CN219994761U - Ultrasonic detection robot for inner wall of pipeline - Google Patents

Abstract

The utility model provides a pipeline inner wall ultrasonic detection robot which comprises a vehicle body, wherein at least four rotatable wheels are arranged at the lower end of the vehicle body, a camera capable of swinging up and down and a light supplementing lamp are arranged at the upper end of the vehicle body, an ultrasonic assembly is arranged at the front side of the light supplementing lamp and comprises a supporting frame which extends forwards, the middle part of one end of the supporting frame, which is close to the hollowed-out camera, is hollowed-out, an ultrasonic probe capable of rotating circumferentially is arranged at the front end of the supporting frame, a GPS (global positioning system) locator is further arranged in the vehicle body, and the problem of 360-degree dead-angle-free ultrasonic detection of the pipeline inner wall is solved.

Description

Ultrasonic detection robot for inner wall of pipeline

Technical Field

The utility model relates to the field of pipeline overhaul, in particular to an ultrasonic detection robot for the inner wall of a pipeline.

Background

In order to meet the urban development, a large number of oil and gas transmission pipelines are paved in each large city every year, and the pipelines are possibly damaged to a certain extent along with the increase of service life.

The existing pipeline detection robot generally performs in a single mode through camera shooting, and due to the fact that the pipeline detection robot is in a dim environment, even if light supplementing equipment is added, the situation that part of dark details still appear not clear enough, the shot photos still need long-time comprehensive observation and analysis of operators, and the judgment of the shot photos cannot be completely accurate, so that the detection effect is still not ideal, and therefore, a pipeline inner wall detection robot capable of reducing detection working intensity and high in detection precision is needed.

Disclosure of Invention

The utility model provides a pipeline inner wall ultrasonic detection robot, which solves the problem of 360-degree dead angle-free ultrasonic detection of the pipeline inner wall.

In order to solve the technical problems, the utility model adopts the following technical scheme: an ultrasonic detection robot for the inner wall of a pipeline is characterized in that: including the automobile body, the automobile body lower extreme is equipped with four at least rotatable wheels, but automobile body upper end is equipped with upper and lower wobbling camera and light filling lamp, and the light filling lamp front side is equipped with ultrasonic assembly, and ultrasonic assembly includes the support frame that stretches forward, and the support frame is close to the one end middle part fretwork of fretwork camera, and the support frame front end is equipped with but circumferential direction pivoted ultrasonic probe, still is equipped with the GPS locator in the automobile body.

In the preferred scheme, be equipped with main support arm and auxiliary support arm on the automobile body, still be equipped with the joint piece, camera and light filling lamp are established on the joint piece, and the support frame rear end is connected with the joint piece, and main support arm and auxiliary support arm both ends are articulated with automobile body and joint piece respectively in order to constitute parallelogram shape structure, and the articulated shaft tip of main support arm and automobile body is equipped with the support arm motor of swaing.

In the preferred scheme, supporting legs are arranged on two sides of a vehicle body, a cavity structure is formed in the supporting legs, at least two wheel shafts are arranged in the vehicle body, driving wheels are arranged at two ends of each wheel shaft, the driving wheels are arranged in the cavity structure of the supporting legs, driven wheels and v-shaped belts are further arranged in the cavity structure of the supporting legs, the driven wheels are sleeved with rotating shafts of the wheels, and the driving wheels and the driven wheels are connected and transmitted through the v-shaped belts.

In the preferred scheme, a first synchronous belt device is connected between two wheel shafts, a wheel driving motor and a second synchronous belt device are also arranged in the vehicle body, and the wheel driving motor drives the wheel shafts to rotate through the second synchronous belt device.

The beneficial effects of the utility model are as follows: for traditional pipeline inner wall detection robot relies on the camera to scan behind the wall and utilizes the manual work to carry out the analysis, and this ultrasonic wave pipeline inner wall detection robot increases rotatory ultrasonic sensor and detects the wall, has realized the no dead angle of pipeline inner wall and has detected, and operating personnel accessible camera carries out supplementary inspection, has reduced operator's working strength to make pipeline inner wall detect more accurate, reliable.

Drawings

The utility model is further described below with reference to the drawings and examples.

Fig. 1 is a schematic view of the overall structure of a robot according to the present utility model.

Fig. 2 is a schematic view of a robot body according to the present utility model.

Fig. 3 is a schematic view of the inside of the vehicle body of the present utility model.

Fig. 4 is a schematic view of the inner structure of the support leg of the present utility model.

Fig. 5 is a schematic view of an ultrasonic assembly of the present utility model.

Fig. 6 is a schematic diagram of a stepper motor arrangement of the present utility model.

Fig. 7 is a schematic diagram of the camera yaw motor installation of the present utility model.

In the figure: 1-driving system, 1.1-car body, 1.2-wheels, 1.3-supporting legs, 1.4-wheel driving motor, 1.5-wheel axle, 1.6-driving wheel, 1.7-driven wheel, 1.8-v-shaped belt, 1.9-controller, 1.10-GPS positioner, 1.11-first synchronous belt device, 1.12-second synchronous belt device, 1.13-supporting arm swing motor, 2-shooting system, 2.1-main supporting arm, 2.2-auxiliary supporting arm, 2.3-camera, 2.4-light supplementing lamp, 2.5-camera deflection motor, 2.6-third synchronous belt device, 3-cable, 4-ultrasonic assembly, 4.1-supporting frame, 4.2-case, 4.3-ultrasonic probe, 4.4-stepping motor and 4.5-stepping motor rotating shaft.

Detailed Description

Example 1:

in fig. 1-7, an ultrasonic detection robot for the inner wall of a pipeline comprises a vehicle body 1.1, at least four rotatable wheels 1.2 are arranged at the lower end of the vehicle body 1.1, a camera 2.3 capable of swinging up and down and a light supplementing lamp 2.4 are arranged at the upper end of the vehicle body 1.1, an ultrasonic assembly 4 is arranged at the front side of the light supplementing lamp 2.4, the ultrasonic assembly 4 comprises a supporting frame 4.1 which stretches forwards, the middle part of one end of the supporting frame 4.1, close to the hollowed camera 2.3, of the supporting frame 4.1 is hollowed, an ultrasonic probe 4.3 capable of rotating circumferentially is arranged at the front end of the supporting frame 4.1, and a GPS (global positioning system) locator 1.10 is further arranged in the vehicle body 1.1.

The middle hollow part of the support frame 4.1 is used for swinging the camera 2.3 to prevent interference.

The inside cavity that is equipped with of automobile body 1.1 can place the drive and the transmission of controller 1.9 and GPS locator 1.10 and wheel 1.2, and rechargeable battery and wireless module etc. can be integrated in the surplus space, and the battery is used for supplying power for drive, control, shooting and detecting system, and robot accessible wireless module communicates with outside, and the real-time feedback robot position of GPS locator 1.10.

The ultrasonic assembly 4 further comprises a case 4.2, a stepping motor 4.4 is arranged in the case 4.2, and a rotating shaft 4.5 of the stepping motor is connected with the ultrasonic probe 4.3 to drive the ultrasonic probe 4.3 to rotate.

The rotation shaft of the ultrasonic probe 4.3 is parallel to the axis of the pipeline, the ultrasonic probe 4.3 rotates for one circle to detect an annular area of the inner wall of the pipeline, and the whole inner wall surface of the pipeline can be continuously detected in a scanning mode along with the advancing of the robot.

The ultrasonic probe 4.3 is positioned right in front of the camera 2.3, and the hollow structure of the supporting frame 4.1 is added, so that the condition of photographing the inner wall of the pipeline in the detection area of the ultrasonic probe 4.3 obliquely downwards or upwards by the camera 2.3 is not influenced.

The light filling lamps 2.4 can be arranged in several groups obliquely upwards and downwards towards the inner wall of the pipeline in the detection and shooting area.

The rear end of the camera 2.3 is provided with a rotating shaft and is sleeved on a fixed shell, a camera deflection motor 2.5 is arranged in the shell, and the camera deflection motor 2.5 is connected with the rotating shaft of the camera 2.3 through a third synchronous belt device 2.6 and drives the camera 2.3 to swing by an angle.

In the preferred scheme, be equipped with main support arm 2.1 and vice support arm 2.2 on the automobile body 1.1, still be equipped with the joint piece, camera 2.3 and light filling lamp 2.4 are established on the joint piece, and support frame 4.1 rear end is connected with the joint piece, and main support arm 2.1 and vice support arm 2.2 both ends are articulated with automobile body 1.1 and joint piece respectively in order to constitute parallelogram structure, and main support arm 2.1 is equipped with support arm swing motor 1.13 with the articulated shaft tip of automobile body 1.1.

The connecting block is a mounting foundation of the camera 2.3, the light supplementing lamp 2.4 and the supporting frame 4.1, is mounted in parallel with the car body 1.1, and plays a role in adjusting the detection and shooting height when the supporting arm swing motor 1.13 drives the main supporting arm 2.1 and the parallelogram-shaped structure to rotate and the connecting block keeps a horizontal posture but changes the height.

In the preferred scheme, supporting legs 1.3 are arranged on two sides of a vehicle body 1.1, a cavity structure is arranged in the supporting legs 1.3, at least two wheel shafts 1.5 are arranged in the vehicle body 1.1, driving wheels 1.6 are arranged at two ends of each wheel shaft 1.5, each driving wheel 1.6 is arranged in the cavity structure of each supporting leg 1.3, driven wheels 1.7 and v-shaped belts 1.8 are further arranged in the cavity structure of each supporting leg 1.3, the driven wheels 1.7 are sleeved with rotating shafts of the corresponding wheels 1.2, and the driving wheels 1.6 and the driven wheels 1.7 are connected and driven through the v-shaped belts 1.8.

In the preferred scheme, a first synchronous belt device 1.11 is connected between two wheel shafts 1.5, a wheel driving motor 1.4 and a second synchronous belt device 1.12 are also arranged in the vehicle body 1.1, and the wheel driving motor 1.4 drives the wheel shafts 1.5 to rotate through the second synchronous belt device 1.12.

Each synchronous belt device comprises a synchronous belt and two synchronous wheels.

The driving force is transmitted by a wheel driving motor 1.4 to one wheel shaft 1.5, one wheel shaft 1.5 is linked with the other wheel shaft 1.5, and the driving wheels 1.6 at the two ends of the wheel shaft 1.5 transmit power to the driven wheels 1.7, so that the four wheels 1.2 are finally driven to rotate simultaneously and in the same direction. By adopting a four-wheel drive type structure, the ground grabbing force of the robot can be improved, and the robot can be placed and then skid in the pipeline.

Example 2:

the detection robot comprises a driving system 1, a shooting system 2, a cable 3 and an ultrasonic assembly 4, wherein the driving system comprises a vehicle body 1.1, four wheels 1.2, four supporting legs 1.3, four wheel driving motors 1.4, four wheel shafts 1.5, four driving wheels 1.6, four driven wheels 1.7, four v-shaped belts 1.8, a controller 1.9 and a GPS (global positioning system) positioner 1.10; the four driving wheels 1.6 are respectively arranged at the upper ends of the interiors of the four supporting legs 1.3, the four driven wheels 1.7 are respectively arranged at the lower ends of the interiors of the four supporting legs 1.3, and the driving wheels 1.6 and the driven wheels 1.7 are in transmission connection through v-shaped belts 1.8; the upper ends of the four supporting legs 1.3 are connected to the vehicle body 1.1 through wheel shafts 1.5, and the lower ends of the four supporting legs are respectively connected with the four wheels 1.2 in a rotating way through rotating shafts on driven wheels 1.7; the rotating shafts of the four wheel driving motors 1.4 penetrate through the four wheel shafts 1.5 to be riveted with the four driving wheels 1.6 respectively; the controller 1.9 is fixed at the lower end inside the vehicle body 1.1 and is connected with four wheel driving motors 1.4 through wires; the cable 3 penetrates into the interior from the tail of the vehicle body 1.1 and is connected with the controller 1.9; the GPS locator 1.10 is mounted at the front end of the vehicle body 1.1.

The shooting system 2 comprises a main supporting arm 2.1, a secondary supporting arm 2.2, a camera 2.3 and a light supplementing lamp 2.4; one end of the main support arm 2.1 and one end of the auxiliary support arm 2.2 are connected with the camera 2.3, and the other end is connected with the vehicle body 1.1; the camera 2.3 is connected with a cable 3; the light filling lamp 2.4 is arranged at the upper end of the camera 2.3.

The ultrasonic assembly 4 comprises a supporting frame 4.1, a machine box 4.2 and an ultrasonic probe 4.3; the support frame 4.1 is arranged on the camera 2.3; the case 4.2 is fixed on the supporting frame 4.1 and is movably connected with the ultrasonic probe 4.3; the stepping motor 4.4 is arranged in the case 4.2, the stepping motor 4.4 is connected with the ultrasonic probe 4.3 through a stepping motor rotating shaft 4.5, and one end of the cable 3 is respectively connected with a control circuit of the stepping motor 4.4 and the ultrasonic probe 4.3.

The GPS locator 1.10 is arranged at the front end of the vehicle body 1.1, and mainly has the functions of tracking and detecting the robot in real time and transmitting the track of the driving route back to the control center.

The ultrasonic assembly 4 is fixed on the camera 2.3 through a clamping groove, and can be installed or detached according to different detection requirements.

One end of the cable 3 is respectively connected with the controller 1.9, the camera 2.3, the control circuit of the stepping motor 4.4 and the ultrasonic probe 4.3.

The working process comprises the following steps: the detection robot is placed in a pipeline to be detected, the ultrasonic assembly is adjusted to the center of the pipeline to be detected, the external computer transmits signals to the controller through the cable, the controller controls the wheel driving motor to rotate so as to drive the detection robot to run, the stepping motor drives the ultrasonic probe to rotate, meanwhile, the ultrasonic probe emits ultrasonic pulses in the direction perpendicular to the side wall and receives echo signals, the signals are converted and amplified and then transmitted to the external computer through the cable, and various parameters of the inner wall of the pipeline can be calculated through processing. The camera transmits the shot image out through the cable, and an operator performs auxiliary detection according to the assistance of the image.

The above embodiments are only preferred embodiments of the present utility model, and should not be construed as limiting the present utility model, and the scope of the present utility model should be defined by the claims, including the equivalents of the technical features in the claims. I.e., equivalent replacement modifications within the scope of this utility model are also within the scope of the utility model.

Claims (4)

1. An ultrasonic detection robot for the inner wall of a pipeline is characterized in that: including automobile body (1.1), automobile body (1.1) lower extreme is equipped with at least four rotatable wheels (1.2), automobile body (1.1) upper end is equipped with camera (2.3) and light filling lamp (2.4) that can swing from top to bottom, light filling lamp (2.4) front side is equipped with ultrasonic assembly (4), ultrasonic assembly (4) are including preceding support frame (4.1) that stretches, support frame (4.1) are close to the one end middle part fretwork of fretwork camera (2.3), support frame (4.1) front end is equipped with but circumferential direction pivoted ultrasonic probe (4.3), still be equipped with GPS locator (1.10) in automobile body (1.1).

2. The ultrasonic inspection robot for the inner wall of a pipeline according to claim 1, wherein: be equipped with main tributary arm (2.1) and vice support arm (2.2) on automobile body (1.1), still be equipped with the joint piece, camera (2.3) and light filling lamp (2.4) are established on the joint piece, support frame (4.1) rear end is connected with the joint piece, main tributary arm (2.1) and vice support arm (2.2) both ends are articulated with automobile body (1.1) and joint piece respectively in order to constitute parallelogram structure, main tributary arm (2.1) are equipped with support arm swing motor (1.13) with the articulated shaft tip of automobile body (1.1).

3. The ultrasonic inspection robot for the inner wall of a pipeline according to claim 2, characterized in that: supporting legs (1.3) are arranged on two sides of a vehicle body (1.1), a cavity structure is formed in the supporting legs (1.3), at least two wheel shafts (1.5) are arranged in the vehicle body (1.1), driving wheels (1.6) are arranged at two ends of each wheel shaft (1.5), each driving wheel (1.6) is arranged in the cavity structure of each supporting leg (1.3), driven wheels (1.7) and v-shaped belts (1.8) are further arranged in the cavity structure of each supporting leg (1.3), the driven wheels (1.7) are sleeved with rotating shafts of the corresponding wheels (1.2), and the driving wheels (1.6) are connected with the driven wheels (1.7) through the v-shaped belts (1.8).

4. The ultrasonic inspection robot for an inner wall of a pipe according to claim 3, wherein: a first synchronous belt device (1.11) is connected between the two wheel shafts (1.5), a wheel driving motor (1.4) and a second synchronous belt device (1.12) are arranged in the vehicle body (1.1), and the wheel driving motor (1.4) drives the wheel shafts (1.5) to rotate through the second synchronous belt device (1.12).