CN217081882U - Adjusting component of phased array inspection robot in pipeline - Google Patents
Adjusting component of phased array inspection robot in pipeline Download PDFInfo
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- CN217081882U CN217081882U CN202220785979.8U CN202220785979U CN217081882U CN 217081882 U CN217081882 U CN 217081882U CN 202220785979 U CN202220785979 U CN 202220785979U CN 217081882 U CN217081882 U CN 217081882U
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Abstract
The utility model discloses an adjusting component of a phased array inspection robot in a pipeline, which comprises an outer cylinder, a first pressing piece and a second pressing piece; the axis of the outer cylinder is parallel to the rigid connecting rod, the outer cylinder is fixedly connected with the rigid connecting rod through a connecting block, a second through hole is formed in one end, close to the tail driving mechanism, of the outer cylinder, and a third through hole is formed in one end, close to the first storage box, of the outer cylinder; four limiting slide rails are evenly arranged on the inner wall of the outer barrel along the circumferential direction, and each limiting slide rail is arranged along the length direction of the outer barrel. Through setting up adjusting part, guarantee in the testing process that the robot can cross smoothly and hinder more, improve the suitability.
Description
Technical Field
The utility model belongs to the technical field of pipeline under pressure check out test set, concretely relates to inside phased array inspection robot's of pipeline adjusting part.
Background
Some pressure-bearing pipelines, such as gas and liquid conveying pipelines, have a great risk due to the fact that the use environment is severe and the corrosion of the conveying medium causes the pipelines to be easy to damage the inner wall, so that the pipelines need to be periodically checked.
However, the pipeline is long, the pipe diameter is small, and some bending sections exist, so that the pipeline is difficult to perform nondestructive detection from the inside, most of pipelines can only be detected from the appearance at present, but the problem of low defect identification exists in detection from the outside, and therefore the phased array detection robot in the pipeline appears.
However, since the interior of the duct is complicated and there is a problem that the inspection robot cannot pass through the duct smoothly, an adjustment mechanism is required.
Disclosure of Invention
An object of the utility model is to provide an adjusting part of inside phased array inspection robot of pipeline solves the poor technical problem of survey robot ability of surmounting.
In order to solve the problem, the utility model discloses a following technical scheme realizes:
an adjusting component of a phased array inspection robot in a pipeline is positioned on one side of an inspection mechanism of the phased array inspection robot, the inspection mechanism comprises a first storage box and a phased array inspection probe, the first storage box comprises a flexible skin and two rigid plates which are oppositely arranged, the flexible skin is circumferentially covered along the outer edges of the two rigid plates, and the first storage box is integrally in a drum shape; the flexible skin is made of an acoustic membrane, the rigid plate is hermetically connected with the flexible skin, and the first storage tank is filled with a coupling agent; the phased array detection probe is arranged in the first storage box and is fixed at the center of the first storage box; the first storage box is fixedly sleeved on the rigid connecting rod in a sealing manner along the axis direction of the first storage box;
a first through hole is formed in the center of the rigid plate on one side of the first storage box, the outer edge of the first through hole is outwards turned and extends to form a piston cylinder, and a piston plate is hermetically connected in the piston cylinder; the piston plate is provided with a central hole, and the piston plate is sleeved on the rigid connecting rod in a sliding manner through the central hole and is connected with the rigid connecting rod in a sealing manner;
the adjusting assembly comprises an outer cylinder, a first pressing piece and a second pressing piece; the axis of the outer cylinder is superposed with the axis of the rigid connecting rod, and the outer cylinder is fixedly connected with the rigid plate on the corresponding side through the connecting frame; a second through hole is formed in one end, far away from the rigid plate, of the outer cylinder, and a third through hole is formed in one end, close to the first storage box, of the outer cylinder; four limiting slide rails are uniformly and fixedly arranged on the inner wall of the outer barrel along the circumferential direction, and each limiting slide rail is arranged along the length direction of the outer barrel;
the first pressing piece comprises a first pressing rod and a first connecting cylinder, one end of the first pressing rod is fixedly connected with one end of the first connecting cylinder, and the other end of the first pressing rod extends out of the second through hole; the first connecting cylinder is positioned in the outer cylinder, and four groups of first thorns are arranged on the end surface of one end of the first connecting cylinder, which is not connected with the first pressing rod, and each group comprises two first thorns; four first sliding grooves are uniformly formed in the peripheral surface of the first connecting cylinder along the circumferential direction, each group of first thorns is positioned between two adjacent first sliding grooves, each limiting sliding rail is movably clamped in one corresponding first sliding groove, and the length of each limiting sliding rail is greater than that of each first sliding groove;
the second pressing piece comprises a second pressing rod and a second connecting cylinder, one end of the second pressing rod is fixedly connected with one end of the second connecting cylinder, and the other end of the second pressing rod extends out of the third through hole; the second connecting cylinder is positioned in the outer cylinder, and four groups of second thorns are arranged on the end surface of one end of the second connecting cylinder, which is not connected with the second pressing rod, and each group comprises two second thorns; four second sliding grooves are uniformly formed in the peripheral surface of the second connecting cylinder along the circumferential direction, each group of second thorns is located between two adjacent second sliding grooves, and the length of each limiting sliding rail is greater than that of each second sliding groove; the first thorn and the second thorn can be meshed; a limiting block is arranged on the second pressing rod, the limiting block is positioned in the outer barrel, a spring is sleeved on the second pressing rod, the spring is arranged in the outer barrel and positioned between third through holes of the limiting block, and the diameter of the spring is larger than that of the third through holes;
the tail end of the second pressing rod extends out of the third through hole and then is rotatably connected with the piston plate through a bearing;
the first pressing piece and the second pressing piece are both of tubular structures and movably sleeved on the rigid connecting rod.
The utility model discloses in, this phased array inspection robot includes front end actuating mechanism, afterbody actuating mechanism and detection mechanism to and control terminal. After the pipeline robot got into the pipeline, front end actuating mechanism and afterbody actuating mechanism provided power drive robot and moved forward, and at this in-process, the camera that sets up on front end actuating mechanism shoots in real time to the pipeline inner wall image and the video transmission who will shoot send the outside control terminal to show, supply the inside situation of preliminary understanding pipeline of testing personnel. After the detection robot reaches the end of the pipeline to be detected, the control terminal controls the robot to return, the winding device starts to work, the cable is in a tensioning state, the adsorption cotton is in contact with the inner wall of the pipeline to wet the pipeline, the flexible skin is in contact with the inner wall of the pipeline, the phased array detection probe is located under the attaching point of the flexible skin and the inner wall of the pipeline, the phased array detection probe is used for carrying out nondestructive detection on the inner wall of the pipeline, and detection data are transmitted to the external control terminal in real time. The inspector can judge the defects of the inner wall of the pipeline quickly, accurately and comprehensively according to the detection data and by combining the images and videos shot by the camera.
In the detection process, when a large protruding obstacle exists on the inner wall of the pipeline, the robot cannot advance due to the blockage, and the cable cannot be wound continuously, the following operations are carried out;
1) the control terminal sends an instruction to control the tail driving mechanism to move forward for a small distance, and the front driving mechanism moves backward for a small distance; in the process, the first pressing rod of the adjusting mechanism is pressed to push the first connecting cylinder to move, the spring is compressed, the tail end of the limiting sliding rail is withdrawn from the concave part between two adjacent second thorns and slides along the inclined plane of the second thorns to be inserted into the second sliding groove, and the second pressing piece rotates by 90 degrees; then the control terminal sends out an instruction to control the tail driving mechanism to move backwards for a small distance, the front driving mechanism moves forwards for a small distance, the first pressing rod and the second pressing rod move backwards for a distance, and the spring recovers the original length;
2) when the vehicle crosses the obstacle, the control terminal sends an instruction to control the tail driving mechanism to move forward a small distance, and the front driving mechanism moves backward a small distance; in the process, the first pressing rod of the adjusting mechanism is pressed to push the first connecting cylinder to move, the spring is compressed, the tail end of the limiting sliding rail is separated from the second sliding groove and slides to a concave part between two adjacent second thorns along the inclined plane of the second thorns, the second pressing piece is not inserted into the second sliding groove, and the second pressing piece rotates by 90 degrees; then the control terminal sends out an instruction to control the tail driving mechanism to move backwards for a small distance, the front driving mechanism moves forwards for a small distance, the first pressing rod and the second pressing rod move backwards for a certain distance, and the spring is always in a compressed state; in the process, the second pressing rod pushes the piston plate to move forward for a certain distance relative to the piston cylinder, the couplant in the piston cylinder is pushed into the first storage box, the flexible skin bulges again to be in contact with the inner wall of the pipeline, and detection is continued.
Through setting up adjusting part, guarantee in the testing process that the robot can cross smoothly and hinder more, improve the suitability.
The improvement is further that the tail end of the piston cylinder is turned inwards to form a limiting ring, so that the piston plate is prevented from being separated from the piston cylinder in the adjusting process.
Further improve, be fixed with the stiffener between two rigidity boards of first bin, prevent in the adjustment process, the rigidity board takes place to warp, improves structural stability.
Compared with the prior art, the beneficial effects of the utility model are that:
through setting up adjusting part, guarantee in the testing process that the robot can cross smoothly and hinder more, improve the suitability.
Drawings
FIG. 1 is a schematic view of the overall construction of the detection mechanism and adjustment assembly;
FIG. 2 is a schematic view of a structure of an adjustment assembly in a use state;
FIG. 3 is a cross-sectional view of the adjustment assembly in the axial direction;
fig. 4 is a structural diagram of another use state of the adjusting assembly.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The first embodiment is as follows:
as shown in fig. 1-4, an adjusting component 34 of a phased array inspection robot inside a pipeline is located on one side of a first storage tank 31 and is a side far away from a wetting component 33.
In this embodiment, the end of the piston cylinder is turned inward to form a stop ring 3112 to prevent the piston plate from separating from the piston cylinder during adjustment.
In this embodiment, a reinforcing bar 3114 is fixed between the two rigid plates of the first storage box 31 to prevent the rigid plates from deforming during adjustment, thereby improving structural stability.
As shown in fig. 2 to 4, the adjusting assembly 34 includes an outer cylinder 3411, a first pressing piece, and a second pressing piece; the axis of the outer cylinder 341 coincides with the axis of the rigid connecting rod 8, and the outer cylinder is fixedly connected with the rigid plate on the corresponding side through the connecting frame 344; a second through hole is formed in one end, close to the tail driving mechanism, of the outer cylinder, and a third through hole is formed in one end, close to the first storage box 31; four limiting slide rails 3414 are uniformly arranged on the inner wall of the outer cylinder along the circumferential direction, and each limiting slide rail 3414 is arranged along the length direction of the outer cylinder 341.
The first pressing piece comprises a first pressing rod 3412 and a first connecting cylinder 3413, one end of the first pressing rod 3412 is fixedly connected with one end of the first connecting cylinder 3413, the other end of the first pressing rod is extended out of the second through hole, the first connecting cylinder is positioned in the outer cylinder, four groups of first thorns are arranged on the end surface of the other end of the first connecting cylinder, and each group comprises two first thorns 34131; four first sliding grooves are uniformly formed in the peripheral surface of the first connecting cylinder along the circumferential direction, each group of first thorns is located between two adjacent first sliding grooves, each limiting sliding rail 3414 is movably clamped in the corresponding first sliding groove, and the length of each limiting sliding rail is greater than that of each first sliding groove.
The second pressing piece comprises a second pressing rod 3416 and a second connecting cylinder 3415, one end of the second pressing rod 3416 is fixedly connected with one end of the second connecting cylinder 3415, the other end of the second pressing rod 3416 extends out of the third through hole, the second connecting cylinder is positioned in the outer cylinder, four groups of second thorns are arranged on the end surface of the other end of the second connecting cylinder, and each group comprises two second thorns 34151; four second sliding grooves are uniformly formed in the peripheral surface of the second connecting cylinder along the circumferential direction, each group of second thorns is located between two adjacent second sliding grooves, and the length of each limiting sliding rail is greater than that of each second sliding groove; the first thorn 34131 can engage with the second thorn 34151; the second pressing rod 3416 is provided with a limiting block 3417, the limiting block 3417 is located in the outer cylinder, a spring 3418 is sleeved on the second pressing rod 3416, the spring is arranged in the outer cylinder and located between third through holes of the limiting block, and the diameter of the spring is larger than that of the third through holes.
The end of the second pressing rod 3416 extends out of the third through hole and is rotatably connected to the piston plate 3113 through the bearing 342. The first pressing piece and the second pressing piece are both of tubular structures and movably sleeved on the rigid connecting rod. The end of the first pressing rod 3412 is fixedly connected to the second connecting member 5.
As shown in fig. 1, the inspection mechanism 3 includes a first storage tank 31 and a phased array inspection probe 32, the first storage tank 31 includes a flexible skin 312 and two rigid plates 311 arranged oppositely, the flexible skin is circumferentially covered along the outer edges of the two rigid plates, and the first storage tank 31 is overall drum-shaped; the flexible skin 312 is made of an acoustic membrane, the rigid plate 311 is hermetically connected with the flexible skin 312, and the first storage tank 31 is filled with a coupling agent; the phased array inspection probe 32 is disposed in the first storage tank and fixed to the center of the first storage tank 31. An adjustment assembly 34 is provided on the detection mechanism.
In the detection process, when a large protruding obstacle exists on the inner wall of the pipeline, the robot cannot advance due to the blockage, and the cable cannot be wound continuously, the following operations are carried out;
1) the control terminal sends an instruction to control the tail driving mechanism to move forward for a small distance, and the front driving mechanism moves backward for a small distance; in the process, the first pressing rod of the adjusting mechanism is pressed to push the first connecting cylinder to move, the spring is compressed, the tail end of the limiting slide rail is withdrawn from the concave part between two adjacent second thorns and slides along the inclined plane of the second thorns to be inserted into the second sliding groove, and the second pressing piece rotates by 90 degrees, as shown in fig. 2 and 3; then the control terminal sends out an instruction to control the tail driving mechanism to retreat backward for a small distance along the rigid connecting rod, the front end driving mechanism advances for a small distance, the first pressing rod and the second pressing rod retreat for a certain distance, and the spring restores the original length;
2) when the vehicle crosses the obstacle, the control terminal sends an instruction to control the tail driving mechanism to move forward a small distance, and the front driving mechanism moves backward a small distance; in the process, the first pressing rod of the adjusting mechanism is pressed to push the first connecting cylinder to move, the spring is compressed, the tail end of the limiting sliding rail 3414 is separated from the second sliding groove and slides to the concave position between two adjacent second thorns along the inclined plane of the second thorns, the second pressing piece is not inserted into the second sliding groove 34152, and the second pressing piece rotates 90 degrees, as shown in fig. 4; then the control terminal sends out an instruction to control the tail driving mechanism to move backwards for a small distance, the front driving mechanism moves forwards for a small distance, the first pressing rod and the second pressing rod move backwards for a certain distance, and the spring is always in a compressed state; in the process, the second pressing rod pushes the piston plate to move forward for a certain distance relative to the piston cylinder, the couplant in the piston cylinder is pushed into the first storage box, the flexible skin bulges again to be in contact with the inner wall of the pipeline, and detection is continued.
Through setting up adjusting part, guarantee in the testing process that the robot can cross smoothly and hinder more, improve the suitability.
The structure of the adjusting unit is similar to that of an automatic ball-point pen.
It should be understood that the specific embodiments described herein are for the purpose of illustration only and are not intended to limit the invention; any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. The adjusting assembly of the phased array inspection robot in the pipeline is characterized in that the adjusting assembly is positioned on one side of a detection mechanism of the phased array inspection robot, the detection mechanism comprises a first storage box and a phased array inspection probe, the first storage box comprises a flexible skin and two rigid plates which are oppositely arranged, the flexible skin is circumferentially covered along the outer edges of the two rigid plates, and the first storage box is integrally in a drum shape; the flexible skin is made of an acoustic membrane, the rigid plate is hermetically connected with the flexible skin, and the first storage tank is filled with a coupling agent; the phased array detection probe is arranged in the first storage box and is fixed at the center of the first storage box; the first storage box is fixedly sleeved on the rigid connecting rod in a sealing manner along the axis direction of the first storage box;
a first through hole is formed in the center of the rigid plate on one side of the first storage box, the outer edge of the first through hole is outwards turned and extends to form a piston cylinder, and a piston plate is hermetically connected in the piston cylinder; the piston plate is provided with a central hole, and the piston plate is sleeved on the rigid connecting rod in a sliding manner through the central hole and is connected with the rigid connecting rod in a sealing manner;
the adjusting assembly comprises an outer cylinder, a first pressing piece and a second pressing piece; the axis of the outer cylinder is superposed with the axis of the rigid connecting rod, and the outer cylinder is fixedly connected with the rigid plate on the corresponding side through the connecting frame; a second through hole is formed in one end, far away from the rigid plate, of the outer cylinder, and a third through hole is formed in one end, close to the first storage box, of the outer cylinder; four limiting slide rails are uniformly and fixedly arranged on the inner wall of the outer barrel along the circumferential direction, and each limiting slide rail is arranged along the length direction of the outer barrel;
the first pressing piece comprises a first pressing rod and a first connecting cylinder, one end of the first pressing rod is fixedly connected with one end of the first connecting cylinder, and the other end of the first pressing rod extends out of the second through hole; the first connecting cylinder is positioned in the outer cylinder, and four groups of first thorns are arranged on the end face of one end of the first connecting cylinder, which is not connected with the first pressing rod, and each group comprises two first thorns; four first sliding grooves are uniformly formed in the peripheral surface of the first connecting cylinder along the circumferential direction, each group of first thorns is positioned between two adjacent first sliding grooves, each limiting sliding rail is movably clamped in one corresponding first sliding groove, and the length of each limiting sliding rail is greater than that of each first sliding groove;
the second pressing piece comprises a second pressing rod and a second connecting cylinder, one end of the second pressing rod is fixedly connected with one end of the second connecting cylinder, and the other end of the second pressing rod extends out of the third through hole; the second connecting cylinder is positioned in the outer cylinder, and four groups of second thorns are arranged on the end surface of one end of the second connecting cylinder, which is not connected with the second pressing rod, and each group comprises two second thorns; four second sliding grooves are uniformly formed in the peripheral surface of the second connecting cylinder along the circumferential direction, each group of second thorns is located between two adjacent second sliding grooves, and the length of each limiting sliding rail is greater than that of each second sliding groove; the first thorn and the second thorn can be meshed; a limiting block is arranged on the second pressing rod, the limiting block is positioned in the outer barrel, a spring is sleeved on the second pressing rod, the spring is arranged in the outer barrel and positioned between third through holes of the limiting block, and the diameter of the spring is larger than that of the third through holes;
the tail end of the second pressing rod extends out of the third through hole and then is rotatably connected with the piston plate through a bearing;
the first pressing piece and the second pressing piece are both of tubular structures and movably sleeved on the rigid connecting rod.
2. The adjusting assembly of the phased array inspection robot for the interior of the pipeline according to claim 1, wherein the tail end of the piston cylinder is turned inwards to form a limiting ring.
3. The adjusting assembly of the phased array inspection robot for the interior of the pipeline according to claim 2, wherein a reinforcing rod is fixed between two rigid plates of the first storage box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220785979.8U CN217081882U (en) | 2022-04-07 | 2022-04-07 | Adjusting component of phased array inspection robot in pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220785979.8U CN217081882U (en) | 2022-04-07 | 2022-04-07 | Adjusting component of phased array inspection robot in pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217081882U true CN217081882U (en) | 2022-07-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220785979.8U Active CN217081882U (en) | 2022-04-07 | 2022-04-07 | Adjusting component of phased array inspection robot in pipeline |
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| Country | Link |
|---|---|
| CN (1) | CN217081882U (en) |
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2022
- 2022-04-07 CN CN202220785979.8U patent/CN217081882U/en active Active
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