CN111237584A - Pipeline inner wall detection robot - Google Patents
Pipeline inner wall detection robot Download PDFInfo
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- CN111237584A CN111237584A CN202010260299.XA CN202010260299A CN111237584A CN 111237584 A CN111237584 A CN 111237584A CN 202010260299 A CN202010260299 A CN 202010260299A CN 111237584 A CN111237584 A CN 111237584A
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- detection
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- vehicle body
- sliding
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
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- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention relates to a pipeline detection robot, and discloses a pipeline inner wall detection robot, which comprises a detection vehicle body and a detection mechanism arranged at one end of the detection vehicle body; the detection mechanism comprises a rotating mechanism which is connected with the detection vehicle body and rotates along the axis of the pipeline, and a detection device which is connected with one side of the rotating mechanism, which is far away from the detection vehicle body; the detection device comprises a sliding plate assembly connected with the rotating mechanism, a pattern collector fixedly mounted on the sliding plate assembly, a detection mechanism and a scanning mechanism, wherein the detection mechanism and the scanning mechanism are respectively slidably mounted on the sliding plate assembly and are close to and/or far away from the inner wall of the pipeline. The invention has the beneficial effects that: the invention can realize omnibearing automatic identification of welding seams and defect coatings in the inner wall of the pipeline; the control on the construction quality of the pipeline is effectively provided.
Description
Technical Field
The invention relates to the technical field of pipeline robots, in particular to a pipeline inner wall detection robot.
Background
At present, the pipeline is the main mode of conveying medium, can carry crude oil, the natural gas, the industrial chemicals, drinking water, the desalination of sea water, powder and so on, the steel pipe becomes the first choice of most trades because can bear great pressure and effort, the steel pipe is produced on the production line, twine the PE anticorrosive coating on the surface of steel pipe according to the technological requirement, scribble resin anticorrosive coating on the inner surface, transport the steel pipe that the anticorrosive treatment is good to the job site, weld together one by one, form a complete transfer chain, simultaneously, the welding seam is the weakest place, need carry out the flaw detection, again with the anticorrosive treatment of welding seam position, however, at present, there is not the pipeline robot equipment that can detect the welding quality of welding seam, can detect the anticorrosive coating quality on the welding seam again at home, this has just restricted the control of quality in the pipeline construction seriously.
Disclosure of Invention
The invention aims to provide a pipeline inner wall detection robot which can realize omnibearing automatic identification of welding seams and defect coatings in the inner wall of a pipeline; the control on the construction quality of the pipeline is effectively provided.
The invention is realized by the following technical scheme:
a pipeline inner wall detection robot comprises a detection vehicle body and a detection mechanism arranged at one end of the detection vehicle body; the detection mechanism comprises a rotating mechanism which is connected with the detection vehicle body and rotates along the axis of the pipeline, and a detection device which is connected with one side of the rotating mechanism, which is far away from the detection vehicle body; the detection device comprises a sliding plate assembly connected with the rotating mechanism, a pattern collector fixedly mounted on the sliding plate assembly, a detection mechanism and a scanning mechanism, wherein the detection mechanism and the scanning mechanism are respectively slidably mounted on the sliding plate assembly and are close to and/or far away from the inner wall of the pipeline.
The device is transported right ahead by a crane before use, the device can enter a pipeline through other guiding devices, and a detection vehicle body is driven by other connecting equipment to do linear motion along the axis of the pipeline in the pipeline; when the welding seam on the inner wall is collected by the pattern collector, the device stops moving, the scanning mechanism moves towards one side of the inner wall of the pipeline, and the rotating mechanism rotates and drives the scanning mechanism to scan the welding seam for 360 degrees; and after the scanning is finished, transmitting the pictures and the scanned information to a control terminal connected with the detection vehicle body for analysis processing. When the welding line on the inner wall is collected by the graph collector, the detection mechanism moves towards one side of the inner wall, and when the detection mechanism contacts the anticorrosive coating, the thickness of the anticorrosive coating is detected; and after the detection is finished, sending the detection data to the control terminal for subsequent analysis and processing.
Furthermore, in order to better realize the invention, the sliding plate assembly comprises a fixed plate connected with the rotating mechanism, sliding plates symmetrically arranged at two sides of the fixed plate, two groups of guide rail groups respectively arranged on the two sliding plates in a sliding way, and two groups of sliding driving mechanisms respectively used for driving the two groups of guide rail groups to slide on the two sliding plates; one side of one group of guide rail group close to the inner wall of the pipeline is connected with the detection mechanism, and the other side of the other group of guide rail group close to the pipe wall is connected with the scanning mechanism.
Further, in order to better realize the invention, the rotating mechanism comprises a rotating driving device arranged at the end part of the detection vehicle body and a rotating shaft connected with the output end of the rotating driving device; and one end of the revolving shaft, which is far away from the rotary driving device, is connected with the fixed plate.
Furthermore, in order to better realize the invention, a fixed bracket used for being arranged on the graph collector is arranged on one side, far away from each other, of the two sliding plates; each group of guide rail groups comprises two guide rails which are arranged in parallel, and a fixed bracket is arranged between the two guide rails; and limiting plates are respectively arranged on one sides of the two guide rail groups, which are far away from the fixed plate, and the limiting plates are arranged on one sides of the fixed supports, which are close to the detection mechanism or the scanning mechanism.
Further, in order to better implement the present invention, pulleys are respectively disposed at two ends of the scanning mechanism along the direction of the pipeline axis.
Furthermore, in order to better realize the invention, the number of the figure collectors is two, and the figure collectors are respectively arranged on the sides, far away from each other, of the two groups of sliding plate assemblies.
Furthermore, in order to better realize the invention, grooves matched with the guide rails are arranged on the two sliding plates.
Further, in order to better implement the invention, a front-view camera and an illuminating device are further installed on one side of the detection vehicle body close to the rotating mechanism.
Further, in order to better realize the invention, a tractor is further connected to one side of the detection vehicle body, which is far away from the rotating mechanism.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the invention can realize omnibearing automatic identification of welding seams and defect coatings in the inner wall of the pipeline by matching the scanning mechanism, the detection mechanism and the rotating mechanism; the control on the construction quality of the pipeline is effectively provided. (ii) a
(2) The invention can complete the detection of the welding seam and the defective coating at one time, thereby greatly improving the detection efficiency and reducing the cost;
(3) the invention has simple structure and strong practicability.
Drawings
FIG. 1 is a schematic view of a connection structure according to the present invention;
FIG. 2 is an enlarged view of FIG. 1 at A in accordance with the present invention;
FIG. 3 is a schematic structural view of a detecting mechanism according to the present invention;
FIG. 4 is a schematic view of the present invention in a pipeline configuration;
wherein 1, a pipeline; 2. a forward looking camera; 3A, detecting a vehicle body; 4. a limiting plate; 5. a cable; 6. (ii) a 7. (ii) a 8. A coupling; 9. welding seams; 10. an illumination device; 11. a graph collector; 12. a pulley; 13. a detection mechanism; 14. a sled assembly; 15. a muffler; 16. a rotating shaft; 17. fixing a bracket; 18. a fixing plate; 19. a guide rail; 20. a scanning mechanism; 1A, a tractor; 2A, a detection mechanism.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1:
the invention is realized by the following technical scheme, as shown in figures 1-4, a pipeline inner wall detection robot comprises a detection vehicle body 3A and a detection mechanism 2A arranged at one end of the detection vehicle body 3A; the detection mechanism 2A comprises a rotating mechanism which is connected with the detection vehicle body 3A and rotates along the axis of the pipeline 1, and a detection device which is connected with one side of the rotating mechanism, which is far away from the detection vehicle body 3A; the detection device comprises a sliding plate assembly 14 connected with the rotating mechanism, a pattern collector 11 fixedly arranged on the sliding plate assembly 14, a detection mechanism 13 and a scanning mechanism 20, wherein the detection mechanism 13 and the scanning mechanism 20 are respectively arranged on the sliding plate assembly 14 in a sliding way and are close to and/or far away from the inner wall of the pipeline 1.
It should be noted that, with the above modification, as shown in fig. 4, the device is transported by a crane right ahead before use, the device can enter the pipeline 1 through other guiding devices, and the detection vehicle body 3A is driven by other devices connected with the detection vehicle body to make linear motion along the axis of the pipeline 1 in the pipeline 1; when the graph collector 11 collects the welding seam 9 on the inner wall, the device stops moving, the scanning mechanism 20 moves towards one side of the inner wall of the pipeline 1, and the rotating mechanism rotates and drives the scanning mechanism 20 to scan the welding seam 9 for 360 degrees; after the scanning is completed, the picture and the scanned information are transmitted to a control terminal connected to the inspection vehicle body 3A for analysis processing. When the graph collector 11 collects the welding line 9 on the inner wall, the detection mechanism 13 moves towards one side of the inner wall, and when the detection mechanism 13 contacts the anticorrosive coating, the thickness of the anticorrosive coating is detected; and after the detection is finished, sending the detection data to the control terminal for subsequent analysis and processing.
The invention can detect the welding seam 9 and the anticorrosive coating by entering the pipeline 1 once, thereby effectively improving the working efficiency in unit time and reducing the working cost.
Example 2:
the embodiment is further optimized on the basis of the above embodiment, as shown in fig. 2 and fig. 3, and further, in order to better implement the present invention, the sliding plate assembly 14 includes a fixed plate 18 connected to one end of the rotating mechanism far away from the detection vehicle body 3A, sliding plates symmetrically installed on two symmetrical sides of the fixed plate 18, two sets of guide rail sets respectively installed on the two sliding plates in a sliding manner, and two sets of sliding driving mechanisms respectively used for driving the two sets of guide rail sets to slide on the two sliding plates; one side of one group of guide rail sets, which is close to the inner wall of the pipeline 1, is connected with the detection mechanism 13, and one side of the other group of guide rail sets, which is close to the pipe wall, is connected with the scanning mechanism 20. Two sets of slides parallel arrangement avoid appearing mutual interference's problem when carrying out welding seam 9 and anticorrosive coating thickness detection simultaneously.
Preferably, as shown in fig. 3, the fixing plate 18 is a square column structure, one end of which is connected to the rotating mechanism, and two sliding plates are mounted on two parallel side surfaces of the fixing plate 18.
It should be noted that, with the above improvement, a set of sliding driving mechanisms is matched with a set of guide rail sets to slide on a sliding plate. The two sets of sliding driving mechanisms work independently, and when different work needs, the different sliding driving mechanisms are controlled to drive the detection mechanism 13 or the scanning mechanism 20 to work.
For example, only the weld 9 needs to be detected, and only the guide rail set connected with the scanning mechanism 20 needs to be started and controlled to move. Of course, when the work needs, two sets of sliding driving mechanisms can move simultaneously, so that the thickness of the welding seam 9 and the thickness of the anticorrosive coating can be detected simultaneously.
The sliding driving mechanism only needs to drive the guide rail 19 to make a linear motion on the sliding plate close to or far away from the inner wall of the pipeline 1, and for example, any one of the cylinder, the hydraulic cylinder, the electric push rod and the lead screw principle can be adopted. The improvement point of the present invention is not in the internal structure of the sliding driving mechanism, and therefore, the description thereof is omitted.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 3:
the present embodiment is further optimized based on the above-mentioned embodiment, as shown in fig. 2 and fig. 3, and further, in order to better implement the present invention, the rotating mechanism includes a rotation driving device installed at the end of the inspection vehicle body 3A, a rotating shaft 16 connected to the output end of the rotation driving device; the pivot shaft 16 is connected to a fastening plate 18 at the end remote from the rotary drive. The axis of the swivel shaft 16 is coaxial with the axis of the pipeline 1.
It should be noted that, with the above improvement, the rotation driving device drives the rotation shaft 16 to perform a 360 ° rotation movement around the axis of the pipeline 1, so as to drive the fixing plate 18 to rotate;
preferably, the rotation driving device may be a driving motor, an output end of the driving motor is connected to the rotating shaft 16 through a coupling, and the output end of the driving motor may also adopt any one of a gear combination structure, a combination structure of a chain wheel and a chain, and a combination structure of a synchronizing wheel and a synchronizing belt, so as to drive the rotating shaft 16 to rotate; the drive motor may be a stepper motor, a servo motor, or the like.
The improvement point of the present invention is not in the internal structure of the rotation driving device, and therefore, the internal structure thereof will not be described again.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 4:
the embodiment is further optimized on the basis of the above embodiment, as shown in fig. 2, and further, in order to better implement the present invention, a fixing bracket 17 for mounting on the pattern collector 11 is arranged on one side of the two sliding plates away from each other; each group of guide rail group comprises two guide rails 19, the two guide rails 19 are arranged in parallel, and the fixed support 17 is arranged between the two guide rails 19; and limiting plates 4 are respectively arranged on the sides of the two guide rail groups far away from the fixed plate 18, and the limiting plates 4 are arranged on the sides of the fixed brackets 17 close to the detection mechanism 13 or the scanning mechanism 20.
It should be noted that, with the above improvement, the image collector 11 is a camera. The camera adopts the information transmission of pipeline 1 inner wall to control terminal in real time, and when finding welding seam 9, control terminal stops to detect the car motion, then starts scanning mechanism 20 and carries out the detection of welding seam 9, realizes the detection of anticorrosive coating thickness through detection mechanism 13.
The improvement of the present invention is not to use any device or equipment for detecting the weld 9 and the corrosion protection layer.
The limiting plate 4 is arranged on the guide rail 19 and is positioned between the fixed support 17 and the detection mechanism 13 or the scanning mechanism 20, so that the damage to the detection mechanism 13 and/or the scanning mechanism 20 caused by hard contact of the detection mechanism and/or the scanning mechanism 20 due to an overlarge movement range when the sliding driving mechanism drives the guide rail 19 to move is avoided. Preferably, the limiting plate 4 is made of a flexible material, such as rubber.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 5:
the present embodiment is further optimized based on the above-mentioned embodiments, as shown in fig. 1, fig. 2, and fig. 3, and further, in order to better implement the present invention, pulleys 12 are respectively disposed at two ends of the scanning mechanism 20 along the axial direction of the pipeline 1.
The pulley 12 is provided for the purpose of performing a plurality of detections when performing the anticorrosive coating detection, and for better supporting the scanning mechanism 20, the pulley 12 is provided at both ends of the scanning mechanism 20 along the axial direction of the pipeline 1; during detection, the pulley 12 moves to the inner wall of the pipeline 1 and rotates along the axis of the pipeline 1 in cooperation with the rotating mechanism.
Further, in order to better implement the present invention, the number of the image collectors 11 is two, and the two image collectors are respectively installed at the sides of the two sets of sliding plate assemblies 14 away from each other. The number of the pattern collectors 11 is two, and the collecting ports of the two pattern collectors 11 are far away from each other, so that the condition of the inner wall of the pipeline 1 can be collected more accurately. Of course, only one image collector 11 may be installed for use.
Further, in order to better implement the present invention, two of the sliding plates are provided with grooves which are matched with the guide rails 19 for installation.
The length direction of the groove is the same as the length direction of the guide rail 19, preferably the groove is a dovetail groove, and the guide rail 19 is used in cooperation with the dovetail groove.
Further, in order to better implement the present invention, a front-view camera 2 and an illumination device 10 are further installed on a side of the detection vehicle body 3A close to the rotation mechanism. The front-view camera 2 can detect the specific situation of the advancing direction of the vehicle body 3A in the duct 1 in cooperation with the lighting device 10. Preferably, a muffler 15 is further provided on the side of the detection vehicle body 3A close to the rotation mechanism to reduce noise.
Further, in order to better implement the present invention, a tractor 1A is further connected to a side of the detection vehicle body 3A away from the rotating mechanism.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 6:
the present embodiment is a preferred embodiment of the present invention, and as shown in fig. 1 to 4, a pipeline inner wall detection robot includes a detection vehicle body 3A, a detection mechanism 2A disposed at one end of the detection vehicle body 3A, and a tractor 1A connected to one end of the detection vehicle body 3A, which is far away from the detection mechanism 2A, through a coupling 8; the detection mechanism 2A comprises a rotating mechanism which is connected with the detection vehicle body 3A and rotates along the axis of the pipeline 1, and a detection device which is connected with one side of the rotating mechanism, which is far away from the detection vehicle body 3A; the detection device comprises a sliding plate assembly 14 connected with the rotating mechanism, a pattern collector 11 fixedly arranged on the sliding plate assembly 14, a detection mechanism 13 and a scanning mechanism 20, wherein the detection mechanism 13 and the scanning mechanism 20 are respectively arranged on the sliding plate assembly 14 in a sliding way and are close to and/or far away from the inner wall of the pipeline 1.
Further, in order to better implement the present invention, the sliding plate assembly 14 includes a fixed plate 18 connected to the rotating mechanism, sliding plates symmetrically installed on both sides of the fixed plate 18, two sets of guide rail sets respectively installed on the two sliding plates in a sliding manner, and two sets of sliding driving mechanisms respectively used for driving the two sets of guide rail sets to slide on the two sliding plates; one side of one group of guide rail sets, which is close to the inner wall of the pipeline 1, is connected with the detection mechanism 13, and one side of the other group of guide rail sets, which is close to the pipe wall, is connected with the scanning mechanism 20.
Further, in order to realize the present invention more preferably, the rotating mechanism includes a rotation driving device installed at an end portion of the inspection vehicle body 3A, a rotating shaft 16 connected to an output end of the rotation driving device; the pivot shaft 16 is connected to a fastening plate 18 at the end remote from the rotary drive.
Furthermore, in order to better realize the invention, a fixed bracket 17 used for being arranged on the graph collector 11 is arranged on one side, away from each other, of the two sliding plates; each group of guide rail group comprises two guide rails 19, the two guide rails 19 are arranged in parallel, and the fixed support 17 is arranged between the two guide rails 19; and limiting plates 4 are respectively arranged on the sides of the two guide rail groups far away from the fixed plate 18, and the limiting plates 4 are arranged on the sides of the fixed brackets 17 close to the detection mechanism 13 or the scanning mechanism 20.
Further, in order to better implement the present invention, pulleys 12 are respectively disposed at both ends of the scanning mechanism 20 in the direction of the axis of the pipe 1.
Further, in order to better implement the present invention, the number of the image collectors 11 is two, and the two image collectors are respectively installed at the sides of the two sets of sliding plate assemblies 14 away from each other.
Further, in order to better implement the present invention, two of the sliding plates are provided with grooves which are matched with the guide rails 19 for installation.
Further, in order to better implement the present invention, a front view camera 2, an illumination device 10, a cable 5 socket, and a muffler 15 are further mounted on a side of the detection vehicle body 3A close to the rotation mechanism.
Furthermore, in order to better realize the invention, a rear-view camera, a data transmitter and a charging seat are arranged on one side of the tractor 1A, which is far away from the detection vehicle body 3A; a lithium battery pack, a traction motor set, a control center and the like are arranged in the tractor 1A; and a cable 5 is arranged between the tractor 1A and the detection vehicle.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (9)
1. A pipeline inner wall inspection robot which characterized in that: comprises a detection vehicle body (3A) and a detection mechanism (2A) arranged at one end of the detection vehicle body (3A); the detection mechanism (2A) comprises a rotating mechanism which is connected with the detection vehicle body (3A) and rotates along the axis of the pipeline (1), and a detection device which is connected with one side of the rotating mechanism, which is far away from the detection vehicle body (3A); the detection device comprises a sliding plate assembly (14) connected with the rotating mechanism, a graph collector (11) fixedly installed on the sliding plate assembly (14), a detection mechanism (13) and a scanning mechanism (20), wherein the detection mechanism (13) and the scanning mechanism are respectively installed on the sliding plate assembly (14) in a sliding mode and are close to and/or far away from the inner wall of the pipeline (1).
2. The robot for detecting the inner wall of the pipeline according to claim 1, wherein: the sliding plate assembly (14) comprises a fixed plate (18) connected with the rotating mechanism, sliding plates symmetrically arranged on two sides of the fixed plate (18), two groups of guide rails (19) respectively arranged on the two sliding plates in a sliding manner, and two groups of sliding driving mechanisms respectively used for driving the two groups of guide rails (19) to slide on the two sliding plates; one side of one group of guide rails (19) close to the inner wall of the pipeline (1) is connected with the detection mechanism (13), and the other side of the other group of guide rails (19) close to the pipe wall is connected with the scanning mechanism (20).
3. The robot for detecting the inner wall of the pipeline according to claim 2, wherein: the rotating mechanism comprises a rotating driving device arranged at the end part of the detection vehicle body (3A) and a rotating shaft (16) connected with the output end of the rotating driving device; the end of the pivot shaft (16) remote from the rotary drive is connected to a fastening plate (18).
4. The robot for detecting the inner wall of the pipeline according to claim 2, wherein: one sides of the two sliding plates, which are far away from each other, are provided with fixed brackets (17) for being installed on a pattern collector (11); each group of guide rails (19) comprises two guide rails (19), the two guide rails (19) are arranged in parallel, and the fixed support (17) is arranged between the two guide rails (19); and limiting plates (4) are respectively arranged on one sides of the two guide rail (19) groups far away from the fixed plate (18), and the limiting plates (4) are arranged on one sides of the fixed supports (17) close to the detection mechanism (13) or the scanning mechanism (20).
5. The robot for detecting the inner wall of the pipeline according to claim 2, wherein: and pulleys (12) are respectively arranged at two ends of the scanning mechanism (20) along the axis direction of the pipeline (1).
6. The robot for detecting the inner wall of the pipeline according to claim 2, wherein: the number of the pattern collectors (11) is two, and the pattern collectors are respectively arranged on one sides, far away from each other, of the two groups of sliding plate assemblies (14).
7. The robot for detecting the inner wall of the pipeline according to claim 2, wherein: grooves matched with the guide rails (19) are arranged on the two sliding plates.
8. The robot for inspecting the inner wall of a pipeline according to any one of claims 1 to 7, wherein: a front-view camera (2) and an illuminating device (10) are further mounted on one side, close to the rotating mechanism, of the detection vehicle body (3A).
9. The robot for detecting the inner wall of the pipeline according to claim 8, wherein: and one side of the detection vehicle body (3A) far away from the rotating mechanism is also connected with a tractor (1A).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010260299.XA CN111237584A (en) | 2020-04-03 | 2020-04-03 | Pipeline inner wall detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010260299.XA CN111237584A (en) | 2020-04-03 | 2020-04-03 | Pipeline inner wall detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN111237584A true CN111237584A (en) | 2020-06-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010260299.XA Pending CN111237584A (en) | 2020-04-03 | 2020-04-03 | Pipeline inner wall detection robot |
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| CN (1) | CN111237584A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111795255A (en) * | 2020-07-10 | 2020-10-20 | 重庆凡聚智能科技有限公司 | Carrier robot in pipeline |
| CN116026925A (en) * | 2023-02-28 | 2023-04-28 | 徐州工程学院 | Pipeline welding line inspection device and method |
-
2020
- 2020-04-03 CN CN202010260299.XA patent/CN111237584A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111795255A (en) * | 2020-07-10 | 2020-10-20 | 重庆凡聚智能科技有限公司 | Carrier robot in pipeline |
| CN111795255B (en) * | 2020-07-10 | 2021-06-01 | 重庆凡聚智能科技有限公司 | Carrier robot in pipeline |
| CN116026925A (en) * | 2023-02-28 | 2023-04-28 | 徐州工程学院 | Pipeline welding line inspection device and method |
| CN116026925B (en) * | 2023-02-28 | 2023-07-25 | 徐州工程学院 | Pipeline welding line inspection device and method |
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