CN217559451U

CN217559451U - Crawling device for metal pipeline

Info

Publication number: CN217559451U
Application number: CN202221491397.5U
Authority: CN
Inventors: 柴泽; 郑莉; 陈新汉; 熊鑫; 李志华; 吴昱达; 贾文彬; 李子凡; 李晓燕; 乞征
Original assignee: Beijing Huahang Radio Measurement Research Institute
Current assignee: Beijing Huahang Radio Measurement Research Institute
Priority date: 2022-06-15
Filing date: 2022-06-15
Publication date: 2022-10-11
Anticipated expiration: 2032-06-15

Abstract

The utility model relates to a device of crawling for metal pipeline belongs to the check out test set field, has solved among the prior art and has carried on the detector that nondestructive test carries on telecontrol equipment the easy stifled pipeline of card, adsorb and break away from difficulty, motion slower, deflect easily and topple, the dismouting is complicated and the range of application is too narrow problem. The utility model discloses a crawling device for metal pipelines, which comprises a frame, a servo system, lateral tightening wheels and supporting wheels; the servo system and the supporting wheel are respectively and fixedly connected to the two sides of the frame; the lateral holding wheel is arranged at the bottom end of the frame; the servo system can drive the frame to move relative to the measured pipeline, and the lateral tightening wheels can fix the frame on the outer wall of the measured pipeline. The utility model provides a device of crawling realizes along the pipeline motion, and difficult deflection topples, and the practicality is strong.

Description

Crawling device for metal pipeline

Technical Field

The utility model relates to a check out test set field especially relates to a device of crawling for metal pipeline.

Background

The metal pipeline is mainly used for conveying dangerous media such as crude oil, fuel gas, steam and the like, and serious safety accidents are easily caused by the failure and the breakage of the pipeline, so that huge losses are brought to property, environment and life; therefore, it is very important to carry out conventional detection on the metal pipeline so as to ensure the safe and stable operation of the pipeline; the metal pipeline is detected by carrying a detection device on the motion equipment to slide on the detected pipeline, and the detection device scans and detects the wall of the detected pipeline in the sliding process.

At present, the moving equipment carrying the detection device in the prior art is divided into inner detection equipment and outer detection equipment; the internal detection equipment runs in the pipeline, and the appearance structure of the equipment is restricted by the size and the structure of the pipeline, so that the equipment is blocked easily, and the equipment is difficult to run; the external detection equipment crawls by encircling the outer wall of the pipeline and is mainly divided into a magnetic wheel adsorption type, a three-wheel encircling pipe type and a low-pressure adsorption type; the magnetic wheel adsorption type equipment has large magnetic attraction force, is difficult to adsorb and separate a measured pipeline, has large friction force, causes slow movement on the outer wall surface of the measured pipeline, and is difficult to control so as to easily deflect and overturn in the circumferential direction; when crawling, the three-wheel pipe-embracing type external detection equipment depends on the whole circumferential space of the outer wall of the pipeline, occupies more space and is more complex and difficult to assemble and disassemble; the low-pressure adsorption type external detection equipment requires that the flatness of the outer wall of the detected pipeline is too high, so that most pipelines cannot be applied and the application range is too narrow.

SUMMERY OF THE UTILITY MODEL

In view of the above analysis, the utility model aims at providing a device of crawling for metal pipeline has solved among the prior art easy stifled pipeline of card of pipeline motion equipment, has adsorbed and has broken away from difficulty, the motion is slower, the easy toppling that deflects, the dismouting is complicated, application scope is too narrow scheduling problem.

The purpose of the utility model is mainly realized through the following technical scheme:

the utility model provides a crawling device for a metal pipeline, which comprises a frame, a servo system, lateral holding wheels and supporting wheels; the servo system and the supporting wheel are respectively and fixedly connected to two sides of the frame; the lateral holding wheel is arranged at the bottom end of the frame; the servo system can drive the frame to move relative to the measured pipeline, and the lateral hugging wheels can fix the frame on the outer wall of the measured pipeline.

Further, the frame comprises a frame main body and a chassis, and two ends of the chassis are fixed inside the frame main body but do not contact the bottom end of the frame main body; the case can provide power for the servo system.

Further, the frame body includes a first brace plate, a second brace plate, and a third brace plate; the first support plate is connected with the servo system, and the second support plate is connected with the supporting wheel; the number of the third support plates is 2, and the third support plates are respectively and vertically connected with the first support plate and the second support plate.

Furthermore, a plurality of jacks with different shapes and sizes are arranged on the first support plate and the second support plate, and the jacks are used for inserting detection equipment of different types.

Further, the servo system comprises a driving device, a coupling and a driving wheel; one end of the coupler is fixedly connected with the driving device, and the other end of the coupler is fixedly connected with the driving wheel.

Furthermore, the number of the lateral clasping wheels is 4, and the lateral clasping wheels are respectively arranged at two ends of the first support plate and the second support plate; the lateral holding wheel comprises a clamping plate and a roller; one end of the clamping plate is rotatably connected with the frame main body, and the other end of the clamping plate is fixedly connected with the roller.

Further, the clamping plate comprises a plate body, a tightening screw and a baffle plate; the plate body is provided with a channel; the baffle plate is provided with a screw hole; tighten up the screw and pass in proper order screw hole on the baffle with behind the passageway with the frame main part carries out threaded connection, tighten up the screw and can promote the baffle is towards being surveyed the pipeline extrusion the plate body is in order to realize tightening up being surveyed the pipeline.

Further, the supporting wheels are arranged on two sides of the second support plate.

Further, the servo system and the supporting wheels are symmetrically distributed along the center line of the frame.

Further, the driving wheel, the roller and the supporting wheel are all in contact with the pipeline to be detected and can roll on the pipeline to be detected; the driving device can drive the driving wheel to rotate, and the driving wheel can drive the roller and the supporting wheel (4) to roll along the measured pipeline when rotating.

Compared with the prior art, the utility model discloses can realize one of following beneficial effect at least:

(1) The utility model discloses a device of crawling presss from both sides tightly from both sides and is moved along the pipeline behind the survey pipeline outer wall for the appearance structure of device of crawling does not receive the restriction of pipeline inner structure, is difficult for blockking up the pipeline, still avoids occuping the circumference space of being surveyed the pipeline.

(2) The utility model discloses a frame main part of device of crawling can multiple type detection equipment such as adaptation camera, searchlight through setting up a plurality of not unidimensional jacks, and application scope is wider, and the practicality is stronger.

(3) The utility model discloses a drive wheel of device of crawling adopts weak magnetism adsorption technique, is not only convenient for break away from the device of crawling from being surveyed the pipeline, still can increase the normal pressure between drive wheel and the pipeline through magnetic adsorption power to improve drive friction, skid when avoiding the device climbing, realize the ability of climbing of telecontrol equipment at heavy grade pipeline.

(4) The utility model discloses a servo of device of crawling, waterproof performance is good, can bear great pressure, can make the device of crawling can the high pressure even running in the environment under water.

The utility model discloses in, can also make up each other between the above-mentioned each technical scheme to realize more preferred combination scheme. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout the drawings.

Fig. 1 is a front view of the crawling device of the present invention;

fig. 2 is a partial enlarged view of the lateral tightening wheel of the crawling device of the present invention.

Reference numerals are as follows:

1-a frame; 11-a frame body; 111-a first brace panel; 112-a second mounting plate; 113-a third mounting plate; 12-a chassis; 2-a servo system; 21-a drive device; 22-a coupling; 23-driving wheels; 3-lateral holding wheels; 31-a clamping plate; 311-plate body; 3111-channel; 312-tightening the screws; 313-a baffle; 32-a roller; 4-supporting the wheels.

Detailed Description

The following detailed description of the preferred embodiments of the invention, which is to be read in connection with the accompanying drawings, forms a part of the invention, and together with the embodiments of the invention, serve to explain the principles of the invention and not to limit the scope of the invention.

The embodiment of the present invention is described in detail with reference to the accompanying drawings 1-2 as follows:

the crawling device for the metal pipeline provided by the embodiment comprises a frame 1, a servo system 2, a lateral hugging wheel 3 and a supporting wheel 4, as shown in fig. 1; the servo system 2 is arranged on the outer surface of one side of the frame 1, and the supporting wheel 4 is arranged on the outer surface of the other side of the frame 1; the lateral holding wheels 3 are arranged at four corners of the outer side of the bottom end of the frame 1 and are not in contact with the servo system 2 and the supporting wheels 4; the servo system 2 and the supporting wheels 4 are arranged in two groups on the outer surface of the frame 1 and are symmetrically distributed along the central line of the frame 1, so that a pipeline to be measured is arranged between the two groups, and the crawling device moves along the axial direction of the pipeline to be measured.

The frame 1 includes a frame body 11 and a chassis 12; the cabinet 12 is fixed inside the frame body 11.

The frame main body 11 is a square frame and is formed by 4 square support plates in a surrounding mode, and comprises a first support plate 111, a second support plate 112 and two third support plates 113; four corners of the frame main body 11 are joints of the two support plates; the both ends of mounting panel are equipped with a plurality of square interval arrangements, form square groove between two squares, and the interlock butt joint can be realized to square and square groove on two mounting panels of same junction for two mounting panels are through connecting perpendicularly, and utilize the screw to carry out further fixed to two mounting panels after connecting, and this kind of connected mode makes the junction terminal surface neat, improves the steadiness.

Optionally, the frame body 11 is preferably made of light material, and further made of aluminum alloy material or carbon fiber material, so that the frame body 11 can have certain strength, and the weight of the device can be reduced, thereby the crawling device can move flexibly, and energy can be saved.

Optionally, the mounting panel of frame main part 11 is the fretwork design, makes the mounting panel further alleviate the weight of frame main part 11 under the prerequisite of guaranteeing the device rigidity through setting up a plurality of through-holes to further improve the device motion flexibility, be convenient for climb the big slope pipeline more.

The first support plate 111 and the second support plate 112 are disposed at two sides of the frame main body 11, and end edges of the two at the same side are semi-circular frames for covering the pipeline to be measured, so that the frame main body 11 is close to the pipeline to be measured, the measurement accuracy is improved, and the weight of the support plates can be further reduced by the semi-circular frames.

The first support plate 111 and the second support plate 112 are both provided with a plurality of jacks, the jacks can be set to be apertures with various shapes and sizes, and the jacks can be adapted to various types of equipment probes such as cameras and searchlights, so that the device can be applied to different environments, and is wide in application range and high in practicability.

The two third support plates 113 are disposed on two sides of the frame body 11, and are respectively connected to the first support plate 111 and the second support plate 112 perpendicularly, so as to carry multiple kinds of external pipeline detection sensor devices such as ultrasonic devices and intelligent photoelectric devices.

Optionally, an elastic anti-slip layer is arranged on the end face of the inner cavity of the jack on the first support plate 111; the anti-slip layer is preferably made of soft materials, is further made into a soft rubber layer, a latex layer or a sponge layer, and can protect the insertion equipment.

The case 12 is mainly used for supplying power to the servo system 2; the two ends of the chassis 12 are respectively and fixedly connected to the two third supporting plates 113, so that the chassis 12 is suspended inside the frame main body 11, the chassis 12 is ensured not to contact with the pipeline to be tested, and the pipeline to be tested is prevented from being damaged by friction.

One side of the servo system 2 is fixedly connected with the first support plate 111; the two groups of servo systems 2 are symmetrically distributed on two sides of the outer surface of the first support plate 111 along the center line of the first support plate 111, so that a measured pipeline is clamped from the upper part, the frame main body 11 is suspended above the measured pipeline, and the frame main body 11 can be prevented from deviating on the measured pipeline.

The servo system 2 comprises a driving device 21, a coupling 22 and a driving wheel 23; one end of the coupling 22 is fixedly connected with one end of the driving device 21, and the other end is fixedly connected with the driving wheel 23.

The driving device 21 is a sealed pressure-bearing system and is used for controlling the driving wheel 23, the waterproof grade is high, the pressure resistance is high, the service life of the system is prolonged, and the device can stably run in a high-pressure underwater environment for a long time.

The coupling 22 is used for connecting the driving device 21 and the driving wheel 23, and preferably, an elastic coupling is used for allowing certain assembly coaxiality deviation and playing a role in shock absorption and protection, so that the practicability is high.

The driving wheel 23 is a weak magnetic adsorption wheel, so that the crawling device can be conveniently separated from the detected pipeline, the positive pressure between the driving wheel and the pipeline can be increased through the magnetic adsorption force, the driving friction force is improved, the device is prevented from skidding when climbing, and the climbing capability of the moving device on the pipeline with large gradient is realized.

Optionally, protective housings are arranged on the two driving wheels 23, and the protective housings are coaxially connected with the magnetic driving wheels 23 but do not rotate, so that the driving wheels 23 can be prevented from deviating in direction in the rolling process, the detection result is influenced, and the vibration caused by the rotation of the driving wheels can be reduced; furthermore, to avoid friction between the protective casing and the pipe under test, the protective casing laterally covers a portion of the drive wheel 23 but does not contact the drive wheel.

The lateral holding wheels 3 are arranged at the bottom end of the frame main body 11, the lateral holding wheels 3 are divided into four groups, the two ends of the semicircular frame are respectively arranged on the first support plate 111 and the second support plate 112, the semicircular frame of the frame main body 11 is covered on a pipeline to be tested, and the pipeline can be clamped from two sides by the lateral holding wheels 3, so that the pipeline to be tested is fixed.

Referring to fig. 2, the lateral hugging wheel 3 is provided with a clamping plate 31 and a roller 32, one end of the clamping plate 31 is rotatably connected with the frame body 11, and the other end is fixedly connected with the roller 32; the clamping plate 31 comprises a plate body 311, a tightening screw 312 and a baffle 313, wherein a roller 32 is arranged on the inner side of the plate body 311, so that the roller 32 can contact the measured straight pipe to axially roll on the pipe and fix the measured pipe from two sides by means of static friction force between the roller 32 and the pipe; a channel 3111 is arranged on the plate body 311, and a screw hole is arranged on the baffle 313 and used for inserting the tightening screw 312; on the outer side of the plate body 311, the tightening screw 312 sequentially passes through the screw hole on the baffle 313 and the channel 3111 to be in threaded connection with the frame body 11, and the width of the baffle 313 is greater than that of the channel 3111, so that the baffle 313 can be prevented from passing through the channel 3111, and the baffle 313 is fixed on the outer side end surface of the plate body 311 through the tightening screw 312; tightening the tightening screw 312 causes the tightening screw 312 to be further inserted into the frame body 11, during which the tightening screw 312 pushes the baffle 313 to press the plate body 311 toward the pipe to be measured, thereby increasing the pressure of the roller 32 on the plate body 311 against the pipe to be measured, thereby achieving a clamping effect on the pipe to be measured.

The supporting wheels 4 are arranged on two sides of the second support plate 112, cooperate with the driving wheels 23 to support the frame body 11 above the pipeline to be tested, and can contact and roll on the pipeline to be tested.

Optionally, the driving wheel 23 and the lateral hugging wheel 3 on the same side of the frame body 11 jointly surround more than half of the outer wall of the measured pipeline, so that the measured pipeline is reinforced and fixed, and the moving device is prevented from radially deviating or even overturning on the measured pipeline.

Optionally, the driving wheel 23, the supporting wheel 4 and the roller 32 are made of elastic materials, and further made of polyurethane materials or rubber, so that the pressure of the roller on the measured pipeline can be increased, the measured pipeline is strengthened and fixed, and the pipeline can be prevented from being damaged when a hard non-elastic material is in contact with the pipeline, so that the measurement is inaccurate.

The driving wheel 23 rotates under the control of the driving device 21, so as to drive the roller 32 on the lateral hugging wheel 3 and the supporting wheel 4 to rotate in the same direction, and the crawling device moves on the pipeline.

The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.

Claims

1. A crawling device for a metal pipeline is characterized by comprising a frame (1), a servo system (2), a lateral hugging wheel (3) and a supporting wheel (4);

the two sides of the frame (1) are respectively and fixedly connected with the servo system (2) and the supporting wheel (4); the lateral clasping wheel (3) is arranged at the bottom end of the frame (1);

the servo system (2) can drive the frame (1) to move relative to the measured pipeline, and the lateral hugging wheels (3) can fix the frame (1) on the outer wall of the measured pipeline.

2. The crawling device for metal pipes according to claim 1, characterized in that said frame (1) comprises a frame body (11) and a box (12), the two ends of said box (12) being fixed inside said frame body (11) but not contacting the bottom end of said frame body (11);

the chassis (12) is capable of providing power to the servo system (2).

3. The crawling device for metal pipes according to claim 2, characterized in that said frame body (11) comprises a first rack plate (111), a second rack plate (112) and a third rack plate (113);

the first bracket plate (111) is connected with the servo system (2), and the second bracket plate (112) is connected with the supporting wheel (4);

the number of the third support plates (113) is 2, and the third support plates are respectively and vertically connected with the first support plate (111) and the second support plate (112).

4. The crawling apparatus for metal pipes of claim 3, wherein said first (111) and second (112) rack plates are provided with a plurality of sockets of different shape and size for inserting different types of detection devices.

5. The crawling device for metal pipes according to claim 4, characterized in that said servo (2) comprises a driving device (21), a coupling (22) and a driving wheel (23); one end of the coupler (22) is fixedly connected with the driving device (21), and the other end of the coupler is fixedly connected with the driving wheel (23).

6. The crawling device for metal pipes according to claim 5, characterised in that said lateral hugging wheels (3) are 4 in number and are respectively provided at the two ends of said first and second cradling plates (111, 112);

the lateral tightening wheel (3) comprises a clamping plate (31) and a roller (32);

one end of the clamping plate (31) is rotatably connected with the frame main body (11), and the other end of the clamping plate is fixedly connected with the roller (32).

7. The crawling device for metal pipes according to claim 6, characterized in that said clamping plate (31) comprises a plate body (311), a tightening screw (312) and a stop plate (313);

the plate body (311) is provided with a channel (3111); the baffle (313) is provided with a screw hole;

tighten up screw (312) and pass in proper order the screw hole on baffle (313) with behind passageway (3111) with frame main part (11) carry out threaded connection, tighten up screw (312) and can promote baffle (313) are towards the pipeline extrusion of being surveyed plate body (311) are in order to realize tightening up the pipeline of being surveyed.

8. The crawling device for metal pipes of claim 6, characterized in that said support wheels (4) are provided on both sides of said second rack plate (112).

9. The crawling device for metal pipes according to claim 6, characterized in that said servos (2) and support wheels (4) are symmetrically distributed along the centre line of said frame (1).

10. The crawling device for metal pipes according to claim 6, characterized in that said driving wheels (23), rolling wheels (32) and said supporting wheels (4) are all in contact with and able to roll on the pipe under test;

the driving device (21) can drive the driving wheel (23) to rotate, and the driving wheel (23) can drive the roller (32) and the supporting wheel (4) to roll along the measured pipeline when rotating.