CN206329862U - A kind of track type pipeline flaw detection robot of new construction - Google Patents

Abstract

The utility model patent discloses a kind of track type pipeline flaw detection robot of new construction, and it includes main body, feeler arm, main control chip, stepper motor, crawler belt, preceding auxiliary wheel, avoiding obstacles by supersonic wave sensor；Described feeler arm is arranged on body front end, and the group number of feeler arm is 8 groups, and every group of feeler arm is equipped with a pair of strong magnets, 9 Hall sensors；A preceding auxiliary wheel is provided with below described each feeler arm to be supported；Described driving stepper motor crawler belt advances, while driving feeler arm motion；Described main control chip is connected with image capture module, Temperature Humidity Sensor, wireless transport module, avoiding obstacles by supersonic wave module, driving stepper motor module, D/A converter module；The utility model uses STM32F103ZET6 single-chip microcomputers, based on leakage method detecting system, it is that detection diameter can be adjusted according to pipe diameter, using being wirelessly transferred, image is transmitted immediately, the track structure of Temperature and Humidity, flaw detection effect is good, maneuverability.

Description

A kind of track type pipeline flaw detection robot of new construction

Technical field

The utility model is related to a kind of flaw detection robot, and in particular to a kind of track type pipeline flaw detection machine of new construction People.

Background technology

At present, pipeline transportation worldwide from the point of view of, belong to extremely important transportation means；At present, in China nearly 70% Crude oil, 100% natural gas transported by pipeline；According to incompletely statistics, the built oil of China, natural Feed channel total kilometrage has exceeded 20,000 kilometers, pipeline under construction and proposed also have nearly ten thousand kilometers, oil field gathering and transportation pipe network, refining Factory, urban pipe network are accumulative up to hundreds thousand of kilometers；The pipeline of a large amount of metals or non-metallic material is used in oil gas transport, city row Water, heat supply and other industrial circles；Many pipelines produce rotten because carrying out long-term work under conditions of more badly, easily Erosion, and the tiny flaw inside pipeline is extended to damaged and is caused the generation of the major accidents such as oil, gas leakage, cause some not Necessary casualties and economic loss；To enable pipeline usage cycles to extend, generally oil-gas pipeline inside is painted, The operations such as anti-corrosion, repaired mouth, detection, flaw detection, wherein pipe detection are very the key links；City is current people's production and raw Main region living and carrier, a large amount of various forms of pipelines are had in urban inner；Make so various pipelines must be had Industry；Yet with many reasons, the detection in pipeline to be realized is often very difficult；If hand digging underground piping realizes inspection Survey, not only quantities is great, it is also possible to cause mechanical damage to pipeline；Pipeline non-destructive testing technology can be very good to make up this One shortcoming, provides guarantee for the sustainable utilization of resource, saves manpower and materials.

Utility model content

A kind of track type pipeline flaw detection robot of new construction, including main body, feeler arm, main control chip, stepper motor, shoe Band, preceding auxiliary wheel, avoiding obstacles by supersonic wave sensor；Described feeler arm is arranged on body front end, and the group number of feeler arm is 8 groups, often Group feeler arm is equipped with a pair of strong magnets, 9 Hall sensors；A preceding auxiliary wheel is provided with below described each feeler arm to enter Row support；Described driving stepper motor crawler belt advances, while driving feeler arm motion；Described main control chip and IMAQ Module, Temperature Humidity Sensor, wireless transport module, avoiding obstacles by supersonic wave module, driving stepper motor module, D/A converter module connect Connect.

Described feeler arm is provided with expansion link, and feeler arm can be according to the magnification of the size adjustable telescopic rod of pipe diameter Example；8 groups of described feeler arms can be rotated around main body；Described Hall sensor is turned by filter amplification circuit and digital-to-analogue Change the mold block connection；Described stepper motor is connected with driving stepper motor module.

Described main control chip is STM32F103ZET6 single-chip microcomputers.

Described avoiding obstacles by supersonic wave sensor is arranged on body front end both sides；Described body interior is provided with battery pack； Described battery pack is connected with stepper motor；Described body front end is provided with camera；Described camera and IMAQ Module is connected.

Described wireless transport module is connected biography using E31-TTL-1W wireless transmission protocols with PC PC control terminals It is defeated.

When the Hall sensor on feeler arm is detected, Hall sensor can continuously export weak magnitude of voltage, and filtering is put This weak magnitude of voltage is amplified by big circuit, filter and D/A converter module carry out digital-to-analogue conversion after be sent to main control chip； When pipeline it is normal without breakage when, the numerical value received is in a range of stationary value；When pipeline occurs damaged, receive Change by a relatively large margin can occur according to its damaged degree for numerical value；Main control chip is analyzed this change, so as to obtain pipe The breakage in road.

Using strong magnet, a longitudinal magnetic loop is produced on tube wall circle；If tube wall does not have defect, magnetic force Line is uniformly distributed within tube wall；If inside pipe wall or outer wall are defective, wall cross-section reduces；Due to fault location in tube wall Magnetic conductivity is small in itself more than ferrimagnet, then fault location magnetic resistance increases, and flux path narrows, and the magnetic line of force deforms, part magnetic The line of force passes tube wall both sides generation stray field, and then flux path narrows, and the magnetic line of force deforms, and the part magnetic line of force will also pass tube wall Outside and produce so-called leakage field；Stray field is detected by Hall sensor between two magnetic poles, to be close to tube wall, and is produced Corresponding induced signal, these signals after filtering, amplification, analog-to-digital conversion etc. be sent to main control chip after handling；Main control chip Data to transmission are analyzed and processed, so that it is determined that place damaged in pipeline.

Good with tack in pipeline traveling process using crawler type movable robot in pipe, obstacle climbing ability is strong, defeated The advantages of drawing force gone out is strong, the adverse circumstances that can exist in such as greasy dirt keep good walking states；Due to the robot Driving stepper motor is taken in traveling, and the number of turns of the rotation of stepper motor can be recorded by program, therefore can be concluded therefrom that The distance that robot advances；Further according to the construction drawing of detected pipeline, coordinate is set up, just can be easily by the position of piping failure Put and determine；Robot uses E31-TTL-1W wireless transport modules simultaneously, and transmission range can reach six kms, is equipped with TSL140 modules carry out IMAQ, and the image of broken pipe is sent on PC in real time.

The Temperature Humidity Sensor that robot is carried can accurately reflect the ambient conditions of pipeline so that the external world can To learn the concrete condition of current pipeline；Body structure is provided with a pair of ultrasonic wave mould avoidance modules, can be used for detecting pipeline Front whether there is barrier, find that during barrier PC host computers will be transmitted information back to by wireless module；In control aspect, Autonomous innovation automatic mode selection function；When wireless transmission signal is normal, data were transmitted in real time using being wirelessly transferred Come, when signal is not good, start automatic detection mode, automatically by the data detected（Humiture, damage location, image etc.）Protect In the presence of in built-in holder, after robot, which completes detection, to be come out from the other end of pipeline, directly data can be read using PC Take out.

The utility model uses STM32F103ZET6 single-chip microcomputers, based on leakage method detecting system, and detection diameter can be according to pipe It is that diameter adjustment in road is adjusted, using being wirelessly transferred, image is transmitted immediately, the track structure of Temperature and Humidity, flaw detection effect is good, machine It is dynamic flexible.

Brief description of the drawings

Fig. 1：The utility model patent structure schematic diagram；

Fig. 2：The utility model patent frame structural representation.

Embodiment

A kind of track type pipeline flaw detection robot of new construction, including main body（1）, feeler arm（2）, main control chip（3）, step Stepper motor（4）, crawler belt（5）, preceding auxiliary wheel（6）, avoiding obstacles by supersonic wave sensor（7）；Described feeler arm（2）Installed in main body （1）Front end, feeler arm（2）Group number be 8 groups, every group of feeler arm（2）Equipped with a pair of strong magnets, 9 Hall sensors（8）；Institute The each feeler arm stated（2）Lower section is provided with a preceding auxiliary wheel（6）It is supported；Described stepper motor（4）Drive crawler belt （5）Advance, while driving feeler arm（2）Motion；Described main control chip（3）With image capture module（9）, Temperature Humidity Sensor （10）, wireless transport module（11）, avoiding obstacles by supersonic wave module（12）, driving stepper motor module（13）, D/A converter module （14）Connection.

Described feeler arm（2）It is provided with expansion link, feeler arm（2）Can be according to the size adjustable telescopic rod of pipe diameter Scaling；8 groups of described feeler arms（2）Main body can be surrounded（1）Rotated；Described Hall sensor（8）Pass through filtering Amplifying circuit（15）With D/A converter module（14）Connection；Described stepper motor（4）With driving stepper motor module（13）Even Connect.

Described main control chip（3）For STM32F103ZET6 single-chip microcomputers.

Described avoiding obstacles by supersonic wave sensor（7）It is arranged on main body（1）Front end both sides；Described main body（1）Inside is set There is battery pack（16）；Described battery pack（16）With stepper motor（4）Connection；Described main body（1）Front end is provided with camera； Described camera and image capture module（9）Connection.

Described wireless transport module（11）Using E31-TTL-1W wireless transmission protocols and PC PC control terminals （17）Connection transmission.

Work as feeler arm（2）On Hall sensor（8）When being detected, Hall sensor（8）Light current pressure can continuously be exported Value, filter amplification circuit（15）This weak magnitude of voltage is amplified, filtered and D/A converter module（14）Carry out digital-to-analogue conversion After be sent to main control chip（3）；When pipeline it is normal without breakage when, the numerical value received is in a range of stationary value；Work as pipe When road occurs damaged, change by a relatively large margin can occur according to its damaged degree for the numerical value received；Main control chip（3）To this Change is analyzed, so as to obtain the breakage of pipeline.

Using strong magnet, a longitudinal magnetic loop is produced on tube wall circle；If tube wall does not have defect, magnetic force Line is uniformly distributed within tube wall；If inside pipe wall or outer wall are defective, wall cross-section reduces；Due to fault location in tube wall Magnetic conductivity is small in itself more than ferrimagnet, then fault location magnetic resistance increases, and flux path narrows, and the magnetic line of force deforms, part magnetic The line of force passes tube wall both sides generation stray field, and then flux path narrows, and the magnetic line of force deforms, and the part magnetic line of force will also pass tube wall Outside and produce so-called leakage field；Stray field is by Hall sensor between two magnetic poles, to be close to tube wall（8）Detect, and Produce corresponding induced signal, these signals after filtering, amplification, be sent to main control chip after the processing such as analog-to-digital conversion（3）；It is main Control chip（3）Data to transmission are analyzed and processed, so that it is determined that place damaged in pipeline.

Using crawler belt（5）Formula movable robot in pipe, good with tack in pipeline traveling process, obstacle climbing ability is strong, The advantages of drawing force of output is strong, the adverse circumstances that can exist in such as greasy dirt keep good walking states；Due to the machine People advances and takes stepper motor（4）Driving, stepper motor（4）The number of turns of rotation can be recorded by program, therefore can be by This is inferred to the distance of robot traveling；Further according to the construction drawing of detected pipeline, coordinate is set up, just can be easily by pipeline Determine damaged position；Robot uses E31-TTL-1W wireless transport modules simultaneously（11）, transmission range can reach six Km, is equipped with TSL140 modules and carries out IMAQ, the image of broken pipe is sent on PC in real time.

The Temperature Humidity Sensor that robot is carried（10）The ambient conditions of pipeline can accurately be reflected so that outer Boundary can learn the concrete condition of current pipeline；Body structure is provided with a pair of ultrasonic wave mould avoidance modules, can be used for detection It whether there is barrier in front of pipeline, find that during barrier PC host computers will be transmitted information back to by wireless module；In control Aspect, autonomous innovation automatic mode selection function；When wireless transmission signal is normal, data are passed in real time using being wirelessly transferred Bring, when signal is not good, start automatic detection mode, automatically by the data detected（Humiture, damage location, image Deng）It is stored in built-in holder, after robot, which completes detection, to be come out from the other end of pipeline, can directly utilizes PC by number According to reading out.

The utility model uses STM32F103ZET6 single-chip microcomputers, based on leakage method detecting system, and detection diameter can be according to pipe It is that diameter adjustment in road is adjusted, using being wirelessly transferred, image is transmitted immediately, the crawler belt of Temperature and Humidity（5）Formula structure, flaw detection effect It is good, maneuverability.

Claims (5)

1. a kind of track type pipeline flaw detection robot of new construction, including main body（1）, feeler arm（2）, main control chip（3）, stepping Motor（4）, crawler belt（5）, preceding auxiliary wheel（6）, avoiding obstacles by supersonic wave sensor（7）；It is characterized in that：Described feeler arm（2）Install In main body（1）Front end, feeler arm（2）Group number be 8 groups, every group of feeler arm（2）Equipped with a pair of strong magnets, 9 Hall sensors （8）；Described each feeler arm（2）Lower section is provided with a preceding auxiliary wheel（6）It is supported；Described stepper motor（4）Drive Dynamic crawler belt（5）Advance, while driving feeler arm（2）Motion；Described main control chip（3）With image capture module（9）, humiture Sensor（10）, wireless transport module（11）, avoiding obstacles by supersonic wave module（12）, driving stepper motor module（13）, digital-to-analogue conversion Module（14）Connection.

2. a kind of track type pipeline flaw detection robot of new construction according to claim 1, it is characterised in that：Described spy Test arm（2）It is provided with expansion link, feeler arm（2）Can be according to the scaling of the size adjustable telescopic rod of pipe diameter；Described 8 Group feeler arm（2）Main body can be surrounded（1）Rotated；Described Hall sensor（8）Pass through filter amplification circuit（15）With number Mould modular converter（14）Connection；Described stepper motor（4）With driving stepper motor module（13）Connection.

3. a kind of track type pipeline flaw detection robot of new construction according to claim 1, it is characterised in that：Described master Control chip（3）For STM32F103ZET6 single-chip microcomputers.

4. a kind of track type pipeline flaw detection robot of new construction according to claim 1, it is characterised in that：Described is super Sound wave avoidance sensor（7）It is arranged on main body（1）Front end both sides；Described main body（1）It is internally provided with battery pack（16）；It is described Battery pack（16）With stepper motor（4）Connection；Described main body（1）Front end is provided with camera；Described camera and figure As acquisition module（9）Connection.

5. a kind of track type pipeline flaw detection robot of new construction according to claim 1, it is characterised in that：Described nothing Line transport module（11）Using E31-TTL-1W wireless transmission protocols and PC PC control terminals（17）Connection transmission.