CN108266594A - Pipe robot automatic detecting Accrete clearing device and dredging method - Google Patents

Pipe robot automatic detecting Accrete clearing device and dredging method Download PDF

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Publication number
CN108266594A
CN108266594A CN201711361603.4A CN201711361603A CN108266594A CN 108266594 A CN108266594 A CN 108266594A CN 201711361603 A CN201711361603 A CN 201711361603A CN 108266594 A CN108266594 A CN 108266594A
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China
Prior art keywords
silt
knife group
unit
pipe robot
inspection
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Granted
Application number
CN201711361603.4A
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Chinese (zh)
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CN108266594B (en
Inventor
刘送永
谢奇志
崔新霞
程诚
李伟
江红祥
沈刚
唐玮
周达
倪鸣星
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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Priority to CN201711361603.4A priority Critical patent/CN108266594B/en
Publication of CN108266594A publication Critical patent/CN108266594A/en
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Publication of CN108266594B publication Critical patent/CN108266594B/en
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Classifications

    • 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
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/24—Preventing accumulation of dirt or other matter in the pipes, e.g. by traps, by strainers
    • 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
    • F16L2101/10—Treating the inside of pipes
    • F16L2101/12—Cleaning
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

The invention discloses a kind of pipe robot automatic detecting Accrete clearing devices, including dredging unit, video unit and inspection driving unit, dredging unit is arranged on inspection driving unit front end, and video unit is fixed in dredging unit, and video unit is coaxially disposed with inspection driving unit；It scrapes silt knife group and moves back silt knife group and be connected on hollow plate rail；Hollow plate rail is connected on inspection driving unit, and can be rotated freely around the axle center of inspection driving unit；Transposition driver is fixed on inspection driving unit, and synchronous pulley is fixed on hollow plate rail, and synchronous belt is arranged between transposition driver and synchronous pulley；It is acted on above by the cooperation that silt knife group is scraped in vision-based detection and the stepper motor drive of camera and moves back silt knife group, realizes that a stepper motor is controlled scraping silt knife group and moving back the position of silt knife group, improve the accuracy of pipeline cleaning efficiency and pipeline cleaning；Integrate inspection, scrape silt and move back silt function, improve specific aim and adaptability to pipeline environment.

Description

Pipe robot automatic detecting Accrete clearing device and dredging method
Technical field
It is based on scraping the present invention relates to pipe dredging machine people's technical field, especially one kind and moves back silt one linkage coordinative role Pipe robot automatic detecting Accrete clearing device and dredging method, can be realized in horizontal pipe detection and dredging function.
Background technology
During pigging operation, pipe robot is when clearing up pipeline, mostly using traversal formula desilting mode, dredging needle Not strong to property and Objective, the dirt under being cleared up on tube wall is insufficient in flow, it is impossible to be taken away, be easy to cause in time Secondary deposition and blocking.
Invention content
The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, provide a kind of pipe robot and patrol automatically Accrete clearing device and means of defence are examined, silt knife group is scraped by vision-based detection and the stepper motor drive of camera and moves back silt knife group Cooperation effect, realize a stepper motor to scrape silt knife group and move back silt knife group position control, improve pipeline cleaning effect The accuracy of rate and pipeline cleaning.
In order to achieve the above objectives, the technical solution adopted by the present invention is：A kind of pipe robot automatic detecting Accrete clearing device, Including dredging unit, video unit and inspection driving unit, the dredging unit is arranged on inspection driving unit front end, video list Member is fixed in dredging unit, and video unit is coaxially disposed with inspection driving unit；
The dredging unit includes scraping silt knife group, hollow plate rail, moving back silt knife group and scrape what drive component；It scrapes silt knife group and moves back silt knife Group is connected on hollow plate rail；Hollow plate rail is connected on inspection driving unit, and can be around the axle center of inspection driving unit certainly By rotating；It scrapes what drive component and includes transposition driver, synchronous belt and synchronous pulley, it is single that transposition driver is fixed on inspection driving In member, synchronous pulley is fixed on hollow plate rail, and synchronous belt is arranged between transposition driver and synchronous pulley.
The hollow plate rail is double-layer barrel structure, including inner cylinder and outer barrel；The length of inner cylinder is that outer barrel is long 1.5~1.6 times of degree.
It is described to move back silt knife group and scrape distance of the silt knife group on the axis direction of inspection driving unit to move back silt knife group thickness 0.1~0.3 times.
The silt knife group of moving back includes unidirectional deformed plate, which can only turn down backward.
The video unit includes protective cover, cleaning sprayer and waterproof camera；The waterproof camera is arranged on hollow In plate rail, protective cover is fixed on the front end of waterproof camera, and cleaning sprayer is fixed in the outside of protective cover.
The inspection driving unit includes retractable support frame, drive wheel group and driving motor；The driving motor is fixed on In retractable support frame, drive wheel group is symmetricly set on the outside of retractable support frame.
A kind of pipe robot automatic detecting dredging method, includes the following steps：
A. pipe robot is put into pipeline to be inspected, the shape characteristic of sediment in pipeline is determined by video unit；
B. driving robot is moved to sediment direction, while is started transposition driver drives and scraped the reciprocating motion of silt component by pipeline Interior sediment scrapes；
C. judge the amount of scraping of sediment, decide whether to exit pipe robot；
D. as determined to exit pipe robot, silt knife group will be moved back by the driver that replaces first and adjusted to scraping siltation level It puts, driving pipe robot retreats；Otherwise continue scraping operations；
E. the sediment repeated in step a to step d to pipeline is cleaned out.
Due to the utilization of above-mentioned technical proposal, the present invention has following advantages compared with prior art：
It is acted on by the cooperation that silt knife group is scraped in vision-based detection and the stepper motor drive of camera and moves back silt knife group, it is real An existing stepper motor is controlled scraping silt knife group and moving back the position of silt knife group, improves the accurate of pipeline cleaning efficiency and pipeline cleaning Property；Integrate inspection, scrape silt and move back silt function, improve specific aim and adaptability to pipeline environment.
Description of the drawings
Technical solution of the present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the structure diagram of the present invention（Exploded view）；
Fig. 3 be the present invention move back silt operating diagram；
Silt workflow schematic diagram is moved back in the dredging that Fig. 4 is the present invention；
Fig. 5 is rotary-cut schematic diagram of the present invention（One-directional rotation cuts mud）；
Fig. 6 is that present invention pendulum cuts schematic diagram（It is pressed downward mud action）；
Fig. 7 inspection dredging pipe robot system diagrams.
Wherein：1st, dredging unit；1-1, silt knife group is scraped；1-2, hollow plate rail；1-3, silt knife group is moved back；2nd, visual unit；2- 1st, protective cover；2-2, cleaning sprayer；2-3, waterproof camera；3rd, inspection driving unit；3-1, synchronous belt；3-2, transposition driving Device；3-3, retractable support frame；3-4, drive wheel group.
Specific embodiment
With reference to specific embodiment, the present invention is described in further detail.
Pipe robot automatic detecting Accrete clearing device as shown in Figures 1 to 7, first, by will manually be equipped with sensor, prevent The pipe robot merging pipeline of water video camera 2-3, then sensor, sediment pattern is big in waterproof camera 2-3 detection pipes Small and distance, driving robot are moved to sediment direction, and then scraping silt knife group 1-1 rotations by stepper motor 3-2 drives will become silted up Mud is wiped off, then blade is controlled to be depressed into the middle downside position of pipeline to put butt formula by mud, while ensure that mud height does not surpass Piping center.
Silt knife group 1-1 is scraped since the projected area that silt knife group 1-3 is moved back on pipeline section direction is much larger than, so will first move back silt Knife group 1-3 turns to upper, scrapes silt knife group 1-1 at this time in bottom, robot advance certain distance（Referred to as axial scraping distance）, Make to scrape silt knife group 1-1 along the axial mud of the incision target in advance front side of pipeline, silt is overcome in a manner of rotary-cut silt knife group 1-3 will be moved back Mud resistance turns to bottom（Dredging scraper plate is due to using thin-wall construction, thus rotation incision resistance is small, and can thoroughly cut silt Mud）, silt knife group 1-1 is scraped at this time upper and in front of the target mud, and a certain amount of mud is taken in then robot retrogressing out of.
Rotary-cut or pendulum cut during without axial feed, cut during axial feed without rotary-cut or pendulum, due to mud nature heap Product effect or pendulum cuts suppression and accumulate in the duct lower section, and feed during move back silt knife group 1-3 rise to it is upper, so moving back Silt knife group 1-3 is in axial progradation not by mud drag effect.It is moved in circles with this, passes through the multiple axial reciprocating of robot Movement can take mud out of.
Silt knife group 1-1 is scraped by the vision-based detection and the 3-2 drives of transposition driver of camera 2-3 and moves back silt knife group 1-3 Cooperation effect, realize one transposition driver 3-2 to scrape silt knife group 1-1 and move back silt knife group 1-3 position control, so as to The high efficiency and the accuracy of pipeline cleaning that realization exchange bit driver 3-2 is utilized.
Pipe robot automatic detecting Accrete clearing device, including dredging unit 1, video unit 2 and inspection driving unit 3, clearly Silt unit 1 is arranged on 3 front end of inspection driving unit, and video unit 2 is fixed in dredging unit 1, and video unit 2 drives with inspection Unit 3 is coaxially disposed.
Dredging unit 1 includes scraping silt knife group 1-1, hollow plate rail 1-2, moving back silt knife group 1-3 and scrape what drive component.
It scrapes silt knife group 1-1 and moves back silt knife group 1-3 and be connected on hollow plate rail 1；It is single that hollow plate rail 1-2 is connected to inspection driving In member 3, and it can be rotated freely around the axle center of inspection driving unit 3.
It scrapes what drive component and includes transposition driver 3-2, synchronous belt 3-1 and synchronous pulley, transposition driver 3-2 is fixed on On inspection driving unit 3, synchronous pulley is fixed on hollow plate rail 1-2, synchronous belt 3-1 be arranged on transposition driver 3-2 with it is same Between step belt wheel.
Stepper motor form may be used in transposition driver 3-2.
Hollow plate rail 1-2 is double-layer barrel structure, including inner cylinder and outer barrel；The length of inner cylinder is outer barrel body length 1.5~1.6 times.
It moves back silt knife group 1-3 and scrapes distances of the silt knife group 1-1 on the axis direction of inspection driving unit 3 to move back silt knife group 1- 0.1~0.3 times of 3 thickness.
It moves back silt knife group 1-3 and includes unidirectional deformed plate, which can only turn down backward.
Video unit 2 includes protective cover 2-1, cleaning sprayer 2-2 and waterproof camera 2-3；Waterproof camera 2-3 is arranged on 1-2 in hollow plate rail, protective cover 2-1 are fixed on the front end of waterproof camera 2-3, and cleaning sprayer 2-2 is fixed in protective cover 2-1 Outside.
Inspection driving unit 3 includes retractable support frame 3-3, drive wheel group 3-4 and driving motor；Driving motor, which is fixed on, to be stretched In contracting support 3-3 framves, drive wheel group 3-4 is symmetricly set on the outside of retractable support frame 3-3.
A kind of pipe robot automatic detecting dredging method, includes the following steps：
A. pipe robot is put into pipeline to be inspected, the shape characteristic of sediment in pipeline is determined by video unit 2；
B. driving robot is moved to sediment direction, while is started the 3-2 drives of transposition driver and scraped silt component 1-1 reciprocating motions Sediment in pipeline is scraped；
C. judge the amount of scraping of sediment, decide whether to exit pipe robot；
D. as determine pipe robot is exited, first by the driver 3-2 that replaces will move back silt knife group 1-3 adjust to scrape siltation Object location, driving pipe robot retreat；Otherwise continue scraping operations；
E. the sediment repeated in step a to step d to pipeline is cleaned out.
It the above is only the concrete application example of the present invention, protection scope of the present invention be not limited in any way.All uses Equivalent transformation or equivalent replacement and the technical solution formed, all fall within rights protection scope of the present invention.

Claims (7)

1. pipe robot automatic detecting Accrete clearing device, it is characterised in that：It is driven including dredging unit, video unit and inspection single Member, the dredging unit are arranged on inspection driving unit front end, and video unit is fixed in dredging unit, video unit and inspection Driving unit is coaxially disposed；
The dredging unit includes scraping silt knife group, hollow plate rail, moving back silt knife group and scrape what drive component；It scrapes silt knife group and moves back silt knife Group is connected on hollow plate rail；Hollow plate rail is connected on inspection driving unit, and can be around the axle center of inspection driving unit certainly By rotating；It scrapes what drive component and includes transposition driver, synchronous belt and synchronous pulley, it is single that transposition driver is fixed on inspection driving In member, synchronous pulley is fixed on hollow plate rail, and synchronous belt is arranged between transposition driver and synchronous pulley.
2. pipe robot automatic detecting Accrete clearing device according to claim 1, it is characterised in that：The hollow plate rail is Double-layer barrel structure, including inner cylinder and outer barrel；The length of inner cylinder is 1.5~1.6 times of outer barrel body length.
3. pipe robot automatic detecting Accrete clearing device according to claim 1, it is characterised in that：It is described move back silt knife group with It is move back silt knife group thickness 0.1~0.3 times to scrape distance of the silt knife group on the axis direction of inspection driving unit.
4. pipe robot automatic detecting Accrete clearing device according to claim 3, it is characterised in that：It is described to move back silt knife group packet Unidirectional deformed plate is included, which can only turn down backward.
5. pipe robot automatic detecting Accrete clearing device according to claim 1, it is characterised in that：The video unit packet Include protective cover, cleaning sprayer and waterproof camera；The waterproof camera is arranged in hollow plate rail, and protective cover is fixed on waterproof The front end of video camera, cleaning sprayer are fixed in the outside of protective cover.
6. pipe robot automatic detecting Accrete clearing device according to claim 1, it is characterised in that：The inspection driving is single Member includes retractable support frame, drive wheel group and driving motor；The driving motor is fixed in retractable support frame, drive wheel group pair Title is arranged on stent outer.
7. pipe robot automatic detecting dredging method, which is characterized in that include the following steps：
A. pipe robot is put into pipeline to be inspected, the shape characteristic of sediment in pipeline is determined by video unit；
B. driving robot is moved to sediment direction, while is started transposition driver drives and scraped the reciprocating motion of silt component by pipeline Interior sediment scrapes；
C. judge the amount of scraping of sediment, decide whether to exit pipe robot；
D. as determined to exit pipe robot, silt knife group will be moved back by the driver that replaces first and adjusted to scraping siltation level It puts, driving pipe robot retreats；Otherwise continue scraping operations；
E. the sediment repeated in step a to step d to pipeline is cleaned out.
CN201711361603.4A 2017-12-18 2017-12-18 Automatic inspection dredging device and dredging method for pipeline robot Active CN108266594B (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110030458A (en) * 2019-04-29 2019-07-19 上海誉帆环境科技有限公司 A kind of local route repair device for drainage pipeline
CN110171007A (en) * 2019-06-28 2019-08-27 中铁工程装备集团有限公司 Robot and method for inspecting are administered in long seepage tunnel, water quality condition inspection
CN111271545A (en) * 2020-03-17 2020-06-12 中冶建工集团有限公司 Self-walking pipe culvert dredging device
CN111829807A (en) * 2020-07-22 2020-10-27 候建鑫 Pipeline inner wall corrodes full angle on-spot testing arrangement
CN112854428A (en) * 2021-01-12 2021-05-28 广西大学 Cutter head dredging device
CN114134988A (en) * 2021-11-03 2022-03-04 上海建工二建集团有限公司 Pipeline dredging device and method
CN114182810A (en) * 2020-09-15 2022-03-15 河北三维普润环保科技有限公司 Dredging equipment

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CN205278673U (en) * 2015-12-31 2016-06-01 浙江理工大学 Bevel gear directly drives formula pipeline detection robot
CN106368306A (en) * 2016-11-04 2017-02-01 长沙伟诺机电有限公司 Municipal pipeline dredging device and municipal pipeline dredging vehicle
CN107030068A (en) * 2017-04-28 2017-08-11 国网江苏省电力公司连云港供电公司 Pipe dredging machine people

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4223931A1 (en) * 1992-07-21 1994-01-27 Mueller Umwelttechnik Drain-cleaning vehicle - has overhead suction hose with cleaning hose in front of cab with TV camera and searchlight
CN205278673U (en) * 2015-12-31 2016-06-01 浙江理工大学 Bevel gear directly drives formula pipeline detection robot
CN106368306A (en) * 2016-11-04 2017-02-01 长沙伟诺机电有限公司 Municipal pipeline dredging device and municipal pipeline dredging vehicle
CN107030068A (en) * 2017-04-28 2017-08-11 国网江苏省电力公司连云港供电公司 Pipe dredging machine people

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110030458A (en) * 2019-04-29 2019-07-19 上海誉帆环境科技有限公司 A kind of local route repair device for drainage pipeline
CN110171007A (en) * 2019-06-28 2019-08-27 中铁工程装备集团有限公司 Robot and method for inspecting are administered in long seepage tunnel, water quality condition inspection
CN111271545A (en) * 2020-03-17 2020-06-12 中冶建工集团有限公司 Self-walking pipe culvert dredging device
CN111829807A (en) * 2020-07-22 2020-10-27 候建鑫 Pipeline inner wall corrodes full angle on-spot testing arrangement
CN114182810A (en) * 2020-09-15 2022-03-15 河北三维普润环保科技有限公司 Dredging equipment
CN114182810B (en) * 2020-09-15 2024-04-26 河北三维普润环保科技有限公司 Desilting equipment
CN112854428A (en) * 2021-01-12 2021-05-28 广西大学 Cutter head dredging device
CN114134988A (en) * 2021-11-03 2022-03-04 上海建工二建集团有限公司 Pipeline dredging device and method
CN114134988B (en) * 2021-11-03 2023-10-27 上海建工二建集团有限公司 Pipeline dredging device and method

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