CN211710961U - Walking robot for pipeline flaw detection - Google Patents
Walking robot for pipeline flaw detection Download PDFInfo
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- CN211710961U CN211710961U CN202020320848.3U CN202020320848U CN211710961U CN 211710961 U CN211710961 U CN 211710961U CN 202020320848 U CN202020320848 U CN 202020320848U CN 211710961 U CN211710961 U CN 211710961U
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- walking
- ring
- pipeline
- inclined plane
- flaw
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Abstract
The utility model relates to a pipeline technical field that detects a flaw especially relates to pipeline flaw detection walking robot. The technical scheme is as follows: the pipeline flaw detection walking robot comprises a walking ring sleeved on a pipeline, wherein an inclined plane ring is fixed on the walking ring, the end surface of the inclined plane ring inclines relative to the radial direction of the walking ring, and an opening is formed in the walking ring; the walking ring is also provided with a driving mechanism, and the output end of the driving mechanism is in contact with the pipeline; and the walking ring is also provided with a radiographic inspection instrument. The utility model provides a can cross the pipeline of obstacle in order to guarantee incessant detection of flaw and detect a flaw walking robot, solve the problem that current pipeline detection of flaw robot can be blockked by the barrier on the pipeline.
Description
Technical Field
The utility model relates to a pipeline technical field that detects a flaw especially relates to pipeline flaw detection walking robot.
Background
With the wide application and multidimensional development of nondestructive testing, nondestructive testing tends to be specialized, classified and refined and is widely applied to different fields, the requirements on time, space, testing conditions and testing efficiency are more diversified, the nondestructive testing is frequently diversified in form due to the field characteristics and complex in flaw detection condition, so that the research and development and the production of a flaw detector are difficult to obtain at the same time, the products are often difficult to be compatible to different flaw detection conditions, the application field of the flaw detector is high in correspondence, and the use benefit of the flaw detector is reduced.
The principle of the X-ray damage detector is a nondestructive flaw detection method for finding defects in a substance by utilizing the characteristics of X-rays penetrating the substance and attenuation in the substance. X-rays can inspect the interior of the pipe for defects. Such as porosity, slag inclusions, lack of penetration of the weld, etc. defects in the weld.
The patent application number of CN201820249087.X discloses a robot for flaw detection outside a pipeline, when a sensor at the front end detects a welding point, a controller controls a pneumatic slider on a front-end annular support to be away from the pipeline, a driving device at the other end drives a rotating wheel to continuously rotate so as to drive the robot to continuously move forwards, and after the annular support at the front end drives the rotating wheel to completely pass through the welding point, the controller drives the pneumatic slider to push the rotating wheel to be in contact with the pipeline, and the rotating wheel drives the robot to move; treat that the sensor that is located on the ring carrier of rear end detects the place ahead when having welded solder joint, the pipeline is kept away from to pneumatic slider on the controller control front end ring carrier, and the runner that is located the front end rotates and drives the robot and remove outside the pipeline, treats that the ring carrier that is located the rear end drives the whole process welding points backs of runner, and the pneumatic slider of controller drive promotes runner and pipeline contact, and the runner drives the robot and removes, thereby has realized the utility model discloses a normal walking of robot on the pipeline surface that has the welding point.
However, the device cannot continue to travel when encountering a bump or tee on the pipe. When detecting a flaw to the pipeline, the spare part or the tee bend pipeline that have irregular arch, installation on the pipeline can't be avoided, if meet the obstacle at every turn and all install the device of detecting a flaw again, with greatly reduced efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model overcomes prior art's is not enough, provides one kind and can cross the pipeline of obstacle in order to guarantee incessant detection of flaw and detect a flaw walking robot, has solved the problem that current pipeline detection of flaw robot can be blockked by the barrier on the pipeline.
In order to solve the technical problem, the utility model adopts the following technical scheme:
the pipeline flaw detection walking robot comprises a walking ring sleeved on a pipeline, wherein an inclined plane ring is fixed on the walking ring, the end surface of the inclined plane ring inclines relative to the radial direction of the walking ring, and an opening is formed in the walking ring; the walking ring is also provided with a driving mechanism, and the output end of the driving mechanism is in contact with the pipeline; and the walking ring is also provided with a radiographic inspection instrument.
As the preferred scheme of the utility model, the opening part of walking ring is connected with and is used for sheltering from open-ended telescopic machanism.
As the utility model discloses an optimal scheme, the both ends of walking ring all are provided with flexible groove, and telescopic machanism includes expanding spring, and expanding spring connects in flexible inslot, and expanding spring's the other end is connected with the expansion plate, and the other end of expansion plate stretches out flexible groove, and one side that the expansion plate is close to the inclined plane ring is equipped with the inclined plane.
As the utility model discloses a preferred scheme, actuating mechanism includes the link, and on the link was fixed in the walking ring, the link was installed the motor, was fixed with the reduction gear on the motor, and the output shaft of motor was connected with the input of reduction gear, and the output of reduction gear is connected with the drive wheel, and the drive wheel overlap joint is on the pipeline surface.
As a preferred scheme of the utility model, a chute is fixed on the connecting frame, a slide block is fixed on the motor, and the slide block is sleeved in the chute; and a compression spring is fixed on the connecting frame, and the other end of the compression spring is connected with the speed reducer.
As the utility model discloses an optimal scheme, install a plurality of walking wheels on the inner wall of walking ring, the walking wheel overlap joint is on the pipeline outer wall.
As the preferred scheme of the utility model, install a plurality of adjustment rollers on the terminal surface of inclined plane ring.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses an actuating mechanism can remove for pipeline surface, then walking ring, inclined plane ring and radiographic inspection appearance together remove, and the radiographic inspection appearance can be detected a flaw to pipeline surface. The end face of the inclined plane ring is inclined relative to the radial direction of the walking ring, when the inclined plane ring meets an obstacle on the pipeline, the driving mechanism continues to drive the whole device to move, the end face of the inclined plane ring slides relative to the obstacle, and the walking ring rotates correspondingly. When the opening steel on the walking ring is just aligned with the barrier, the barrier can pass through the opening of the walking ring, and then the walking ring can smoothly pass through the barrier. Therefore, the utility model discloses can avoid the barrier by oneself, guarantee to detect a flaw work and go on in succession, improve the efficiency of detecting a flaw, reduce the work load of workman's operation of detecting a flaw.
2. When not meetting the barrier, telescopic machanism stretches out naturally, then telescopic machanism can play certain supporting role, has reduced the utility model discloses the condition that drops from the pipeline. And, telescopic machanism can be right the utility model discloses carry on spacingly, guarantee that walking ring is concentric with the pipeline to actuating mechanism can contact smoothly with the pipeline surface, guarantees good drive effect.
3. When an obstacle is encountered, the walking ring and the bevel ring rotate relative to the obstacle. When the inclined ring continues to rotate so that the expansion plate contacts with the obstacle, the obstacle pushes the expansion plate to move, the expansion spring compresses, and the expansion plate can be retracted into the expansion groove, so that the obstacle can smoothly pass through the opening of the walking ring. Then the utility model discloses can cross the barrier smoothly, and guaranteed that the expansion plate can play support and limiting displacement when not meetting the barrier.
4. The motor can drive the reduction gear action, and reduction gear drive wheel rotates, then the drive wheel can roll at the pipeline surface, then the utility model discloses can realize for the pipeline removal the utility model discloses carry out the purpose of automatic flaw detection everywhere to the pipeline.
5. Because the hold-down spring is connected between the connecting frame and the speed reducer, the driving wheel connected on the speed reducer can be always in good contact with the surface of the pipeline, and the driving wheel can be ensured to roll continuously on the surface of the pipeline. Therefore, the utility model discloses can continuous movement on the pipeline, guarantee going on in succession of detecting a flaw. Under the effect of hold-down spring, the position of reduction gear can finely tune, because motor and reduction gear fixed connection, then the motor can corresponding removal. When the motor moves, the sliding block on the motor moves in the sliding groove, and the motor and the speed reducer can be kept stable.
6. When the driving mechanism drives the walking ring to move, the walking wheels in the walking ring can roll on the surface of the pipeline, so that the walking ring can move stably, and the walking ring is prevented from being inclined.
7. Install a plurality of adjustment gyro wheels on the terminal surface of inclined plane ring, then when the inclined plane ring reachd the barrier position, can roll at the barrier surface when adjustment gyro wheel contact barrier, reduced the inclined plane ring for barrier pivoted frictional force, guarantee that the opening of walking ring can aim at the barrier fast, guarantee the utility model discloses pass through the barrier smoothly.
Drawings
Fig. 1 is an assembly view of the present invention and a pipe;
fig. 2 is a schematic structural diagram of the present invention;
FIG. 3 is a schematic view of the drive mechanism;
fig. 4 is a right side view of the structure of the present invention.
In the figure, 1-walking ring; 2-a bevel ring; 3-a drive mechanism; 4-a radiographic inspection machine; 5-a telescoping mechanism; 11-a telescopic groove; 12-a travelling wheel; 21-adjusting rollers; 31-a connecting frame; 32-a motor; 33-a reducer; 34-a driving wheel; 35-a hold-down spring; 51-a telescoping spring; 52-a retractable plate; 311-a chute; 321-sliding block.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
As shown in fig. 1 to 4, the pipeline flaw detection walking robot of the present invention includes a walking ring 1 for being sleeved on a pipeline, an inclined plane ring 2 is fixed on the walking ring 1, an end surface of the inclined plane ring 2 inclines radially relative to the walking ring 1, and an opening is arranged on the walking ring 1; the walking ring 1 is also provided with a driving mechanism 3, and the output end of the driving mechanism 3 is contacted with the pipeline; and the walking ring 1 is also provided with a radiographic inspection instrument 4.
The utility model discloses an actuating mechanism 3 can remove for pipeline surface, then walking ring 1, inclined plane ring 2 and radiographic inspection appearance 4 together remove, and radiographic inspection appearance 4 can be detected a flaw to pipeline surface. The end face of the inclined plane ring 2 inclines relative to the radial direction of the walking ring 1, when the inclined plane ring 2 meets an obstacle on a pipeline, the driving mechanism 3 continues to drive the whole device to move, then the end face of the inclined plane ring 2 slides relative to the obstacle, and the walking ring 1 rotates correspondingly. When the opening steel on the walking ring 1 is just aligned with the obstacle, the obstacle can pass through the opening of the walking ring 1, and then the walking ring 1 can smoothly pass through the obstacle. Therefore, the utility model discloses can avoid the barrier by oneself, guarantee to detect a flaw work and go on in succession, improve the efficiency of detecting a flaw, reduce the work load of workman's operation of detecting a flaw.
Furthermore, the opening of the walking ring 1 is connected with a telescopic mechanism 5 for shielding the opening. When not meetting the barrier, 5 mechanisms of telescopic machanisms stretch out naturally, then telescopic machanism 5 can play certain supporting role, has reduced the utility model discloses the condition that drops from the pipeline. And, telescopic machanism 5 can be right the utility model discloses carry on spacingly, guarantee that walking ring 1 is concentric with the pipeline to actuating mechanism 3 can contact smoothly with the pipeline surface, guarantees good drive effect.
Wherein, the both ends of walking ring 1 all are provided with expansion tank 11, and telescopic machanism 5 includes expanding spring 51, and expanding spring 51 connects in expansion tank 11, and expanding spring 51's the other end is connected with expansion plate 52, and expansion tank 11 is stretched out to expansion plate 52's the other end, and one side that expansion plate 52 is close to inclined plane ring 2 is equipped with the inclined plane. When an obstacle is encountered, the walking ring 1 and the bevel ring 2 rotate relative to the obstacle. When the inclined ring 2 continues to rotate so that the expansion plate 52 contacts with the obstacle, the obstacle pushes the expansion plate 52 to move, the expansion spring 51 is compressed, and the expansion plate 52 can be retracted into the expansion groove 11, so that the obstacle can smoothly pass through the opening of the walking ring 1. The utility model discloses can cross the barrier smoothly, and guaranteed that expansion plate 52 can play support and limiting displacement when not meetting the barrier.
Furthermore, the driving mechanism 3 includes a connecting frame 31, the connecting frame 31 is fixed on the walking ring 1, a motor 32 is installed on the connecting frame 31, a speed reducer 33 is fixed on the motor 32, an output shaft of the motor 32 is connected with an input end of the speed reducer 33, an output end of the speed reducer 33 is connected with a driving wheel 34, and the driving wheel 34 is lapped on the surface of the pipeline. Motor 32 can drive reduction gear 33 action, and reduction gear 33 drive wheel 34 rotates, then drive wheel 34 can roll at the pipeline surface, then the utility model discloses can be for pipeline moving, realize the utility model discloses carry out the purpose of automatic flaw detection everywhere to the pipeline.
Wherein, a sliding groove 311 is fixed on the connecting frame 31, a sliding block 321 is fixed on the motor 32, and the sliding block 321 is sleeved in the sliding groove 311; a pressing spring 35 is fixed on the connecting frame 31, and the other end of the pressing spring 35 is connected with the speed reducer 33. Because the hold-down spring 35 is connected between the connecting frame 31 and the speed reducer 33, the driving wheel 34 connected to the speed reducer 33 can be always in good contact with the surface of the pipeline, and the driving wheel 34 can be ensured to continuously roll on the surface of the pipeline. Therefore, the utility model discloses can continuous movement on the pipeline, guarantee going on in succession of detecting a flaw. Under the action of the hold-down spring 35, the position of the reducer 33 will be finely adjusted, and since the motor 32 and the reducer 33 are fixedly connected, the motor 32 can move accordingly. When the motor 32 moves, the sliding block 321 on the motor 32 moves in the sliding slot 311, so that the motor 32 and the speed reducer 33 can be kept stable.
Furthermore, a plurality of walking wheels 12 are arranged on the inner wall of the walking ring 1, and the walking wheels 12 are lapped on the outer wall of the pipeline. When the driving mechanism 3 drives the walking ring 1 to move, the walking wheels 12 in the walking ring 1 can roll on the surface of the pipeline, so that the walking ring 1 can move stably, and the walking ring 1 is prevented from inclining.
Furthermore, a plurality of adjusting rollers 21 are mounted on the end surface of the inclined plane ring 2. Install a plurality of adjustment gyro wheels 21 on the terminal surface of inclined plane ring 2, then when inclined plane ring 2 reachd the barrier position, can roll on the barrier surface when adjustment gyro wheel 21 contacts the barrier, reduced inclined plane ring 2 for barrier pivoted frictional force, guarantee that the opening of walking ring 1 can aim at the barrier fast, guarantee the utility model discloses pass through the barrier smoothly.
Claims (7)
1. The pipeline flaw detection walking robot is characterized by comprising a walking ring (1) sleeved on a pipeline, wherein an inclined plane ring (2) is fixed on the walking ring (1), the end face of the inclined plane ring (2) inclines relative to the radial direction of the walking ring (1), and an opening is formed in the walking ring (1); the walking ring (1) is also provided with a driving mechanism (3), and the output end of the driving mechanism (3) is in contact with the pipeline; and the walking ring (1) is also provided with a radiographic inspection instrument (4).
2. The pipe inspection walking robot according to claim 1, characterized in that a telescoping mechanism (5) for shielding an opening is connected to the opening of the walking ring (1).
3. The pipeline inspection walking robot according to claim 2, wherein both ends of the walking ring (1) are provided with a telescopic groove (11), the telescopic mechanism (5) comprises a telescopic spring (51), the telescopic spring (51) is connected in the telescopic groove (11), the other end of the telescopic spring (51) is connected with a telescopic plate (52), the other end of the telescopic plate (52) extends out of the telescopic groove (11), and one side of the telescopic plate (52) close to the inclined plane ring (2) is provided with an inclined plane.
4. The pipe inspection walking robot according to claim 1, wherein the driving mechanism (3) comprises a connecting frame (31), the connecting frame (31) is fixed on the walking ring (1), a motor (32) is installed on the connecting frame (31), a reducer (33) is fixed on the motor (32), an output shaft of the motor (32) is connected with an input end of the reducer (33), an output end of the reducer (33) is connected with a driving wheel (34), and the driving wheel (34) is lapped on the surface of the pipe.
5. The pipe inspection walking robot according to claim 4, wherein a sliding groove (311) is fixed on the connecting frame (31), a sliding block (321) is fixed on the motor (32), and the sliding block (321) is sleeved in the sliding groove (311); and a pressing spring (35) is fixed on the connecting frame (31), and the other end of the pressing spring (35) is connected with the speed reducer (33).
6. The pipe inspection walking robot according to claim 1, wherein a plurality of walking wheels (12) are installed on the inner wall of the walking ring (1), and the walking wheels (12) are lapped on the outer wall of the pipe.
7. The robot for inspecting the pipe according to any one of claims 1 to 6, wherein a plurality of adjustment rollers (21) are mounted on the end surface of the bevel ring (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020320848.3U CN211710961U (en) | 2020-03-14 | 2020-03-14 | Walking robot for pipeline flaw detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020320848.3U CN211710961U (en) | 2020-03-14 | 2020-03-14 | Walking robot for pipeline flaw detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211710961U true CN211710961U (en) | 2020-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020320848.3U Expired - Fee Related CN211710961U (en) | 2020-03-14 | 2020-03-14 | Walking robot for pipeline flaw detection |
Country Status (1)
| Country | Link |
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| CN (1) | CN211710961U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112924466A (en) * | 2021-03-10 | 2021-06-08 | 南通大学 | Underwater nondestructive inspection equipment based on combination of vision and magnetic powder and processing method |
| CN116773648A (en) * | 2023-06-30 | 2023-09-19 | 国网江苏省电力有限公司泰州供电分公司 | Crawling detection device and method for transformer substation structure support |
-
2020
- 2020-03-14 CN CN202020320848.3U patent/CN211710961U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112924466A (en) * | 2021-03-10 | 2021-06-08 | 南通大学 | Underwater nondestructive inspection equipment based on combination of vision and magnetic powder and processing method |
| CN116773648A (en) * | 2023-06-30 | 2023-09-19 | 国网江苏省电力有限公司泰州供电分公司 | Crawling detection device and method for transformer substation structure support |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201020 Termination date: 20210314 |
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| CF01 | Termination of patent right due to non-payment of annual fee |