CN109737268A - Enclosed fluid pipeline repairing apparatus - Google Patents
Enclosed fluid pipeline repairing apparatus Download PDFInfo
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- CN109737268A CN109737268A CN201910188022.8A CN201910188022A CN109737268A CN 109737268 A CN109737268 A CN 109737268A CN 201910188022 A CN201910188022 A CN 201910188022A CN 109737268 A CN109737268 A CN 109737268A
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- China
- Prior art keywords
- fluid pipeline
- enclosed fluid
- robot
- repairing apparatus
- pressure storehouse
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- 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.)
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- 239000012530 fluid Substances 0.000 title claims abstract description 48
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 239000000523 sample Substances 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims abstract description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 6
- 210000000664 rectum Anatomy 0.000 claims description 17
- 230000003028 elevating effect Effects 0.000 claims description 11
- 229910001220 stainless steel Inorganic materials 0.000 claims description 6
- 239000010935 stainless steel Substances 0.000 claims description 6
- 230000007797 corrosion Effects 0.000 claims description 4
- 238000005260 corrosion Methods 0.000 claims description 4
- 238000001816 cooling Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 2
- 241000233855 Orchidaceae Species 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 239000013307 optical fiber Substances 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 3
- 238000005192 partition Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 239000003566 sealing material Substances 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Abstract
The invention discloses a kind of enclosed fluid pipeline repairing apparatus, including robot and every pressure storehouse, every pressure storehouse be tubulose, both ends open, robot is accommodated in every in pressure storehouse, robot is connected with towing cable, and towing cable is connected by an opening every pressure storehouse with monitoring platform, another opening every pressure storehouse is connected with preset valve on enclosed fluid pipeline, open valve, water in enclosed fluid pipeline can enter every in pressure storehouse, and after pressure balance, robot enters enclosed fluid pipeline detection pipe condition.Enclosed fluid pipeline repairing apparatus of the invention is ingenious in design, can the work with pressure in the pipeline of normal operation, while being suitable for the various working environments such as high temperature, room temperature and low temperature；Using optical fiber transmission signal, long transmission distance, detection range is big；Using multiple cameras, video acquisition range is big, and multichannel ultrasonic probe is circular layout, and testing result is more reliable.
Description
Technical field
The present invention relates to a kind of pipeline repairing apparatus more particularly to a kind of enclosed fluid pipeline repairing apparatus.
Background technique
Municipal pipeline such as supplies water, drains, the pipeline that heats is the blood vessels of modern metropolitan cities, in people's daily life and city
In occupation of irreplaceable status in development.With the quickening of Urbanization in China, municipal pipeline scale constantly expands.Due to
The pipelines such as urban water supply, draining, heating are mostly embedded in underground, and human eye can not have an X-rayed the service condition of pipeline, give pipeline surveying
Larger difficulty is brought, pipeline is also difficult to be found and position when there is the problems such as leakage, rupture.In addition, even if excavating
Pipeline, for inner wall of the pipe corrosion and scaling situations such as only from outside can not also identify.
Currently, existing pipe endoscopic lens device cannot work with pressure, can only open environment (such as sewage conduct, emptying
Pipeline etc.) use, can not work for fluid line running under closed environment in this way, while being set using single-lens holder
Meter cannot achieve image panorama monitoring.
Summary of the invention
The present invention provides a kind of enclosed fluid pipeline repairing apparatus, have the function overhauled to enclosed fluid pipeline
Energy.Specific technical solution is as follows:
A kind of enclosed fluid pipeline repairing apparatus, wherein be tubulose every pressure storehouse, both ends are opened including robot and every pressure storehouse
Mouthful, robot is accommodated in every in pressure storehouse, and robot is connected with towing cable, and towing cable passes through the opening and monitoring platform phase every pressure storehouse
Even, another opening every pressure storehouse is connected with preset valve on enclosed fluid pipeline, opening valve, in enclosed fluid pipeline
Water can enter every in pressure storehouse, and after pressure balance, robot enters enclosed fluid pipeline detection pipe condition.
Further, valve is latus rectum ball valve, and one end and the pipeline of latus rectum ball valve are fixedly linked, and the other end is provided with flange,
It is also equipped with flange every one end that pressure storehouse is connected with latus rectum ball valve, latus rectum ball valve is connected with every pressure storehouse by flange.
Further, robot includes outer housing, and outer housing includes head cabin, control cabinet and the deck store being sequentially connected；In head cabin
Detection components are provided with, control cabinet includes the first control cabinet and the second control cabinet, it is provided with walking mechanism in the first control cabinet, the
It is provided with sensor in two control cabinets, terminal plate is provided in deck store, terminal plate is connected with towing cable.
Further, it is provided with camera in head cabin, porthole is provided on the bulkhead in head cabin, camera is corresponding with porthole,
The quantity of camera is at least two, and the shooting angle of each camera is different, to increase image-capture field.
Further, annular is provided with multichannel ultrasonic probe on the bulkhead in head cabin, to detect enclosed fluid pipeline
Pipeline wall thickness and corrosion condition.
Further, the first control cabinet is provided with strip hole, and walking mechanism can be stretched out and be withdrawn by strip hole.
Further, walking mechanism includes magnetic crawler belt, scissors type elevating support rod, ball-screw and motor, magnetic crawler belt
It is connected with scissors type elevating support rod, scissors type elevating support rod is connected with ball-screw, and ball-screw is connected to the motor, control
Magnetic crawler belt is withdrawn and is stretched out by strip hole.
Further, sensor includes temperature sensor and pressure sensor, on the bulkhead of the second control cabinet there are two settings
Gauge hole, temperature sensor and pressure sensor are separately positioned in two gauge holes.
Further, gyro sensor is provided in the second control cabinet, gyro sensor is used for the posture to robot
Positioning, to carry out horizontal display processing to the image of output.
Further, outer housing is set on outer housing inner wall using vacuumizing between double-deck stainless steel and two layers of stainless steel plate
It is equipped with electronic cooling plate, so that robot can work in the environment of high temperature or low temperature.
Enclosed fluid tubular service machine device of the invention is ingenious in design, can the work with pressure in the pipeline of normal operation,
It is suitable for the various working environments such as high temperature, room temperature and low temperature simultaneously；Using optical fiber transmission signal, long transmission distance detects model
It encloses big；Using multiple cameras, video acquisition range is big, and multichannel ultrasonic probe is circular layout, and testing result is more reliable.
Detailed description of the invention
Fig. 1 is the cross-sectional view of enclosed fluid pipeline repairing apparatus of the invention；
Fig. 2 is the cross-sectional view when walking mechanism of enclosed fluid pipeline repairing apparatus of the invention is opened；
Fig. 3 is the cross-sectional view when walking mechanism of enclosed fluid pipeline repairing apparatus of the invention is withdrawn；
Fig. 4 is the cross-sectional view of the control cabinet of the robot of enclosed fluid pipeline repairing apparatus of the invention.
Specific embodiment
In order to be best understood from the purpose of the present invention, function and specific design scheme, with reference to the accompanying drawing, to the present invention
Enclosed fluid pipeline repairing apparatus be described in further detail.
As shown in Figure 1, this enclosed fluid pipeline repairing apparatus invented in fact includes every pressure storehouse 3 and robot 4, every pressure storehouse 3
For tubulose, both ends open, robot 4 is accommodated in every in pressure storehouse 3, and robot 4 is connected with towing cable 5, and towing cable 5 passes through every pressure storehouse 3
One opening is connected with monitoring platform, another opening every pressure storehouse 3 is connected with preset valve on enclosed fluid pipeline 1, institute
Stating valve is latus rectum ball valve 2, and one end and the enclosed fluid pipeline 1 of latus rectum ball valve 2 are fixedly linked, and the other end is provided with flange, every
One end that pressure storehouse is connected with latus rectum ball valve 2 is also equipped with flange, and latus rectum ball valve 2 is connected with every pressure storehouse 3 by flange.
Open latus rectum ball valve 2, the water in enclosed fluid pipeline 1 can enter every in pressure storehouse 3, after pressure balance, robot 4 into
Enter and detects pipe condition in enclosed fluid pipeline 1.It is worth noting that, being provided with every the pressure one end of storehouse remote 3 from latus rectum ball valve 2 logical
Road 31, towing cable 5 are arranged across channel 31, and seal assembly 6 is arranged between towing cable 5 and channel 31.
Specifically, outer housing includes the head cabin 411 being sequentially connected, control as shown in Fig. 2, robot 4 includes outer housing 41
Cabin 412 and deck store 413.It is provided with porthole on the bulkhead in head cabin 411, camera 42 and the first headlamp are provided in head cabin 411
43, camera 42 and the first headlamp 43 are corresponding with porthole, to acquire the video of enclosed fluid inner wall of the pipe.It is preferred that
, the quantity of camera 42 be it is multiple, the present embodiment is that the shooting angle of two and two cameras is different, is adopted with increasing image
Collect range；Camera 42 selects 3D video camera, and 3D video camera can make the video of acquisition more three-dimensional, the clearer closed stream of observation
The situation of 1 inner wall of body pipeline.First headlamp 43 is illuminated using LED light, and LED energy consumption is low, and long service life, lamp bead compares
It is small, it is suitble to narrow space illumination, is very suitable to use environment of the invention.Head cabin 411 bulkhead on also annular be provided with it is more
Channel ultrasonic probe 44, to detect the pipeline wall thickness and corrosion condition of enclosed fluid pipeline 1.
As shown in Figures 2 and 3, control cabinet 412 includes the first control cabinet and the second control cabinet, and the first control cabinet and second are controlled
Partition is provided between cabin processed, the first control cabinet is provided with strip hole, walking mechanism 7, vehicle with walking machine are provided in the first control cabinet
Structure 7 includes scissors type elevating support rod 71, magnetic crawler belt 72 and ball-screw 73, is fixedly installed fixation in the first control cabinet
Column 46, the first connecting pin and the fixed column 46 of scissors type elevating support rod 71 are rotatably connected；Scissors type elevating support rod 71
The nut of second connection end and ball-screw 73 is fixedly linked and can rotate around the nut of ball-screw；Scissors type elevating support rod
71 third connecting pin and the 4th connecting pin are connected with crawler belt fixed plate 74 and can rotate around crawler belt fixed plate 74, crawler belt fixed plate
74 are fixedly linked with magnetic crawler belt 72.Ball-screw 73 is connected to the motor, and control magnetic crawler belt logical 72 crosses strip hole and withdraws and beat
It opens.Preferably, as shown in figure 4, strip hole, scissors type elevating support rod 71 and magnetic crawler belt 72 are two, use is above-mentioned
Connection type two groups of magnetic crawler belts 72 are controlled by ball-screw 73 open simultaneously or withdraw, such connection type can make
Robot is more stable when moving.
As shown in Fig. 2, the setting of the second control cabinet there are two gauge hole, is respectively arranged with temperature biography in two gauge holes
Sensor 81 and pressure sensor 82 are added with sealing material between two gauge holes and temperature sensor 81 and pressure sensor 82
Material is to keep the leakproofness inside the second control cabinet.Gyro sensor 83, gyro sensor are provided in second control cabinet
83 for the attitude orientation to robot, then carries out horizontal display processing to the image of output.Meanwhile using attitude orientation,
The initial coordinate of release device and the length of towing cable unwrapping wire, can determine the present invention to the four corners of the world and height advance away from
From, and then the position to need repairing detected by robot is determined in the GIS-Geographic Information System of monitoring platform.Preferably,
It is additionally provided with wide-angle camera 84 and the second headlamp in two control cabinets, is arranged on the partition of the first control cabinet and the second control cabinet
There is porthole, wide-angle camera 84 is corresponding with porthole, and wide-angle camera 84 can monitor the operating status of walking mechanism 7.
Terminal plate 47 is provided in deck store 413, terminal plate 47 is connected with one end of towing cable 5, the other end of towing cable 5 and monitoring
Platform is connected, camera 42, multichannel ultrasonic probe 44, temperature sensor 81, pressure sensor 82, gyro sensor 83
And wide-angle lens 84 is connected with terminal plate 47, and institute's measured data is transmitted to monitoring platform by towing cable 5.Towing cable 5 is including being
The signal wire of power supply line, transmission signal that robot 4 powers and bracing wire, bracing wire mainly undertake power when 5 folding and unfolding of towing cable, prevent electricity
Source line and optic fibre force are excessive and damage, and nylon rope can be selected in bracing wire.Preferably, signal line selection optical fiber, the non-relay branch of optical fiber
Hold length up to dozens to hundreds of kilometer and it is light-weight, small in size, use environment temperature range is wide, long service life, very suitable
Close use environment of the invention.
Preferably, outer housing 41 is vacuumized using between double-deck stainless steel and two layers of stainless steel plate, and outer housing inner wall is set
Electronic cooling plate 48 is set, so that robot can work in the environment of high temperature or low temperature.
The present invention, will be every pressure storehouse 3 by pre-installing latus rectum ball valve on flange and enclosed fluid pipeline 1 when carrying out service work
2 connections, open latus rectum ball valve 2, intake every pressure storehouse 3, and after pressure balance, robot 4 enters in the fluid of enclosed fluid pipeline 1,
Then walking mechanism 7 is opened, 4 Parallel to the flow direction of robot, mobile from upstream toward downstream by fluid driving, by camera 42,
Multichannel ultrasonic probe 44, temperature sensor 81, pressure sensor 82 and gyro sensor 83 are in real time to monitoring platform
Transmit data；Complete service work after, robot 4 retract every pressure storehouse 3 in, close latus rectum ball valve 2 after, by latus rectum ball valve 2 with every
The flange between storehouse 3 is pressed to open, it can shipped off-site every pressure storehouse 3 and robot 4.
Enclosed fluid pipeline repairing apparatus of the invention is ingenious in design, can the work with pressure in the pipeline of normal operation, together
When be suitable for the various working environments such as high temperature, room temperature and low temperature；Using optical fiber transmission signal, long transmission distance, detection range
Greatly；Using multiple cameras, video acquisition range is big, and multichannel ultrasonic probe is circular layout, and testing result is more reliable.
The present invention is further described by specific embodiment above, it should be understood that, here specifically
Description, should not be construed as the restriction for the essence of the present invention with range, and one of ordinary skilled in the art is reading this explanation
The various modifications made after book to above-described embodiment belong to the range that the present invention is protected.
Claims (10)
1. a kind of enclosed fluid pipeline repairing apparatus, which is characterized in that including robot and every pressure storehouse, every pressure storehouse be tubulose, two
End opening, robot are accommodated in every in pressure storehouse, and robot is connected with towing cable, and towing cable passes through flat every an opening in pressure storehouse and monitoring
Platform is connected, another opening every pressure storehouse is connected with preset valve on enclosed fluid pipeline, opens valve, enclosed fluid pipeline
Interior water can enter every in pressure storehouse, and after pressure balance, robot enters enclosed fluid pipeline detection pipe condition.
2. enclosed fluid pipeline repairing apparatus as described in claim 1, which is characterized in that valve is latus rectum ball valve, way radial ball
One end of valve is fixedly linked with pipeline, and the other end is provided with flange, is also equipped with method every one end that pressure storehouse is connected with latus rectum ball valve
Orchid, latus rectum ball valve are connected with every pressure storehouse by flange.
3. enclosed fluid pipeline repairing apparatus as described in claim 1, which is characterized in that robot includes outer housing, shell
Body includes head cabin, control cabinet and the deck store being sequentially connected；Head is provided with detection components in cabin, control cabinet include the first control cabinet and
Second control cabinet is provided with walking mechanism in the first control cabinet, sensor is provided in the second control cabinet, is provided with and connects in deck store
Line plate, terminal plate are connected with towing cable.
4. enclosed fluid pipeline repairing apparatus as claimed in claim 3, which is characterized in that be provided with camera, head in head cabin
Porthole is provided on the bulkhead in cabin, camera is corresponding with porthole, and the quantity of camera is at least two, the bat of each camera
It is different to take the photograph angle, to increase image-capture field.
5. enclosed fluid pipeline repairing apparatus as claimed in claim 3, which is characterized in that annular is provided on the bulkhead in head cabin
Multichannel ultrasonic probe, to detect the pipeline wall thickness and corrosion condition of enclosed fluid pipeline.
6. enclosed fluid pipeline repairing apparatus as claimed in claim 3, which is characterized in that the first control cabinet is provided with strip
Hole, walking mechanism can be stretched out and be withdrawn by strip hole.
7. enclosed fluid pipeline repairing apparatus as claimed in claim 6, which is characterized in that walking mechanism include magnetic crawler belt,
Scissors type elevating support rod, ball-screw and motor, magnetic crawler belt are connected with scissors type elevating support rod, scissors type elevating support
Bar is connected with ball-screw, and ball-screw is connected to the motor, and control magnetic crawler belt is withdrawn and stretched out by strip hole.
8. enclosed fluid pipeline repairing apparatus as claimed in claim 3, which is characterized in that sensor include temperature sensor and
Pressure sensor, there are two gauge holes, temperature sensor and pressure sensor to set respectively for setting on the bulkhead of the second control cabinet
It sets in two gauge holes.
9. enclosed fluid pipeline repairing apparatus as claimed in claim 3, which is characterized in that be provided with gyro in the second control cabinet
Instrument sensor, gyro sensor are used for the attitude orientation to robot, to carry out horizontal display processing to the image of output.
10. enclosed fluid pipeline repairing apparatus as claimed in claim 3, which is characterized in that outer housing uses double-layer stainless steel
It is vacuumized between plate and two layers of stainless steel plate, electronic cooling plate is provided on outer housing inner wall, so that robot can be in high temperature
Or work in the environment of low temperature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910188022.8A CN109737268A (en) | 2019-03-12 | 2019-03-12 | Enclosed fluid pipeline repairing apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910188022.8A CN109737268A (en) | 2019-03-12 | 2019-03-12 | Enclosed fluid pipeline repairing apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109737268A true CN109737268A (en) | 2019-05-10 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910188022.8A Pending CN109737268A (en) | 2019-03-12 | 2019-03-12 | Enclosed fluid pipeline repairing apparatus |
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| Country | Link |
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| CN (1) | CN109737268A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113819339A (en) * | 2021-08-26 | 2021-12-21 | 深圳供电局有限公司 | Pipeline detection device |
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2019
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Patent Citations (7)
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|---|---|---|---|---|
| KR20150040059A (en) * | 2013-10-04 | 2015-04-14 | 삼성중공업 주식회사 | A winch for cable and a launching system of robot for working on ship |
| CN104832748A (en) * | 2015-05-07 | 2015-08-12 | 徐鹏飞 | High-flow speed and long-distance pipe adaptive inspection device |
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