CN210770997U - Oil gas pipeline inner wall detection mechanism - Google Patents
Oil gas pipeline inner wall detection mechanism Download PDFInfo
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- CN210770997U CN210770997U CN201921035613.3U CN201921035613U CN210770997U CN 210770997 U CN210770997 U CN 210770997U CN 201921035613 U CN201921035613 U CN 201921035613U CN 210770997 U CN210770997 U CN 210770997U
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- detection mechanism
- driving wheel
- screw rod
- crack detection
- steering engine
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Abstract
The utility model discloses an oil gas pipeline inner wall detection mechanism, its characterized in that: the crack detection device comprises a crack detection mechanism, wherein the front end and the rear end of the crack detection mechanism are respectively and symmetrically connected with a front walking unit and a rear walking unit through a front supporting spring and a rear supporting spring; the front walking unit and the rear walking unit can drive the crack detection mechanism to move along the inner wall of the pipeline to be detected; the utility model has the advantages of simple structure, adopt the robot to carry out the rotation scanning detection under the slowly forward propulsive prerequisite, finally make the inner wall of whole detection section all covered, prevent effectively that the testing process from taking place the phenomenon of omitting.
Description
Technical Field
The utility model belongs to the pipeline inspection field.
Background
The existing pipeline detection mechanism is easy to miss and miss detection in the process of detecting the inner wall of a pipeline.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the not enough of existence among the prior art, the utility model provides an oil gas pipeline inner wall detection mechanism.
The technical scheme is as follows: in order to achieve the above object, the utility model discloses an oil gas pipeline inner wall detection mechanism, its characterized in that: the crack detection device comprises a crack detection mechanism, wherein the front end and the rear end of the crack detection mechanism are respectively and symmetrically connected with a front walking unit and a rear walking unit through a front supporting spring and a rear supporting spring; the front walking unit and the rear walking unit can drive the crack detection mechanism to move along the inner wall of the pipeline to be detected;
the crack detection mechanism comprises a front synchronous motor and a rear synchronous motor which are symmetrical front and back, so that the tail end of a front output shaft of the front synchronous motor is coaxially and fixedly connected with the tail end of a rear output shaft of the rear synchronous motor; a telescopic rod seat is vertically and fixedly connected to the joint of the front output shaft and the rear output shaft, an electric telescopic rod is fixedly connected to the tail end of the telescopic rod seat, a detection camera is fixedly mounted at the tail end of a push rod of the electric telescopic rod, and a lens of the detection camera corresponds to the inner wall of a pipeline to be detected; one end of the front supporting spring and one end of the rear supporting spring are respectively fixed at the tail parts of the machine shells of the front synchronous motor and the rear synchronous motor.
Furthermore, the front walking unit and the rear walking unit both comprise threaded cylinders, one end of each threaded cylinder is fixedly connected to the tail end of the front supporting spring or the tail end of the rear supporting spring, and the threaded cylinders and the front output shaft or the rear output shaft are coaxially arranged;
the steering engine is mounted on the steering engine base, a screw rod mounting seat is fixedly mounted on the steering engine base, the screw rod coaxial with the threaded cylinder is further included, and one end of the screw rod is rotatably connected with the screw rod mounting seat through a bearing; the other end of the screw rod is in threaded fit with the internal thread of the threaded cylinder; the output end of the steering engine is in transmission connection with the screw rod, and the steering engine drives the screw rod to rotate;
an annular first hinge piece seat is fixedly arranged at one end, far away from the crack detection mechanism, of the threaded cylinder coaxially, and three first hinge pieces are distributed on the contour edge of the first hinge piece seat in a circumferential array manner; an annular second hinge seat is fixedly installed at one end, close to the crack detection mechanism, of the rudder base; three second hinging pieces are distributed on the contour edge of the second hinging seat in a circumferential array;
the front walking mechanism also comprises three groups of walking wheel brackets which are distributed in a circumferential array along the axis of the screw rod; each group of walking wheel brackets comprises a first connecting rod and a second connecting rod, one end of each first connecting rod is hinged with a corresponding second hinged part, and one end of each second connecting rod is hinged with a corresponding first hinged part; the other end of each first connecting rod is fixedly connected with a driving wheel unit; a third hinge piece is arranged at the joint of each driving wheel unit and the first connecting rod, and the other end of each second connecting rod is hinged with the corresponding third hinge piece; each driving wheel unit is rotatably provided with a driving wheel, and a driving wheel driving motor in each driving wheel unit can drive the driving wheel to rotate automatically; the axis of each driving wheel is vertical to the screw rod; and each driving wheel can roll along the inner wall of the pipeline to be measured.
Has the advantages that: the utility model has the advantages of simple structure, adopt the robot to carry out the rotation scanning detection under the slowly forward propulsive prerequisite, finally make the inner wall of whole detection section all covered, prevent effectively that the testing process from taking place the phenomenon of omitting.
Drawings
FIG. 1 is a schematic diagram of the robot walking in a pipeline;
FIG. 2 is a schematic diagram of the overall structure of the robot;
fig. 3 is an axial view of the robot.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The oil and gas pipeline inner wall detection mechanism shown in fig. 1 to 3 comprises a crack detection mechanism 074, wherein the front end and the rear end of the crack detection mechanism 074 are symmetrically connected with a front walking unit 71 and a rear walking unit 72 through a front supporting spring 73 and a rear supporting spring 77 respectively; the front walking unit 71 and the rear walking unit 72 can drive the crack detection mechanism 074 to move along the inner wall of the pipeline 50 to be detected;
the crack detection mechanism 074 comprises a front synchronous motor 86 and a rear synchronous motor 78 which are symmetrical front and back, so that the tail end of the front output shaft 74 of the front synchronous motor 86 is fixedly connected with the tail end of the rear output shaft 76 of the rear synchronous motor 78 coaxially; a telescopic rod seat 75 is vertically and fixedly connected to the joint of the front output shaft 74 and the rear output shaft 76, an electric telescopic rod 79 is fixedly connected to the tail end of the telescopic rod seat 75, a detection camera 80 is fixedly mounted at the tail end of a push rod 82 of the electric telescopic rod 79, and a lens 81 of the detection camera 80 corresponds to the inner wall of the pipeline 50 to be detected; one ends of the front supporting spring 73 and the rear supporting spring 77 are fixed to the rear of the machine casing of the front synchronous motor 86 and the rear synchronous motor 78, respectively.
The front walking unit 71 and the rear walking unit 72 both comprise a threaded cylinder 15, one end of the threaded cylinder 15 is fixedly connected to the tail end of a front supporting spring 73 or a rear supporting spring 77, and the threaded cylinder 15 and a front output shaft 74 or a rear output shaft 76 are coaxially arranged;
the steering engine comprises a steering engine base 5, a steering engine 89 is mounted on the steering engine base 5, a screw rod mounting base 6 is fixedly mounted on the steering engine base 5, the screw rod 8 is coaxial with the threaded cylinder 15, and one end of the screw rod 8 is rotatably connected with the screw rod mounting base 6 through a bearing; the other end of the screw rod 8 is in threaded fit with the internal thread of the threaded cylinder 15; the output end of the steering engine 89 is in transmission connection with the screw rod 8, and the steering engine 89 drives the screw rod 8 to rotate;
an annular first hinge part seat 14 is coaxially and fixedly installed at one end, far away from the crack detection mechanism 074, of the threaded cylinder 15, and three first hinge parts 13 are distributed on the contour edge of the first hinge part seat 14 in a circumferential array manner; an annular second hinged seat 4 is fixedly arranged at one end, close to the crack detection mechanism 074, of the rudder engine base 5; three second hinging pieces 7 are distributed on the contour edge of the second hinging seat 4 in a circumferential array;
the front walking mechanism 32 also comprises three groups of walking wheel brackets 87 which are distributed in a circumferential array along the axis of the screw rod 8; each group of walking wheel brackets 87 comprises a first connecting rod 9 and a second connecting rod 10, one end of each first connecting rod 9 is hinged with a corresponding second hinged part 7, and one end of each second connecting rod 10 is hinged with a corresponding first hinged part 11; the other end of each first connecting rod 9 is fixedly connected with a driving wheel unit 12; a third hinge 11 is arranged at the joint of each driving wheel unit 12 and the first connecting rod 9, and the other end of each second connecting rod 10 is hinged with the corresponding third hinge 11; each driving wheel unit 12 is rotatably provided with a driving wheel 41, and a driving wheel driving motor in the driving wheel unit 12 can drive the driving wheel 41 to rotate automatically; the axial line of each driving wheel 41 is vertical to the screw rod 8; and each of the driving wheels 41 can roll along the inner wall of the measured pipeline 50.
The execution method of the oil and gas pipeline inner wall detection mechanism comprises the following steps:
step one, placing a crack detection mechanism 074 into a detected pipeline 50, then controlling steering engines 89 on a front walking unit 71 and a rear walking unit 72, further rotating a screw rod 8, and enabling a thread cylinder 15 to move gradually close to a rudder base 5 by controlling the rotating direction of the screw rod 8, wherein as the thread cylinder 15 gradually approaches the rudder base 5, each driving wheel unit 12 moves gradually away from the axis of the screw rod 8 until the wheel surface of a driving wheel 41 on each driving wheel unit 12 contacts the inner wall of the detected pipeline 50, and as the screw rod 8 continuously rotates, finally the wheel surface of the driving wheel 41 on each driving wheel unit 12 tightly presses the inner wall of the detected pipeline 50, and at this time, the crack detection mechanism 074 is located at the axis position of the detected pipeline 50; the operation of the steering engine 89 is suspended in this state;
step two, synchronously starting each driving wheel unit 12, enabling all the driving wheels 41 to rotate in the same rotation direction, further enabling each driving wheel 41 to roll along the tested pipeline 50, and further driving the whole body formed by the front walking unit 71, the rear walking unit 72 and the crack detection mechanism 074 to walk along the interior of the tested pipeline 50 until the crack detection mechanism 074 reaches a preset detection section in the tested pipeline 50; when the whole body formed by the front walking unit 71, the rear walking unit 72 and the crack detection mechanism 074 encounters a passage with a curve, a contracted inner diameter or an expanded inner diameter in the process of advancing, the steering engines 89 on the front walking unit 71 and the rear walking unit 72 are adaptively controlled, so that the wheel surfaces of the driving wheels 41 can always contact the inner wall of the pipeline 50 to be detected, and further the whole structure formed by the front walking unit 71, the rear walking unit 72 and the crack detection mechanism 074 can stably walk in the pipeline 50 to be detected;
after the crack detection mechanism 074 reaches a preset detection section in the detected pipeline 50, controlling and slowing down the rotation speed of each driving wheel 41 to increase the detection accuracy, so that the crack detection mechanism 074 is slowly pushed in the detection section of the detected pipeline 50; meanwhile, the electric telescopic rod 79 is controlled to enable the position of the detection camera 80 to gradually move outwards to a position close to the inner wall of the detected pipeline 50, so that the lens 81 of the detection camera 80 can clearly scan the inner wall of the detected pipeline 50; then synchronously controlling the front synchronous motor 86 and the rear synchronous motor 78 to enable the telescopic rod seat 75 to rotate along the axis of the front output shaft 74 or the rear output shaft 76, and after the telescopic rod seat 75 rotates for a circle, just scanning the inner wall of the detected pipeline 50 for a circle by the lens 81 of the detection camera 80; meanwhile, the crack detection mechanism 074 is slowly pushed in at the detection section position of the detected pipeline 50, after the crack detection mechanism 074 completely passes through the detection section position of the detected pipeline 50, the inner wall of the detection section of the detected pipeline 50 is also completely scanned by the lens 81 of the camera 80, and the camera 80 records after finding a crack; and further crack detection is realized.
The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (2)
1. Oil gas pipeline inner wall detection mechanism, its characterized in that: the crack detection device comprises a crack detection mechanism (074), wherein the front end and the rear end of the crack detection mechanism (074) are respectively and symmetrically connected with a front walking unit (71) and a rear walking unit (72) through a front supporting spring (73) and a rear supporting spring (77); the front walking unit (71) and the rear walking unit (72) can drive the crack detection mechanism (074) to move along the inner wall of the pipeline to be detected (50);
the crack detection mechanism (074) comprises a front synchronous motor (86) and a rear synchronous motor (78) which are symmetrical front and back, so that the tail end of a front output shaft (74) of the front synchronous motor (86) is coaxially and fixedly connected with the tail end of a rear output shaft (76) of the rear synchronous motor (78); a telescopic rod seat (75) is vertically and fixedly connected to the joint of the front output shaft (74) and the rear output shaft (76), an electric telescopic rod (79) is fixedly connected to the tail end of the telescopic rod seat (75), a detection camera (80) is fixedly mounted at the tail end of a push rod (82) of the electric telescopic rod (79), and a lens (81) of the detection camera (80) corresponds to the inner wall of the detected pipeline (50); one end of the front supporting spring (73) and one end of the rear supporting spring (77) are respectively fixed at the tail parts of the machine shells of the front synchronous motor (86) and the rear synchronous motor (78).
2. The oil and gas pipeline inner wall detection mechanism of claim 1, characterized in that: the front walking unit (71) and the rear walking unit (72) respectively comprise a threaded cylinder (15), one end of the threaded cylinder (15) is fixedly connected to the tail end of a front supporting spring (73) or a rear supporting spring (77), and the threaded cylinder (15) and a front output shaft (74) or a rear output shaft (76) are coaxially arranged;
the steering engine is characterized by further comprising a steering engine base (5), a steering engine (89) is mounted on the steering engine base (5), a screw rod mounting base (6) is further fixedly mounted on the steering engine base (5), the steering engine also comprises a screw rod (8) which is coaxial with the threaded cylinder (15), and one end of the screw rod (8) is rotatably connected with the screw rod mounting base (6) through a bearing; the other end of the screw rod (8) is in threaded fit with the internal thread of the threaded cylinder (15); the output end of the steering engine (89) is in transmission connection with the screw rod (8), and the steering engine (89) drives the screw rod (8) to rotate;
one end, far away from the crack detection mechanism (074), of the threaded cylinder (15) is coaxially and fixedly provided with an annular first hinge piece seat (14), and three first hinge pieces (13) are distributed on the contour edge of the first hinge piece seat (14) in a circumferential array manner; one end of the rudder engine base (5) close to the crack detection mechanism (074) is fixedly provided with an annular second hinged base (4); three second hinging pieces (7) are distributed on the contour edge of the second hinging seat (4) in a circumferential array; the front travelling mechanism (32) also comprises three groups of travelling wheel brackets (87) which are distributed in a circumferential array along the axis of the screw rod (8); each group of walking wheel brackets (87) comprises a first connecting rod (9) and a second connecting rod (10), one end of each first connecting rod (9) is hinged and connected with a corresponding second hinged part (7), and one end of each second connecting rod (10) is hinged and connected with a corresponding first hinged part (13); the other end of each first connecting rod (9) is fixedly connected with a driving wheel unit (12); a third hinge piece (11) is arranged at the joint of each driving wheel unit (12) and the first connecting rod (9), and the other end of each second connecting rod (10) is hinged with the corresponding third hinge piece (11); each driving wheel unit (12) is rotatably provided with a driving wheel (41), and a driving wheel driving motor in each driving wheel unit (12) can drive the driving wheel (41) to rotate automatically; the axial line of each driving wheel (41) is vertical to the screw rod (8); and each driving wheel (41) can roll along the inner wall of the pipeline (50) to be tested.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921035613.3U CN210770997U (en) | 2019-07-04 | 2019-07-04 | Oil gas pipeline inner wall detection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921035613.3U CN210770997U (en) | 2019-07-04 | 2019-07-04 | Oil gas pipeline inner wall detection mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN210770997U true CN210770997U (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921035613.3U Expired - Fee Related CN210770997U (en) | 2019-07-04 | 2019-07-04 | Oil gas pipeline inner wall detection mechanism |
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| Country | Link |
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| CN (1) | CN210770997U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110220071A (en) * | 2019-07-04 | 2019-09-10 | 西安工业大学 | Robot and its method are detected for inner wall of the pipe slight crack |
-
2019
- 2019-07-04 CN CN201921035613.3U patent/CN210770997U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110220071A (en) * | 2019-07-04 | 2019-09-10 | 西安工业大学 | Robot and its method are detected for inner wall of the pipe slight crack |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200616 Termination date: 20210704 |