CN215449102U - Pipeline flaw detection crawling robot - Google Patents
Pipeline flaw detection crawling robot Download PDFInfo
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- CN215449102U CN215449102U CN202120400980.XU CN202120400980U CN215449102U CN 215449102 U CN215449102 U CN 215449102U CN 202120400980 U CN202120400980 U CN 202120400980U CN 215449102 U CN215449102 U CN 215449102U
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- pipeline
- middle shaft
- source guide
- control box
- guide tube
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Abstract
This novel robot that crawls that belongs to, concretely relates to pipeline is detected a flaw. A pipeline flaw detection crawling robot comprises a crawling device and a control box. This neotype effect that is showing is: need not to wait for after the welding of big thick wall pipeline and detect a flaw, through reasonable arrangement construction logic and welding process, can realize the mass welding back, creep the robot through pipeline inspection and concentrate and detect a flaw, provide the efficiency of construction greatly.
Description
Technical Field
This novel robot that crawls that belongs to, concretely relates to pipeline is detected a flaw.
Background
Nondestructive testing is an important means for guaranteeing welding quality. At present, the detection technology adopted by the industrial pipeline welding seam is mainly ray detection (RT), for a large thick-wall pipeline, the detection construction logic is that the construction of the next welding seam is carried out after the detection of one welding seam is finished according to a certain sequence, the detection of all pipeline welding seams can be ensured to be finished by the method, and the efficiency is lower. A ray plug is reserved on part of the welded junction, central exposure can be carried out, but for the welded junction without the ray plug, detection personnel need to drill into a pipeline from a pipe port for detection, and a large risk of a closed space exists; or according to a double-wall single-image transillumination mode, the detection of the large and thick-wall weld craters needs 3-4 days, and the field construction progress is severely limited.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a to prior art's defect, provide a pipeline flaw detection robot of crawling, solve present thick wall pipeline welding seam and lead to partial welding seam can't realize central transillumination ray detection because of construction logic to improve the efficiency of construction.
This is novel to realize like this: a pipeline flaw detection crawling robot comprises a crawling device and a control box.
The pipeline flaw detection crawling robot comprises a crawling device, a control box and a control box, wherein the crawling device is controlled by the control box.
The crawling robot for pipeline flaw detection comprises a source guide pipe middle shaft, a wheel bracket, a power wheel module assembly with a driving motor and an endoscope, wherein the wheel bracket is arranged at the lowest part, the power wheel module assembly with the driving motor is arranged on the wheel bracket, and the endoscope and the source guide pipe middle shaft are arranged on the power wheel module assembly with the driving motor.
The pipeline flaw detection crawling robot is characterized in that the source guide tube middle shaft is formed by combining a body, a source guide tube middle shaft-front end, a source guide tube middle shaft and a source guide tube middle shaft rear end, is made of stainless steel materials, is about 700mm long in overall length, is made into a mutually rotatable structure in the middle of the source guide tube middle shaft, is convenient to crawl in a pipeline, is a phi 10 closed pipeline with the extension length of about 150mm and is used for placing and transporting a radiographic flaw detection source, and is a phi 10 pipeline with a quick connector and is used for connecting a switching quick plug;
the pipeline flaw detection crawling robot comprises a wheel bracket, a source guide pipe, a wheel bracket, a power transmission mechanism and a power transmission mechanism, wherein the wheel bracket is connected with a middle shaft of the source guide pipe and is mechanically fixed;
the pipeline flaw detection crawling robot comprises a power wheel module assembly, a power wheel module assembly and a control module, wherein the power wheel module assembly is provided with a driving motor and a pressing spring, and a wheel hub can be properly stretched when being pressed; the power wheel module can be directly connected with the wheel bracket, is mechanically fixed, has properly adjustable length, can pass through the pipeline of DN300 and DN350, can also pass through the lengthened supporting leg and be connected with the wheel bracket, is mechanically fixed, and can pass through the pipeline of DN400, DN450 and DN 500.
The pipeline flaw detection crawling robot is an endoscope and is used for observing the inside of a pipeline.
The crawling robot for pipeline flaw detection further comprises an infrared positioner used for accurately positioning the flaw detection welding line
According to the crawling robot for pipeline flaw detection, the endoscope and the infrared positioning instrument are connected with the middle shaft of the source guiding pipe and are mechanically fixed.
The pipeline flaw detection crawling robot comprises a control box and a robot body, wherein the control box comprises: the specification is about 370X 260X 150mm, and a lithium battery is arranged in the control box; the operating handle is used for controlling the crawling device to advance or retreat in the pipeline; the power switch-on button is a main switch of the whole pipeline flaw detection crawling robot; the speed regulating button can regulate the walking speed of the crawling device; an endoscope display screen for observing the state of the interior of the pipeline; the socket head is a charging and power supply interface of the control box.
This neotype effect that is showing is: 1. the large thick-wall pipeline does not need to wait for flaw detection after being welded, and by reasonably arranging construction logic and welding process, centralized flaw detection can be realized by a pipeline flaw detection crawling robot after batch welding, so that the construction efficiency is greatly improved;
2. the pipeline flaw detection crawling robot can realize that a central searchlighting method is adopted in the maximum range of pipeline flaw detection, compared with the traditional double-wall single-shadow ray detection method, the detection sensitivity and efficiency are obviously improved, and materials are saved, for example, in general conditions, 2-4 negative films need to be washed by adopting double-wall single-shadow searchlighting, and 1 negative film can meet the requirement by adopting central transillumination; in the transillumination time, the transillumination time of each time of the double-wall single-image inspection method is 4 hours, the transillumination needs 10 times, and the central transillumination time is only about 11 minutes (for example, a large thick-wall pipe with the pipe outer diameter of 1016mm and the wall thickness of 45 mm);
3. the pipeline flaw detection crawling robot is adopted, manual operation in the pipeline can be replaced, and potential safety hazards are greatly reduced;
4. the pipeline flaw detection crawling robot takes the over-bending function and certain obstacle passing capability into consideration during design, can smoothly pass through the type of a bent pipe commonly used in engineering, can smoothly crawl in a vertical pipeline, and can climb over obstacles such as small foreign matters, internal surplus height of a welding line and the like in the pipeline;
5. the pipeline flaw detection crawling robot is small and portable, convenient to install and detach, easy to operate, safe and convenient.
Drawings
FIG. 1 is a schematic view of a crawling apparatus;
FIG. 2 is a schematic view of a control box;
FIG. 3 is a creeper device part number diagram;
FIG. 4 is a part number diagram of the control box
Wherein 1 the middle axis-front end of the source guide tube、2, an endoscope, 3, a source guide tube middle shaft, 4 adapter quick plugs, 5 power wheel modules, traveling wheels, 6 power wheel modules, driving motors, 7 infrared positioning instruments, 8 lengthened supporting legs, 9 wheel supports, 10 control boxes, 11 operating handles, 12 power switch buttons, 13 speed regulation buttons, 14 endoscope display screens and 15 socket heads.
Detailed Description
A pipeline flaw detection crawling robot comprises a crawling device and a control box.
The crawling device:
the number 3 is a source guide tube middle shaft which is formed by combining a body, a source guide tube middle shaft-front end, a source guide tube middle shaft and a source guide tube middle shaft rear end, the stainless steel material is adopted, the whole length is about 700mm, a mutually rotatable structure is manufactured in the middle of the source guide tube middle shaft, the mutually rotatable structure is convenient to crawl in a pipeline, the source guide tube middle shaft-front end is a phi 10 closed pipeline with the extending length of about 150mm and is used for placing and transporting a radiographic inspection source, and the source guide tube middle shaft-rear end is a phi 10 pipeline with a quick connector and is used for connecting a quick adapter plug;
the number 9 is a wheel bracket which is connected with a middle shaft (number 3) of the source guide tube and is mechanically fixed;
Number 2 is an endoscope for observing the inside of the pipe; the number 7 is an infrared positioning instrument which is used for accurately positioning the flaw detection welding line; the number 2 and the number 7 are both connected with a middle shaft (number 3) of the source guide tube and are mechanically fixed.
A control box:
the number 10 is the whole control box, the specification is about 370 x 260 x 150mm, and the control box is internally provided with a lithium battery; the number 11 is an operating handle used for controlling the crawling device to advance or retreat in the pipeline; the number 12 is a power switch button which is a main switch of the whole pipeline flaw detection crawling robot; the number 13 is a speed regulating button which can regulate the walking speed of the crawling device; numeral 14 is an endoscope display screen for observing the state of the inside of the pipe; numeral 15 is a socket head, which is a charging and power supply interface of the control box.
Application method
The first step is as follows: checking and assembling each part according to the crawling trolley part number list and the part number picture;
the second step is that: connecting the control box and the crawling trolley by using a driving cable;
the third step: in the no-load test, the operating handle is pulled to test whether the trolley walking function and the speed regulation function are normal, and the endoscope is opened to test whether the endoscope display screen is normal;
the fourth step: after all functions are normal, preparing a radiographic inspection source and a source guiding tube;
the fifth step: the adapter plug is connected with the source guide tube and the rear end of the center shaft of the source guide tube;
and a sixth step: starting to shake the source, and conveying the radiographic inspection source to the front end of the central axis of the source guide tube through the source guide tube and the central axis of the source guide tube;
the seventh step: starting the endoscope and the infrared positioning instrument, operating an operating button and a speed regulating button of the control box to accurately send the crawling device with the radiographic inspection source to a part needing inspection in the pipeline;
eighth step: starting sheet distribution, starting flaw detection work until flaw detection is finished, then carrying out reverse operation to take back a radiographic inspection source, detaching a source guide pipe and closing a control box.
Parts list
Crawl device parts list
| Numbering | Name (R) | Number of |
| 1 | Middle shaft-front end of source guide tube | 1 |
| 2 | Endoscope with a detachable handle | 1 |
| 3 | Guide source pipe middle shaft | 1 |
| 4 | Fast-adapting plug | 1 |
| 5 | Power wheel module- |
6 |
| 6 | Power wheel module- |
6 |
| 7 | Infrared locator | 1 |
| 8 | Lengthened leg (Specification 100, 160, 190) | 6 pieces of each of various specifications |
| 9 | Wheel support | 2 |
Control box parts inventory
| Numbering | Name (R) | Number of |
| 10 | Control box | 1 |
| 11 | Operating handle | 1 |
| 12 | Power switch button | 1 |
| 13 | Speed regulating button | 1 |
| 14 | Endoscope display screen | 1 |
| 15 | Socket head | 1 |
The pipeline flaw detection crawling robot consists of a crawling device and a control box, the crawling device with a flaw detection source can be controlled to crawl into a position needing flaw detection in a pipeline through the control box, central exposure is carried out on a pipeline welding seam, and the radiographic inspection efficiency is improved.
The control box is composed of a lithium battery, an endoscope display screen, an operating button, a crawling trolley operating handle, a speed regulating button, a power switch button, a charger and a driving cable, and is integrated into a portable and small suitcase, so that the operation and the carrying are convenient. Under normal conditions, the control box provides power for the crawling device through the lithium battery, and when the crawling device is not used, the lithium battery is charged through the charger to store electric energy, and under emergency conditions, the crawling device can be used while being charged; the endoscope display screen is connected with the endoscope on the crawling device, the internal state of the pipeline can be clearly watched after the endoscope display screen is opened, and the watching angle can be adjusted through operating buttons; the operating handle of the crawling trolley is used for controlling the crawling device to move forwards and backwards in the pipeline; the speed regulating button is used for regulating the crawling speed of the crawling device and can finely regulate the position in the pipeline; the power switch button is a main switch of the whole control box; the driving cable is connected with the crawling device and the control box and provides power and feedback signals.
The crawling device consists of a source guide pipe middle shaft, a wheel bracket, a power wheel module, a switching quick plug, an extension leg, an endoscope, an infrared positioning instrument and a driving cable. The source conduit middle shaft is a main functional component of the whole crawling device, one end of the source conduit middle shaft is connected with the source conduit through the adapter rapid plug in the using process, the other end of the source conduit middle shaft is used for placing and transporting a reflection source, and meanwhile, the source conduit middle shaft is designed into a self-rotatable combination body in order to facilitate the simultaneous movement of all angles in the pipeline; the wheel bracket is used for connecting a source conduit middle shaft and the power wheel module, is fixed in a mechanical mode, and is specially designed with the lengthening legs for being suitable for different pipeline inner diameters and used for adjusting the connection length of the power wheel module and the wheel bracket; the power wheel module is provided with a driving motor and a compression spring, so that certain obstacle passing capacity is ensured when the power wheel module climbs on the inner wall of the pipeline; the endoscope and the infrared positioning instrument mainly play a role in positioning and accurately send a radiographic inspection source to a crater position to be inspected for the crawling device.
Claims (1)
1. The utility model provides a pipeline is detected a flaw and is crawled machine people which characterized in that: comprises a crawling device and a control box;
the crawling device is controlled by the control box;
the crawling device comprises a source guide pipe middle shaft (3), a wheel support (9), power wheel module assemblies (5, 6) with driving motors and an endoscope (2), wherein the wheel support (9) is arranged at the lowest part, the power wheel module assemblies (5, 6) with the driving motors are arranged on the wheel support (9), and the endoscope (2) and the source guide pipe middle shaft (3) are arranged on the power wheel module assemblies (5, 6) with the driving motors;
the source guide tube middle shaft (3) is formed by combining a body, the front end of the source guide tube middle shaft, the source guide tube middle shaft and the rear end of the source guide tube middle shaft, is made of stainless steel materials, is about 700mm long in overall length, is made into a mutually rotatable structure in the middle of the source guide tube middle shaft, is convenient to crawl in a pipeline, is a phi 10 closed pipeline with the extending length of about 150mm and is used for placing and transporting a radiographic inspection source, and is a phi 10 pipeline with a quick connector and used for connecting a switching quick plug;
the wheel bracket (9) is connected with the source guide pipe middle shaft (3) and is mechanically fixed;
the power wheel module assemblies (5, 6) with the driving motors are internally provided with compression springs, and the wheel hubs can be properly stretched when being pressed; the power wheel module can be directly connected with the wheel bracket (9) and mechanically fixed, the length can be properly adjusted, and the power wheel module passes through the insides of pipelines of DN300 and DN350, or is connected with the wheel bracket (9) through the lengthened supporting leg (8) and mechanically fixed, or passes through the insides of the pipelines of DN400, DN450 and DN 500;
also comprises an endoscope (2) for observing the inside of the pipeline;
the device also comprises an infrared locator (7) for accurately locating the flaw detection welding line;
the endoscope (2) and the infrared locator (7) are both connected with the source guide tube middle shaft (3) and are mechanically fixed;
the control box include: the specification is about 370X 260X 150mm, and a lithium battery is arranged in the control box; the operating handle (11) is used for controlling the crawling device to advance or retreat in the pipeline; the power switch-on button (12) is a main switch of the whole pipeline flaw detection crawling robot; the speed regulating button (13) can regulate the walking speed of the crawling device; an endoscope display screen (14) for observing the state of the interior of the duct; the socket head (15) is a charging and power supply interface of the control box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120400980.XU CN215449102U (en) | 2021-02-23 | 2021-02-23 | Pipeline flaw detection crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120400980.XU CN215449102U (en) | 2021-02-23 | 2021-02-23 | Pipeline flaw detection crawling robot |
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| Publication Number | Publication Date |
|---|---|
| CN215449102U true CN215449102U (en) | 2022-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120400980.XU Active CN215449102U (en) | 2021-02-23 | 2021-02-23 | Pipeline flaw detection crawling robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115656213A (en) * | 2022-10-25 | 2023-01-31 | 东北大学 | All-round intelligent detection device of small-size steel pipe inner wall surface defect |
-
2021
- 2021-02-23 CN CN202120400980.XU patent/CN215449102U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115656213A (en) * | 2022-10-25 | 2023-01-31 | 东北大学 | All-round intelligent detection device of small-size steel pipe inner wall surface defect |
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