CN218153030U - Automatic crawling inner wall peeping device for straight pipeline - Google Patents

Abstract

The utility model discloses an automatic crawling inner wall peeping device for a straight pipeline, which comprises an automatic crawling device and a measuring peeping device, wherein the automatic crawling device is respectively arranged inside the detected straight pipeline, and the measuring peeping device is connected with the automatic crawling device and can automatically pitch and swing and automatically rotate around the axis of the measuring peeping device; the test system is characterized by further comprising a test host system which is arranged outside the measured straight pipeline and used for controlling the automatic crawling device and the measurement peeking device and capable of feeding back test data to the measurement peeking device for processing, the controlled end of the automatic crawling device is connected to the output end of the test host system, and the measurement peeking device is in interactive connection with the test host system. The utility model discloses the measurement is peeld and is surveyed the device and carry out the mobility measurement under the automatic device that crawls drives, is detecting the straight tube way in-process of being surveyed, automatic every single move swing under the test host system control and peeld around measuring and survey device axis autogiration, realizes peering the adjustment that surveys the device detection angle to the measurement, in time detects effectively the inside of pipeline.

Description

Automatic crawling inner wall peeping device for straight pipeline

Technical Field

The utility model relates to a pipeline measuring device technical field, more specifically relate to an automatic inner wall of crawling of straight pipeline is peeld and is surveyed device.

Background

In many industrial units, pipelines are important and even only material transmission channels, and the quality of the internal state of the pipeline is directly related to the transmission quality and capacity, and the benefit of the industrial unit is directly influenced. For some straight pipelines, the internal state thereof is often measured, for example, by observing the corrosion, defect, abrasion, deformation, etc. of the inner wall, so as to evaluate the technical state thereof. Therefore, how to complete the detection and diagnosis of the internal state of the pipeline quickly, accurately and at low cost is a difficult problem in the design and development process of nondestructive detection equipment.

The utility model discloses a chinese utility model patent that grant publication number is CN109751477B discloses a tubular structure detects and uses robot, though this patent can remove in the pipeline and detect, and can change laser detector's detection internal diameter, but the unable automatic adjustment of laser detector in this patent detects the angle, need the manual work to adjust it to certain angle before the pipeline detects, in the testing process, can't realize when appearing needing to change the laser detector and detect the angle condition, lead to unable inside to the pipeline in time detecting effectively.

In addition, the movable wheel is adopted to move in the pipeline, the contact area between the movable wheel and the inner wall of the pipeline is small, and the moving stability is poor.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that needs to solve provides an automatic inner wall of crawling of straight pipeline peeps device to solve current tubular structure and detect the problem that can't go on in time detecting effectively to pipeline inside with the robot.

In order to solve the technical problem, the utility model adopts the following technical proposal.

The automatic crawling inner wall peeping device for the straight pipeline comprises an automatic crawling device and a measuring peeping device, wherein the automatic crawling device is arranged inside the measured straight pipeline and can advance inside the measured straight pipeline, the measuring peeping device is connected with the automatic crawling device and is used for carrying out mobile measurement on the inner wall of the measured straight pipeline under the driving of the automatic crawling device, and the measuring peeping device can automatically pitch and swing and automatically rotate around the axis of the measuring peeping device; the test system is characterized by further comprising a test host system which is arranged outside the measured straight pipeline and used for controlling the automatic crawling device and the measurement peeking device and capable of feeding back test data to the measurement peeking device for processing, the controlled end of the automatic crawling device is connected to the output end of the test host system, and the measurement peeking device is in interactive connection with the test host system.

According to the technical scheme, the measuring and peeping device comprises a measuring and peeping device body, a U-shaped frame, a swinging shell and a rotating mechanism, wherein the U-shaped frame is arranged separately from the measuring and peeping device body, the swinging shell is arranged on the U-shaped frame through a pitching mechanism and can perform pitching swinging, the rotating mechanism is arranged in the measuring and peeping device body and is used for driving the swinging shell to rotate, and controlled ends of the pitching mechanism and the rotating mechanism are respectively connected to the output end of a test host system; the swing shell is provided with a camera, and the output end of the camera is connected to the input end of the test host system.

According to the technical scheme, the pitching mechanism comprises a pitching shaft which is connected with the swinging shell and used for driving the swinging shell to swing and a pitching speed reducing motor which is connected to one end of the pitching shaft, a pitching information acquisition control board is arranged inside the U-shaped frame, the controlled end of the pitching speed reducing motor is connected to the output end of the pitching information acquisition control board, and the pitching information acquisition control board performs information interaction with the test host system;

the rotating mechanism comprises an azimuth shaft, an azimuth shaft driven gear and an azimuth shaft driving gear, the azimuth shaft is connected with the bottom end of the U-shaped frame, the azimuth shaft driven gear is connected with the azimuth shaft, the azimuth shaft driving gear is matched with the azimuth shaft driven gear, and the azimuth shaft driving gear is driven by an azimuth shaft motor; the inside of measuring peering device main part is provided with the position information acquisition control panel, and the controlled end of position axle motor is connected in the output of position information acquisition control panel, and position information acquisition control panel carries out the information interaction with test host system.

According to the technical scheme, absolute magnetic encoders for measuring angle information in real time are arranged inside the pitch shaft and the azimuth shaft respectively, and the output ends of the absolute magnetic encoders are connected to the input end of the test host system.

According to the technical scheme, the swing shell is further provided with a plurality of lighting LED lamps which are located on the periphery of the camera and circumferentially arranged at intervals, and the controlled ends of the lighting LED lamps are connected to the output end of the test host system.

Further optimize technical scheme, peeld with the measurement of the relative one end of swing casing and survey and be provided with laser range finder position in the device main part, be provided with the laser range finder that can carry out laser receiving and dispatching in the laser range finder position, the tip of being surveyed the straight pipeline is provided with the axial laser rangefinder target that can receive laser range finder and send laser and can reflect laser back laser rangefinder.

According to the technical scheme, the automatic crawling device comprises a rack of a worm and gear synchronous torque decomposition structure, a worm and a plurality of worm gears which are respectively assembled with the worm and circumferentially arranged at intervals are arranged in the rack of the worm and gear synchronous torque decomposition structure, each worm gear is in transmission connection with a crawler moving mechanism through a torque transmission rod assembly, and the crawler moving mechanisms are sequentially circumferentially arranged at intervals on the periphery of the worm; one end of the worm is connected with a walking motor which is positioned and arranged on the rack of the worm gear and worm synchronous torque decomposition structure.

The torque transmission rod assembly comprises a torque transmission rod which is obliquely arranged, a first helical gear which is arranged on a worm gear shaft, a second helical gear which is arranged at one end of the torque transmission rod and is matched with the first helical gear, a third helical gear which is arranged at the other end of the torque transmission rod and a fourth helical gear which is connected with the crawler belt moving mechanism and is matched with the third helical gear.

According to the technical scheme, the track moving mechanism comprises a track assembly and two adjusting support rods which are connected and arranged on the track assembly, the two adjusting support rods are respectively positioned and arranged on the sliding sleeve through a sliding sleeve shaft, and a parallelogram frame structure is formed among the track assembly, the two adjusting support rods and the sliding sleeve; the sliding sleeve is sleeved on the periphery of the worm and is pressed against the worm through an adjusting assembly used for keeping the parallelogram frame structure to keep tension in the direction of increasing the caliber.

According to the further optimized technical scheme, the adjusting component comprises a screw rod connected and arranged at one end of the worm, an adjusting nut assembled on the screw rod in a threaded mode, and a spring arranged between the adjusting nut and the sliding sleeve and sleeved on the periphery of the screw rod.

Due to the adoption of the technical scheme, the utility model has the following technical progress.

The utility model discloses survey device is peeld in the measurement and is being surveyed straight tube way inner wall under the drive of automatic device of crawling and remove the measurement to being surveyed straight tube way in-process, automatic every single move swing under the control of test host system reaches and peering around measuring survey device axis autogiration, realizes peering the adjustment of surveying device detection angle to the measurement, can in time detect effectively the inside of pipeline.

The utility model discloses well automatic device of crawling drives the worm by a walking motor, and the three worm wheel that becomes 120 each other of worm radial distribution divide into three with the moment of motive force of walking motor one. The three moments are respectively transmitted to three crawler belts (like tank crawler belts) through two groups of bevel gear sets, the moving directions of the three crawler belts are parallel to the axial direction of the pipeline to be measured, and the three crawler belts are uniformly distributed at 120 degrees and cling to the inner wall of the pipeline. Therefore, the walking motor can synchronously drive the three crawler belts to move forwards or backwards along the pipeline shaft by rotating, and the crawling in the pipeline is realized.

The utility model discloses sliding sleeve carries out elasticity through adjusting part and compresses tightly the location, and the elasticity packing force through adjusting part makes parallelogram frame construction keep keeping to increase bore direction and keep tension. The utility model discloses adopt screw rod + spring mode to pipeline bore adaptation adjustment, by the adjusting nut coarse adjustment on the screw rod, roughly adapt to the pipeline bore, utilize spring force to make the main stay bar keep keeping to increase bore direction and keep tension, guarantee the pressure of track and pipeline inner wall, make it sufficient frictional force when crawling.

In order to measure the crawl distance, realize pipeline axial positioning, confirm to measure and peep the axial position of survey device in the pipeline, the utility model discloses peep at the measurement and survey the device rear portion and install laser range finder, realize axial test location with the cooperation of axial laser range finding target.

Drawings

FIG. 1 is a schematic view of the present invention;

fig. 2 is a schematic structural view of the automatic crawling device of the present invention;

fig. 3 is a front view of the automatic crawling device of the present invention;

fig. 4 is a schematic structural view of the track moving mechanism of the present invention;

fig. 5 is a schematic structural view of the torque transmission rod assembly of the present invention;

fig. 6 is a schematic structural view of the worm gear and worm synchronous torque decomposition structure frame of the present invention;

fig. 7 is a schematic structural view of the measuring peering device of the present invention;

fig. 8 is a perspective view of a measuring peeking device of the present invention;

fig. 9 is a block diagram of the hardware connection relationship of the measuring peering device of the present invention;

fig. 10 is a schematic block diagram of the measuring peeking device of the present invention.

Wherein: 1. an automatic crawling device, 11, a worm and gear synchronous torque decomposition structure frame, 112, a worm cabin, 113, a worm gear bearing seat, 114, a worm wheel cover, 13, a track moving mechanism, 131, a track assembly, 1311, a track side plate, 1312, a track driving wheel, 1313, a track wheel, 1314, an adjusting support rod track wheel, 132, an adjusting support rod, 133, a sliding sleeve shaft, 134, a sliding sleeve, 14, an adjusting component, 141, an adjusting nut, 143, a spring, 15, a torque transmission rod assembly, 151, a first helical gear, 152, a second helical gear, 153, a torque transmission rod, 154, a third helical gear, 155, a fourth helical gear, 156, a main support rod, 16 and a walking motor;

2. a measuring and peeping device 21, a measuring and peeping device main body 22, a U-shaped frame 23, a rotating mechanism 231, an azimuth shaft 233, an azimuth shaft driving gear 234, an azimuth shaft driven gear 235, an azimuth shaft measuring gear 236, an azimuth circuit board cabin 237, an azimuth shaft motor 24, a pitching mechanism 241, a pitching shaft main gear 242, a pitching shaft measuring gear 243, a pitching speed reducing motor 244, a pitching circuit board cabin 25, a camera 26, an illuminating LED lamp 27, a laser range finder position 28, an axial laser range finding target 29 and a swinging shell;

3. a test host system 31, a test cable 32 and a test control computer;

4. and (5) a measured straight pipeline.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

The automatic crawling inner wall peeking device for the straight pipeline mainly comprises three parts, wherein one part is a test host system 3 which is used for realizing control of the test device, acquisition and processing of test data and the like; the automatic crawling device 1 is used for driving the corresponding sensors to move back and forth in the straight pipeline along the axis of the straight pipeline, the movement is controlled by the test host system, and the movement is also called crawling; and the third is a measuring and peeping device 2 which is used for realizing the functions of shooting the pipe wall (finding the corrosion and the defect of the pipe wall), measuring the diameter (evaluating the deformation of the pipe wall) and the like.

The utility model discloses an automatic test system based on computer control, minimum test straight tube way inner wall diameter is 70mm, and maximum test straight tube way diameter is not less than 300mm, and distance of crawling (length) depends on the cable length who connects. The test (endoscopic) content comprises the measurement of the diameter (deformation) of the pipeline, the dynamic and static acquisition of images in the pipeline wall, the axial laser positioning and the like.

The automatic crawling device 1 and the measuring and peeping device 2 are respectively arranged inside the measured straight pipeline 4. Wherein, the automatic crawling device 1 can advance inside the measured straight pipeline 4 and can adjust the diameter to adapt to different pipelines. Survey device 2 is spilt with automatic crawling device 1 and is connected and move the measurement to being surveyed the straight tube and say 4 inner walls under automatic crawling device 1 drives, the utility model provides a survey device 2 is spilt to the measurement and can automatic every single move swing and spilt to survey device axis autogiration around the measurement, and then makes the utility model discloses when measuring to being surveyed straight tube way 4, can carry out angle of measurement's regulation.

The test host system 3 is arranged outside the measured straight pipeline 4 and used for controlling the automatic crawling device 1 and the measurement peering device 2 and processing the test data fed back by the measurement peering device 2. The controlled end of the automatic crawling device 1 is connected to the output end of the test host system 3, and the measurement peeking device 2 is connected with the test host system 3 in an interactive mode.

The utility model provides a test host system 3 includes test control computer 32 and test cable 31, and test control computer 32 spies on survey device 2 electric connection with automatic crawling device 1, measurement respectively through test cable 31. The test control computer is a reinforced PC, and can meet the requirements of test data acquisition and data processing, particularly image data acquisition and processing functions with large data volume.

1. Design of automatic crawling device

The utility model discloses well automatic device of crawling is a running gear who adapts to the bore and is 70mm ~ 300mm, crawl length and not more than 10000 mm's pipeline measurement and peep survey device. The automatic crawling device 1 comprises a worm gear and worm synchronous torque decomposition structure frame 11, a worm wheel, a crawler moving mechanism 13 and a walking motor 16. The worm wheel and worm synchronous torque decomposition structure frame 11 is internally provided with a worm and a plurality of worm wheels which are respectively assembled with the worm and arranged at intervals in the circumferential direction, each worm wheel is respectively connected with a crawler belt moving mechanism 13 in a transmission way through a torque transmission rod assembly 15, and each crawler belt moving mechanism 13 is sequentially arranged at the periphery of the worm at intervals in the circumferential direction; one end of the worm is connected with a walking motor 16 which is positioned and arranged on the rack 11 of the worm gear and worm synchronous moment decomposition structure.

The utility model provides a walking motor 16 adopts the direct current to have the brush motor, realizes that speed, direction are controllable by MCU programming control.

Further, the utility model provides a middle part of worm gear synchronous moment decomposition structure frame 11 is provided with the worm cabin 112 that makes the worm pass, is provided with circumference interval between three on the worm gear synchronous moment decomposition structure frame 11 and is 120 worm wheel bearing 113, and the worm wheel passes through worm-wheel shaft and rotates the setting in worm wheel bearing 113, and the outside of worm wheel is provided with worm wheel lid 114.

The torque transmission rod assembly 15 includes a torque transmission rod 153, a first helical gear 151, a second helical gear 152, a third helical gear 154, and a fourth helical gear 155. The first helical gear 151 is arranged on a worm gear shaft, and the worm gear shaft can drive the first helical gear 151 to rotate when rotating, wherein the first helical gear is a 45-degree helical gear. The torque transmission rod 153 is obliquely disposed, and the second bevel gear 152 is disposed at one end of the torque transmission rod 153 and is fitted with the first bevel gear 151. A third helical gear 154 is provided at the other end of the torque transmission rod 153, and the second helical gear 152 and the third helical gear 154 are respectively provided coaxially with the torque transmission rod 153. The fourth bevel gear 155 is connected to the track moving mechanism 13 and fitted with the third bevel gear 154. When the worm gear shaft rotates, the first helical gear 151, the second helical gear 152, the torque transmission rod 153, the third helical gear 154, and the fourth helical gear 155 are driven to rotate, and the track moving mechanism 13 is driven to move.

The track moving mechanism 13 includes a track assembly 131 and two adjusting support rods 132 connected to the track assembly 131, the two adjusting support rods 132 are respectively positioned on a sliding sleeve 134 through a sliding sleeve shaft 133, and a parallelogram frame structure is formed among the track assembly 131, the two adjusting support rods 132, and the sliding sleeve 134.

The utility model provides an automatic device 1 of crawling has three variable parallel track to adapt to the pipeline of different internal diameters. The track assembly 131 includes track side plates 1311, track drive wheels 1312, track wheels 1313, adjust-strut track wheels 1314, tracks. The number of the track side plates 1311 is two, the track driving wheel 1312, the track wheel 1313 and the adjusting support rod track wheel 1314 are respectively arranged between the two track side plates 1311, and the track is sleeved on the track driving wheel 1312, the track wheel 1313 and the adjusting support rod track wheel 1314. Wherein the track drive wheel 1312 is coupled to the fourth beveled gear 155 and the adjustment brace track wheel 1314 is rotatably coupled to the adjustment brace 132.

The sliding sleeve 134 is sleeved on the periphery of the worm and is pressed by the adjusting component 14, and the elastic pressing force of the adjusting component 14 keeps the parallelogram frame structure to keep tension in the direction of increasing the caliber.

The adjustment assembly 14 includes an adjustment nut 141 and a spring 143. The utility model provides a worm wheel is not connected the one end body coupling of walking motor and is connected with the screw rod, has seted up the external screw thread on the lateral wall of screw rod, and the screw thread is joined in marriage on the external screw thread and is equipped with adjusting nut 141. A spring 143 sleeved on the periphery of the screw rod is arranged between the adjusting nut 141 and the sliding sleeve, and the spring 143 is arranged between the adjusting nut 141 and the sliding sleeve in a compression mode. When adjusting the adjustment nut 141, the force of the spring 143 against the sliding sleeve can be adjusted. The utility model discloses adopt screw rod + spring mode to pipeline bore adaptation adjustment, by the adjusting nut coarse adjustment on the screw rod, roughly adapt to the pipeline bore, utilize spring force to make the main stay bar keep keeping to increase bore direction and keep tension, guarantee the pressure of track and pipeline inner wall, make it sufficient frictional force when crawling.

When the crawler belt runs, the elastic force of the spring is adjusted to form uniform tension to cling to the inner wall of the pipeline, the walking motor forms three-axis symmetrical synchronous transmission, helical gear turning and the like through the worm and the worm gear, crawling power is evenly and synchronously transmitted to three rubber crawler belts which are distributed at 120 degrees and parallel to the pipeline shaft, and the crawler belt finishes front and back crawling in the pipeline. The triaxial symmetrical synchronous transmission ensures the centering stability of the measuring endoscope device carried by the device in the crawling process.

The utility model discloses well automatic device of crawling drives the worm by a walking motor, and the three worm wheel that becomes 120 each other of worm radial distribution divide into three with the moment of motive force of walking motor one. The three moments are respectively transmitted to three crawler belts (like tank crawler belts) through two groups of bevel gear sets, the moving directions of the three crawler belts are parallel to the axial direction of the pipeline to be measured, and the three crawler belts are uniformly distributed at 120 degrees and cling to the inner wall of the pipeline. Therefore, the three tracks can be synchronously driven by the rotation of the walking motor to move forwards or backwards along the pipeline shaft, so that the crawling in the pipeline is realized.

The three mutual 120-degree torque synchronous decomposing mechanisms of the worm gear and the worm in the utility model are shown in figure 6. The worm gear and worm synchronous torque decomposition structure is realized by a rack with a worm gear and worm synchronous torque decomposition structure, and ensures that one worm drives three worm gears with the same tooth number, and the three worm gears are distributed in the radial direction of the worm according to 120-degree space. One end of each worm wheel shaft is provided with a helical gear, the torque is changed by 90 degrees through the torque transmission rod and the helical gear group at the other end of each worm wheel shaft, and the torque is transmitted to the three crawler moving mechanisms respectively, so that the crawler belt can crawl on the inner wall of the pipeline in a centering manner.

And the utility model discloses well moment transfer line passes through the bearing frame, fixes on main stay bar 156 to along with main stay bar 156 motion, do not influence the transmission of moment when guaranteeing to adjust different pipeline diameters. The main supporting rod, the adjusting supporting rod, the crawler moving mechanism and the like form three crawler supporting arms which form an angle of 120 degrees with each other. It can be seen that each track support arm is a parallelogram formed by the sliding sleeve, the two adjusting support rods and the track assembly, and the parallelogram is the key for ensuring that the track moving mechanism is always parallel to the axial direction of the pipeline.

2. Design of measuring and peeping device

The measurement scope 2 (measurement scope) includes a measurement scope main body 21, a U-shaped frame 22, a pitching mechanism 24, a swing case 29, and a rotating mechanism 23.

The utility model provides a device main part 21 is spied on in measurement and the centering rod of worm passes through the bearing rotation with automatic crawling device 1 and is connected, and the centering rod sets up with the worm with one heart and is connected with the worm. The utility model provides a device main part 21 has kept the concentricity with centering rod, worm to be peened in the measurement.

The U-shaped holder 22 is provided separately from the measuring scope main body 21, and the inside of the U-shaped holder 22 is hollow.

The swing housing 29 is disposed on the U-shaped frame 22 through the pitching mechanism 24 and is capable of pitching, and the controlled end of the pitching mechanism 24 is connected to the output end of the test host system 3.

The pitch mechanism 24 includes a pitch axis, a pitch deceleration motor 243, and a pitch information acquisition control board. The pitch axis is connected to the swing case 29 for driving the swing case 29 to swing. The pitch speed reducing motor 243 is connected to one end of the pitch shaft and is used for driving the pitch shaft and the swing shell 29 to swing, and the controlled end of the pitch speed reducing motor 243 is connected to the output end of the pitch information acquisition control board. A pitching circuit board cabin 244 is arranged in the U-shaped frame 22, a pitching information acquisition control board is arranged in the pitching circuit board cabin 244, and the pitching information acquisition control board performs information interaction with the test host system 3.

The rotating mechanism 23 is arranged inside the main body 21 of the measuring and peeping device and is used for driving the swinging shell 29 to rotate, and the controlled end of the rotating mechanism 23 is connected to the output end of the test host system 3.

The rotating mechanism 23 comprises an azimuth shaft 231 connected and arranged at the bottom end of the U-shaped frame 22, an azimuth shaft driven gear 234 connected with the azimuth shaft 231 and an azimuth shaft driving gear 233 matched with the azimuth shaft driven gear 234, the azimuth shaft driving gear 233 is driven by an azimuth shaft motor 237, and the controlled end of the azimuth shaft motor 237 is connected with the output end of the azimuth information acquisition control board.

The inside of the measuring and peeping device main body 21 is provided with an orientation circuit board cabin 236, an orientation information acquisition control board is arranged in the orientation circuit board cabin 236, and the orientation information acquisition control board performs information interaction with the test host system 3.

The swing shell 29 is provided with a camera 25, and an output end of the camera 25 is connected to an input end of the test host system 3. The endoscopic camera is realized by adopting an aluminum alloy integral milling process and is divided into a rear part and a front part of a shell. The rear portion of the shell is provided with a left ear hole and a right ear hole (the direction of the camera is taken as the front), the left ear hole is connected and fixed on an output shaft of a pitching speed reducing motor on the left side of the U-shaped frame, the right ear hole is connected and installed on a main gear shaft of a pitching shaft on the right side of the U-shaped frame, the gear is connected with the right side of the U-shaped frame through a bearing, a hollow shaft is arranged on the gear shaft as the center, and the hollow shaft is used for passing through a power supply, a lighting cable and a signal cable of the camera.

In order to further facilitate the camera 25 to effectively photograph the inside of the straight pipeline 4 to be tested, a plurality of illuminating LED lamps 26 are further arranged on the swing shell 29, a controlled end of the illuminating LED lamp 26 is connected to an output end of the test host system 3, and the illuminating LED lamps 26 are located at the periphery of the camera 25 and are circumferentially spaced.

The front part of the shell is used for fixing the camera and the illuminating LED lamp. A mechanical limiting device is arranged between the shell and the U-shaped frame.

Figure 8 is a 3D perspective view of a two-axis platform having an overall platform height of about 100mm and a diameter of 70mm. The utility model provides a survey device is peeld to measurement is the diaxon platform of an adaptation bore 70mm ~ 300mm pipeline, and the mountable camera realizes peeping image acquisition in, also can install radial distancer, realizes the diameter measurement function, can consider two kinds of sensors of integration simultaneously, peeps image acquisition and diameter measurement function in the realization simultaneously. The two-axis test platform is characterized by having an axis parallel to the axial direction of a tested pipeline, called an azimuth axis, wherein the axis is a 360-degree arbitrary rotating axis and can surround the whole 360-degree pipe wall at the current position, and the other axis is perpendicular to the pipeline axis and is called a pitching axis and can rotate 0-90 degrees or 90-90 degrees in front of the measurement so as to adapt to different endoscopic requirements.

In order to ensure that the working range of the azimuth axis is not limited by 360 degrees, the azimuth axis is designed into a hollow shaft so as to be convenient for installing a conductive slip ring and realize the connection of power supplies and signals of equipment such as a camera, a pitch axis motor and the like in the rotary motion. Further, the utility model discloses platform azimuth axis driven gear is spilt to diaxon internal diameter for the installation core leads electrical slip ring, and the core leads electrical slip ring and is used for the test equipment power supply more than for U type frame and the connection of signal.

The working range of the pitching axis is 0-90 degrees (or-90 degrees- +90 degrees), and the operation is realized through mechanical limit.

The absolute magnetic encoders are respectively arranged in the pitching shaft and the azimuth shaft 231, and the output ends of the absolute magnetic encoders are connected to the input end of the test host system 3 and used for measuring angle information in real time.

In order to avoid interfering with a through line (an azimuth axis conductive slip ring and a pitch axis threading) in the shaft, 1 is designed: the synchronous magnetic sensor gear of 1 is also called as a measuring gear, and a magnetic sensor magnet is arranged at the shaft end of the synchronous sensor gear. The design ensures the configuration of the angle sensors of the two shafts and also ensures the concealment of the platform wiring. Furthermore, the utility model discloses connect and be provided with pitch axle master gear 241 in the pitch axle one end that does not set up pitch gear motor to be provided with pitch axle measurement gear 242, pitch axle measurement gear 242 meshes with pitch axle master gear 241 mutually. And the utility model discloses still be provided with azimuth axis measuring gear 235, azimuth axis measuring gear 235 meshes with azimuth axis driven gear 234 mutually.

In order to measure the angles of the azimuth axis and the pitch axis, one magnet mounting hole is provided at each of one ends of the azimuth axis measuring gear and the pitch axis measuring gear. For mounting radially magnetized magnets. After the corresponding azimuth axis circuit board and the pitch axis circuit board are installed, the distance between the AS5048A angle sensor chip on the circuit board and the magnet is about 1mm, and non-contact angle measurement is achieved.

The three gear azimuth axis driving gear, the azimuth axis driven gear and the azimuth axis measuring gear of the azimuth axis are all 40 teeth. The pitch axis main gear and the pitch axis measurement gear are 20 teeth. Namely, the transmission ratios of the azimuth shaft driving gear to the azimuth shaft measuring gear, the transmission ratios of the pitch shaft driving gear to the pitch shaft measuring gear are 1:1, so that the synchronous equivalent measurement of the shaft angle is realized.

In order to measure the crawling distance and realize the axial positioning of the pipeline, the axial position of the measuring and peeping device in the pipeline is determined, and the laser distance measuring machine is installed at the rear part of the measuring and peeping device 2 and is matched with the axial laser distance measuring target to realize the axial testing and positioning. The specific setting mode is as follows: the measuring peeping device body 21 at the end opposite to the swinging shell 29 is provided with a laser range finder position 27, the laser range finder position 27 is provided with a laser range finder capable of receiving and sending laser, and the end part of the measured straight pipeline 4 is provided with an axial laser range finding target 28 capable of receiving the laser sent by the laser range finder and reflecting the laser back to the laser range finder.

If the simultaneous operations of the endoscope and the diameter measurement are to be realized (one-time in-tube crawling to complete two tasks of the endoscope and the diameter measurement), it can be considered that the diameter measuring head is arranged on one side of two vertical line sides of the U-shaped frame, for example, the diameter measuring head is arranged on one side of the circuit board cabin to realize one-time crawling operation to complete two tasks of the endoscope and the diameter measurement. Among these considerations are structural size limitations and the number of conducting slip ring leads.

3. Hardware circuit design

The utility model discloses measurement hardware mainly includes test host system, position information acquisition control panel, every single move information acquisition control panel, crawls parts such as motor control panel and camera and constitutes. The test host system adopts a reinforced PC meeting the requirements of image acquisition and processing capacity to realize the functions of test process control, test result processing, display, storage and the like; the azimuth information acquisition control board, the pitching information acquisition control board and the crawling motor control board are three circuit boards containing an MCU, are in serial communication with a test control computer host, are controlled by the host, provide information such as test data for the host, realize control over corresponding motors according to host instructions, and realize corresponding actions of crawling, azimuth axis and pitching axis. The laser ranging module is managed by bit information acquisition and control panel concurrently, realizes the range finding function. Fig. 9 is a block diagram of various portions of a communication link.

The design ideas of the azimuth information acquisition and the pitch information acquisition control of the two circuit boards are basically consistent. The same point is that a GD32F103 series MCU chip is adopted AS a core, an A3988 stepping motor control chip and an AS5048A magnetic angle sensor chip are respectively expanded, and the communication with a main control computer is realized through serial communication.

The azimuth information acquisition control board directly interacts information with the test control computer through RS485 (or RS 422); the pitching information acquisition control board is directly communicated with the orientation information acquisition control board through TTL serial communication, exchanges information with the test control computer, and indirectly exchanges information with the test control computer through transferring of the orientation information acquisition control board.

The pitching information acquisition control panel is simultaneously responsible for the control and driving functions of the camera lighting LED.

Fig. 10 is a block diagram of the connection of two circuit boards to a host.

The motor driving circuit of the automatic crawling device is driven by an H bridge and controlled by GD32F103C8T6, and an RS485 is expanded on the circuit board to communicate with the measurement and control host, and the circuit board and the RS485 on the azimuth information acquisition control board form a tree structure with two branches taking the measurement and control host as a main body.

Claims (10)

1. The automatic crawling inner wall peeping device for the straight pipeline is characterized by comprising an automatic crawling device (1) and a measuring peeping device (2), wherein the automatic crawling device (1) is arranged in a measured straight pipeline (4) and can advance in the measured straight pipeline (4), the measuring peeping device (2) is connected with the automatic crawling device (1) and is driven by the automatic crawling device (1) to perform mobile measurement on the inner wall of the measured straight pipeline (4), and the measuring peeping device (2) can automatically pitch and swing and automatically rotate around the axis of the measuring peeping device; the test system is characterized by further comprising a test host system (3) which is arranged outside the measured straight pipeline (4) and used for controlling the automatic crawling device (1) and the measurement peeking device (2) and capable of feeding back test data to the measurement peeking device (2) for processing, wherein the controlled end of the automatic crawling device (1) is connected to the output end of the test host system (3), and the measurement peeking device (2) is in interactive connection with the test host system (3).

2. The straight pipeline automatic crawling inner wall peeping device according to claim 1, characterized in that the measuring peeping device (2) comprises a measuring peeping device main body (21), a U-shaped frame (22) which is arranged separately from the measuring peeping device main body (21), a swinging shell (29) which is arranged on the U-shaped frame (22) through a pitching mechanism (24) and can perform pitching swinging, and a rotating mechanism (23) which is arranged inside the measuring peeping device main body (21) and is used for driving the swinging shell (29) to rotate, wherein controlled ends of the pitching mechanism (24) and the rotating mechanism (23) are respectively connected to an output end of the test host system (3); the swing shell (29) is provided with a camera (25), and the output end of the camera (25) is connected with the input end of the test host system (3).

3. The straight pipeline automatic crawling inner wall peeking device according to claim 2, wherein the pitching mechanism (24) comprises a pitching shaft connected with the swing shell (29) for driving the swing shell (29) to swing and a pitching speed reducing motor (243) connected to one end of the pitching shaft, a pitching information acquisition control board is arranged inside the U-shaped frame (22), a controlled end of the pitching speed reducing motor (243) is connected to an output end of the pitching information acquisition control board, and the pitching information acquisition control board performs information interaction with the test host system (3);

the rotating mechanism (23) comprises an azimuth shaft (231) which is connected and arranged at the bottom end of the U-shaped frame (22), an azimuth shaft driven gear (234) which is connected with the azimuth shaft (231) and an azimuth shaft driving gear (233) which is matched with the azimuth shaft driven gear (234), and the azimuth shaft driving gear (233) is driven by an azimuth shaft motor (237); the inside of measuring peeping device main part (21) is provided with position information acquisition control panel, and the controlled end of position axle motor (237) is connected in the output of position information acquisition control panel, and position information acquisition control panel carries out the information interaction with test host system (3).

4. The automatic crawling inner wall peeping device for the straight pipeline according to claim 3, characterized in that absolute magnetic encoders for measuring angle information in real time are respectively arranged inside the pitch shaft and the azimuth shaft (231), and the output ends of the absolute magnetic encoders are connected to the input end of the test host system (3).

5. The straight pipeline automatic crawling inner wall peeping device according to claim 2, wherein a plurality of illuminating LED lamps (26) which are located at the periphery of the camera (25) and circumferentially arranged at intervals are further arranged on the swinging shell (29), and controlled ends of the illuminating LED lamps (26) are connected to the output end of the test host system (3).

6. The straight pipeline automatic crawling inner wall peeping device according to claim 2, wherein a laser distance measuring machine position (27) is arranged on the measuring peeping device main body (21) at the end opposite to the swinging casing (29), a laser distance measuring machine capable of transmitting and receiving laser is arranged on the laser distance measuring machine position (27), and an axial laser distance measuring target (28) capable of receiving laser emitted by the laser distance measuring machine and reflecting the laser back to the laser distance measuring machine is arranged at the end of the straight pipeline (4) to be detected.

7. The straight pipeline automatic crawling inner wall peeping device according to claim 1, wherein the automatic crawling device (1) comprises a worm and gear synchronous moment decomposition structure frame (11), a worm and a plurality of worm gears which are respectively assembled with the worm and arranged at intervals circumferentially are arranged in the worm and gear synchronous moment decomposition structure frame (11), each worm gear is respectively connected with a crawler moving mechanism (13) through a torque transmission rod assembly (15) in a transmission manner, and the crawler moving mechanisms (13) are sequentially arranged at intervals circumferentially on the periphery of the worm; one end of the worm is connected with a walking motor (16) which is positioned and arranged on the rack (11) of the worm gear and worm synchronous moment decomposition structure.

8. The automatic crawling inner wall peeping device for straight pipeline according to claim 7, characterized in that the torque transmission rod assembly (15) comprises a torque transmission rod (153) arranged obliquely, a first helical gear (151) arranged on the worm gear shaft, a second helical gear (152) arranged at one end of the torque transmission rod (153) and fitted with the first helical gear (151), a third helical gear (154) arranged at the other end of the torque transmission rod (153), and a fourth helical gear (155) connected with the crawler moving mechanism (13) and fitted with the third helical gear (154).

9. The straight pipeline automatic crawling inner wall peeping device according to claim 8, characterized in that the track moving mechanism (13) comprises a track assembly (131) and two adjusting support rods (132) connected and arranged on the track assembly (131), the two adjusting support rods (132) are respectively positioned and arranged on the sliding sleeve (134) through a sliding sleeve shaft (133), and a parallelogram frame structure is formed among the track assembly (131), the two adjusting support rods (132) and the sliding sleeve (134); the sliding sleeve (134) is sleeved on the periphery of the worm and is pressed by an adjusting component (14) used for keeping the parallelogram frame structure to keep tension in the direction of increasing the caliber.

10. The automatic crawling internal wall peeping device for straight pipeline according to claim 9, characterized in that the adjusting assembly (14) comprises a screw rod connected to one end of the worm, an adjusting nut (141) threaded onto the screw rod, and a spring (143) arranged between the adjusting nut (141) and the sliding sleeve (134) and sleeved on the periphery of the screw rod.

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