CN109237204B - Robot for detecting and automatically repairing coating on outer wall of pipeline - Google Patents
Robot for detecting and automatically repairing coating on outer wall of pipeline Download PDFInfo
- Publication number
- CN109237204B CN109237204B CN201811255922.1A CN201811255922A CN109237204B CN 109237204 B CN109237204 B CN 109237204B CN 201811255922 A CN201811255922 A CN 201811255922A CN 109237204 B CN109237204 B CN 109237204B
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- coating
- wall
- ring body
- repairing
- robot
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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
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/16—Coating by application of fluent materials, e.g. painting
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention provides a robot for detecting and automatically repairing a coating on the outer wall of a pipeline, which comprises a main frame body, a travelling mechanism, a coating measuring device and a coating repairing device, wherein the main frame body is provided with a coating detecting device; the coating measuring device and the coating repairing device are driven by the travelling mechanism to axially move on the outer wall of the pipeline, the measuring probe is driven by the first circumferential moving mechanism to detect the thickness of the coating on the outer wall of the pipeline to be measured, and the spraying device is driven by the second circumferential moving mechanism to move to the position with poor coating thickness for spraying, so that the repairing of the poor coating is completed; the detection and repair of the coating can be automatically completed, the repair efficiency is high, the repair cost is low, the corrosion resistance of the steel structure is greatly improved, and the stability of the steel structure is improved.
Description
Technical Field
The invention relates to a coating detection and repair device, in particular to a robot for detecting and automatically repairing a coating on the outer wall of a pipeline.
Background
Steel structures play an important role in ships and buildings, steel pipelines are very common steel structures, and the application is quite wide. In order to prevent corrosion, the outer wall and the inner cavity of the steel structure need to be coated, uneven or coating missing easily occurs in the actual sprayed coating, and if the coating is not thorough, serious corrosion can occur in the coating missing part. At present, a method of multiple coating is generally adopted in the market to avoid missing coating, but the method can cause excessive thickness of partial coating and serious waste of coating. Therefore, a device capable of effectively detecting the thickness of the coating on the outer wall of the pipeline and performing the repairing operation in a targeted manner is needed.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a pipeline outer wall coating detection and automatic repair robot.
In order to achieve the above purpose, the technical scheme adopted by the invention for solving the technical problems is as follows:
a pipeline outer wall coating detection and automatic repair robot, comprising:
the main frame body comprises a first ring body, a second ring body and a plurality of transverse connecting rods, wherein the transverse connecting rods are connected between the first ring body and the second ring body, the first ring body comprises an outer toothed ring part and 2 conductive ring parts, and the 2 conductive ring parts are respectively connected with the positive electrode and the negative electrode of a power supply;
the travelling mechanism comprises a travelling driving wheel, a travelling driven wheel and a travelling motor which are arranged on the transverse connecting rod, and the travelling motor drives the travelling driving wheel to rotate;
the coating measuring device comprises a measuring main controller, a first circumferential moving mechanism, a first power receiving mechanism, a pre-pressing motor, a clamp and a measuring probe, wherein the first circumferential moving mechanism comprises a first supporting frame, a first moving motor, a first driving gear and a first driven wheel, the first driving gear is arranged on a rotating shaft of the first moving motor, the first driving gear is meshed with an outer tooth ring part on the first ring body, and the first driven wheel is in contact with an inner circumferential wall of the first ring body; the measurement main controller is arranged on the first support frame, the first power receiving mechanism comprises a first positive electrode contact piece and a first negative electrode contact piece, and the first positive electrode contact piece and the first negative electrode contact piece are respectively abutted against the 2 conductive ring parts; the pre-pressing motor is connected to the first supporting frame through a connecting rod, the clamp is arranged on a rotating shaft of the pre-pressing motor, and the measuring probe is arranged on the clamp;
the coating repairing device comprises a spraying main controller, a second circumferential moving mechanism, a second power receiving mechanism and a spraying device, wherein the second circumferential moving mechanism comprises a second supporting frame, a second moving motor, a second driving gear and a second driven wheel, the second driving gear is arranged on a rotating shaft of the second moving motor, the second driving gear is meshed with an outer tooth ring part on the first ring body, and the second driven wheel is in contact with the inner circumferential wall of the first ring body; the spraying main controller is arranged on the second supporting frame, the second power receiving mechanism comprises a second positive electrode contact piece and a second negative electrode contact piece, and the second positive electrode contact piece and the second negative electrode contact piece are respectively abutted against the 2 conductive ring parts; the spraying device is arranged on the second supporting frame.
Compared with the prior art, the invention has the advantages that the running mechanism drives the coating measuring device and the coating repairing device to axially move on the outer wall of the pipeline, the first circumferential moving mechanism drives the measuring probe to detect the thickness of the coating on the outer wall of the detected pipeline, and the second circumferential moving mechanism drives the spraying device to move to the position with poor thickness of the coating to spray, so that the repairing of the poor coating is completed, the detection and the repairing of the coating can be automatically completed, the repairing efficiency is high, the repairing cost is low, the corrosion resistance of the steel structure is greatly improved, and the stability of the steel structure is improved.
Further, the coating measuring device and the coating repairing device are detachably arranged on the first ring body of the main frame body.
By adopting the preferable scheme, the coating measuring device and the coating repairing device can be separately installed, and the coating repairing device is replaced to repair the coating when the coating with poor thickness is found after the coating measuring device detects the coating.
Further, a torsion limiter is sleeved on the rotating shaft of the pre-pressing motor, and the clamp is connected to the outer ring of the torsion limiter.
By adopting the preferable scheme, the torque limiter can control the torque value between the measuring probe and the pre-pressing motor, and slipping occurs when the torque generated by the measuring probe and the pre-pressing motor exceeds the nominal torque of the torque limiter due to the interference force of the measuring probe and the pipe wall coating, so that the measuring probe is prevented from generating excessive pressure on the coating, and stable pre-pressing force is provided between the measuring probe and the pipe wall coating.
Further, the coating measuring device and the coating repairing device are both provided with inclination sensors.
By adopting the preferable scheme, the circumferential positions of the measuring probe and the spraying device can be accurately detected.
Further, the clamp of the coating measuring device is also clamped with a bad point marking mechanism, and the coating repairing device further comprises an image acquisition device for detecting marks marked by the bad point marking mechanism.
By adopting the preferable scheme, the position of the bad coating can be positioned more accurately, and the repair accuracy is improved.
Further, the device also comprises a display device which is in signal connection with the measurement main controller, a plurality of display units which are consistent with the number of the coating detection acquisition points are arranged on the display device, the measurement main controller receives the coating thickness data detected by the measurement probe, and the display unit of the display device outputs and displays the coating thickness data after processing.
By adopting the preferable scheme, the detection data state and the position of the bad coating can be intuitively known through the display device.
Further, the first ring body, the second ring body and the plurality of transverse connecting rods of the main frame body are hollow structures, and power supply circuits are arranged inside the hollow structures.
By adopting the preferable scheme, the arrangement of the power supply lines is optimized, the compactness of the device is improved, and the power supply lines are prevented from interfering a travelling mechanism.
Further, the first ring body and the second ring body are provided with opening parts for avoiding the contact part of the pipeline supporting frame or the pipeline and the ground.
By adopting the preferable scheme, the pipeline support frame or the contact part with the ground can be effectively avoided, and the applicability of the robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of one embodiment of the main frame and the running gear of the present invention;
FIG. 3 is a schematic view of the structure of one embodiment of the coating measuring device of the present invention;
FIG. 4 is a schematic diagram of the structure of an embodiment of the present invention;
FIG. 5 is a schematic diagram of the structure of an embodiment of the present invention;
FIG. 6 is a schematic structural view of an embodiment of a coating repair device of the present invention;
FIG. 7 is a schematic view of another embodiment of the present invention;
fig. 8 is a schematic structural view of an embodiment of the display device of the present invention.
Names of the corresponding parts indicated by numerals and letters in the drawings:
1-a main frame body; 11-a first ring body; 111-an outer toothed ring part; 112-a conductive ring portion; 113-an opening; 12-a second ring body; 13-a transverse connecting rod; 2-a travelling mechanism; 21-a walking driving wheel; 22-walking driven wheels; 23-a walking motor; 3-coating measuring device; 31-a measurement master controller; 32-a first circumferential movement mechanism; 321-a first support frame; 322-a first mobile motor; 323-a first drive gear; 324-a first driven wheel; 33-a first powered mechanism; 331-a first positive contact; 332-a first negative contact; 34-prepressing the motor; 35-a clamp; 36-measuring probe; 4-a coating repair device; 41-spraying a main controller; 42-a second circumferential movement mechanism; 421-second support frame; 422-a second mobile motor; 423-a second drive gear; 424-a second driven wheel; 43-a second powered mechanism; 431-second positive contact; 432-a second negative contact; 44-spraying device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-6, a robot for detecting and automatically repairing a coating on an outer wall of a pipe, comprising:
the main frame body 1 comprises a first ring body 11, a second ring body 12 and a plurality of transverse connecting rods 13, wherein the transverse connecting rods 13 are connected between the first ring body 11 and the second ring body 12, the first ring body 11 comprises an outer tooth ring part 111 and 2 conducting ring parts 112,2 conducting ring parts 112 which are respectively connected with the positive electrode and the negative electrode of a power supply;
the traveling mechanism 2 comprises a traveling driving wheel 21, a traveling driven wheel 22 and a traveling motor 23 which are arranged on the transverse connecting rod 13, and the traveling motor 23 drives the traveling driving wheel 21 to rotate;
the coating measuring device 3 comprises a measuring main controller 31, a first circumferential moving mechanism 32, a first driven mechanism 33, a pre-pressing motor 34, a clamp 35 and a measuring probe 36, wherein the first circumferential moving mechanism 32 comprises a first supporting frame 321, a first moving motor 322, a first driving gear 323 and a first driven wheel 324, the first driving gear 323 is arranged on a rotating shaft of the first moving motor 322, the first driving gear 323 is meshed with the outer tooth ring part 111 on the first ring body 11, and the first driven wheel 324 is in contact with the inner circumferential wall of the first ring body 11; the measurement main controller 31 is mounted on the first support frame 321, the first powered mechanism 33 includes a first positive electrode contact 331 and a first negative electrode contact 332, and the first positive electrode contact 331 and the first negative electrode contact 332 respectively collide with the 2 conductive ring portions 112; the pre-pressing motor 34 is connected to the first supporting frame 321 through a connecting rod, the clamp 35 is arranged on the rotating shaft of the pre-pressing motor 34, and the measuring probe 36 is arranged on the clamp 35;
the coating repairing device 4 comprises a spraying main controller 41, a second circumferential moving mechanism 42, a second driven mechanism 43 and a spraying device 44, wherein the second circumferential moving mechanism 42 comprises a second supporting frame 421, a second moving motor 422, a second driving gear 423 and a second driven wheel 424, the second driving gear 423 is arranged on the rotating shaft of the second moving motor 422, the second driving gear 423 is meshed with the outer tooth ring part 111 on the first ring body 11, and the second driven wheel 424 is in contact with the inner circumferential wall of the first ring body 11; the spraying main controller 41 is mounted on the second supporting frame 421, the second power receiving mechanism 43 comprises a second positive electrode contact 431 and a second negative electrode contact 432, and the second positive electrode contact 431 and the second negative electrode contact 432 respectively collide with the 2 conductive ring parts 112; the painting device 44 is mounted on the second support frame 421.
The beneficial effects of adopting above-mentioned technical scheme are: the travelling mechanism 2 drives the coating measuring device 3 and the coating repairing device 4 to axially move on the outer wall of the pipeline, the first circumferential moving mechanism 32 drives the measuring probe 36 to detect the thickness of the coating on the outer wall of the pipeline to be detected, the second circumferential moving mechanism 42 drives the spraying device 44 to move to the position with poor coating thickness for spraying, the repairing of the poor coating is completed, the detection and the repairing of the coating can be automatically completed, the repairing efficiency is high, the corrosion resistance of the steel structure is greatly improved, and the stability of the steel structure is improved.
In other embodiments of the invention, the coating measuring device 3 and the coating repair device 4 are both removably mounted on the first ring 11 of the main frame 1. The beneficial effects of adopting above-mentioned technical scheme are: the coating measuring device 3 and the coating repairing device 4 can be separately installed, and after the coating measuring device 3 detects the coating, the coating repairing device 4 is replaced to repair the coating when the coating with poor thickness is found.
In other embodiments of the present invention, a torsion limiter (not shown) is sleeved on the rotating shaft of the pre-compression motor 34, and the clamp 35 is connected to the outer ring of the torsion limiter. The beneficial effects of adopting above-mentioned technical scheme are: the torque limiter can control the torque value between the measuring probe and the pre-pressing motor, slipping occurs when the torque generated by the measuring probe and the pre-pressing motor exceeds the nominal torque of the torque limiter due to the interference force of the measuring probe and the pipe wall coating, the measuring probe is prevented from generating excessive pressure on the coating, and stable pre-pressing force is provided between the measuring probe and the pipe wall coating.
In other embodiments of the invention, both the coating measuring device 3 and the coating repair device 4 are provided with inclination sensors (not shown). The beneficial effects of adopting above-mentioned technical scheme are: the circumferential positions of the measuring probe and the spraying device can be accurately detected.
In other embodiments of the present invention, the second ring body is provided with a lifting ring (not shown), which is convenient to carry, the number of lifting rings can be changed according to the number of transverse connection rods, when the number of transverse connection rods 13 is 3, the lifting rings can be three, the second ring body is divided into three areas by three transverse connection rods, and the lifting ring is respectively arranged in the center of each area, namely, the positions with the same distance from the transverse connection rods on two sides.
In other embodiments of the present invention, the fixture 35 of the coating measuring device 3 further holds a defect point marking mechanism (not shown), and the coating repairing device 4 further includes an image acquisition device (not shown) for detecting marks of the defect point marking mechanism. The beneficial effects of adopting above-mentioned technical scheme are: the position of the bad coating can be positioned more accurately, and the repairing accuracy is improved.
In other embodiments of the present invention, the apparatus further includes a display device (not shown), where the display device is in signal connection with the measurement master controller 31, and a plurality of display units corresponding to the number of the coating detection collection points are disposed on the display device, and the measurement master controller receives the coating thickness data detected by the measurement probe, and outputs and displays the coating thickness data through the display units of the display device after processing (as shown in fig. 8). The beneficial effects of adopting above-mentioned technical scheme are: the detection data state and the position of the bad coating can be intuitively known through the display device.
In other embodiments of the present invention, the first ring 11, the second ring 12 and the plurality of transverse connection rods 13 of the main frame 1 are hollow structures, and power supply lines are arranged inside the hollow structures. The beneficial effects of adopting above-mentioned technical scheme are: the arrangement of the power supply lines is optimized, the compactness of the device is improved, and the power supply lines are prevented from interfering a travelling mechanism.
As shown in fig. 7, in other embodiments of the present invention, the first ring 11 and the second ring 12 are provided with openings 113 for avoiding the contact between the pipe support frame or the pipe and the ground. The lower end of the opening 113 may be provided with a member (not shown) for preventing the opening from contacting the ground, such as rollers, which may be disposed one on each side, and the rollers may contact the ground to provide a certain supporting effect and prevent the end of the opening from being worn by direct contact with the ground. The beneficial effects of adopting above-mentioned technical scheme are: the pipeline support frame or the contact part with the ground can be effectively avoided, and the applicability of the robot is improved.
The following are the main working principles and procedures of the detachable and replaceable embodiment of the coating measuring device and the coating repairing device of the present invention:
1. programming a program and inputting the program into a robot control device, adjusting a running gear of the robot, sleeving the robot on the outer wall of the pipeline, and enabling a driving wheel and a driven wheel of the running gear to be tightly attached to the outer wall of the pipeline;
2. placing the measuring instrument into an instrument box, and installing the measuring probe on a clamp for clamping and adjusting, so that the measuring probe can be tightly attached to the outer wall of the pipeline during measurement;
3. when the clamp is driven by the pre-pressing motor to measure, the pre-pressing motor rotates to enable the measuring probe to contact the outer wall of the pipeline to finish single-point measurement, the pre-pressing motor reversely rotates after measurement is finished to enable the measuring probe to leave the outer wall of the pipeline, then the measuring probe rotates along the outer wall of the pipeline through the first circumferential moving mechanism to perform film thickness data of other measuring points of the current cross section of the outer wall of the pipeline, if each cross section of the outer wall of the pipeline measures 12 points, each measuring point is a film thickness value, and the coating measuring device rotates for 30 degrees until measurement of all 12 points is finished;
4. after the measurement of the current cross section is completed, the walking motor drives the driving wheel to enable the robot to axially move on the outer wall of the pipeline, the robot moves to the next point to be measured to measure 12 points on the cross section, and then the actions are repeated until the measurement of the whole pipeline is completed;
5. the control device visually expresses the generated measuring point data through the display device, as shown in fig. 8, each circle represents one measuring point, and according to the coating film thickness measuring data of each measuring point, circles with different colors are used for distinguishing qualified coatings and unqualified coatings, and among the unqualified coatings, the coatings with different film thickness ranges (unqualified degree) can be distinguished by circles with different colors;
6. the coating measuring device is replaced by the coating repairing device, the travelling mechanism moves to the position of the cross section where the coating with the poor thickness is located along the axial direction, the second circumferential moving mechanism drives the spraying device to rotate to the position of the poor measuring point, the spraying device is opened to spray the position of the poor coating, and then the repairing of other poor coating points is carried out until the repairing work of the outer wall of the whole pipeline is completed.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, but not limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (8)
1. The utility model provides a pipeline outer wall coating detects and automatic repair robot which characterized in that includes:
the main frame body comprises a first ring body, a second ring body and a plurality of transverse connecting rods, wherein the transverse connecting rods are connected between the first ring body and the second ring body, the first ring body comprises an outer toothed ring part and 2 conductive ring parts, and the 2 conductive ring parts are respectively connected with the positive electrode and the negative electrode of a power supply;
the travelling mechanism comprises a travelling driving wheel, a travelling driven wheel and a travelling motor which are arranged on the transverse connecting rod, and the travelling motor drives the travelling driving wheel to rotate;
the coating measuring device comprises a measuring main controller, a first circumferential moving mechanism, a first power receiving mechanism, a pre-pressing motor, a clamp and a measuring probe, wherein the first circumferential moving mechanism comprises a first supporting frame, a first moving motor, a first driving gear and a first driven wheel, the first driving gear is arranged on a rotating shaft of the first moving motor, the first driving gear is meshed with an outer tooth ring part on the first ring body, and the first driven wheel is in contact with an inner circumferential wall of the first ring body; the measurement main controller is arranged on the first support frame, the first power receiving mechanism comprises a first positive electrode contact piece and a first negative electrode contact piece, and the first positive electrode contact piece and the first negative electrode contact piece are respectively abutted against the 2 conductive ring parts; the pre-pressing motor is connected to the first supporting frame through a connecting rod, the clamp is arranged on a rotating shaft of the pre-pressing motor, and the measuring probe is arranged on the clamp;
the coating repairing device comprises a spraying main controller, a second circumferential moving mechanism, a second power receiving mechanism and a spraying device, wherein the second circumferential moving mechanism comprises a second supporting frame, a second moving motor, a second driving gear and a second driven wheel, the second driving gear is arranged on a rotating shaft of the second moving motor, the second driving gear is meshed with an outer tooth ring part on the first ring body, and the second driven wheel is in contact with the inner circumferential wall of the first ring body; the spraying main controller is arranged on the second supporting frame, the second power receiving mechanism comprises a second positive electrode contact piece and a second negative electrode contact piece, and the second positive electrode contact piece and the second negative electrode contact piece are respectively abutted against the 2 conductive ring parts; the spraying device is arranged on the second supporting frame.
2. The robot for detecting and automatically repairing a coating on an outer wall of a pipeline according to claim 1, wherein the coating measuring device and the coating repairing device are detachably mounted on the first ring body of the main frame body.
3. The robot for detecting and automatically repairing the coating on the outer wall of the pipeline according to claim 2, wherein a torsion limiter is sleeved on a rotating shaft of the pre-pressing motor, and the clamp is connected to an outer ring of the torsion limiter.
4. The robot for detecting and automatically repairing a coating on an outer wall of a pipeline according to claim 3, wherein the coating measuring device and the coating repairing device are provided with inclination sensors.
5. The robot for detecting and automatically repairing a coating on an outer wall of a pipeline according to claim 4, wherein the clamp of the coating measuring device is further provided with a bad point marking mechanism, and the coating repairing device further comprises an image acquisition device for detecting marks marked by the bad point marking mechanism.
6. The robot for detecting and automatically repairing the coating on the outer wall of the pipeline according to claim 5, further comprising a display device, wherein the display device is in signal connection with a measurement main controller, a plurality of display units which are consistent with the number of the coating detection acquisition points are arranged on the display device, the measurement main controller receives the coating thickness data detected by the measurement probe, and the display is output and displayed through the display units of the display device after processing.
7. The robot for detecting and automatically repairing a coating on an outer wall of a pipeline according to claim 6, wherein the first ring body, the second ring body and the plurality of transverse connecting rods of the main frame body are hollow structures, and power supply lines are arranged inside the hollow structures.
8. The robot for detecting and automatically repairing a coating on an outer wall of a pipeline according to claim 7, wherein the first ring body and the second ring body are provided with openings for avoiding a part where the pipeline support frame or the pipeline contacts the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811255922.1A CN109237204B (en) | 2018-10-25 | 2018-10-25 | Robot for detecting and automatically repairing coating on outer wall of pipeline |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811255922.1A CN109237204B (en) | 2018-10-25 | 2018-10-25 | Robot for detecting and automatically repairing coating on outer wall of pipeline |
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| CN109237204A CN109237204A (en) | 2019-01-18 |
| CN109237204B true CN109237204B (en) | 2023-10-20 |
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