CN116817137A - Walking scanning device for outer wall of pipeline - Google Patents
Walking scanning device for outer wall of pipeline Download PDFInfo
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- CN116817137A CN116817137A CN202310788954.2A CN202310788954A CN116817137A CN 116817137 A CN116817137 A CN 116817137A CN 202310788954 A CN202310788954 A CN 202310788954A CN 116817137 A CN116817137 A CN 116817137A
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- 230000007306 turnover Effects 0.000 claims abstract description 20
- 239000000523 sample Substances 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000035939 shock Effects 0.000 claims description 7
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 31
- 230000009194 climbing Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 5
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- 239000012530 fluid Substances 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
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- 239000011664 nicotinic acid Substances 0.000 description 1
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- 238000009428 plumbing Methods 0.000 description 1
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Abstract
The invention discloses a walking scanning device for the outer wall of a pipeline, which comprises two sensor brackets, two clamping claws and a turnover mechanism, wherein the two sensor brackets are arranged on the two clamping claws; the two sensor brackets are arranged on two sides of the two clamps in a reciprocating and rotating manner; the clamping paw comprises a clamping mechanism and a travelling mechanism; the turnover mechanism comprises two bases which are movably connected and can relatively turn at least 90 degrees; the sensor bracket of the pipeline outer wall walking scanning device can scan the pipeline by 360 degrees through the arc-shaped bracket and the guide wheel structure, and has the characteristics of high efficiency, large scanning range, obstacle avoidance and accurate completion of the pipeline scanning; the two clamping claws are matched with the guide rail through the linear push rod to realize the gripping of the pipeline, and the two clamping claws are provided with a distance adjusting module to always ensure that the distance between the detection device and the surface of the pipeline is consistent; simultaneously, the two clamping hands are matched with the turnover mechanism with the function of relatively turning over 90 degrees, and the turnover mechanism also has the functions of obstacle avoidance, steering, turning and climbing, is simple and convenient to operate and has a wide application range.
Description
Technical Field
The invention relates to the technical field of pipeline nondestructive testing, in particular to a pipeline outer wall walking scanning device.
Background
Plumbing used in the related industry requires periodic maintenance and repair depending on the environment of use and the degree of wear due to the corrosive and impact effects of the fluid. The detection process of the defects of the pipe wall of the pipeline usually depends on manual scanning and detection, and the working efficiency is low. Therefore, in order to improve the inspection efficiency and reduce the labor cost, a walking scanning robot for the outer wall of the pipeline is provided to realize automatic scanning work.
The detection robot for the outer wall of the pipe is one of important development directions in the field of industrial robots, and has good application in the fields of industrial and civil production processes such as petrochemical pipeline detection industry, bridge construction, living resources and the like. In the pipeline maintenance process, the manual detection operation efficiency is low, the error detection rate is high, repeated detection is needed in part of occasions, and the safety of the operation environment is low. In order to solve the problems, many scholars at home and abroad research on the mechanism for climbing the wall by walking outside the pipeline. Common pipe defects can be divided into two categories: 1) Defects generated during the manufacture of the pipeline, such as air holes, crack pits and the like generated during the welding of the pipeline; 2) The long-term operation of the pipeline causes corrosion, damage and the like inside and outside the pipe wall. Corrosion of the outer pipe wall is typically caused by the external environment of the pipe; corrosion of the inner wall is usually caused by the transmission of a carrier containing corrosive substances, and pits, holes, thinning and the like can occur on the inner wall. In addition, some special pipelines are composed of complex connecting members, including turning joints, crosses, T joints and the like, and meanwhile, various valves, auxiliary safety devices and the like are further included, so that the space range in which detection can be operated is reduced, and therefore detection is difficult to carry out in a plurality of narrow areas, and omnibearing scanning of the pipelines cannot be realized. Most of the currently developed pipeline robots cannot realize all-dimensional blind spot-free scanning work according to the detection process requirements, so that the running mechanism on the outer wall of the pipeline needs to be developed to complete the functions.
At present, the pipeline wall climbing robots are of various types and can be divided into mechanical enclasping, gravity locking and bionic modes according to pipeline clamping modes. The mechanical enclasping type is more in variety, is more mature in development, and can be divided into wheel type, crawler type, foot type and other mechanism types according to a moving mode. The disclosed patent CN208239365U discloses a pipeline scanning device based on phased array double probes, the disclosed patent CN109668964A discloses a pipeline scanning frame, the disclosed patent CN108407909A discloses a pipeline external flaw detection walking robot, wherein the first disclosed patent completes one week of detection on a pipeline through two scanning probes, the mechanism in the second disclosed patent only can complete circumferential scanning on the pipeline, and the pipeline in the third disclosed patent is subjected to linear scanning. All three patents can not scan the pipeline in all directions, and if an obstacle is encountered or the pipeline turns, the detection work can not be completed, so that the scanning detection effect and efficiency are affected.
Disclosure of Invention
The invention aims to provide a pipeline outer wall walking scanning device which realizes variable form obstacle avoidance, blind spot-free detection and light-weight design and can finish pipeline wall defect detection through a nondestructive flaw detection sensor.
For this purpose, the technical scheme of the invention is as follows:
a walking scanning device for the outer wall of a pipeline comprises two identical sensor brackets, two identical clamping claws and a turnover mechanism; the two clamping claws are arranged in parallel at intervals, and the two sensor brackets are arranged in parallel and fixed at two sides of the two clamping claws at intervals in a coaxial arrangement mode with the two clamping claws; the turnover mechanism consists of two movable structures which are connected in a hinged manner and can relatively turn at least 90 degrees, and the two clamping claws are respectively fixed at the bottom sides of the two movable structures; wherein,,
the sensor bracket comprises a gear driving motor, an arc bracket and two guide wheels which are arranged side by side and can rotate freely, wherein the gear driving motor and the arc bracket are sequentially arranged on a gear fixing plate from top to bottom; the gear driving motor is fixed on the back side of the gear fixing plate in a mode that an output shaft of the gear driving motor is horizontally arranged, the front end of the output shaft of the gear driving motor penetrates through the front side of the gear fixing plate, and a driving gear is fixed at the shaft end of the gear driving motor; the arc-shaped bracket is a semicircular ring body with a downward opening, an outer gear ring is arranged on the outer cambered surface of the semicircular ring body and meshed with the driving gear, and an arc-shaped through groove with two built-in guide wheels is formed in the inner cambered surface of the semicircular ring body along the circumferential direction; two distance adjusting modules for installing sensors are symmetrically installed at the two bottom ends of the arc-shaped bracket;
the clamping paw comprises a clamping mechanism and a travelling mechanism; the clamping mechanism comprises two clamping arms, two groups of guide rails and a linear push rod; the two clamping arms are two arc bodies which are symmetrically arranged and form a ring-like structure which is vertically arranged; each group of guide rails consists of a linear guide rail and a guide rail sliding block capable of sliding back and forth in the linear guide rail; the two groups of guide rails are symmetrically arranged above the two clamping arms, and guide rail sliding blocks of the two groups of guide rails can slide in the linear guide rails in a reciprocating manner along the horizontal direction; the top ends of the guide rail sliding blocks of the two groups of guide rails are respectively fixed at the fixed end and the movable end of the linear push rod, and the bottom ends of the guide rail sliding blocks of the two groups of guide rails are respectively fixed at the tops of the two clamping arms, so that the distance between the two clamping arms is adjustable; the clamping mechanism is connected and fixed with the gear fixing plate of the adjacent sensor bracket into a whole through two sensor bracket connecting plates which are symmetrically arranged and fixed on the outer side wall surfaces of the two groups of guide rails;
the travelling mechanism comprises a travelling driving motor, an auxiliary wheel, a speed reducing device, a wheel body bracket and a driving wheel; the wheel body support consists of an inverted auxiliary wheel frame, a horizontal connecting plate and an inverted driving wheel frame which are sequentially connected, wherein the horizontal connecting plate is fixed on the linear guide rails of the two groups of guide rails, so that the auxiliary wheel frame and the driving wheel frame are arranged at two sides of the clamping mechanism; the auxiliary wheel and the driving wheel are respectively rotatably arranged on the auxiliary wheel frame and the driving wheel frame in a way that the axes of the auxiliary wheel and the driving wheel are parallel to the axis of the linear push rod; the walking driving motor and the speed reducer are fixed on the driving wheel frame, the speed reduction output end of the speed reducer is connected with the central shaft of the driving wheel, and the input end of the speed reducer is connected with the output shaft of the walking driving motor.
Further, the distance adjusting module comprises an inner hexagon bolt, a bracket, a buffer spring, a probe mounting frame and a universal wheel; the outer plate surface of the support is fixed on the end surface of the bottom end of the arc-shaped support, and the adjusting plate is positioned on one side of the outer arc surface of the arc-shaped support; the probe mounting frame is arranged on the other side plate surface of the fixed plate, and an adjusting screw hole is formed in the end surface of the probe mounting frame, which is close to one side of the adjusting plate, so that the inner hexagon bolt sequentially penetrates through the central through hole of the adjusting plate and the adjusting screw hole of the probe mounting frame in a mode that the inner hexagon locking end of the inner hexagon bolt is positioned at the outer side of the bracket; the universal wheel is centrally arranged on the end surface of one side far away from the adjusting plate; the buffer spring is sleeved outside the inner hexagon bolt in a partially compressed state and is positioned between the probe mounting frame and the adjusting plate.
Further, in each group of guide rails, the linear guide rail is a shape guide rail frame which is composed of a vertically arranged track connecting plate and two guide rail plates which are vertically arranged and the end parts of which are respectively connected with two sides of the track connecting plate, and the inner side plate surfaces of the two guide rail plates are provided with track grooves along the length direction in a centering way; the guide rail sliding block is a sliding block with a pair of side walls provided with transverse convex strips at the center, and two freely rotatable sliding wheels are arranged on the outer side wall surface of each side of the transverse convex strips at intervals; the sliding wheels on two sides of the guide rail sliding block are respectively embedded in the track grooves on two sides of the linear guide rail, so that the guide rail sliding block can slide back and forth in the horizontal direction relative to the linear guide rail; the two groups of guide rails are symmetrically arranged in a mode that openings of the two linear guide rails are opposite.
Further, the clamping mechanism also comprises two holding wheel modules which are symmetrically arranged at the bottom ends of the two clamping arms; the holding wheel module comprises two inner hexagon bolts, a damping connecting piece, two supporting springs, an auxiliary supporting wheel connecting plate, two auxiliary supporting wheel connecting frames and two pairs of auxiliary supporting wheels; the damping connecting piece consists of an upper connecting part and a lower connecting part which are connected, and an included angle formed between the upper connecting part and the lower connecting part is an obtuse angle; the upper connecting part of the damping connecting piece is vertically arranged, the top end of the damping connecting piece is fixed at the bottom end of the clamping arm, and the lower connecting part of the damping connecting piece is obliquely arranged towards the inner side of the clamping paw; two screw holes are symmetrically formed in the lower connecting part of the shock absorption connecting piece along the direction perpendicular to the lower connecting part, so that two inner hexagon bolts penetrate through the two screw holes from bottom to top, and the tail ends of the two inner hexagon bolts are perpendicular and are centrally fixed on one side plate surface of the auxiliary supporting wheel connecting plate; the two supporting springs are sleeved outside the two inner hexagon bolts respectively and are positioned between the lower connecting part and the auxiliary supporting wheel connecting plate; the two auxiliary supporting wheel connecting frames are two strip-shaped arc-shaped blocks which are arranged at intervals in parallel along the circumferential direction of the clamping arm and are fixed on the other side plate surface of the auxiliary supporting wheel connecting plate; the two ends of each auxiliary supporting wheel connecting frame extend outwards and are provided with connecting shafts, so that each pair of auxiliary supporting wheels are respectively and rotatably arranged on the connecting shafts at the two ends of each auxiliary supporting wheel connecting frame.
Further, the pipeline outer wall walking scanning device also comprises a turnover mechanism, wherein the turnover mechanism consists of a first base, a worm, a turbine, a first support shaft, a second support shaft, a driving connecting rod, a transmission connecting rod, a driving motor and a second base; the first base and the second base are respectively fixed on the top surfaces of the auxiliary wheel frames of the two clamping claws, and the adjacent ends of the two base are partially overlapped and hinged through a joint rotating shaft horizontally penetrating through the overlapped part; the first support shaft is rotatably arranged on the first base in a horizontal state, the front end of the driving connecting rod is fixed on the first support shaft, the second support shaft is rotatably arranged on the second base in a horizontal state, the front end of the driving connecting rod is rotatably connected with the rear end of the driving connecting rod, and the rear end of the driving connecting rod is fixed on the second support shaft; the worm wheel is fixed on the first support shaft in a centering way, and the worm is horizontally arranged below the worm wheel and meshed with the worm wheel; the driving motor is fixed on the first base, and the output end of the driving motor is horizontally arranged and is connected with the rear end of the worm through the coupler.
Compared with the prior art, the pipeline outer wall walking scanning device is assembled by two sensor brackets, two identical clamping claws and a turnover mechanism, and the sensor brackets can scan the pipeline by 360 degrees through an arc-shaped bracket and guide wheel structure, so that the pipeline scanning device has the characteristics of high efficiency, large scanning range, obstacle avoidance and accurate completion of pipeline scanning; the two clamping claws are matched with the linear push rod and the guide rail by adopting two symmetrically arranged clamping mechanisms, so that the pipeline is clamped firmly, and the distance adjusting module is arranged to always ensure that the distance between the detection device and the surface of the pipeline is consistent; meanwhile, two clamping hands can also realize that the device overturns when encountering the obstacle and keeps away the obstacle with the tilting mechanism cooperation use that has the relative 90 function of overturning, or need the T-shaped pipeline to work on the time have from horizontal pipeline climbing to vertical pipeline upset climbing function, not only easy and simple to handle, and application scope is wide.
Drawings
FIG. 1 is a schematic diagram of a walking scanning device for the outer wall of a pipeline;
FIG. 2 is a schematic view of a partial structure of a sensor support structure of the pipeline outer wall walking scanning device;
FIG. 3 is a schematic diagram of a partial structure of a distance adjustment module of the pipeline outer wall walking scanning device;
FIG. 4 is a schematic view of a part of the structure of a clamping claw of the pipeline outer wall walking scanning device;
FIG. 5 is a schematic view of a side structure of a clamping jaw of the pipeline outer wall walking scanning device of the invention;
FIG. 6 is a schematic view of the other side of the clamping jaw of the pipeline outer wall walking scanning device of the invention;
FIG. 7 is a schematic view of a part of a walking mechanism of a clamping paw of the pipeline outer wall walking scanning device;
FIG. 8 is a schematic view of a partial structure of a reduction gear of a clamping jaw of the pipeline outer wall walking scanning device of the invention;
FIG. 9 is a partial schematic view of a pinch wheel module in a clamp jaw of the pipeline outer wall walking scanning device of the invention;
FIG. 10 is a schematic structural view of a turnover mechanism of the pipeline outer wall walking scanning device;
fig. 11 is a schematic structural view of the pipeline outer wall walking scanning device in a rotating climbing state.
Detailed Description
The invention will now be further described with reference to the accompanying drawings and specific examples, which are in no way limiting.
As shown in fig. 1, the walking scanning device for the outer wall of the pipeline comprises two sensor brackets 1, two clamping claws 2 and a turnover mechanism 3; wherein, the two sensor brackets 1 are parallel and arranged at intervals, and the two clamping claws 2 are arranged between the two sensor brackets 1 and are parallel and arranged at intervals; the two sensor brackets 1 and the two clamping claws 2 are coaxially arranged along the horizontal direction and connected to the bottom side of the turnover mechanism 3;
as shown in fig. 1 and 2, the two sensor holders 1 are identical in structure and size; each sensor bracket 1 comprises a driving gear 1a, a gear fixing plate 1b, a driving motor 1c, an arc-shaped bracket 1e, two guide wheels 1d and two distance adjusting modules 1f; in particular, the method comprises the steps of,
the gear fixing plate 1b is composed of a rectangular fixing plate body and two connecting plates which are symmetrically and horizontally extended along two sides of the fixing plate body; the gear fixing plate 1b is vertically arranged, a first mounting hole is formed in the middle of the upper side plate surface of the fixing plate body, two second mounting holes are symmetrically formed in the lower side plate surface of the fixing plate body along the horizontal direction, and two third mounting holes are symmetrically formed in the end parts of the two connecting plates;
the driving motor 1c is fixed on the back side of the gear fixing plate 1b, an output shaft of the driving motor 1c is horizontally arranged and penetrates through the first mounting hole to the front side of the gear fixing plate 1b, the driving gear 1a is parallel to the gear fixing plate 1b and is sleeved and fixed on the shaft end of the output shaft of the driving motor 1c through a central hole of the driving gear 1a, so that the driving gear 1a is driven to rotate by the driving motor 1 c;
two guide wheels 1d are arranged below the driving gear 1a side by side in parallel with the gear fixing plate 1b, and are respectively and rotatably arranged at the front ends of two guide wheel shafts through bearings arranged in the central holes; the rear ends of the two guide wheel shafts are inserted and fixed in the two second mounting holes;
the arc-shaped bracket 1e is a semi-circular ring body with an outer gear ring on an outer cambered surface and an arc-shaped through groove in the middle on an inner cambered surface; the arc-shaped support 1e is arranged between the driving gear 1a and the two guide wheels 1d in a way that the opening of the arc-shaped support is downward, the driving gear 1a is meshed with an outer gear ring of the arc-shaped support 1e, so that the arc-shaped support 1e rotates reciprocally along with the clockwise/anticlockwise rotation of the driving gear 1a in the circumferential direction, the two guide wheels 1d are embedded in the arc-shaped through grooves of the arc-shaped support 1e and abut against the bottoms of the arc-shaped through grooves, and the arc-shaped through grooves of the arc-shaped support 1e and the two guide wheels 1d are matched to slide relatively, so that the guide arc-shaped support 1e rotates reciprocally in the same vertical plane;
as shown in fig. 2 and 3, two distance adjusting modules 1f are symmetrically fixed on the end surfaces of two ends of an arc-shaped bracket 1 e; each distance adjusting module 1f comprises an inner hexagon bolt 1g, an L-shaped bracket 1h, a buffer spring 1i, a probe mounting frame 1j and a universal wheel 1k; in particular, the method comprises the steps of,
the L-shaped bracket 1h is composed of a fixed plate and an adjusting plate which are vertically arranged and connected; the outer side plate surface of the fixed plate is adhered to the end surface of the arc-shaped bracket 1e and is fixed into a whole through a screw, and the adjusting plate is positioned on one side of the outer arc surface of the arc-shaped bracket 1e and is provided with a central through hole; the probe mounting frame 1j is arranged on the other side plate surface of the fixed plate, an adjusting screw hole is formed in the end surface of one side of the probe mounting frame, which is close to the adjusting plate, a universal wheel mounting hole is formed in the end surface of one side of the probe mounting frame, which is far away from the adjusting plate, and a sensor mounting hole is formed in the front side wall surface of the probe mounting frame; the universal wheel 1k is arranged on the probe mounting frame 1j through a universal wheel mounting hole; the inner hexagon bolt 1g is sequentially arranged in the central through hole of the adjusting plate and the adjusting threaded hole of the probe mounting frame 1j in a penetrating way in a way that the inner hexagon locking end of the inner hexagon bolt is positioned at the outer side of the L-shaped bracket 1 h; the penetration depth of the threaded end of the inner hexagon bolt 1g in the adjusting threaded hole can be adjusted according to the requirement, so that the universal wheel 1k is tightly abutted on the outer wall of the pipeline by adjusting the interval distance between the probe mounting frame 1j and the adjusting plate; the buffer spring 1i is sleeved outside the inner hexagon bolt 1g in a partially compressed state and is positioned between the probe mounting frame 1j and the adjusting plate so as to provide pretightening force; when the device is used, two sensors are symmetrically arranged on two probe mounting frames 1j respectively, the depth of an adjusting threaded hole in the probe mounting frames 1j is screwed in through synchronous adjustment of inner hexagon bolts 1g, the distance between two universal wheels 1k is adjusted, and finally the two universal wheels 1k are respectively propped against the outer walls of opposite sides of a pipeline to be detected;
as shown in fig. 4 to 6, the clamping claw 2 comprises a clamping mechanism for clamping on the outer wall of the pipeline and a travelling mechanism for driving the clamping mechanism to move on the outer wall of the pipeline; wherein,,
the clamping mechanism comprises two clamping arms 2f, a linear push rod 2c, two groups of guide rails, two L-shaped connecting pieces 2L, two holding wheel modules 2g and two L-shaped paw connecting pieces 2n; in particular, the method comprises the steps of,
the two clamping arms 2f are two arc bodies with the same structure and size, and the two arc bodies are symmetrically arranged to form a ring-like structure capable of encircling the outer side of the pipeline; referring to fig. 7, each clamping arm 2f includes two parallel and spaced arc-shaped pieces, which are vertically arranged and are connected and fixed into a whole through one clamping arm connecting block 2p and three connecting posts 2k which are spaced from top to bottom;
the L-shaped paw connecting piece 2n consists of a horizontal top plate and a vertical plate which are connected; the two L-shaped paw connecting pieces 2n are symmetrically fixed on the two clamping arm connecting blocks 2p in a mode that vertical plates of the two L-shaped paw connecting pieces are fixed on the clamping arm connecting blocks 2p and horizontal top plates are oppositely arranged;
referring to fig. 4, each group of guide rails is composed of a guide rail slider 2d and a linear guide rail, wherein the linear guide rail is a U-shaped guide rail frame composed of a vertically arranged track connecting plate 2m and two guide rail plates 2e which are vertically arranged and are respectively connected with the end parts of the two guide rail plates 2m at the two sides, and a track groove is formed on the inner side plate surface of each guide rail plate 2e along the length direction in a centering manner; the guide rail slide block 2d is a slide block with a pair of side walls provided with transverse raised strips at the center, and two freely rotatable sliding wheels are arranged on the outer side wall surface of each side of the transverse raised strips at intervals; the sliding wheels on two sides of the guide rail sliding block 2d are respectively embedded in the track grooves on two sides of the linear guide rail, so that the guide rail sliding block 2d can slide back and forth in the horizontal direction relative to the linear guide rail;
the two groups of guide rails are symmetrically arranged on the two L-shaped paw connecting pieces 2n in a mode that openings of the two linear guide rails are opposite, and the bottom surface of a guide rail sliding block 2d on each group of guide rails is pressed on a horizontal top plate of the L-shaped paw connecting piece 2n and is fixed on the horizontal top plate through screws; the L-shaped connecting piece 2L consists of a vertical plate and a horizontal bottom plate which are connected, and a through groove is formed in the vertical plate; the two L-shaped connecting pieces 2L are symmetrically fixed on the top surfaces of the guide rail sliding blocks 2d of the two groups of guide rails in a mode that the horizontal bottom plates of the two L-shaped connecting pieces are oppositely arranged; the linear push rod 2c is erected on the two L-shaped connecting pieces 2L in a mode that the axis of the linear push rod is parallel to the sliding direction of the sliding block on the guide rail, and two ends (namely the fixed end and the movable end of the linear guide rail) of the linear push rod are respectively embedded in the through groove of the vertical plate and are connected and fixed into a whole through screws; in the clamping mechanism, the bottoms of the guide rail sliding blocks 2d of the two groups of guide rails are respectively connected with the tops of the two clamping arms 2f which can enclose into a ring-like structure, and the tops of the two clamping arms 2f are respectively connected with the two ends of the linear push rod 2c through two L-shaped connecting pieces 2L, so that the distance between the two clamping arms 2f can be adjusted through the expansion and contraction of the linear push rod 2 c; the linear guide rails of the two groups of guide rails play a guiding role.
Wherein, every adjacent sensor bracket 1 and clamping paw 2 are connected and fixed into a whole through two sensor bracket connecting plates; specifically, two sensor bracket connecting plates are vertically arranged and symmetrically arranged on two sides of two groups of guide rails on the clamping paw 2, one end of each sensor bracket connecting plate is fixed on the outer side wall surface of a rail connecting plate 2m of the linear guide rail through bolts, and the other end of each sensor bracket connecting plate is fixed on the gear fixing plate 1b through bolts penetrating through third mounting holes on the same side of the gear fixing plate 1 b;
the two holding wheel modules 2g are symmetrically arranged at the bottom ends of the two clamping arms 2f and form an extension body of the clamping arms 2f so as to be commonly held on the outer wall of the pipeline together with the two clamping arms 2 f; specifically, as shown in fig. 9, the holding wheel module 2g includes two hexagon socket head cap bolts 2r, one shock absorbing connecting piece 2s, two supporting springs 2t, one auxiliary supporting wheel connecting plate 2u, two auxiliary supporting wheel connecting frames 2v and two pairs of auxiliary supporting wheels 2 w; the damping connecting piece 2s is composed of an upper connecting part and a lower connecting part which are connected, and an included angle formed between the upper connecting part and the lower connecting part is an obtuse angle; the upper connecting part of the damping connecting piece 2s is vertically arranged, the top end of the damping connecting piece is fixed at the bottom end of the clamping arm 2f, and the lower connecting part of the damping connecting piece 2s is obliquely arranged towards the inner side of the clamping paw 2; two screw holes are symmetrically formed in the lower connecting part of the shock absorption connecting piece 2s along the direction perpendicular to the lower connecting part, so that two inner hexagon bolts 2r are arranged in the two screw holes in a penetrating manner from bottom to top, and the tail ends of the two inner hexagon bolts are perpendicular to and are centrally fixed on one side plate surface of the auxiliary supporting wheel connecting plate 2 u; the two supporting springs 2t are respectively sleeved outside the two inner hexagon bolts 2r and positioned between the lower connecting part and the auxiliary supporting wheel connecting plate 2 u; the two auxiliary supporting wheel connecting frames 2v are two strip-shaped arc-shaped blocks which are arranged at intervals in parallel along the circumferential direction of the clamping arm 2f and are fixed on the other side plate surface of the auxiliary supporting wheel connecting plate 2u through screws; the two ends of each auxiliary supporting wheel connecting frame 2v extend outwards and are provided with connecting shafts, so that each pair of auxiliary supporting wheels 2w are respectively and rotatably arranged on the connecting shafts at the two ends of the auxiliary supporting wheel connecting frame 2v, and sliding friction is formed between the clamping hand grip 2 and the outer wall of the pipeline, and further the auxiliary supporting wheels slide on the outer wall of the pipeline.
Referring to fig. 5 to 8, the traveling mechanism includes a traveling drive motor 2a, an auxiliary wheel 2b, a reduction gear 2h, a wheel body bracket 2i, and a drive wheel 2j; in particular, the method comprises the steps of,
the wheel body bracket 2i is composed of an inverted U-shaped auxiliary wheel frame, a horizontal connecting plate and an inverted U-shaped driving wheel frame which are connected in sequence; wherein, two sides of the horizontal connecting plate of the wheel body support 2i are respectively connected and fixed on the inner side end surfaces of two guide rail plates 2e of two groups of guide rails through two inverted L-shaped connecting frames 2x which are fixed on the outer side edges at intervals, so that an auxiliary wheel frame and a driving wheel frame of the wheel body support 2i are respectively arranged at two sides of the clamping mechanism;
the auxiliary wheel 2b and the driving wheel 2j are respectively and freely rotatably arranged on the auxiliary wheel frame and the driving wheel frame in a mode that the axes of the auxiliary wheel 2b and the driving wheel 2j are parallel to the axis of the linear push rod 2c, and the auxiliary wheel 2b and the driving wheel 2j are identical in size and the axes of the auxiliary wheel 2b and the driving wheel are positioned on the same horizontal plane so as to ensure that the auxiliary wheel 2b and the driving wheel 2j are simultaneously contacted with the outer wall of the pipeline; specifically, the connecting shafts on both sides of the auxiliary wheel 2b are rotatably mounted on the auxiliary wheel frame through two rotating bearings respectively, and the connecting shafts on both sides of the driving wheel 2j are rotatably mounted on the driving wheel frame through two rotating bearings respectively; meanwhile, in order to protect and seal the bearings, a bearing baffle plate 2q is arranged on the wall surface of the wheel frame where each bearing is arranged;
the speed reducing device 2h is fixed on the outer side of the driving wheel frame, the speed reducing output end is connected with one end of the driving wheel 2j through a coupler, and the input end is connected with the output shaft of the walking driving motor 2a through the coupler; as shown in fig. 8, the speed reducer 2h is composed of a large gear, a middle gear and a small gear which are clamped between two plate bodies and are sequentially arranged from bottom to top, the three gears are sequentially meshed and are rotatably fixed between the two plate bodies through penetrating into a central hole to a fixed shaft, the fixed shaft penetrating into the central hole of the small gear is an input end of the speed reducer 2h, and the fixed shaft penetrating into the central hole of the large gear is an output end of the speed reducer 2 h;
the walking driving motor 2a is arranged above the driving wheel frame through a motor bracket; the walking driving motor 2a is used as a power input end, and an output shaft of the walking driving motor is connected with an input end of the speed reduction device 2h through a coupler so as to enable the driving wheel 2j to slowly rotate through the speed reduction of the speed reduction device 2h, and further the whole driving device is driven to move on a pipeline to be detected along the axis direction of the pipeline.
As shown in fig. 10, the tilting mechanism 3 is constituted by a first base 3a, a worm 3b, a worm wheel 3c, a first support shaft 3d, a second support shaft, a drive link 3e, a transmission link 3f, a drive motor 3g, and a second base 3 h; in particular, the method comprises the steps of,
the first base 3a and the second base 3h are of U-shaped structures formed by connecting two vertical plates and a bottom plate, and are respectively fixed on the top surfaces of the auxiliary wheel frames of the front clamping paw 2 and the rear clamping paw 2 through screws; the adjacent ends of the first base 3a and the second base 3h are partially overlapped, and the two bases are hinged through a joint rotating shaft horizontally penetrating through the overlapped part, so that the second base 3h can be turned upwards anticlockwise by at least 90 degrees relative to the first base 3a through the joint rotating shaft;
the first support shaft 3d is horizontally arranged, and two ends of the first support shaft are rotatably arranged between two vertical plates of the first base 3a through bearings; the driving connecting rod 3e consists of two driving rods and connecting rods fixed between the two driving rods, and the front ends of the two driving rods are sleeved and fixed on two sides of the first supporting shaft 3 d; the second support shaft is horizontally arranged, and two ends of the second support shaft are rotatably arranged between two vertical plates of the second base 3h through bearings; the transmission connecting rod 3f consists of two transmission rods and a connecting rod fixed between the two transmission rods, the front ends of the two transmission rods are respectively and rotatably connected with the rear ends of the two driving rods through pin shafts, and the rear ends of the two transmission rods are sleeved and fixed on two sides of the second supporting shaft; wherein, the total length of the driving connecting rod 3e and the transmission connecting rod 3f is larger than the interval between the first supporting shaft 3d and the second supporting shaft;
the turbine 3c is fixed on the first support shaft 3d in a centered and sleeved mode, and the worm 3b is horizontally arranged below the turbine 3c and meshed with the turbine 3 c; the driving motor 3g is fixed on the bottom plate of the first base 3a, and the output end of the driving motor is horizontally arranged and is connected with the rear end of the worm 3b through a coupler.
The specific working process of adopting the pipeline outer wall walking scanning device to carry out walking scanning on the pipeline is as follows:
firstly, controlling linear push rods on two clamping claws 2 to enable two clamping arms 2f to be transversely opened to a width larger than the outer diameter of a pipeline to be detected, hoisting the device above a horizontal section of the pipeline to be detected through hoisting equipment, gradually lowering the device, and enabling two sensor brackets 1 and the two clamping claws 2 to encircle a detection starting end on the outer side of the pipeline; the two clamping arms 2f are controlled to transversely retract and straighten through the linear push rods on the two clamping claws 2 until the two clamping arms 2f are surrounded on the outer wall of the pipeline, and at the moment, the driving wheel 2j, the auxiliary wheel 2b and the rollers on the two clamping wheel modules 2g are tightly abutted on the outer wall of the pipeline; then, the sensors arranged on the two sensor brackets 1 are adjusted so that the distances from the detection ends of the sensors to the outer wall of the pipeline are kept the same; then, starting the gear driving motor, enabling the gear driving motor to rotate 90 degrees clockwise and then rotate 90 degrees anticlockwise, namely completing 360-degree detection work of the pipeline at the detection starting end, and transmitting information data acquired by the sensor to a remote industrial personal computer for result analysis;
after the pipeline outer wall walking scanning device completes detection of the pipeline detection starting end, the pipeline outer wall walking scanning device needs to move to a new detection section through walking; specifically, the walking driving motors on the two clamping claws 2 are started to synchronously rotate to drive the two driving wheels 2j to drive the auxiliary wheels 2b to rotate, and simultaneously under the rotation action of the rollers on the two holding wheel modules 2g, the clamping claws 2 drive the sensor bracket 1 and the turnover mechanism 3 to jointly move along the outer wall of the pipeline to the next pipeline detection section; repeating the detection process of the device in the pipeline initial detection section to finish the pipeline detection of a new detection section;
when the pipeline to be detected is changed from a horizontal section to a vertical section, the pipeline outer wall walking scanning device can also finish steering walking through the turnover mechanism so as to climb upwards from the horizontally arranged pipeline to the vertically arranged pipeline; specifically, referring to fig. 11, taking the example that the vertical pipe is located on the right side of the horizontal pipe: first, the clamping jaw 2 on the side far from the vertical pipe is kept to clamp the horizontal pipe, and the clamping jaw 2 on the side near the vertical pipe is released; then, the turbine 3c rotates anticlockwise under the action of the driving motor 3g driving the worm 3b to rotate, so that the first supporting shaft 3d drives the two driving connecting rods 3e to synchronously rotate anticlockwise, and then under the action of a connecting rod structure between the two driving connecting rods 3e and the two transmission connecting rods 3f, the second base 3h is driven to anticlockwise overturn by 90 degrees, and at the moment, the clamping paw 2 and the sensor bracket 1 close to one side of the vertical pipeline synchronously overturn anticlockwise by 90 degrees; the clamping claws 2 on the horizontal pipeline are driven to drive the adjacent sensor bracket 1 to walk towards the vertical pipeline for a certain distance until the pile turning clamping claws 2 and the sensor bracket 1 are positioned at the outer side of the vertical pipeline, and then the vertical pipeline can be clamped by the clamping claws 2 close to one side of the vertical pipeline; then, loosening the clamping claw 2 which clamps one side of the horizontal pipeline, and moving the clamping claw 2 positioned on the vertical pipeline upwards along the vertical pipeline until the clamping claw 2 positioned at the horizontal pipeline flows out of the overturning space; by using the turnover mechanism 3, the clamping claws 2 and the sensor support 1 which are originally used for clamping the horizontal pipeline synchronously turn over 90 degrees anticlockwise in the same turnover mode in the same mode, so that the purpose that the scanning device climbs up to the vertical pipeline from the horizontally arranged pipeline is achieved.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (5)
1. The walking scanning device for the outer wall of the pipeline is characterized by comprising two identical sensor brackets (1), two identical clamping claws (2) and a turnover mechanism (3); the two clamping claws (2) are arranged in parallel at intervals, and the two sensor brackets (1) are arranged in parallel and fixed at two sides of the two clamping claws (2) at intervals in a coaxial arrangement mode with the two clamping claws (2); the turnover mechanism (3) is composed of two movable structures which are connected in a hinged manner and can turn at least 90 degrees relatively, and the two clamping claws (2) are respectively fixed at the bottom sides of the two movable structures; wherein,,
the sensor bracket (1) comprises a gear driving motor (1 c), an arc-shaped bracket (1 e) and two guide wheels (1 d) which are arranged side by side and can rotate freely, wherein the gear driving motor (1 c) and the arc-shaped bracket (1 e) are sequentially arranged on a gear fixing plate (1 b) from top to bottom; the gear driving motor (1 c) is fixed on the back side of the gear fixing plate (1 b) in a mode that the output shaft of the gear driving motor is horizontally arranged, the front end of the output shaft of the gear driving motor penetrates through the front side of the gear fixing plate (1 b), and a driving gear (1 a) is fixed at the shaft end of the output shaft; the arc-shaped bracket (1 e) is a semi-circular ring body with a downward opening, an outer gear ring is arranged on the outer arc surface and meshed with the driving gear (1 a), and an arc-shaped through groove with two built-in guide wheels (1 d) is formed on the inner arc surface along the circumferential direction; two distance adjusting modules (1 f) for installing sensors are symmetrically installed at the two bottom ends of the arc-shaped bracket (1 e);
the clamping paw (2) comprises a clamping mechanism and a travelling mechanism; the clamping mechanism comprises two clamping arms (2 f), two groups of guide rails and a linear push rod (2 c); the two clamping arms (2 f) are two arc bodies which are symmetrically arranged and form a ring-like structure which is vertically arranged; each group of guide rails consists of a linear guide rail and a guide rail sliding block (2 d) capable of sliding back and forth in the linear guide rail; the two groups of guide rails are symmetrically arranged above the two clamping arms (2 f), and guide rail sliding blocks (2 d) of the two groups of guide rails can slide in the linear guide rails in a reciprocating manner along the horizontal direction; the top ends of the guide rail sliding blocks (2 d) of the two groups of guide rails are respectively fixed at the fixed end and the movable end of the linear push rod (2 c), and the bottom ends of the guide rail sliding blocks are respectively fixed at the tops of the two clamping arms (2 f), so that the interval between the two clamping arms (2 f) is adjustable; the clamping mechanism is connected and fixed with a gear fixing plate (1 b) of the adjacent sensor bracket (1) into a whole through two sensor bracket connecting plates which are symmetrically arranged and fixed on the outer side wall surfaces of the two groups of guide rails;
the travelling mechanism comprises a travelling driving motor (2 a), an auxiliary wheel (2 b), a speed reducer (2 h), a wheel body bracket (2 i) and a driving wheel (2 j); the wheel body support (2 i) is composed of an inverted U-shaped auxiliary wheel frame, a horizontal connecting plate and an inverted U-shaped driving wheel frame which are sequentially connected, wherein the horizontal connecting plate is fixed on the linear guide rails of the two groups of guide rails, so that the auxiliary wheel frame and the driving wheel frame are arranged at two sides of the clamping mechanism; the auxiliary wheel (2 b) and the driving wheel (2 j) are rotatably arranged on the auxiliary wheel frame and the driving wheel frame in a mode that the axes of the auxiliary wheel are parallel to the axis of the linear push rod (2 c), the walking driving motor (2 a) and the speed reduction device (2 h) are fixed on the driving wheel frame, the speed reduction output end of the speed reduction device (2 h) is connected with the central shaft of the driving wheel (2 j), and the input end of the speed reduction device is connected with the output shaft of the walking driving motor (2 a).
2. The pipeline outer wall walking scanning device according to claim 1, wherein the distance adjusting module (1 f) comprises an inner hexagon bolt (1 g), an L-shaped bracket (1 h), a buffer spring (1 i), a probe mounting frame (1 j) and a universal wheel (1 k); the L-shaped bracket (1 h) is composed of a fixing plate and an adjusting plate which are vertically arranged and connected, the outer side plate surface of the L-shaped bracket is fixed on the end surface of the bottom end of the arc-shaped bracket (1 e), and the adjusting plate of the L-shaped bracket is positioned on one side of the outer arc surface of the arc-shaped bracket (1 e); the probe mounting frame (1 j) is arranged on the other side plate surface of the fixed plate, an adjusting screw hole is formed in the end surface of the probe mounting frame, which is close to one side of the adjusting plate, so that the inner hexagon bolt (1 g) sequentially penetrates through the central through hole of the adjusting plate and the adjusting screw hole of the probe mounting frame (1 j) in a mode that the inner hexagon locking end of the inner hexagon bolt is positioned at the outer side of the L-shaped bracket (1 h); the universal wheel (1 k) is centrally arranged on the end face of one side far away from the adjusting plate; the buffer spring (1 i) is sleeved outside the hexagon socket head cap screw (1 g) in a partially compressed state and is positioned between the probe mounting frame (1 j) and the adjusting plate.
3. The walking scanning device for the outer wall of the pipeline according to claim 1, wherein in each group of guide rails, the linear guide rail is a U-shaped guide rail frame which is composed of a vertically arranged track connecting plate (2 m) and two guide rail plates (2 e) which are vertically arranged and are respectively connected with the two sides of the track connecting plate (2 m) at the end parts, and a track groove is formed on the inner side plate surface of each guide rail plate (2 e) along the length direction in the middle; the guide rail slide block (2 d) is a slide block with a transverse raised line arranged on the opposite side wall at the center, and two freely rotatable sliding wheels are arranged on the outer side wall surface of the transverse raised line on each side at intervals; the sliding wheels on two sides of the guide rail sliding block (2 d) are respectively embedded in the track grooves on two sides of the linear guide rail, so that the guide rail sliding block (2 d) can slide back and forth in the horizontal direction relative to the linear guide rail; the two groups of guide rails are symmetrically arranged in a mode that openings of the two linear guide rails are opposite.
4. The pipeline outer wall walking scanning device according to claim 1, wherein the clamping mechanism further comprises two holding wheel modules (2 g) symmetrically arranged at the bottom ends of the two clamping arms (2 f); the holding wheel module (2 g) comprises two inner hexagon bolts (2 r), a damping connecting piece (2 s), two supporting springs (2 t), an auxiliary supporting wheel connecting plate (2 u), two auxiliary supporting wheel connecting frames (2 v) and two pairs of auxiliary supporting wheels (2 w); the damping connecting piece (2 s) consists of an upper connecting part and a lower connecting part which are connected, and an included angle formed between the upper connecting part and the lower connecting part is an obtuse angle; the upper connecting part of the shock absorption connecting piece (2 s) is vertically arranged, the top end of the shock absorption connecting piece is fixed at the bottom end of the clamping arm (2 f), the lower connecting part of the shock absorption connecting piece (2 s) is obliquely arranged towards the inner side of the clamping claw (2), two screw holes are symmetrically formed in the lower connecting part of the shock absorption connecting piece (2 s) along the direction perpendicular to the lower connecting part, two inner hexagon bolts (2 r) are arranged in the two screw holes in a penetrating mode from bottom to top, the tail ends of the two inner hexagon bolts are vertically and centrally fixed on one side plate surface of the auxiliary supporting wheel connecting plate (2 u), two supporting springs (2 t) are respectively sleeved outside the two inner hexagon bolts (2 r) and are positioned between the lower connecting part and the auxiliary supporting wheel connecting plate (2 u), two auxiliary supporting wheel connecting frames (2 v) are two strip-shaped arc-shaped blocks, are arranged at parallel intervals along the circumferential direction of the clamping arm (2 f) and are fixed on the other side plate surface of the auxiliary supporting wheel connecting plate (2 u), and two ends of each auxiliary supporting wheel connecting frame (2 v) extend outwards and are formed to enable two ends of each auxiliary supporting wheel connecting frame (2 w) to be connected to the two ends of an auxiliary supporting wheel respectively.
5. The pipeline outer wall walking scanning device according to claim 1, further comprising a turnover mechanism (3) consisting of a first base (3 a), a worm (3 b), a turbine (3 c), a first support shaft (3 d), a second support shaft, a driving connecting rod (3 e), a transmission connecting rod (3 f), a driving motor (3 g) and a second base (3 h); the first base (3 a) and the second base (3 h) are respectively fixed on the top surfaces of the auxiliary wheel frames of the two clamping claws (2), and the adjacent ends of the two are partially overlapped and hinged through a joint rotating shaft horizontally penetrating through the overlapped part; the first support shaft (3 d) is rotatably arranged on the first base (3 a) in a horizontal state, the front end of the driving connecting rod (3 e) is fixed on the first support shaft (3 d), the second support shaft is rotatably arranged on the second base (3 h) in a horizontal state, and the front end of the driving connecting rod (3 f) is rotatably connected with the rear end of the driving connecting rod (3 e) and the rear end of the driving connecting rod is fixed on the second support shaft; the turbine (3 c) is centrally fixed on the first support shaft (3 d), and the worm (3 b) is horizontally arranged below the turbine (3 c) and meshed with the turbine (3 c); the driving motor (3 g) is fixed on the first base (3 a), and the output end of the driving motor is horizontally arranged and is connected with the rear end of the worm (3 b) through a coupler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310788954.2A CN116817137A (en) | 2023-06-30 | 2023-06-30 | Walking scanning device for outer wall of pipeline |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310788954.2A CN116817137A (en) | 2023-06-30 | 2023-06-30 | Walking scanning device for outer wall of pipeline |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118029286A (en) * | 2024-04-11 | 2024-05-14 | 贵州桥梁建设集团有限责任公司 | Manipulator for suspension bridge construction |
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- 2023-06-30 CN CN202310788954.2A patent/CN116817137A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118029286A (en) * | 2024-04-11 | 2024-05-14 | 贵州桥梁建设集团有限责任公司 | Manipulator for suspension bridge construction |
| CN118029286B (en) * | 2024-04-11 | 2024-06-11 | 贵州桥梁建设集团有限责任公司 | Manipulator for suspension bridge construction |
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