CN116877833A - Petrochemical pipeline inner weld joint exploration and detection spider robot - Google Patents
Petrochemical pipeline inner weld joint exploration and detection spider robot Download PDFInfo
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- CN116877833A CN116877833A CN202310741918.0A CN202310741918A CN116877833A CN 116877833 A CN116877833 A CN 116877833A CN 202310741918 A CN202310741918 A CN 202310741918A CN 116877833 A CN116877833 A CN 116877833A
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- 238000001514 detection method Methods 0.000 title claims abstract description 64
- 241000239290 Araneae Species 0.000 title claims abstract description 49
- 238000003466 welding Methods 0.000 claims abstract description 76
- 230000007246 mechanism Effects 0.000 claims description 32
- 238000013528 artificial neural network Methods 0.000 claims description 14
- 238000012360 testing method Methods 0.000 claims description 13
- 230000017525 heat dissipation Effects 0.000 claims description 12
- 238000000605 extraction Methods 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 6
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000007689 inspection Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000005286 illumination Methods 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 208000003464 asthenopia Diseases 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention discloses a welding seam probing and detecting spider robot in a petrochemical pipeline, which comprises a rack and a control module, wherein two sides of the inside of the rack are symmetrically and fixedly connected with a first steering engine, the output end of the first steering engine is fixedly connected with a first connecting arm, one end of the outer side of the first connecting arm is provided with a second steering engine, the output end of the second steering engine is fixedly connected with the inside of the first connecting arm, one side of the second steering engine is fixedly connected with a second connecting arm, the other end of the inside of the second connecting arm is provided with a mechanical foot, a flaw detector arranged on one side of a camera performs ultrasonic flaw detection on the inside of the pipeline, and when the welding seam probing detects the position of the welding seam of the pipeline, the welding seam operation can be performed on the petrochemical pipeline, and further, the welding seam self-probing and the detection of the petrochemical pipeline can be realized by the spider robot only through a control terminal and a display terminal.
Description
Technical Field
The invention belongs to the technical field of welding seam exploration and detection robots, and particularly relates to a spider robot for exploration and detection of welding seams in petrochemical pipelines.
Background
With the development of industrial industry in China, the manufacturing quality of the converter equipment such as a boiler, a pipeline and a header is more and more focused as a key component bearing high temperature and high pressure, and the converter equipment is more and more sensitive to internal pressure caused by medium action and stress caused by internal and external temperature differences, so that failure damage is very easy to occur in an internal welding area, and therefore, an effective internal welding seam welding defect detection method is urgently required to be developed, and technical guarantee is provided for reliable operation of the equipment such as the pipeline, the boiler and the header.
At present, effective detection means are lacking in welding quality of the inner welding seam surface of petrochemical pipelines, and most of the detection means are manual detection during the process, but because detection personnel watch the welding seam moving on a screen for a long time, eye fatigue is easy to cause or the pipeline welding seam is easy to miss detection, deviation is unavoidable to grasp quality detection standards according to different skills and experiences of detection personnel, the subjective influence factors of detection results of detection personnel are large, accurate and quantitative judgment on the defects is difficult to make, and therefore certain inconvenience is brought.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the existing defects, provide a welding seam exploration and detection spider robot in petrochemical pipelines, so as to solve the problems that the existing detection means for the welding quality of the welding seam surface in the petrochemical pipelines is lack of effective detection means, and most of the detection means are manual detection means, but because a detector looks at the welding seam moving on a screen for a long time, eye fatigue is easily caused or the detection of the welding seam of the pipelines is not easy to be carried out, and the quality detection standard is difficult to be mastered according to different skills and experiences of the detectors, the deviation is caused, the detection result is greatly influenced by subjective factors of the detectors, and accurate and quantitative judgment is difficult to be made on the defects, so that certain inconvenience is brought.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a welding seam is explored, detect spider robot in petrochemical pipeline, includes frame and control module, the inside bilateral symmetry fixedly connected with first steering wheel of frame, the first linking arm of first steering wheel output fixedly connected with, the one end in the first linking arm outside is provided with the second steering wheel, the output fixedly connected with in the inside of first linking arm of second steering wheel, one side fixedly connected with second linking arm of second steering wheel, the inside other end of second linking arm is provided with machinery foot, the inside opposite side fixedly connected with third steering wheel of second linking arm, the output fixedly connected with of third steering wheel is in the inside of machinery foot, frame top fixedly connected with fuselage, fuselage top one side is provided with the organic lid, the inside upper end of fuselage opposite side fixedly connected with first rotating table, first rotating table top fixedly connected with support column, support column top is provided with the camera, one side symmetry fixedly connected with rotation seat in camera bottom, the inside lower extreme of fuselage is provided with accomodates the groove, accomodate inside one side of groove and is provided with machinery arm, the inside mechanism is drawed, the inside of detection module, the inside of taking out of detection module, the inside of computer system carries out the image acquisition module, the inside of computer system carries out, the image acquisition module.
Preferably, the second connecting arm and the first connecting arm are fixedly connected with the first positioning seat through a second steering engine.
Preferably, the second connecting arm and the mechanical foot are fixedly connected with the second positioning seat through a third steering engine.
Preferably, the upper end of one side inside the machine body is fixedly connected with a control module and a storage battery respectively.
Preferably, the illuminating lamps are symmetrically and fixedly connected to one side of the top of the camera, and the flaw detector is symmetrically and fixedly connected to one side of the camera.
Preferably, the camera and the rotating seat are rotationally connected with the support column through a first motor.
Preferably, the mechanical arm mechanism comprises a second rotating table, the output end of the second rotating table is fixedly connected with a first automatic telescopic rod, the upper end of one side of the first automatic telescopic rod is fixedly connected with a second motor, the first automatic telescopic rod is rotationally connected with the second rotating table through a second motor, one side of the bottom of the first automatic telescopic rod is provided with a second automatic telescopic rod, the second automatic telescopic rod is rotationally connected with the first automatic telescopic rod through a third motor, one end of the second automatic telescopic rod is provided with a welding mechanism, and the welding mechanism is rotationally connected with the second automatic telescopic rod through a fourth motor.
Preferably, the heat dissipation mechanism comprises a filter screen, a heat dissipation fan is fixedly connected to one side of the filter screen, and a heat dissipation port is fixedly connected to one end inside the camera.
Preferably, the flaw detector is an TIME TIME1100 ultrasonic flaw detector.
Preferably, the control module is electrically connected with the identification detection module, the identification detection module is electrically connected with the acquisition sample module, the acquisition sample module is electrically connected with the test module, the acquisition sample module, the test module and the extraction module are electrically connected with each other, the extraction module is electrically connected with the characteristic parameter module, the characteristic parameter module is electrically connected with the neural network module, the neural network module is electrically connected with the image recognition module, the image recognition module is electrically connected with the execution module, and the execution module is electrically connected with the display terminal.
Compared with the prior art, the invention provides a petrochemical pipeline inner welding seam exploration and detection spider robot, which has the following beneficial effects:
1. according to the invention, the frame, the first steering engine, the first connecting arm, the second steering engine, the first positioning seat, the second connecting arm, the third steering engine, the second positioning seat, the mechanical foot, the machine body, the camera and the control module are arranged, in the process of exploring and detecting the welding line in the petrochemical pipeline, the frame, the first steering engine, the first connecting arm, the second steering engine, the first positioning seat, the second connecting arm, the third steering engine, the second positioning seat, the mechanical foot, the machine body, the camera and the control module are formed into the existing spider robot equipment so as to drive the spider robot equipment into the petrochemical pipeline, the inside of the petrochemical pipeline is monitored through the camera, the camera arranged can increase the illumination of the inside of the pipeline so as to facilitate the improvement of the inspection of the spider robot on the inside of the petrochemical pipeline, the inspection instrument arranged on one side of the camera performs ultrasonic inspection detection on the inside of the pipeline, and when the welding line is detected on the position of the welding line, the inspection and the welding line of the petrochemical pipeline can be automatically detected by the control terminal and the display terminal is needed to realize the inspection and the welding line inspection of the welding line of the petrochemical pipeline by the spider robot;
2. according to the invention, the first rotating table, the support column, the camera, the illuminating lamp, the rotating seat and the first motor are arranged, when the spider robot is positioned in the petrochemical pipeline to perform welding seam exploration and detection operation, the camera and the first rotating table arranged at the bottom of the support column are driven to rotate, so that the camera can perform transverse circumferential rotation operation under the driving of the first rotating table, the spider robot can conveniently explore the surrounding positions, and the camera can longitudinally perform circumferential movement under the driving of the first motor through the driving of the first motor, so that the spider robot can conveniently explore and detect the upper side and the lower side of the pipeline, and the flaw detection efficiency in the petrochemical pipeline is further improved;
3. according to the invention, by arranging the second rotating table, the first automatic telescopic rod, the second motor, the second automatic telescopic rod, the third motor, the welding mechanism and the fourth motor, when the spider robot detects the position of a required welding seam, the mechanical arm mechanism consisting of the second rotating table, the first automatic telescopic rod, the second motor, the second automatic telescopic rod, the third motor, the welding mechanism and the fourth motor can be driven, the effect of free welding seam is realized, the second rotating table, the second motor and the fourth motor are arranged to control the welding seam rotating angle of the welding mechanism, and the first automatic telescopic rod and the second automatic telescopic rod can be used for adjusting the telescopic length of the mechanical arm mechanism so as to improve the welding efficiency, so that flaw detection and welding seam operation can be realized;
4. the invention sets up control module, discern detection module, gather sample module, test module, pick up module, characteristic parameter module, neural network module, image identification module, carry out module and display terminal, the control module that will drive the spider robot to climb operation and explore, detect the operation, then the identification detection module that is set up is through camera and flaw detector to go on discern the position of detecting a flaw, gather many pictures and some column parameters of different surface welding seam by sample module and test module that gather that set up, pick up module and characteristic parameter module will pick up the parameter in the picture, then input various parameters of the welding seam training into the neural network module to process, carry on the matching recognition to different pictures through the image identification module that is set up, can control the welding mechanism of the spider robot to carry on the welding seam processing to the inner surface of petrochemical industry pipeline through the execution module that is set up promptly, carry to the display terminal to the observation of the operator, can realize carrying on the operation through the welding seam robot promptly;
5. according to the invention, the heat radiation mechanism is arranged, and the heat radiation fan arranged in the camera is driven during the use of the spider robot, so that the air flow in the camera can be accelerated, and the internal generated hot air flow is blown to the outside of the camera, so that the influence on the service life of the spider robot caused by the heat of components is reduced.
The device has the advantages of scientific and reasonable structure, safe and convenient use and great help for people.
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 and together with the embodiments of the invention and do not constitute a limitation to the invention, and in which:
FIG. 1 is a schematic diagram of an axial structure of a robot for inspecting and detecting a weld joint in a petrochemical pipeline;
FIG. 2 is a schematic diagram of a frame structure of a robot for inspecting and detecting weld joints in petrochemical pipelines;
FIG. 3 is a schematic diagram of a first steering engine structure of a robot for exploring and detecting welding seams in petrochemical pipelines;
FIG. 4 is a schematic diagram of the body structure of a robot for inspecting and detecting the inner weld joint of petrochemical pipelines;
FIG. 5 is a schematic diagram of a control module structure of a robot for inspecting and detecting weld joints in petrochemical pipelines;
FIG. 6 is a schematic diagram of an automatic telescopic rod structure of a robot for detecting and exploring welding seams in petrochemical pipelines;
FIG. 7 is a schematic diagram of a cross-sectional structure of a robot for inspecting and detecting weld joints in petrochemical pipelines;
FIG. 8 is a block diagram of a system for inspecting and detecting a spider robot for inspecting an inner weld of a petrochemical pipeline;
in the figure: the device comprises a frame 1, a first steering engine 2, a first connecting arm 3, a second steering engine 4, a first positioning seat 5, a second connecting arm 6, a third steering engine 7, a second positioning seat 8, a mechanical foot 9, a machine body 10, a machine cover 11, a control module 12, a storage battery 13, a first rotating table 14, a support column 15, a camera 16, an illuminating lamp 17, a flaw detector 18, a rotating seat 19, a first motor 20, a second rotating table 21, a first automatic telescopic rod 22, a second motor 23, a second automatic telescopic rod 24, a third motor 25, a welding mechanism 26, a fourth motor 27, a storage groove 28, a filter screen 29, a cooling fan 30, a cooling port 31, an identification detection module 32, an acquisition sample module 33, a test module 34, an extraction module 35, a characteristic parameter module 36, a neural network module 37, an image identification module 38, an execution module 39 and a display terminal 40.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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.
Referring to fig. 1-4, the present invention provides a technical solution: a welding seam exploration and detection spider robot in petrochemical pipelines comprises a frame 1 and a control module 12, wherein two sides of the inside of the frame 1 are symmetrically and fixedly connected with a first steering engine 2, the output end of the first steering engine 2 is fixedly connected with a first connecting arm 3, one end of the outer side of the first connecting arm 3 is provided with a second steering engine 4, the output end of the second steering engine 4 is fixedly connected with the inside of the first connecting arm 3, one side of the second steering engine 4 is fixedly connected with a second connecting arm 6, the other end of the inside of the second connecting arm 6 is provided with a mechanical foot 9, the other side of the inside of the second connecting arm 6 is fixedly connected with a third steering engine 7, the output end of the third steering engine 7 is fixedly connected with the inside of the mechanical foot 9, the top of the frame 1 is fixedly connected with a machine body 10, one side of the top of the machine body 10 is provided with an organic cover 11, the other side of the upper end of the inside of the machine body 10 is fixedly connected with a first rotating table 14, the top of the first rotating table 14 is fixedly connected with a supporting column 15, the top of the supporting column 15 is provided with a camera 16, the inside of a petrochemical pipeline is monitored through the camera 16, the camera 16 can increase the illumination of the inside of the pipeline so as to facilitate the observation of the petrochemical pipeline by a spider robot, a flaw detector 18 arranged on one side of the camera 16 is used for ultrasonic flaw detection of the inside of the pipeline, a rotating seat 19 is symmetrically and fixedly connected on one side of the bottom of the camera 16, the camera 16 and the first rotating table 14 arranged on the bottom of the supporting column 15 are driven to rotate, the camera 16 can be driven by the first rotating table 14 to perform transverse circumferential rotation operation so as to facilitate the exploration of the surrounding positions by the spider robot, and a first motor 20 arranged on one side of the rotating seat 19 is driven, the camera 16 performs longitudinal circular motion under the driving of the first motor 20, so that the spider robot can conveniently detect the upper and lower sides of the pipeline, the storage groove 28 is arranged at the lower end of the inside of the machine body 10, the mechanical arm mechanism is arranged at one side of the inside of the storage groove 28, the heat dissipation mechanism is arranged inside the camera 16, and the control module 12 comprises an identification detection module 32, a sample collection module 33, a test module 34, an extraction module 35, a characteristic parameter module 36, a neural network module 37, an image identification module 38, an execution module 39 and a display terminal 40.
In the present invention, preferably, the second connecting arm 6 and the first connecting arm 3 are fixedly connected with the first positioning seat 5 through the second steering engine 4.
In the present invention, preferably, the second connecting arm 6 and the mechanical foot 9 are fixedly connected with the second positioning seat 8 through the third steering engine 7.
In the present invention, it is preferable that the control module 12 and the battery 13 are fixedly connected to the upper end of one side of the inside of the body 10, respectively.
In the invention, preferably, the illumination lamp 17 is symmetrically and fixedly connected to one side of the top of the camera 16, and the flaw detector 18 is symmetrically and fixedly connected to one side of the camera 16.
In the present invention, the camera 16 and the rotation base 19 are preferably rotatably connected to the support column 15 by a first motor 20.
In the invention, preferably, the mechanical arm mechanism comprises a second rotating table 21, the output end of the second rotating table 21 is fixedly connected with a first automatic telescopic rod 22, the upper end of one side of the first automatic telescopic rod 22 is fixedly connected with a second motor 23, the first automatic telescopic rod 22 is rotatably connected with the second rotating table 21 through the second motor 23, one side of the bottom of the first automatic telescopic rod 22 is provided with a second automatic telescopic rod 24, the second automatic telescopic rod 24 is rotatably connected with the first automatic telescopic rod 22 through a third motor 25, one end of the second automatic telescopic rod 24 is provided with a welding mechanism 26, the welding mechanism 26 is rotatably connected with the second automatic telescopic rod 24 through a fourth motor 27, the arranged second rotating table 21, the second motor 23 and the fourth motor 27 are used for controlling the welding joint rotation angle of the welding mechanism 26, and the arranged first automatic telescopic rod 22 and the second automatic telescopic rod 24 can adjust the telescopic length of the mechanical arm mechanism so as to improve the welding efficiency, and the welding operation can be realized while flaw detection is realized.
In the invention, preferably, the heat dissipation mechanism comprises a filter screen 29, a heat dissipation fan 30 is fixedly connected to one side of the filter screen 29, a heat dissipation port 31 is fixedly connected to one end of the inside of the camera 16, and during the use of the spider robot, the air flow in the inside of the camera 16 can be accelerated by driving the heat dissipation fan 30 arranged in the camera 16 so as to blow the hot air flow generated in the inside to the outside of the camera 16, so that the service life of the spider robot is reduced due to heat brought by components.
In the present invention, the flaw detector 18 is preferably an TIME1100 ultrasonic flaw detector.
In the invention, preferably, the control module 12 is electrically connected with the recognition detection module 32, the recognition detection module 32 is electrically connected with the acquisition sample module 33, the acquisition sample module 33 is electrically connected with the test module 34, the acquisition sample module 33, the test module 34 and the extraction module 35 are electrically connected with each other, the extraction module 35 is electrically connected with the characteristic parameter module 36, the characteristic parameter module 36 is electrically connected with the neural network module 37, the neural network module 37 is electrically connected with the image recognition module 38, the image recognition module 38 is electrically connected with the execution module 39, the execution module 39 is electrically connected with the display terminal 40, the control module 12 is arranged to drive the spider robot to perform climbing operation, probing and detection operation, then the arranged recognition detection module 32 is used for performing recognition detection on the flaw detection position through the camera 16 and the flaw detector 18, then the arranged acquisition sample module 33 and the test module 34 are used for acquiring images and some column parameters of a plurality of different surfaces, the arranged extraction module 35 and the characteristic parameter module 36 are used for extracting parameters in the images, then various parameters of the training welds are input into the neural network module 37 and are electrically connected with the image recognition module 39, the image processing module is arranged to the neural network module 38, the spider robot is used for performing instant operation on the image processing operation to display the image processing on the welding seam, and the welding seam can be matched with the welding seam through the control module, and the spider robot can be matched with the welding machine to realize the welding operation, and the welding operation can be realized.
The working principle and the using flow of the invention are as follows: in the process of exploring and detecting welding seams in petrochemical pipelines, the components of a rack 1, a first steering engine 2, a first connecting arm 3, a second steering engine 4, a first positioning seat 5, a second connecting arm 6, a third steering engine 7, a second positioning seat 8, a mechanical foot 9, a machine body 10, a camera 16 and a control module 12 are formed into existing spider robot equipment so as to be driven into the petrochemical pipelines, the petrochemical pipelines are monitored through the camera 16, the camera 16 can be arranged to increase the illuminance of the pipelines so as to facilitate the improvement of the inspection of the spider robot on the petrochemical pipelines, a flaw detector 18 arranged on one side of the camera 16 is used for ultrasonic flaw detection of the pipelines, then the first rotating table 14 arranged at the bottom of the camera 16 and a support column 15 is driven to rotate, the camera 16 can be driven by the first rotating table 14 to perform transverse circumferential rotation operation so that the spider robot can explore the surrounding positions, the camera 16 can perform longitudinal circumferential motion under the driving of the first motor 20 by driving the first motor 20 arranged on one side of the rotating seat 19 so that the spider robot can explore and detect the upper and lower directions of a pipeline, when the spider robot explores the position of a required welding seam, a mechanical arm mechanism consisting of the second rotating table 21, the first automatic telescopic rod 22, the second motor 23, the second automatic telescopic rod 24, the third motor 25, the welding mechanism 26 and the fourth motor 27 can be driven to realize the effect of free welding seams, the second rotating table 21, the second motor 23 and the fourth motor 27 are arranged to control the rotation angle of the welding seam of the welding mechanism 26, the first automatic telescopic rod 22 and the second automatic telescopic rod 24 can adjust the telescopic length of the mechanical arm mechanism so as to improve the welding efficiency, so that the welding operation can be realized while flaw detection, the control module 12 is used for driving the spider robot to perform climbing operation and probing and detection operation, the identification and detection module 32 is used for identifying and detecting flaw detection positions through the camera 16 and the flaw detector 18, the sample collection module 33 and the test module 34 are used for collecting images and a plurality of column parameters of welding seams with different surfaces, the extraction module 35 and the characteristic parameter module 36 are used for extracting parameters in the images, various parameters of welding seam training are input into the neural network module 37 for processing, the image identification module 38 is used for carrying out matching identification on different images, the welding mechanism of the spider robot can be used for controlling the welding mechanism of the spider robot to carry out welding seam treatment on the inner surfaces of petrochemical pipelines, the images of the welding seam process are conveyed to the display terminal 40 so as to facilitate the observation of operators, and the probing and detection operation of the welding seams can be realized through the spider robot.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a petrochemical pipeline internal weld surveys, detects spider robot, includes frame (1) and control module (12), its characterized in that: the utility model discloses a camera, including frame (1), first steering wheel (2) of inside bilateral symmetry fixedly connected with, first steering wheel (2) output fixedly connected with first linking arm (3), the one end in the outside of first linking arm (3) is provided with second steering wheel (4), the output fixedly connected with of second steering wheel (4) is in the inside of first linking arm (3), one side fixedly connected with second linking arm (6) of second steering wheel (4), the other end in the inside of second linking arm (6) is provided with mechanical foot (9), the opposite side fixedly connected with third steering wheel (7) of second linking arm (6) inside, the output fixedly connected with of third steering wheel (7) is in the inside of mechanical foot (9), frame (1) top fixedly connected with fuselage (10), fuselage (10) top one side is provided with organic lid (11), the opposite side fixedly connected with first rotating table (14) of the inside upper end of fuselage (10), one side fixedly connected with second linking arm (15) of first rotating table (14) top, the opposite side fixedly connected with (15) of second linking arm (6) is provided with mechanical foot (9), the inside of camera (16) is provided with mechanical foot (28), one side (28) is accomodate in the inside groove (28) of camera, one side is accomodate in the camera (16), the camera (16) is internally provided with a heat dissipation mechanism, and the control module (12) internally comprises an identification detection module (32), a sample collection module (33), a test module (34), an extraction module (35), a characteristic parameter module (36), a neural network module (37), an image identification module (38), an execution module (39) and a display terminal (40).
2. The petrochemical pipeline inner weld exploration and detection spider robot according to claim 1, wherein: the second connecting arm (6) and the first connecting arm (3) are fixedly connected with the first positioning seat (5) through the second steering engine (4).
3. The petrochemical pipeline inner weld exploration and detection spider robot according to claim 1, wherein: the second connecting arm (6) and the mechanical foot (9) are fixedly connected with the second positioning seat (8) through a third steering engine (7).
4. The petrochemical pipeline inner weld exploration and detection spider robot according to claim 1, wherein: the upper end of one side inside the machine body (10) is fixedly connected with a control module (12) and a storage battery (13) respectively.
5. The petrochemical pipeline inner weld exploration and detection spider robot according to claim 1, wherein: the camera (16) top one side symmetry fixedly connected with light (17), camera (16) one side symmetry fixedly connected with fault detector (18).
6. The petrochemical pipeline inner weld exploration and detection spider robot according to claim 1, wherein: the camera (16) and the rotating seat (19) are rotatably connected with the support column (15) through a first motor (20).
7. The petrochemical pipeline inner weld exploration and detection spider robot according to claim 1, wherein: the mechanical arm mechanism comprises a second rotating table (21), the output end of the second rotating table (21) is fixedly connected with a first automatic telescopic rod (22), the upper end of one side of the first automatic telescopic rod (22) is fixedly connected with a second motor (23), the first automatic telescopic rod (22) is rotationally connected with the second rotating table (21) through the second motor (23), one side of the bottom of the first automatic telescopic rod (22) is provided with a second automatic telescopic rod (24), the second automatic telescopic rod (24) is rotationally connected with the first automatic telescopic rod (22) through a third motor (25), one end of the second automatic telescopic rod (24) is provided with a welding mechanism (26), and the welding mechanism (26) is rotationally connected with the second automatic telescopic rod (24) through a fourth motor (27).
8. The petrochemical pipeline inner weld exploration and detection spider robot according to claim 7, wherein: the heat dissipation mechanism comprises a filter screen (29), a heat dissipation fan (30) is fixedly connected to one side of the filter screen (29), and a heat dissipation opening (31) is fixedly connected to one end inside the camera (16).
9. The petrochemical pipeline inner weld exploration and detection spider robot according to claim 1, wherein: the flaw detector (18) is an TIME TIME1100 ultrasonic flaw detector.
10. The petrochemical pipeline inner weld exploration and detection spider robot according to claim 1, wherein: the control module (12) is electrically connected with the identification detection module (32), the identification detection module (32) is electrically connected with the acquisition sample module (33), the acquisition sample module (33) is electrically connected with the test module (34), the acquisition sample module (33), the test module (34) and the extraction module (35) are electrically connected with each other, the extraction module (35) is electrically connected with the characteristic parameter module (36), the characteristic parameter module (36) is electrically connected with the neural network module (37), the neural network module (37) is electrically connected with the image identification module (38), the image identification module (38) is electrically connected with the execution module (39), and the execution module (39) is electrically connected with the display terminal (40).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310741918.0A CN116877833A (en) | 2023-06-21 | 2023-06-21 | Petrochemical pipeline inner weld joint exploration and detection spider robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310741918.0A CN116877833A (en) | 2023-06-21 | 2023-06-21 | Petrochemical pipeline inner weld joint exploration and detection spider robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117805241A (en) * | 2024-02-28 | 2024-04-02 | 北京晶品特装科技股份有限公司 | Special equipment detection device for pressure vessel detection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117805241A (en) * | 2024-02-28 | 2024-04-02 | 北京晶品特装科技股份有限公司 | Special equipment detection device for pressure vessel detection |
| CN117805241B (en) * | 2024-02-28 | 2024-05-07 | 北京晶品特装科技股份有限公司 | Special equipment detection device for pressure vessel detection |
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