CN205506768U - Pipeline device of crawling - Google Patents
Pipeline device of crawling Download PDFInfo
- Publication number
- CN205506768U CN205506768U CN201620147995.9U CN201620147995U CN205506768U CN 205506768 U CN205506768 U CN 205506768U CN 201620147995 U CN201620147995 U CN 201620147995U CN 205506768 U CN205506768 U CN 205506768U
- Authority
- CN
- China
- Prior art keywords
- pipeline
- guide rail
- slide block
- fixed
- ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The utility model provides a pipeline device of crawling, it includes guide rail mechanism, circumference rotary mechanism, axial motion mechanism and sweeps and look into the mechanism, guide rail mechanism includes the ring rail that the circumference of edge pipeline was arranged, circumference rotary mechanism includes the frame, fixes roller train, circumference drive assembly on the frame, and the roller train cooperatees with ring rail, and the roller train rolls on ring rail under circumference drive assembly's drive, axial motion mechanism includes the base with connected to the frame, is equipped with on the base along the lead screw and an at least guiding axle of the axle arrangement of pipeline, and lead screw, guiding axle pass a slider, and the slider slides on the guiding axle, and slider and lead screw screw -thread fit, lead screw rotate around the axial under the drive of axial motor, sweep and look into the mechanism and include and look into the support with sweeping of slider fixed connection, sweep to look into and be fixed with at least one ultrasonic probe on the support. This pipeline device of crawling has solved before the nuclear power station labour and in the problem of the pipeline welding inspection under the highly radioactive environment during using as a servant.
Description
Technical field
This utility model relates to a kind of pipeline crawling device.
Background technology
Nuclear power plant's coolant circulating pipeline belongs to nuclear island key equipment, and the safe and reliable operation of nuclear power station is had very important significance by the safety of its structure, integrity.On the one hand, danger due to nuclear power station radiation environment, on the other hand, because the features such as traditional manual detection repetitive positioning accuracy is low, testing staff's raying time length, the Non-Destructive Testing requiring nuclear power plant's main pipe welding seam should use the failure detector of automatization as far as possible, to improve the positioning precision of defect as far as possible and to reduce working radiation metering.Therefore, in order to before realizing the labour of Nuclear power plant main pipeline weld seam and in-service automatic detection, need to develop a set of pipeline crawling device.
Can press desired trajectory motion, the core level pipeline crawling device of automatization, how to be monopolized by American-European multinational corporations, delivery cycle length, price are high.The pipe crawling device of existing only one FORCE company of Denmark of my company, along with the propelling of the AP1000 construction of nuclear power station and developing rapidly of China's Nuclear Electricity, company is more to the demand of detection equipment, in order to reduce cost, improve scanning equipment the suitability, develop easy to use, suitability pipe crawling device widely is the most urgent.
Root it is documented, as far back as 1966, Osaka, Japan founds Engineering Department of university and appoints that lecturer's is western bright, and negative pressure that gas side low-pressure air produces has made, as absorption affinity, the robot principle prototype that a vertical walls moves just to utilize electric fan to carry out, and this is counted as the beginning of climbing robot research.Hereafter, in decades, the research of climbing robot is the most extensively carried out.The spider-shaped robot developed such as Tokyo Gas Company, uses vacuum cup absorption, can detect its weld seam under spherical tank kinestate.This robot have employed 16 ultrasonic probes to carry out weld seam detection and has the function searching arbitrarily coordinate points position in Spherical Tank Shell Plates.FORCE company of Denmark have developed a series of modularity lightweight pipe crawling device, net weight about 10kg, uses magnetic suck and preset magnetic stripe tracking mode can detect all kinds of large-scale storage tank, underwater oil pipeline and ship hull weld joint.Domestic carry out climbing that keep away robot research is the Harbin Institute of Technology of 1988 the earliest, up to the present, scientific research institutions such as existing robot of precision instrument system of Tsing-Hua University and automation research room, Shanghai Communications University, Shanghai University, BJ University of Aeronautics & Astronautics, University Of Chongqing etc. carry out the research of related fields, and have been achieved for related ends.
At present, several aspects such as mobile technology (including the suction type of crawl device, drive mechanism, motion mode etc.), the compression of mass data detection and storage, vehicle-mounted operating system, signal identification, weld joint tracking and defect automatic evaluation technology under the research and development of pipe crawling device are concentrated mainly on cambered surface environment.
Abroad, Russia has a pipe welding seam scanning equipment to be applied to gulf, field nuclear power station, US Westinghouse company is just carrying out the design of the automatic scanning device of this weld seam, front and the use of inservice inspection in view of labour, use its original Model series scanner, being only conceptual phase at present, specific design details related data the most useless illustrates, Related product the most useless is reported.Owing to AP1000 Nuclear power plant main pipeline attachment weld inspection is the distinctive version of three generations's nuclear power station, at present in addition to US Westinghouse company, this weld seam inservice inspection and automatic checkout equipment are studied and are developed by any country the most useless.
In sum, up to now, main pipeline attachment weld detection technique and the exploitation of automatic checkout system are steamed for AP1000 nuclear power station, the most useless ready-made can technology for reference and systematic difference case.
Utility model content
Along with going deep into of TT technology transfer and will building up and generate electricity by way of merging two or more grid systems of three No. 1 units of No. 1 unit and Haiyang of AP1000 Project Cooperation.On the basis of international and local experience for reference and reference existing equipment, develop a set of novel pipeline crawling device being applied to AP1000 Nuclear power plant main pipeline weld seam as early as possible, for promote state core operate in AP1000 nuclear island key equipment comprehensive inservice inspection ability, seize AP1000 nuclear power inservice inspection market, realize before AP1000 nuclear island key equipment use as a servant and inservice inspection equipment and technology domesticize comprehensively significant.
Target of the present utility model is front for Nuclear power plant main pipeline docking attachment weld labour and inservice inspection requirement, by investigation, Selection and Design and test adjustment, develops a set of novel pipeline crawling device being applicable to Nuclear power plant main pipeline weld seam.
For achieving the above object and other relevant purposes, this utility model provides a kind of pipeline crawling device, and it includes guide rail mechanism, the mechanism that rotates in a circumferential direction, axial motion mechanism and scanning and searching mechanism；Guide rail mechanism includes the ring-shaped guide rail circumferentially along pipeline；Roller group that mechanism includes vehicle frame, is fixed on vehicle frame, the circumference of rotating in a circumferential direction drives assembly, and roller group matches with ring-shaped guide rail, and roller group is rolling on ring-shaped guide rail under circumference drives the driving of assembly；Axial motion mechanism includes the pedestal being connected with vehicle frame, pedestal is provided with the axial arranged screw mandrel along pipeline and at least axis of guide, and screw mandrel, the axis of guide pass a slide block, and slide block slides on the axis of guide, slide block coordinates with wire rod thread, screw mandrel under the driving of axial direction electric machine around axial rotation；Scanning and searching mechanism includes the scanning support being fixedly connected with a slide block, and scanning support is fixed with at least one ultrasonic probe.
Preferably, guide rail mechanism also includes that multiple ring-shaped guide rail that is fixed on contacts towards the spike in the one side of pipeline, a spike with the surface of pipeline.The most preferably, a spike is fixed by regulation bolt with ring-shaped guide rail, the regulation bolt regulation distance between spike and ring-shaped guide rail.
Preferably, circumference drives assembly to include the circumferential motor being fixed on vehicle frame, and the drive shaft of circumference motor is fixed with gear；Guide rail mechanism also includes the tooth bar being fixed on ring-shaped guide rail, and the bearing of trend of tooth bar annularly guide rail is arranged, and rack and pinion is meshed.
Preferably, vehicle frame being fixed with encoder, encoder drives assembly to be connected with circumference.
Preferably, the quantity of the axis of guide is two, and two axis of guides are symmetricly set in the both sides of screw mandrel.
Preferably, axial motion mechanism includes end fixed block, and the axis of guide is connected away from one end and the end fixed block of pedestal is fixing, and screw mandrel is enclosed within the fixed block of end away from one end of pedestal.
Preferably, scanning support is provided with installation chute, installs equipped with probe frame slide block on chute, and probe frame slide block can slide in installing chute, and probe frame slide block is fixing with probe frame to be connected, and is placed with ultrasonic probe in probe frame.The most preferably, probe frame slide block is provided with the vertical elongated slot perpendicular with installing chute, and vertical elongated slot is inserted into lock screw, and probe frame slide block is locked with scanning support by lock screw.
Preferably, scanning support is provided with at least one manifold blocks, and manifold blocks connects with water system.
As it has been described above, this utility model pipeline crawling device, have the advantages that
This pipeline crawling device, manufacture and design special mounting and positioning device and scanning and searching mechanism, realize the ultrasonic inspection work of the main pipeline attachment weld of right different-diameter, solve the front problem with tube welded seam scanning under high radioactivity environment of the in-service period of nuclear power station labour, decrease the time that equipment is installed, improve the operability that equipment is installed, improve the positioning precision of weld defect, decrease the working radiation metering of staff.
Accompanying drawing explanation
Fig. 1 is shown as the structural representation of this utility model pipeline crawling device.
Fig. 2 is shown as the structural representation of the guide rail mechanism of the pipeline crawling device shown in Fig. 1.
Fig. 3 is shown as the structural representation of the mechanism that rotates in a circumferential direction of the pipeline crawling device shown in Fig. 1.
Fig. 4 is shown as the structural representation of the axial motion mechanism of the pipeline crawling device shown in Fig. 1.
Fig. 5 is shown as the structural representation of the scanning and searching mechanism of the pipeline crawling device shown in Fig. 1.
Element numbers explanation
1 guide rail mechanism
11 ring-shaped guide rails
12 spikes
13 regulation bolts
14 alignment pins
2 pipelines
3 rotate in a circumferential direction mechanism
31 vehicle frames
32 roller groups
33 circumference motors
34 gears
35 encoders
36 articulated joints
4 axial motion mechanism
41 pedestals
42 screw mandrels
43 axis of guides
44 slide blocks
45 axial direction electric machines
46 end fixed blocks
47 hinged ends
48 fast joints
5 scanning and searching mechanisms
51 scanning supports
52 install chute
53 probe frame slide blocks
54 probe frames
55 vertical elongated slots
56 lock screws
57 manifold blocks
58 connect end soon
Detailed description of the invention
By particular specific embodiment, embodiment of the present utility model being described below, those skilled in the art can be understood other advantages of the present utility model and effect easily by the content disclosed by this specification.
Refer to Fig. 1 to Fig. 5.Notice, structure depicted in this specification institute accompanying drawings, ratio, size etc., the most only in order to coordinate the content disclosed in description, understand for those skilled in the art and read, it is not limited to the enforceable qualifications of this utility model, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, under not affecting effect that this utility model can be generated by and the purpose that can reach, all should still fall in the range of the technology contents disclosed in this utility model can be contained.Simultaneously, in this specification cited as " on ", D score, "left", "right", the term of " middle " and " " etc., it is merely convenient to understanding of narration, and it is not used to limit the enforceable scope of this utility model, being altered or modified of its relativeness, changing under technology contents without essence, when being also considered as the enforceable category of this utility model.
Goal in research and application characteristic for the present invention, formulate by investigation, technical scheme, design, manufacture, debug and optimize, have developed the novel pipeline crawling device of a set of AP1000 main pipe welding seam, it is achieved that before the labour of AP1000 Nuclear power plant main pipeline attachment weld and inservice inspection.
As shown in Figures 1 to 5, this utility model provides a kind of pipeline crawling device, and it includes guide rail mechanism 1, the mechanism 3 that rotates in a circumferential direction, axial motion mechanism 4 and scanning and searching mechanism 5.Wherein, guide rail mechanism 1 includes the ring-shaped guide rail 11 circumferentially along pipeline 2；Roller group 32 that mechanism 3 includes vehicle frame 31, is fixed on vehicle frame 31, the circumference of rotating in a circumferential direction drives assembly, and roller group 32 matches with ring-shaped guide rail 11, and roller group 32 is rolling on ring-shaped guide rail 11 under circumference drives the driving of assembly；Axial motion mechanism 4 includes the pedestal 41 being connected with vehicle frame 31, pedestal 41 is provided with the axial arranged screw mandrel 42 along pipeline 2 and at least axis of guide 43, screw mandrel 42, the axis of guide 43 are through a slide block 44, slide block 44 slides on the axis of guide 43, slide block 44 and screw mandrel 42 threaded engagement, screw mandrel 42 under the driving of axial direction electric machine 45 around axial rotation；Scanning and searching mechanism 5 includes the scanning support 51 that be connected fixing with slide block 44, and scanning support 51 is fixed with at least one ultrasonic probe.
By the roller group 32 rolling on ring-shaped guide rail 11, it is achieved the mechanism 3 that rotates in a circumferential direction, axial motion mechanism 4 circumferentially rotating along pipeline 2 together with scanning and searching mechanism 5；By the rotation of screw mandrel 42, band movable slider 44 moves on screw mandrel 42, thus drives scanning and searching mechanism 5 the moving axially along pipeline 2 that be connected fixing with slide block 44.By scanning and searching mechanism 5 in the movement of above-mentioned two moving direction, it is achieved ultrasonic probe scanning on the tube wall of pipeline 2.
A kind of concrete structure of guide rail mechanism 1 is as shown in Figure 2.
Ring-shaped guide rail 11 is made up of two semicircular rings, semicircular rings be respectively arranged at two ends with alignment pin 14 and hole, location.When needing to be fixed on the tube wall of pipeline 2 ring-shaped guide rail 11, the alignment pin 14 of a semicircular rings inserts in the hole, location of another semicircular rings, is combined into a complete ring-shaped guide rail 11, can realize ring-shaped guide rail 11 fixing on the tube wall of pipeline 2.
Guide rail mechanism 1 also includes that multiple ring-shaped guide rail 11 that is fixed on contacts towards the spike 12 in the one side of pipeline 2, a spike 12 with the surface of pipeline 2；Propping up spike 12 and ring-shaped guide rail 11 to be fixed by regulation bolt 13, regulation bolt 13 regulates the distance propped up between spike 12 and ring-shaped guide rail 11.Prop up spike 12 to be distributed on ring-shaped guide rail 11, rotate regulation bolt 13 by spanner so that a spike 12 stretches out or retracts, reach to adjust the purpose of ring-shaped guide rail 11.
Rotate in a circumferential direction mechanism 3 a kind of concrete structure as shown in Figure 3.
Roller group 32 is secured by bolts in the bottom of vehicle frame 31, totally 4 groups, rectangular arrangement.Each roller group 32 is provided with upper and lower two rollers, and the angle that two rollers are constituted matches with the guide track angle of the ring-shaped guide rail 11 in Fig. 2, plays clamping ring-shaped guide rail 11 and the purpose rolled on ring-shaped guide rail 11.
Circumference drives assembly to include the circumferential motor 33 being fixed on vehicle frame 31, and the drive shaft of circumference motor 33 is fixed with gear 34；Guide rail mechanism 1 also includes the tooth bar being fixed on ring-shaped guide rail 11, and the bearing of trend of tooth bar annularly guide rail 11 is arranged, and rack and pinion 34 is meshed.Wherein, circumference motor 33 by flange and is bolted on vehicle frame 31, and gear 34 is by the bonded drive shaft being fixed on circumference motor 33, by the gear 34 rolling on tooth bar, it is achieved rotate in a circumferential direction the mechanism 3 movement on ring-shaped guide rail 11.
Being fixed with encoder 35 on vehicle frame 31, encoder 35 drives assembly to be connected with circumference.Encoder 35 is assemblied in the afterbody of circumference motor 33, and encoder 35 can detect the position of the mechanism 3 that rotates in a circumferential direction, thus controls the rotation of the drive shaft of circumference motor 33, and the mechanism 3 that makes to rotate in a circumferential direction can rotate to precalculated position.
The end of vehicle frame 31 is additionally provided with articulated joint 36, and this articulated joint 36 is corresponding with the hinged end 47 of axial motion mechanism 4, and articulated joint 36, hinged end 47 are hinged by connecting pin.
A kind of concrete structure of axial motion mechanism 4 is as shown in Figure 4.
The quantity of the axis of guide 43 is two, and two axis of guides 43 are symmetricly set in the both sides of screw mandrel 42.Axial direction electric machine 45 is fixed on pedestal 41 by flange and bolt, screw mandrel 42 is transferred a torque to by V belt translation, rotated by screw mandrel 42, drive and slide axially with the fixing pair of nut of slide block 44, and the setting of the axis of guide 43, make slide block 44 can only moving axially along screw mandrel 42, and can not rotate by wire winding rod 42, play guiding and the purpose of reinforcement；And slide block 44 moves on screw mandrel 42, drive the scanning and searching mechanism 5 that be connected fixing with slide block 44 movement on the axis direction of pipeline 2.
The axis of guide 43 and screw mandrel 42 are all arranged on pedestal 41 by fixing seat and bolt.Axial motion mechanism 4 also includes end fixed block 46, the axis of guide 43 is connected away from one end and the end fixed block 46 of pedestal 41 is fixing, screw mandrel 42 is enclosed within end fixed block 46 away from one end of pedestal 41, and end fixed block 46 is directed to axle 43 from the one end away from pedestal 41, the relative position of screw mandrel 42 is fixed.
The hinged end 47 of axial motion mechanism 4 is positioned in the one side of pedestal 41 screw mandrel 42 dorsad, the axis of guide 43, and hinged end 47 and articulated joint 36 are hinged by connecting pin.
Slide block 44 is provided with fast joint 48 towards one end of scanning and searching mechanism 5, fast joint 48 and scanning support 51 connect that end 58 is fixing to be connected soon.By fast joint 48, soon connect end 58 connection, it is achieved that axial motion mechanism 4 is connected with the fixing of scanning and searching mechanism 5.
A kind of concrete structure of scanning and searching mechanism 5 is as shown in Figure 4.
Scanning support 51 is the aluminium sheet with certain angle, is designed to the profile matched with the size of corresponding pipeline 2, by changing various sizes of scanning support 51, i.e. can reach the purpose of the pipeline 2 being applicable to different tube diameters.Soon the connect end 58 that be connected fixing with the fast joint 48 of slide block 44 is positioned at the middle part of scanning support 51.
Scanning support 51 is provided with installation chute 52, installs equipped with probe frame slide block 53 on chute 52, and probe frame slide block 53 can slide in installing chute 52, and probe frame slide block 53 is fixing with probe frame 54 to be connected, and is placed with ultrasonic probe in probe frame 54.Circumferentially extending along pipeline 2 of chute 52 is installed, the position of ultrasonic probe can be adjusted as desired by the slip in installing chute 52 of the probe frame slide block 53, make ultrasonic probe be arranged in appropriate location.
Probe frame slide block 53 is provided with the vertical elongated slot 55 perpendicular with installing chute 52, and vertical elongated slot 55 is inserted into lock screw 56, and probe frame slide block 53 is locked with scanning support 51 by lock screw 56.Probe frame slide block 53 can realize left and right adjusting along installing chute 52 slip, and vertical elongated slot 55 slides relative to lock screw 56 and realizes up-down adjustment, installs chute 52, the setting of vertical elongated slot 55, plays and adjusts ultrasonic probe spacing and the effect of compression ultrasonic probe.After adjusting position, being fixed by probe frame 54 by tightening lock screw 56, ultrasonic probe is just arranged in probe frame 54.
Scanning support 51 is provided with at least one manifold blocks 57, and manifold blocks 57 connects with water system.Manifold blocks 57 is fixed on the shoulder of scanning support 51 by primary screw, for the shunting of water coincidence.
As shown in Figures 1 to 5, the installation steps of this pipeline crawling device are as follows.First two semicircular rings by the ring-shaped guide rail 11 shown in Fig. 2 are positioned over the upper-lower position of pipeline 2, are coordinated and snap close locking with position hole by alignment pin 14, are temporarily hung on pipeline by ring-shaped guide rail 11；Screwing regulation bolt 13 by spanner, by the tube wall of a uniform rotation direction pipeline 2 of spike 12, until a spike 12 is pressed on the tube wall of pipeline 2, so far, guide rail mechanism 1 installs.Then, the axial motion mechanism 4 shown in mechanism 3 and Fig. 4 that rotates in a circumferential direction shown in Fig. 3 is hinged by articulated joint 36 and hinged end 47, and the scanning and searching mechanism 5 shown in Fig. 5 connects soon by connecing end 58 and fast joint 48 soon；Finally, the crawl trolley integral installation mechanism 3 that rotates in a circumferential direction, axial motion mechanism 4 and scanning and searching mechanism 5 formed is on the guide rail mechanism 1 shown in Fig. 2, by coordinating of roller group 32 and ring-shaped guide rail 11 and gear 34 and the tooth bar on ring-shaped guide rail 11, reach fixing crawl trolley and the purpose of transmission power.
It is applicable to the pipeline crawling device of AP1000 Nuclear power plant main pipeline weld seam, first, solve the equipment installation question of the main pipeline of different-diameter, manufacture and design special mounting and positioning device and scanning and searching mechanism, complete preservice inspection requirement, it is achieved that the automatization of AP1000 main pipeline attachment weld preservice inspection；Secondly, the problem that during solving inservice inspection, the equipment under high radioactivity environment is installed, decrease the time that equipment is installed, improve the operability that equipment is installed；Finally, this equipment can be used for the research of lossless detection method of detection technique of main pipeline attachment weld.
It is one of AP1000 nuclear island of nuclear power station key equipment detection important content with maintenance technology exploitation for the exploitation of the pipeline crawling device of AP1000 Nuclear power plant main pipeline weld seam, is one of the important technology guarantee that can put into operation smoothly of AP1000 three generations's nuclear power Project Cooperation.This device has considered physical dimension and the feature of the main pipeline attachment weld of AP1000 tri-No. one and number unit in Haiyang currently built, and is automatically detected as target meeting the ultrasonic of AP1000 three generations's Nuclear power plant main pipeline attachment weld.
The crawling device that this utility model is developed is in November, 2015, and in Haiyang one, Site for Unit is applied, and completes the ultrasonic inspection of 12 weld seams of whole 6 main pipelines, meets before AP1000 three generations's Nuclear power plant main pipeline attachment weld is used as a servant and inservice inspection.This crawling device, being actually needed of incorporation engineering application is developed, and in device basic function, device application reliability, safety, performance indications, substantially meets the exploitation requirement of Project charter.Along with domestic AP1000 three generations's nuclear power station puts into construction at home, this project achievement will have broad application prospects.
In sum, this utility model pipeline crawling device, manufacture and design special mounting and positioning device and scanning and searching mechanism, realize the ultrasonic inspection work of the main pipeline attachment weld of right different-diameter, solve before nuclear power station is used as a servant and tube welded seam scanning problem under high radioactivity environment of the in-service period, decrease the time that equipment is installed, improve the operability that equipment is installed, improve the positioning precision of weld defect, decrease the working radiation metering of staff.So, this utility model effectively overcomes various shortcoming of the prior art and has high industrial utilization.
Above-described embodiment only illustrative principle of the present utility model and effect thereof, not for limiting this utility model.Above-described embodiment all can be modified under spirit and the scope of the present utility model or change by any person skilled in the art.Therefore, art has all equivalence modification or changes that usually intellectual is completed under without departing from the spirit disclosed in this utility model and technological thought such as, must be contained by claim of the present utility model.
Claims (10)
1. a pipeline crawling device, it is characterised in that it includes:
Guide rail mechanism (1), described guide rail mechanism (1) includes the ring-shaped guide rail (11) circumferentially along pipeline (2)；
Rotate in a circumferential direction mechanism (3), the described mechanism that rotates in a circumferential direction (3) includes vehicle frame (31), the roller group (32) being fixed on described vehicle frame (31), circumferential driving assembly, described roller group (32) is matched with described ring-shaped guide rail (11), and described roller group (32) above rolls at described ring-shaped guide rail (11) under circumference drives the driving of assembly；
Axial motion mechanism (4), described axial motion mechanism (4) includes the pedestal (41) being connected with described vehicle frame (31), described pedestal (41) is provided with the axial arranged screw mandrel (42) along pipeline (2) and at least axis of guide (43), described screw mandrel (42), the axis of guide (43) passes a slide block (44), described slide block (44) is in the upper slip of the described axis of guide (43), described slide block (44) and screw mandrel (42) threaded engagement, described screw mandrel (42) under the driving of axial direction electric machine (45) around axial rotation；
Scanning and searching mechanism (5), described scanning and searching mechanism (5) includes the scanning support (51) that be connected fixing with described slide block (44), described scanning support (51) is fixed with at least one ultrasonic probe.
Pipeline crawling device the most according to claim 1, it is characterized in that: described guide rail mechanism (1) also include multiple described ring-shaped guide rail (11) that is fixed on towards the spike (12) in the one side of pipeline (2), described spike (12) contacts with the surface of described pipeline (2).
Pipeline crawling device the most according to claim 2, it is characterized in that: described spike (12) is fixed by regulation bolt (13) with described ring-shaped guide rail (11), described distance between spike (12) and described ring-shaped guide rail (11) of described regulation bolt (13) regulation.
Pipeline crawling device the most according to claim 1, it is characterized in that: described circumference drives assembly to include the circumferential motor (33) being fixed on described vehicle frame (31), and the drive shaft of described circumference motor (33) is fixed with gear (34)；Described guide rail mechanism (1) also includes the tooth bar being fixed on described ring-shaped guide rail (11), and described tooth bar is arranged along the bearing of trend of described ring-shaped guide rail (11), and described tooth bar is meshed with described gear (34).
Pipeline crawling device the most according to claim 1, it is characterised in that: being fixed with encoder (35) on described vehicle frame (31), described encoder (35) drives assembly to be connected with described circumference.
Pipeline crawling device the most according to claim 1, it is characterised in that: the quantity of the described axis of guide (43) is two, and described two axis of guides (43) are symmetricly set in the both sides of described screw mandrel (42).
Pipeline crawling device the most according to claim 1, it is characterized in that: described axial motion mechanism (4) includes end fixed block (46), the described axis of guide (43) is connected away from one end and described end fixed block (46) of pedestal (41) is fixing, and described screw mandrel (42) is enclosed within described end fixed block (46) away from one end of pedestal (41).
Pipeline crawling device the most according to claim 1, it is characterized in that: described scanning support (51) is provided with installation chute (52), equipped with probe frame slide block (53) on described installation chute (52), described probe frame slide block (53) can be slided in described installation chute (52), described probe frame slide block (53) is fixing with probe frame (54) to be connected, and is placed with described ultrasonic probe in described probe frame (54).
Pipeline crawling device the most according to claim 8, it is characterized in that: described probe frame slide block (53) is provided with the vertical elongated slot (55) perpendicular with described installation chute (52), described vertical elongated slot (55) is inserted into lock screw (56), and described probe frame slide block (53) is locked with described scanning support (51) by lock screw (56).
Pipeline crawling device the most according to claim 1, it is characterised in that: described scanning support (51) is provided with at least one manifold blocks (57), and described manifold blocks (57) connects with water system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620147995.9U CN205506768U (en) | 2016-02-26 | 2016-02-26 | Pipeline device of crawling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620147995.9U CN205506768U (en) | 2016-02-26 | 2016-02-26 | Pipeline device of crawling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205506768U true CN205506768U (en) | 2016-08-24 |
Family
ID=56726793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620147995.9U Active CN205506768U (en) | 2016-02-26 | 2016-02-26 | Pipeline device of crawling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205506768U (en) |
Cited By (43)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106373707A (en) * | 2016-10-10 | 2017-02-01 | 青岛科技大学 | A flexible rail magnetizer for metal pipelines |
| CN106442729A (en) * | 2016-11-03 | 2017-02-22 | 浙江水利水电学院 | Pipe externally-circumferential weld scanner |
| CN106594455A (en) * | 2016-12-20 | 2017-04-26 | 中国石油大学(北京) | Double-claw type obstacle-crossing direction-adaptive pipeline external detection robot |
| CN106646059A (en) * | 2016-12-29 | 2017-05-10 | 北京金风科创风电设备有限公司 | Low-voltage electric device reliability testing device and system |
| CN106770684A (en) * | 2016-11-17 | 2017-05-31 | 江苏方天电力技术有限公司 | Special piece butt weld ultrasound detection automatic scanning device and detection method |
| CN106996958A (en) * | 2017-03-31 | 2017-08-01 | 山东科技大学 | A kind of long transport pipeline automatic detection device based on bimodal supersonic guide-wave |
| CN108132031A (en) * | 2017-12-18 | 2018-06-08 | 上海鼎声电子科技有限公司 | The ultrasonic detection device and its detection method of in-service high-pressure gas cylinder group |
| CN108759886A (en) * | 2018-05-22 | 2018-11-06 | 中国电建集团河南工程有限公司 | A kind of boiler small diameter pipe welded joint detection device |
| CN108802179A (en) * | 2018-05-17 | 2018-11-13 | 桂林市南方检测有限责任公司 | Steel large-scale vertical storage tank ultrasonic phase array automatic detection device |
| CN108843301A (en) * | 2018-07-04 | 2018-11-20 | 中国石油集团川庆钻探工程有限公司 | Online detection phased array scanner for oil extraction gas wellhead device |
| CN109164170A (en) * | 2018-09-05 | 2019-01-08 | 中国特种设备检测研究院 | Reaction type automatic scanning device |
| CN109187750A (en) * | 2018-09-28 | 2019-01-11 | 烟台大学 | Pipeline routine |
| CN109448875A (en) * | 2018-12-21 | 2019-03-08 | 核动力运行研究所 | A kind of anti-drop structure for welding line detector |
| CN109488887A (en) * | 2017-09-11 | 2019-03-19 | 波音公司 | X-ray inspection system for pipeline |
| CN109557188A (en) * | 2017-09-25 | 2019-04-02 | 南京驰新科技有限责任公司 | Flaw detection crawl frame |
| CN109668964A (en) * | 2019-01-29 | 2019-04-23 | 洋浦海科石化工程检测有限公司 | A kind of pipeline scanning frame |
| CN109682886A (en) * | 2019-01-31 | 2019-04-26 | 国电锅炉压力容器检验有限公司 | A kind of ultrasonic phase array pipe detection automatic scanning device |
| CN109752460A (en) * | 2019-01-16 | 2019-05-14 | 中国人民解放军陆军装甲兵学院 | A kind of deep and long hole pipe type element visualization ultrasonic no damage detection device and method |
| CN109975426A (en) * | 2017-12-28 | 2019-07-05 | 核动力运行研究所 | A kind of positioning apparatus for circumferential direction and method of large-diameter cylinder body inner wall ultrasonic detection equipment |
| CN109975425A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of reactor pressure vessel adapter tube factory ultrasonic inspection apparatus |
| CN109975403A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of ultrasonic inspection apparatus for steam generator ball sealing head |
| CN109968230A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | An annular tube sheet positioning device |
| CN110412136A (en) * | 2019-08-02 | 2019-11-05 | 中广核检测技术有限公司 | Multi-posture adaptable large-diameter pipeline inspection mechanism |
| CN110470735A (en) * | 2019-08-19 | 2019-11-19 | 邵文京 | A kind of PAUT experimental provision of pipe fitting |
| CN110987934A (en) * | 2019-12-31 | 2020-04-10 | 中国化学工程第三建设有限公司 | Industrial pipeline pipe stand welding seam appearance inspection recording device |
| CN111251147A (en) * | 2020-03-13 | 2020-06-09 | 王俊峰 | Processing equipment for chemical pressure container |
| KR102124284B1 (en) * | 2019-12-27 | 2020-06-18 | 세일검사기술 주식회사 | Tandem type flaw detection scanner for detecting defects near the surface of j-groove welds in subsea pipelines |
| CN111595274A (en) * | 2019-02-21 | 2020-08-28 | 宝山钢铁股份有限公司 | Testing device and testing method for rapidly detecting depth of full circumferential cracks at bottom of V-shaped groove of profile steel roller |
| CN112014540A (en) * | 2019-05-29 | 2020-12-01 | 广东省功夫建设工程质量检测有限公司 | Automatic detection frame for metal pipeline flaw detector |
| CN112461929A (en) * | 2020-11-24 | 2021-03-09 | 中广核检测技术有限公司 | Automatic ultrasonic inspection scanning system for auxiliary pipeline of million-kilowatt nuclear power station |
| CN112461928A (en) * | 2020-11-17 | 2021-03-09 | 广州多浦乐电子科技股份有限公司 | Automatic detection device for ultrasonic phased array on surface of workpiece |
| CN113030274A (en) * | 2021-04-20 | 2021-06-25 | 二重(镇江)重型装备有限责任公司 | Device easy for inserting type TOFD detection of fillet weld and use method thereof |
| CN113044128A (en) * | 2021-04-26 | 2021-06-29 | 彼合彼方机器人(天津)有限公司 | All-round short-term test robot of pipeline outer wall |
| CN113155980A (en) * | 2021-04-21 | 2021-07-23 | 二重(镇江)重型装备有限责任公司 | TOFD detection encoder easy to move circumferentially and using method thereof |
| CN113252330A (en) * | 2021-05-18 | 2021-08-13 | 内蒙古电力(集团)有限责任公司内蒙古电力科学研究院分公司 | Phased array detection process method for palm tree type blade root of power station steam turbine |
| CN113252797A (en) * | 2021-06-11 | 2021-08-13 | 山东泰阳特种设备检测科技有限公司 | Pipeline external detection mechanism |
| CN113567547A (en) * | 2020-04-29 | 2021-10-29 | 中核武汉核电运行技术股份有限公司 | Steel lining penetrating part and embedded part circumferential weld scanning device |
| CN113820469A (en) * | 2021-09-16 | 2021-12-21 | 哈尔滨工程大学 | Bulb tubular intersecting weld joint detection equipment |
| CN114019021A (en) * | 2021-09-22 | 2022-02-08 | 广东核电合营有限公司 | Automatic scanning method, system, equipment and medium for nuclear power station pipeline weld defects |
| CN114227089A (en) * | 2021-11-29 | 2022-03-25 | 淮阴工学院 | A self-crawling automatic welding device for large pipes and containers |
| CN114705368A (en) * | 2022-03-31 | 2022-07-05 | 江苏氢枫能源装备有限公司 | Hydrogen pipeline detection automation device for hydrogenation station |
| CN115452949A (en) * | 2022-10-19 | 2022-12-09 | 内蒙古电力(集团)有限责任公司内蒙古电力科学研究院分公司 | Magnetostrictive ultrasonic guided wave flaw detection equipment for pipelines |
| CN118275542A (en) * | 2024-05-30 | 2024-07-02 | 杭州弘安检测科技有限公司 | Diffraction time difference ultrasonic scanning method and scanning frame for large-thickness butt weld |
-
2016
- 2016-02-26 CN CN201620147995.9U patent/CN205506768U/en active Active
Cited By (59)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106373707A (en) * | 2016-10-10 | 2017-02-01 | 青岛科技大学 | A flexible rail magnetizer for metal pipelines |
| CN106442729A (en) * | 2016-11-03 | 2017-02-22 | 浙江水利水电学院 | Pipe externally-circumferential weld scanner |
| CN106770684A (en) * | 2016-11-17 | 2017-05-31 | 江苏方天电力技术有限公司 | Special piece butt weld ultrasound detection automatic scanning device and detection method |
| CN106594455A (en) * | 2016-12-20 | 2017-04-26 | 中国石油大学(北京) | Double-claw type obstacle-crossing direction-adaptive pipeline external detection robot |
| CN106646059B (en) * | 2016-12-29 | 2020-02-11 | 北京金风科创风电设备有限公司 | Low-voltage electric device reliability testing device and system |
| CN106646059A (en) * | 2016-12-29 | 2017-05-10 | 北京金风科创风电设备有限公司 | Low-voltage electric device reliability testing device and system |
| CN106996958A (en) * | 2017-03-31 | 2017-08-01 | 山东科技大学 | A kind of long transport pipeline automatic detection device based on bimodal supersonic guide-wave |
| CN109488887A (en) * | 2017-09-11 | 2019-03-19 | 波音公司 | X-ray inspection system for pipeline |
| CN109557188A (en) * | 2017-09-25 | 2019-04-02 | 南京驰新科技有限责任公司 | Flaw detection crawl frame |
| CN108132031A (en) * | 2017-12-18 | 2018-06-08 | 上海鼎声电子科技有限公司 | The ultrasonic detection device and its detection method of in-service high-pressure gas cylinder group |
| CN108132031B (en) * | 2017-12-18 | 2023-06-02 | 新疆维吾尔自治区特种设备检验研究院 | Ultrasonic detection device and method for in-service high-pressure gas storage cylinder group |
| CN109975403B (en) * | 2017-12-27 | 2024-02-13 | 核动力运行研究所 | Ultrasonic inspection device for ball seal of steam generator |
| CN109968230A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | An annular tube sheet positioning device |
| CN109975425B (en) * | 2017-12-27 | 2024-06-11 | 核动力运行研究所 | Delivery ultrasonic inspection device for reactor pressure vessel connecting pipe |
| CN109975425A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of reactor pressure vessel adapter tube factory ultrasonic inspection apparatus |
| CN109975403A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of ultrasonic inspection apparatus for steam generator ball sealing head |
| CN109975426A (en) * | 2017-12-28 | 2019-07-05 | 核动力运行研究所 | A kind of positioning apparatus for circumferential direction and method of large-diameter cylinder body inner wall ultrasonic detection equipment |
| CN109975426B (en) * | 2017-12-28 | 2023-10-20 | 核动力运行研究所 | Circumferential positioning device and method of large-diameter cylinder inner wall ultrasonic detection equipment |
| CN108802179B (en) * | 2018-05-17 | 2024-03-15 | 中国石油天然气集团有限公司 | Ultrasonic phased array automatic detection device for steel large-scale vertical storage tank |
| CN108802179A (en) * | 2018-05-17 | 2018-11-13 | 桂林市南方检测有限责任公司 | Steel large-scale vertical storage tank ultrasonic phase array automatic detection device |
| CN108759886A (en) * | 2018-05-22 | 2018-11-06 | 中国电建集团河南工程有限公司 | A kind of boiler small diameter pipe welded joint detection device |
| CN108843301A (en) * | 2018-07-04 | 2018-11-20 | 中国石油集团川庆钻探工程有限公司 | Online detection phased array scanner for oil extraction gas wellhead device |
| CN108843301B (en) * | 2018-07-04 | 2024-03-29 | 中国石油集团川庆钻探工程有限公司 | Online detection phased array scanner for oil extraction wellhead device |
| CN109164170A (en) * | 2018-09-05 | 2019-01-08 | 中国特种设备检测研究院 | Reaction type automatic scanning device |
| CN109187750A (en) * | 2018-09-28 | 2019-01-11 | 烟台大学 | Pipeline routine |
| CN109448875A (en) * | 2018-12-21 | 2019-03-08 | 核动力运行研究所 | A kind of anti-drop structure for welding line detector |
| CN109448875B (en) * | 2018-12-21 | 2024-04-09 | 核动力运行研究所 | Anti-falling structure for welding line detection equipment |
| CN109752460A (en) * | 2019-01-16 | 2019-05-14 | 中国人民解放军陆军装甲兵学院 | A kind of deep and long hole pipe type element visualization ultrasonic no damage detection device and method |
| CN109668964A (en) * | 2019-01-29 | 2019-04-23 | 洋浦海科石化工程检测有限公司 | A kind of pipeline scanning frame |
| CN109668964B (en) * | 2019-01-29 | 2023-09-01 | 洋浦海科石化工程检测有限公司 | Pipeline scanning frame |
| CN109682886A (en) * | 2019-01-31 | 2019-04-26 | 国电锅炉压力容器检验有限公司 | A kind of ultrasonic phase array pipe detection automatic scanning device |
| CN111595274A (en) * | 2019-02-21 | 2020-08-28 | 宝山钢铁股份有限公司 | Testing device and testing method for rapidly detecting depth of full circumferential cracks at bottom of V-shaped groove of profile steel roller |
| CN111595274B (en) * | 2019-02-21 | 2022-03-18 | 宝山钢铁股份有限公司 | Testing device and testing method for rapidly detecting depth of full circumferential cracks at bottom of V-shaped groove of profile steel roller |
| CN112014540A (en) * | 2019-05-29 | 2020-12-01 | 广东省功夫建设工程质量检测有限公司 | Automatic detection frame for metal pipeline flaw detector |
| CN110412136A (en) * | 2019-08-02 | 2019-11-05 | 中广核检测技术有限公司 | Multi-posture adaptable large-diameter pipeline inspection mechanism |
| CN110470735A (en) * | 2019-08-19 | 2019-11-19 | 邵文京 | A kind of PAUT experimental provision of pipe fitting |
| CN110470735B (en) * | 2019-08-19 | 2021-10-15 | 邵文京 | PAUT experimental apparatus of pipe fitting |
| KR102124284B1 (en) * | 2019-12-27 | 2020-06-18 | 세일검사기술 주식회사 | Tandem type flaw detection scanner for detecting defects near the surface of j-groove welds in subsea pipelines |
| CN110987934A (en) * | 2019-12-31 | 2020-04-10 | 中国化学工程第三建设有限公司 | Industrial pipeline pipe stand welding seam appearance inspection recording device |
| CN111251147A (en) * | 2020-03-13 | 2020-06-09 | 王俊峰 | Processing equipment for chemical pressure container |
| CN111251147B (en) * | 2020-03-13 | 2020-11-24 | 阜阳安固锅炉压力容器制造有限公司 | Processing equipment for chemical pressure container |
| CN113567547A (en) * | 2020-04-29 | 2021-10-29 | 中核武汉核电运行技术股份有限公司 | Steel lining penetrating part and embedded part circumferential weld scanning device |
| CN112461928A (en) * | 2020-11-17 | 2021-03-09 | 广州多浦乐电子科技股份有限公司 | Automatic detection device for ultrasonic phased array on surface of workpiece |
| CN112461929A (en) * | 2020-11-24 | 2021-03-09 | 中广核检测技术有限公司 | Automatic ultrasonic inspection scanning system for auxiliary pipeline of million-kilowatt nuclear power station |
| CN113030274A (en) * | 2021-04-20 | 2021-06-25 | 二重(镇江)重型装备有限责任公司 | Device easy for inserting type TOFD detection of fillet weld and use method thereof |
| CN113155980A (en) * | 2021-04-21 | 2021-07-23 | 二重(镇江)重型装备有限责任公司 | TOFD detection encoder easy to move circumferentially and using method thereof |
| CN113044128A (en) * | 2021-04-26 | 2021-06-29 | 彼合彼方机器人(天津)有限公司 | All-round short-term test robot of pipeline outer wall |
| CN113252330A (en) * | 2021-05-18 | 2021-08-13 | 内蒙古电力(集团)有限责任公司内蒙古电力科学研究院分公司 | Phased array detection process method for palm tree type blade root of power station steam turbine |
| CN113252797A (en) * | 2021-06-11 | 2021-08-13 | 山东泰阳特种设备检测科技有限公司 | Pipeline external detection mechanism |
| CN113820469B (en) * | 2021-09-16 | 2023-07-28 | 哈尔滨工程大学 | A ball tube intersecting weld detection equipment |
| CN113820469A (en) * | 2021-09-16 | 2021-12-21 | 哈尔滨工程大学 | Bulb tubular intersecting weld joint detection equipment |
| CN114019021A (en) * | 2021-09-22 | 2022-02-08 | 广东核电合营有限公司 | Automatic scanning method, system, equipment and medium for nuclear power station pipeline weld defects |
| CN114227089A (en) * | 2021-11-29 | 2022-03-25 | 淮阴工学院 | A self-crawling automatic welding device for large pipes and containers |
| CN114227089B (en) * | 2021-11-29 | 2023-10-20 | 淮阴工学院 | Self-crawling type automatic welding device for large-scale pipelines and containers |
| CN114705368B (en) * | 2022-03-31 | 2023-09-01 | 江苏氢枫能源装备有限公司 | Automatic hydrogen pipeline detection device for hydrogen adding station |
| CN114705368A (en) * | 2022-03-31 | 2022-07-05 | 江苏氢枫能源装备有限公司 | Hydrogen pipeline detection automation device for hydrogenation station |
| CN115452949A (en) * | 2022-10-19 | 2022-12-09 | 内蒙古电力(集团)有限责任公司内蒙古电力科学研究院分公司 | Magnetostrictive ultrasonic guided wave flaw detection equipment for pipelines |
| CN118275542A (en) * | 2024-05-30 | 2024-07-02 | 杭州弘安检测科技有限公司 | Diffraction time difference ultrasonic scanning method and scanning frame for large-thickness butt weld |
| CN118275542B (en) * | 2024-05-30 | 2024-09-17 | 杭州弘安检测科技有限公司 | Diffraction time difference ultrasonic scanning method and scanning frame for large-thickness butt weld |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205506768U (en) | Pipeline device of crawling | |
| CN102922282B (en) | Intelligent assembly testing production line of hydraulic plunger pump | |
| CN103091399B (en) | Bent steel tube ultrasonic automatic detecting system | |
| CN110782543A (en) | An ultra-deep vertical shaft wellbore inspection system and method | |
| US4347652A (en) | Method for servicing a steam generator | |
| CN102809605B (en) | Two-end internal-external synchronous type ultrasonic automatic defectoscope for large-sized shell ring piece | |
| CN102486942A (en) | Ultrasonic automatic checking tool for dissimilar metal welding seam of top cover instrument measuring pipe | |
| CN108020567A (en) | A kind of tank circumferential weld X-ray automated detection system | |
| CN115656334B (en) | Ultrasonic nondestructive testing system and method for internal defects of outer cylinder of hydraulic support | |
| CN220894235U (en) | Phased array detection scanning device for butt welding seam of power plant pipeline | |
| CN206961530U (en) | Irradiated fuel assembly multifunctional examining measurement equipment | |
| CN109659048B (en) | High-temperature gas cooled reactor heat transfer tube inspection device | |
| CN109342467A (en) | Pipeline automatic flaw detection locating and detecting device | |
| CN206677430U (en) | A kind of pipeline external crawl device | |
| US4262402A (en) | Method for servicing a steam generator | |
| CN210690485U (en) | Device for detecting pipeline welding seam | |
| CN202814919U (en) | Eddy current testing device for king bolts of reactor pressure vessels of nuclear power stations | |
| CN112068142A (en) | Loading platform for sonar detection of deep water pile foundation | |
| RU157557U1 (en) | DEVICE FOR HEAT EXCHANGE PIPES, JACKS AND WELDED CONNECTIONS OF STEAM GENERATOR COLLECTORS | |
| CN107339967B (en) | Roundness measuring instrument | |
| EP2492918A1 (en) | In-reactor piping work device and in-reactor piping work method | |
| CN212134533U (en) | Nondestructive testing device and nondestructive testing device based on Compton backscattering | |
| CN210376191U (en) | Line scanning type X-ray pipeline digital imaging detection device | |
| CN103680649B (en) | The eddy current testing device of nuclear power plant reactor pressure vessel kingbolt | |
| US4576546A (en) | Method for servicing a steam generator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |