CN203550915U - Internal diameter measuring robot for pipeline - Google Patents

Abstract

The utility model relates to an inner diameter measuring pipeline robot, which comprises a supporting mechanism, a main driving mechanism and a laser measuring mechanism. Described supporting mechanism mainly is made up of ball screw nut, stepping motor 1, wheel, connecting rod and push rod etc. The main drive mechanism is mainly composed of worm gears, worms, pulleys, transmission belts, etc., and is driven by the stepping motor II to realize the linear motion of the machine. The laser measuring mechanism is mainly composed of a sensing head, a sensor bracket and a stepping motor III. The pipe robot described in the utility model can measure the inner diameter of long pipes, and is especially suitable for the measurement requirements of elongated pipes with a large inner diameter range. The sensor probe realizes various measurements, such as flaw detection, etc., and has the advantages of high measurement accuracy and convenient use.

Description

A robot for measuring inner diameter of pipes

technical field

The invention relates to an inner diameter measuring pipeline robot

Background technique

Most of the inner diameter measuring devices in the prior art are of the contact type, that is, the measurement is performed manually by means of an inner diameter micrometer. This inner diameter measuring instrument can only measure the size of the inner diameter of the circular hole, and due to the wear and tear of the measuring tool and human factors, the measurement error is relatively large. In addition, the existing inner diameter measuring instrument cannot detect the roundness and concentricity of the round hole. When the roundness of the round hole is insufficient or the concentricity error is large, the vibration amplitude of the machine is large, which affects the overall performance of the machine. It is easy to wear and the service life of the machine is short, which cannot meet the fast and accurate measurement of the inner diameter of the pipeline.

Utility model content

In order to overcome the problems that the existing inner diameter measuring devices have low measurement accuracy and cannot adapt to the inner diameters of different sizes of pipelines, the utility model provides a pipeline robot capable of measuring different inner diameters.

The scheme adopted in the present invention is:

A pipeline robot for inner diameter measurement and flaw detection includes a supporting mechanism, a main driving mechanism, and a laser measuring mechanism. Described supporting mechanism mainly is made up of ball screw nut, stepping motor 1, wheel, connecting rod and push rod etc. The main drive mechanism is mainly composed of worm gears, worms, pulleys, transmission belts, etc., and is driven by the stepping motor II to realize the linear motion of the machine. The laser measuring mechanism is mainly composed of a sensing head, a sensor bracket and a stepping motor III.

The present invention is provided with three stepping motors, and these three stepping motors respectively drive the ball screw nut, the worm and the sensor bracket.

The stepping motor I drives the ball screw to rotate, so that the ball screw nut moves back and forth, and drives the push rod fixed with the ball screw nut to open and close, thereby controlling the opening and closing angle of the rear wheel bracket (three) . There are also connecting rods between the rear wheel bracket and the front wheel bracket (three) to connect, which can ensure that the opening and closing angles of the front wheel bracket and the rear wheel bracket are the same, thereby adapting to pipelines of different diameters.

The stepping motor II drives the worm, and there are three worm gears meshing with the worm, each worm gear is fixed with a pulley I and a front wheel bracket, and the other end of each front wheel bracket is fixed with a front wheel, and a front wheel is also fixed on the front wheel Pulley II. Through the rotation of the worm wheel, the fixed pulley is driven to rotate, and the pulley passes through the transmission belt to make the front wheel rotate, thereby realizing the walking of the robot.

The stepper motor III drives the sensor support to rotate through the sensor connection base. At the front end of the sensor holder, the sensor probe is fixed, and the sensor probe is freely rotatable and replaceable to achieve various measurement purposes.

The pipe robot described in the utility model can measure the inner diameter of long pipes, and is especially suitable for the measurement requirements of slender pipes with a large inner diameter range. The sensor probe realizes various measurements, such as flaw detection, etc., and has the advantages of high measurement accuracy and convenient use.

Description of drawings

Figure 1 is a schematic diagram of the structure of the robot

Figure 2 is the assembly front view of Figure 1

Figure 3 is the assembly top view of Figure 1

Figure 4 is the left view of the assembly in Figure 1

Fig. 5 is the A-A sectional view of Fig. 1

Fig. 6 is the B-B sectional view of Fig. 1

Among them: 1. Ball screw; 2. Ball screw nut; 3. Rear wheel bracket seat; 4. Push rod; 5. Coupling I; 6. Stepping motor II; 7. Sleeve; 8 Worm; 9 , stepper motor III; 10, sensor support; 11, hexagon socket head screw; 12, sensor measuring head; 13, sensor connecting seat; 14, pulley I; 15, worm wheel; 16, front wheel bracket; 18, pulley II; 19, front wheel; 20, coupling II; 21, stepper motor I; 22, connecting rod; 23, rear wheel; 24, rear wheel support.

Detailed ways

Referring to Figures 1 to 6, there is a ball screw nut 2 on the ball screw 1. The rear wheel support seat 3 is fixed on the ball screw nut 2. One end of three push rods 4 is all fixed on the rear wheel support seat 3, and the other end is connected with the rear wheel support 24, and this end of push rod 4 can slide on the rear wheel support 24.

Worm wheel 15 is engaged with worm screw 8, and front wheel support 16 and belt pulley I14 are respectively housed on worm wheel 15; The other end of front wheel support 16 is equipped with belt wheel II18 and front wheel 19; Belt wheel I14 is fixedly connected with worm wheel 15, The pulley II18 is fixedly connected with the front wheel 19; such mechanisms share the same three groups.

The stepping motor I21 drives the ball screw 1 to rotate through the coupling I5. By controlling the number of pulses of the stepping motor I21, the linear movement distance of the ball screw nut 2 can be indirectly controlled, thereby controlling the opening and closing angle between the push rod 4 and the rear wheel bracket 24, so as to realize the measurement suitable for different pipe diameters . The rear wheel 23 is fixed on the rear wheel bracket 24 .

Connect by connecting rod 22 between the front wheel support 16 and the rear wheel support 24, so just can guarantee that front wheel support 16 and rear wheel support 24 keep parallel all the time in motion.

The stepper motor II6 drives the worm 8 to rotate through the sleeve 7 and the coupling II20. Further, the worm 8 drives the worm wheel 15 to rotate, and then the pulley I14 rotates. The pulley I14 drives the pulley II18 to rotate through the transmission belt 17, thereby realizing The rotation of front wheel 19. In this way, the walking of the robot can be realized.

The stepper motor III9 drives the sensor support 10 to rotate through the sensor connection base 13 , and the sensor measuring head 12 is fixed on the sensor support 10 by the hexagon socket head cap screw 11 . The sensor measuring head 12 is indirectly driven to rotate through the stepping motor III9 to realize non-contact measurement.

Claims (3)

1. A kind of internal diameter measuring pipeline robot, is made up of support mechanism, main drive mechanism and measuring mechanism, it is characterized in that: in described support mechanism, ball screw nut (2) is arranged on ball screw (1), rear wheel The bracket base (3) is fixed on the ball screw nut (2), one end of the three push rods (4) is fixed on the rear wheel bracket base (3), and the other ends are respectively connected with the three rear wheel brackets (24) , this end of push rod (4) can slide on the rear wheel support (24), and a rear wheel (23) is fixed on each rear wheel support (24); (5) Drive the ball screw (1) to rotate, so that the ball screw nut (2) moves back and forth, and drives the push rod (4) fixed with the rear wheel bracket (3) to perform opening and closing movement, and then controls the rear The opening and closing angle of the wheel support (24) and the rear wheel (23); in the described main drive mechanism, three worm wheels (15) are engaged with the worm (8), and each worm wheel (15) is fixed with a pulley 1 (14) and front-wheel support (16), the other end of each front-wheel support (16) is all fixed with a front-wheel (19), also fixes a belt wheel II (18) on each front-wheel; Stepper motor II (6) Drive the worm (8) through the sleeve (7) and coupling II (20), the worm (8) drives the worm wheel (15) to rotate, and then the pulley I (14) rotates, and the pulley I (14) passes through Transmission belt (17) drives pulley II (18) to rotate, thereby realizes the rotation of front wheel (19), and then realizes the walking of robot; The sensor support (10) rotates, and the sensor probe (12) is fixed on the sensor support (10) by the hexagon socket head screw (11); the sensor probe (12) is indirectly driven by the stepping motor III (9) to rotate , to achieve non-contact measurement. the 2. The inner diameter measuring pipeline robot according to claim 1, characterized in that: each rear wheel bracket (24) is connected with the corresponding front wheel bracket (16) by a connecting rod (22), so that the front wheel Support (16) and trailing wheel support (24) keep parallel in advancing. the 3. The inner diameter measuring pipeline robot according to claim 1 or 2, characterized in that: the sensor measuring head (12) is detachable and replaceable. the

Images