CN218094928U - Pipeline detection robot based on helical scanning - Google Patents
Pipeline detection robot based on helical scanning Download PDFInfo
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- CN218094928U CN218094928U CN202222225009.5U CN202222225009U CN218094928U CN 218094928 U CN218094928 U CN 218094928U CN 202222225009 U CN202222225009 U CN 202222225009U CN 218094928 U CN218094928 U CN 218094928U
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Abstract
The utility model relates to a pipeline detection robot based on spiral scanning, which comprises a crawler-type vehicle body, a spiral detection system, a control mechanism and a sensing mechanism; the spiral detection system comprises a detection arm lifting platform and a crossed detection arm, and the control mechanism adjusts the height of the detection arm lifting platform and drives the crossed detection arm to carry out spiral scanning; the height of the lifting platform of the detection arm is controlled by the information acquisition of the sensing mechanism and the feedback of the control mechanism; the problem that the defect signal caused by the detection mode of the PIG type pipeline robot with the dense sensors leaks is solved, the stability of the robot in advancing detection is guaranteed, and the leakage-free all-dimensional scanning of the pipeline is realized.
Description
Technical Field
The utility model relates to a pipeline inspection technical field, concretely relates to pipeline inspection robot based on helical scan.
Background
Pipeline transportation plays an important role in industrial development and urban modern construction, and in the transportation of energy sources such as petroleum and natural gas, pipelines are widely applied as an effective material conveying mode, so that huge economic benefits are brought to industrial development and people's lives, and the method has immeasurable development prospects.
However, the pipeline may have defects in the manufacturing and operation processes, and the damage of the pipeline brings about huge loss, resource waste, environmental pollution, poisoning, explosion and other accidents. Therefore, in order to prolong the life of the pipe and prevent the occurrence of a leakage accident, it is necessary to perform effective inspection, maintenance, and repair of the pipe.
The pipeline environment is complicated and long, and manual detection operation is difficult to carry out. The pipeline robot is suitable for being applied to detection, cleaning and flaw detection of pipelines because of small volume, capability of crawling in the pipelines, capability of carrying various sensors and operating machinery and capability of remote control. Therefore, in order to ensure the safe operation of the oil and gas pipeline, the detection in the oil and gas pipeline is carried out by using the detection robot in the pipeline is a necessary means.
The PIG robot is the most representative oil and gas pipeline detection equipment, has no autonomous driving capability, the power of advancing in an oil and gas pipe is derived from the pressure difference of fluid at the head and the tail end of the oil and gas pipe, a towing cable or a storage battery is not required to be carried out for driving, the PIG robot can walk for hundreds of kilometers at a time, but has low load capacity and can not advance autonomously, and the instability in advancing and the change of the arrangement clearance of the sensors can cause the error of data acquisition.
An Explorer series urban natural gas pipeline detection robot is developed by Schempf H and the like of the university of Enoka in the United states, wherein the Explorer I1 can carry a far-field eddy current or magnetic leakage detector to detect the pipeline defects, and the corrosion, mechanical damage and wall thickness reduction of the pipe body can be effectively detected by methods such as ultrasound, far-field eddy current or magnetic leakage, but the leakage detection of defect signals caused by overlarge arrangement gaps of sensors can be caused in the motion process.
The research and the application of the magnetic flux leakage detection technology are really carried out only after the research and the start of the pipeline robot in China are late and the introduction of the magnetic flux leakage detection equipment from the United states in the oil and gas pipeline agency in 1994. In the process of years of research and application development, the detection technical level of the pipeline bureau is greatly improved, the magnetic flux leakage detection technology of the pipeline bureau is basically similar to the international level, but the detection of crack defects such as stress cracks, fatigue cracks and the like still has problems. At present, although the detection service technology outside the oil and gas pipeline is basically mastered in China, the detection service technology in the pipeline is still in a vacant state. Compared with magnetic flux leakage detection, the far-field eddy current can detect internal and external defects, the requirement on the lift-off value is low, and the research on electromagnetic detection modes such as the far-field eddy current and the like is just started at present, so that the development potential is high.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model relates to a pipeline inspection robot based on helical scan.
A pipeline detection robot based on spiral scanning comprises a crawler-type vehicle body, a spiral detection system, a sensing mechanism and a control mechanism; the spiral detection system is arranged on the rear half part of the vehicle body, the sensing mechanism is connected with the control mechanism, the control mechanism is connected with the spiral detection system, and the sensing mechanism and the control mechanism are connected with the crawler-type vehicle body;
the crawler-type vehicle body comprises a vehicle body framework, a driving wheel, a driven wheel, a driving motor fixing frame, a bevel gear set, a ball screw, a multi-connection screw nut, a first screw support plate, a second screw support plate, a driving reducer, a mile wheel fixing groove, a first driven reducer, a second driven reducer, a first crawler fixing plate, a second crawler fixing plate, a crawler inner baffle, a crawler outer baffle, a bearing and an excitation coil fixing disc; the two driving wheels and the two driven wheels are symmetrically arranged on two sides of the vehicle body, the two driving wheels are respectively connected with main gears of the two bevel gear sets, pinions of the two bevel gear sets are respectively connected with two driving motors, the driving motors are fixed with the inner track baffle through driving motor fixing frames, the driving wheels and the driven wheels are respectively connected with the inner track baffle and the outer track baffle through bearings, the inner track baffle and the outer track baffle are respectively connected with a first driven reducing rod and a second driven reducing rod through a first track fixing plate and a second track fixing plate and are connected with the vehicle body framework through a first driven reducing rod and a second driven reducing rod, two ends of a ball screw are respectively fixed with a first screw support plate and a second screw support plate, a multi-connection screw nut is sleeved on the ball screw and moves back and forth along the ball screw nut, the three driving reducing rods are connected with the side surfaces of the multi-connection screw nut, and the two driving reducing rods positioned below are connected with the second track fixing plate;
a driving reducing rod is further arranged above the ball screw, a mileage wheel fixing groove is arranged at the top end of the driving reducing rod, and an excitation coil fixing disc is fixed at the front end of a first screw supporting plate;
the spiral detection system comprises a detection arm lifting platform and a cross type detection mechanism, wherein the detection arm lifting platform comprises a lifting platform base, a steering engine gear, a telescopic ruler strip and a rotating motor support; the crossed detection mechanism comprises a rotary motor, a coupler, a central connecting ring and n detection arms, wherein each detection arm comprises a sleeve, a telescopic rod, an elastic structure and a detection probe, a lifting platform base is fixed on the upper surface of a vehicle body framework, a telescopic straight ruler strip is connected with the lifting platform base and slides relatively, a steering engine is in contact with the telescopic straight ruler strip through a steering engine gear, the rotary motor is fixed to the top of the telescopic straight ruler strip through a rotary motor support and moves up and down along with the telescopic straight ruler strip, the central connecting ring of the crossed detection mechanism is connected with the rotary motor through the coupler, the n detection arms are distributed on the outer side of the central connecting ring in theta included angles (theta =360 DEG/n) and fixed with the central connecting ring, the sleeves of the detection arms are connected with the telescopic rods through a clamping groove structure, the elastic structure is installed inside the sleeves and used for changing the length of the detection arms, the other end of the telescopic rod is fixed with the detection probe, and a space for winding detection coils and wiring is reserved in the detection probe;
the control mechanism comprises a controller, a power supply, a motor driving module, a direct current voltage reduction module and a signal transmission module, wherein the power supply is connected with the controller, the motor driving module and the direct current voltage reduction module;
the sensing mechanism comprises an electronic gyroscope, an infrared distance measuring module and a Hall speed measuring module; the electronic gyroscope is installed on the lower surface of the vehicle body framework and is parallel to the surface of the crawler-type vehicle body, the infrared distance measurement module is fixed on a rotating motor support in the detection arm lifting platform, and the Hall speed measurement module is connected with a driving motor and a rotating motor of the crawler-type vehicle body.
The utility model has the advantages of:
the utility model discloses to the problem that the defect signal of the close distributed PIG type pipeline inspection robot of sensor missed the detection, designed a pipeline inspection robot based on helical scanning, wherein helical scanning system is used for the first time the spiral detection thinking of medical nuclear magnetic resonance apparatus for industrial oil gas pipeline detection, realized the all-round scanning of no omission to the pipeline inner wall; the rotation center of the cross-shaped detection arm is always controlled to be the axial center of the pipeline, so that the stability of detection is ensured. Finally, the method can realize the non-omission detection of defects such as damage, cracks, depressions and the like of the pipeline wall within a certain caliber range.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is a perspective view of the walking structure of the crawler-type vehicle body of the present invention;
FIG. 3 is a perspective view showing the assembly relationship between the middle crawler type chassis and the spiral detection system;
fig. 4 is a perspective view of the structure of the middle screw detecting system of the present invention.
Detailed Description
The present invention will be further explained with reference to the drawings and the embodiments;
a pipeline inspection robot based on spiral scanning, as shown in fig. 1-4; the device comprises a crawler-type vehicle body 1, a spiral detection system 2, a sensing mechanism 4 and a control mechanism 3; the spiral detection system is arranged on the rear half part of the vehicle body, the sensing mechanism is connected with the control mechanism, the control mechanism is connected with the spiral detection system, and the sensing mechanism and the control mechanism are connected with the crawler-type vehicle body;
a crawler-type vehicle body 1 is shown in attached figures 1 and 2 and comprises a vehicle body framework 1-1, driving wheels 1-2, driven wheels 1-3, driving motors 1-4, driving motor fixing frames 1-5, bevel gear sets 1-6, ball screws 1-7, multi-connection screw nuts 1-8, first screw support plates 1-9, second screw support plates 1-10, driving reducing rods 1-11, mile wheel fixing grooves 1-12, first driven reducing rods and second driven reducing rods 1-13, first crawler fixing plates and second crawler fixing plates 1-14, inner crawler baffle plates and outer crawler baffle plates 1-15, bearings 1-16 and exciting coil fixing plates 1-17, wherein the two driving wheels 1-2 and the two driven wheels 1-3 are divided into two groups and symmetrically arranged on two sides of the vehicle body, two driving wheels 1-2 are respectively connected with main gears of two bevel gear sets 1-6, secondary gears of the two bevel gear sets 1-6 are respectively connected with two driving motors 1-4, the bevel gear sets 1-6 are used for changing the rotating direction of the motors and improving the transmission ratio, the driving motors 1-4 are fixed with inner track baffles 1-15 through driving motor fixing frames 1-5, the driving wheels 1-2 and driven wheels 1-3 are respectively connected with the inner track baffles and outer track baffles 1-15 through bearings 1-16, the inner track baffles and the outer track baffles 1-15 are respectively connected with first driven reducer rods 1-13 and second driven reducer rods 1-13 through first track fixing pieces and second track fixing pieces 1-14, and are connected with a vehicle body framework 1-1 through second driven reducer rods 1-13 The two ends of a ball screw 1-7 are respectively fixed with a first screw support plate 1-9 and a second screw support plate 1-10, a multi-connection screw nut 1-8 is sleeved on the ball screw 1-7 and can move back and forth along the ball screw 1-7, three active reducing rods 1-11 are connected with the side surfaces of the multi-connection screw nut 1-8, two active reducing rods 1-11 positioned below are connected with a second crawler fixing plate 1-14, when the multi-connection screw nut 1-8 moves along the ball screw, the active reducing rods 1-11 can be driven to change angles, so that the first active reducing rods and the second active reducing rods 1-13 are pulled to achieve the purpose of expanding or contracting the crawler to adapt to different pipe diameters, a mileage wheel fixing groove is arranged at the top end of the active reducing rods 1-11 positioned above, a mileage wheel structure for distance calculation and positioning is convenient to install, and an exciting coil fixing disc 1-17 is fixed at the front end of the first screw support plate 1-9 and used for installing a far field eddy current exciting coil.
An active reducing rod is arranged at the position above the ball screw, the active reducing rod is expanded or contracted along with the change of the ball screw, and a mileage wheel fixing groove is arranged at the top end of the active reducing rod, so that a mileage wheel structure for calculating distance and positioning is convenient to install; the excitation coil fixing disc is fixed at the front end of the first lead screw supporting plate and used for mounting a far-field eddy excitation coil;
the spiral detection system 2 comprises a detection arm lifting platform and a cross type detection mechanism, the detection arm lifting platform comprises a lifting platform base 2-1, a steering engine 2-2, a steering engine gear 2-3, telescopic straight rule strips 2-4 and a rotary motor support 2-5 as shown in figure 3, the cross type detection mechanism comprises a rotary motor 2-6, a coupler 2-7, a central connecting ring 2-8 and n detection arms as shown in figure 4, each detection arm comprises a sleeve 2-9, a telescopic rod 2-10, an elastic structure 2-11 and a detection probe 2-12, the lifting platform base 2-1 is fixed on the upper surface of a vehicle body framework 1-1, the telescopic straight rule strips 2-4 are connected with the lifting platform base and can slide relatively, the steering engine 2-2 is in contact with the telescopic straight rule strips 2-4 through the steering engine gear 2-3, the rotation angle of the telescopic straight rule strips 2-2 is adjusted, the rotation of the telescopic straight rule strips 2-3 can drive the telescopic straight rule strips 2-4 to ascend or descend to the position of the accurate detection mechanism through the steering engine gear 2-3, the height control over the cross type detection mechanism is realized, the cross type detection mechanism, the rotary detection arm 2-6 is connected with the telescopic straight rule strips 2-4 through the telescopic straight rule strips 2-6 and the telescopic rod 2-6, the telescopic mechanism is connected with the telescopic straight rule strips 2-6, the telescopic rod 2-6, the telescopic mechanism, the telescopic rod 2-6 is connected with the rotary motor support and the rotary mechanism, the telescopic rod 2-6, the other end of the telescopic rod 2-10 is fixed with the detection probe 2-12, a space for winding the detection coil and wiring is reserved in the detection probe 2-12, when the rotating motor works, the cross-type detection mechanism rotates, and the detection probe 2-12 moves close to the inner wall of the pipeline to scan.
Control mechanism 3 includes STM32F4 controller, lithium battery power, motor drive module, direct current step-down module, signal transmission module, the power is connected with STM32F4 controller, motor drive module, direct current step-down module, STM32F4 controller links to each other with motor drive module, signal transmission module through the wire respectively, direct current step-down module and motor drive module all are connected with driving motor 1-4 and rotating electrical machines 2-6 through the wire, STM32F4 controller, lithium battery power, motor drive module, direct current step-down module, signal transmission module install on automobile body skeleton 1-1.
The sensing mechanism 4 comprises an Mpu6050 electronic gyroscope, an infrared distance measuring module and a Hall speed measuring module; the Mpu6050 electronic gyroscope is installed on the lower surface of a vehicle body framework 1-1 and is parallel to the surface of a crawler-type vehicle body 1, the infrared distance measuring module is fixed on a rotating motor support 2-5 in the detection arm lifting platform, and the Hall speed measuring module is connected with a driving motor 1-4 and a rotating motor 2-6 of the crawler-type vehicle body.
Claims (7)
1. A pipeline detection robot based on spiral scanning is characterized by comprising a crawler-type vehicle body, a spiral detection system, a sensing mechanism and a control mechanism; the spiral detection system is arranged on the rear half part of the vehicle body, the sensing mechanism is connected with the control mechanism, the control mechanism is connected with the spiral detection system, and the sensing mechanism and the control mechanism are connected with the crawler-type vehicle body.
2. The pipeline detection robot based on the helical scanning as recited in claim 1, wherein the crawler-type vehicle body comprises a vehicle body framework, a driving wheel, a driven wheel, a driving motor fixing frame, a bevel gear set, a ball screw, a multi-connection screw nut, a first screw supporting plate, a second screw supporting plate, a driving reducer rod, a mile wheel fixing groove, a first driven reducer rod, a second driven reducer rod, a first crawler fixing plate, a second crawler fixing plate, a crawler inner baffle, a crawler outer baffle, a bearing and an excitation coil fixing plate; two driving wheels and two driven wheels are divided into two groups, the driving wheels are symmetrically arranged on two sides of a vehicle body, the two driving wheels are respectively connected with main gears of the two bevel gear sets, secondary gears of the two bevel gear sets are respectively connected with two driving motors, the driving motors are fixed with an inner track baffle through a driving motor fixing frame, the driving wheels and the driven wheels are respectively connected with the inner track baffle and an outer track baffle through bearings, the inner track baffle and the outer track baffle are respectively connected with a first driven reducing rod and a second driven reducing rod through a first track fixing plate and a second track fixing plate and are connected with a vehicle body framework through the first driven reducing rod and the second driven reducing rod, two ends of a ball screw are respectively fixed with a first screw support plate and a second screw support plate, a plurality of connecting screw nuts are sleeved on the ball screw and move back and forth along the ball screw, three driving reducing rods are connected with the side faces of the plurality of connecting screw nuts, and two driving reducing rods positioned below are connected with the second track fixing plates.
3. The pipeline inspection robot based on helical scanning of claim 2, wherein a driving reducing rod is further installed at a position above the ball screw, a mile wheel fixing groove is installed at the top end of the driving reducing rod, and the excitation coil fixing disc is fixed at the front end of the first screw supporting plate.
4. The pipeline inspection robot based on spiral scanning of claim 1, wherein the spiral inspection system comprises two parts, namely an inspection arm lifting platform and a cross type inspection mechanism.
5. The pipeline detection robot based on the spiral scanning is characterized in that the detection arm lifting platform comprises a lifting platform base, a steering engine gear, a telescopic ruler strip and a rotating motor support; crossing type detection mechanism, including rotating electrical machines, shaft coupling, central go-between, n detection arm, every it includes sleeve, telescopic link, elastic construction, test probe to detect the arm, the lift platform base is fixed at automobile body skeleton upper surface, flexible ruler strip is connected and relative slip with the lift platform base, the steering wheel passes through steering wheel gear and flexible ruler strip contact, rotating electrical machines passes through the rotating electrical machines support and fixes with flexible ruler strip top, along with its up-and-down motion, crossing type detection mechanism's central go-between passes through the shaft coupling and is connected with rotating electrical machines, n detection arm is theta contained angle (theta =360 °/n) distribution respectively in the central go-between outside, and rather than fixed, the sleeve and the telescopic link of detecting the arm meet through the draw-in groove structure, sleeve internally mounted elastic construction is used for changing the length of detecting the arm, the other end of telescopic link with test probe is fixed, test probe reserves the space of winding detection coil and wiring.
6. The pipeline detection robot based on the helical scanning as claimed in claim 1, wherein the control mechanism comprises a controller, a power supply, a motor driving module, a dc voltage reduction module and a signal transmission module, the power supply is connected with the controller, the motor driving module and the dc voltage reduction module, the controller is respectively connected with the motor driving module and the signal transmission module through wires, the dc voltage reduction module and the motor driving module are respectively connected with the driving motor and the rotating motor through wires, and the controller, the power supply, the motor driving module, the dc voltage reduction module and the signal transmission module are mounted on a vehicle body framework.
7. The pipeline detection robot based on the spiral scanning is characterized in that the sensing mechanism comprises an electronic gyroscope, an infrared distance measurement module and a Hall speed measurement module; the electronic gyroscope is installed on the lower surface of the vehicle body framework and parallel to the surface of the crawler-type vehicle body, the infrared distance measuring module is fixed on a rotating motor support in the detection arm lifting platform, and the Hall speed measuring module is connected with a driving motor and a rotating motor of the crawler-type vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222225009.5U CN218094928U (en) | 2022-08-24 | 2022-08-24 | Pipeline detection robot based on helical scanning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222225009.5U CN218094928U (en) | 2022-08-24 | 2022-08-24 | Pipeline detection robot based on helical scanning |
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| CN218094928U true CN218094928U (en) | 2022-12-20 |
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| CN202222225009.5U Active CN218094928U (en) | 2022-08-24 | 2022-08-24 | Pipeline detection robot based on helical scanning |
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- 2022-08-24 CN CN202222225009.5U patent/CN218094928U/en active Active
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