diameter mechanism 4 and No. three adaptation pipe diameter mechanisms 5 remove, the equal fixed mounting of outer wall of No. two adaptation pipe diameter mechanisms 1 and No. three adaptation pipe diameter mechanisms 5 has restorer 8.
Referring to fig. 1, 2, 3, 4, 5, 6 and 10, a sliding groove 32 is installed on an inner wall of a driver 6, a return spring 54 is installed on an inner wall of the sliding groove 32, a piston 53 is installed at one end of the return spring 54, a plurality of sets of backward water jet holes 48 are installed on one side of the driver 6, a plurality of sets of forward water jet holes 51 are installed on the other side of the driver 6, a water inlet pipe 52 is installed on an inner wall of the sliding groove 32 in a penetrating manner, the water inlet pipe 52 is positioned on one side of the return spring 54, a return 8 is installed on an outer wall of one side of a second adaptive pipe diameter mechanism 1, a first spring 42 is installed on an inner wall of the return 8, a slider 43 is installed on one end of the first spring 42, a first connecting rod 9 is installed on an outer wall of the slider 43, one end of the first connecting rod 9 is fixedly connected to an outer wall of the driver 6, a second connecting rod 10 is installed on an outer wall of one side of the driver 6, a first water jet pipe 44 is installed on an inner wall of the driver 6, a first water jet pipe 46 is installed on an outer wall of the first water jet hole 47, a second water jet hole 45 is installed on an inner wall of the second water jet hole 45, a guide block 55, a second water jet block 55 is installed on an inner wall of the guide 5, a guide block 55, a guide block 58, and a guide block 58 is installed on a guide block 5, and a guide block 5, a guide block 5 guide block of the inner wall of the water jet block 5, one end of a first telescopic rod 2 is fixedly provided with a first pipe diameter adapting mechanism 4, one end of a second telescopic rod 3 is fixedly provided with a third pipe diameter adapting mechanism 5, the back surfaces of the first pipe diameter adapting mechanism 4, the second pipe diameter adapting mechanism 1 and the third pipe diameter adapting mechanism 5 are respectively provided with three groups of slideways 11, the back surfaces of the first pipe diameter adapting mechanism 4, the second pipe diameter adapting mechanism 1 and the third pipe diameter adapting mechanism 5 are respectively provided with a through hole 12, the through holes 12 are positioned at one side of the slideways 11, the inner walls of the first pipe diameter adapting mechanism 4, the second pipe diameter adapting mechanism 1 and the third pipe diameter adapting mechanism 5 are respectively provided with a support frame 13, the inner wall of the support frame 13 is provided with a driving motor 14, the output end of the driving motor 14 is provided with a first gear 15, the inner wall of the support frame 13 is provided with a rotating shaft 16, and the outer wall of the rotating shaft 16 is provided with a second gear 17 in a surrounding manner, a supporting block 18 is arranged at one end of a rotating shaft 16 meshed with the first gear 15 and the second gear 17, three groups of sliding grooves 19 are arranged on the outer wall of the supporting block 18 in a surrounding manner, a sliding plate 20 is arranged on the inner wall of each sliding groove 19 in a penetrating manner, a bearing 21 is arranged on the outer wall of each sliding plate 20, one end of each bearing 21 extends into the corresponding slide way 11, the output end of the driving motor 14 rotates to drive the first gear 15 to rotate, the first gear 15 rotates to drive the rotating shaft 16 to rotate through the second gear 17, the rotating shaft 16 rotates to drive the supporting block 18 to rotate, the supporting block 18 rotates to drive the sliding grooves 19 to rotate, the sliding plate 19 rotates to drive the sliding plate 20 to rotate, the bearing 21 is driven to move in the slide way 11 when the sliding plate 20 moves, the sliding plate 20 moves to move in the slide way 19 when the bearing 21 moves, the sealing box 34 moves when the sliding plate 20 moves, and the rubber block 40 moves when the sealing box 34 moves, the outer wall of the rubber block 40 moves to be in contact with the inner wall of the pipeline and then supports and limits the supporting frame 13, the adaptive pipe diameter mechanism is supported and limited by the supporting frame 13, when the inspection robot moves in the oil-gas pipeline, the first adaptive pipe diameter mechanism 4, the second adaptive pipe diameter mechanism 1 and the third adaptive pipe diameter mechanism 5 are all abutted to the inner wall of the oil-gas pipeline, the two groups of drivers 6 are in a tightening state, firstly, the first adaptive pipe diameter mechanism 4 withdraws the rubber block 40, the first adaptive pipe diameter mechanism 4 is not limited any more, an external water source enters the sliding groove 32 through the water inlet pipe 52, the high-pressure water pressure of the external water source entering the sliding groove 32 is regulated by the booster pump to push the piston 53 to move, the piston 53 moves to the bottom of the second water tank 45 and then pushes the limiting block 31 to move, and the limiting block 31 drives the sealing block 58 to move horizontally on the outer wall of the guide rod 56 when moving, the sealing block 58 moves out of the second water tank 45 to prevent the second water tank 45 from being sealed again, so that water flows into the second delivery pipe 49 through the second water tank 45, water pressure and the elastic force of the return spring 54 are kept balanced, high-pressure water flows enter the second delivery pipe 49 and then enter the second delivery pipe 50, the high-pressure water flows enter the second delivery pipe 50 and then are discharged to the outside through the forward water jet hole 51 to push the driver 6 to move forward, the driver 6 pushes the second connecting rod 10 to move when moving, the first connecting rod 10 pushes the first adaptive pipe diameter mechanism 4 to move, the first telescopic rod 2 stretches when the first adaptive pipe diameter mechanism 4 moves to guide the first adaptive pipe diameter mechanism 4, and the first adaptive pipe diameter mechanism 4 moves forward to support the rubber block 40 on the pipe wall, the first pipe diameter adapting mechanism 4 moves forward by one step, then the second pipe diameter adapting mechanism 1 withdraws the rubber block 40, the second pipe diameter adapting mechanism 1 is not limited, the other group of drivers 6 are driven to move by adjusting water pressure, meanwhile, the self elasticity of the first spring 42 can drive the sliding block 43 to reset, the sliding block 43 resets and drives the drivers 6 to move through the first connecting rod 9, the reset guide frame 7 can limit the drivers 6 after the drivers 6 move for one end, and then the position of the sliding block 43 can be limited, because the two ends of the first spring 42 are respectively and fixedly connected with the outer wall of the sliding block 43 and the inner wall of the restorer 8, the self elasticity of the first spring 42 can drive the restorer 8 to continue to move, one end of the restorer 8 is fixedly connected with the outer wall of the second pipe diameter adapting mechanism 1, and then the second pipe diameter adapting mechanism 1 can be driven to move, then, the second adaptive pipe diameter mechanism 1 moves forwards and then supports the rubber block 40 on the inner wall of the oil and gas pipeline, the second adaptive pipe diameter mechanism 1 moves forwards by one step, then the third adaptive pipe diameter mechanism 5 withdraws the rubber block 40, the outer wall of the other group of repositioners 8 is fixedly connected with the outer wall of the third adaptive pipe diameter mechanism 5, the other group of repositioners 8 changes to a tightening state and withdraws the first connecting rod 9, the rubber block 40 is supported on the pipe wall after the third adaptive pipe diameter mechanism 5 moves forwards, the third adaptive pipe diameter mechanism 5 moves forwards by one step, the steps are repeated, the pipeline flaw detection robot can stably and smoothly move forwards in the oil and gas pipeline, the rubber block 40 is made of wear-resistant high polymer materials, the inspection robot walks in the oil and gas pipeline, the inspection robot is limited and supported by the rubber block 40, the phenomenon that the flaw detection result is interfered by vibration caused by walking can not occur, and the inner wall of the pipeline can be accurately detected when the inner wall of the oil-gas pipeline is detected.
Referring to fig. 1 and 7, a CCD camera 22 is mounted on the inner wall of a protection frame 33, a lens 23 is mounted on the outer wall of the CCD camera 22, two sets of mounting grooves 24 are formed on the outer wall of the protection frame 33, a threaded lead screw 25 is mounted on the inner wall of the mounting groove 24, a sliding ring 26 is mounted on the outer wall of the threaded lead screw 25 in a surrounding manner, a first connecting frame 27 is mounted on the outer wall of the sliding ring 26, a rubber plate 28 is mounted on the outer wall of the first connecting frame 27, a protection housing 29 is mounted on the outer wall of the protection frame 33, a servo motor 30 is mounted on the inner wall of the protection housing 29, one end of the threaded lead screw 25 is fixedly connected with the output end of the servo motor 30, three sets of protection frames 33 are arranged at 120 degrees inside a first adaptive pipe diameter mechanism 4, a second adaptive pipe diameter mechanism 1 and a third adaptive pipe diameter mechanism 5, the CCD camera 22 is also arranged at 120 degrees, so that the inner wall of a pipe can be shot completely without dead angle, the comprehensive condition of the inside of the oil-gas pipeline can be known by external workers through shooting, then defect ultrasonic phased array flexible coupling detection is carried out on the inside of the oil-gas pipeline, accurate and comprehensive flaw detection of the pipeline can be ensured, when the CCD camera 22 detects the condition of the inside of the oil-gas pipeline, if more dirt is adsorbed on the outer wall of the lens 23, the detection effect can be influenced, when impurities adsorbed on the outer wall of the lens 23 are removed, the output ends of two groups of servo motors 30 synchronously rotate to drive the threaded screw rod 25 to rotate, the threaded screw rod 25 rotates to drive the sliding ring 26 to move, the sliding ring 26 drives the first connecting frame 27 to move when moving, the first connecting frame 27 drives the rubber plate 28 to move, when the rubber plate 28 moves, the bottom of the rubber plate 28 is attached to the outer wall of the lens 23, the impurities adsorbed on the outer wall of the lens 23 can be removed, and the purpose of removing the impurities adsorbed on the outer wall of the lens 23 is achieved, it is possible to prevent the effect of the photographing detection of the CCD camera 22 from being excessively affected by the impurities.
Referring to fig. 8 and 9, a storage frame 35 is installed on an inner wall of a seal box 34, two sets of sliders 38 are installed at the bottom of the storage frame 35, a second connection frame 36 is installed on a front surface of the storage frame 35, micro push rods 37 are installed on outer walls of two sides of the seal box 34, one end of each micro push rod 37 is fixedly connected with an outer wall of the second connection frame 36, an ultrasonic probe 39 is installed on an inner wall of the storage frame 35, a rubber block 40 is installed on a top portion of the seal box 34, one end of each ultrasonic probe 39 extends into the rubber block 40, a silicone rubber film 41 is installed on an inner wall of the rubber block 40, a certain amount of water is contained in the silicone rubber film 41 as a coupling agent, ultrasonic attenuation can be reduced, the silicone rubber film 41 is 0.1mm thick as a flexible coupling material of the water bag, the material is close to an oil and gas pipeline, reflection of the ultrasonic wave can be effectively reduced, the silicone rubber film 41 has certain elasticity, a good coupling effect of water in the water bag and an insulator can be achieved, when the ultrasonic probe 39 is used for pipeline, the ultrasonic wave transmission to the pipeline, a certain amount of water is contained in the film as the coupling agent, a flaw detection phenomenon can be effectively reduced, when the ultrasonic probe 39 moves out of the pipeline, the ultrasonic probe 35 can be used for driving the storage frame to drive the storage frame 35 to move, the storage frame 35 when the ultrasonic probe 35 to move, the ultrasonic probe 35, the storage frame, the ultrasonic probe moves out of the storage frame, the slide frame 35, the ultrasonic probe to move.
The working principle is that the output end of the driving motor 14 rotates to drive the first gear 15 to rotate, the first gear 15 rotates to drive the rotating shaft 16 to rotate through the second gear 17, the rotating shaft 16 rotates to drive the supporting block 18 to rotate, the supporting block 18 rotates to drive the sliding chute 19 to rotate, the sliding chute 19 rotates to drive the sliding plate 20 to rotate, the sliding plate 20 moves in the slideway 11 when moving, the sliding plate 20 moves in the sliding chute 19 when moving, the sliding plate 20 pushes the sealing box 34 to move when moving, the sealing box 34 pushes the rubber block 40 to move when moving, the outer wall of the rubber block 40 moves to contact with the inner wall of the pipeline to support and limit the supporting frame 13, the adaptive pipe diameter inspection mechanism is supported and limited by the supporting frame 13, the first adaptive pipe diameter inspection mechanism 4, the second adaptive pipe diameter inspection mechanism 1 and the third adaptive pipe diameter inspection mechanism 5 are all abutted to the inner wall of the oil and gas pipeline when the robot moves in the oil and gas pipeline, two groups of drivers 6 are in a tightening state, firstly, the rubber block 40 is retracted by the first adaptive pipe diameter mechanism 4, the first adaptive pipe diameter mechanism 4 is not limited, an external water source enters the inside of the sliding groove 32 through the water inlet pipe 52, the external water source adjusts the pressure of high-pressure water flow entering the sliding groove 32 through the booster pump to push the piston 53 to move, the piston 53 moves to the bottom of the second water tank 45 and then pushes the limiting block 31 to move, the limiting block 31 drives the sealing block 58 to move horizontally on the outer wall of the guide rod 56 when moving, the sealing block 58 does not seal the second water tank 45 after moving out of the inside of the second water tank 45, so that the water source flows into the inside of the second conveying pipe 49 through the second water tank 45 and simultaneously keeps the water pressure balanced with the elasticity of the reset spring 54, high-pressure water flow enters the interior of the second delivery pipe 49 and then enters the interior of the second drainage pipe 50, the high-pressure water flow enters the interior of the second drainage pipe 50 and then is discharged to the outside through the forward water jet hole 51 to push the driver 6 to move forward, the driver 6 pushes the second connecting rod 10 to move when moving, the first adaptive pipe diameter mechanism 4 is pushed to move when moving by the second connecting rod 10, the first telescopic rod 2 stretches to guide the first adaptive pipe diameter mechanism 4 when moving by the first adaptive pipe diameter mechanism 4, the first adaptive pipe diameter mechanism 4 pushes the rubber block 40 against the pipe wall after moving forward, the first adaptive pipe diameter mechanism 4 moves forward by one step, then the second adaptive pipe diameter mechanism 1 retracts the rubber block 40, the second adaptive pipe diameter mechanism 1 is not limited any more, the other group of drivers 6 push the second adaptive pipe diameter mechanism 1 to move by adjusting water pressure, meanwhile, the elasticity of the first spring 42 pulls the slider 43 to reset by the first connecting rod 9, the slider 43 to move through the first connecting rod 9, one end of the driver 6 moves away from the backward reset guide frame, and then the slider 43 pulls the inner wall of the first adaptive pipe diameter mechanism to move towards the second adaptive pipe diameter mechanism 8, and the inner wall of the third adaptive pipe diameter mechanism, and the slider 43, and the slider can be connected with the inner wall of the first adaptive pipe diameter mechanism, and the second adaptive pipe diameter mechanism, and the slider 8, and the slider can be connected with the slider 6, and the slider 8, and the slider after the slider, and the slider 6, and the slider can be pulled by the slider 6, the outer wall of the other group of repositors 8 is fixedly connected with the outer wall of the third adaptive pipe diameter mechanism 5, the other group of repositors 8 is changed into a tightening state, the first connecting rod 9 is retracted, the third adaptive pipe diameter mechanism 5 moves forwards and then presses the rubber block 40 against the pipe wall, so that the third adaptive pipe diameter mechanism 5 moves forwards by one step, the steps are repeated, the pipeline inspection robot can stably and smoothly move forwards in the oil and gas pipeline, the rubber block 40 is made of wear-resistant high polymer materials, the inspection robot walks in the oil and gas pipeline, the inspection robot is limited and supported by the rubber block 40, the phenomenon of vibration interference and flaw detection results caused by walking can not occur, the inner wall of the pipeline can be accurately inspected when the inner wall of the oil and gas pipeline is inspected, the three groups of protection frames 33 are arranged in the first adaptive pipe diameter mechanism 4, the second adaptive pipe diameter mechanism 1 and the third adaptive pipe diameter mechanism 5 at 120 degrees, the CCD camera 22 is also arranged at 120 degrees, so that the inner wall of the pipeline can be shot completely without dead angles, external workers can know the comprehensive condition of the inside of an oil-gas pipeline through shooting, defect ultrasonic phased array flexible coupling detection is carried out on the inside of the oil-gas pipeline, accurate and comprehensive flaw detection of the pipeline can be ensured, when the CCD camera 22 detects the condition of the inside of the oil-gas pipeline, if more dirt is adsorbed on the outer wall of the lens 23, the detection effect is influenced, when impurities adsorbed on the outer wall of the lens 23 are removed, the output ends of the two groups of servo motors 30 synchronously rotate to drive the threaded lead screw 25 to rotate, the threaded lead screw 25 rotates to drive the sliding ring 26 to move, the sliding ring 26 drives the first connecting frame 27 to move when moving, the first connecting frame 27 drives the rubber plate 28 to move, when moving the rubber plate 28, the bottom of the rubber plate 28 is attached to the outer wall of the lens 23, can clear away the impurity that lens 23 outer wall adsorbs, reach the purpose of clearing away lens 23 outer wall adsorption impurity, can prevent that impurity too much from influencing CCD camera 22 and shoot the effect that detects, silicon rubber film 41's inside holds a certain amount of water as the couplant, can reduce the ultrasonic attenuation, silicon rubber film 41 thickness 0.1mm is as water pocket flexible coupling material, its material is close with the oil and gas pipeline, can reduce the reflection of ultrasonic wave effectively, silicon rubber film 41 has certain elasticity, can realize the good coupling effect of water and insulator in the water pocket, when ultrasonic probe 39 is detected a flaw to the pipeline, make the ultrasonic wave pass the water pocket and transmit to the pipeline, hold a certain amount of water as the couplant through film inside, can effectually reduce the emergence of ultrasonic attenuation phenomenon, when needing to maintain ultrasonic probe 39, make miniature push rod 37 work promote No. two link 36 and remove, drive when No. two link 36 removes and take in storage frame 35, slide bar 38 makes storage frame 35 horizontal migration out of the inside of 34 when storage frame 35 removes the inside of seal box 34, can maintain ultrasonic probe 39 after storage frame 35 drives ultrasonic probe 34.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. Robot is patrolled and examined to super long curved conduit in labour, including No. two adaptation pipe diameter mechanisms (1), driver (6), protection frame (33) and seal box (34), its characterized in that: a plurality of groups of first telescopic rods (2) are mounted on the outer wall of one side of the second pipe diameter adapting mechanism (1), and a plurality of groups of second telescopic rods (3) are mounted on the outer wall of the other side of the second pipe diameter adapting mechanism (1);
a sliding groove (32) is installed on the inner wall of the driver (6), a return spring (54) is installed on the inner wall of the sliding groove (32), a piston (53) is installed at one end of the return spring (54), and a plurality of groups of backward water injection holes (48) are formed in one side of the driver (6);
and a plurality of groups of forward water jet holes (51) are formed in the other side of the driver (6).
2. The in-service ultra-long curved pipeline inspection robot according to claim 1, wherein: the inner wall of the sliding groove (32) is provided with a water inlet pipe (52) in a penetrating mode, the water inlet pipe (52) is located on one side of a reset spring (54), the outer wall of one side of a second adaptive pipe diameter mechanism (1) is provided with a reset device (8), the inner wall of the reset device (8) is provided with a first spring (42), one end of the first spring (42) is provided with a slider (43), the outer wall of the slider (43) is provided with a first connecting rod (9), one end of the first connecting rod (9) is fixedly connected with the outer wall of the driver (6), the outer wall of one side of the driver (6) is provided with a second connecting rod (10), the inner wall of the driver (6) is provided with a first water groove (44), the outer wall of the first water groove (44) is provided with a first delivery pipe (46), one end of the first delivery pipe (46) is provided with a first drain pipe (47), one end of a reverse water jet hole (48) extends to the outer wall of the first drain pipe (47), the inner wall of the driver (6) is provided with a second water groove (45), the outer wall of the second water jet hole (49) is provided with a second water jet hole (49), one end of the second delivery pipe (49), one end of the second water jet hole (50) extends to the driver (55) of the second water jet pipe (55), and the two sets of the drain pipe (6) extend to the driver (55), guide rod (56) are installed to the inner wall of sealer (55), no. two spring (57) are installed to the inner wall of sealer (55), sealed piece (58) are installed to the one end of No. two spring (57), the inner wall of sealed piece (58) is equipped with guide way (59), and the one end of guide rod (56) extends to the inside of guide way (59), stopper (31) are installed to the bottom of sealed piece (58), leading truck (7) are installed to the outer wall of restorer (8).
3. The in-service ultra-long curved pipeline inspection robot according to claim 1, wherein: one end fixed mounting of a telescopic link (2) has an adaptation pipe diameter mechanism (4), the one end fixed mounting of No. two telescopic links (3) has No. three adaptation pipe diameter mechanisms (5), an adaptation pipe diameter mechanism (4), the back of No. two adaptation pipe diameter mechanisms (1) and No. three adaptation pipe diameter mechanisms (5) all is equipped with three group's slides (11), the back of an adaptation pipe diameter mechanism (4), no. two adaptation pipe diameter mechanisms (1) and No. three adaptation pipe diameter mechanisms (5) all is equipped with through hole (12), and through hole (12) are located one side of slide (11), support frame (13) are all installed to the inner wall of an adaptation pipe diameter mechanism (4), no. two adaptation pipe diameter mechanisms (1) and No. three adaptation pipe diameter mechanisms (5).
4. The in-service ultra-long curved pipeline inspection robot according to claim 3, wherein: driving motor (14) are installed to the inner wall of support frame (13), gear (15) are installed to the output of driving motor (14), axis of rotation (16) are installed to the inner wall of support frame (13), the outer wall of axis of rotation (16) is encircleed and is installed No. two gear (17), and supporting shoe (18) are installed to the one end of a gear (15) and No. two gear (17) looks meshing axis of rotation (16), the outer wall of supporting shoe (18) is encircleed and is installed three group's spout (19), the inner wall of spout (19) is run through and is installed sliding plate (20), bearing (21) are installed to the outer wall of sliding plate (20), and the one end of bearing (21) extends to the inside of slide (11).
5. The in-service ultra-long curved pipeline inspection robot according to claim 1, wherein: CCD camera (22) are installed to protection frame (33) inner wall, lens (23) are installed to the outer wall of CCD camera (22), the outer wall of protection frame (33) is equipped with two sets of mounting grooves (24), screw lead screw (25) are installed to the inner wall of mounting groove (24), the outer wall of screw lead screw (25) is encircleed and is installed slip ring (26), link (27) are installed No. one to the outer wall of slip ring (26), rubber slab (28) are installed to the outer wall of link (27), protecting crust (29) are installed to the outer wall of protection frame (33), servo motor (30) are installed to the inner wall of protecting crust (29), and the output fixed connection of the one end of screw lead screw (25) and servo motor (30).
6. The in-service ultra-long curved pipeline inspection robot according to claim 1, wherein: storage frame (35) is installed to the inner wall of seal box (34), and two sets of draw runner (38) are installed to the bottom of storage frame (35), and No. two link (36) are installed in the front of storage frame (35), and miniature push rod (37) are all installed to the both sides outer wall of seal box (34), and the one end of miniature push rod (37) and the outer wall fixed connection of No. two link (36), and ultrasonic probe (39) are installed to the inner wall of storage frame (35).
7. The in-service ultra-long curved pipeline inspection robot according to claim 1, wherein: the rubber block (40) is installed at the top of the seal box (34), and one end of the ultrasonic probe (39) extends to the inside of the rubber block (40).
8. The in-service ultra-long curved pipeline inspection robot according to claim 7, wherein: and a silicon rubber film (41) is arranged on the inner wall of the rubber block (40).
9. The use method of the in-service ultra-long curved pipeline inspection robot according to any one of claims 1 to 8, wherein the pipeline inspection robot works according to the following steps:
s1, an output end of a driving motor (14) rotates to drive a first gear (15) to rotate, the first gear (15) rotates to drive a rotating shaft (16) to rotate through a second gear (17), the rotating shaft (16) rotates to drive a supporting block (18) to rotate, the supporting block (18) rotates to drive a sliding chute (19) to rotate, the sliding chute (19) rotates to drive a sliding plate (20) to rotate, the sliding plate (20) moves in a sliding way (11) when moving, the bearing (21) moves to drive the sliding plate (20) to move in the sliding chute (19) when moving, the sliding plate (20) moves to push a sealing box (34) to move when moving, the sealing box (34) pushes a rubber block (40) to move, the outer wall of the rubber block (40) moves to be in contact with the inner wall of a pipeline to support and limit a supporting frame (13), and the adaptive pipe diameter mechanism where the first gear is located is supported and limited through the supporting frame (13);
s2, when the inspection robot moves inside an oil and gas pipeline, the first adaptive pipe diameter mechanism (4), the second adaptive pipe diameter mechanism (1) and the third adaptive pipe diameter mechanism (5) are all abutted to the inner wall of the oil and gas pipeline, two groups of drivers (6) are in a tightening state, the first adaptive pipe diameter mechanism (4) withdraws the rubber block (40), the first adaptive pipe diameter mechanism (4) is not limited any more, an external water source enters the inside of the sliding groove (32) through a water inlet pipe (52), the external water source adjusts the pressure of high-pressure water flow entering the sliding groove (32) through a booster pump to push the piston (53) to move, the piston (53) moves to the bottom of the second water tank (45) and then pushes the limiting block (31) to move, the limiting block (31) drives the sealing block (58) to be in the horizontal moving position of the outer wall of the guide rod (56) when moving, the sealing block (58) moves out of the second water tank (45) and then seals the second water tank (45) after moving out of the sealing block (58) and then the water flow into the second water flow outlet pipe (49) and the high-pressure spring (50) which keeps the internal balance of the second water flow delivery pipe (6) and the delivery pipe (49) to move, and then the water flow outlet pipe (49) which keeps the external water flow of the second water flow outlet pipe (6), when the driver (6) moves, the second connecting rod (10) is pushed to move, when the second connecting rod (10) moves, the first adaptive pipe diameter mechanism (4) is pushed to move, when the first adaptive pipe diameter mechanism (4) moves, the first telescopic rod (2) stretches and retracts to guide the first adaptive pipe diameter mechanism (4), the first adaptive pipe diameter mechanism (4) advances forwards and then supports the rubber block (40) on the pipe wall, so that the first adaptive pipe diameter mechanism (4) moves forwards by one step, then the second adaptive pipe diameter mechanism (1) retracts the rubber block (40), the second adaptive pipe diameter mechanism (1) is not limited, water pressure is adjusted to enable the other group of drivers (6) to do the actions to push the second adaptive pipe diameter mechanism (1) to move, meanwhile, the elasticity of the first spring (42) pulls the sliding block (43) to reset, the sliding block (43) pulls the driver (6) to move through the first connecting rod (9), after the driver (6) moves by a distance, the reset guide frame (7) further pulls the sliding block (43) to move, the outer wall of the first limiting spring (43) and the outer wall of the second spring (42) is connected with the first adaptive pipe diameter mechanism (8), and the reset spring (8), the reset mechanism (8) which are connected with the reset spring (8), the second adaptive pipe diameter mechanism (1) is pulled to move forwards, then the second adaptive pipe diameter mechanism (1) moves forwards and then supports the rubber block (40) on the inner wall of an oil-gas pipeline, the second adaptive pipe diameter mechanism (1) moves forwards by one step, then the third adaptive pipe diameter mechanism (5) retracts the rubber block (40), the outer wall of the other group of repositors (8) is fixedly connected with the outer wall of the third adaptive pipe diameter mechanism (5), the other group of repositors (8) change into a tightening state and retract the first connecting rod (9), the third adaptive pipe diameter mechanism (5) moves forwards and then supports the rubber block (40) on the pipe wall, the third adaptive pipe diameter mechanism (5) moves forwards by one step, the steps are repeated, the pipeline inspection robot can stably and smoothly move forwards in the oil-gas pipeline, the rubber block (40) is made of a wear-resistant polymer material, the inspection robot travels in the oil-gas pipeline, the inspection robot is limited and supported by the rubber block (40), interference phenomenon caused by the travel does not occur, and the inner wall inspection result can be accurately detected when the inner wall of the pipeline is detected;
s3, three groups of protective frames (33) are arranged inside the first adaptive pipe diameter mechanism (4), the second adaptive pipe diameter mechanism (1) and the third adaptive pipe diameter mechanism (5) in degrees, the CCD camera (22) is also arranged in degrees, the inner wall of a pipeline can be shot comprehensively without dead angles, external workers can know the comprehensive condition of the inside of an oil-gas pipeline through shooting, defect ultrasonic phased array flexible coupling detection is carried out on the inside of the oil-gas pipeline, accurate and comprehensive flaw detection of the pipeline can be ensured, when the CCD camera (22) detects the condition of the inside of the oil-gas pipeline, if more dirt is adsorbed on the outer wall of the lens (23), the detection effect is influenced, when the impurities adsorbed on the outer wall of the lens (23) are removed, the output ends of two groups of servo motors (30) synchronously rotate to drive the threaded lead screw (25) to rotate, the sliding ring (26) moves, when the sliding ring (26) moves, the first connecting frame (27) moves to drive the rubber plate (28) to move, when the first connecting frame (27) moves, the rubber plate (28) moves to enable the outer wall to adhere to the lens (23), and the impurities can be removed, and the lens (23) can be prevented from being adsorbed on the lens (23);
s4, a certain amount of water is contained in the silicon rubber film (41) to serve as a coupling agent, ultrasonic attenuation can be reduced, the silicon rubber film (41) is used as a water bag flexible coupling material with the thickness of 0.1mm, the material of the silicon rubber film is close to that of an oil-gas pipeline, reflection of ultrasonic waves can be effectively reduced, the silicon rubber film (41) has certain elasticity, good coupling effects of water in the water bag and insulators can be achieved, when an ultrasonic probe (39) detects flaws on the pipeline, ultrasonic waves penetrate through the water bag to the pipeline, a certain amount of water is contained in the film to serve as the coupling agent, the phenomenon of ultrasonic attenuation can be effectively reduced, when the ultrasonic probe (39) needs to be maintained, the micro push rod (37) works to push the second connecting frame (36) to move, the second connecting frame (36) drives the containing frame (35) to move when the second connecting frame (36) moves, the sliding strip (38) enables the containing frame (35) to horizontally move out of the inside of the sealing box (34), and the containing frame (35) drives the ultrasonic probe (39) to move out of the inside of the sealing box (34) and then the ultrasonic probe can be maintained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211174037.7A CN115419781A (en) | 2022-09-26 | 2022-09-26 | In-service ultra-long bent pipeline inspection robot |
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| CN202211174037.7A CN115419781A (en) | 2022-09-26 | 2022-09-26 | In-service ultra-long bent pipeline inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117287645A (en) * | 2023-09-25 | 2023-12-26 | 南天管道检测技术河北有限公司 | Detection equipment for petroleum pipeline |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117287645A (en) * | 2023-09-25 | 2023-12-26 | 南天管道检测技术河北有限公司 | Detection equipment for petroleum pipeline |
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