CN214662940U

CN214662940U - Crawler for nondestructive testing of pipeline

Info

Publication number: CN214662940U
Application number: CN202121153918.1U
Authority: CN
Inventors: 冯颖果; 李龙; 李中南; 冯颖鹏
Original assignee: Xinjiang Zhengan Testing Technology Co ltd
Current assignee: Xinjiang Zhengan Testing Technology Co ltd
Priority date: 2021-05-26
Filing date: 2021-05-26
Publication date: 2021-11-09
Anticipated expiration: 2031-05-26

Abstract

The utility model relates to a nondestructive test's technical field discloses a crawl device for pipeline nondestructive test, and it includes base, moving mechanism, elevating system and is used for the supporting mechanism of fixed nondestructive test probe, one side on ground is kept away from to the supporting mechanism fixed connection at the base, the base is hollow cuboid shell structure, moving mechanism includes a driving motor and two sets of rolling subassembly, and is two sets of the rolling subassembly all is connected with the base, and is two sets of the rolling subassembly all is connected with a driving motor, elevating system is located between two sets of rolling subassemblies, elevating system is connected with the base. The application has the effect of reducing the possibility that the movement of the crawler is influenced by obstacles.

Description

Crawler for nondestructive testing of pipeline

Technical Field

The application relates to the field of nondestructive testing, in particular to a crawler for nondestructive testing of pipelines.

Background

The nondestructive testing is to utilize the change of the reaction of heat, sound, light, electricity, magnetism and the like caused by the abnormal structure or the defect in the material under the premise of not damaging the service performance of the tested object or damaging the internal tissue of the tested object in the inspection of the mechanical material, and take a physical or chemical method as a means by means of modern technology and equipment. Method for inspecting and testing the structure, state and type, number, shape, nature, position, size, distribution and variation of defects inside and on the surface of a test piece.

At present, chinese patent application with publication number CN112303378A discloses a crawler for nondestructive testing of pipelines, which comprises a frame, a traveling mechanism arranged on the frame, a power mechanism arranged on the frame, and a support mechanism arranged on the frame; the power mechanism drives the advancing mechanism to advance on the inner wall of the pipeline; the supporting mechanism is used for supporting the probe and comprises a supporting rod arranged on the frame, a supporting tube connected with the supporting rod in a sliding mode, a locking rod arranged on the supporting tube in a penetrating mode and in threaded connection with the supporting rod, a supporting plate arranged on the supporting tube, a first fixing plate, a second fixing plate and a clamping rod connected with the second fixing plate in a threaded mode, wherein the first fixing plate and the second fixing plate are arranged on the supporting plate; the clamping rod enables the probe to be abutted against the first fixing plate, the probe is abutted against the inner wall of the pipeline, and the supporting pipe is provided with a plurality of clamping through holes; a plurality of centre gripping through-holes are seted up along the axial direction of stay tube, and the check lock pole can pass different centre gripping through-holes and bracing piece threaded connection.

In view of the above-mentioned related art, the inventor believes that there may be an obstacle in a pipeline during a process of detecting the inside of the pipeline using a crawler, and there is a defect that the movement of the crawler may be affected by the obstacle.

SUMMERY OF THE UTILITY MODEL

In order to reduce the possibility that the movement of the crawler is influenced by obstacles, the crawler for nondestructive testing of the pipeline is provided.

The application provides a crawler for nondestructive testing of pipeline adopts following technical scheme:

the utility model provides a crawler for nondestructive test of pipeline, includes base, moving mechanism, elevating system and is used for the supporting mechanism of fixed nondestructive test probe, one side on ground is kept away from to the supporting mechanism fixed connection at the base, the base is hollow cuboid shell structure, moving mechanism includes a driving motor and two sets of rolling subassembly, and is two sets of the rolling subassembly all is connected with the base, and is two sets of the rolling subassembly all is connected with a driving motor, elevating system is located between two sets of rolling subassemblies, elevating system is connected with the base.

By adopting the technical scheme, the nondestructive testing probe is connected with the supporting mechanism, the two groups of rolling assemblies are abutted against the inner wall of the pipeline, and the first driving motor is utilized to drive the two groups of rolling assemblies to rotate, so that the base is driven to move in the pipeline, and the nondestructive testing probe is driven to test the pipeline in the pipeline; when the movement of the crawler is influenced by the obstacle, the lifting mechanism is utilized to drive the base to ascend or descend, so that the crawler passes through the upper part or the lower part of the obstacle, and the possibility that the movement of the crawler is influenced by the obstacle is reduced.

Optionally, elevating system includes two-way lead screw, second driving motor, two screws, two connecting rods and two sets of butt subassemblies that are used for with the pipeline inner wall butt, two-way lead screw is located inside the base, two-way lead screw rotates with the base to be connected, two the screw all with two-way lead screw threaded connection and two screw motions in opposite directions, two the connecting rod is fixed connection respectively in the one side that two screws deviate from each other, two the coaxial cover of connecting rod is established in the outside of two-way lead screw, connecting rod and base sliding connection, two sets of the butt subassembly is connected respectively in the one end that two connecting rods kept away from the screw, and two sets of butt subassemblies are located base length direction's both sides respectively, second driving motor's main shaft and two-way screw transmission are connected.

Through adopting above-mentioned technical scheme, when meetting the barrier, the main shaft of second driving motor rotates and drives two-way lead screw and rotate, and two-way lead screw rotates and makes two nuts remove to the direction of keeping away from each other to make the inner wall butt of two butt joint subassemblies and pipeline, two-way lead screw continues to rotate, and two butt joint subassemblies slide along the inner wall of pipeline, and then drive the base and remove to the direction that keeps away from ground.

Optionally, the abutting assembly comprises a rotating roller, the rotating roller is connected with the connecting rod, and a rotating axis of the rotating roller is parallel to the length direction of the base.

Through adopting above-mentioned technical scheme, utilize the inner wall butt of live-rollers and pipeline, frictional force between butt subassembly and the pipeline inner wall is less, reduces the dead possibility of card between base lift in-process butt subassembly and the pipeline inner wall.

Optionally, the butt subassembly still includes connecting piece, two sliders and two springs, the connecting piece includes the connecting plate and two backup pads with the perpendicular fixed connection of connecting rod, two the perpendicular fixed connection of backup pad is in the one side of keeping away from the connecting rod of connecting plate, two backup pad parallel arrangement, two the slider is sliding connection respectively on the lateral wall that two backup pads are close to each other, the live-rollers rotates and connects between two sliders, the slider is close to the one end and the spring fixed connection of connecting plate, and the one end and the backup pad fixed connection of slider are kept away from to the spring.

Through adopting above-mentioned technical scheme, connect the live-rollers between two sliders, slider and backup pad elastic connection improve the stability of elevating system work when the inner wall of pipeline is uneven.

Optionally, a balancing weight is fixedly connected to the center of one side of the base close to the ground.

Through adopting above-mentioned technical scheme, put fixed connection balancing weight at the center that the base is close to ground one side, improve the stability of base lift in-process.

Optionally, the rolling assembly comprises a rotating shaft and two rollers, the rotating shaft is located inside the base and connected with the base, the rollers are located on two sides of the length direction of the base respectively and connected with the rotating shaft through the telescopic assembly, and the rotating shaft is in transmission connection with the first driving motor.

Through adopting above-mentioned technical scheme, first driving motor drive pivot is rotated, and the gyro wheel rotates under the drive of pivot with the inner wall butt of pipeline, gyro wheel to drive the base and remove.

Optionally, flexible subassembly includes sleeve pipe and electric push cylinder, the coaxial cover of sleeve pipe is established in the outside of pivot, the sleeve pipe is connected with the pivot key-type, the one end and the coaxial fixed connection of gyro wheel that the pivot was kept away from to the sleeve pipe, sleeve pipe and base sliding connection, electric push cylinder fixed connection is inside the base, the one end butt of gyro wheel is kept away from with the sleeve pipe to the telescopic link of electric push cylinder.

By adopting the technical scheme, the sleeve is connected with the rotating shaft key, the sleeve is driven by the rotating shaft to synchronously rotate with the rotating shaft, and the rotating shaft drives the roller to rotate through the sleeve; after the lifting mechanism drives the base to rise, the roller is separated from the inner wall of the pipeline, and the sleeve is pushed to slide in the direction away from the rotating shaft by the electric pushing cylinder, so that the roller is abutted to the inner wall of the pipeline.

Optionally, a transmission shaft is connected to a main shaft of the first driving motor, the transmission shaft is parallel to the length direction of the base and is rotatably connected with the base, the transmission shaft is connected with the main shaft of the first driving motor in a transmission manner, the two ends of the transmission shaft are respectively and coaxially and fixedly connected with first bevel gears, the first bevel gears are symmetrically arranged, the two rotating shafts are respectively and coaxially and fixedly connected with second bevel gears, the two second bevel gears are respectively located on the two sides of the length direction, and the two second bevel gears are respectively connected with the first bevel gears in a meshing manner.

Through adopting above-mentioned technical scheme, first driving motor passes through the transmission shaft and drives two rotation synchronous rotations, improves the stationarity that the base horizontal direction removed.

In summary, the present application includes at least one of the following beneficial technical effects:

1. by arranging the lifting mechanism connected with the base between the two groups of rolling assemblies, when the movement of the crawler is influenced by the obstacle, the lifting mechanism is utilized to drive the base to ascend or descend, so that the crawler passes through the upper part or the lower part of the obstacle, and the possibility that the movement of the crawler is influenced by the obstacle is reduced;

2. the base is fixedly connected with the balancing weight at the central position of one side, close to the ground, of the base, so that the stability of the base in the lifting process is improved;

3. through the inner wall butt that utilizes live-rollers and pipeline, be rolling friction between live-rollers and the pipeline inner wall, frictional force is less, reduces the dead possibility of card between base lift in-process butt subassembly and the pipeline inner wall.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a moving mechanism portion according to an embodiment of the present application;

fig. 3 is a schematic structural view of a lifting mechanism portion according to an embodiment of the present application.

Reference numerals: 100. a base; 200. a moving mechanism; 210. a first drive motor; 220. a rolling component; 221. a rotating shaft; 222. a roller; 230. a telescoping assembly; 231. a sleeve; 232. an electric pushing cylinder; 240. a drive shaft; 250. a first bevel gear; 260. a second bevel gear; 300. a lifting mechanism; 310. a bidirectional lead screw; 320. a second drive motor; 330. a nut; 340. a connecting rod; 350. an abutment assembly; 351. a rotating roller; 352. a connecting member; 353. a connecting plate; 354. a support plate; 355. a slider; 356. a spring; 400. and a support mechanism.

Detailed Description

The present application is described in further detail below with reference to figures 1-3.

The embodiment of the application discloses a crawler for nondestructive testing of a pipeline. Referring to fig. 1, a crawler for nondestructive testing of a pipeline includes a base 100, where the base 100 is a hollow rectangular parallelepiped shell structure, and the length direction and the width direction of the base 100 are horizontally arranged. A support mechanism 400 is fixedly connected to the upper side of the base 100, and the nondestructive testing probe is fixed by the support mechanism 400. The moving mechanism 200 is connected to the base 100, and the moving mechanism 200 drives the base 100 to move horizontally in the duct. The base 100 is further connected with a lifting mechanism 300, the lifting mechanism 300 is used for driving the base 100 to move in the vertical direction in the pipeline, when the movement of the crawler is influenced by an obstacle, the crawler penetrates through the upper portion or the lower portion of the obstacle, and the possibility that the movement of the crawler is influenced by the obstacle is reduced.

Referring to fig. 1 and 2, the moving mechanism 200 includes two sets of rolling assemblies 220, and the two sets of rolling assemblies 220 are respectively located at positions close to two ends of the base 100 in the length direction. The rolling assembly 220 includes a rotating shaft 221, the rotating shaft 221 is rotatably connected to an inner wall of the base 100, and a length direction of the rotating shaft 221 is parallel to a width direction of the base 100. Both ends of the length direction of the rotating shaft 221 are connected with the roller 222 through the telescopic assembly 230, the telescopic assembly 230 comprises a sleeve 231 coaxially sleeved at one end of the rotating shaft 221, the sleeve 231 is slidably connected with the rotating shaft 221, the sleeve 231 is arranged on the side wall of the base 100 in a penetrating manner, and the sleeve 231 is slidably connected with the side wall of the base 100. One end of the sleeve 231 close to the rotating shaft 221 is abutted with an electric pushing cylinder 232, the electric pushing cylinder 232 is fixedly connected with the base 100, and an expansion rod of the electric pushing cylinder 232 is abutted with the sleeve 231. The roller 222 is coaxially and fixedly connected to an end of the sleeve 231 remote from the shaft 221.

The first driving motor 210 is fixedly connected inside the base 100, the transmission shaft 240 is rotatably connected inside the base 100, the transmission shaft 240 is located between the two rotating shafts 221, the transmission shaft 240 is perpendicular to the rotating shafts 221, and the transmission shaft 240 is in transmission connection with a main shaft of the first driving motor 210 through a gear. Both ends of transmission shaft 240 length direction all overlap coaxially and are equipped with first bevel gear 250, the less terminal surface orientation of two first bevel gears 250 the direction that deviates from each other. The two rotating shafts 221 are coaxially and fixedly connected with second bevel gears 260, the two second bevel gears 260 are respectively located on two sides of the transmission shaft 240 in the length direction, and the second bevel gears 260 are in meshed connection with the first bevel gears 250.

The main shaft of the first driving motor 210 rotates to drive the driving shaft to rotate, the driving shaft drives the two rotating shafts 221 to rotate synchronously through the meshing of the first bevel gear 250 and the second bevel gear 260, and the rollers 222 are driven to rotate synchronously in the synchronous rotation process of the two rotating shafts 221, so that the base 100 is moved in the horizontal direction. When the distance between the inner walls of the pipes on both sides of the base 100 changes, the sleeve 231 is moved by the electric pushing cylinder 232, so that the distance between the two rollers 222 in the same rolling assembly 220 is adjusted, and the stability of the horizontal movement of the base 100 is improved.

Referring to fig. 1 and 3, the lifting mechanism 300 includes a bidirectional screw 310 located inside the base 100, the bidirectional screw 310 is rotatably connected to the base 100, a length direction of the bidirectional screw 310 is parallel to a width direction of the base 100, and the bidirectional screw 310 is located between the two rotating shafts 221. The two-way screw 310 is in threaded connection with two nuts 330 moving in opposite directions, one side of each of the two nuts 330 departing from is fixedly connected with a connecting rod 340, the connecting rod 340 is sleeved on the outer side of the two-way screw 310, the connecting rod 340 is arranged on the side wall of the base 100 in a penetrating manner, and the connecting rod 340 is connected with the side wall of the base 100 in a sliding manner.

Referring to fig. 3, an abutment assembly 350 is attached to an end of the connecting rod 340 distal from the nut 330. The abutting assembly 350 comprises a connecting member 352, the connecting member 352 comprises a connecting plate 353 vertically and fixedly connected with the connecting rod 340, one side of the connecting plate 353 away from the connecting rod 340 is vertically and fixedly connected with two supporting plates 354, and the two supporting plates 354 are arranged in parallel. The sliding grooves are formed in the mutually close sides of the two supporting plates 354, sliding blocks 355 connected with the supporting plates 354 in a sliding mode are arranged in the sliding grooves, springs 356 are fixedly connected to the side, close to the connecting plate 353, of each sliding block 355, and one side, far away from the corresponding sliding block 355, of each spring 356 is fixedly connected with the corresponding supporting plate 354. A rotating roller 351 is rotatably connected between the two sliders 355.

The middle position below the base 100 is fixedly connected with a balancing weight, and the stability of the supporting mechanism 400 of the base 100 in the lifting process is improved by the balancing weight.

Referring to fig. 3, a second driving motor 320 is fixedly connected to an inner wall of the base 100, and the second driving motor 320 is in transmission connection with the bidirectional lead screw 310 through a gear. When the crawler moves and meets an obstacle, the spindle of the second driving motor 320 rotates to drive the bidirectional screw 310 to rotate, the bidirectional screw 310 rotates to enable the two nuts 330 to move towards the direction away from each other, so that the two rotating rollers 351 are abutted against the inner wall of the pipeline, the bidirectional screw 310 continues to rotate, the two rotating rollers 351 slide along the inner wall of the pipeline, and the base 100 is driven to move towards the direction away from the ground. By connecting the rotating roller 351 between the two sliders 355, the sliders 355 are elastically connected to the support plate 354, and the stability of the elevating mechanism 300 in operation when the inner wall of the pipe is uneven is improved.

The implementation principle of the crawler for nondestructive testing of the pipeline in the embodiment of the application is as follows: when the crawler runs across the obstacle of the foreign object in the moving process of the pipeline, if the foreign object is located at the top of the pipeline, the telescopic rod of the electric pushing cylinder 232 is contracted, so that the distance between the two rollers 222 in the same group of rolling assemblies 220 is reduced, and the base 100 moves towards the direction close to the bottom of the pipeline under the action of gravity, so that the crawler can pass under the foreign object.

When the foreign matter is located the position that is close to the pipeline bottom, the main shaft of second driving motor 320 rotates and drives two-way lead screw 310 and rotates, and two-way lead screw 310 rotates and makes two screw 330 remove to the direction of keeping away from each other to make the inner wall butt of two live-rollers 351 and pipeline, two-way lead screw 310 continues to rotate, and two live-rollers 351 slide along the inner wall of pipeline, and then drive base 100 and remove to the direction of keeping away from ground. After the base 100 is lifted, the distance between the inner walls of the pipes on both sides of the base 100 is increased, and the telescopic rod of the electric pushing cylinder 232 is extended, so that the sleeve 231 is pushed to move in the direction away from the rotating shaft 221, the roller 222 is abutted against the inner wall of the pipe, and the crawler passes over the foreign object.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a crawler for nondestructive test of pipeline which characterized in that: including base (100), moving mechanism (200), elevating system (300) and supporting mechanism (400) that are used for fixed nondestructive test probe, one side on ground is kept away from in base (100) to supporting mechanism (400) fixed connection, base (100) are hollow cuboid shell structure, moving mechanism (200) are including first driving motor (210) and two sets of rolling subassembly (220), and are two sets of rolling subassembly (220) all are connected with base (100), and are two sets of rolling subassembly (220) all are connected with first driving motor (210), elevating system (300) are located between two sets of rolling subassembly (220), elevating system (300) are connected with base (100).

2. The crawler according to claim 1, wherein: the lifting mechanism (300) comprises a bidirectional screw rod (310), a second driving motor (320), two nuts (330), two connecting rods (340) and two groups of abutting components (350) used for abutting against the inner wall of the pipeline, the bidirectional screw rod (310) is positioned inside the base (100), the bidirectional screw rod (310) is rotatably connected with the base (100), the two nuts (330) are in threaded connection with the bidirectional screw rod (310) and move in opposite directions, the two connecting rods (340) are respectively and fixedly connected to one sides of the two nuts (330) which deviate from each other, the two connecting rods (340) are coaxially sleeved on the outer side of the bidirectional screw rod (310), the connecting rods (340) are in sliding connection with the base (100), the two groups of abutting components (350) are respectively connected to one ends, far away from the nuts (330), of the two connecting rods (340), and the two groups of abutting components (350) are respectively positioned on two sides of the length direction of the base (100), and the main shaft of the second driving motor (320) is in transmission connection with the bidirectional lead screw (310).

3. The crawler according to claim 2, wherein: the abutting assembly (350) comprises a rotating roller (351), the rotating roller (351) is connected with the connecting rod (340), and the rotating axis of the rotating roller (351) is parallel to the length direction of the base (100).

4. The crawler according to claim 3, wherein: the abutting assembly (350) further comprises a connecting piece (352), two sliding blocks (355) and two springs (356), the connecting piece (352) comprises a connecting plate (353) and two supporting plates (354) which are vertically and fixedly connected with the connecting rod (340), the two supporting plates (354) are vertically and fixedly connected to one side, away from the connecting rod (340), of the connecting plate (353), the two supporting plates (354) are arranged in parallel, the two sliding blocks (355) are respectively and slidably connected to the side walls, close to the two supporting plates (354), of the two supporting plates (354), the rotating roller (351) is rotatably connected between the two sliding blocks (355), one end, close to the connecting plate (353), of each sliding block (355) is fixedly connected with the corresponding spring (356), and one end, away from the corresponding sliding block (355), of each spring (356) is fixedly connected with the corresponding supporting plate (354).

5. The crawler according to claim 4, wherein: the base (100) is fixedly connected with a balancing weight at the central position of one side close to the ground.

6. The crawler according to claim 1, wherein: the rolling assembly (220) comprises a rotating shaft (221) and two rollers (222), the rotating shaft (221) is located inside the base (100), the rotating shaft (221) is connected with the base (100), the rollers (222) are located on two sides of the length direction of the base (100) respectively, the rollers (222) are connected with the rotating shaft (221) through a telescopic assembly (230), and the rotating shaft (221) is in transmission connection with the first driving motor (210).

7. The crawler according to claim 6, wherein: the telescopic assembly (230) comprises a sleeve (231) and an electric pushing cylinder (232), the sleeve (231) is coaxially sleeved on the outer side of the rotating shaft (221), the sleeve (231) is connected with the rotating shaft (221) in a key mode, one end, away from the rotating shaft (221), of the sleeve (231) is fixedly connected with the roller (222) in a coaxial mode, the sleeve (231) is connected with the base (100) in a sliding mode, the electric pushing cylinder (232) is fixedly connected inside the base (100), and the telescopic rod of the electric pushing cylinder (232) is abutted to one end, away from the roller (222), of the sleeve (231).

8. The crawler according to claim 7, wherein: the main shaft of first driving motor (210) is connected with transmission shaft (240), transmission shaft (240) are on a parallel with the length direction of base (100) and transmission shaft (240) are connected with base (100) rotation, transmission shaft (240) are connected with the spindle drive of first driving motor (210), transmission shaft (240) both ends are first bevel gear (250) of coaxial fixedly connected with, two first bevel gear (250) symmetry sets up, two pivot (221) are second bevel gear (260) of coaxial fixedly connected with respectively, two second bevel gear (260) are located the both sides of length direction respectively, two second bevel gear (260) all are connected with first bevel gear (250) meshing.