CN115524336A - Pipeline inner wall detection robot - Google Patents
Pipeline inner wall detection robot Download PDFInfo
- Publication number
- CN115524336A CN115524336A CN202211169569.1A CN202211169569A CN115524336A CN 115524336 A CN115524336 A CN 115524336A CN 202211169569 A CN202211169569 A CN 202211169569A CN 115524336 A CN115524336 A CN 115524336A
- Authority
- CN
- China
- Prior art keywords
- cylindrical shell
- detection
- walking
- assembly
- wall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
-
- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- 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
-
- 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
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- 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
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention provides a pipeline inner wall detection robot which comprises a walking component, a detection main body component and a laser ranging unit, wherein the walking component comprises a walking cylindrical shell, the detection main body component comprises a detection cylindrical shell, two ends of the detection cylindrical shell are rotatably erected in the walking cylindrical shell through bearings, the diameter of a first end of the walking cylindrical shell is larger than that of a second end of the walking cylindrical shell, the diameter of the first end of the detection cylindrical shell is larger than that of the second end of the detection cylindrical shell, the second end of the detection cylindrical shell can be inserted into the second end of the walking cylindrical shell through the first end of the walking cylindrical shell, and an axial displacement limiting component is arranged between the detection cylindrical shell and the walking cylindrical shell. The invention has extremely simple and rapid assembly process and effectively ensures the coaxiality, thereby relatively improving the detection precision, realizing multifunctional quick change combination by replacing different detection main body components or walking components, and realizing multi-parameter detection and multi-aperture detection.
Description
Technical Field
The invention relates to the technical field of pipeline inner wall detection, in particular to a 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, artillery body pipes and the like, the quality of the inner wall and the straightness of the axis of the body pipe need to be detected in the manufacturing process of the pipelines, and the state of the inner wall also needs to be detected in the using process of the pipelines to determine whether maintenance and replacement are needed. Wherein, the checking of the gun barrel inner wall flaw crack, rifling, barrel axis straightness, gun muzzle angle is safe, design precision, gun service life, economy and other items.
The invention discloses a defect detection robot for an inner wall of a variable inner diameter pipeline based on annular structured light vision, which is invented by Beijing aerospace university Sunwei China (patent application number 202210114881.4). The detection robot for the inner wall of the variable inner diameter pipeline mainly comprises a detection head, a driving device, a driven device, a central control room, a positioning device and the like, wherein the driving device is arranged at the rear side of the detection head and used for driving the whole detection robot to run, the central control room is arranged between the driving device and the driven device, and the positioning device is connected to the tail of the driven device.
Disclosure of Invention
The pipeline inner wall detection robot designed by the invention can solve the technical problems that in the prior art, the detection precision is relatively low due to the fact that the assembly structure of each functional part of the robot is complex, the disassembly and assembly are complicated, and the coaxiality of a detection head, a driving device and a driven device is difficult to guarantee.
The invention aims to provide a pipeline inner wall detection robot, which comprises a walking component, a detection main body component and a laser ranging unit, wherein the walking component comprises a walking cylindrical shell, the detection main body component comprises a detection cylindrical shell, two ends of the detection cylindrical shell are rotatably erected in the walking cylindrical shell through bearings, the diameter of the first end of the walking cylindrical shell is larger than that of the second end of the walking cylindrical shell, the diameter of the first end of the detection cylindrical shell is larger than that of the second end of the detection cylindrical shell, the second end of the detection cylindrical shell can be inserted into the second end of the walking cylindrical shell through the first end of the walking cylindrical shell, an axial displacement limiting component is arranged between the detection cylindrical shell and the walking cylindrical shell, and a laser ranging reflection plate of the laser ranging unit is connected to the first end of the detection cylindrical shell.
In some embodiments, the axial displacement restricting member includes an elastically self-resettable ball provided on an outer peripheral wall of the detection cylindrical case, the ball being caught on an end side wall of an inner race of the bearing at one end of the running cylindrical case to restrict axial displacement of the running assembly and the detection main assembly.
In some embodiments, at least three running supports are connected to the outer side of the running cylindrical shell, at least two running wheels capable of being driven to run are arranged on each running support at intervals along the length direction of the running support, and the at least three running supports are uniformly arranged around the circumference of the running cylindrical shell at intervals.
In some embodiments, the walking brackets comprise a first bracket section, a second bracket section and a third bracket section which are sequentially hinged, wherein the free end of the first bracket section of each walking bracket is commonly hinged to a first ring body, the free end of the third bracket section of each walking bracket is commonly hinged to a second ring body, and the first ring body and the second ring body are respectively detachably sleeved at two ends of the walking cylindrical shell.
In some embodiments, the outer circumferential wall of the running cylindrical shell is further sleeved with a diameter adjusting structure, and the axial position of the diameter adjusting structure on the running cylindrical shell can be adjusted to drive at least three second support sections to move inwards or outwards along the radial direction of the running cylindrical shell.
In some embodiments, the diameter adjusting structure includes a first sleeve ring, a second sleeve ring, and a coil spring sleeved on the outer peripheral wall of the traveling cylindrical housing, the coil spring is connected between the first sleeve ring and the second sleeve ring, the first sleeve ring and the second sleeve ring are both sleeved on the outer peripheral wall of the traveling cylindrical housing with a gap therebetween, the first sleeve ring is provided with a plurality of adjusting guide rods extending along the radial direction of the first sleeve ring, each adjusting guide rod is connected to the second bracket section to drive the second bracket section to move along the axial direction of the traveling cylindrical housing, and the second sleeve ring is fixedly connected to the traveling cylindrical housing through a quick-screwing screw.
In some embodiments, the second bracket section has 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 on 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 detection cylindrical shell further comprises a tilt angle sensor module and an angular displacement correction assembly, the angular displacement correction assembly 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 abutted with the inner wall of the walking cylindrical shell at least partially penetrating through the detection cylindrical shell, the tilt angle sensor module can detect a self-rotation angle generated by the detection main body assembly during operation, and the first rotary motor can be controlled to operate according to the self-rotation angle detected by the tilt angle sensor module so as to eliminate the self-rotation angle of the detection main body assembly by driving the rotation of the friction wheel.
In some embodiments, a bottom region inside the detection cylindrical housing is provided with a counterweight flat plate, and the tilt sensor module is assembled on a top surface of the counterweight flat plate.
In some embodiments, one end of the detection cylindrical shell is connected with a detection camera component, the other end of the detection cylindrical shell is connected with a laser ranging reflection plate, a first balancing weight is connected below the detection camera component, and/or a second balancing weight is connected below the laser ranging reflection plate.
The invention relates to a pipeline inner wall detection robot, which is formed by assembling three relatively independent modules, namely a walking component, a detection main body component and a laser ranging unit, wherein the detection main body component is rotatably erected and connected by a detection cylindrical shell inserted from one end of a walking cylindrical shell under the action of a bearing, an axial displacement limiting component simultaneously limits the axial positions of the walking cylindrical shell and the laser ranging unit, the whole assembly and disassembly of the detection robot only comprises the steps of inserting, axially positioning and connecting a laser ranging reflection plate, the assembly process is extremely simple and rapid, and meanwhile, the coaxiality is effectively ensured due to the fact that the walking cylindrical shell and the detection cylindrical shell are inserted and matched through two bearings, so that the detection precision is relatively improved. More importantly, the detection main body component and the walking component in the invention can be respectively provided with different specifications, for example, the detection camera components of the detection main body component can be different, and the walking speed and the applicable pipeline inner wall diameter range of the walking component are different, so that multifunctional quick-change combination can be realized by replacing different detection main body components or walking components, and multi-parameter detection and multi-aperture detection can be realized.
Drawings
Fig. 1 is a perspective view (partially cut away) of a pipe inner wall inspection robot of the present invention at a viewing angle when applied to a pipe.
Fig. 2 is a schematic view of a disassembled structure of the self-stabilized pipeline inspection robot in fig. 1.
Fig. 3 is a perspective view (partially in section) of the detection body assembly in fig. 1.
Fig. 4 is a schematic perspective view of the detection body assembly in fig. 1 in another embodiment.
FIG. 5 is a perspective view of the running assembly of FIG. 1.
Fig. 6 is a partially enlarged view of a point a in fig. 5.
Fig. 7 is a schematic structural diagram (partially cut away) of a pipeline inner wall inspection robot according to another embodiment of the present invention.
In the figure: 1. a running component; 11. a running cylindrical casing; 12. a running support; 121. a first support section; 122. a second carrier section; 1221. a support column; 1222. a roller; 123. a third stent section; 13. a running wheel; 131. a walking drive 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 the main body assembly; 21. detecting the cylindrical shell; 22. a counterweight flat plate; 3. a bearing; 41. a tilt sensor module; 421. a first rotary electric machine; 422. a friction wheel; 51. detecting a camera component; 511. An annular light source; 512. a protective glass; 52. a laser ranging unit; 521. a laser ranging reflecting plate; 522. a laser; 53. a first counterweight block; 54. a second counterweight block; 55. a first flexible cord; 56. a second flexible cord; 6. Quickly screwing the screw; 7. an axial displacement limiting member; 8. a voltage conversion module; 9. a cable; 100. a pipeline to be detected; 200. a ring laser.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different 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 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 denote the same or similar structures in the drawings, 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 provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
The following embodiment describes a pipeline inner wall inspection robot of the present invention, and this embodiment 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 obtained by a person skilled in the art without making any inventive step are intended to be included within the scope of protection of the present invention.
Referring to fig. 1 to 7, according to an embodiment of the present invention, there is provided a pipeline inner wall detection robot, including a traveling assembly 1, a detection main assembly 2, and a laser ranging unit 52, the detection main assembly 2 has a detection camera assembly 51 thereon, which detects an inner wall of a pipeline by the detection camera assembly 51, the traveling assembly 1 carries the detection main assembly 2 to drive the detection main assembly 2 to move forward or backward along a length direction of the pipeline, the laser ranging unit 52 includes a laser ranging reflection plate 521 and a laser 522 emitting laser, which can accurately measure a traveling distance of the traveling assembly 1, the traveling assembly 1 includes a traveling tubular housing 11, the detection main assembly 2 includes a detection tubular housing 21, both ends of the detection tubular housing 21 are rotatably erected in the traveling tubular housing 11 by bearings 3, a diameter of a first end of the detection tubular housing 11 is larger than a diameter of a second end, a diameter of the first end of the detection tubular housing 21 is larger than a diameter of the second end, a second end of the detection tubular housing 21 can be inserted into a second end of the traveling tubular housing 11 via the first end of the traveling tubular housing 11, and the detection tubular housing 21 is connected to the detection tubular housing 21, and displacement of the detection tubular housing 21 is limited by the detection tubular reflection plate 521, and axial displacement of the detection tubular housing 21 is limited by the detection tubular housing 21. Specifically, as shown in fig. 2, the whole inspection robot is divided into three relatively independent modules as a whole, that is, the traveling assembly 1, the inspection main body assembly 2, and the laser ranging unit 52 composed of the laser ranging reflection plate 521 and the laser 522, the assembly between the modules is very simple and fast, when the inspection robot is specifically assembled, the small-diameter end of the inspection main body assembly 2 is inserted into the large-diameter end of the traveling assembly 1, so as to enter the central hole of the traveling cylindrical housing 11 (specifically, for example, in the orientation shown in fig. 1, the inspection main body assembly 2 is inserted into the traveling cylindrical housing 11 from right to left), until the small-diameter end of the inspection main body assembly 2 corresponds to the small-diameter end of the traveling assembly 1 and is to be erected in the bearing 3 at the small-diameter end of the traveling assembly 1, at this time, the large-diameter end of the inspection main body assembly 2 corresponds to the large-diameter end of the traveling assembly 1 and is to be erected in the bearing 3 at the large-diameter end of the traveling assembly 1, at this time, the axial displacement limiting component 7 simultaneously forms a limit to the axial position of the two, the two are fastened together, the two are connected to the inspection robot, and then the inspection robot is placed in the tail portion of the inspection robot (after the inspection robot is connected to the laser ranging unit) through the corresponding laser ranging cable 521, and the laser ranging unit 522, and the inspection robot is placed in the tail portion of the inspection robot. The disassembling and assembling process of the robot is the reverse operation of the assembling process, and the details are not described herein.
That is, the detection robot in this technical scheme is assembled by three relatively independent modules of the walking assembly 1, the detection main assembly 2 and the laser ranging unit 52, wherein, the detection main assembly 2 is inserted from one end of the walking cylindrical shell 11 through the detection cylindrical shell 21 and rotatably erected and connected under the action of the bearing 3, the axial displacement limiting component 7 simultaneously limits the axial positions of the walking cylindrical shell and the detection cylindrical shell, the whole assembly and disassembly of the detection robot only has several steps of insertion, axial positioning and connection of the laser ranging reflection plate 521, the assembly process is extremely simple and fast, and simultaneously, the coaxiality is effectively ensured due to the insertion and matching of the walking cylindrical shell 11 and the detection cylindrical shell 21 through the two bearings 3, so that the detection precision is relatively improved. More importantly, the detection main body component 2 and the running component 1 in the invention can have different specifications respectively, for example, 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 multifunctional quick-change combination can be realized by replacing different detection main body components 2 or running components 1, and multi-parameter detection and multi-aperture detection can be realized.
In a preferred embodiment, the axial displacement limiting member 7 includes an elastically self-resettable ball (also referred to as a marble, not shown in the drawings) disposed on the outer peripheral wall of the detection cylindrical casing 21, the ball is locked on an end side wall of an inner ring of the bearing 3 at one end of the traveling cylindrical housing 11 (specifically, a side of the bearing 3 away from the small-diameter end of the traveling cylindrical housing 11) to limit axial displacement of the traveling assembly 1 and the detection main assembly 2, and the detection main assembly 2 can rotate together with the inner ring of the bearing 3 relative to the traveling assembly 1. During assembly, the ball retreats into the detection cylindrical shell 21 under the compression of the assembly pressure and is ejected out through the bearing 3 to achieve the limiting effect, during disassembly, the ball retreats into the detection cylindrical shell 21 under the compression of the assembly pressure, and the detection main body assembly 2 can be smoothly separated from the walking assembly 1.
As shown in fig. 5, at least three traveling brackets 12 are connected to the outer side of the traveling cylindrical housing 11, at least two traveling wheels 13 capable of being driven to operate are arranged on each traveling bracket 12 at intervals along the length direction thereof, and the at least three traveling brackets 12 are uniformly arranged around the circumference of the traveling cylindrical housing 11 at intervals, so that the traveling assembly 1 can stably bear the detection main body assembly 2 to move forward or backward along the preset detection direction. Each traveling wheel 13 is driven to rotate by a traveling driving rotary motor 131, and traveling power is stronger.
As further shown in fig. 5, the traveling brackets 12 include a first bracket section 121, a second bracket section 122 and a third bracket section 123 which are sequentially hinged, wherein the free end of the first bracket section 121 of each traveling bracket 12 is hinged to the first ring body 141, the free end of the third bracket section 123 of each traveling bracket 12 is hinged to the second ring body 142, the first ring body 141 and the second ring body 142 are detachably sleeved on two ends of the traveling tubular housing 11, so that it can be understood that, for each traveling bracket 12, the first bracket section 121, the second bracket section 122 and the third bracket section 123 form a four-bar linkage structure with the traveling tubular housing 11, wherein the traveling first bracket section 121 and the third bracket section 123 form a parallel structure, and the second bracket section 122 and the cylindrical bus of the traveling tubular housing 11 form a parallel structure. In the technical scheme, the included angle between the second support section 122 and the first support section 121 is controlled, so that the radial position of the four-bar linkage structure on the traveling cylindrical shell 11 can be changed, the diameter of the traveling support 12 is adapted to the diameter of the inner wall of the pipeline 100 to be detected, that is, the traveling support 12 can be applied to the pipeline 100 to be detected within a certain diameter range (related to the maximum height of a parallelogram formed by the four-bar linkage structure), the universality of the traveling assembly 1 is improved, and the use cost of the robot is reduced. It should be particularly noted that, in the technical solution, at least three traveling supports 12 are detachably sleeved with the traveling cylindrical housing 11 through the first ring body 141 and the second ring body 142, for example, the first ring body 141 and the second ring body 142 are respectively provided with the quick-screwing screws 6, so that different traveling supports 12 can be more conveniently replaced, the traveling supports 12 with more suitable stroke can be replaced according to different inner diameters of the pipeline 100 to be inspected, the pipeline can adapt to pipe diameters of different spans, economic efficiency is increased, cost is saved, and disassembly and assembly are more convenient. The length of the aforementioned second carrier section 122 is matched to the axial length of the running cylinder housing 11, i.e. is approximately equal.
In a preferred embodiment, the outer circumferential wall of the traveling tubular housing 11 is further provided with a diameter adjusting structure (not referenced in the drawings), and the diameter adjusting structure can be adjusted in the axial position of the traveling tubular housing 11 to drive at least three second support sections 122 (i.e. the respective traveling supports 12 connected to the outer circumferential wall of the traveling tubular housing 11) to move inward or outward along the radial direction of the traveling tubular housing 11. In this technical solution, the second support section 122 can be adapted to the inner wall of the pipe 100 to be inspected with a smaller diameter when moving radially inward, and can be adapted to the inner wall of the pipe 100 to be inspected with a larger diameter when moving radially outward, so as to ensure the adaptability of the inner diameter of the pipe of the traveling support 12. It should be noted that the running wheels 13 are rotatably connected to the second frame section 122, and at least two running wheels 13 are provided, which are respectively provided corresponding to the first end and the second end of the running tubular 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 traveling 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 sleeved on the outer peripheral wall of the traveling cylindrical housing 11 with a gap, the first collar 1431 has a plurality of adjusting guide rods 144 extending along the radial direction thereof, each adjusting guide rod 144 is connected to the second bracket section 122 respectively to drive the second bracket section 122 to move along the axial direction of the traveling cylindrical housing 11, and the second collar 1432 is fixedly connected to the traveling cylindrical housing 11 by a quick-tightening screw 6, so as to enable the second collar 1432 to be positioned in the axial direction of the traveling cylindrical housing 11. In the technical scheme, the first collar 1431 drives the position adjustment of the second support section 122 through the free end of the adjusting guide rod 144, the position adjustment of the first collar 1431 is realized through the second collar 1432 and the spiral spring 1433 clamped between the second collar 1432 and the second collar 1432, that is, when the radial position of each second support section 122 needs to be adjusted, that is, the diameter size of the walking support 12 needs to be adjusted, only the axial position of the first collar 1431 needs to be adjusted, which is very simple and convenient, and the arrangement of the spiral spring 1433 can enable the walking support 12 to adapt to the pipe diameter change caused by the protrusion or the depression which may occur on the inner wall of the pipeline in the process that the robot travels or retreats along the axial direction of the pipeline 100 to be detected, so that the walking wheels 13 can be tightly abutted against the inner wall of the pipeline all the time to have enough friction force, the obstacle crossing capability of the robot is improved, and the stable reliability of walking is ensured. It can be appreciated that the stiffness of the coil spring 1433 can be configured as appropriate for the actual requirements. In a specific embodiment, the outer circumferential wall of the tubular housing 11 has gauge values spaced axially along it, which correspond to the inner diameter of the pipe 100 to be inspected, which is used by the running carriage 12, and the second collar 1432 is positioned at the corresponding gauge value to allow for a rapid inner diameter adaptation. It can be understood that, when the robot is not placed in the pipe 100 to be inspected, the diameter of the outer support of the second frame section 122 should be larger than the maximum value of the actual inner diameter of the pipe 100 to be inspected, so as to ensure that the walking assembly 1 can tightly contact with the inner wall of the pipe and has a certain pressure during the whole advancing process, and ensure the reliability of walking.
Referring specifically to fig. 6, the second frame section 122 has two supporting columns 1221 arranged at intervals, each supporting column 1221 is perpendicular to the axial direction of the traveling cylindrical housing 11, each supporting column 1221 is sleeved on 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 supporting columns 1221. The rollers 1222 are respectively located on two opposite side surfaces of the adjusting guide rod 144, when the radial position of the second bracket section 122 changes inward or outward, the adjusting guide rod 144 and the rollers 1222 are in rolling contact, the adjusting process is smoother, and meanwhile, the abrasion between the two components can be reduced, and this effect is particularly suitable for the working condition that the consistency of the inner wall pipe diameter 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 diameter adjustment of the walking bracket 12 can be greatly reduced.
In some embodiments, the detecting cylindrical housing 21 has therein a tilt sensor module 41 and an angular displacement correcting assembly, the angular displacement correcting assembly includes a first rotary motor 421 fixedly connected to the detecting cylindrical housing 21 and a friction wheel 422 sleeved on a rotary shaft of the first rotary motor 421, the friction wheel 422 is abutted against an inner wall of the traveling cylindrical housing 11 at least partially penetrating through the detecting cylindrical housing 21, the tilt sensor module 41 (particularly, by the tilt sensor) can detect a rotation angle of the detecting main body assembly 2 occurring during operation, and the first rotary motor 421 can be controlled to operate according to the rotation angle detected by the tilt sensor module 41 to eliminate the rotation angle of the detecting main body assembly 2 by rotation of the driving friction wheel 422. Specifically, the pipeline inner wall inspection robot has a corresponding control component, which can receive the rotation angle detected by the inclination sensor module 41 and issue a control command for controlling the rotation operation of the first rotating motor 421 to eliminate the rotation angle, so as to achieve the self-stabilization design purpose of the pipeline inner wall inspection robot, and of course, it can also be used to control the walking of the walking assembly 1, and the like, and the control component is, for example, a controller integrated with the inspection robot, or a computer (in which corresponding detection software is configured) connected in communication through the cable 9.
In the technical scheme, when the main detection body assembly 2 rotates in the circumferential direction, the tilt sensor of the tilt sensor module 41 obtains the corresponding rotation angle and feeds back the rotation angle to the corresponding control component, the control component controls the first rotating motor 421 to rotate and drive the friction wheel 422, so that the main detection body assembly 2 integrally rotates around the central shaft (i.e. the coaxial line of the two bearings 3) by the same angle opposite to the rotation angle under the action of the relative friction force between the friction wheel 422 and the inner wall of the walking cylindrical shell 11, so that the main detection body assembly 2 is restored to the original angle state, the accurate positioning of the circumferential angle of the main detection body assembly 2 is realized, the self-stability is also realized, and the detection precision is improved.
The laser ranging unit 52 adopts the laser ranging reflection plate 521 to cooperate with the laser 522 to measure the distance of the robot, and can overcome the problem that in the prior art, the walking mileage is determined by an encoder of a driving mechanism, and the distance measurement is inaccurate due to the slipping of a driving wheel (i.e., the walking wheel 13), which causes the defect of poor axial positioning accuracy.
In a preferred embodiment, the bottom region in the detection cylindrical housing 21 is provided with a counterweight flat plate 22, and the tilt sensor module 41 is assembled on the top surface of the counterweight flat plate 22, at this time, the counterweight flat plate 22 serves as a mounting carrier for part of the internal components of the detection main body component 2, such as the aforementioned tilt sensor module 41 and the voltage conversion module 8, so as to facilitate positioning and mounting of the components, and on the other hand, the overall mass center of the detection main body component 2 can be biased downward by its own large weight, so that the occurrence probability of autorotation of the detection main body component 2 can be reduced by this structural manner, and under the condition that some requirements for detection accuracy are relatively low, it can be considered that the self-stabilization effect of the robot is achieved by only adopting the manner of configuring the counterweight flat plate 22. Further, as shown in fig. 4, one end of the detection cylindrical housing 21 is connected with the detection camera assembly 51, a first balancing weight 53 is connected below the detection camera assembly 51, and/or the other end of the laser ranging reflection plate 521 is connected with the detection cylindrical housing 21, a second balancing weight 54 is connected below the laser ranging reflection plate 521, and the first balancing weight 53 and the second balancing weight 54 are arranged to further enhance the self-stabilizing effect of the robot through the aspect of a mechanical structure. Further, the first counterweight block 53 is connected with the detection camera assembly 51 through a first soft rope 55; and/or, second balancing weight 54 is connected with laser rangefinder reflecting plate 521 through second soft rope 56, and this department can make first balancing weight 53 and second balancing weight 54's position lower through soft rope to make the whole barycenter of detecting main part subassembly 2 reduce as far as possible, make it realize under the effect of dead weight for the relative still of pipeline axis circumference, further guarantee to detect the precision. The first soft rope 55 and the second soft rope 56, such as soft steel wire ropes, ensure the reliability and stability of the connection of the counterweight. It can be understood that the material density of the aforementioned balance weight plate 22, the first balance weight block 53 and the second balance weight block 54 should be greater than the material density of other structural members of the detection main assembly 2, generally, the material of other structures of the detection main assembly 2 is generally an aluminum alloy, and therefore the material density of the balance weight plate 22, the first balance weight block 53 and the second balance weight block 54 is greater than the material 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 self weight of the cable 9 can also be applied to the voltage conversion module 8 and the counterweight flat plate 22 therebelow, so that the overall center of mass of the detection main body assembly 2 is further moved downward, and the stability of the mechanical structure itself is further improved. The cable 9 includes a power line electrically connected to an external power source (e.g., a lithium battery with a large volume), the power line is converted by the voltage of the voltage conversion module 8 and then supplies power to the tilt sensor module 41 and the detection camera module 51, and the like, and also includes a signal line capable of communicating and transmitting detection signals of the tilt sensor module 41 and the detection camera module 51 to an external control component, such as a computer, and transmitting corresponding control commands sent by the computer.
The detection camera assembly 51 can detect surface flaws and cracks on the inner wall of the pipeline, and in a specific embodiment, the detection camera assembly can be replaced to adapt to different detection requirements, as shown in fig. 7, the detection camera assembly 51 specifically adopts a ring laser 200, and can detect relevant parameters of a spiral line in the pipeline, such as a helix angle, straightness of an axis of the pipeline, and a nozzle angle of a gun barrel, and can also form a 3D image of an inner cavity of the pipeline. Specifically, the ring laser 200 is collected through the high frequency of the camera to form an aperture on the inner wall of the pipeline, the scanning aperture of the inner wall of the pipeline in the whole time period is spliced into a 3D image by the program, the three-dimensional defect can be detected, the curvature of the central axis of the pipeline can be calculated in a fitting mode, and the opening angle of the gun barrel can also 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, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The pipeline inner wall detection robot is characterized by comprising a walking assembly (1), a detection main body assembly (2) and a laser distance measurement unit (52), wherein the walking assembly (1) comprises a walking 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 walking cylindrical shell (11) through bearings (3), the diameter of a first end of the walking cylindrical shell (11) is larger than that of a second end, the diameter of a first end of the detection cylindrical shell (21) is larger than that of the second end, the second end of the detection cylindrical shell (21) can be inserted into the second end of the walking cylindrical shell (11) through the first end of the walking cylindrical shell (11), an axial displacement limiting component (7) is arranged between the detection cylindrical shell (21) and the walking cylindrical shell (11), and a laser distance measurement reflection plate (521) arranged on the laser distance measurement unit (52) is connected to the first end of the detection cylindrical shell (21).
2. The pipe inner wall inspection robot according to claim 1, wherein the axial displacement restricting member (7) includes an elastically self-resettable ball provided on an outer peripheral wall of the inspection cylindrical housing (21), the ball being caught on an end side wall of an inner race of the bearing (3) at an end of the traveling cylindrical case (11) to restrict axial displacement of the traveling assembly (1) and the inspection main assembly (2).
3. The pipeline inner wall detection robot according to claim 1 or 2, characterized in that at least three walking brackets (12) are connected to the outer side of the walking cylindrical shell (11), at least two walking wheels (13) capable of being driven to run are arranged on each walking bracket (12) at intervals along the length direction of the walking bracket, and the at least three walking brackets (12) are uniformly arranged around the circumference of the walking cylindrical shell (11) at intervals.
4. The pipeline inner wall detection robot according to claim 3, wherein the walking brackets (12) comprise a first bracket section (121), a second bracket section (122) and a third bracket section (123) which are sequentially hinged, wherein free ends of the first bracket section (121) of each walking bracket (12) are hinged to a first ring body (141) together, free ends of the third bracket section (123) of each walking bracket (12) are hinged to a second ring body (142) together, and the first ring body (141) and the second ring body (142) are respectively detachably sleeved at two ends of the walking cylindrical shell (11).
5. The pipeline inner wall detection robot according to claim 4, wherein a diameter adjustment structure is further sleeved on the outer peripheral wall of the walking cylindrical shell (11), and the diameter adjustment structure can be adjusted in the axial position of the walking cylindrical shell (11) to drive at least three second support sections (122) to move inwards or outwards along the radial direction of the walking cylindrical shell (11).
6. The pipe inner wall detection robot according to claim 5, wherein the diameter adjustment structure comprises a first collar (1431), a second collar (1432) and a coil spring (1433) which are sleeved on the outer peripheral wall of the traveling cylindrical shell (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 sleeved on the outer peripheral wall of the traveling cylindrical shell (11) in a clearance mode, the first collar (1431) is provided with a plurality of adjustment guide rods (144) which extend along the radial direction of the first collar, each adjustment guide rod (144) is connected corresponding to the second bracket section (122) respectively so as to drive the second bracket section (122) to move along the axial direction of the traveling cylindrical shell (11), and the second collar (1432) is fixedly connected with the traveling cylindrical shell (11) through a quick-screwing screw (6).
7. The pipeline inner wall detection robot according to claim 6, wherein the second bracket 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 into a gap formed by the rollers (1222) sleeved on the two support columns (1221).
8. The pipe inner wall inspection robot according to claim 1, wherein the inspection cylinder housing (21) further has therein a tilt sensor module (41) and an angular displacement correction assembly, the angular displacement correction assembly includes a first rotary motor (421) fixedly connected to the inspection cylinder housing (21) and a friction wheel (422) fitted around a rotation shaft of the first rotary motor (421), the friction wheel (422) is abutted against an inner wall of the traveling cylinder housing (11) at least partially penetrating the inspection cylinder housing (21), the tilt sensor module (41) is capable of detecting a rotation angle of the inspection main body assembly (2) occurring during operation, and the first rotary motor (421) is capable of being controlled to operate according to the rotation angle detected by the tilt sensor module (41) to eliminate the rotation angle of the inspection main body assembly (2) by driving the rotation of the friction wheel (422).
9. The pipe inner wall inspection robot according to claim 8, wherein a bottom region inside the inspection cylindrical housing (21) is provided with a weight flat plate (22), and the tilt sensor module (41) is assembled on a top surface of the weight flat plate (22).
10. The pipeline inner wall detection robot according to claim 9, wherein one end of the detection cylindrical shell (21) is connected with a detection camera assembly (51), the other end of the detection cylindrical shell (21) is connected with a laser ranging reflection 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 reflection plate (521).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211169569.1A CN115524336B (en) | 2022-09-26 | 2022-09-26 | Pipeline inner wall detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211169569.1A CN115524336B (en) | 2022-09-26 | 2022-09-26 | Pipeline inner wall detection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115524336A true CN115524336A (en) | 2022-12-27 |
| CN115524336B CN115524336B (en) | 2023-08-08 |
Family
ID=84699708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211169569.1A Active CN115524336B (en) | 2022-09-26 | 2022-09-26 | Pipeline inner wall detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115524336B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001003683A (en) * | 1999-06-25 | 2001-01-09 | Nanno Construction Co Ltd | Device and method for propelling pipe |
| CN203431420U (en) * | 2013-07-03 | 2014-02-12 | 胡雄华 | Detection robot for miniature pipeline |
| WO2016174916A1 (en) * | 2015-04-28 | 2016-11-03 | 並木精密宝石株式会社 | Manipulator |
| CN106323153A (en) * | 2016-08-04 | 2017-01-11 | 南京航空航天大学 | Pipeline inner bore quality detection mini-sized mobile robot and control method therefor |
| CN108152209A (en) * | 2017-04-05 | 2018-06-12 | 湖南科天健光电技术有限公司 | A kind of big L/D ratio pipeline internal inspection device |
| CN110186321A (en) * | 2019-05-15 | 2019-08-30 | 天津大学 | Gun barrel robot crawling drive system |
| KR20200123360A (en) * | 2019-04-19 | 2020-10-29 | 주식회사 준성이엔알 | Robot system for inspecting inside pipe |
| CN112103840A (en) * | 2020-09-16 | 2020-12-18 | 广州普华灵动机器人技术有限公司 | Railway contact net inspection robot |
| CN113091650A (en) * | 2021-05-10 | 2021-07-09 | 湖南科天健光电技术有限公司 | Detection system, detection method and application of pipeline inner wall |
| CN214241020U (en) * | 2020-12-31 | 2021-09-21 | 深圳市施罗德工业集团有限公司 | Track robot |
| CN114397305A (en) * | 2022-01-31 | 2022-04-26 | 北京航空航天大学 | Variable inner diameter pipeline inner wall defect detection robot based on annular structured light vision |
| CN114408213A (en) * | 2022-01-27 | 2022-04-29 | 南京敬天科技有限公司 | Unmanned aerial vehicle flight balance performance detection device |
| CN114738595A (en) * | 2022-04-07 | 2022-07-12 | 东北大学 | Pipeline inspection robot and inspection method |
| CN115027512A (en) * | 2022-06-24 | 2022-09-09 | 广东省特种设备检测研究院顺德检测院 | Track intelligent detection robot |
-
2022
- 2022-09-26 CN CN202211169569.1A patent/CN115524336B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001003683A (en) * | 1999-06-25 | 2001-01-09 | Nanno Construction Co Ltd | Device and method for propelling pipe |
| CN203431420U (en) * | 2013-07-03 | 2014-02-12 | 胡雄华 | Detection robot for miniature pipeline |
| WO2016174916A1 (en) * | 2015-04-28 | 2016-11-03 | 並木精密宝石株式会社 | Manipulator |
| CN106323153A (en) * | 2016-08-04 | 2017-01-11 | 南京航空航天大学 | Pipeline inner bore quality detection mini-sized mobile robot and control method therefor |
| CN108152209A (en) * | 2017-04-05 | 2018-06-12 | 湖南科天健光电技术有限公司 | A kind of big L/D ratio pipeline internal inspection device |
| KR20200123360A (en) * | 2019-04-19 | 2020-10-29 | 주식회사 준성이엔알 | Robot system for inspecting inside pipe |
| CN110186321A (en) * | 2019-05-15 | 2019-08-30 | 天津大学 | Gun barrel robot crawling drive system |
| CN112103840A (en) * | 2020-09-16 | 2020-12-18 | 广州普华灵动机器人技术有限公司 | Railway contact net inspection robot |
| CN214241020U (en) * | 2020-12-31 | 2021-09-21 | 深圳市施罗德工业集团有限公司 | Track robot |
| CN113091650A (en) * | 2021-05-10 | 2021-07-09 | 湖南科天健光电技术有限公司 | Detection system, detection method and application of pipeline inner wall |
| CN114408213A (en) * | 2022-01-27 | 2022-04-29 | 南京敬天科技有限公司 | Unmanned aerial vehicle flight balance performance detection device |
| CN114397305A (en) * | 2022-01-31 | 2022-04-26 | 北京航空航天大学 | Variable inner diameter pipeline inner wall defect detection robot based on annular structured light vision |
| CN114738595A (en) * | 2022-04-07 | 2022-07-12 | 东北大学 | Pipeline inspection robot and inspection method |
| CN115027512A (en) * | 2022-06-24 | 2022-09-09 | 广东省特种设备检测研究院顺德检测院 | Track intelligent detection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115524336B (en) | 2023-08-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104006754B (en) | Wall thickness of cylinder self-operated measuring unit based on laser sensor | |
| CN109751477B (en) | Robot for detecting tubular structure | |
| CN111266861B (en) | Assembly fixture of low-pressure turbine of engine | |
| CN113878418B (en) | Intelligent detection and precise polishing robot for inner wall of bent pipe | |
| CN108917545B (en) | Multifunctional measuring unit and measuring method for variable-diameter deep hole detection system | |
| CN107520859B (en) | High-precision pose positioning mechanical arm | |
| CN114857883B (en) | Assembling device for rotary joint of rotary drying equipment | |
| CN110146039A (en) | The positioning device of center of circular hole axis | |
| CN104792279A (en) | Bearing contact angle measuring instrument | |
| CN113340591A (en) | Motor train unit gear box bearing clearance adjusting system and method | |
| CN115524336A (en) | Pipeline inner wall detection robot | |
| CN115356349B (en) | Self-stabilizing pipeline inner wall detection robot | |
| CN113670119B (en) | Mechanical device and method for artillery barrel detection | |
| CN107991383B (en) | Hollow shaft inner wall detection self-adaptive tool and detection method | |
| CN109737889A (en) | A kind of superdeep holes circularity overall process intelligent checking system | |
| CN115655182B (en) | Device for detecting size and contour of inner bearing of magnetic suspension high-speed fan | |
| CN109297437A (en) | One kind is based on the self-centering deep blind hole linearity measurer of PSD | |
| CN113820469B (en) | Ball tube intersecting weld joint detection equipment | |
| CN210154540U (en) | Deep hole detection system | |
| CN209214558U (en) | One kind is based on the self-centering deep blind hole linearity measurer of PSD | |
| CN211697563U (en) | Adopt optical fiber sensor's to central bearing ball surface defect detection device | |
| CN209416293U (en) | A kind of superdeep holes circularity overall process intelligent checking system | |
| CN110186321B (en) | Gun barrel robot crawling driving system | |
| CN209877909U (en) | Positioning device for central axis of circular hole | |
| CN214699777U (en) | Pipeline inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |