CN112303375A - Pipeline inspection robot - Google Patents
Pipeline inspection robot Download PDFInfo
- Publication number
- CN112303375A CN112303375A CN202011179840.0A CN202011179840A CN112303375A CN 112303375 A CN112303375 A CN 112303375A CN 202011179840 A CN202011179840 A CN 202011179840A CN 112303375 A CN112303375 A CN 112303375A
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- Prior art keywords
- pipeline
- fixed
- inspection robot
- pipeline inspection
- support frame
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- Pending
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- 238000007689 inspection Methods 0.000 title claims description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 239000000463 material Substances 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 5
- 239000011248 coating agent Substances 0.000 claims description 4
- 238000000576 coating method Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 8
- 239000003973 paint Substances 0.000 description 14
- 239000007921 spray Substances 0.000 description 13
- 230000002159 abnormal effect Effects 0.000 description 6
- 238000005507 spraying Methods 0.000 description 5
- 239000000428 dust Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
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
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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
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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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
-
- 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)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pipeline detection robot, which relates to the technical field of pipeline detection and comprises two manipulators for detecting pipelines, a left-right moving mechanism for moving the manipulators left and right, and an up-down moving mechanism for moving the manipulators up and down; the manipulator comprises a base, a mechanical arm, a clamping jaw for measuring the diameter of the pipeline and a driving box for providing power for the clamping jaw, wherein the bottom end of the mechanical arm is mounted on the base, and the clamping jaw is mounted at the tail end of the mechanical arm through the driving box.
Description
Technical Field
The invention belongs to the technical field of pipeline detection, and particularly relates to a pipeline detection robot.
Background
The leakage of four pipes of the boiler is the main reason causing various unplanned shutdown of the thermal generator set, accounts for 50-60% of the non-shutdown accident rate of the set, is a big stubborn disease which troubles the thermal power generation enterprises, and greatly threatens the safe operation of the thermal power plant;
pipeline inspection robot in the existing market still has the defect when carrying out safety inspection to boiler pipeline, for example, the robot is difficult to climb along the pipeline, causes it to be difficult to detect highly great pipeline, and in the testing process, is difficult to handle the dust on the pipeline, and then influences the accuracy of testing result, also is difficult to mark unusual pipeline simultaneously, leads to follow-up maintainer to be difficult to in time investigate and has unusual pipeline.
Disclosure of Invention
The present invention is directed to a pipeline inspection robot to solve the above problems.
The technical scheme adopted by the invention is as follows:
a pipeline detection robot comprises two manipulators for detecting pipelines, a left-right moving mechanism for moving the manipulators left and right, and an up-down moving mechanism for moving the manipulators up and down;
the manipulator comprises a base, a mechanical arm, a clamping jaw for measuring the diameter of the pipeline and a driving box for providing power for the clamping jaw, wherein the bottom end of the mechanical arm is installed on the base, and the clamping jaw is installed at the tail end of the mechanical arm through the driving box.
Preferably, the left-right moving mechanism comprises a support frame, the base is located at the top of the support frame, and a linear guide rail is installed between the base and the support frame.
Preferably, the up-and-down moving mechanism comprises two fixing frames, the two fixing frames are symmetrically distributed on two sides of the pipeline to be detected and are connected through a connecting rod, and the supporting frame is fixed at the top of the fixing frames through supporting.
Preferably, one side of mount is provided with four gyro wheels, wherein, two the gyro wheel is fixed in the both ends of mount, and two other the gyro wheel is located the outer wall of waiting to detect the pipeline, and is close to and is provided with hydraulic spring between two gyro wheels and the mount of waiting to detect the pipeline outer wall, and connects through the rubber tape transmission between four gyro wheels, be provided with on the mount and be used for driving gyro wheel pivoted motor.
Preferably, bottom one side of support frame is fixed with fixed frame, the bottom of drive case is fixed with the fixed block, the inside of fixed block is provided with and is used for jet-propelled second shower nozzle, the inside of fixed frame is provided with the fan, and the bottom of fixed frame is provided with the inlet port, be connected with between the air outlet of fan and the second shower nozzle and have elastic air duct.
Preferably, the bottom of the fixing frame is positioned outside the air inlet hole and is fixedly provided with a filter screen.
Preferably, a material suction pump and a coating box are arranged on one side, located on the fan, of the inside of the support frame, a first spray nozzle used for spraying and blowing coating is arranged on one side, located on the second spray nozzle, of the inside of the fixing block, a feed inlet of the material suction pump is connected with the coating box through a pipeline, and an elastic material guide pipe is connected between a discharge outlet of the material suction pump and the first spray nozzle.
Preferably, the guide pipe and the air guide pipe are sleeved with a protective pipe.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. when the device is used, the height of the mechanical arms can be adjusted by the two groups of mechanical arms, the up-down moving mechanism and the left-right moving mechanism are matched, so that the mechanical arms can detect pipelines with different heights, and meanwhile, the two groups of mechanical arms can move oppositely from two sides of the calandria to detect the pipelines, so that the detection efficiency of the pipelines is improved.
2. When the device is used, the second spray head can spray high-pressure gas under the action of the fan, the air inlet and the air guide pipe, and meanwhile, the second spray head is positioned at the bottom of the manipulator driving box, so that the second spray head can move along with the manipulator to remove dust on a pipeline to be detected, and the accuracy of the manipulator for detecting the pipeline result is improved.
3. When the fluorescent paint spraying device is used, the fluorescent paint in the paint box can be extracted by the spray head through the material suction pump and the material guide pipe when the pipeline is detected to be abnormal, and the abnormal pipeline is sprayed to mark the abnormal pipeline, so that the convenience of subsequent maintenance of the pipeline is improved.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is an external view of the stand of the present invention;
FIG. 3 is an external view of the driving box of the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 1;
FIG. 5 is a cross-sectional view of the mounting block of the present invention;
figure 6 is a sectional view of the fixing frame according to the invention;
in the figure: 1. a fixed mount; 2. a rubber belt; 3. a roller; 4. a hydraulic spring; 5. a connecting rod; 6. a support frame; 7. a protective tube; 8. a mechanical arm; 9. a base; 10. a linear guide rail; 11. a fixing frame; 12. a suction pump; 13. a drive box; 14. a clamping jaw; 15. a fixed block; 16. a first nozzle; 17. a material guide pipe; 18. an air duct; 19. a second nozzle; 20. a paint tank; 21. an air inlet; 22. a fan.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 6, a pipeline inspection robot includes two manipulators for inspecting a pipeline, a left-right moving mechanism for moving the manipulators left and right, and an up-down moving mechanism for moving the manipulators up and down;
the manipulator comprises a base 9, a mechanical arm 8, a clamping jaw 14 for measuring the diameter of the pipeline and a driving box 13 for providing power for the clamping jaw 14, wherein the bottom end of the mechanical arm 8 is installed on the base 9, and the clamping jaw 14 is installed at the tail end of the mechanical arm 8 through the driving box 13.
The left-right moving mechanism comprises a support frame 6, a base 9 is positioned at the top of the support frame 6, and a linear guide rail 10 is arranged between the base 9 and the support frame 6.
The up-and-down moving mechanism comprises two fixing frames 1, wherein the two fixing frames 1 are symmetrically distributed on two sides of the pipeline to be detected, the two fixing frames 1 are connected through a connecting rod 5, and a supporting frame 6 is fixed at the top of the fixing frame 1 through supporting.
One side of mount 1 is provided with four gyro wheels 3, and wherein, two gyro wheels 3 are fixed in the both ends of mount 1, and two other gyro wheels 3 are located and detect the outer wall of pipeline, and are close to and are detected and are provided with hydraulic spring 4 between two gyro wheels 3 and the mount 1 of detecting the pipeline outer wall, and connect through the transmission of rubber tape 2 between four gyro wheels 3, are provided with on the mount 1 and are used for driving 3 pivoted motors of gyro wheel.
Through the technical scheme:
during the use, put two mount 1 in the both sides of waiting to detect the pipeline respectively, then through connecting rod 5 with two mount 1 fixed connection, under the effect of hydraulic spring 4, can make the gyro wheel 3 that is close to waiting to detect the pipeline extrude with waiting to detect the pipeline contact, and then improve the frictional force between rubber tape 2 and the pipeline, then drive gyro wheel 3 through the motor on mount 1 and rotate, can make the vertical moving mechanism reciprocate along the outer wall of pipeline to the height of adjusting the manipulator, make it detect the pipeline of co-altitude not;
the base 9 can move left and right along the support frame 6 through the linear guide rail 10, so that the manipulator can transversely detect different pipelines, and the two groups of manipulators are arranged, so that the manipulators can simultaneously move oppositely from two sides of the discharge pipe to detect the pipelines, and the detection efficiency of the pipelines is improved;
in the manipulator testing process, can adjust the interval between the clamping jaw 14 through drive case 13, be equipped with the sensor that is used for detecting the clamping jaw 14 interval in the drive case 13 simultaneously to the width of calculating the pipeline, the power mode of drive case 13 drive clamping jaw 14 can be for passing through the cylinder, also can be for lead screw guide rail mechanism, also can be the hold-in range and then synchronous pulley cooperation mode.
Referring to fig. 1 to 6, a fixed frame 11 is fixed on one side of the bottom of the supporting frame 6, a fixed block 15 is fixed on the bottom of the driving box 13, a second nozzle 19 for spraying air is arranged inside the fixed block 15, a fan 22 is arranged inside the fixed frame 11, an air inlet 21 is arranged at the bottom of the fixed frame 11, and an elastic air duct 18 is connected between an air outlet of the fan 22 and the second nozzle 19.
The bottom of the fixed frame 11 is fixed with a filter screen outside the air inlet 21.
Through the technical scheme:
when the automatic air-suction device is used, the up-down moving mechanism drives the manipulator to move, the fan 22 can be started, after the fan 22 works, the air can be sucked through the air inlet hole 21, the sucked air is sent into the second spray nozzle 19 through the air guide pipe 18, and then the air can be sprayed out of the second spray nozzle 19;
since the second nozzle 19 is located in the fixing block 15 at the bottom of the driving box 13, the second nozzle 19 moves along with the manipulator, and blows on the pipeline to be detected, so as to remove dust on the pipeline, thereby improving the accuracy of the manipulator detecting the pipeline result.
Referring to fig. 1 to 6, a suction pump 12 and a paint tank 20 are disposed inside the support frame 6 on a side of the blower 22, a first nozzle 16 for spraying paint is disposed inside the fixing block 15 on a side of the second nozzle 19, a feed inlet of the suction pump 12 is connected to the paint tank 20 through a pipe, and a guide pipe 17 having elasticity is connected between a discharge outlet of the suction pump 12 and the first nozzle 16.
The guide tube 17 and the air guide tube 18 are sleeved with the protective tube 7.
Through the technical scheme:
when the fluorescent paint spraying device is used, fluorescent paint is placed in the paint box 20, in the detection process of a manipulator, when a detected pipeline is abnormal, the suction pump 12 is automatically started, then the suction pump 12 pumps the fluorescent paint in the paint box 20 and conveys the fluorescent paint to the first spray head 16 through the material guide pipe 17, and then the fluorescent paint is sprayed out of the first spray head 16 to spray the currently detected abnormal pipeline, so that a subsequent maintainer can quickly identify the abnormal pipeline;
the protective tube 7 can protect the air guide tube 18 and the material guide tube 17.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A pipeline inspection robot, its characterized in that: the robot comprises two manipulators for detecting the pipelines, a left-right moving mechanism for moving the manipulators left and right, and an up-down moving mechanism for moving the manipulators up and down;
the manipulator comprises a base (9), a mechanical arm (8), a clamping jaw (14) for measuring the diameter of the pipeline and a driving box (13) for providing power for the clamping jaw (14), wherein the bottom end of the mechanical arm (8) is installed on the base (9), and the clamping jaw (14) is installed at the tail end of the mechanical arm (8) through the driving box (13).
2. The pipeline inspection robot of claim 1, wherein: the left-right moving mechanism comprises a support frame (6), the base (9) is located at the top of the support frame (6), and a linear guide rail (10) is installed between the base (9) and the support frame (6).
3. The pipeline inspection robot of claim 1, wherein: the up-and-down moving mechanism comprises two fixing frames (1), wherein the fixing frames (1) are symmetrically distributed on two sides of the pipeline to be detected, the two fixing frames (1) are connected through a connecting rod (5), and the supporting frame (6) is fixed at the top of the fixing frames (1) through supporting.
4. The pipeline inspection robot of claim 3, wherein: one side of mount (1) is provided with four gyro wheels (3), wherein, two gyro wheel (3) are fixed in the both ends of mount (1), and two in addition gyro wheel (3) are located and wait to detect the outer wall of pipeline, and are close to and are provided with hydraulic spring (4) between two gyro wheels (3) and mount (1) of waiting to detect the pipeline outer wall, and connect through rubber tape (2) transmission between four gyro wheels (3), be provided with on mount (1) and be used for driving gyro wheel (3) pivoted motor.
5. The pipeline inspection robot of claim 1, wherein: the bottom one side of support frame (6) is fixed with fixed frame (11), the bottom of drive case (13) is fixed with fixed block (15), the inside of fixed block (15) is provided with and is used for jet-propelled second shower nozzle (19), the inside of fixed frame (11) is provided with fan (22), and the bottom of fixed frame (11) is provided with inlet port (21), be connected with between the air outlet of fan (22) and second shower nozzle (19) and have elastic air duct (18).
6. The pipeline inspection robot of claim 5, wherein: the bottom of the fixed frame (11) is positioned outside the air inlet hole (21) and is fixed with a filter screen.
7. The pipeline inspection robot of claim 5, wherein: one side that the inside of support frame (6) is located fan (22) is provided with and inhales material pump (12) and scribbles workbin (20), one side that the inside of fixed block (15) is located second shower nozzle (19) is provided with first shower nozzle (16) that are used for jetting coating, the feed inlet of inhaling material pump (12) passes through the pipeline and is connected with scribbling workbin (20), it has elastic passage (17) to inhale to be connected with between the discharge gate of material pump (12) and first shower nozzle (16).
8. The pipeline inspection robot of claim 7, wherein: and the protective pipe (7) is sleeved outside the material guide pipe (17) and the air guide pipe (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011179840.0A CN112303375A (en) | 2020-10-29 | 2020-10-29 | Pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011179840.0A CN112303375A (en) | 2020-10-29 | 2020-10-29 | Pipeline inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112303375A true CN112303375A (en) | 2021-02-02 |
Family
ID=74331985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011179840.0A Pending CN112303375A (en) | 2020-10-29 | 2020-10-29 | Pipeline inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112303375A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112356941A (en) * | 2020-11-03 | 2021-02-12 | 张梅 | Climbing mechanism for robot |
| WO2023040104A1 (en) * | 2021-09-15 | 2023-03-23 | 中航华东光电（上海）有限公司 | Pipeline foreign matter detection device and detection method |
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| CN215173261U (en) * | 2020-10-29 | 2021-12-14 | 张梅 | Pipeline inspection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023040104A1 (en) * | 2021-09-15 | 2023-03-23 | 中航华东光电（上海）有限公司 | Pipeline foreign matter detection device and detection method |
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