CN108758162A - A kind of pipeline construction robot and its pipeline construction method - Google Patents
A kind of pipeline construction robot and its pipeline construction method Download PDFInfo
- Publication number
- CN108758162A CN108758162A CN201810426399.8A CN201810426399A CN108758162A CN 108758162 A CN108758162 A CN 108758162A CN 201810426399 A CN201810426399 A CN 201810426399A CN 108758162 A CN108758162 A CN 108758162A
- Authority
- CN
- China
- Prior art keywords
- pipeline
- robot
- pipeline construction
- construction
- derusting
- 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.)
- Pending
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
Abstract
The purpose of the present invention is a kind of pipeline construction robot and its pipeline construction methods, including robot chassis, pipeline construction bar and operation console, the operation console is fixed at the upper surface of robot chassis, robot chassis both sides are arranged with driven pedrail, operation console upper surface is equipped with link block, the pipeline construction bar is connected horizontal through link block, the top of link block is equipped with photographic device, pipeline construction bar top is equipped with the pipeline operations device for intelligent operation in pipeline, can construction higher for the dangerous property coefficient of long range and that environment is complicated have overwhelming superiority, and various pressure vessels, the conveyance conduit inside and outside wall of various media cleans, derusting by sandblasting, pipeline sprays, glass fabric winding construction, repaired mouth welds, defect detecting test etc., various blowdown underground piping blowdowns, remove etc., excellent effect, it is easy to operate.
Description
Technical field
Field in terms of inventive pipeline construction is mainly concerned with a kind of pipeline construction robot and its pipeline construction method.
Background technology
While development with Chinese society rapid advances, pipeline is especially needed to carry out construction processing in city, but
In being worked according to previous pipeline construction, mainly by manually carrying out pipeline inside processing, since pipeline construction operating environment seals
It closes, narrow space, dangerous higher, operation difficulty is big, especially apart from longer pipeline, is manually difficult to carry out deep part
Job Operations materially increase the difficulty of pipeline construction, improve the cost of pipeline construction.
Therefore it provides a kind of pipeline construction robot and its pipeline construction method, by pipe robot to pipeline inside
Intelligent construction is carried out, manual work perfect can be substituted using crawler type (rubber-tyred) pipeline construction robot, especially for length
The construction that the dangerous property coefficient of distance is higher and environment is complicated has overwhelming superiority, and various pressure vessels, various media
The cleaning of conveyance conduit inside and outside wall, derusting by sandblasting, pipeline spraying, glass fabric winding construction, repaired mouth welding, defect detecting test etc.,
Various blowdown underground piping blowdowns, removing etc., excellent effect is easy to operate, just becomes those skilled in the art's urgent need to resolve
Problem.
Invention new content
The object of the present invention is to provide a kind of pipeline construction robot and its pipeline construction methods, pass through pipe robot pair
Intelligent construction is carried out inside pipeline, and manual work perfect can be substituted using crawler type (rubber-tyred) pipeline construction robot, it is special
Construction not higher for the dangerous property coefficient of long range and that environment is complicated has overwhelming superiority, and various pressure vessels, each
The conveyance conduit inside and outside wall cleaning of kind medium, pipeline spraying, glass fabric winding construction, repaired mouth welding, is detected a flaw at derusting by sandblasting
Check etc., various blowdown underground piping blowdowns, removing etc., excellent effect is easy to operate.
To solve technical problem described in background technology, the present invention is novel to use following technical scheme：
A kind of pipeline construction intelligent robot, including robot chassis, pipeline construction bar and operation console, the operation console
It is fixed at the upper surface of robot chassis, robot chassis both sides are arranged with driven pedrail, and operation console upper surface is equipped with connection
Block, the pipeline construction bar are connected horizontal through link block, and the top of link block is equipped with photographic device, pipeline construction bar top
Equipped with the pipeline operations device for intelligent operation in pipeline.
Preferably, the pipeline operations device can be abrasive blasting rust-cleaning machine, high pressure airless spray equipment, cleaning machine, glass
It is one or more in fiber cloth wrapping machine and excavation type development machine, lead between the pipeline operations device and pipeline construction bar
Cross detachable apparatus connection.
Preferably, built-in resistor is equipped in the robot chassis, built-in resistor uses three groups of 24V batteries.
Preferably, the photographic device uses a kind of 360 degree rotation camera, can be comprehensive in pipeline
Specific data be acquired, to the full extent improve acquisition when precision.
Preferably, multigroup tire can also be uniformly arranged in the both sides on the robot chassis, can effectively be directed to
Complicated landform carries out traveling of walking unhurriedly in pipe, stationarity when traveling can be effectively improved, especially for the danger of long range
The construction that property coefficient is higher and environment is complicated has overwhelming superiority, and can reduce hand labor intensity.
A kind of pipeline construction method of pipeline construction robot, pipeline construction method are：
When robot carries out pipeline corrosion protection operation, robot is placed into pipeline reconnoitres first, pass through camera shooting
Head carries out internal data acquisition process, and then retrieving robot in robot is added to abrasive blasting rust-cleaning machine carried out at derusting by sandblasting
It manages, after the dust in inner wall of the pipe to be canceled, is carrying out surface drying output, by high pressure airless spray equipment spray in pipe again later
It applies, uses deep spray coating in spraying, finally checked automatically by robot；
Robot carry out pipeline in remove contamination, blowdown operation when, first robot carry out pipeline corrosion protection operation when, first will
Robot is placed into pipeline and is reconnoitred, then carries out internal data acquisition process by camera, according to sludge thickness, length
It installs spiral development machine high pressure additional, then retrieving robot is added to giant cleaning machine in robot to the dirt in pipeline
Mud starts the cleaning processing, finally hydraulic giant cleaning machine sewage recycling flaw detection removing surface again.
Preferably, the abrasive blasting rust-cleaning machine carries out using at the uniform velocity rotary derusting by sandblasting, sandblasting when derusting by sandblasting processing
Derusting rotary speed is 12-15rad/min.
Preferably, need to reach Sa2.5 grades when abrasive blasting rust-cleaning machine progress derusting by sandblasting processing can terminate operation.
The novel advantageous effect of the present invention is：
1), construction higher for the dangerous property coefficient of long range and that environment is complicated has overwhelming superiority, and can subtract
Few hand labor intensity, energy conservation and environmental protection, high-efficiency high-quality.
It 2) while again can be effectively to being collided in pipeline into row buffering, to robot when can effectively prevent from taking action
It damages, extends the service life of robot.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only described in the present invention is novel
Some embodiments, for those of ordinary skill in the art, other drawings may also be obtained based on these drawings.
Fig. 1 is the structural schematic diagram of a kind of pipeline construction robot of the present invention and its pipeline construction method；
Specific implementation mode
It, below will be new to the present invention in order to make those skilled in the art more fully understand the novel technical solution of the present invention
Type is further detailed.
Referring to FIG. 1, a kind of pipeline construction intelligent robot, including robot chassis 2, pipeline construction bar 5 and operation console
3, the operation console 3 is fixed at 2 upper surface of robot chassis, and 2 both sides of robot chassis are arranged with driven pedrail 1, behaviour
Make 3 upper surface of platform and be equipped with link block 4, the pipeline construction bar 5 is connected horizontal through link block 4, and the top of link block 4 is equipped with
Photographic device 6,5 top of pipeline construction bar are equipped with the pipeline operations device for intelligent operation in pipeline.
Further, the pipeline operations device can be abrasive blasting rust-cleaning machine, high pressure airless spray equipment, cleaning machine, glass
It is one or more in glass fiber cloth wrapping machine and excavation type development machine, the pipeline operations device and pipeline construction bar 5 it
Between connected by detachable apparatus.
Further, internal battery is equipped in the robot chassis 2, internal battery uses three groups of 24V batteries.
Further, the photographic device 6 uses a kind of 360 degree rotation camera, can be comprehensive to pipe
Specific data in road are acquired, and improve precision when acquisition to the full extent.
Further, multigroup tire can also be uniformly arranged in the both sides on the robot chassis 2, being capable of effective needle
Traveling of walking unhurriedly is carried out to landform complicated in pipe, stationarity when traveling can be effectively improved, especially for the danger of long range
The construction that dangerous coefficient is higher and environment is complicated has overwhelming superiority, and can reduce hand labor intensity.
A kind of pipeline construction method of pipeline construction robot, pipeline construction method are：
When robot carries out pipeline corrosion protection operation, robot is placed into pipeline reconnoitres first, pass through camera shooting
Head carries out internal data acquisition process, and then retrieving robot in robot is added to abrasive blasting rust-cleaning machine carried out at derusting by sandblasting
It manages, after the dust in inner wall of the pipe to be canceled, is carrying out surface drying output, by high pressure airless spray equipment spray in pipe again later
It applies, uses deep spray coating in spraying, finally checked automatically by robot；
Robot carry out pipeline in remove contamination, blowdown operation when, first robot carry out pipeline corrosion protection operation when, first will
Robot is placed into pipeline and is reconnoitred, then carries out internal data acquisition process by camera, according to sludge thickness, length
It installs spiral development machine high pressure additional, then retrieving robot is added to giant cleaning machine in robot to the dirt in pipeline
Mud starts the cleaning processing, finally hydraulic giant cleaning machine sewage recycling flaw detection removing surface again.
Further, the abrasive blasting rust-cleaning machine carries out using at the uniform velocity rotary derusting by sandblasting, spray when derusting by sandblasting processing
Sand derusts rotary speed as 12-15rad/min.
Further, need to reach Sa2.5 grades when abrasive blasting rust-cleaning machine progress derusting by sandblasting processing can terminate operation.
It is above that the novel certain exemplary embodiments of the present invention are only described by way of explanation, undoubtedly, for
Those skilled in the art can use a variety of different modes without departing from the spirit and scope of the present invention
Described embodiment is modified.Therefore, foregoing description is regarded as illustrative in nature, and should not be construed as new to the present invention
The limitation of type claims.
Claims (8)
1. a kind of pipeline construction intelligent robot, including robot chassis, pipeline construction bar and operation console, it is characterised in that：Institute
The operation console stated is fixed at the upper surface of robot chassis, and robot chassis both sides are arranged with driven pedrail, operation console upper table
Face is equipped with link block, and the pipeline construction bar is connected horizontal through link block, and the top of link block is equipped with photographic device, pipeline
Bar top construct equipped with the pipeline operations device for intelligent operation in pipeline.
2. a kind of pipeline construction intelligent robot according to claim 1, which is characterized in that the pipeline operations device
It can be one kind in abrasive blasting rust-cleaning machine, high pressure airless spray equipment, cleaning machine, glass fabric wrapping machine and excavation type development machine
Or it is a variety of, it is connected by detachable apparatus between the pipeline operations device and pipeline construction bar.
3. a kind of pipeline construction intelligent robot according to claim 1, which is characterized in that in the robot chassis
Equipped with built-in resistor, built-in resistor uses three groups of 24V batteries.
4. a kind of pipeline construction intelligent robot according to claim 1, which is characterized in that the photographic device uses
Be a kind of 360 degree rotation camera.
5. a kind of pipeline construction intelligent robot according to claim 1, which is characterized in that the robot chassis
Multigroup wheel belt can also be uniformly arranged in both sides.
6. according to a kind of pipeline construction method of pipeline construction robot of claim 1-5 any one, which is characterized in that its
Pipeline construction method is：
Robot carry out pipeline corrosion protection operation when, robot is placed into pipeline reconnoitres first, by camera into
Then retrieving robot is added abrasive blasting rust-cleaning machine in robot and carries out derusting by sandblasting processing by row internal data acquisition process,
After dust in inner wall of the pipe to be canceled, surface drying output is being carried out, by high pressure airless spray equipment spray in pipe again later,
Deep spray coating is used in spraying, is finally being checked automatically by robot；
Robot carry out pipeline in remove contamination, blowdown operation when, first robot carry out pipeline corrosion protection operation when, first by machine
People is placed into pipeline and reconnoitres, then carries out internal data acquisition process by camera, is installed additional according to sludge thickness, length
Spiral development machine high pressure, then retrieving robot is added in robot giant cleaning machine to the sludge in pipeline into
Row cleaning treatment, finally hydraulic giant cleaning machine sewage recycling flaw detection removing surface again.
7. a kind of pipeline construction method of pipeline construction robot according to claim 6, which is characterized in that the spray
Sand rust remover carries out using at the uniform velocity rotary derusting by sandblasting when derusting by sandblasting processing, and derusting by sandblasting rotary speed is 12-15rad/
min。
8. a kind of pipeline construction method of pipeline construction robot according to claim 6, which is characterized in that the spray
Need to reach Sa2.5 grades when the progress derusting by sandblasting processing of sand rust remover can terminate operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426399.8A CN108758162A (en) | 2018-05-07 | 2018-05-07 | A kind of pipeline construction robot and its pipeline construction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426399.8A CN108758162A (en) | 2018-05-07 | 2018-05-07 | A kind of pipeline construction robot and its pipeline construction method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108758162A true CN108758162A (en) | 2018-11-06 |
Family
ID=64009917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810426399.8A Pending CN108758162A (en) | 2018-05-07 | 2018-05-07 | A kind of pipeline construction robot and its pipeline construction method |
Country Status (1)
| Country | Link |
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| CN (1) | CN108758162A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112871607A (en) * | 2021-01-14 | 2021-06-01 | 上海市城市排水有限公司 | Spraying method for preservative for sewage pipeline |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04100577A (en) * | 1990-08-20 | 1992-04-02 | Kubota Corp | Pipe interior cleaning robot |
| JPH08326098A (en) * | 1995-03-30 | 1996-12-10 | Unyusho Daiyon Kowan Kensetsu Kyokucho | Dredging method by underwater dredging robot |
| WO2009069955A2 (en) * | 2007-11-28 | 2009-06-04 | Duckwon Industry Development Co., Ltd | Apparatus and method for rehabilitating superannuated pipe |
| CN102172572A (en) * | 2011-03-16 | 2011-09-07 | 中国石油化工股份有限公司 | Inner wall washing and coating corrosion resisting method for manifold pipelines in oil fields |
| JP2014114653A (en) * | 2012-12-12 | 2014-06-26 | Kawase Co Ltd | Underground pipe construction apparatus utilizing robot |
| CN103963043A (en) * | 2014-04-30 | 2014-08-06 | 湖南大学 | Intelligent robot for power station inspection and maintenance and control system thereof |
| 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 |
-
2018
- 2018-05-07 CN CN201810426399.8A patent/CN108758162A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04100577A (en) * | 1990-08-20 | 1992-04-02 | Kubota Corp | Pipe interior cleaning robot |
| JPH08326098A (en) * | 1995-03-30 | 1996-12-10 | Unyusho Daiyon Kowan Kensetsu Kyokucho | Dredging method by underwater dredging robot |
| WO2009069955A2 (en) * | 2007-11-28 | 2009-06-04 | Duckwon Industry Development Co., Ltd | Apparatus and method for rehabilitating superannuated pipe |
| CN102172572A (en) * | 2011-03-16 | 2011-09-07 | 中国石油化工股份有限公司 | Inner wall washing and coating corrosion resisting method for manifold pipelines in oil fields |
| JP2014114653A (en) * | 2012-12-12 | 2014-06-26 | Kawase Co Ltd | Underground pipe construction apparatus utilizing robot |
| CN103963043A (en) * | 2014-04-30 | 2014-08-06 | 湖南大学 | Intelligent robot for power station inspection and maintenance and control system thereof |
| 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 (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112871607A (en) * | 2021-01-14 | 2021-06-01 | 上海市城市排水有限公司 | Spraying method for preservative for sewage pipeline |
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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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181106 |
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| RJ01 | Rejection of invention patent application after publication |