CN220540607U

CN220540607U - Petrochemical industry pipeline inner wall detection robot

Info

Publication number: CN220540607U
Application number: CN202322311368.7U
Authority: CN
Inventors: 栗宇
Original assignee: Guangdong University of Petrochemical Technology
Current assignee: Guangdong University of Petrochemical Technology
Priority date: 2023-08-25
Filing date: 2023-08-25
Publication date: 2024-02-27
Anticipated expiration: 2033-08-25

Abstract

The utility model discloses a petrochemical pipeline inner wall detection robot which comprises a motion platform and a detection bearing platform, wherein the motion platform is used for detecting the inner wall of a petrochemical pipeline; the motion platform comprises a connecting beam and two motion wheel sets, the connecting beam fixedly connects the detection bearing table between the two motion wheel sets, and the motion wheel sets comprise a motion wheel set platform, a lower wheel and an upper auxiliary wheel set; the upper auxiliary wheel set is arranged on the motion wheel set platform and comprises auxiliary wheels, an elastic buffer assembly and a lifting assembly. According to the utility model, the lifting detection table is arranged, so that when aiming at the inspection hole or the tee joint with the valve upwards, the camera is lifted to perform clearer imaging on the upper part condition, the detection effect is improved, the problem of 'local interruption' of the inner wall of the pipeline brought by the inspection hole or the tee joint can be effectively solved through the arrangement of the top auxiliary wheel on the motion platform, and meanwhile, the specific position of the inspection hole or the tee joint can be accurately known through the detection of the stress change of the auxiliary wheel buffer spring, so that the follow-up detection is facilitated.

Description

Petrochemical industry pipeline inner wall detection robot

Technical Field

The utility model relates to the technical field of petrochemical equipment, in particular to a petrochemical pipeline inner wall detection robot.

Background

The development of petrochemical pipeline inner wall detection robots can be said to be very active and rapid. With the development of petrochemical industry and the increasing requirements on pipeline safety, the petrochemical pipeline inner wall detection robot gradually becomes a necessary tool.

In certain specific situations, such as when a section of pipeline comprises a plurality of inspection holes or a tee joint with an upward valve, the existing detection robot cannot cope well.

Disclosure of Invention

The utility model aims to provide a petrochemical pipeline inner wall detection robot which aims to solve the problems in the prior art.

In order to achieve the above purpose, the technical scheme of the utility model provides a petrochemical pipeline inner wall detection robot, which comprises a motion platform and a detection bearing platform; the motion platform comprises a connecting beam and two motion wheel sets, the connecting beam fixedly connects the detection bearing table between the two motion wheel sets, and the motion wheel sets comprise a motion wheel set platform, a lower wheel and an upper auxiliary wheel set; the upper auxiliary wheel set is arranged on the central axis of the upper part of the motion wheel set platform and comprises auxiliary wheels, an elastic buffer assembly and a lifting assembly.

Further, the elastic buffer assembly comprises a connecting plate, an upper through pipe, a lower through pipe and a buffer spring; the auxiliary wheel is rotatably connected to the connecting plate, the bottom of the connecting plate is fixed with the top end of the upper through pipe, the bottom of the upper through pipe is inserted into the lower through pipe and can move up and down relative to the lower through pipe, the upper part of the buffer spring is fixed to the bottom of the connecting plate or the top end of the upper through pipe, and the lower part of the buffer spring is fixed to the lower end of the lower through pipe; the buffer spring is provided with a stress piece.

Further, the lifting assembly comprises a limiting ring, a connecting base, an upper hinge plate, a lower hinge plate, a pushing cylinder and a lower base; the lower through pipe penetrates through the bottom of the limiting ring and is fixed to the connecting base, the connecting base is hinged to the top of the upper hinge plate, the bottom of the upper hinge plate is hinged to the top of the lower hinge plate and the top of the extension part of the pushing electric cylinder, and the bottom of the lower hinge plate is hinged to the lower base.

Further, the detection bearing table comprises a lifting detection table, and the lifting detection table is arranged on the upper portion of the detection bearing table.

Further, the lifting detection platform comprises an upper bearing piece, a lifting electric cylinder and a lifting electric cylinder hiding channel; the lifting electric cylinder hiding channel is a downward groove arranged at the upper part of the detection bearing table and used for placing the lifting electric cylinder; the bottom of the upper bearing piece is fixed at the top end of the extending part of the lifting electric cylinder.

According to the utility model, the lifting detection table is arranged, so that when aiming at the inspection hole or the tee joint with the valve upwards, the camera is lifted to perform clearer imaging on the upper part condition, the detection effect is improved, the problem of 'local interruption' of the inner wall of the pipeline brought by the inspection hole or the tee joint can be effectively solved through the arrangement of the top auxiliary wheel on the motion platform, and meanwhile, the specific position of the inspection hole or the tee joint can be accurately known through the detection of the stress change of the auxiliary wheel buffer spring, so that the follow-up detection is facilitated.

In order to make the concepts and other objects, advantages, features and functions of the present utility model more apparent and understood, a preferred embodiment will be described in detail below with reference to the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of the overall scheme of the present utility model.

Fig. 2 is a schematic diagram of a running wheel set of the present utility model.

Fig. 3 is an enlarged schematic view of a portion of a running wheel set of the present utility model.

Fig. 4 is a schematic view of a test carrier of the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1, the robot for detecting the inner wall of a petrochemical pipeline comprises a motion platform 1 and a detection bearing platform 2.

As shown in fig. 1, 2 and 3, the motion platform 1 includes two connection beams 11 and two motion wheel sets 12, the connection beams 11 fixedly connect the detection bearing platform between the two motion wheel sets 12, and the motion wheel sets 12 include a motion wheel set platform 121, a lower wheel 122 and an upper auxiliary wheel set 123.

The lower wheels 122 are arranged on two sides of the motion wheel set platform 121 and driven by a motor to rotate.

The upper auxiliary wheel set 123 is arranged on the upper central axis of the motion wheel set platform 121 and comprises an auxiliary wheel a1, an elastic buffer component a2 and a lifting component a3.

The elastic buffer assembly a2 comprises a connecting plate a21, an upper through pipe a22, a lower through pipe a23 and a buffer spring a24. The auxiliary wheel a1 is rotatably connected to a connecting plate a21, the bottom of the connecting plate a21 is fixed with the top end of an upper through pipe a22, the bottom of the upper through pipe a22 is inserted into a lower through pipe a23 and can move up and down relative to the lower through pipe a23, the upper part of the buffer spring a24 is fixed to the bottom of the connecting plate a21 or the top end of the upper through pipe a22, and the lower part of the buffer spring a24 is fixed to the lower end of the lower through pipe a 23.

The damper spring a24 is provided with a stress piece a25.

The bottom of the lower through pipe a23 is fixed to a lifting assembly a3, and the lifting assembly a3 comprises a limiting ring a31, a connecting base a32, an upper hinge plate a33, a lower hinge plate a34, a pushing cylinder a35 and a lower seat a36.

The lower through pipe a23 passes through the bottom of the limiting ring a31 and is fixed on the connecting base a32, the connecting base a32 is hinged with the top of the upper hinge plate a33, the bottom of the upper hinge plate a33 is hinged with the top of the lower hinge plate a34 and the top of the extension part of the pushing cylinder a35, and the bottom of the lower hinge plate a34 is hinged with the lower base a36.

When the robot is used, the pushing cylinder a35 pushes the upper hinge plate a33 and the lower hinge plate a34 to enable the lower through pipe a23 to descend, after the robot is placed into a pipeline, the pushing cylinder a35 reversely pulls the upper hinge plate a33 and the lower hinge plate a34 to lift the lower through pipe a23, the auxiliary wheel a1 is driven to lift and prop against the top of the inner wall of the pipeline, and at the moment, the buffer spring a24 is pressed.

When the buffer spring a24 is in a free state from being pressed when passing through the inspection hole or the tee joint, the buffer spring a24 is in a free state from being pressed, the stress sheet a25 can detect the change and inform the control part of entering the inspection hole or the tee joint area, and according to the equipment size and the inspection hole or the tee joint size, the control part can automatically calculate when the detection device is positioned right below the inspection hole or the tee joint, and the buffer spring a is suitable to leave the inspection hole or the tee joint area, and before leaving, the buffer spring a35 is pushed to repeatedly enter the pipe.

As shown in fig. 1 and 4, the detecting carrier 2 includes a lifting detecting platform 21, where the lifting detecting platform 21 is disposed on the upper portion of the detecting carrier 2, and specifically can lift under the drive of an electric cylinder.

Specifically, the lifting detection platform 21 includes an upper carrier 211, a lifting electric cylinder 212, and a lifting electric cylinder hiding channel 213.

The lifting electric cylinder hiding channel 213 is a downward groove arranged at the upper part of the detection bearing table 2 and used for placing the lifting electric cylinder 212.

The bottom of the upper bearing piece 211 is fixed at the top end of the extending part of the lifting electric cylinder 212.

A flexible covering pipe 214 is arranged at the bottom of the upper bearing piece 211 and at the top of the lifting electric cylinder hiding channel 213, and is used for shielding electric cylinders, detection equipment wires and the like when the lifting electric cylinder 212 stretches out.

The equipment that detects plummer 2 carried in this application is the camera, and specific three cameras, establishes in detecting plummer 2 side, and every camera visual angle scope is greater than 120 degrees, and 360 degrees covers are realized to three cameras, and the detection plummer 2 appearance of this application is the hexagon, and the camera interval is established on three sides.

In this application, the connection beam 11 is fixed to the middle lower portion of the inspection stage 2, avoiding shielding the view of the lower portion.

The robot also comprises a control part C, a battery B, a lower wheel driving motor and other technical characteristics which are common in the field.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

Claims

1. The petrochemical pipeline inner wall detection robot is characterized by comprising a motion platform and a detection bearing platform; the motion platform comprises a connecting beam and two motion wheel sets, the connecting beam fixedly connects the detection bearing table between the two motion wheel sets, and the motion wheel sets comprise a motion wheel set platform, a lower wheel and an upper auxiliary wheel set; the upper auxiliary wheel set is arranged on the central axis of the upper part of the motion wheel set platform and comprises auxiliary wheels, an elastic buffer assembly and a lifting assembly.

2. The petrochemical pipeline inner wall detection robot according to claim 1, wherein the elastic buffer assembly comprises a connecting plate, an upper through pipe, a lower through pipe and a buffer spring; the auxiliary wheel is rotatably connected to the connecting plate, the bottom of the connecting plate is fixed with the top end of the upper through pipe, the bottom of the upper through pipe is inserted into the lower through pipe and can move up and down relative to the lower through pipe, the upper part of the buffer spring is fixed to the bottom of the connecting plate or the top end of the upper through pipe, and the lower part of the buffer spring is fixed to the lower end of the lower through pipe; the buffer spring is provided with a stress piece.

3. The petrochemical pipeline inner wall detection robot according to claim 2, wherein the lifting assembly comprises a limiting ring, a connecting base, an upper hinged plate, a lower hinged plate, a pushing cylinder and a lower seat; the lower through pipe penetrates through the bottom of the limiting ring and is fixed to the connecting base, the connecting base is hinged to the top of the upper hinge plate, the bottom of the upper hinge plate is hinged to the top of the lower hinge plate and the top of the extension part of the pushing electric cylinder, and the bottom of the lower hinge plate is hinged to the lower base.

4. The robot for inspecting the inner wall of a petrochemical pipeline according to claim 1, wherein the inspection bearing table comprises a lifting inspection table, and the lifting inspection table is arranged on the upper portion of the inspection bearing table.

5. The petrochemical pipeline inner wall detection robot according to claim 4, wherein the lifting detection platform comprises an upper bearing piece, a lifting electric cylinder and a lifting electric cylinder hiding channel; the lifting electric cylinder hiding channel is a downward groove arranged at the upper part of the detection bearing table and used for placing the lifting electric cylinder; the bottom of the upper bearing piece is fixed at the top end of the extending part of the lifting electric cylinder.