CN219473083U

CN219473083U - Inspection robot suitable for pipelines with different pipe diameters

Info

Publication number: CN219473083U
Application number: CN202320572788.8U
Authority: CN
Inventors: 尹义杰; 马世成
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-03-22
Filing date: 2023-03-22
Publication date: 2023-08-04
Anticipated expiration: 2033-03-22

Abstract

The application discloses inspection robot suitable for different pipe diameter pipelines, concretely relates to pipeline under pressure inspection field, this application includes the robot body, the one end fixed mounting of robot body has the probe, the other end fixed mounting of robot body has a control portion, the guide slot has been seted up on the surface of control portion, the inner wall slidable mounting of guide slot has the sliding seat, the one end fixed mounting of control portion has the cable, the surface of robot body is equipped with adapter device, the power umbrella is installed with the help of adapter device on the surface of robot body, this application has reached when the operating personnel needs to carry out periodic inspection to the pipeline under pressure of service state with the help of the robot, and when the size and pipe diameter suitability after the power umbrella opens are relatively poor, can change alone the power umbrella because of being equipped with adapter device to make the size and the pipeline pipe diameter looks adaptation of power umbrella, thereby carry out the effect of pipeline inspection work better.

Description

Inspection robot suitable for pipelines with different pipe diameters

Technical Field

The application relates to the field of pressure pipeline inspection, in particular to an inspection robot suitable for pipelines with different pipe diameters.

Background

The reasons for the pressure pipeline accidents mainly comprise corrosion, welding and material defects, equipment faults, illegal operation, external force damage and the like, so that the pressure pipeline in a use state is checked regularly at regular intervals to detect the defects of corrosion, cracks and the like of the pressure pipeline, and the accidents are eliminated in a sprouting state.

In actual operation, the detection is usually carried out by means of a detection robot, the detection robot can extend into a pipeline, the damage condition of the pressure pipeline is detected under the condition that the pipeline pressure is kept, but the environment in the pipeline is complex, the resistance is large, and the robot is easy to advance in a poor condition.

Under the prior art, the robot is usually provided with a power umbrella, and is opened after entering the pipeline, so that the robot is pushed to advance by using the power umbrella through water pressure, and the processing method can enable the robot to extend into the pipeline more easily, but the pipe diameters of different pipelines have certain difference, when the size and pipe diameter suitability of the opened power umbrella are poor, the situation that the pushing effect of the power umbrella is poor or the pipe wall is scratched easily occurs, and certain inconvenience is caused to the detection work of the pressure pipeline. In summary, the prior art has some limitations and some improvement space, so the inventor provides an inspection robot suitable for pipelines with different diameters to improve the defects of the prior art.

Disclosure of Invention

The utility model provides a processing method under the solution prior art condition is although can make the robot stretch into along the pipeline more easily, but the pipe diameter of different pipelines has certain difference, and when the size and the pipe diameter suitability after the power umbrella opens are relatively poor, the condition that the promotion effect of power umbrella is not good or the pipe wall is scraped easily appears, has caused the problem of certain inconvenience to the detection work of pressure pipeline, provides an inspection robot suitable for different pipe diameter pipelines.

In order to achieve the above purpose, the present application adopts the following technical scheme: the inspection robot suitable for pipelines with different pipe diameters comprises a robot body, one end of the robot body is fixedly provided with a probe, the other end of the robot body is fixedly provided with a control part, the surface of the control part is provided with a guide groove, the inner wall of the guide groove is slidably provided with a sliding seat, one end of the control part is fixedly provided with a cable, the surface of the robot body is provided with an adapting device, the surface of the robot body is provided with a power umbrella by means of the adapting device, one end of the power umbrella is fixedly connected with a ring plate, the other end of the power umbrella is fixedly connected with a plurality of struts, the adapting device comprises four support columns and a rotating shaft, one end of each support column is fixedly connected with the robot body, the other end of each support column is fixedly connected with a mounting ring, the outer surface of the mounting ring is fixedly connected with four fixing frames, the four fixed frames are fixedly connected with a mounting frame on one surface, two limit strips are fixedly connected to the inner surface of the mounting frame, one end of each limit strip is fixedly connected with the fixed frame, a sliding plate is connected to the surface of each limit strip in a sliding manner, a fixing rod is fixedly connected to one end of each sliding plate, which is close to the fixed frame, one end of each fixing rod is inserted into the fixed frame in a sliding manner, four cylinders are fixedly connected to one surface of each ring plate, which is close to the mounting ring, of each mounting ring, fixing blocks are fixedly connected to one ends of the four cylinders, the inner wall of each fixing frame is in sliding connection with each fixing block, one end of each fixing column is inserted into each fixing block in a sliding manner, a first semicircular plate and a second semicircular plate are fixedly connected to the outer surface of each sliding seat, one ends of each first semicircular plate and each second semicircular plate are connected in a rotating manner through a rotating shaft, one side of each first semicircular plate and each second semicircular plate is fixedly connected with a connecting plate, one side of the connecting plate is rotationally connected with the supporting rod, the other ends of the first semicircular plate and the second semicircular plate are fixedly connected with side plates, threaded holes are formed in the surfaces of the side plates, and bolts are connected with the inner walls of the threaded holes in a threaded mode.

The effects achieved by the components are as follows: the pressure pipeline detection device has the advantages that when an operator needs to regularly test the pressure pipeline in a use state by means of the robot, and the size and the pipe diameter suitability of the opened power umbrella are poor, the power umbrella can be independently replaced by the adapting device, so that the size of the power umbrella is matched with the pipe diameter of the pipeline, pipeline detection work is better carried out, the processing method under the condition of the prior art is improved to a certain extent, although the robot can extend into the pipeline more easily, certain difference exists among the pipe diameters of different pipelines, when the size and the pipe diameter suitability of the opened power umbrella are poor, the situation that the pushing effect of the power umbrella is poor or the pipe wall is scratched easily occurs, and certain inconvenience is caused to the detection work of the pressure pipeline.

Preferably, a spring is fixedly connected to one surface, far away from the fixed frame, of the sliding plate, and one end of the spring is fixedly connected with the mounting frame.

The effects achieved by the components are as follows: the effect that the fixed column is more reliable in limiting the position of the fixed block is achieved by applying an elastic force inserted into the fixed frame to the fixed column through the sliding plate.

Preferably, the inside sliding connection of spring has the guide bar, the one end and the installing frame fixed connection of guide bar, the other end and the fixed frame fixed connection of guide bar, the arc surface and the sliding plate sliding connection of guide bar.

The effects achieved by the components are as follows: the spring is limited in the elastic direction, so that the spring can drive the sliding plate better, the fixing block in the fixing frame is clamped and limited, and in addition, the spring can be supported, so that the service life of the spring is prolonged.

Preferably, four inclined support rods are fixedly connected to the side face of the mounting ring, and one ends of the four inclined support rods are fixedly connected with the probe.

The effects achieved by the components are as follows: the structural strength of the mounting ring is improved, so that the adaptation device is more firm in use.

Preferably, the cross section of the limiting strip is in a T shape, and the end part of the limiting strip is clamped with the sliding plate.

The effects achieved by the components are as follows: the effect that the T-shaped section of the sliding plate can prevent the sliding plate from being separated from the sliding plate when the sliding plate is limited and supported is achieved.

Preferably, the one side that the fixed frame was kept away from to the sliding plate is equipped with fixing device, fixing device includes the slip post, the one end and the sliding plate fixed connection of slip post, the recess has been seted up to the arc surface of slip post, the inner wall rotation of recess is connected with the swivel becket, the surface fixedly connected with fixture block of swivel becket, the clamping hole has been seted up to the position that the installation frame surface corresponds slip post and fixture block, the inner wall and slip post and fixture block sliding connection of clamping hole, the one side and the installation frame looks joint of fixture block.

The effects achieved by the components are as follows: the power umbrella is required to be independently replaced by an operator, so that the size of the power umbrella is matched with the pipe diameter of a pipeline, the fixing column can be temporarily fixed at a position close to the mounting frame by means of the fixing device, the operator can freely rotate the power umbrella, and the power umbrella is replaced, so that the usability of the adapting device is improved to a certain extent.

Preferably, a clamping groove is formed in the surface of the mounting frame, and the inner wall of the clamping groove is clamped with the clamping block.

The effects achieved by the components are as follows: the position of the clamping block is limited, so that the temporary fixing of the clamping block to the fixing rod is more reliable.

In summary, the beneficial effects of the application are:

the pressure pipeline in the use state is required to be checked regularly by an operator by means of the robot, and when the size and the pipe diameter suitability of the opened power umbrella are poor, the power umbrella can be replaced independently due to the adaptive device, so that the size of the power umbrella is matched with the pipe diameter of the pipeline, and the pipeline detection work is better.

Drawings

Fig. 1 is a schematic perspective view of the present application.

FIG. 2 is a schematic view of the power umbrella of the present application in a disassembled configuration.

Fig. 3 is a schematic structural view of the fixing frame of the present application.

Fig. 4 is a schematic view of the structure at the mounting frame of the present application.

Fig. 5 is a schematic view of the structure at a of fig. 4 of the present application.

Fig. 6 is a schematic view of the structure of the sliding seat of the present application.

Fig. 7 is a schematic view of the structure at the side plate of the present application.

Reference numerals illustrate:

1. a robot body; 2. a probe; 3. a control unit; 31. a guide groove; 32. a sliding seat; 4. a cable; 5. a power umbrella; 51. a ring plate; 52. a support rod; 6. an adapting device; 601. a support column; 602. a mounting ring; 603. a fixed frame; 604. a mounting frame; 605. a limit bar; 606. a sliding plate; 607. fixing the column; 608. a spring; 609. a cylinder; 6091. a fixed block; 6101. a first semicircular plate; 6102. a second semicircular plate; 6103. a connecting plate; 6104. a side plate; 61041. a threaded hole; 611. a bolt; 612. a guide rod; 613. a diagonal support bar; 7. a fixing device; 71. a sliding column; 72. a groove; 73. a rotating ring; 74. a clamping block; 75. a clamping hole; 76. a clamping groove.

Detailed Description

Referring to fig. 1 and 2, this embodiment discloses an inspection robot suitable for different pipe diameter pipelines, including robot body 1, the one end fixed mounting of robot body 1 has probe 2, the other end fixed mounting of robot body 1 has control portion 3, guide slot 31 has been seted up on the surface of control portion 3, the inner wall slidable mounting of guide slot 31 has sliding seat 32, the one end fixed mounting of control portion 3 has cable 4, the surface of robot body 1 is equipped with adapter 6, the power umbrella 5 is installed on the surface of robot body 1 with the help of adapter 6, the one end fixedly connected with annular plate 51 of power umbrella 5, the other end fixedly connected with a plurality of branch 52 of power umbrella 5.

Referring to fig. 3 and 4 and fig. 6 and 7, the embodiment discloses an adapting device 6 comprising four support columns 601 and a rotating shaft, one end of the four support columns 601 is fixedly connected with a robot body 1, the other end of the support column 601 is fixedly connected with a mounting ring 602, the outer surface of the mounting ring 602 is fixedly connected with four fixing frames 603, one side of the four fixing frames 603 is fixedly connected with a mounting frame 604, the inner surface of the mounting frame 604 is fixedly connected with two limit strips 605, one end of the limit strips 605 is fixedly connected with the fixing frames 603, the surface of the limit strips 605 is slidingly connected with a sliding plate 606, one end of the sliding plate 606 close to the fixing frames 603 is fixedly connected with a fixing rod, one end of the fixing rod is slidingly inserted into the fixing frame 603, one side of the annular plate 51 close to the mounting ring 602 is fixedly connected with four cylinders 609, one end of the four cylinders 609 is fixedly connected with a fixing block 6091, one end of the fixing column 603 is slidingly inserted into the fixing block 6091, the outer surface of the sliding seat 32 is fixedly connected with a first semi-circular plate 6101 and a second semi-circular plate 6102, one side of the first semi-circular plate 6101 is fixedly connected with the first semi-circular plate 6102 by means of the screw hole 6102, one side of the first semi-circular plate 6102 is fixedly connected with the threaded hole 6102, and the other side of the first semi-circular plate 6102 is fixedly connected with the threaded connection plate 6102, and the other end of the first semi-circular plate 6102 is fixedly connected with a threaded connection plate 6103. The pressure pipeline in the use state is required to be checked regularly by an operator by means of the robot, and when the size and the pipe diameter suitability of the opened power umbrella 5 are poor, the power umbrella 5 can be replaced independently due to the arrangement of the adapting device 6, so that the size of the power umbrella 5 is matched with the pipe diameter of the pipeline, and the pipeline detection work is better.

Referring to fig. 3, this embodiment discloses that a spring 608 is fixedly connected to a side of the sliding plate 606 away from the fixed frame 603, and one end of the spring 608 is fixedly connected to the mounting frame 604. The effect that the elastic force inserted into the fixing frame 603 is applied to the column of the fixing column 607 through the sliding plate 606 is achieved, so that the fixing column 607 can limit the position of the fixing block 6091 more reliably, the inside of the spring 608 is slidably connected with the guide rod 612, one end of the guide rod 612 is fixedly connected with the mounting frame 604, the other end of the guide rod 612 is fixedly connected with the fixing frame 603, and the arc surface of the guide rod 612 is slidably connected with the sliding plate 606. The spring 608 is limited in the elastic direction, so that the sliding plate 606 is driven better, the fixing block 6091 in the fixing frame 603 is clamped and limited, and in addition, support can be provided for the spring 608, so that the service life of the spring 608 is prolonged.

Referring to fig. 2 and 3, the present embodiment discloses that four diagonal support bars 613 are fixedly connected to the side surface of the mounting ring 602, and one ends of the four diagonal support bars 613 are fixedly connected to the probe 2. The structural strength of the mounting ring 602 is improved, so that the adapter device 6 is more firm in use, the cross section of the limiting strip 605 is T-shaped, and the end part of the limiting strip 605 is clamped with the sliding plate 606. The effect that the T-shaped section of the sliding plate 606 can prevent the sliding plate 606 from being separated from the sliding plate 606 easily when the sliding plate 606 is limited and supported is achieved.

Referring to fig. 3, fig. 4 and fig. 5, this embodiment discloses that one side of a sliding plate 606 far away from a fixed frame 603 is provided with a fixing device 7, the fixing device 7 comprises a sliding column 71, one end of the sliding column 71 is fixedly connected with the sliding plate 606, a groove 72 is formed in an arc surface of the sliding column 71, the inner wall of the groove 72 is rotationally connected with a rotating ring 73, a clamping block 74 is fixedly connected with the outer surface of the rotating ring 73, a clamping hole 75 is formed in the surface of a mounting frame 604 at a position corresponding to the sliding column 71 and the clamping block 74, the inner wall of the clamping hole 75 is in sliding connection with the sliding column 71 and the clamping block 74, and one side of the clamping block 74 is clamped with the mounting frame 604. The power umbrella 5 is required to be independently replaced by an operator, so that the size of the power umbrella 5 is matched with the pipe diameter of a pipeline, the fixing column 607 can be temporarily fixed at a position close to the mounting frame 604 by means of the fixing device 7, the operator can freely rotate the power umbrella 5, the power umbrella 5 is replaced, usability of the adapting device 6 is improved to a certain extent, the clamping groove 76 is formed in the surface of the mounting frame 604, and the inner wall of the clamping groove 76 is clamped with the clamping block 74. The position of the clamping block 74 is limited, so that the temporary fixing of the clamping block 74 to the fixing rod is more reliable.

The working principle is as follows:

when an operator needs to check the pressure pipeline in a use state regularly by means of a robot and the size and pipe diameter adaptability of the opened power umbrella 5 are poor, firstly, the sliding plate 606 in the mounting frame 604 can be pulled away from the mounting frame 604 under the constraint of the limiting strips 605, in the process, the spring 608 is compressed along the guide rod 612, the fixing rod moves along with the sliding plate 606 and moves out of the fixing block 6091 until the sliding column 71 and the clamping block 74 pass through the clamping hole 75, the rotating ring 73 in the groove 72 is rotated, the clamping block 74 is aligned with the clamping groove 76, then the sliding plate 606 is released, the clamping block 74 is clamped into the clamping groove 76, the fixing column 607 is temporarily fixed at a position close to the mounting frame 604, the operation is performed on all the four sliding plates 606, then the bolts 611 are rotated out of the threaded holes 61041 on the side plate 6104, then the power umbrella 5 is rotated, the fixing block 6091 is moved out of the fixing frame 603, the first semicircular plate 6101 and the second semicircular plate 6102 are opened, the power umbrella 5 can be removed from the robot body 1, then the power umbrella 5 with the matched pipe diameter is sleeved on the robot body 1, the first semicircular plate 6101 and the second semicircular plate 6102 are closed on the sliding seat 32 and fixed by using bolts 611, then the power umbrella 5 is rotated, the fixed block 6091 is rotated into the fixed frame 603, then the sliding plate 606 is shifted, the clamping block 74 is moved out of the clamping groove 76 and aligned with the clamping hole 75, then the sliding plate 606 is loosened, the spring 608 is stretched, the sliding plate 606 is driven to be close to the fixed frame 603 until the fixed rod is inserted into the fixed block 6091, the power umbrella 5 is matched, then the cable 4 can be connected with the control part 3, the robot is put into a pressure pipeline, after the robot reaches the pipeline, the sliding seat strut 32 is slid along the guiding groove 31 by the control part 3, the tilting, the power umbrella 5 is opened to push the robot forward by means of water pressure, and in the process, the probe 2 detects the damage condition of the pressure pipeline so as to eliminate the accident in a sprouting state. Through setting up adapter device 6, reached the processing method under the condition of having improved to a certain extent and had made the robot stretch into along the pipeline more easily, but the pipe diameter of different pipelines has certain difference, and when the size and the pipe diameter suitability after the power umbrella 5 opens are relatively poor, the condition that the promotion effect of power umbrella 5 is not good or scratch the pipe wall easily appears, has caused the condition of certain inconvenience to the detection work of pressure pipeline.

Claims

1. Inspection robot suitable for different pipe diameter pipelines, including robot body (1) and fixed column (607), the one end fixed mounting of robot body (1) has probe (2), the other end fixed mounting of robot body (1) has control portion (3), guide slot (31) have been seted up on the surface of control portion (3), inner wall slidable mounting of guide slot (31) has sliding seat (32), the one end fixed mounting of control portion (3) has cable (4), the surface of robot body (1) is equipped with adapter device (6), power umbrella (5) are installed on the surface of robot body (1) with the help of adapter device (6), the one end fixedly connected with crown plate (51) of power umbrella (5), the other end fixedly connected with a plurality of branch (52) of power umbrella (5), its characterized in that: the adaptation device (6) comprises four support columns (601) and a rotating shaft, one end of each support column (601) is fixedly connected with a robot body (1), the other end of each support column (601) is fixedly connected with a mounting ring (602), the outer surface of each mounting ring (602) is fixedly connected with four fixing frames (603), one surface of each fixing frame (603) is fixedly connected with a mounting frame (604), the inner surface of each mounting frame (604) is fixedly connected with two limiting strips (605), one end of each limiting strip (605) is fixedly connected with the corresponding fixing frame (603), the surface of each limiting strip (605) is slidingly connected with a sliding plate (606), one end of each sliding plate (606) is close to one end of each fixing frame (603) and is fixedly connected with a fixing rod, one end of each fixing rod is slidingly inserted into each fixing frame (603), one end of each fixing frame (609) is fixedly connected with four cylinders (609), one end of each fixing frame (6091) is fixedly connected with one end of each fixing frame (603), one inner wall (607) is fixedly connected with two circular plates (6091), one end of each circular plate (6032) is slidingly connected with one second circular plate (6102), one end of first semicircle board (6101) and second semicircle board (6102) rotates with the help of the pivot to be connected, one side fixedly connected with connecting plate (6103) of first semicircle board (6101) and second semicircle board (6102), one side and branch (52) of connecting plate (6103) rotate to be connected, the equal fixedly connected with curb plate (6104) of the other end of first semicircle board (6101) and second semicircle board (6102), screw hole (61041) have been seted up on the surface of curb plate (6104), the inner wall threaded connection of screw hole (61041) has bolt (611).

2. An inspection robot suitable for use with pipes of different pipe diameters as claimed in claim 1, wherein: one surface of the sliding plate (606) far away from the fixed frame (603) is fixedly connected with a spring (608), and one end of the spring (608) is fixedly connected with the mounting frame (604).

3. An inspection robot suitable for use with pipes of different pipe diameters as claimed in claim 2, wherein: the inside sliding connection of spring (608) has guide bar (612), the one end and the installing frame (604) fixed connection of guide bar (612), the other end and the fixed frame (603) fixed connection of guide bar (612), the circular arc surface and the sliding plate (606) sliding connection of guide bar (612).

4. A test robot for use with pipes of different pipe diameters as claimed in claim 3, wherein: four inclined support rods (613) are fixedly connected to the side face of the mounting ring (602), and one ends of the four inclined support rods (613) are fixedly connected with the probe (2).

5. A test robot for use with pipes of different pipe diameters as claimed in claim 3, wherein: the cross section of the limiting strip (605) is in a T shape, and the end part of the limiting strip (605) is clamped with the sliding plate (606).

6. An inspection robot suitable for use with pipes of different pipe diameters as claimed in claim 5, wherein: the one side that fixed frame (603) was kept away from to sliding plate (606) is equipped with fixing device (7), fixing device (7) are including slip post (71), the one end and the sliding plate (606) fixed connection of slip post (71), recess (72) have been seted up to the arc surface of slip post (71), the inner wall rotation of recess (72) is connected with swivel becket (73), the surface fixedly connected with fixture block (74) of swivel becket (73), draw-in hole (75) have been seted up in the position that installation frame (604) surface corresponds slip post (71) and fixture block (74), the inner wall and slip post (71) and fixture block (74) sliding connection of draw-in hole (75), the one side and installation frame (604) looks joint of fixture block (74).

7. An inspection robot suitable for use with pipes of different pipe diameters as claimed in claim 6, wherein: the surface of the mounting frame (604) is provided with a clamping groove (76), and the inner wall of the clamping groove (76) is clamped with the clamping block (74).