阅读说明：本技术 一种适应不同管径内壁大面积无损检测机器人 (Large-area nondestructive testing robot suitable for inner walls of different pipe diameters ) 是由 霍立强 杨磊 高畅 于 2021-04-26 设计创作，主要内容包括：本发明公开了一种适应不同管径内壁大面积无损检测机器人,包括位于同一中轴线上的柔性半自动适应模块和磁粉探伤无损检测模块；柔性半自动适应模块包括呈三棱柱状结构的移动本体、自前至后依次设置在移动本体前端板上的定位弹簧、三角板和管道尺寸适应丝杠以及分别设置在移动本体侧板上的移动组件；磁粉探伤无损检测模块包括三棱柱状结构的检测本体以及若干沿检测本体中轴线方向依次交错设置的检测组件,检测组件包括自外至内依次连接的交叉磁轭、弹簧阻尼元件和压力计以及用于带动交叉磁轭、弹簧阻尼元件和压力计沿检测本体径向位移的丝杠,本发明具有结构简单,设计合理,环境适应性极强,通过调节管道尺寸适应丝杠可适应任何管道。(The invention discloses a large-area nondestructive testing robot suitable for inner walls with different pipe diameters, which comprises a flexible semi-automatic adaptation module and a magnetic powder inspection nondestructive testing module which are positioned on the same central axis; the flexible semi-automatic adaptation module comprises a moving body in a triangular prism structure, a positioning spring, a triangular plate, a pipeline size adaptation screw rod and moving assemblies, wherein the positioning spring, the triangular plate and the pipeline size adaptation screw rod are sequentially arranged on a front end plate of the moving body from front to back, and the moving assemblies are respectively arranged on side plates of the moving body; the magnetic powder inspection nondestructive testing module comprises a testing body with a triangular prism-shaped structure and a plurality of testing assemblies which are sequentially arranged along the central axis direction of the testing body in a staggered mode, wherein each testing assembly comprises a cross magnetic yoke, a spring damping element and a pressure gauge which are sequentially connected from outside to inside and a lead screw used for driving the cross magnetic yoke, the spring damping element and the pressure gauge to radially displace along the testing body.)

1. A large-area nondestructive inspection robot suitable for inner walls of different pipe diameters is characterized by comprising a flexible semi-automatic adaptation module and a magnetic powder inspection nondestructive inspection module which are positioned on the same central axis;

the flexible semi-automatic adaptation module comprises a mobile body in a triangular prism-shaped structure, a positioning spring, a triangular plate, a pipeline size adaptation lead screw and three groups of mobile components, wherein the positioning spring, the triangular plate and the pipeline size adaptation lead screw are sequentially arranged on a front end plate of the mobile body from front to back, the three groups of mobile components are respectively arranged on a side plate of the mobile body, each mobile component comprises a primary rod, a connecting rod, a driven rod, a motion wheel set and a flexible connecting rod reset spring set, the primary rods are respectively connected with the triangular plate through connecting rods, the primary rods, the connecting rods and the driven rods are sequentially hinged and form a flexible connecting rod structure with the side plate of the mobile body, the motion wheel set used for matching the reciprocating motion of the primary rods, the connecting rods and the driven rods is driven through a stepping motor, one end of the reset spring set is vertically connected with the side plate of the mobile body, and the other end of the reset spring set is vertically connected with the connecting rods through spring slide rails;

magnetic particle inspection nondestructive test module includes triangular prism column structure's detection body and a plurality of detection subassembly that sets up along detecting body axis direction crisscross in proper order, the detection subassembly part or whole expose the curb plate at the detection body, detection subassembly includes from outer to interior cross yoke, spring damping element and the pressure gauge that connects gradually and is used for driving cross yoke, spring damping element and the lead screw of pressure gauge along detection body radial displacement.

2. The robot for nondestructive inspection of large area of inner wall with different caliber as described in claim 1, wherein the joint between the side plates of the moving body and the inspection body has a smooth transition surface.

3. The large-area nondestructive inspection robot suitable for inner walls with different pipe diameters as claimed in claim 2, wherein the lower parts of the smooth transition surfaces of the moving body and the inspection body are provided with anti-collision guide wheels.

4. The robot for nondestructive inspection of large area of inner walls with different tube diameters as claimed in claim 1, wherein said stepping motor is fixed on the side plate of the moving body by a motor mounting plate.

5. The robot for nondestructive testing of large area of inner walls with different tube diameters as claimed in claim 1, wherein said follower lever is fixedly connected to the side plate of the moving body through a follower lever support.

6. The robot for nondestructive testing of large area of inner walls with different tube diameters as claimed in claim 1, wherein the front end plate of the moving body and the rear end plate of the testing body are respectively provided with a handle for easy holding.

7. The robot for nondestructive testing of large area of inner walls with different pipe diameters as claimed in claim 1, wherein said pressure gauge is fixedly connected with spring damping element through a connecting plate.

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a large-area nondestructive testing robot suitable for inner walls of different pipe diameters.

Background

Pipes are ubiquitous in our daily production and life, for example: petroleum and natural gas transportation pipelines, tap water transportation, welded steel pipes and the like. However, in the case of ferromagnetic pipes, which are widely used, there are a large number of possible defects, the most widespread of which are the following: 1) in order to facilitate transportation, the ultra-long pipeline is usually welded and assembled on a construction site, so that defects may exist at the welding position, and the defects can seriously affect the quality of a component and even bring safety problems; 2) the pipeline can be corroded and damaged when working for a long time, which not only causes pollution to the environment, but also causes huge energy loss; 3) the connecting piece at the pipeline joint is aged, so that unnecessary loss damage and the like caused by leakage at the joint are caused. In the traditional detection, the nondestructive detection cannot be carried out when the pipeline works, and the problem can be detected only after the pipeline is completely damaged.

In view of the above, the present invention is particularly proposed.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide a large-area nondestructive testing robot suitable for inner walls of different pipe diameters, which has the advantages of compact structure, light weight, easy carrying, stable motion, good motion guidance, strong curved surface adaptability and wide detection range, meets the relevant standards of nondestructive testing, and is used for the large-area nondestructive testing of the inner walls of the pipe diameters of any shape and size.

In order to achieve the purpose, the invention provides a large-area nondestructive testing robot suitable for inner walls with different pipe diameters, which comprises a flexible semi-automatic adaptation module and a magnetic powder inspection nondestructive testing module, wherein the flexible semi-automatic adaptation module and the magnetic powder inspection nondestructive testing module are positioned on the same central axis;

the flexible semi-automatic adaptation module comprises a mobile body in a triangular prism-shaped structure, a positioning spring, a triangular plate, a pipeline size adaptation lead screw and three groups of mobile components, wherein the positioning spring, the triangular plate and the pipeline size adaptation lead screw are sequentially arranged on a front end plate of the mobile body from front to back, the three groups of mobile components are respectively arranged on a side plate of the mobile body, each mobile component comprises a primary rod, a connecting rod, a driven rod, a motion wheel set and a flexible connecting rod reset spring set, the primary rods are respectively connected with the triangular plate through connecting rods, the primary rods, the connecting rods and the driven rods are sequentially hinged and form a flexible connecting rod structure with the side plate of the mobile body, the motion wheel set used for matching the reciprocating motion of the primary rods, the connecting rods and the driven rods is driven through a stepping motor, one end of the reset spring set is vertically connected with the side plate of the mobile body, and the other end of the reset spring set is vertically connected with the connecting rods through spring slide rails;

magnetic particle inspection nondestructive test module includes triangular prism column structure's detection body and a plurality of detection subassembly that sets up along detecting body axis direction crisscross in proper order, detection subassembly includes from outer to interior cross yoke, spring damping element and the pressure gauge that connects gradually and is used for driving alternately yoke, spring damping element and pressure gauge along the lead screw that detects body radial displacement.

Preferably, the connection between the side plates of the moving body and the detecting body is provided with a smooth transition surface;

preferably, the lower parts of the smooth transition surfaces of the moving body and the detection body are provided with anti-collision guide wheels;

preferably, the stepping motor is fixed on a side plate of the moving body through a motor mounting plate;

preferably, the driven rod is fixedly connected with the side plate of the movable body through a driven rod support;

preferably, the front end plate of the moving body and the rear end plate of the detecting body are both provided with handles for convenient holding;

preferably, the pressure gauge is fixedly connected with the spring damping element through a connecting plate.

The large-area nondestructive testing robot suitable for inner walls of different pipe diameters has the following beneficial effects:

1. the pipeline detection device has strong environmental adaptability, can adapt to any pipeline with different inner diameter sizes and shapes by adjusting the size of the pipeline to adapt to the lead screw, can detect whether the inner wall of the pipeline is damaged or not to replace manual operation, and has lower cost and higher working efficiency;

2. the service life of the device is longer than that of the existing pipeline inner wall detection equipment, the lower parts of the flexible semi-automatic adaptation module and the magnetic powder inspection nondestructive detection module are provided with the anti-collision guide wheels, and before the pipeline inner wall nondestructive detection robot enters the ferromagnetic pipeline, the anti-collision guide wheels of the flexible semi-automatic adaptation module play a pioneering role, so that the magnetic powder inspection nondestructive detection module cannot collide with the pipeline, the damage to the pipeline due to the arrival of the pipeline is avoided, and meanwhile, the detection robot is protected;

3. the invention adopts the flexible connecting rod mechanism, the kinematic pair elements are in surface contact, the pressure intensity is smaller, the lubrication is facilitated, the abrasion is smaller, and the purposes of reinforcing, expanding the stroke, realizing the remote transmission and the like can be conveniently achieved;

4. the flexible connecting rod return spring group has the advantages that the stress on the inner wall of the pipeline is uniform, the inaccurate detection result caused by the vibration and inclination of the pipeline is prevented, and the inclination problem of a detection probe is solved;

5. according to the invention, the stepping motor is arranged on the motor mounting plate connected with the original moving rod and the side plate of the moving body, so that not only can the space be saved and the robot occupies smaller space in the pipeline, but also the robot can be better carried;

6. the robot crawling mechanism adopts the belt to transmit power to enable the robot to crawl in the pipeline, the belt has good elasticity, impact and vibration can be relieved during work, and the robot crawling mechanism is stable in movement and free of noise; simple structure, easy manufacture, convenient installation and maintenance and lower cost.

7. The magnetic powder inspection nondestructive testing module adopts the spring damping element, so that after the crossed magnetic yoke enters the ferromagnetic pipeline, when the lead screw works, the crossed magnetic yoke in the working process is prevented from shaking, the crossed magnetic yoke can be protected, and the magnetic yoke can be prevented from colliding with the pipeline to be damaged.

8. The magnetic powder inspection nondestructive detection module is added with the pressure gauge, the pressure gauge can obtain force feedback, and the cross magnetic yoke can accurately touch the wall surface of the ferromagnetic pipeline, so that the robot can not be subjected to resistance action during working, and the accuracy of a detection result can be ensured.

9. The magnetic powder inspection nondestructive testing module preferably adopts 3 crossed magnetic yokes, and the multiple groups of crossed magnetic yokes can improve the testing accuracy, enlarge the testing range and improve the testing efficiency.

Drawings

FIG. 1 is a schematic structural diagram of a flexible semi-automatic adaptation module adapted to a large-area nondestructive inspection robot for inner walls of different pipe diameters, provided by the invention.

FIG. 2 is a schematic structural diagram of a large-area nondestructive inspection robot suitable for inner walls of different pipe diameters.

Fig. 3 is a left side view of fig. 2.

FIG. 4 is a schematic structural diagram of a detection assembly of a large-area nondestructive detection robot suitable for inner walls of different pipe diameters, provided by the invention.

In the figure:

101, a motion wheel set 102, a motor mounting plate 103, a driving rod 104, a transmission rod 105, a connecting rod 106, a stepping motor 107, a spring slide rail 108, a return spring set 109, a driven rod 110 and a driven rod support;

201 positioning spring 202 triangular plate 203 pipeline size adapts lead screw 204 connecting rod 205 moving body rear end plate 206 moving body side plate 207 detecting body side plate 208 anti-collision guide wheel 209 cross yoke;

301 moving the front end plate 302 of the body small pipe 303 and handle 304 large pipe;

the 401 spring damping element 402 connects the plate 403 screw 404 pressure gauge.

Detailed Description

The present invention will be further described with reference to the following specific embodiments and accompanying drawings to assist in understanding the contents of the invention.

As shown in fig. 1-4, the robot for nondestructive inspection of large area of inner walls of different pipe diameters provided by the present invention comprises a flexible semi-automatic adaptation module and a magnetic powder inspection nondestructive inspection module which are located on the same central axis. The flexible semi-automatic adaptation module comprises a moving body in a triangular prism-shaped structure, a positioning spring 201, a triangular plate 202, a pipeline size adaptation lead screw 203 and three groups of moving assemblies, wherein the positioning spring 201, the triangular plate 202 and the pipeline size adaptation lead screw 203 are sequentially arranged on the front end plate of the moving body from front to back, and the three groups of moving assemblies are respectively arranged on a side plate 206 of the moving body. The pipeline size adaptation lead screw 203 is connected with the front end plate 301 of the moving body, and the positioning spring 201 and the triangular plate 202 are sleeved on the screw rod, so that the power source of the adaptive part of the pipeline inner wall size of the robot is realized. The moving assembly comprises an original moving rod 103, a connecting rod 105, a driven rod 109, a moving wheel set 101 and a flexible connecting rod return spring set 108, the original moving rod 103 is connected with a triangular plate 202 through a connecting rod 204 respectively, the original moving rod 103, the connecting rod 105 and the driven rod 109 are sequentially hinged and form a flexible connecting rod structure with a side plate 206 of the moving body, and the robot is suitable for main parts of pipelines with any size. The moving wheel set 101 for matching the reciprocating motion of the original rod 103, the connecting rod 105 and the driven rod 109 is driven by the stepping motor 106, the stepping motor 106 is installed on the motor installation plate 102 connected with the original rod 103 and the side plate 206 of the moving body, the moving wheel set 101 comprises a driving rear wheel located at the hinged position of the original rod 103 and the connecting rod 105 and a driven front wheel located at the hinged position of the connecting rod 105 and the driven rod 109, the stepping motor 106 transmits power to the driving rear wheel of the moving wheel set 101, and then the driving front wheel and the driven rear wheel are connected together through the conveyor belt 104, so that the whole moving part of the robot is realized. One end of the return spring set 108 is vertically connected with the side plate 206 of the movable body through a screw, and the other end is vertically connected with the connecting rod 105 through the spring slide rail 107, so that the return of the flexible connecting rod mechanism is realized. The stepping motor 106 is fixed on the side plate 206 of the moving body through the motor mounting plate, so that not only can the space be saved and the robot occupies smaller space in the pipeline, but also the robot can be better carried. The follower link 109 is fixedly connected to the side plate 206 of the moving body via the follower link support 110. The front end plate 301 of the moving body, the side plate 206 of the moving body and the side plate 207 of the detection body are respectively provided with a handle 303 which is convenient to hold, so that the robot is convenient to carry and carry.

As shown in fig. 2-3, the joints between the side plate 206 of the moving body and between the side plate 207 of the detecting body and the side plate 207 of the detecting body have smooth transition surfaces, the lower parts of the smooth transition surfaces of the moving body and the detecting body are both provided with anti-collision guide wheels 208, the anti-collision guide wheels 208 are mounted on a guide wheel frame, and the guide wheel frame is mounted in the drilled threaded holes of the moving body and the detecting body to form an anti-collision guide part of the moving body and the detecting body.

As shown in fig. 4, the magnetic powder inspection nondestructive testing module includes a testing body with a triangular prism-shaped structure and a plurality of testing components sequentially arranged along the central axis direction of the testing body in a staggered manner, each testing component includes a cross yoke 209 sequentially connected from outside to inside, a spring damping element 401, a pressure gauge 404 and a lead screw 403 for driving the cross yoke 209, the spring damping element 401 and the pressure gauge 404 radially displace along the testing body, the cross yoke 209 is connected with the spring damping element 401 through a screw, the pressure gauge 404 is fixedly connected with the spring damping element 401 through a connecting plate 402, the lead screw 403 is connected with the cross yoke 209 through a screw, and a plate composed of the spring damping element 401 and the pressure gauge 404 is connected. The detection assembly has two mounting modes: the detection assembly is fixed on a side plate of the detection body through a screw, and the side plate of the detection body is inwards sunken to form an accommodating cavity for accommodating part or all of the detection assembly. The movable body and the detection body form a large-area nondestructive detection robot suitable for inner walls with different pipe diameters through welding.

The working principle of the invention is as follows: firstly, the ferromagnetic pipeline is magnetized, after the magnetization is finished, the size of the pipeline is firstly adjusted to adapt to the screw rod 203, so that the triangular plate 202 is adjusted to the lowest position, then the front section of the flexible semi-automatic adaptation module with the anti-collision guide wheel 208 is placed into the ferromagnetic pipeline until the flexible semi-automatic adaptation module and the magnetic particle inspection nondestructive testing module are all placed into the ferromagnetic pipeline, the size of the pipeline is adjusted to adapt to the lead screw 203, so that the flexible connecting rod mechanism adapts to the size of the small pipeline 301 with the help of the flexible connecting rod reset spring group 108, the lead screw 403 of the magnetic particle inspection nondestructive testing module starts to move to drive the crossed magnetic yoke 209 to move until the inner wall of the large pipeline 304 is touched, and when the reading of the pressure gauge 404 just reaches the zero critical value, the lead screw 403 stops moving, then the stepping motor 106 is started, the robot makes crawling motion in the ferromagnetic pipeline, and the crossed magnet 209 performs nondestructive detection on the ferromagnetic pipeline until the whole ferromagnetic pipeline is detected.

And (3) after the work is finished, resetting: after the detection operation is completed completely, the equipment obtains stop information, after the current detection process is completed, the flexible connecting rod return spring group 108 of the movable body of the large-area nondestructive detection robot suitable for inner walls with different pipe diameters is adjusted to be in a state of the minimum elastic force, and the crossed magnetic yoke 209 is retracted into the detection body through the lead screw.

The inventive concept is explained in detail herein using specific examples, which are given only to aid in understanding the core concepts of the invention. It should be understood that any obvious modifications, equivalents and other improvements made by those skilled in the art without departing from the spirit of the present invention are included in the scope of the present invention.