CN209167168U - Pipeline automatic flaw detection locating and detecting device - Google Patents
Pipeline automatic flaw detection locating and detecting device Download PDFInfo
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- CN209167168U CN209167168U CN201821981878.8U CN201821981878U CN209167168U CN 209167168 U CN209167168 U CN 209167168U CN 201821981878 U CN201821981878 U CN 201821981878U CN 209167168 U CN209167168 U CN 209167168U
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Abstract
The utility model discloses a kind of pipeline automatic flaw detection locating and detecting devices, comprising: fixed mounting plate has the first container for accommodating pipeline, for being disposed around pipeline periphery；Positioning detection mechanism is rotationally connected with the first side of fixed mounting plate, for pipeline periphery rotate during by penetron tube road and in the way of imaging display pipes degree of impairment；Walking mechanism, it is connected to second side opposite with positioning detection mechanism in fixed mounting plate, is supported on the outer wall of pipeline and in such a way that the change of clamping position position is carried out with rolling walking circulation for rolling and clamping to drive fixed mounting plate and positioning detection mechanism is driven to walk along pipeline axial translation.The utility model can carry out automatic flaw detection detection and localization to pipeline, conduit line can be conveniently and effectively detected without manually bearing detection device climbing pipeline suitable for the detection in longer pipe road, detection working efficiency is improved, the incidence of working strength and pressure pipeline accident is reduced.
Description
Technical field
The utility model relates to technical field of nondestructive testing, particularly, are related to a kind of pipeline automatic flaw detection detection and localization dress
It sets.
Background technique
The pressure pipelines such as combustion gas safety is raw concerning the pressure pipelines user such as the pressure pipelines such as combustion gas company and vast combustion gas
The safety of property is ordered, especially in the supply of the pressure pipelines such as combustion gas and use process, need to especially pay attention to the pressure pipelines such as combustion gas
Safety problem, it is therefore desirable to pressure pipeline is detected.
Currently, the mode that pressure pipeline is detected be by manually bear weigh about 100 jin detection device climbing arrive
It is detected on several meters of high pipelines.This mode be easy to cause safety accident, and working efficiency is low.Therefore, how to pacify
The damage on pipeline is effectively detected to reduce the incidence of the pressure pipelines accident such as combustion gas entirely, is the technology of current urgent need to resolve
Problem.
Utility model content
The utility model provides a kind of pipeline automatic flaw detection locating and detecting device, is easy to make to solve existing detection mode
At safety accident and the low technical problem of working efficiency.
The technical solution adopted in the utility model is as follows:
A kind of pipeline automatic flaw detection locating and detecting device, comprising: fixed mounting plate has first for accommodating pipeline
Container, for being disposed around pipeline periphery；Positioning detection mechanism is rotationally connected with the first side of fixed mounting plate, in pipe
Road periphery rotation during by penetron tube road and in the way of imaging display pipes degree of impairment；Walking mechanism, even
It is connected to second side opposite with positioning detection mechanism in fixed mounting plate, the outer wall of pipeline is supported on for rolling and clamping and leads to
The change for crossing clamping position position recycles the mode carried out with walking is rolled to drive fixed mounting plate and drive detection and localization machine
Structure is walked along pipeline axial translation.
Further, fixed mounting plate has the first opening entered for pipeline, the first container and the first open communication；
Or fixed mounting plate includes two pieces of arc panels that pipeline periphery is fixed in mutual split, forms first between two pieces of arc panels and receives
Tank.
Further, positioning detection mechanism includes swivel plate and driving mechanism；Swivel plate has for accommodating pipeline
Two containers, swivel plate are rotationally connected with the first side of fixed mounting plate, for being disposed around pipeline periphery and around pipeline outer planet
It is dynamic；Driving mechanism is connect with fixed mounting plate and swivel plate, for driving the relatively fixed mounting plate of swivel plate circumferential around pipeline
Rotation.
Further, driving mechanism includes the motor of at least four gears and the rotation of sliding tooth wheel, at least four gears
It is connected on the first side of fixed mounting plate, and is evenly distributed on the first container periphery；Swivel plate is rounded, opens up on swivel plate
There is the second opening entered for pipeline, the second opening is connected to the second container, and swivel plate is loaded in fixed mounting plate by gear
In the border circular areas being enclosed, the periphery of swivel plate, which is provided with, engages connection at least three gears in fixed mounting plate
Dentation fringe, dentation fringe by least three gears support and driving and rotate in a circumferential direction around pipeline.
Further, inner wall on swivel plate in the second container is circumferentially arranged to be had outside for rolling support to pipeline
Multiple cams of wall.
Further, walking mechanism includes two sets of opposite half of components for being fastened on pipeline two sides, and two sets one side of something components
It is located at the two sides of the first opening；Half of component includes being connected to fixed mounting plate second side guiding axially extending along pipeline
Mechanism, the walking unit for being connected to guiding mechanism, be arranged in walking unit for lock to the retaining mechanism of pipeline outer wall, with
And the actuator for driving walking unit to walk along pipeline outer wall.
Preferably, guiding mechanism includes the two guiding worm screws laid side by side, and the periphery for being oriented to worm screw is provided with helical tooth
Item；Half of component includes two walking units arranged before and after direction of travel, and each walking unit includes being set to two to lead
To the connection framework between worm screw, multiple magnet pulleies for being adsorbed to pipeline outer wall, connection framework are provided in connection framework
Outside be connected with the rod set for being sheathed on guiding worm screw, offer in the rod set of at least one of which walking unit logical
Hole is provided with the turbine of peripheral zone rack gear in through-hole, and the rack gear on turbine engages connection with the helical rack of guiding worm screw；Driving
Part is the movable motor that output sleeve is set in turbine, and movable motor drives rod set and its connection for driving turbine rotation
Connection framework along guiding worm translation, and then drive connection framework on magnet pulley along pipeline outer wall roll.
Preferably, retaining mechanism is respectively arranged in each walking unit；Retaining mechanism includes being set in connection framework
Locking motor and the latch segment that is connect with locking motor, latch segment there is the locking face of face pipeline outer wall, latch segment is being locked
It is moved toward and away from pipeline outer wall under the driving of tight motor so that locking face is compacted to pipeline outer wall to lock or separate
Pipeline outer wall is to unlock.
Preferably, one end of guiding mechanism is fixedly connected on fixed mounting plate by connecting plate, and the other end is solid by arc
Fixed board support connection, wherein the extending direction that the plate face of arc fixed plate and connecting plate is each perpendicular to guiding mechanism is laid, the two
Plate face on be equipped with the regulating mechanism that different-diameter pipeline is adapted to for adjusting distance between walking mechanism and pipeline outer wall,
It is additionally provided on connecting plate and/or arc fixed plate for the end of guiding mechanism to be fixed after adjusting walking mechanism position
Fixing piece.
Preferably, positioning detection mechanism further include: ray mechanism is fixedly connected on the side of the free side surface of swivel plate,
For providing the ray for penetrating pipeline from the outside of pipe circumference；Imaging mechanism is fixedly connected on the free side surface of swivel plate
The other side is laid in pipeline two sides and opposite laying with ray mechanism, for the received outside penetration tube from pipe circumference respectively
Ray and imaging behind road；Ray mechanism includes the base for being fixedly connected on the free side surface of swivel plate, is equipped with X-ray on base
Machine, the outer wall of the ray emitting position face pipeline of X-ray machine；The branch extended towards pipeline direction is also connected on base
Seat, the end of support is equipped with the universal wheel for rolling support in pipeline outer wall；Imaging mechanism includes being fixedly connected on rotation
The counterweight mounting base of the free side surface of plate, the end of counterweight mounting base be provided with imaging mounting plate for installing camera, with
And for drive imaging mounting plate radially drawn close along pipeline or far from pipeline outer wall displacement motor.
The utility model has the following beneficial effects:
The pipeline automatic flaw detection locating and detecting device of the utility model, is fixed positioning detection mechanism by fixed mounting plate
It on pipeline, is realized by positioning detection mechanism and transillumination and imaging is circumferentially carried out to pipeline, whole device edge is driven by walking mechanism
Pipeline axial translation, when pipe surface is rolled and walked, the part other than rolling portion is pressed from both sides the rolling portion of walking mechanism
Hold fixation；For rolling portion clamping position in pipe surface, the part other than rolling portion drives positioning detection mechanism to rolling
It is partially close, progress is recycled with this to realize that entire pipeline automatic flaw detection locating and detecting device moves on pipeline along axial traveling
It is dynamic, it may be implemented to carry out automatic flaw detection detection and localization to pipeline (pipeline especially in), be applicable to longer pipe road
Detection can conveniently and effectively detect conduit line, effectively improve detection work without manually bearing detection device climbing pipeline
The efficiency of work reduces the incidence of the pressure pipelines accidents such as artificial working strength and reduction combustion gas.
Other than objects, features and advantages described above, there are also other purposes, feature and excellent for the utility model
Point.Below with reference to accompanying drawings, the utility model is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide a further understanding of the present invention, the utility model
Illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.In attached drawing
In:
Fig. 1 is the structural schematic diagram of the pipeline automatic flaw detection locating and detecting device of the preferred embodiment in the utility model；
Fig. 2 is showing when the pipeline automatic flaw detection locating and detecting device of the preferred embodiment in the utility model is installed to pipeline
It is intended to；
Fig. 3 is the structural schematic diagram of the fixed mounting plate of the preferred embodiment in the utility model；
Fig. 4 is the structural schematic diagram of the swivel plate of the preferred embodiment in the utility model；
Fig. 5 is the structural schematic diagram of the walking mechanism of the preferred embodiment in the utility model；
Fig. 6 be in Fig. 5 structure from the schematic diagram of another angle；
Fig. 7 is the structural schematic diagram of the arc fixed plate of the preferred embodiment in the utility model.
Drawing reference numeral explanation:
1, fixed mounting plate；10, the first container；11, the first opening；12, base portion；13, arm；14, protrusion；
2, swivel plate；20, the second container；21, the second opening；22, dentation fringe；23, cam；
3, ray mechanism；30, base；31, X-ray machine；32, support；33, universal wheel；
4, imaging mechanism；40, counterweight mounting base；41, mounting plate is imaged；42, displacement motor；
5, driving mechanism；50, gear；51, motor；
6, walking mechanism；60, it is oriented to worm screw；61a, the first walking unit；61b, the second walking unit；62a, the first locking
Mechanism；62b, the second retaining mechanism；63, movable motor；611, connection framework；612, magnet pulley；613, rod set；614, turbine；
621, locking motor；622, latch segment；6110, connecting rod；
7, connecting plate；
8, arc fixed plate；80, arc chute；
9, pipeline.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
The utility model provides to realize to the multi-functional full-automatic smart flaw detection detection and localization of the pressure pipelines such as combustion gas
A kind of pipeline automatic flaw detection locating and detecting device can be used for carrying out weld defect, crack, crackle etc. to the pipeline outer wall in using
Non-destructive testing.The arranged direction of targeted pipeline can be various, such as can be horizontally disposed pipeline and be also possible to erect
The pipeline being directly arranged.
Referring to Figures 1 and 2, the preferred embodiment of the utility model provides a kind of pipeline automatic flaw detection detection and localization dress
It sets, comprising: fixed mounting plate 1 has the first container 10 for accommodating pipeline 9, for being disposed around 9 periphery of pipeline；It is fixed
Position detecting mechanism is rotationally connected with the first side (i.e. downside in Fig. 1) of fixed mounting plate 1, for rotating in 9 periphery of pipeline
In journey by penetron tube road 9 and in the way of imaging display pipes 9 degree of impairment；Walking mechanism 6 is connected to fixed peace
Second side opposite with positioning detection mechanism (i.e. upside in Fig. 1) in loading board 1, for the slidably supported outer wall in pipeline 9 with
Driving fixed mounting plate 1 simultaneously drives positioning detection mechanism to walk along 9 axial translation of pipeline.
The pipeline automatic flaw detection locating and detecting device of the utility model, is fixed positioning detection mechanism by fixed mounting plate
It on pipeline, is realized by positioning detection mechanism and transillumination and imaging is circumferentially carried out to pipeline, whole device edge is driven by walking mechanism
Pipeline axial translation, when pipe surface is rolled and walked, the part other than rolling portion is pressed from both sides the rolling portion of walking mechanism
Hold fixation；For rolling portion clamping position in pipe surface, the part other than rolling portion drives positioning detection mechanism to rolling
It is partially close, progress is recycled with this to realize that entire pipeline automatic flaw detection locating and detecting device moves on pipeline along axial traveling
It is dynamic, it may be implemented to detect pipeline (pipeline especially in) automatically, be applicable to the detection in longer pipe road, be not necessarily to
Detection device climbing pipeline is manually born, conduit line can be conveniently and effectively detected, effectively improve the efficiency of detection work,
Reduce the incidence of the pressure pipelines accidents such as artificial working strength and reduction combustion gas.
In this preferred embodiment, positioning detection mechanism includes swivel plate 2, ray mechanism 3, imaging mechanism 4 and driving mechanism
5.Swivel plate 2 has the second container 20 for accommodating pipeline 9, and swivel plate 2 is rotationally connected with the first of fixed mounting plate 1
Side, for being disposed around 9 periphery of pipeline and being rotated around 9 periphery of pipeline.Driving mechanism 5 is connect with fixed mounting plate 1 and swivel plate 2,
For driving the relatively fixed mounting plate 1 of swivel plate 2 to rotate in a circumferential direction around pipeline 9, to drive ray mechanism 3 circumferential to pipeline 9
Transillumination, imaging mechanism 4 is carried out pipeline 9 is circumferentially imaged.Ray mechanism 3 is fixedly connected on the free side surface of swivel plate 2
Side, for providing the ray for penetrating pipeline 9 from the outside of 9 circumference of pipeline.Imaging mechanism 4 is fixedly connected on swivel plate 2 freely
The other side of side surface, with ray mechanism 3 be laid in respectively 9 two sides of pipeline and it is opposite lay, for from the outside of 9 circumference of pipeline
Receive the ray after penetrating pipeline 9 and imaging.
Referring to Figure 1 and Figure 3, fixed mounting plate 1 has the first opening 11 entered for pipeline 9, the first opening 11 and first
Container 10 is connected to.In the present embodiment, fixed mounting plate 1 is whole generally U-shaped comprising base portion 12 and from 12 both ends of base portion
The arm 13 each extended over.The first opening 11, the connecting portion of arm 13 and base portion 12 are formed between the end of two arms 13
Place then surrounds the first container 10 of arc.The detection device of the utility model is during in installation to pipeline 9, pipeline 9
Entered in the first container 10 by the first opening 11.The distance between end of the two arms 13 i.e. size of the first opening 11 is not
Less than the maximum outside diameter of pipeline 9, to guarantee that pipeline 9 can smoothly enter in the first container 10 from the first opening 11.
In the present embodiment, uniformly distributed in fixed mounting plate 1 there are four through-holes, for for the motor 51 in driving mechanism 5
Output shaft pass through.Specifically, the both ends of base portion 12 offer through-hole respectively, and the end of arm 13 also offers through-hole.Certainly,
The quantity of through-hole can also suitably increase.In the present embodiment, there are three protrusions 14 for the inner wall also projection of the first container 10, are used for
Axis on the cam 23 of fixed swivel plate 2 is installed.1 structure of fixed mounting plate of the utility model is simple, and molding is easy, and can reduce
Cost, and support and connect stronger, simple installation.
In other embodiments, fixed mounting plate 1 also may include two pieces of arcs that 9 periphery of pipeline is fixed in mutual split
Plate forms the first container 10 between two pieces of arc panels.Two through-holes are opened up on every piece of arc panel, for installing the defeated of motor 51
Shaft.
Driving mechanism 5 includes at least four gears 50 and the motor 51 for driving the rotation of gear 50.At least four gears 50
It is connected to the first side of fixed mounting plate 1, and is evenly distributed on 10 periphery of the first container.In this preferred embodiment, driving machine
Structure 5 uses high-precision servo motor, and servo motor translator shaft locking device (power-off brake clutch) is effectively guaranteed disconnected
Motor shaft is locked when electric.Each servo motor has a positive limit, a negative limit and an origin switch, servo motor
Control uses close-loop control mode, to guarantee accurate positioning.
In this preferred embodiment, uniformly distributed in fixed mounting plate 1 there are four through-holes.Second side of fixed mounting plate 1 is (i.e.
Upside in Fig. 1) corresponding each through-hole is respectively arranged with motor 51, and the output shaft of motor 51 passes through through-hole and extend out to fixed installation
The first side (i.e. downside in Fig. 1) of plate 1.Correspondence is arranged with gear 50 on the output shaft of each motor 51, also that is, the present embodiment
In, in the first side of fixed mounting plate 1, there are four gear 50, four gears 50 are uniformly distributed in the outer of the first container 10 for setting
It encloses, is used to support the rotation of swivel plate 2.In other embodiments, the quantity of gear 50 can suitably increase.The drive of the utility model
5 structure of motivation structure is simple, and control mode is easy and reliable.In other embodiments, the quantity of motor 51 may be set to be only
One, by the transmission effect of swivel plate 2, at least one gear 50 is driven, the synchronous rotation of other gears 50 can be realized.
In conjunction with Fig. 4, swivel plate 2 is generally circular.The entered for pipeline 9 is offered from circumference to the center of circle on swivel plate 2
Two openings 21.Second container 20 of arc is set to the center of swivel plate 2, and the second opening 21 and the second container 20 connect
It is logical.The size of second opening 21 is not less than the maximum outside diameter of pipeline 9, to guarantee that pipeline 9 can smoothly enter from the second opening 21
In second container 20.In other embodiments, swivel plate 2 can also be fixed on the two boards of 9 periphery of pipeline by mutual split
It forms, forms the second container 20 between two boards.
In this preferred embodiment, swivel plate 2 is loaded in the border circular areas being enclosed by gear 50 in fixed mounting plate 1.
The periphery of swivel plate 2 is provided with the dentation fringe 22 that connection is engaged at least three gears 50 in fixed mounting plate 1, dentation fringe 22
By at least three gears 50 support and driving and rotate in a circumferential direction around pipeline 9.In this preferred embodiment, two ends of dentation fringe 22
The distance between end is no more than the distance between two neighboring gear 50, no matter thereby may be ensured which swivel plate 2 turns to
When angle, dentation fringe 22 has the support driving of at least three gears 50, will not deviate from from fixed mounting plate 1, guarantee its rotation
Ray mechanism 3 and imaging mechanism 4 is driven to realize the detection to pipeline 9 outer wall circumferential direction.In conjunction with Fig. 2 and Fig. 3, this preferred embodiment
In, four gears 50 are supported on the excircle of circular rotating plate 2, and the line of four gears 50 is square, and are located at diagonal
The line of two gears 50 on line then passes through the center of circle of circular rotating plate 2.It is designed in this way, may make gear 50 to swivel plate 2
Support it is more reliable and more stable.
Preferably, inner wall on swivel plate 2 in the second container 20 is circumferentially arranged to be had for rolling support to pipeline 9
Multiple cams 23 of outer wall.The setting of cam 23 can swimmingly rotate convenient for swivel plate 2 around 9 outer wall of pipeline.Specifically, this is preferred
In embodiment, the inner wall position of the second container 20 is circumferentially arranged there are three cam 23, and three cams 23 pass through axis respectively
It is connected on the protrusion 14 in fixed mounting plate 1.
As shown in Figures 1 and 2, ray mechanism 3 is fixedly connected on the side of the free side surface of swivel plate 2, is used for from pipe
The outside of 9 circumference of road provides the ray for penetrating pipeline 9.In the present embodiment, ray mechanism 3 includes being fixedly connected on swivel plate 2 certainly
By the base 30 on side surface (i.e. surface opposite with the affixed side that fixed mounting plate 1 is fixed to each other on swivel plate 2), on base 30
X-ray machine 31, the outer wall of the ray emitting position face pipeline 9 of X-ray machine 31 are installed.Specifically, base 30 is arranged in swivel plate 2
The side of the upper opening of face second 21, it is substantially L-shaped.The end of base 30, which is also connected with towards 9 direction of pipeline, to be extended
Support 32, the end of support 32 is equipped with for rolling support in the universal wheel 33 of 9 outer wall of pipeline.The present embodiment passes through in L
Support 32 is arranged in 30 end of type base, and universal wheel 33 is arranged in 32 end of support, can play a supportive role to 9 outer wall of pipeline,
The supporting point for increasing base 30 keeps it more firm, convenient for detecting the progress of work.
Imaging mechanism 4 is fixedly connected on the other side of the free side surface of swivel plate 2, is laid in pipe respectively with ray mechanism 3
9 two sides of road and opposite laying, for the ray after penetrating pipeline 9 from the received outside of 9 circumference of pipeline and imaging.The present embodiment
In, imaging mechanism 4 includes being fixedly connected on swivel plate 2 close to the counterweight mounting base 40 of the second 21 place sides of opening, counterweight peace
Dress seat 40 can guarantee its spin stabilization with the stress at 2 both ends of balance rotating plate.The end of counterweight mounting base 40 is provided with for pacifying
Fill the imaging mounting plate 41 of camera and for driving imaging mounting plate 41 to draw close or along 9 radial direction of pipeline far from outside pipeline 9
The displacement motor 42 of wall.The output shaft of displacement motor 42 can realize the company with imaging mounting plate 41 by turbine and worm structure
It connects, and realizes the movement of imaging mounting base with this structure.In the utility model, imaging mounting plate 41 is driven by displacement motor 42
Far from pipeline 9, whole device can be driven to rotate in a circumferential direction around pipeline 9 along the walking of pipeline 9 and swivel plate 2 convenient for walking mechanism 6；It is logical
It crosses the driving imaging mounting plate 41 of displacement motor 42 and draws close 9 outer wall of pipeline, may make the camera installed thereon close to 9 outer wall of pipeline
The weld seam of transillumination is imaged.In this preferred embodiment, it is imaged on mounting plate 41 and multiple cameras is installed, camera is with wireless
Mode sends image data to long-range control system.Shooting style imaging can be used in camera, can also be using continuous camera shooting
Mode is imaged.
Referring to Fig.1, second side of fixed mounting plate 1 is arranged in walking mechanism 6, is rolled by rolling portion in pipe surface
When dynamic walking, the part other than rolling portion is gripped；Rolling portion clamping position is in pipe surface, rolling portion
Part in addition drives positioning detection mechanism close to rolling portion, recycles progress with this to realize that entire pipeline automatic flaw detection is fixed
Level detecting apparatus moves on pipeline along axial traveling, realizes the detection to 9 extending direction many places weld seam of pipeline.The utility model
The walking mechanism 6 of pipeline automatic flaw detection locating and detecting device include two sets with respect to being fastened on the half of components of 9 two sides of pipeline, and
Two sets of half of components are separately positioned on the two sides of the first opening 11, with ensure will not hinder device install to pipeline 9.Two sets half of
Component can be respectively along the outer wall walking of the two opposite sides of pipeline 9.
Referring to figure 5 and figure 6, it is illustrated by taking the wherein structure of a set of half of component as an example.Every set one side of something component includes connecting
1 second side of fixed mounting plate is connected to along the axially extending guiding mechanism of pipeline 9, the walking unit for being connected to guiding mechanism, setting
For locking to the retaining mechanism of 9 outer wall of pipeline and for driving walking unit to walk along 9 outer wall of pipeline in walking unit
Actuator.
Preferably, in this preferred embodiment, guiding mechanism includes the two guiding worm screws 60 laid side by side, is oriented to worm screw 60
It is axially extending along pipeline 9.The periphery of guiding worm screw 60 is provided with helical rack, for realizing with walking unit cooperation in pipeline 9
On walking.
Preferably, half of component includes two walking units arranged before and after direction of travel.Each walking unit includes
Two connection frameworks 611 being oriented between worm screw 60 are set to, are provided in connection framework 611 for being adsorbed to 9 outer wall of pipeline
Multiple magnet pulleies 612, the outside of connection framework 611 be connected with for be sheathed with guiding worm screw 60 on rod set 613, at least its
In a walking unit rod set 613 on offer through-hole, the turbine 614 of peripheral zone rack gear is provided in through-hole, on turbine 614
Rack gear with guiding worm screw 60 helical rack engage connection.Actuator is the movable motor that output sleeve is set in turbine 614
63, movable motor 63 is used to drive the rotation of turbine 614 to drive rod set 613 and its connection framework 611 of connection along guiding snail
Bar 60 translates, and then the magnet pulley 612 in connection framework 611 is driven to roll along 9 outer wall of pipeline.
In this preferred embodiment, half of component includes the first walking unit 61a and the second walking unit that front and back is arranged
61b.By taking the first walking unit 61a as an example, the first walking unit 61a includes the first connection framework 611, the first connection framework 611
Including the two piece opposite connecting rods 6110 axially extending along pipeline 9, there are two magnet pulleies for connection between two connecting rods 6110
612, the both ends of the central axis of magnet pulley 612 pass through bearing respectively and are fixed in connecting rod 6110, realize magnet pulley by this method
612 fixation guarantees that it can be rolled along 9 outer wall of pipeline simultaneously.Every connecting rod 6110 is connected and fixed with a rod set 613 respectively.
Rod set 613 is set on guiding worm screw 60, and the inner wall of rod set 613 is provided with the tooth with the helical rack cooperation on guiding worm screw 60
Item is, it can be achieved that rod set 613 is oppositely oriented the movement of worm screw 60.
It also offers through-hole respectively in two rod sets 613 of the first walking unit 61a, turbine 614 is set in through-hole, often
A turbine 614 is connected to the output shaft of movable motor 63.First walking unit 61a is configured with two powerful movable motors
63, the rotation of turbine 614 is driven to drive rod set 613 to be oppositely oriented worm screw 60 and translate by movable motor 63, and then the company of drive
The translation of frame 611 is connect, and the magnet pulley 612 in the first walking unit 61a is driven to roll along 9 outer wall of pipeline.
Retaining mechanism is respectively arranged in each walking unit.Retaining mechanism includes the lock being set in connection framework 611
Tight motor 621 and the latch segment 622 connecting with locking motor 621, latch segment 622 have the locking face of 9 outer wall of face pipeline, lock
Tight block 622 is moved toward and away from 9 outer wall of pipeline so that locking face is compacted to outside pipeline 9 under the driving of locking motor 621
Wall is to lock or far from 9 outer wall of pipeline to unlock.Retaining mechanism, can for making walking unit be locked to 9 outer wall of pipeline
It is easy to implement walking mechanism 6 to creep along 9 outer wall of pipeline being vertically arranged, without because gliding under gravity along pipeline 9.This is excellent
It selects in embodiment, is configured on the first retaining mechanism 62a, the second walking unit 61b on the first walking unit 61a and is configured with second
Retaining mechanism 62b.Retaining mechanism adds position two-mode field using servo motor torque mode, guarantees the coupling mechanism force to pipeline 9
Square and accurate positioning.
In this preferred embodiment, it is only necessary to which turbine 614 and movable motor are set in the rod set 613 of the first walking unit 61a
63, and the second walking unit 61b then no setting is required this turbine 614 and movable motor 63.With first on the first walking unit 61a
After retaining mechanism 62a unlock, the first walking unit is driven when rotating forward by the movable motor 63 on the first walking unit 61a of control
61a is translate forward along guiding worm screw 60；When the first walking unit 61a walking in place after, using the first retaining mechanism 62a by the
One walking unit 61a is locked to 9 outer wall of pipeline, and unlocks the second retaining mechanism 62b on the second walking unit 61b；It drives again
Dynamic movable motor 63 inverts, and can translate forward with action-oriented worm screw 60, and then drives second be connected on guiding worm screw 60
Walking unit 61b is translate forward together.A set of walking mechanism 6 so can be achieved in the movement of creeping of 9 outer wall of pipeline, and can
Drive ray mechanism 3 and imaging mechanism 4 of the fixed mounting plate 1 connecting with walking mechanism 6 and its connection etc. together outside pipeline 9
Wallflow is into realizing detection to the weld seam at different location on 9 extending direction of pipeline.
Opposite another set of its structure of half of component is identical, and control mode is also identical, and details are not described herein again.
In the utility model, for convenience of the spacing between two sets of adjustment half of components to adapt on different-diameter pipeline 9
Creep, one end of guiding mechanism is fixedly connected on fixed mounting plate 1 by connecting plate 7, and the other end passes through arc fixed plate 8
Support connection, wherein the extending direction that the plate face of arc fixed plate 8 and connecting plate 7 is each perpendicular to guiding mechanism is laid, the plate of the two
The regulating mechanism that different-diameter pipeline 9 is adapted to for adjusting distance between 9 outer wall of walking mechanism 6 and pipeline is equipped on face,
It is additionally provided on connecting plate 7 and/or arc fixed plate 8 for being carried out after adjusting 6 position of walking mechanism to the end of guiding mechanism
Fixed fixing piece.
In this preferred embodiment, one end of the guiding mechanism of two sets of half of components is connected to connecting plate 7.On connecting plate 7
Regulating mechanism can be straight trough, or according to preset space length be arranged multiple through-holes, through-hole spacing setting can be reasonable
It is set as and different 9 diameter matches of pipeline.For example, two straight troughs can be set on connecting plate 7, the distance between two straight troughs with
Spacing in a set of one side of something component between two guiding worm screws 60 is equal.Two be generally aligned in the same plane in two sets of half of components lead
It is slidably connected in same straight trough to one end of worm screw 60.It is of course also possible to which every straight trough partition setting is divided into two directly
Slot, in total four straight troughs.Or two exhausting holes can also be set on connecting plate 7, the distance between two exhausting holes and a set of half
Spacing is equal between two guiding worm screws 60 in the component of side, by the way that the end of guiding mechanism to be packed into different through-holes
Realize the pipeline 9 of matching different-diameter.
After the completion of the adjusting position on connecting plate 7 of the end of guiding mechanism, it is fixed using fixing piece.This is preferably
In embodiment, fixing piece can be screw bolt and nut.For example, being oriented to the end of worm screw 60 when regulating mechanism is an exhausting hole
It is correspondingly arranged bolt hole, the bolt hole on guiding worm screw 60 is passed through by bolt, then use nut locking, guiding snail can be realized
The fixation of 60 end of bar prevents it from deviating from from through-hole.When regulating mechanism is straight trough, can be worn in the setting of guiding 60 end of worm screw
Hole.Fixing piece then includes pull rod, bolt, nut and is arranged on connecting plate 7 positioned at bolt hole of through-hole side etc., pull rod
Both ends are also provided with hole, pull rod are passed through the perforation on guiding worm screw 60, the both ends of pull rod then pass through screw bolt and nut and are locked in company
Bolt hole on fishplate bar 7, equally can be achieved to exchange the guiding worm screw 60 that section postpones and is fixed.
The other end of guiding mechanism is supported by arc fixed plate 8.Referring to Fig. 2 and Fig. 7, in this preferred embodiment, two
The other end for covering half of component is provided with two pieces of mutually independent arc fixed plates 8, and every piece of arc fixed plate 8 is to two sets of half of groups
Two guiding worm screws 60 being generally aligned in the same plane in part are supported.Regulating mechanism on arc fixed plate 8 is to be arranged at intervals on
Both ends and the arc chute 80 extended to centre.Certainly, regulating mechanism may be the multiple through-holes being arranged according to preset space length.
Correspondingly, it can be exchanged on arc fixed plate 8 using with the realization of the fixing piece of fixing piece similar structures used on connecting plate 7
The guiding worm screw 60 that section postpones is fixed, and details are not described herein again.
The pipeline automatic flaw detection locating and detecting device of the utility model, further include be installed at it is multiple super outside detection device
Sound wave range sensor.Such as can be set and ultrasonic distance sensor is installed in fixed mounting plate 1 or walking mechanism 6,
Ultrasonic distance sensor detects external obstacle in operation, for realizing the operation of timely arresting stop, and issues alarm
Information.
Driving mechanism 5, imaging mechanism 4 in the utility model and the motor in walking mechanism 6 use high-precision servo
Motor, servo motor translator shaft locking device (power-off brake clutch), motor shaft is locked when power-off is effectively guaranteed
's.Each servo motor has a positive limit, and a negative limit and an origin switch, Serve Motor Control use closed-loop control
Mode, to guarantee accurate positioning.The utility model is also connect using dedicated motion controller with servo motor, is servo electricity
Machine issues control signal；The location information of servo motor feedback servo motor carries out closed-loop control to motion controller simultaneously.Together
When outside limit signal, origin signal, ultrasonic distance sensor signal enter motion controller.It is more smart using controlling
Really, more rationally.
The imaging mechanism 4 of the utility model uses multiple cameras, transmits wirelessly image data, facilitates long-range real time inspection
It the operating condition of device and timely adjusts.Camera is connected to control system with wireless telecommunications connection type.Imaging mechanism 4,
Servo motor in driving mechanism 5 and walking mechanism 6 is also wirelessly connected to control system.The utility model uses long distance wireless
Control program, effective distance can reach several kilometers.Control system includes console, and console is divided into control operator control panel, image
Monitor screen, urgent scram button, control button.It controls operator control panel collection and adjusts button, motor status, parameter setting, fault alarm
In one.Picture control screen can split screen display available, can also individually amplify display, have " cross " cursor for weld seam, can accurately look into sight
It looks into.It is above mating so that operating safer more humane more scientificization.In conjunction with the image recognition technology of artificial intelligence, pipe can be improved
The efficiency of road weld defect automatic identification.
The pipeline automatic flaw detection locating and detecting device of the utility model is installed to pipe by taking horizontally disposed pipeline 9 as an example
The process in road 9 approximately as:
Device is placed in the lower section of pipeline 9, makes the first 11 align with tube 9 of opening in fixed mounting plate 1；Utilize promotion
Mechanism for example promotes motor and is promoted to device, and when device is near pipeline 9, the motor 51 of control driving mechanism 5 starts, and makes
Driving swivel plate 2 rotate, realize adjust automatically second opening 21 angle, make 21 align with tube 9 of the second opening, rise again
In place；The locking motor 621 controlled in retaining mechanism operates, and to drive latch segment 622 to operate to compaction direction, locks in pipeline 9
On.
The pipeline automatic flaw detection locating and detecting device of the utility model, walking process on pipeline 9 approximately as:
Positioned at the first half of component locking of 9 side of pipeline in walking mechanism 6；The half of component of the second of the other side is to moving ahead
It walks, after walking to limit, the second half of component stops and locks；First half of component is walked forward, after walking to limit, first
Half of component stops.So circulation, the speed of travel is adjustable, and travel distance is adjustable, and when detecting position while welding, device stops automatically
Only.Two sets of half of components are acted in the double-legged pole-climbing that the movement of creeping of 9 outer wall of pipeline is similar to people.
When device detects weld seam, weld seam accurate positioning is carried out.By camera, can be seen by wireless control system
Weld seam.When detecting weld seam, two sets of equal locking pipes 9 of half of component.After precisely aligning weld seam, carrying out flaw detection can be carried out.
The process of carrying out flaw detection approximately as: rotational X-ray machine 31 returns to start bit；Speed, the shooting style of detection are set, by test
Hurt detection button.Device starts to be detected automatically until detection is completed.
There are two types of detection modes.(1) shooting style: the number to be taken pictures of setting, camera and X-ray machine 31 are opened from start bit
Begin, after the completion of clapping first, first, rotational X-ray machine 31 starts X-ray machine 31, and camera claps second, to the last one
It completes.(2) it continuously images mode: the speed of rotation is set, start X-ray machine 31, rotational X-ray machine 31 is started with the speed of setting,
Until rotating a circle, camera is continuously imaged, and is kept video file and is recorded 9 information of pipeline, facilitates the later period to check, finally close
Close X-ray machine 31.
The pipeline automatic flaw detection locating and detecting device of the utility model by ray mechanism 3 and is imaged by fixed mounting plate 1
Mechanism 4 is fixed on pipeline 9, and drives swivel plate 2 to realize to pipeline 9 circumferentially relative to the rotation of fixed mounting plate 1 by driving mechanism 5
Transillumination and imaging are carried out, and drives whole device along 9 axial translation of pipeline by walking mechanism 6, may be implemented to the pipe in using
Road 9 is detected automatically, is applicable to the detection in longer pipe road 9, without manually bearing detection device climbing pipeline 9, Neng Goufang
Just, 9 pipeline of pipeline is effectively detected, effectively improves the efficiency of detection work, reduce artificial working strength and reduces combustion
The incidence of 9 accident of the pressure pipelines such as gas.The utility model can carry out full-automatic intelligent carrying out flaw detection to pipeline.
In the description of the present invention, it should be understood that the instructions such as term " on ", "lower", "horizontal", "vertical"
Orientation or positional relationship is direction based on the figure or positional relationship, is merely for convenience of description the utility model and simplification
Description, rather than the device or element of indication or suggestion meaning be necessary for constructing with specified orientation, with specific orientation and
Operation, therefore should not be understood as limiting the present invention.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of pipeline automatic flaw detection locating and detecting device characterized by comprising
Fixed mounting plate (1) has the first container (10) for accommodating pipeline (9), for being disposed around pipeline (9) outside
Week；
Positioning detection mechanism is rotationally connected with the first side of fixed mounting plate (1), for during pipeline (9) periphery rotates
By penetron tube road (9) and in the way of imaging display pipes (9) degree of impairment；
Walking mechanism (6) is connected to second side opposite with the positioning detection mechanism on the fixed mounting plate (1), is used for
It rolls and clamping is supported on the outer wall of pipeline (9) and in such a way that the change of clamping position position is carried out with rolling walking circulation
To drive the fixed mounting plate (1) and the positioning detection mechanism driven to walk along pipeline (9) axial translation.
2. pipeline automatic flaw detection locating and detecting device according to claim 1, which is characterized in that
The fixed mounting plate (1) have for pipeline (9) enters first be open (11), first container (10) with it is described
First opening (11) connection；Or
The fixed mounting plate (1) includes two pieces of arc panels that pipeline (9) periphery is fixed in mutual split, between two pieces of arc panels
Form first container (10).
3. pipeline automatic flaw detection locating and detecting device according to claim 2, which is characterized in that
The positioning detection mechanism includes swivel plate (2) and driving mechanism (5)；
The swivel plate (2) has the second container (20) for accommodating pipeline (9), and the swivel plate (2) is rotationally connected with
First side of the fixed mounting plate (1), for being disposed around pipeline (9) periphery and being rotated around pipeline (9) periphery；
The driving mechanism (5) connect with the fixed mounting plate (1) and the swivel plate (2), for driving the swivel plate
(2) the relatively described fixed mounting plate (1) rotates in a circumferential direction around pipeline (9).
4. pipeline automatic flaw detection locating and detecting device according to claim 3, which is characterized in that
The driving mechanism (5) include at least four gears (50) and drive gear (50) rotation motor (51), it is described extremely
Few four gears (50) are connected on (1) first side of fixed mounting plate, and are evenly distributed on the first container (10) periphery；
The swivel plate (2) is rounded, and the second opening (21) entered for pipeline (9) is offered on the swivel plate (2), described
Second opening (21) is connected to second container (20), and the swivel plate (2) is loaded on the fixed mounting plate (1) by tooth
In wheel (50) border circular areas for being enclosed, the periphery of the swivel plate (2) be provided with on the fixed mounting plate (1) extremely
The dentation fringe (22) of few three gear (50) engagement connections, support of the dentation fringe (22) by least three gears (50)
It rotates in a circumferential direction with driving around pipeline (9).
5. pipeline automatic flaw detection locating and detecting device according to claim 3, which is characterized in that
Inner wall on the swivel plate (2) in second container (20) is circumferentially arranged to be had for rolling support to pipeline
(9) multiple cams (23) of outer wall.
6. pipeline automatic flaw detection locating and detecting device according to claim 1, which is characterized in that
The walking mechanism (6) includes two sets of opposite half of components for being fastened on pipeline (9) two sides, and two sets of half of components
It is located at the two sides of the first opening (11)；
It is described one side of something component include be connected to the fixed mounting plate (1) second side along the axially extending guiding mechanism of pipeline (9),
Be connected to the guiding mechanism walking unit, be arranged in walking unit for lock to the retaining mechanism of pipeline (9) outer wall,
And the actuator for driving walking unit to walk along pipeline (9) outer wall.
7. pipeline automatic flaw detection locating and detecting device according to claim 6, which is characterized in that
The guiding mechanism includes the two guiding worm screws (60) laid side by side, and the periphery of guiding worm screw (60) is provided with spiral shell
Revolve rack gear；
One side of something component includes two walking units arranged before and after direction of travel, and each walking unit includes being set to two
Root is oriented to the connection framework (611) between worm screw (60), is provided on the connection framework (611) for being adsorbed to pipeline (9)
Multiple magnet pulleies (612) of outer wall are connected on the outside of the connection framework (611) for being sheathed in guiding worm screw (60)
Rod set (613) offers through-hole in the rod set (613) of at least one of which walking unit, is provided with peripheral zone in the through-hole
The turbine (614) of rack gear, the rack gear on the turbine (614) engage connection with the helical rack of guiding worm screw (60)；
The actuator is the movable motor (63) that output sleeve is set in the turbine (614), and the movable motor (63) is used
In driving turbine (614) rotation to drive rod set (613) and its connection framework (611) of connection flat along guiding worm screw (60)
It moves, and then the magnet pulley (612) on connection framework (611) is driven to roll along pipeline (9) outer wall.
8. pipeline automatic flaw detection locating and detecting device according to claim 7, which is characterized in that
The retaining mechanism is respectively arranged in each walking unit；
The retaining mechanism include the locking motor (621) that is set on connection framework (611) and with the locking motor (621)
The latch segment (622) of connection, the latch segment (622) have the locking face of face pipeline (9) outer wall, the latch segment (622)
It is moved toward and away from pipeline (9) outer wall so that the locking face is compacted to pipeline (9) under the driving of locking motor (621)
Outer wall is to lock or far from pipeline (9) outer wall to unlock.
9. pipeline automatic flaw detection locating and detecting device according to claim 6, which is characterized in that
One end of the guiding mechanism is fixedly connected on the fixed mounting plate (1) by connecting plate (7), and the other end passes through arc
Fixed plate (8) support connection, wherein
The extending direction that the plate face of the arc fixed plate (8) and the connecting plate (7) is each perpendicular to guiding mechanism is laid, the two
Plate face on be equipped with for adjusting between walking mechanism (6) and pipeline (9) outer wall distance to adapt to different-diameter pipeline (9)
It is additionally provided on regulating mechanism, the connecting plate (7) and/or the arc fixed plate (8) for adjusting walking mechanism (6) position
The fixing piece that the end of guiding mechanism is fixed afterwards.
10. pipeline automatic flaw detection locating and detecting device according to claim 3, which is characterized in that
The positioning detection mechanism further include:
Ray mechanism (3) is fixedly connected on the side of the swivel plate (2) free side surface, for outside pipeline (9) circumference
Side provides the ray for penetrating pipeline (9)；
Imaging mechanism (4) is fixedly connected on the other side of the swivel plate (2) free side surface, with the ray mechanism (3) point
It is not laid in pipeline (9) two sides and opposite laying, for the ray after penetrating pipeline (9) from the received outside of pipeline (9) circumference
And it is imaged；
The ray mechanism (3) includes the base (30) for being fixedly connected on the swivel plate (2) free side surface, the base
(30) it is equipped on X-ray machine (31), the outer wall of the ray emitting position face pipeline (9) of the X-ray machine (31)；
The support (32) extended towards pipeline (9) direction, the end peace of support (32) are also connected on the base (30)
Equipped with for rolling support in the universal wheel (33) of pipeline (9) outer wall；
The imaging mechanism (4) includes the counterweight mounting base (40) for being fixedly connected on the swivel plate (2) free side surface, described
The end of counterweight mounting base (40) is provided with the imaging mounting plate (41) for installing camera and installation is imaged for driving
Plate (41) is radially drawn close along pipeline (9) or the displacement motor (42) far from pipeline (9) outer wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821981878.8U CN209167168U (en) | 2018-11-29 | 2018-11-29 | Pipeline automatic flaw detection locating and detecting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821981878.8U CN209167168U (en) | 2018-11-29 | 2018-11-29 | Pipeline automatic flaw detection locating and detecting device |
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| Publication Number | Publication Date |
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| CN209167168U true CN209167168U (en) | 2019-07-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109342467A (en) * | 2018-11-29 | 2019-02-15 | 湘潭市汇丰设备制造有限公司 | Pipeline automatic flaw detection locating and detecting device |
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2018
- 2018-11-29 CN CN201821981878.8U patent/CN209167168U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109342467A (en) * | 2018-11-29 | 2019-02-15 | 湘潭市汇丰设备制造有限公司 | Pipeline automatic flaw detection locating and detecting device |
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| GR01 | Patent grant | ||
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Effective date of registration: 20200901 Address after: No.11 Baishi East Road, Yuhu District, Xiangtan City, Hunan Province Co-patentee after: XIANGTAN HUIFENG EQUIPMENT MANUFACTURING Co.,Ltd. Patentee after: Xiangtan branch of Hunan special equipment inspection and Testing Research Institute Address before: 411102 No. 1113, Building C8, Dongfang Golden Valley, No. 8 Chutian Road, Xiangtan High-tech Zone, Hunan Province Patentee before: XIANGTAN HUIFENG EQUIPMENT MANUFACTURING Co.,Ltd. |
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