CN116538976A - Thickness detection device of self-adaptation pipe diameter and wall climbing robot - Google Patents

Thickness detection device of self-adaptation pipe diameter and wall climbing robot Download PDF

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Publication number
CN116538976A
CN116538976A CN202310555247.9A CN202310555247A CN116538976A CN 116538976 A CN116538976 A CN 116538976A CN 202310555247 A CN202310555247 A CN 202310555247A CN 116538976 A CN116538976 A CN 116538976A
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CN
China
Prior art keywords
component
adapting
adaptive
limiting
pipe diameter
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Pending
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CN202310555247.9A
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Chinese (zh)
Inventor
潘子博
刘海军
张建华
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Shenhua Zhungeer Energy Co Ltd
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Shenhua Zhungeer Energy Co Ltd
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Priority to CN202310555247.9A priority Critical patent/CN116538976A/en
Publication of CN116538976A publication Critical patent/CN116538976A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
    • 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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)

Abstract

The invention provides a thickness detection device of a self-adaptive pipe diameter and a wall climbing robot, wherein the thickness detection device of the self-adaptive pipe diameter comprises: a frame; the pipe diameter self-adapting part comprises a first adapting component, a second adapting component and a cam rod, and one ends of the first adapting component, the second adapting component and the cam rod, which are far away from the rack, can be self-adaptively matched with the outer diameter of the pipeline; and the detection part is arranged at one end of the first adapting component, the second adapting component and the cam rod, which is close to the pipeline, and is used for measuring the thickness of the pipeline. The first adapting assembly, the second adapting assembly and the cam rod are changed along with the pipe diameter change of the measured pipeline. The detection part is arranged at one end of the first adapting component, the second adapting component and the cam rod, which is close to the pipeline, and when the positions of the first adapting component, the second adapting component and the cam rod change along with the change of the diameter of the pipeline, the detection part moves along with the detection part to be matched with the pipeline in a self-adaptive way, so that the thickness detection of the pipelines with various different outer diameters is realized.

Description

Thickness detection device of self-adaptation pipe diameter and wall climbing robot
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a thickness detection device of a self-adaptive pipe diameter and a wall climbing robot.
Background
The water wall tube is the most important evaporation heating surface of the boiler, and various defects are easily generated due to long-term operation in severe environments filled with flame, smoke and fly ash, so that the pipeline is aged, and hidden danger is buried for boiler safety accidents. Therefore, the defect detection of the water wall tube is enhanced, and the method is very important for guaranteeing the safe operation of the boiler.
The water wall pipe is a seamless steel pipe with different diameter specifications, an ultrasonic thickness gauge is generally adopted for detecting the thickness of the seamless steel pipe, an ultrasonic thickness measuring probe is used for being close to the water wall pipe, and the accuracy of detection data can be guaranteed only when the detection probe is in a certain distance range relative to the water wall pipe. Usually, when detecting, water wall pipes with different diameters are arranged, and welding seams, dust and other bulges are arranged on the water wall pipes, so that an auxiliary mechanism is required to be added outside the probe to adapt to different working conditions, and the accuracy of measured data is ensured.
Because the water-cooled pipes have different outer diameters and have weld lines, protrusions, etc. that make the surfaces uneven, a thickness detection device that can be applied to pipes of various outer diameters is required.
Disclosure of Invention
The invention provides a thickness detection device of a self-adaptive pipe diameter and a wall climbing robot, which are used for solving the problem that the thickness detection of various pipelines with different outer diameters cannot be carried out in the prior art.
In order to solve the above-mentioned problems, according to an aspect of the present invention, there is provided a thickness detection device of an adaptive pipe diameter, comprising: a frame; the pipe diameter self-adapting part comprises a first adapting component, a second adapting component and a cam rod, wherein the first adapting component, the second adapting component and the cam rod are movably arranged on the frame, an included angle is formed between the first adapting component and the second adapting component, the cam rod is positioned between the first adapting component and the second adapting component, and one ends, far away from the frame, of the first adapting component, the second adapting component and the cam rod can be matched with the outer diameter of the pipeline in a self-adapting mode; and the detection part is arranged at one end of the first adapting component, the second adapting component and the cam rod, which is close to the pipeline, and is used for measuring the thickness of the pipeline.
Further, the pipe diameter self-adapting part further comprises a first guiding component and a second guiding component, the first guiding component is fixedly arranged on the first adapting component, the second guiding component is fixedly arranged on the second adapting component, one end, far away from the first adapting component, of the first guiding component and one end, far away from the second adapting component, of the second guiding component are respectively matched with cam curved surfaces on two sides of the cam rod for movement.
Further, the first adaptation component and the second adaptation component are both rotationally connected with the frame, the frame is provided with a first limit groove, a second limit groove and a third limit groove, the first limit groove is an arc groove and used for limiting the movement of the first adaptation component, the second limit groove is an arc groove and used for limiting the movement of the second adaptation component, and the third limit groove is a straight line groove and used for limiting the movement of the cam rod.
Further, the pipe diameter self-adapting part further comprises a first limiting component and a second limiting component, the first limiting component is fixedly arranged on the first adapting component, the first limiting component is matched with the first limiting groove to limit the track of the first adapting component, the second limiting component is fixedly arranged on the second adapting component, and the second limiting component is matched with the second limiting groove to limit the movement track of the second adapting component.
Further, the pipe diameter self-adapting part further comprises a third limiting component, a fourth limiting component, a third guiding component and a fourth guiding component, wherein the third limiting component and the fourth limiting component are arranged on the cam rod at intervals, the third guiding component and the fourth guiding component are arranged between the third limiting component and the fourth limiting component, the diameter of one end, far away from the cam rod, of the third limiting component and the fourth limiting component is larger than the width of the third limiting groove so as to limit the cam rod to move parallel to the axial direction of the pipeline, and one end, far away from the cam rod, of the third guiding component and the fourth guiding component is matched with the third limiting groove so as to limit the movement track of the cam rod perpendicular to the axial direction of the pipeline.
Further, the thickness detection device of the self-adaptive pipe diameter further comprises a pressing part, and the pressing part applies acting force close to each other to the first adaptive assembly and the second adaptive assembly.
Further, the compressing part comprises a first compression spring, a second compression spring, a third compression spring and a fourth compression spring, two ends of the first compression spring and two ends of the second compression spring are respectively in butt joint with the frame and the first adaptation component, and two ends of the third compression spring and two ends of the fourth compression spring are respectively in butt joint with the frame and the second adaptation component.
Further, the compressing part further comprises a tension spring, two ends of the tension spring are fixedly connected with the first adapting assembly and the second adapting assembly respectively, and the tension spring is used for tensioning the first adapting assembly and the second adapting assembly to be close to each other.
Further, the compressing part further comprises a first fixed shaft and a second fixed shaft, the first fixed shaft and the second fixed shaft penetrate through the first adapting component and the second adapting component, the first fixed shaft and the second fixed shaft are fixedly connected with the frame, the first pressure spring and the third pressure spring are respectively sleeved at two ends of the first fixed shaft, and the second pressure spring and the fourth pressure spring are respectively sleeved at two ends of the second fixed shaft.
Further, the first adaptation subassembly and the second adaptation subassembly alternately set up, and rotate through middle round pin axle and connect, and the one end that detection portion was kept away from to first adaptation subassembly and second adaptation subassembly has all been seted up and has been pressed the straight line groove, and first fixed axle and second fixed axle pass from pressing the straight line groove to the motion to first adaptation subassembly and second adaptation subassembly is spacing.
Further, the detection portion includes first detection component, second detection component and third detection component, and first detection component sets up the one end that is close to the pipeline at first adaptation subassembly, and the second detection component sets up the one end that is close to the pipeline at the cam lever, and the third detection component sets up the one end that is close to the pipeline at the second adaptation subassembly, and first detection component, second detection component and third detection component all are used for measuring the thickness of pipeline.
According to another aspect of the invention, a wall climbing robot is provided, which comprises the thickness detection device of the self-adaptive pipe diameter.
By applying the technical scheme of the invention, the thickness detection device of the self-adaptive pipe diameter comprises: a frame; the pipe diameter self-adapting part comprises a first adapting component, a second adapting component and a cam rod, wherein the first adapting component, the second adapting component and the cam rod are movably arranged on the frame, an included angle is formed between the first adapting component and the second adapting component, the cam rod is positioned between the first adapting component and the second adapting component, and one ends, far away from the frame, of the first adapting component, the second adapting component and the cam rod can be matched with the outer diameter of the pipeline in a self-adapting mode; and the detection part is arranged at one end of the first adapting component, the second adapting component and the cam rod, which is close to the pipeline, and is used for measuring the thickness of the pipeline. The first adapting assembly, the second adapting assembly and the cam rod change along with the pipe diameter change of the measured pipe. When the diameter of the pipeline is increased, the included angle between the first adapting component and the second adapting component is increased, and the cam rod is also moved to a position matched with the pipeline; when the diameter of the pipeline becomes smaller, the included angle between the first adapting component and the second adapting component becomes smaller, and the cam rod also moves to a position matched with the pipeline. The detection portion is arranged at one end, close to the pipeline, of the first adapting component, the second adapting component and the cam rod, and when the positions of the first adapting component, the second adapting component and the cam rod change according to the change of the diameter of the pipeline, the detection portion moves along with the detection portion to be matched with the pipeline in a self-adaptive mode, and therefore thickness detection of pipelines with various different outer diameters is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
fig. 1 shows a schematic structural diagram of a thickness detection device for adaptive pipe diameters according to an embodiment of the present invention;
FIG. 2 is a schematic diagram showing a part of the structure of the thickness detection device for adaptive pipe diameter in FIG. 1;
FIG. 3 shows a schematic structural view of the back of the thickness detection device of the adaptive pipe diameter of FIG. 1;
FIG. 4 shows an internal schematic diagram at A in FIG. 3;
FIG. 5 is a schematic view showing the structure of a pressing part of the thickness detection device for adaptive pipe diameter in FIG. 1;
FIG. 6 is a schematic view showing the structure of a detecting portion of the thickness detecting device for adaptive pipe diameter in FIG. 1;
fig. 7 is a schematic diagram showing the structure of the adaptive pipe diameter thickness detection device in fig. 1 in use.
Wherein the above figures include the following reference numerals:
1. a frame;
2. a pipe diameter self-adapting part;
201. a first adaptation component; 202. a second adaptation component; 203. a middle pin shaft; 204. the second limiting component; 205. a first limit assembly; 206. a cam lever; 207. the third limiting assembly; 208. a fourth limit assembly; 209. a third guide assembly; 210. a fourth guide assembly; 211. a second guide assembly; 212. a first guide assembly;
3. a pressing part;
301. a first fixed shaft; 302. a second fixed shaft; 303. a first compression spring; 304. a second compression spring; 305. a third compression spring; 306. a fourth compression spring; 307. a first plunger; 308. a second plunger; 309. a tension spring;
4. a detection unit;
401. a third connecting plate; 402. a third thickness gauge; 403. a first universal roller; 404. the second universal roller; 405. a first connection plate; 406. a first thickness gauge; 407. a third universal roller; 408. a fourth universal roller; 409. a second connecting plate; 410. a second thickness gauge; 411. a fifth universal roller; 412. and a sixth universal roller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 7, an embodiment of the present invention provides a thickness detection device for adaptive pipe diameters, including: a frame 1; the pipe diameter self-adapting part 2 comprises a first adapting component 201, a second adapting component 202 and a cam rod 206, wherein the first adapting component 201, the second adapting component 202 and the cam rod 206 are movably arranged on the frame 1, an included angle is formed between the first adapting component 201 and the second adapting component 202, the cam rod 206 is positioned between the first adapting component 201 and the second adapting component 202, and one ends, far away from the frame 1, of the first adapting component 201, the second adapting component 202 and the cam rod 206 can be self-adapting matched with the outer diameter of a pipeline; and a detecting part 4, wherein the detecting part 4 is arranged at one end of the first adapting component 201, the second adapting component 202 and the cam rod 206, which is close to the pipeline, and the detecting part 4 measures the thickness of the pipeline.
In this scenario, the first adaptation component 201, the second adaptation component 202 and the cam rod 206 change as the pipe diameter of the pipe being measured changes. As the diameter of the pipe increases, the angle between the first adaptation component 201 and the second adaptation component 202 increases, and the cam rod 206 also moves to a position matching the pipe; as the diameter of the tubing becomes smaller, the angle between the first 201 and second 202 compliant assemblies becomes smaller and the cam rod 206 also moves to a position that mates with the tubing. The detection part 4 is arranged at one end of the first adapting component 201, the second adapting component 202 and the cam rod 206, which is close to the pipeline, and when the positions of the first adapting component 201, the second adapting component 202 and the cam rod 206 are changed according to the change of the diameter of the pipeline, the detection part 4 moves along with the change of the diameter of the pipeline to be matched with the pipeline in a self-adapting way, so that the thickness detection of the pipelines with various different outer diameters is realized.
As shown in fig. 3 to 4, the pipe diameter adaptive portion 2 further includes a first guiding component 212 and a second guiding component 211, the first guiding component 212 is fixedly disposed on the first adaptive component 201, the second guiding component 211 is fixedly disposed on the second adaptive component 202, one end of the first guiding component 212 away from the first adaptive component 201, and one end of the second guiding component 211 away from the second adaptive component 202 are respectively matched with cam curved surfaces on two sides of the cam rod 206 for movement.
The first guide assembly 212 includes a first guide bar and a first bearing mounted at an end of the first guide bar remote from the first adaptation assembly 201, and the second guide assembly 211 includes a second guide bar and a second bearing mounted at an end of the second guide bar remote from the second adaptation assembly 202. The first guide assembly 212 and the second guide assembly 211 move along the cam curved surface of the cam rod 206 such that the angle between the first adaptation assembly 201 and the second adaptation assembly 202 changes with the up and down movement of the cam rod 206. The curvilinear design of the cam bar 206 allows the first adapter assembly 201, the second adapter assembly 202, and the cam bar 206 to fit without any degree of clearance into tubing of all outer diameters. In the actual production process, the first bearing and the second bearing can also be replaced by rollers with proper radiuses.
As shown in fig. 3, the first adapting unit 201 and the second adapting unit 202 are both rotatably connected to the frame 1, and the frame 1 has a first limiting groove, a second limiting groove and a third limiting groove, where the first limiting groove is an arc-shaped groove for limiting the movement of the first adapting unit 201, the second limiting groove is an arc-shaped groove for limiting the movement of the second adapting unit 202, and the third limiting groove is a linear groove for limiting the movement of the cam rod 206.
The first adapting assembly 201 and the second adapting assembly 202 may rotate on the frame 1, the first limiting groove limits the rotation range of the first adapting assembly 201, so that the first adapting assembly 201 must rotate along the track predetermined by the first limiting groove, and the second limiting groove limits the rotation range of the second adapting assembly 202, so that the second adapting assembly 202 must rotate along the track predetermined by the second limiting groove. The third limit groove limits the movement of the cam bar 206 so that the cam bar 206 can move only in a straight line.
As shown in fig. 2 to 3, the pipe diameter adaptive portion 2 further includes a first limiting component 205 and a second limiting component 204, the first limiting component 205 is fixedly disposed on the first adaptive component 201, the first limiting component 205 is matched with the first limiting groove to define a track of the first adaptive component 201, the second limiting component 204 is fixedly disposed on the second adaptive component 202, and the second limiting component 204 is matched with the second limiting groove to define a movement track of the second adaptive component 202.
The first limiting assembly 205 is fixed to the first adapting assembly 201 and defines a trajectory of the first adapting assembly 201 along the first limiting slot. The second stop assembly 204 is secured to the second compliant assembly 202 and defines the trajectory of the second compliant assembly 202 along the second stop slot. The first limiting assembly 205 comprises a first limiting rod and a third bearing arranged at one end of the first limiting rod far away from the first adapting assembly 201, and the second limiting assembly 204 comprises a second limiting rod and a fourth bearing arranged at one end of the second limiting rod far away from the second adapting assembly 202. The third bearing and the fourth bearing roll in the first limit groove and the second limit groove respectively. In actual production, the third bearing and the fourth bearing may be replaced by rollers of appropriate radius.
As shown in fig. 3, the pipe diameter adaptive portion 2 further includes a third limiting component 207, a fourth limiting component 208, a third guiding component 209 and a fourth guiding component 210, where the third limiting component 207 and the fourth limiting component 208 are disposed on the cam rod 206 at intervals, the third guiding component 209 and the fourth guiding component 210 are disposed between the third limiting component 207 and the fourth limiting component 208, and diameters of ends of the third limiting component 207 and the fourth limiting component 208, which are far from the cam rod 206, are both greater than widths of the third limiting groove so as to limit movement of the cam rod 206 parallel to the pipe axial direction, and ends of the third guiding component 209 and the fourth guiding component 210, which are far from the cam rod 206, are both matched with the third limiting groove so as to limit movement tracks of the cam rod 206 perpendicular to the pipe axial direction.
The third limiting assembly 207 comprises a third limiting rod and a third limiting cap fixed at one end of the third limiting rod far away from the cam rod 206, and the fourth limiting assembly 208 comprises a fourth limiting rod and a fourth limiting cap fixed at one end of the fourth limiting rod far away from the cam rod 206. The third limiting rod and the fourth limiting rod pass through the third limiting groove, and the third limiting cap and the fourth limiting cap limit the movement of the cam rod 206 parallel to the axial direction of the pipeline, so that the cam rod 206 can only slide along the third limiting groove on the frame 1. The third guide assembly 209 includes a third guide bar and a fifth bearing mounted at an end of the third guide bar remote from the cam bar 206, and the fourth guide assembly 210 includes a fourth guide bar and a sixth bearing mounted at an end of the fourth guide bar remote from the cam bar 206. The fifth bearing and the sixth bearing roll in the third limit groove, so that the cam rod 206 can perform linear motion along the third limit groove. In actual production, the fifth bearing and the sixth bearing may be replaced by rollers of appropriate radius.
As shown in fig. 5, the thickness detection device for adaptive pipe diameter further includes a pressing portion 3, and the pressing portion 3 applies a force to the first adaptive assembly 201 and the second adaptive assembly 202 that are close to each other. The pressing part 3 enables the first adapting assembly 201 and the second adapting assembly 202 to be close to each other, and when the thickness detection device of the self-adapting pipe diameter measures the pipe, the detection part 4 is pressed on the pipe.
As shown in fig. 5, the compression part 3 includes a first compression spring 303, a second compression spring 304, a third compression spring 305, and a fourth compression spring 306, two ends of the first compression spring 303 and the second compression spring 304 respectively abut against the frame 1 and the first adapting unit 201, and two ends of the third compression spring 305 and the fourth compression spring 306 respectively abut against the frame 1 and the second adapting unit 202.
The first compression spring 303 and the second compression spring 304 compress the first adaptation component 201 and the third compression spring 305 and the fourth compression spring 306 compress the second adaptation component such that the first adaptation component 201 and the second adaptation component 202 are close to each other.
As shown in fig. 5, the compressing portion 3 further includes a tension spring 309, two ends of the tension spring 309 are fixedly connected to the first adapting assembly 201 and the second adapting assembly 202, respectively, and the tension spring 309 is used for tightening the first adapting assembly 201 and the second adapting assembly 202 close to each other.
The first adapting assembly 201 is provided with a first plunger 307, the second adapting assembly 202 is provided with a second plunger 308, two ends of a tension spring 309 are respectively fixed on the first plunger 307 and the second plunger 308, and the tension spring 309 provides a tension force to enable the first adapting assembly 201 and the second adapting assembly 202 to approach each other.
As shown in fig. 5, the compressing part 3 further includes a first fixing shaft 301 and a second fixing shaft 302, the first fixing shaft 301 and the second fixing shaft 302 pass through the first adapting assembly 201 and the second adapting assembly 202, the first fixing shaft 301 and the second fixing shaft 302 are fixedly connected with the frame 1, a first compression spring 303 and a third compression spring 305 are respectively sleeved at two ends of the first fixing shaft 301, and a second compression spring 304 and a fourth compression spring 306 are respectively sleeved at two ends of the second fixing shaft 302.
The first fixing shaft 301 and the second fixing shaft 302 pass through the first adapting assembly 201 and the second adapting assembly 202, and are arranged in a penetrating way between structural members, so that space is saved. The first fixing shaft 301 has a guiding function for the first compression spring 303 and the third compression spring 305, and the second fixing shaft 302 has a guiding function for the second compression spring 304 and the fourth compression spring 306.
As shown in fig. 5, the first adapting member 201 and the second adapting member 202 are disposed in a crossing manner, and are rotatably connected through a middle pin 203, one ends of the first adapting member 201 and the second adapting member 202, which are far away from the detecting portion 4, are provided with a compressing linear groove, and the first fixing shaft 301 and the second fixing shaft 302 pass through the compressing linear groove, so as to limit the movement of the first adapting member 201 and the second adapting member 202.
The middle pin shaft 203 and the pressing linear groove limit the first adapting component 201 and the second adapting component 202 in the direction parallel to the axial direction of the pipeline at the same time, so that displacement parallel to the axial direction of the pipeline is avoided when the first adapting component 201 and the second adapting component 202 are used.
As shown in fig. 6, the detecting portion 4 includes a first detecting component, a second detecting component and a third detecting component, the first detecting component is disposed at one end of the first adapting component 201 near the pipe, the second detecting component is disposed at one end of the cam rod 206 near the pipe, the third detecting component is disposed at one end of the second adapting component 202 near the pipe, and the first detecting component, the second detecting component and the third detecting component are all used for measuring the thickness of the pipe.
Optionally, the first detecting component includes a first connecting plate 405, a first thickness gauge 406, a third universal roller 407, and a fourth universal roller 408, where the first connecting plate 405 is fixedly connected to the first adapting component 201, and the first thickness gauge 406, the third universal roller 407, and the fourth universal roller 408 are all installed on the first connecting plate 405. The first thickness gauge 406 can detect the wall thickness of the pipeline, the third universal roller 407 and the fourth universal roller 408 can limit the distance between the first thickness gauge 406 and the pipeline, and the thickness detection device of the self-adaptive pipe diameter can perform circumferential movement and axial movement relative to the pipeline.
The second detecting component includes a second connecting plate 409, a second thickness gauge 410, a fifth universal roller 411 and a sixth universal roller 412, and the second thickness gauge 410, the fifth universal roller 411 and the sixth universal roller 412 are all mounted on the second connecting plate 409. The second thickness gauge 410 can detect the wall thickness of the pipe, and the fifth universal roller 411 and the sixth universal roller 412 can limit the distance between the second thickness gauge 410 and the pipe, and can enable the thickness detection device with the adaptive pipe diameter to perform circumferential movement and axial movement relative to the pipe.
The third detection assembly comprises a third connecting plate 401, a third thickness gauge 402, a first universal roller 403 and a second universal roller 404, and the third thickness gauge 402, the first universal roller 403 and the second universal roller 404 are all installed on the third connecting plate. The third thickness gauge 402 can detect the wall thickness of the pipeline, and the first universal roller 403 and the second universal roller 404 can limit the distance between the third thickness gauge 402 and the pipeline, and can enable the thickness detection device with the adaptive pipe diameter to perform circumferential movement and axial movement relative to the pipeline.
According to another aspect of the invention, a wall climbing robot is provided, which comprises the thickness detection device of the self-adaptive pipe diameter. The wall climbing robot can move to detect pipelines at different positions. The wall climbing robot comprises a movable chassis, and the thickness detection device of the self-adaptive pipe diameter is movably arranged on the movable chassis.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.

Claims (12)

1. The utility model provides a thickness detection device of self-adaptation pipe diameter which characterized in that includes:
a frame (1);
the pipe diameter self-adapting part (2), the pipe diameter self-adapting part (2) comprises a first adapting component (201), a second adapting component (202) and a cam rod (206), the first adapting component (201), the second adapting component (202) and the cam rod (206) are all movably arranged on the frame (1), an included angle is formed between the first adapting component (201) and the second adapting component (202), the cam rod (206) is positioned between the first adapting component (201) and the second adapting component (202), and one ends, far away from the frame (1), of the first adapting component (201), the second adapting component (202) and the cam rod (206) can be self-adapting matched with the outer diameter of a pipeline;
and the detection part (4) is arranged at one end, close to the pipeline, of the first adapting component (201), the second adapting component (202) and the cam rod (206), and the detection part (4) is used for measuring the thickness of the pipeline.
2. The device for detecting the thickness of the self-adaptive pipe diameter according to claim 1, wherein the pipe diameter self-adaptive part (2) further comprises a first guide component (212) and a second guide component (211), the first guide component (212) is fixedly arranged on the first adaptive component (201), the second guide component (211) is fixedly arranged on the second adaptive component (202), one end, far away from the first adaptive component (201), of the first guide component (212) and one end, far away from the second adaptive component (202), of the second guide component (211) are respectively matched with cam curved surfaces on two sides of the cam rod (206) to move.
3. The device for detecting the thickness of the self-adaptive pipe diameter according to claim 1, wherein the first adaptive component (201) and the second adaptive component (202) are both rotationally connected with the frame (1), the frame (1) is provided with a first limit groove, a second limit groove and a third limit groove, the first limit groove is an arc groove and used for limiting the movement of the first adaptive component (201), the second limit groove is an arc groove and used for limiting the movement of the second adaptive component (202), and the third limit groove is a straight line groove and used for limiting the movement of the cam rod (206).
4. A thickness detection apparatus according to claim 3, wherein the pipe diameter adaptive portion (2) further comprises a first limiting component (205) and a second limiting component (204), the first limiting component (205) is fixedly arranged on the first adaptive component (201), the first limiting component (205) is matched with the first limiting groove so as to define a track of the first adaptive component (201), the second limiting component (204) is fixedly arranged on the second adaptive component (202), and the second limiting component (204) is matched with the second limiting groove so as to define a movement track of the second adaptive component (202).
5. A pipe diameter adaptive part (2) according to claim 3, wherein the pipe diameter adaptive part (2) further comprises a third limiting component (207), a fourth limiting component (208), a third guiding component (209) and a fourth guiding component (210), the third limiting component (207) and the fourth limiting component (208) are arranged on the cam rod (206) at intervals, the third guiding component (209) and the fourth guiding component (210) are arranged between the third limiting component (207) and the fourth limiting component (208), the diameters of the ends of the third limiting component (207) and the fourth limiting component (208) far away from the cam rod (206) are larger than the width of the third limiting groove so as to limit the movement of the cam rod (206) parallel to the axial direction of the pipeline, and the ends of the third guiding component (209) and the fourth guiding component (210) far away from the cam rod (206) are matched with the third limiting groove so as to limit the movement of the cam rod (206) perpendicular to the axial track of the pipeline.
6. The device for detecting the thickness of the self-adapting pipe diameter according to claim 1, further comprising a pressing part (3), wherein the pressing part (3) applies a force to the first adapting component (201) and the second adapting component (202) which are close to each other.
7. The device for detecting the thickness of the pipe diameter according to claim 6, wherein the pressing part (3) comprises a first pressure spring (303), a second pressure spring (304), a third pressure spring (305) and a fourth pressure spring (306), two ends of the first pressure spring (303) and the second pressure spring (304) are respectively abutted with the frame (1) and the first adapting assembly (201), and two ends of the third pressure spring (305) and the fourth pressure spring (306) are respectively abutted with the frame (1) and the second adapting assembly (202).
8. The device for detecting the thickness of the self-adaptive pipe diameter according to claim 6, wherein the pressing part (3) further comprises a tension spring (309), two ends of the tension spring (309) are fixedly connected with the first adaptive assembly (201) and the second adaptive assembly (202) respectively, and the tension spring (309) is used for tightening the first adaptive assembly (201) and the second adaptive assembly (202) close to each other.
9. The device for detecting the thickness of the pipe diameter according to claim 7, wherein the pressing part (3) further comprises a first fixing shaft (301) and a second fixing shaft (302), the first fixing shaft (301) and the second fixing shaft (302) penetrate through the first adapting component (201) and the second adapting component (202), the first fixing shaft (301) and the second fixing shaft (302) are fixedly connected with the frame (1), the first compression spring (303) and the third compression spring (305) are respectively sleeved at two ends of the first fixing shaft (301), and the second compression spring (304) and the fourth compression spring (306) are respectively sleeved at two ends of the second fixing shaft (302).
10. The device for detecting the thickness of the pipe diameter in a self-adaptive manner according to claim 9, wherein the first adapting component (201) and the second adapting component (202) are arranged in a crossing manner and are rotationally connected through a middle pin shaft (203), one ends of the first adapting component (201) and the second adapting component (202), which are far away from the detecting part (4), are provided with a compressing straight line groove, and the first fixing shaft (301) and the second fixing shaft (302) penetrate through the compressing straight line groove so as to limit the movement of the first adapting component (201) and the second adapting component (202).
11. The device for detecting the thickness of a pipe diameter according to claim 1, wherein the detecting part (4) comprises a first detecting component, a second detecting component and a third detecting component, the first detecting component is arranged at one end of the first adapting component (201) close to the pipe, the second detecting component is arranged at one end of the cam rod (206) close to the pipe, the third detecting component is arranged at one end of the second adapting component (202) close to the pipe, and the first detecting component, the second detecting component and the third detecting component are all used for measuring the thickness of the pipe.
12. A wall climbing robot comprising the thickness detection apparatus of the adaptive pipe diameter according to any one of claims 1 to 11.
CN202310555247.9A 2023-05-16 2023-05-16 Thickness detection device of self-adaptation pipe diameter and wall climbing robot Pending CN116538976A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310555247.9A CN116538976A (en) 2023-05-16 2023-05-16 Thickness detection device of self-adaptation pipe diameter and wall climbing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310555247.9A CN116538976A (en) 2023-05-16 2023-05-16 Thickness detection device of self-adaptation pipe diameter and wall climbing robot

Publications (1)

Publication Number Publication Date
CN116538976A true CN116538976A (en) 2023-08-04

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310555247.9A Pending CN116538976A (en) 2023-05-16 2023-05-16 Thickness detection device of self-adaptation pipe diameter and wall climbing robot

Country Status (1)

Country Link
CN (1) CN116538976A (en)

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