CN110388533A - A kind of pipe detection and repair robot - Google Patents
A kind of pipe detection and repair robot Download PDFInfo
- Publication number
- CN110388533A CN110388533A CN201910688112.3A CN201910688112A CN110388533A CN 110388533 A CN110388533 A CN 110388533A CN 201910688112 A CN201910688112 A CN 201910688112A CN 110388533 A CN110388533 A CN 110388533A
- Authority
- CN
- China
- Prior art keywords
- fuselage
- detection
- repair
- mobile mechanism
- pipeline
- 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
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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
- F16L2101/18—Lining other than coating
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of pipe detection and repair robots, including mobile mechanism, fuselage and detection repairing mechanism, the mobile mechanism and detection repairing mechanism are all set on fuselage, the mobile mechanism inside pipeline for moving, and the detection repairing mechanism is for detecting pipeline internal state and pipe-repairing internal injury.The present invention can be such that robot moves in pipeline by mobile system, and making robot not only by detection repairing mechanism can detecte pipe damage but also can repair damage.
Description
Technical field
The present invention relates to pipeline engineering fields, and in particular to a kind of pipe detection and repair robot.
Background technique
Pipe robot is that one kind can be along automatically walk, the one or more sensors of carrying and operation machine inside small sized pipeline
It is integrated to carry out a series of the mechanical, electrical of pipeline operations, instrument under the remote control operation or computer controlled automatic of staff for tool
System.
Detecting robot of pipe may be implemented the interior of pipeline and peep detection work at present, can be used for detecting the corruption inside pipeline
Situations such as erosion, rupture and weldquality, but be served only for inside detection pipeline, once it goes wrong inside pipeline, it is also necessary to manpower
Pipe-repairing is removed, so that the use of detecting robot of pipe has limitation.
Summary of the invention
The technical problem to be solved by the present invention is to against the above deficiency, provide pipe detection and repair robot.
In order to solve the above technical problems, the invention adopts the following technical scheme:
A kind of pipe detection and repair robot, including mobile mechanism, fuselage and detection repairing mechanism, the mobile mechanism
It is all set on fuselage with detection repairing mechanism, the mobile mechanism inside pipeline for moving, the detection repairing mechanism
For detecting pipeline internal state and pipe-repairing internal injury.
The invention has the benefit that the present invention can be such that robot moves in pipeline by mobile system, pass through inspection
Survey repairing mechanism, which makes robot not only, can detecte pipe damage but also can repair damage.
Further, the mobile mechanism include suspension arrangement, connector, damper, rear-wheel fixing device, front-wheel and after
Wheel, the suspension arrangement are set to the two sides of fuselage, and the suspension arrangement is internally provided with driving device, and the connector is used
In fuselage to be connect with suspension arrangement, the damper is set to fuselage between suspension arrangement, and the front-wheel is set to suspension
Device is far from the side of fuselage, and the rear-wheel fixing device is set to the rear end of fuselage, and the rear-wheel fixing device is far from machine
The side of body offers slot, is provided with rear-wheel in the slot.
Using having the beneficial effect that through suspension arrangement and damper for above-mentioned further scheme, can lifting device stabilization
Property, keep device more stable when mobile and operation in pipeline, and be more advantageous to device by the way of front-wheel drive and answer
To the landform of pipeline complexity, while big groove is provided in front and back wheel, the adherence properties of aggrandizement apparatus are more advantageous in pipeline
Action.
Further, the fuselage further includes battery and wireless module, and the battery and wireless module are all set in fuselage
Inside, the battery are used to provide electric power to driving device, and the wireless module is used for transmission signal, and middle part offers recovery area
Domain, the recovery zone is for placing detection repairing mechanism.
It has the beneficial effect that wireless module can make device keep in touch with the external world using above-mentioned further scheme, transmits shadow
As giving user, it is more convenient user's use device and completes task.
Further, the detection repair system includes manipulator mobile mechanism, machine box, detection system and repair system,
The manipulator mobile mechanism is set in the slot that fuselage opens up, and organic box, institute is arranged in the top of the manipulator mobile mechanism
State manipulator mobile mechanism for band motivation box moved freely in pipeline, the detection system and repair system are all set in machine
On box.
Further, which is characterized in that the detection system includes camera, headlamp and sonic detector, the photograph
Bright lamp is used to provide illumination to camera, and the sonic detector is used to detect damage and the crack inside pipeline；
The repair system includes soldering apparatus and spray head, and the soldering apparatus is for the damage inside welding metal pipeline, institute
State spray head for spray reparation liquid.
Have the beneficial effect that headlamp can guarantee that camera remains to clap under dark environment using above-mentioned further scheme
Clearly image is taken out, convenient for users to observing pipeline inside information condition, carrying sonic detector can more be such that user finds in pipeline
Slight crack equivalent damage, to take next step repair.
Detailed description of the invention
Fig. 1 is angle schematic perspective view in side of the present invention；
Fig. 2 is angle schematic perspective view in the other side of the present invention；
Fig. 3 is another sectional view of the present invention；
In attached drawing, parts list represented by the reference numerals are as follows:
1, mobile mechanism；11, suspension arrangement；12, connector；13, damper；14, rear-wheel fixing device；15, front-wheel；
16, rear-wheel；2, fuselage；21, battery；22, wireless module；3, repairing mechanism is detected；31, manipulator mobile mechanism；32, machine box；
33, camera；34, headlamp；35, sonic detector；36, soldering apparatus；37, spray head.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Figure 1, a kind of pipe detection and repair robot, including mobile mechanism 1, fuselage 2 and detection repairing mechanism
3, the mobile mechanism 1 and detection repairing mechanism 3 are all set on fuselage 2, and the mobile mechanism 1 inside pipeline for moving
Dynamic, the detection repairing mechanism 3 is for detecting pipeline internal state and pipe-repairing internal injury.
As depicted in figs. 1 and 2, the mobile mechanism 1 is fixed including suspension arrangement 11, connector 12, damper 13, rear-wheel
Device 14, front-wheel 15 and rear-wheel 16, the suspension arrangement 11 are set to the two sides of fuselage 2, the inside setting of the suspension arrangement
Have a driving device, the connector 12 for fuselage 2 to be connect with suspension arrangement 11, the damper 13 be set to fuselage 2 in
Between suspension arrangement 11, the front-wheel 15 is set on side of the suspension arrangement 11 far from fuselage 2, the rear-wheel fixing device 16
It is set to the rear end of fuselage 2, the rear-wheel fixing device 14 offers slot far from the side of fuselage 2, after being provided in the slot
Wheel 16.
As shown in figure 3, the fuselage 2 further includes battery 21 and wireless module 22, the battery 21 and wireless module 22 are equal
It being set to inside fuselage 2, the battery 21 is used to provide electric power to driving device, and the wireless module 22 is used for transmission signal,
Middle part offers recovery zone, and the recovery zone is for placing detection repairing mechanism 3.
The detection repair system includes manipulator mobile mechanism 31, machine box 32, detection system and repair system, the machine
Xie Shou mobile mechanism 31 is set in the slot that fuselage 2 opens up, and organic box 32, institute is arranged in the top of the manipulator mobile mechanism 31
State manipulator mobile mechanism 31 for band motivation box 32 moved freely in pipeline, the detection system and repair system are respectively provided with
In on machine box 32.
The detection system includes camera 33, headlamp 34 and sonic detector 35, and the headlamp 34 is for being taken the photograph
As the offer illumination of head 33, the sonic detector 35 is used to detect damage and the crack inside pipeline；
The repair system includes soldering apparatus 36 and spray head 37, and the soldering apparatus 36 is for the damage inside welding metal pipeline
Wound, the spray head 37 repair liquid for spraying.
The above is the citing of best mode for carrying out the invention, wherein the part that do not address in detail is that this field is common
The common knowledge of technical staff.Protection scope of the present invention is based on the contents of the claims, any based on technology of the invention
The equivalent transformation of enlightenment and progress, also within protection scope of the present invention.
Claims (5)
1. a kind of pipe detection and repair robot, which is characterized in that including mobile mechanism (1), fuselage (2) and detection repair machine
Structure (3), the mobile mechanism (1) and detection repairing mechanism (3) are all set on fuselage (2), and the mobile mechanism (1) is used for
Mobile inside pipeline, the detection repairing mechanism (3) is for detecting pipeline internal state and pipe-repairing internal injury.
2. pipe detection according to claim 1 and repair robot, which is characterized in that the mobile mechanism (1) includes
Suspension arrangement (11), connector (12), damper (13), rear-wheel fixing device (14), front-wheel (15) and rear-wheel (16), it is described outstanding
Hang device (11) is set to the two sides of fuselage (2), and the suspension arrangement is internally provided with driving device, the connector (12)
For fuselage (2) to be connect with suspension arrangement (11), the damper (13) be set to fuselage (2) in suspension arrangement (11) it
Between, the front-wheel (15) is set to suspension arrangement (11) far from the side of fuselage (2), and the rear-wheel fixing device (16) is arranged
In the rear end of fuselage (2), the rear-wheel fixing device (14) offers slot far from the side of fuselage (2), is provided in the slot
Rear-wheel (16).
3. pipe detection according to claim 1 and repair robot, which is characterized in that the fuselage (2) further includes electricity
Pond (21) and wireless module (22), the battery (21) and wireless module (22) are all set in fuselage (2) inside, the battery
(21) for providing electric power to driving device, the wireless module (22) is used for transmission signal, and middle part offers recovery zone, institute
State recovery zone for place detection repairing mechanism (3).
4. pipe detection according to claim 1 and repair robot, which is characterized in that the detection repair system includes
Manipulator mobile mechanism (31), machine box (32), detection system and repair system, the manipulator mobile mechanism (31) are set to machine
In the slot that body (2) opens up, organic box (32), the manipulator mobile mechanism is arranged in the top of the manipulator mobile mechanism (31)
(31) it is moved freely in pipeline for band motivation box (32), the detection system and repair system are all set in machine box (32)
On.
5. pipe detection according to claim 4 and repair robot, which is characterized in that the detection system includes camera shooting
Head (33), headlamp (34) and sonic detector (35), the headlamp (34) is used to provide illumination to camera (33), described
Sonic detector (35) is used to detect damage and the crack inside pipeline；
The repair system includes soldering apparatus (36) and spray head (37), and the soldering apparatus (36) is for inside welding metal pipeline
Damage, the spray head (37) repair liquid for spraying.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910688112.3A CN110388533A (en) | 2019-07-29 | 2019-07-29 | A kind of pipe detection and repair robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910688112.3A CN110388533A (en) | 2019-07-29 | 2019-07-29 | A kind of pipe detection and repair robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110388533A true CN110388533A (en) | 2019-10-29 |
Family
ID=68287791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910688112.3A Pending CN110388533A (en) | 2019-07-29 | 2019-07-29 | A kind of pipe detection and repair robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110388533A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111946942A (en) * | 2020-08-21 | 2020-11-17 | 西安环海机器人科技有限公司 | Rescue system suitable for operation of pipeline robot |
| CN113090861A (en) * | 2019-12-23 | 2021-07-09 | 深圳市发利构件机械技术服务有限公司 | Offshore platform pipeline intelligent detection system |
| CN114227135A (en) * | 2021-12-22 | 2022-03-25 | 山东省路桥集团有限公司 | Repairing detector and detecting method for damage of steel box girder |
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| US8925590B2 (en) * | 2013-02-07 | 2015-01-06 | King Fahd University Of Petroleum And Minerals | Pipeline leak detection and repair device |
| CN107489854A (en) * | 2017-07-17 | 2017-12-19 | 上海交通大学 | A kind of contactless magnetic adsorption wall climbing robot for adapting to complicated wall operation |
| CN108161950A (en) * | 2018-01-31 | 2018-06-15 | 金陵科技学院 | A kind of pipe detection repair robot |
| CN208237336U (en) * | 2018-03-28 | 2018-12-14 | 南安欣久商贸有限公司 | A kind of petroleum pipeline detection repair apparatus |
| CN208311785U (en) * | 2018-06-07 | 2019-01-01 | 裴嘉阳 | A kind of pipeline rehabilitation robot |
| CN208595354U (en) * | 2018-06-08 | 2019-03-12 | 上海工程技术大学 | A kind of oil pipeline detection maintenance multi-foot robot |
| CN109488836A (en) * | 2018-11-21 | 2019-03-19 | 南通理工学院 | A kind of inner wall of the pipe automatic flaw detection, carbon plane and welding robot |
| CN208705238U (en) * | 2018-06-13 | 2019-04-05 | 莆田市宏铭贸易有限公司 | A kind of petroleum pipeline detection repair apparatus |
-
2019
- 2019-07-29 CN CN201910688112.3A patent/CN110388533A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8925590B2 (en) * | 2013-02-07 | 2015-01-06 | King Fahd University Of Petroleum And Minerals | Pipeline leak detection and repair device |
| CN107489854A (en) * | 2017-07-17 | 2017-12-19 | 上海交通大学 | A kind of contactless magnetic adsorption wall climbing robot for adapting to complicated wall operation |
| CN108161950A (en) * | 2018-01-31 | 2018-06-15 | 金陵科技学院 | A kind of pipe detection repair robot |
| CN208237336U (en) * | 2018-03-28 | 2018-12-14 | 南安欣久商贸有限公司 | A kind of petroleum pipeline detection repair apparatus |
| CN208311785U (en) * | 2018-06-07 | 2019-01-01 | 裴嘉阳 | A kind of pipeline rehabilitation robot |
| CN208595354U (en) * | 2018-06-08 | 2019-03-12 | 上海工程技术大学 | A kind of oil pipeline detection maintenance multi-foot robot |
| CN208705238U (en) * | 2018-06-13 | 2019-04-05 | 莆田市宏铭贸易有限公司 | A kind of petroleum pipeline detection repair apparatus |
| CN109488836A (en) * | 2018-11-21 | 2019-03-19 | 南通理工学院 | A kind of inner wall of the pipe automatic flaw detection, carbon plane and welding robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113090861A (en) * | 2019-12-23 | 2021-07-09 | 深圳市发利构件机械技术服务有限公司 | Offshore platform pipeline intelligent detection system |
| CN113090861B (en) * | 2019-12-23 | 2022-09-09 | 深圳市发利构件机械技术服务有限公司 | Offshore platform pipeline intelligent detection system |
| CN111946942A (en) * | 2020-08-21 | 2020-11-17 | 西安环海机器人科技有限公司 | Rescue system suitable for operation of pipeline robot |
| CN114227135A (en) * | 2021-12-22 | 2022-03-25 | 山东省路桥集团有限公司 | Repairing detector and detecting method for damage of steel box girder |
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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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191029 |