CN107387938B - Pipeline rehabilitation robot - Google Patents
Pipeline rehabilitation robot Download PDFInfo
- Publication number
- CN107387938B CN107387938B CN201710539872.9A CN201710539872A CN107387938B CN 107387938 B CN107387938 B CN 107387938B CN 201710539872 A CN201710539872 A CN 201710539872A CN 107387938 B CN107387938 B CN 107387938B
- Authority
- CN
- China
- Prior art keywords
- cabin
- driving
- connect
- motor
- reparation
- 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
- 230000008439 repair process Effects 0.000 claims abstract description 34
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 108010066057 cabin-1 Proteins 0.000 description 6
- 108010066114 cabin-2 Proteins 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000003292 glue Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 201000001371 inclusion conjunctivitis Diseases 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 206010044325 trachoma Diseases 0.000 description 1
Classifications
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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
-
- 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
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- 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
-
- 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
- F16L2101/60—Stopping leaks
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
- Retarders (AREA)
Abstract
The invention discloses pipeline rehabilitation robots, and driving planet row includes sun gear, uniformly distributed multiple planetary gears with sun gear external toothing；It repairs motor to be mounted in reparation cabin, the output shaft for repairing motor passes through reparation cabin and connect with flow container is repaired；Multiple cameras are uniformly distributed to be connect with reparation cabin housing forward end lateral wall；Driving motor, driving planet row are connect with driving cabin respectively, and the output shaft of driving motor is connect with the sun gear of driving planet row；Planet wheel spindle is connect with planetary gear, and the both ends of planet wheel spindle are connect with reparation cabin, power source cabin respectively, and the both ends of planet wheel spindle are connected separately with driving turbine；Walking foot prop is each passed through and repairs cabin, the shell in power source cabin is connect with driving turbine；Power battery, power supervisor, controller are connect with power source cabin respectively, and controller is electrically connected with power supervisor, power battery, driving motor, reparation motor, camera, hand held controller respectively.Invention has the advantages of high efficiency, labor intensity is low, good in economic efficiency.
Description
Technical field
The present invention relates to field of pipeline equipment, in particular to pipeline rehabilitation robot.
Background technique
Pipeline is in production, use process, phenomena such as unavoidably will appear trachoma, leak；Especially in use,
It needs to repair in pipeline when leaking.In general, the personnel of reparation can be direct in the case where pipe diameter is bigger
It enters in pipeline and is repaired.But it is smaller in pipe diameter and in the case that duct length is long, repair personnel
It not can enter in pipeline and repaired, so that there are biggish maintenance difficulties for pipeline rehabilitation.
Summary of the invention
It does not need to be manually entered pipeline the technical problem to be solved in the present invention is to provide one kind, the pipe of remote control can be carried out
Road repair robot.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is as follows:
Pipeline rehabilitation robot, including repair cabin, driving cabin, power source cabin, repair motor, driving motor, driving planet
Row, planet wheel spindle, driving worm gear, multiple walking foot props, power battery, power supervisor, controller, multiple cameras, reparation
Flow container, hand held controller；The driving planet row includes sun gear, uniformly distributed multiple planetary gears with sun gear external toothing；Institute
It states reparation motor to be mounted in reparation cabin, the output shaft for repairing motor passes through reparation cabin and connect with reparation flow container；It is described more
A camera, which is distributed in, repairs the connection of cabin housing forward end lateral wall；The driving motor, driving planet row connect with driving cabin respectively
It connects, the output shaft of the driving motor is connect with the sun gear of driving planet row；The planet wheel spindle and planetary gear pass through spline
Pair connection, the both ends of the planet wheel spindle are each passed through planetary gear and are connect by bearing with reparation cabin, power source cabin, the planet
The both ends of wheel shaft are connected separately with driving turbine；It is the multiple walking foot prop be each passed through repair cabin, power source cabin shell with
Drive turbine connection；The power battery, power supervisor, controller are connect with power source cabin respectively, the controller difference
It is electrically connected with power supervisor, power battery, driving motor, reparation motor, camera, hand held controller；The reparation cabin,
Driving cabin, power source cabin pass sequentially through ring flange connection.
Further, the planetary gear is equal with the quantity of planet wheel spindle, is three；The both ends of the planet wheel spindle are equal
It is connect by spline pair with driving turbine.
Further, the walking foot prop include support rod, can multi-directional ball freely rotated；One end of the support rod is set
It is equipped with worm tooth to connect with driving turbine external toothing, the other end is connect with multi-directional ball.
Further, the controller further includes wireless video transmission module, for believing video captured by camera
Number it is transmitted to hand held controller；The hand held controller further includes display, the video pictures as captured by display camera；Institute
The control instruction for stating hand held controller transmission is used to control the shooting angle of camera by controller, and opening for motor is repaired in control
Stop, controls the rotation direction and velocity of rotation of driving motor.
Further, the sun gear is connect by bearing with driving cabin.
Further, the power battery is charged lithium cells.
By adopting the above technical scheme, due to used reparation cabin, driving cabin, power source cabin, repair motor, driving motor,
Drive planet row, planet wheel spindle, driving worm gear, multiple walking foot props, power battery, power supervisor, controller, multiple camera shootings
Head repairs the technical characteristics such as flow container, hand held controller.Control instruction is sent by hand held controller and is transferred to controller, is controlled
Device controls again repairs motor, driving motor, camera work, realizes that the detection to pipeline, the advance of repair robot retreat,
Repair starting and stopping for motor；Controller shows the video signal transmission that camera is shot to hand held controller simultaneously
Show.When the present invention repairs pipeline, the personnel of not needing are entered in pipeline, in driving motor, driving planet row, planetary gear
Under the action of axis, driving worm gear, multiple walking foot props, it is able to achieve and moves forward and backward more at a distance, high degree of automation, operation letter
Folk prescription is just, high-efficient；Labor intensity is effectively reduced, economic benefit is improved.
Detailed description of the invention
Fig. 1 is main view schematic cross-sectional view of the present invention；
The A-A that Fig. 2 is Fig. 1 regards schematic cross-sectional view.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.Under in addition,
Technical characteristic involved in each embodiment of the present invention described in face as long as they do not conflict with each other can phase
Mutually combination.
As shown in Figure 1 and Figure 2, pipeline rehabilitation robot, including repair cabin 1, driving cabin 2, power source cabin 3, repair
Motor 4, driving motor 5, driving planet row 6, planet wheel spindle 7, driving worm gear 8, multiple walking foot props 9, power battery 10, power supply
Manager 11, multiple cameras 13, repairs flow container 14, hand held controller (not shown) at controller 12.It is driven in specific implementation
Dynamic planet row 6 includes sun gear 16, uniformly distributed multiple planetary gears 17 with 16 external toothing of sun gear.Motor 4 will be repaired and pass through peace
Dress bracket, which is mounted on, to be repaired in cabin 1, and the output shaft for repairing motor 4 passes through reparation cabin 1 and connect with flow container 14 is repaired；Multiple cameras
13 are distributed in reparation 1 housing forward end lateral wall of cabin connection.It repairs in flow container 14 and is filled with reparation glue, in the side for repairing flow container 14
Micropore is set on wall, when detecting leaktightness of wall of tubes hole, the signal that motor 4 is repaired in starting, control will be sent by hand held controller
Device 12 will turn on reparation 4 power supply of motor after receiving signal, repairs motor 4 and rotates starting, will be connected to and repair 4 output shaft of motor
On reparation flow container 14 in reparation glue throw away, the leakage on tube wall is repaired.In specific implementation, by driving motor
5, driving planet row 6 is connect with driving cabin 2 respectively, and the output shaft of driving motor 5 is connect with the sun gear 16 of driving planet row 6；
Planet wheel spindle 7 is connect with planetary gear 17 by spline pair, and the both ends of planet wheel spindle 7 are each passed through planetary gear 17 and pass through bearing and repair
Multiple cabin 1, power source cabin 3 connect, and the both ends of planet wheel spindle 7 are connected separately with driving turbine 8.Multiple walking foot props 9 are each passed through
Repair cabin 1, the shell in power source cabin 3 is connect with driving 8 external toothing of turbine.By power battery 10, power supervisor 11, controller
12 connect with power source cabin 3 respectively, and controller 12 is electric with power supervisor 11, power battery 10, driving motor 5, reparation respectively
Machine 4, camera 13, hand held controller are electrically connected；It repairs cabin 1, cabin 2, power source cabin 3 is driven to pass sequentially through ring flange connection.
More specifically, planetary gear 17 is equal with the quantity of planet wheel spindle 7, is three；The both ends of planet wheel spindle 7 are logical
Spline pair is crossed to connect with driving turbine 8.Walk foot prop 9 include support rod 18, can multi-directional ball 19 freely rotated；Support rod 18
One end is provided with worm tooth and connect with driving 8 external toothing of turbine, and the other end is connect with multi-directional ball 19.Controller 12 further includes wireless
Video transmission module, for vision signal captured by camera 13 to be transmitted to hand held controller；Hand held controller further includes
Display, for showing video pictures captured by camera 13；The control instruction that hand held controller is sent is used by controller 12
In the shooting angle of control camera 13, the start and stop of motor 4 are repaired in control, control the rotation direction and rotation speed of driving motor 5
Degree.Sun gear 16 is connect by bearing with the side plate in cabin 2 is driven.Power battery 10 is charged lithium cells.
In this case specific implementation, control information is sent to controller 12 by hand held controller, controller 12 drives control
Dynamic 5 turn-on power of motor, control camera 13 are opened, and driving motor 5 rotates, and driving motor 5 will drive sun gear 16 to rotate, too
Sun wheel 16 rotates the planetary gear 17 for driving external toothing, and planetary gear 17 drives planet wheel spindle 7 to rotate by spline pair, planet wheel spindle
7 rotations rotate the driving turbine 8 that driving is mounted on 7 both ends of planet wheel spindle, and driving turbine 8 will drive and the walking of its external toothing
Foot prop 9 rotates, and the rotation of walking foot prop 9 moves forward or back driving pipeline repair robot.When camera 13 takes duct wall
When having leakage, the control signal that motor 4 is repaired in starting is sent to controller 12 by hand held controller, controller 12 will make to repair
The power supply of motor 4 is connected, and motor 4 is repaired in starting makes its work, repairs motor 4 and the reparation liquid repaired in flow container 14 is got rid of to rotation
The leakage on tube wall is sealed out, is realized to pipeline rehabilitation.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (6)
1. pipeline rehabilitation robot, which is characterized in that including repair cabin, driving cabin, power source cabin, repair motor, driving motor,
Drive planet row, planet wheel spindle, driving worm gear, multiple walking foot props, power battery, power supervisor, controller, multiple camera shootings
Head repairs flow container, hand held controller；The driving planet row includes sun gear, uniformly distributed multiple rows with sun gear external toothing
Star-wheel；The reparation motor, which is mounted on, to be repaired in cabin, and the output shaft for repairing motor passes through reparation cabin and connect with flow container is repaired；
The multiple camera, which is distributed in, repairs the connection of cabin housing forward end lateral wall；The driving motor, driving planet row respectively with drive
The output shaft of dynamic cabin connection, the driving motor is connect with the sun gear of driving planet row；The planet wheel spindle and planetary gear are logical
Spline pair connection is crossed, the both ends of the planet wheel spindle are each passed through planetary gear and connect by bearing with reparation cabin, power source cabin, institute
The both ends for stating planet wheel spindle are connected separately with driving turbine；The multiple walking foot prop, which is each passed through, repairs cabin, power source cabin
Shell is connect with driving turbine；The power battery, power supervisor, controller are connect with power source cabin respectively, the control
Device is electrically connected with power supervisor, power battery, driving motor, reparation motor, camera, hand held controller respectively；It is described
It repairs cabin, cabin, power source cabin is driven to pass sequentially through ring flange connection.
2. pipeline rehabilitation robot according to claim 1, which is characterized in that the quantity of the planetary gear and planet wheel spindle
It is equal, it is three；The both ends of the planet wheel spindle pass through spline pair and connect with driving turbine.
3. pipeline rehabilitation robot according to claim 2, which is characterized in that the walking foot prop includes support rod, can
Multi-directional ball freely rotated；One end of the support rod is provided with worm tooth and connect with driving turbine external toothing, the other end and ten thousand
It is connected to ball.
4. pipeline rehabilitation robot according to claim 3, which is characterized in that the controller further includes that wireless video passes
Defeated module, for vision signal captured by camera to be transmitted to hand held controller；The hand held controller further includes display
Device, the video pictures as captured by display camera；The control instruction that the hand held controller is sent is by controller for controlling
The shooting angle of camera processed, control repair the start and stop of motor, control the rotation direction and velocity of rotation of driving motor.
5. pipeline rehabilitation robot according to claim 4, which is characterized in that the sun gear passes through bearing and driving cabin
Connection.
6. pipeline rehabilitation robot according to claim 5, which is characterized in that the power battery is charged lithium cells.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710539872.9A CN107387938B (en) | 2017-07-05 | 2017-07-05 | Pipeline rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710539872.9A CN107387938B (en) | 2017-07-05 | 2017-07-05 | Pipeline rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107387938A CN107387938A (en) | 2017-11-24 |
| CN107387938B true CN107387938B (en) | 2019-11-12 |
Family
ID=60335057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710539872.9A Active CN107387938B (en) | 2017-07-05 | 2017-07-05 | Pipeline rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107387938B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108317334A (en) * | 2018-02-05 | 2018-07-24 | 张桂华 | A kind of high-temperature medium plugging pipelines device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102425709A (en) * | 2011-12-02 | 2012-04-25 | 中国石油大学(北京) | Travelling mechanism of pipeline robot |
| CN204328336U (en) * | 2014-06-20 | 2015-05-13 | 北京石油化工学院 | Detecting robot of pipe |
| CN105465547A (en) * | 2015-12-02 | 2016-04-06 | 上海大学 | Pipeline repairing robot |
| CN106402577A (en) * | 2016-11-17 | 2017-02-15 | 天津大学 | Traction device for wheeled pipeline robot |
| CN206221897U (en) * | 2016-11-17 | 2017-06-06 | 天津大学 | A kind of four axle differential speed type pipe robot draw-gears |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20110731U1 (en) * | 2001-07-03 | 2002-03-07 | Golombek, Andreas, 09128 Chemnitz | Working head of a sewer robot |
| KR100467792B1 (en) * | 2001-08-11 | 2005-01-26 | 서울도시가스 주식회사 | Robot for internal inspection of pipe |
-
2017
- 2017-07-05 CN CN201710539872.9A patent/CN107387938B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102425709A (en) * | 2011-12-02 | 2012-04-25 | 中国石油大学(北京) | Travelling mechanism of pipeline robot |
| CN204328336U (en) * | 2014-06-20 | 2015-05-13 | 北京石油化工学院 | Detecting robot of pipe |
| CN105465547A (en) * | 2015-12-02 | 2016-04-06 | 上海大学 | Pipeline repairing robot |
| CN106402577A (en) * | 2016-11-17 | 2017-02-15 | 天津大学 | Traction device for wheeled pipeline robot |
| CN206221897U (en) * | 2016-11-17 | 2017-06-06 | 天津大学 | A kind of four axle differential speed type pipe robot draw-gears |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107387938A (en) | 2017-11-24 |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20191017 Address after: Room 2001, building 4, Zone D, Hanyu financial and business center, no.7000, Jingshi Road, high tech Zone, Jinan City, Shandong Province Applicant after: Shandong Lingyi Intelligent Technology Co.,Ltd. Address before: 510000 Guangzhou High-tech Industrial Development Zone Science Avenue 231, 233 Skirt Building B1B2, 1st, 2nd, 3rd and 4th floors Applicant before: BOAO ZONGHENG NETWORK TECHNOLOGY Co.,Ltd. Effective date of registration: 20191017 Address after: 510000 Guangzhou High-tech Industrial Development Zone Science Avenue 231, 233 Skirt Building B1B2, 1st, 2nd, 3rd and 4th floors Applicant after: BOAO ZONGHENG NETWORK TECHNOLOGY Co.,Ltd. Address before: 528305 Guangdong city of Foshan province Shunde Ronggui District Committee of new homes containing Ring Road Sunshine Garden four yuan Ruilian No. 6A Applicant before: Foshan JIEZHI Information Technology Co.,Ltd. |
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| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Pipeline repair robot Effective date of registration: 20231010 Granted publication date: 20191112 Pledgee: Ji'nan finance Company limited by guarantee Pledgor: Shandong Lingyi Intelligent Technology Co.,Ltd. Registration number: Y2023980060534 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |