CN107271550B - A kind of pipe robot supersonic detection device - Google Patents
A kind of pipe robot supersonic detection device Download PDFInfo
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- CN107271550B CN107271550B CN201710586955.3A CN201710586955A CN107271550B CN 107271550 B CN107271550 B CN 107271550B CN 201710586955 A CN201710586955 A CN 201710586955A CN 107271550 B CN107271550 B CN 107271550B
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- cabinet
- middle housing
- rear box
- preceding cabinet
- detection device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/043—Analysing solids in the interior, e.g. by shear waves
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- Acoustics & Sound (AREA)
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- Life Sciences & Earth Sciences (AREA)
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- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
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- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of pipe robot supersonic detection devices, including cabinet, steering engine, ultrasonic probe, Hooks coupling universal coupling and variable-diameter structure, the cabinet includes preceding cabinet, middle housing and rear box, control driving plate is installed in the preceding cabinet, preceding cabinet front end is equipped with Hooks coupling universal coupling, preceding box back is connected with middle housing, steering engine is mounted in middle housing, steering engine is connect by connecting component with ultrasonic probe, middle housing rear end is connected with rear box, preceding cabinet and rear box periphery are equipped with variable-diameter structure, between preceding cabinet and middle housing, wire hole is all equipped between middle housing and rear box, the rear end of rear box also is provided with wire hole, electric wire connection control driving plate and steering engine, electric wire passes through wire hole and connects outside power supply.Which solve existing pipe robots to load the problems such as structure is complicated, and size limits caused by detecting instrument, realizes water-proof function simultaneously also by arrangement sealing device.
Description
Technical field
The invention patent relates to a kind of detection device of pipe robot, the detection of especially suitable small-caliber pipeline.When
When the structure size of pipe robot itself is unable to satisfy increase checking instrument, this detection device can be carried and worked.
Background technique
Pipe robot be one kind can inside or outside small sized pipeline automatically walk, carry one or more sensors
Operation is mechanical, and under the remote control operation or computer controlled automatic of personnel, it is integrated to carry out a series of the mechanical, electrical of pipeline operations, instrument
Change system.There is the development of comparative maturity about the research of pipe robot both at home and abroad, the research of pipe robot starts
In the PIG pipeline cleaner in the 50's of 20th century, the 70's of 20th century, with computer technology, the communication technology, figure
The development of shape processing technique, microelectric technique, sensor technology and Machine Design manufacturing technology, pipe robot have obtained unprecedentedly
Development.Special pipeline robot in research engineering application has very high practical value and learning value.With science and technology
Develop the size of pipe robot is required it is also more and more smart, need by pipeline it is also increasingly thinner, and existing pipe at present
It is all that detecting instrument is loaded on robot body that road, which detects robot, and structure is complicated, the structure size meeting of robot itself
Obviously restricted, detect robot simultaneously for small-caliber pipeline, handle unsatisfactory in seal aspect, it is most of cannot
It works in the pipeline for having a large amount of ponding.
Summary of the invention
Goal of the invention:
The present invention provides a kind of pipe robot supersonic detection device, solves existing pipe robot load detector
The problems such as structure is complicated caused by device, and size limits realizes water-proof function simultaneously also by arrangement sealing device.
Technical solution:
A kind of pipe robot supersonic detection device, it is characterised in that: including cabinet, steering engine, ultrasonic probe, ten thousand
To shaft coupling and variable-diameter structure, the cabinet includes preceding cabinet, middle housing and rear box, is equipped with control in the preceding cabinet
Driving plate, preceding cabinet front end are equipped with Hooks coupling universal coupling, and preceding box back is connected with middle housing, and steering engine is mounted on middle housing
Interior, steering engine is connect by connecting component with ultrasonic probe, and middle housing rear end is connected with rear box, preceding cabinet and rear box
Periphery is equipped with variable-diameter structure, and between preceding cabinet and middle housing, wire hole, rear cabinet are all equipped between middle housing and rear box
The rear end of body also is provided with wire hole, electric wire connection control driving plate and steering engine, and electric wire passes through wire hole and connects outside power supply.
The front end of the preceding cabinet is equipped with drive end bearing bracket, and the rear end of rear box is equipped with rear end cap, and rear end cap is equipped with electric wire
Hole, Hooks coupling universal coupling are mounted on drive end bearing bracket.
The Hooks coupling universal coupling and drive end bearing bracket are that the pin shaft penetrated is fixed.
The hole border of the wire hole was equipped with coil.
The connecting component includes steering wheel, turntable and bracket, and steering wheel is connect with turntable, and turntable is connect with bracket one end, branch
The frame other end is connect on the outside of middle housing with ultrasonic probe.
The turntable is connect with two or more connecting components simultaneously, and each connecting component is connected with a ultrasound
Wave detecting head.
The variable-diameter structure includes pulley, big support arm, small support arm, baffle ring, and sliding block, sliding rail, connecting plate and spring are preceding
Respectively around 2 baffle rings are fixed, preceding cabinet and rear box use company between 2 fixed baffle rings respectively for cabinet and rear box
Fishplate bar connection, preceding cabinet and rear box are also equipped with sliding rail between 2 fixed baffle rings respectively, and one end of big support arm passes through
Both ends are articulated on baffle ring with the trough of belt pin shaft of circlip, and the other end is hinged with pulley, and the medial side of big support arm passes through both ends band
The trough of belt pin shaft of circlip is articulated with one end of small support arm, trough of belt pin shaft hinge of the other end of small support arm by both ends with circlip
It is connected on sliding block, sliding block side is connected with spring, and sliding block and spring pocket are on the slide rail.
The installation junction of the installation junction, middle housing and rear box of the preceding cabinet and middle housing is all provided with
Groove, groove is interior to place waterproof washer, and waterproof washer is ball-type.
The installation junction of the installation junction of the preceding cabinet and drive end bearing bracket, rear box and rear end cap is all provided with recessed
Slot, groove is interior to place waterproof washer, and waterproof washer is ball-type.
Advantage and effect:
A kind of detecting robot of pipe supersonic detection device can be connected to one by Hooks coupling universal coupling and robot
It rises, simplifies the connection type of the two, reduce the requirement to size.Former and later two cabinets be individually it is closed, have waterproof
Function plays the role of various circuit boards in guard box body.Two ultrasonic probes are arranged in the device middle chamber, symmetrically
Distribution can be rotated with 180 degree under steering engine drive, be detected to pipeline inside.Device circumferentially has supporting roller, supporting roller
It is supported by bracket, can be stretched up and down under the action of the spring, the function of adapting to caliber can be played.
Detailed description of the invention
The present invention is described in detail with reference to the accompanying drawing:
Fig. 1, present apparatus axis cut open figure；
Fig. 2, present apparatus side view；
Fig. 3, the present apparatus are placed in schematic diagram in pipeline；
Fig. 4, present apparatus perspective view；
Structure chart at Fig. 5, A；
Structure chart at Fig. 6, B；
Structure chart at Fig. 7, C；
Structure chart at Fig. 8, D.
The mark are as follows: cabinet, 2. middle housings, 3. rear box, 4. Hooks coupling universal couplings, 5. drive end bearing brackets, 6. rear ends before 1.
Lid, 7. control driving plates, 8. steering engines, 9. steering wheels, 10. turntables, 11. brackets, 12. ultrasonic probes, 13. pulleys, 14. are greatly
Support arm, 15. small support arms, 16. baffle rings, 17. sliding blocks, 18. sliding rails, 19. connecting plates, 20. springs, 21. pin shafts, 22. circlips,
23. coil, 25. waterproof washers, 26. pipelines are crossed in wire hole, 24..
Specific embodiment
End where Hooks coupling universal coupling 4 described below is front end.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, a kind of pipe robot supersonic detection device,
Including cabinet, end cap, steering engine 8, ultrasonic probe 12, Hooks coupling universal coupling 4 and variable-diameter structure, the cabinet include preceding cabinet 1,
Middle housing 2 and rear box 3, the end cap include drive end bearing bracket 5 and rear end cap 6, and control driving plate 7 is equipped in preceding cabinet 1, preceding
The front end of cabinet 1 is equipped with drive end bearing bracket 5, and the front end of drive end bearing bracket 5 is equipped with Hooks coupling universal coupling 4, Hooks coupling universal coupling 4 and drive end bearing bracket 5
Pin shaft 21 to penetrate is fixed.Preceding 1 rear end of cabinet is connected with middle housing 2, and steering engine 8 is mounted in middle housing, and steering engine 8 passes through
Connecting component is connect with ultrasonic probe 12, and connecting component includes steering wheel 9, turntable 10 and bracket 11, and steering wheel 9 and turntable 10 connect
It connects, turntable 10 is connect with two 11 one end of bracket simultaneously, and two 11 other ends of bracket are in 2 outside of middle housing and ultrasonic listening
First 12 connection.
2 rear end of middle housing is connected with rear box 3, and the rear end of rear box 3 is equipped with rear end cap 6, and rear end cap 6 is equipped with electric wire
The hole border in hole 23, wire hole 23 was equipped with coil 24.Preceding cabinet 1 and 3 periphery of rear box are equipped with variable-diameter structure, variable diameter knot
Structure includes pulley 13, big support arm 14, small support arm 15, baffle ring 16, sliding block 17, sliding rail 18, connecting plate 19, spring 20 and circlip
22, preceding cabinet 1 and rear box 3 are respectively around 2 baffle rings 16 are fixed, and preceding cabinet 1 and rear box 3 are respectively around 2 fixed gears
It is connected between ring 16 using connecting plate 19, preceding cabinet 1 and rear box 3 are also equipped with cunning between 2 fixed baffle rings 16 respectively
One end of rail 18, big support arm 14 is articulated on baffle ring 16 by both ends with the trough of belt pin shaft of circlip 22, and the other end is hinged with cunning
Wheel 13, the medial side of big support arm 14 is articulated with one end of small support arm 15, ramuscule by both ends with the trough of belt pin shaft of circlip 22
The other end of brace 15 is articulated on sliding block 17 by both ends with the trough of belt pin shaft of circlip 22, and 17 side of sliding block is connected with spring
20, sliding block 17 and 20 sets of spring are on sliding rail 18.Between preceding cabinet 1 and middle housing 2, between middle housing 2 and rear box 3 all
Equipped with wire hole 23, the rear end of rear box 3 also is provided with wire hole 23, electric wire connection control driving plate 7 and steering engine 8, and electric wire passes through
The connection of wire hole 23 outside power supply.The hole border of wire hole 23 was equipped with coil 24.The effect of the circlip 22 is fixed pin
Axis avoids pin shaft from sliding.
The installation junction of the preceding cabinet 1 and middle housing 2 be bolted, the installation company of preceding cabinet 1 and drive end bearing bracket 5
The place of connecing is to be bolted, and the installation junction of middle housing 2 and rear box 3 is to be bolted, the peace of rear box 3 and rear end cap 6
Dress junction is to be bolted, and the place of being bolted all is arranged fluted, waterproof washer 25 is placed in groove, waterproof washer 25 is ball
Type is smeared marine glue on waterproof washer surface, and place the groove cabinet of waterproof washer and end cap top to have marine glue, is led to
Crossing extruding waterproof washer 25 makes it change shape, plays the role of sealing.
The operation of device:
Pipe robot supersonic detection device is connected with crawl device by Hooks coupling universal coupling 4, and the device and crawl device are made
It can to axial and rotate in a circumferential direction, walking motion is more nimble.Variable-diameter structure passes through to spring 20 when device enters pipeline 26
Compression enables device to be close to pipeline, and device can move under the dragging of crawl device when crawl device travels forward, while mobile
It powers to steering engine 8, steering engine 8 is arranged by control driving plate 7 and carries out 180 degree reciprocating motion, rotation speed is in 10 °/s to 30 °/s
Between arbitrarily adjust.Steering engine 8 drives ultrasonic probe 12 to be rotated, comprehensive detection pipeline.And waterproof washer 25 uses
Be ball-type type shape, it is bigger that the waterproof washer 25 of ball-type is squeezed deflection, smear marine glue on 25 surface of waterproof washer, and
And place the groove cabinet of waterproof washer 25 and end cap top and have marine glue, it is more preferable than general single groove waterproof effect.It crosses
Marine glue is smeared on 24 surface of coil, is bonded coil 24 with the wire hole 23 on rear end cap 6 even closer, and can more be played waterproof
Function.When needing to turn, tube wall compressing pulley makes big support arm 14 tilt down and then oppress small support arm 15 in turn, greatly
Support arm 14 becomes larger with small 15 inclination angle of support arm, so that sliding block 17 is slided pressuring spring 20 and shrinks, makes the device radial dimension
The change in size of pipeline when the adaptation that becomes smaller is turned, tube wall oppressive force became smaller after turning in the past, and the promotion sliding block 17 of spring 20 is slided
Dynamic that big support arm 14 and small support arm 15 is made to be inclined outwardly the big support arm 14 of compressing, big support arm 14 becomes with small 15 inclination angle of support arm
It is small, so that being inclined outwardly pulley 13 also still maintains abutting tube wall, it can thus reach the requirement for adapting to caliber.
Claims (8)
1. a kind of pipe robot supersonic detection device, it is characterised in that: including cabinet, steering engine, ultrasonic probe, universal
Shaft coupling and variable-diameter structure, the cabinet include preceding cabinet, middle housing and rear box, and control is equipped in the preceding cabinet and is driven
Movable plate, preceding cabinet front end are equipped with Hooks coupling universal coupling, and preceding box back is connected with middle housing, and steering engine is mounted on middle housing
Interior, steering engine is connect by connecting component with ultrasonic probe, and middle housing rear end is connected with rear box, preceding cabinet and rear box
Periphery is equipped with variable-diameter structure, and between preceding cabinet and middle housing, wire hole, rear cabinet are all equipped between middle housing and rear box
The rear end of body also is provided with wire hole, electric wire connection control driving plate and steering engine, and electric wire passes through wire hole and connects outside power supply；
The variable-diameter structure includes pulley, big support arm, small support arm, baffle ring, sliding block, sliding rail, connecting plate and spring, preceding cabinet
With rear box respectively around 2 baffle rings are fixed, preceding cabinet and rear box use connecting plate between 2 fixed baffle rings respectively
Connection, preceding cabinet and rear box are also equipped with sliding rail between 2 fixed baffle rings respectively, and one end of big support arm passes through both ends
Trough of belt pin shaft with circlip is articulated on baffle ring, and the other end is hinged with pulley, and the medial side of big support arm passes through both ends band circlip
Trough of belt pin shaft be articulated with one end of small support arm, the other end of small support arm is articulated with by both ends with the trough of belt pin shaft of circlip
On sliding block, sliding block side is connected with spring, and sliding block and spring pocket are on the slide rail.
2. pipe robot supersonic detection device according to claim 1, it is characterised in that: the front end of the preceding cabinet
Drive end bearing bracket is installed, the rear end of rear box is equipped with rear end cap, and rear end cap is equipped with wire hole, and Hooks coupling universal coupling is mounted on drive end bearing bracket
On.
3. pipe robot supersonic detection device according to claim 2, it is characterised in that: the Hooks coupling universal coupling and
Drive end bearing bracket is that the pin shaft penetrated is fixed.
4. pipe robot supersonic detection device according to claim 1 or 2, it is characterised in that: the wire hole
Hole border was equipped with coil.
5. pipe robot supersonic detection device according to claim 1, it is characterised in that: the connecting component includes
Steering wheel, turntable and bracket, steering wheel are connect with turntable, and turntable is connect with bracket one end, the bracket other end on the outside of the middle housing with
Ultrasonic probe connection.
6. pipe robot supersonic detection device according to claim 5, it is characterised in that: the turntable is simultaneously with two
A or more than two connecting component connections, each connecting component are connected with a ultrasonic probe.
7. pipe robot supersonic detection device according to claim 1, it is characterised in that: the preceding cabinet and centre
Fluted, placement waterproof washer in groove is all arranged in the installation junction of the installation junction, middle housing and rear box of cabinet,
Waterproof washer is ball-type.
8. pipe robot supersonic detection device according to claim 2, it is characterised in that: the preceding cabinet and front end
Fluted, placement waterproof washer, waterproof in groove is all arranged in the installation junction of the installation junction of lid, rear box and rear end cap
Washer is ball-type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710586955.3A CN107271550B (en) | 2017-07-18 | 2017-07-18 | A kind of pipe robot supersonic detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710586955.3A CN107271550B (en) | 2017-07-18 | 2017-07-18 | A kind of pipe robot supersonic detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107271550A CN107271550A (en) | 2017-10-20 |
| CN107271550B true CN107271550B (en) | 2019-08-09 |
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ID=60077743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710586955.3A Active CN107271550B (en) | 2017-07-18 | 2017-07-18 | A kind of pipe robot supersonic detection device |
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| CN (1) | CN107271550B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108106578B (en) * | 2018-01-19 | 2024-02-27 | 沈阳仪表科学研究院有限公司 | Ultrasonic diameter-measuring and wall-thickness-measuring detector in pipeline |
| CN108724142B (en) * | 2018-05-30 | 2021-04-13 | 沈阳工业大学 | Staggered arm independent reducing wheel type waterproof pipeline robot |
| CN114623314A (en) * | 2022-03-18 | 2022-06-14 | 西安热工研究院有限公司 | Pipeline crawling robot for ultrasonic detection |
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| CN201833366U (en) * | 2010-10-09 | 2011-05-18 | 贾聚华 | Pipeline inside ultrasonic flaw detection robot |
| CN204019552U (en) * | 2014-06-21 | 2014-12-17 | 广东电网公司电力科学研究院 | A kind of failure detector of power metal parts measuring robots |
| CN204214815U (en) * | 2014-10-27 | 2015-03-18 | 浙江省特种设备检验研究院 | The ultrasonic interior detection automation equipment of a kind of pressure pipeline |
| CN105004787A (en) * | 2015-06-26 | 2015-10-28 | 广东电网有限责任公司电力科学研究院 | Electric metal part cleaning and flaw detection robot control system and method |
| CN105717200A (en) * | 2016-04-18 | 2016-06-29 | 中国科学院武汉岩土力学研究所 | Comprehensive variable aperture hole measuring robot for deep rock mass and use method of robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61176849A (en) * | 1985-02-01 | 1986-08-08 | Hitachi Ltd | Automatic ultrasonic flaw detector for piping group |
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2017
- 2017-07-18 CN CN201710586955.3A patent/CN107271550B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201833366U (en) * | 2010-10-09 | 2011-05-18 | 贾聚华 | Pipeline inside ultrasonic flaw detection robot |
| CN204019552U (en) * | 2014-06-21 | 2014-12-17 | 广东电网公司电力科学研究院 | A kind of failure detector of power metal parts measuring robots |
| CN204214815U (en) * | 2014-10-27 | 2015-03-18 | 浙江省特种设备检验研究院 | The ultrasonic interior detection automation equipment of a kind of pressure pipeline |
| CN105004787A (en) * | 2015-06-26 | 2015-10-28 | 广东电网有限责任公司电力科学研究院 | Electric metal part cleaning and flaw detection robot control system and method |
| CN105717200A (en) * | 2016-04-18 | 2016-06-29 | 中国科学院武汉岩土力学研究所 | Comprehensive variable aperture hole measuring robot for deep rock mass and use method of robot |
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| CN107271550A (en) | 2017-10-20 |
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Effective date of registration: 20230817 Address after: Gate 1, No. 99A-12, Chuangxin First Road, Hunnan District, Shenyang, 110000 Liaoning Province Patentee after: Liaoning zhongkeliler Testing Technology Service Co.,Ltd. Address before: 110870 No. 111 Shenyang West Road, Shenyang economic and Technological Development Zone, Liaoning Patentee before: SHENYANG University OF TECHNOLOGY |
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