CN113427491B - Wall climbing type pipeline outer surface encircling inspection/cleaning robot and pipeline surface cleaning method - Google Patents
Wall climbing type pipeline outer surface encircling inspection/cleaning robot and pipeline surface cleaning method Download PDFInfo
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- CN113427491B CN113427491B CN202110681429.1A CN202110681429A CN113427491B CN 113427491 B CN113427491 B CN 113427491B CN 202110681429 A CN202110681429 A CN 202110681429A CN 113427491 B CN113427491 B CN 113427491B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/023—Cleaning the external surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses a wall-climbing type pipeline outer surface encircling inspection/cleaning robot and a pipeline surface cleaning method, wherein the robot comprises a carrier frame, an omnidirectional moving device, a damping guide device, a reciprocating cavitation jet cleaning device, a high-speed brush cleaning device, a pipeline detection system and a pressure vessel, wherein the omnidirectional moving device, the damping guide device, the reciprocating cavitation jet cleaning device, the high-speed brush cleaning device, the pipeline detection system and the pressure vessel are arranged on the carrier frame; according to the invention, through the arranged omnidirectional moving device and the damping guide device, the automatic accurate positioning of the robot on the central line of the pipeline can be realized, and the robot can be controlled to be in close contact with the wall surface of the pipeline so as to move along the wall of the pipeline; the robot can realize encircling and progressive cleaning of the pipeline through the arranged reciprocating cavitation jet cleaning device and the rotatable brush cleaning device while the robot moves along the wall; the cleaning efficiency is high, and the stubborn dirt attached to the pipeline can be thoroughly removed.
Description
Technical Field
The invention belongs to the technical field of cleaning robots, relates to a robot with an inspection/cleaning function, and particularly relates to a wall climbing type pipeline surface encircling inspection/cleaning robot capable of adapting to different pipeline environments and a pipeline surface cleaning method.
Background
With the social development, the ground space can not meet the environmental requirements of people in production and living, and the rise of structures such as viaducts, cross-sea bridges, ocean platforms and the like provides infinite possibility for people to expand the production and living space. However, these structures are contaminated by the surrounding environment during application, thereby affecting their safety in use. For example, with the full-scale development of various ocean resource development technologies, the number of ocean platforms (such as offshore oil well platforms, nuclear power plant offshore operation platforms, etc.) is increasing. However, the pipeline used is placed in the sea for a long time, a large amount of marine organisms such as shellfish and algae are usually attached to the outer surface of the pipeline, and the marine organisms are attached to the outer surface of the pipeline for a long time, so that corrosion of the marine environment to the ocean platform is accelerated, and great influence is generated on safety, so that the outer surface of the pipeline placed in the sea needs to be cleaned regularly.
At present, the cleaning work of the outer surface of the seawater pipeline mainly comprises the step of immersing frogmans in water, carrying water jet spray guns by the frogmans, and adopting high-pressure water jet to carry out the cleaning work. However, because the labor intensity of manual cleaning is high, the cleaning cost is high, the cleaning efficiency is low, the underwater environment is complex, the underwater environment is easily affected by weather, and particularly, when the operation is performed in water areas with high depth, low water quality and other environments, the life safety brought by frogman is seriously threatened.
With the development of robotics, the application of robotics in marine development and related fields has attracted worldwide attention and importance, and the development of underwater pipeline inspection and cleaning robotics is a very important research direction.
The patent application document with the application number of CN20201184662. X discloses an underwater pipeline detection robot with a cleaning function, which comprises a protection frame, a sealed cabin, an equipment cabin, a propeller, a sealing component, a cleaning component and a camera, wherein the robot is firstly submerged outside a target pipeline under the action of the sealed cabin and the propeller and hovers after reaching a proper position; then an oil pump positioned in the equipment cabin supplies oil to a hydraulic cylinder in the cleaning assembly, drives the arc-shaped plate II to be closed, forms an annular structure together with the connecting plate, fixes the robot on the pipeline, supplies water to the spray head, and cleans dirt on the outer wall of the pipeline; after the cleaning is finished, the arc-shaped plate is further controlled to be closed, so that the temporary sealing of the shooting area where the camera is located is realized, and the outer wall of the pipeline is further inspected through the camera. Although the technical scheme can reduce the workload of manual cleaning to a certain extent; but need fix robot and pipeline through two arc plates second of adaptation to realize the location to the robot, on this basis, can carry out pipeline cleaning work. The cleaning of the underwater pipeline is intermittent, and the working efficiency of the underwater robot is seriously affected. Moreover, the robot has strict requirements on the size of the underwater pipeline, has no universality and is difficult to effectively popularize in the field. In addition, the robot only washes the underwater pipeline through high-pressure water, and the cleaning effect of the underwater pipeline is difficult to ensure ≡!
Disclosure of Invention
The invention aims to solve the technical problems of low working efficiency, poor cleaning effect, narrow application range and the like of a pipeline cleaning robot, and provides a wall-climbing type pipeline outer surface encircling inspection/cleaning robot which can be suitable for different pipeline environments, can efficiently clean the pipeline outer surface while climbing along a pipeline, and can inspect the pipeline surface cleaning condition in real time.
The invention further provides a method for cleaning the surface of the pipeline by using the wall-climbing type pipeline outer surface encircling inspection/cleaning robot.
In order to achieve the above purpose, the present invention is realized by adopting the following technical scheme.
The invention provides a wall-climbing type pipeline outer surface encircling inspection/cleaning robot which comprises a carrier frame, an omnidirectional moving device, a damping guide device, a reciprocating cavitation jet cleaning device, a high-speed brush cleaning device, a pipeline detection system and a pressure vessel, wherein the omnidirectional moving device, the damping guide device, the reciprocating cavitation jet cleaning device, the high-speed brush cleaning device, the pipeline detection system and the pressure vessel are arranged on the carrier frame;
the omnidirectional moving device is fixed in the carrier frame and is used for driving the robot to move in 360 degrees in an omnidirectional manner and move in an adherence manner; the omnidirectional mobile device comprises a plurality of propellers along three mutually perpendicular directions;
the damping guide device is fixed on the front side of the carrier frame and is used for driving the robot to move up and down along the pipeline; the damping guide device comprises an active damping guide wheel component and a passive damping guide wheel component which are respectively arranged on the front side of the carrier frame,
the reciprocating cavitation jet cleaning device and the high-speed brush cleaning device are sequentially fixed in the middle of the front side of the carrier frame in an up-down sequence; the reciprocating cavitation jet flow cleaning device transmits cavitation bubbles to the pipeline to clean the surface of the pipeline while reciprocating along the circumferential direction of the pipeline; the high-speed brush cleaning device comprises more than one brush assembly, and the brush assembly is utilized to rotationally clean the surface of the pipeline;
the pipeline detection system is fixed on the circumference of the carrier frame and is used for monitoring the surface condition of the pipeline in real time;
the pressure vessel is fixed in the carrier frame; the omnidirectional moving device, the damping guide device, the reciprocating type multi-nozzle cavitation jet cleaning device, the rotatable brush cleaning device and the pipeline detection system are connected with the pressure vessel; the pressure vessel is connected with the terminal control equipment through a cable and is used for receiving an operation command from the terminal control equipment and controlling the damping guide device, the omnidirectional moving device, the reciprocating type multi-nozzle cavitation jet cleaning device, the rotatable brush cleaning device and the pipeline detection system.
The outer surface of the wall-climbing type pipeline embraces the inspection/cleaning robot, and the carrier frame comprises an integrated frame, an upper floating plate and a lower bottom plate which form an integrated framework with the integrated frame; the upper floating plate is used for installing and fixing a plurality of propellers forming the omnidirectional mobile device; the lower bottom plate is used for installing and fixing the pressure vessel. The carrier frame further comprises a floating block and a balancing weight; the floating block is fixed on the upper floating plate; the balancing weight is fixed on the lower bottom plate. Further, the middle part of the front side of the integrated frame is provided with arc-shaped brackets which are distributed symmetrically up and down; the reciprocating cavitation jet cleaning device and the rotatable brush cleaning device are arranged on the arc-shaped bracket.
Above-mentioned wall climbing type pipeline surface embraces inspection/clearance robot, omnidirectional mobile device can provide horizontal, the thrust of vertical direction to realize the omnidirectional movement and the wall-mounted removal of robot body in water. The propeller is a propeller. More than one horizontal propellers are respectively arranged in two directions perpendicular to each other in a horizontal plane, and more than one vertical propellers are arranged in the vertical direction. The propeller is fixed on the floating plate through a corresponding propeller bracket.
The inspection/cleaning robot is surrounded on the outer surface of the wall-climbing type pipeline, the active damping guide wheel assembly drives the robot to turn to the designated direction, and the passive damping guide wheel assembly turns to the corresponding direction along with the active damping guide wheel assembly. The driving damping guide wheel assembly comprises two damping guide wheels, a steering assembly for driving the damping guide wheels to steer and an assembly box, and the two damping guide wheels are arranged on two sides in the assembly box through guide plates; the steering assembly comprises a screw rod, a push rod mechanism arranged on the damping guide wheel and a driving mechanism arranged on the assembly box; the driving mechanism drives the screw rod to rotate, and the push rod mechanism moves linearly along the screw rod under the drive of the screw rod, so that the damping guide wheel is driven to steer in a specified direction. The push rod mechanism consists of a guide block in threaded connection with two ends of the screw rod, a push rod fixedly connected with the guide block and a guide rod arranged at the top end of the damping guide wheel, a bearing is arranged at the tail end of the push rod, the guide rod is arranged in a bearing hole, and the upper end and the lower end of the guide rod are fixedly connected with the end part of the push rod respectively. The driving mechanism comprises a driving motor, a belt and a bearing seat arranged in the assembly box; the bearing seat passes through the screw rod and is coaxially and fixedly connected with the screw rod nut; the belt is sleeved on the shaft sleeve of the output shaft and the bearing seat of the driving motor; the passive damping guide wheel assembly comprises damping universal wheels arranged at two vertex angle positions at the upper end of the integrated frame.
The reciprocating cavitation jet cleaning device comprises a spray head, a guide assembly which is arranged on any arc-shaped support at the front side of the integrated frame, and a driving assembly which drives the spray head to reciprocate along the guide assembly. The spray head is of an arc-shaped hollow pipeline structure, and more than two nozzles are uniformly distributed on the arc-shaped spray head; the nozzle faces to the central axial direction of the arc-shaped spray head along the radial direction, and covers the circumferential range of the current position of the pipeline in the reciprocating motion; the arc-shaped spray head is provided with a drainage tube communicated with the cavitation jet flow supply device. The guide assembly comprises a toothed guide rail and a V-shaped groove bearing, and the toothed guide rail reciprocates along a track formed by the V-shaped groove bearing; the shape of the toothed guide rail is matched with that of the arc-shaped structure of the spray head, and the middle part of the toothed guide rail is an arc-shaped rack with transmission teeth arranged on at least one side; the V-shaped groove bearing is fixedly arranged in a groove of the integrated frame arc-shaped support, and a through groove convenient for the toothed guide rail to slide is formed in the side face of the groove. The driving assembly comprises a driving motor and a gear connected with an output shaft of the driving motor; the gear is meshed with the toothed guide rail. The gear is driven to rotate by a driving motor connected with the gear, so that the toothed guide rail and the spray head fixedly connected with the toothed guide rail are driven to reciprocate along the arc-shaped bracket. In the preferred implementation mode, the two sides of the arc-shaped rack of the toothed guide rail are provided with transmission teeth, the transmission teeth on each side are provided with a driving motor with a gear, the gears are half gears, the rotation directions of the two driving motors are opposite, and when the gears arranged on one side of the driving motors are meshed with the toothed guide rail to rotate, the driving motor on the other side is idle, so that the high-speed reciprocating motion of the spray head is realized.
The outer surface of the wall-climbing type pipeline embraces the inspection/cleaning robot, and the hairbrush assembly comprises a hairbrush roller and a hub motor connected with a central shaft of the hairbrush roller. The brush roller both ends are installed on the arc support at upper and lower both ends of integral type frame front side through the first support arm and the second support arm that rotate through the axis of rotation and connect respectively. Wherein, first support arm and arc support fixed connection. The rotating shaft is connected with the driving motor through a bearing arranged in the first support arm mounting hole. The brush assembly rotates at a high speed to clean dirt on the surface of the pipeline, and meanwhile, the brush assembly can be driven to integrally rotate through the driving motor to further clean the pipeline along the circumferential direction of the pipeline. In a preferred implementation, the brush high speed brush cleaning apparatus includes two sets of brush assemblies; the two groups of brush components are symmetrically arranged on the arc-shaped bracket. The rotating shaft is driven to rotate by the driving motor, and gaps between the two groups of brush assemblies can be adjusted to adapt to cleaning of the surfaces of pipelines with different diameters.
Above-mentioned wall climbing type pipeline surface embraces inspection/clearance robot, and real-time monitoring video that acquires through pipeline detecting system can help looking for the pipeline central line and realize panorama concatenation. The pipe inspection system includes two or more cameras circumferentially arranged along the front side of the carrier frame. In a preferred implementation, the pipeline detection system comprises at least two monocular cameras and a binocular depth camera; the monocular cameras are arranged on two sides of the front side of the carrier frame, and the binocular depth camera is arranged on the upper end of the front side of the carrier frame. In order to make the photographed pipeline and surrounding environment clearer, the pipeline detection system further comprises at least two light supplementing lamps which are arranged on two sides of the front side of the carrier frame and are adjacent to the monocular cameras.
The outer surface of the wall-climbing type pipeline embraces the inspection/cleaning robot and further comprises a hanging ring, a propeller outer cover and side rollers; the lifting ring and the propeller outer cover are arranged on the floating blocks, and the side rollers are arranged on the side edges of the integrated frame and used for recovering and arranging robots, preventing the robots from collision and crawling the wall surfaces.
The invention further provides a pipeline surface cleaning method, which is carried out by the encircling inspection/cleaning robot on the outer surface of the wall-climbing pipeline according to the following steps:
and 4, after the cleaning operation of the single pipeline is finished, driving the omnidirectional moving device to enable the robot to be detached and move to another pipeline to be cleaned, and repeating the steps 1-4 until the cleaning of the surfaces of all the pipelines is finished.
In the step S3, the cleaning of the main part of the pipeline is completed along the pipeline from top to bottom, and then the cleaning of the refractory dirt on the surface of the pipeline is further completed along the pipeline from bottom to top. The pipeline cleaning effect can be further checked through a pipeline detection system.
The method for cleaning the surface of the pipeline can be suitable for cleaning the surface of the pipeline in various structures (such as viaducts, cross-sea bridges, ocean platforms and the like), the omnidirectional moving device is driven by the driving device, the active damping guide wheel component and the passive damping guide wheel component of the robot damping guide device are stably attached to the wall surface (such as a wall surface, a support column and the like) of the structure near the pipeline, and then the cleaning of dirt on the surface of the pipeline is realized according to the steps 1-4.
Compared with the prior art, the wall-climbing type pipeline outer surface encircling inspection/cleaning robot and the pipeline surface cleaning method provided by the invention have the following outstanding advantages and beneficial technical effects:
1. according to the invention, through the arranged omnidirectional moving device and the damping guide device, the automatic and accurate positioning of the robot on the central line of the pipeline can be realized, and the robot can be controlled to be in close contact with the wall surface of the pipeline, so that the robot can move along the wall surface of the pipeline.
2. The invention can enable the robot to realize encircling and progressive cleaning of the pipeline through the arranged reciprocating cavitation jet cleaning device and the rotatable brush cleaning device while the robot is in wall-attached movement; the cleaning efficiency is high, and the stubborn dirt attached to the pipeline can be thoroughly removed.
3. The invention can realize continuous operation of the robot under water, has the advantages of flexible movement, high cleaning efficiency, safety, reliability, stability and the like, and is suitable for popularization and use in the field.
Drawings
Fig. 1 is a perspective view of an inspection/cleaning robot encircling an outer surface of a wall-climbing pipe in accordance with the present invention.
Fig. 2 is a schematic view of a carrier frame structure.
FIG. 3 is a schematic diagram of a floating block structure.
Fig. 4 is a schematic structural diagram of an omni-directional mobile device.
Fig. 5 is a schematic view of a shock absorbing guide structure.
FIG. 6 is a schematic view of an active shock absorbing guide wheel assembly.
Fig. 7 is a schematic view of the active shock absorbing guide wheel assembly with a portion of the guide plate removed.
FIG. 8 is a schematic structural view of a reciprocating cavitation jet cleaning device.
Fig. 9 is a schematic view of a structure of a high-speed brush cleaning apparatus.
Fig. 10 is a schematic view of the structure of the pressure vessel.
Fig. 11 is a schematic view showing a use state of the inspection/cleaning robot encircling the outer surface of the wall-climbing type pipeline.
In the figure, 1-carrier frame, 11-integral frame, 12-upper floating plate, 13-lower bottom plate, 14-arc bracket, 141-groove, 15-floating block, 16-lifting ring, 17-propeller housing, 18, side roller, 19-supporting base, 2-omnidirectional moving device, 21-propeller, 22-propeller bracket, 3-shock absorbing guide device, 31 a-shock absorbing guide wheel, 31 b-shock absorbing universal wheel, 32-steering component, 321-lead screw, 322-guide block, 323-push rod, 324, 431, 55-driving motor, 325-belt, 326-bearing seat, 327-slider, 33-assembly box, 34-guide plate, 35-center shaft, 4-reciprocating cavitation jet cleaning device, 41-spray head, 411-nozzle, 412-drainage tube, 42-guide component, 421-toothed guide rail, 422-V-groove bearing, 43-driving component, 432-gear, 5-high speed brush cleaning device, 51-brush component, 52-first support arm, 53-second support arm, 54-rotating shaft, 6-pipeline detection system, 61-mesh head, 7-binocular depth camera, 7-pressure camera terminal, and 8-camera.
Detailed Description
The following description will give examples of the present invention with reference to the accompanying drawings, and further clearly and completely explain the technical scheme of the present invention by examples. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. Based on this disclosure, all other embodiments that may be made by one of ordinary skill in the art without the exercise of inventive faculty are within the scope of the invention.
Examples
The inspection/cleaning robot is surrounded on the outer surface of the wall-climbing type pipeline, as shown in fig. 1, and comprises a carrier frame 1, an omnidirectional moving device 2, a damping guide device 3, a reciprocating cavitation jet cleaning device 4, a high-speed brush cleaning device 5, a pipeline detection system 6 and a pressure vessel 7, wherein the omnidirectional moving device 2, the damping guide device 3, the reciprocating cavitation jet cleaning device 4, the high-speed brush cleaning device and the pressure vessel 7 are arranged on the carrier frame.
As shown in fig. 1 to 3, the carrier frame 1 includes an integrated frame 11, and an upper floating plate 12 and a lower bottom plate 13 which form an integral structure with the integrated frame. The integral frame is of a cuboid shape as a whole, and the middle part of the front side of the integral frame is provided with arc-shaped brackets 14 which are distributed vertically symmetrically. The upper floating plate is further provided with a floating block 15, and the lower bottom plate is further provided with a balancing weight to increase the stability of the robot. The floating block is further provided with a hanging ring 16 and a propeller outer cover 17, and a plurality of side rollers are arranged on the side edges of the integrated frame. The lifting ring 16, the propeller outer cover 17 and the side rollers 18 are used for recovering and arranging robots and assisting the robots in anti-collision and wall crawling. In addition, four support bases are uniformly distributed at the bottom of the integrated frame for preventing collision and damping when the robot falls into the water in an unexpected manner, and supporting on the ground when the robot is stored at ordinary times.
As shown in fig. 1 and 4, the omnidirectional moving apparatus 2 is fixed in a carrier frame, and includes 4 propeller propellers 21,4, three of which are arranged in a horizontal plane as horizontal propeller propellers and the other of which is arranged in a vertical direction as vertical propeller propellers, mounted on an upper floating plate 12 through propeller supports 22; the horizontal propeller provides horizontal thrust and the vertical propeller provides thrust in the vertical direction so as to realize 360-degree omnidirectional movement and wall-attaching movement of the robot body in water. Three propeller propellers at the horizontal plane, two of which are directed towards the front side of the integrated frame (in order to ensure stable attachment of the robot to the wall near the pipe), and the other one of which is arranged in a direction perpendicular to the first two.
As shown in fig. 1 and fig. 5-7, the damping guide device 3 is located at the front side of the carrier frame, and includes an active damping guide wheel assembly and a passive damping guide wheel assembly which are respectively installed at the lower and upper ends of the front side of the carrier frame, wherein the active damping guide wheel assembly drives the robot to complete the wall-attaching steering movement, and the passive damping guide wheel assembly steers along with the active damping guide wheel assembly in the corresponding direction. As shown in fig. 5 to 7, the active shock absorbing guide wheel assembly includes two shock absorbing guide wheels 31a, a steering assembly 32, and an assembly box 33. Two shock absorbing guide wheels are mounted on both sides in the assembly box by guide plates 34. The steering assembly 32 includes a lead screw 321, a push rod mechanism, and a drive mechanism. The push rod mechanism consists of a guide block 322 in threaded connection with two ends of the screw rod, a push rod 323 fixedly connected with the guide block and a guide rod arranged at the top end of the damping universal wheel; in this embodiment, in order to make the steering of the shock-absorbing guide wheel more stable, each guide block is provided with two push rods 323, which are respectively located at two sides of the guide block; and each push rod is provided with a bearing, the guide rod passes through the bearing hole, and the upper end and the lower end of the guide rod are respectively fixedly connected with the end parts of the push rods through clamping plates. The top end of the damping guide wheel is further provided with a central shaft 35, and the central shaft 35 penetrates through a bearing arranged on the guide plate to be further fixedly connected with the assembly box 33. Further, a slider 327 is provided on the top of the guide block, and forms a sliding pair with a sliding groove provided on the bottom of the guide plate 34, so as to limit the movement displacement of the guide block. The drive mechanism includes a drive motor 324, a belt 325, and a bearing housing 326 mounted within the cartridge. The bearing seat passes through the screw rod 321 and is coaxially and fixedly connected with the screw rod nut 322; the belt 325 is sleeved on the shaft sleeve of the output shaft and the bearing seat of the driving motor. The driving mechanism drives the screw rod to rotate, the guide block moves linearly along the screw rod under the drive of the screw rod, and the guide rod drives the damping guide rod to steer in a specified direction under the action of the push rod; thereby enabling the entire robot to steer. As shown in fig. 5, the passive shock-absorbing guide wheel assembly includes two shock-absorbing universal wheels 31b, and the two shock-absorbing universal wheels 31b are respectively mounted at two vertex angle positions at the upper end of the integrated frame.
In this embodiment, the reciprocating cavitation jet cleaning device 4 is fixed to the middle of the front side of the carrier frame in the order of the lower and high-speed brush cleaning devices 5.
As shown in fig. 1 and 8, the reciprocating cavitation jet cleaning device 4 is mounted on the lower arc bracket 14 at the front side of the integrated frame, and includes a nozzle 41, a guide assembly 42 and a driving assembly 43. The spray head 41 is of an arc-shaped hollow pipeline structure, and three nozzles 411 are uniformly distributed on the arc-shaped spray head; the nozzle faces the central axial direction of the arc-shaped spray head along the radial direction and covers the circumferential range of the current position of the pipeline. The arc-shaped spray head is provided with a drainage tube 412 in the direction deviating from the middle position spray nozzle, the drainage tube is communicated with a cavitation jet flow supply device, the cavitation jet flow supply device can provide a large amount of cavitation bubbles, and the cavitation bubbles are sprayed out from the spray head to generate micro-jet flow impact force of about 100bar, so that the pipeline standard attachment is effectively cleaned. The guide assembly 42 includes a toothed rail 421 and four V-groove bearings 422. Four V-shaped groove bearings are arranged at two ends of the toothed guide rail to form a track through which the toothed guide rail passes, and the toothed guide rail 421 reciprocates along the track formed by the V-shaped groove bearings. The shape of the toothed guide rail 421 is matched with that of the arc-shaped structure of the spray head, and the two ends of the toothed guide rail 421 are fixedly connected through the clamp. The middle part of the toothed guide rail 421 is an arc-shaped rack with transmission teeth arranged on two sides, the two ends of the arc-shaped rack are guide rail parts, and a V-shaped groove bearing for guiding is respectively arranged on two sides of the guide rail parts. The V-shaped groove bearing is fixedly arranged in a groove 141 of the arc-shaped support under the integrated frame, and a through groove which is convenient for the toothed guide rail to slide is formed on the side surface of the groove. The number of the driving components 43 is two, and the driving components are respectively positioned at two sides of the toothed guide rail and comprise a driving motor 431 and a gear 432 connected with the output shaft of the driving motor. The driving motor 431 is mounted on a lower bottom beam of the integrated frame (not shown) through a bracket. The gear is a half-tooth gear, and the gear is meshed with the arc-shaped rack of the toothed guide rail. The gear is driven to rotate by a driving motor connected with the gear, so that the toothed guide rail and the spray head fixedly connected with the toothed guide rail are driven to reciprocate along the arc-shaped bracket. In addition, the rotation directions of the two driving motors are opposite, and when the gear arranged on one side driving motor is meshed with the toothed guide rail for rotation, the other side driving motor is idle, so that the high-speed reciprocating motion of the spray head is realized.
As shown in fig. 1 and 9, the above-mentioned high-speed brush cleaning device 5 is mounted on upper and lower arc brackets 14 at the front side of the integrated frame, and includes two brush assemblies 51 symmetrically arranged along the arc brackets. The two brush components are identical in configuration and comprise a brush roller and a hub motor connected with the central shaft of the brush roller. The brush roller is mounted at both ends thereof on arc brackets 14 at both upper and lower ends of the front side of the integrated frame by a first support arm 52 and a second support arm 53, respectively. The first arm 52 and the second arm 53 are rotatably connected via a rotation shaft 54, wherein the first arm 52 is fixedly connected with the arc-shaped bracket. The rotation shaft 54 is connected to the driving motor 55 via a bearing provided in the first arm mounting hole. The brush assembly rotates at a high speed to clean dirt on the surface of the pipeline, and meanwhile, the brush assembly can be driven to integrally rotate through the driving motor to further clean the pipeline along the circumferential direction of the pipeline. The rotating shaft is driven to rotate by the driving motor 55, and gaps between the two brush groups can be adjusted to adapt to cleaning of the surfaces of pipelines with different diameters.
As shown in fig. 1, the above-mentioned pipe detection system is fixed to the circumference of the carrier frame and located behind the reciprocating cavitation jet cleaning device 4 and the high-speed brush cleaning device 5, and includes two monocular cameras 61, one binocular depth camera 62, and two light supplementing lamps 63. The two monocular cameras 61 and the two light compensating lamps 63 are uniformly arranged at the front side of the integrated frame and are fixed by a bracket. The binocular depth camera 62 is arranged at the upper front side of the integrated frame.
As shown in fig. 1 and 10, the pressure vessel 7 is fixed in an integrated frame and mounted on a lower plate, and is connected to a terminal control device 8 located on a water work platform through an umbilical cable. The pressure vessel is respectively connected with a damping guide device, an omnidirectional moving device, a reciprocating type multi-nozzle cavitation jet cleaning device, a rotatable brush cleaning device and a pipeline detection system; and receiving an operation command from the terminal control equipment, and controlling the damping guide device, the omnidirectional moving device, the reciprocating type multi-nozzle cavitation jet cleaning device, the rotatable brush cleaning device and the pipeline detection system. The terminal control equipment 8 comprises a crane for hoisting the robot, a cavitation jet supply device, a terminal controller, a monitor and the like; the hoisting equipment is used for hoisting the robot through cables; the cavitation jet supply device adopts a conventional cavitation jet cleaning device; the terminal controller is connected with the pressure vessel through an umbilical cable and is used for controlling each propeller, the driving motor, the light supplementing lamp and the like; the monitor is connected with the pressure vessel through an umbilical cable and is used for controlling the monocular camera and the binocular depth camera.
In this embodiment, taking two underwater pipelines as an example, a method for cleaning the surface of an underwater pipeline by using the above-mentioned wall-climbing type pipeline outer surface encircling inspection/cleaning robot is further explained, and as shown in fig. 11, the pipeline surface cleaning method includes the following steps:
and 4, after the cleaning operation of the single pipeline is finished, driving the omnidirectional moving device to enable the robot to be detached and move to another pipeline to be cleaned, and repeating the steps 1-4 until the cleaning of the surfaces of all the pipelines is finished.
After one pipeline is cleaned, the robot is separated from the water surface and returns to the step 1, the pipe is found again and positioned to the other pipeline of the same well, and cleaning operation is carried out according to the same flow. For a single pipeline with the length of 7-8 m, the cleaning time is not more than 15min, and the movement speed of the underwater operation robot vertical to the water surface is about 1m/min. After all the underwater pipelines are cleaned, the ground operators recover the underwater cleaning operation by robots.
Those of ordinary skill in the art will recognize that the embodiments described herein are for the purpose of aiding the reader in understanding the principles of the present invention and should be understood that the scope of the invention is not limited to such specific statements and embodiments. Those of ordinary skill in the art can make various other specific modifications and combinations from the teachings of the present disclosure without departing from the spirit thereof, and such modifications and combinations remain within the scope of the present disclosure.
Claims (7)
1. The robot is characterized by comprising a carrier frame (1), an omnidirectional moving device (2), a damping guide device (3), a reciprocating cavitation jet cleaning device (4), a high-speed brush cleaning device (5), a pipeline detection system (6) and a pressure vessel (7), wherein the omnidirectional moving device (2), the damping guide device (3), the reciprocating cavitation jet cleaning device (4) and the high-speed brush cleaning device are arranged on the carrier frame;
the omnidirectional moving device (2) is fixed in the carrier frame and is used for driving the robot to move in 360 degrees in an omnidirectional manner and move in an adherence manner; the omnidirectional mobile device comprises a plurality of propellers (21) along three mutually perpendicular directions;
the damping guide device (3) is fixed on the front side of the carrier frame and is used for driving the robot to move up and down along the pipeline; the damping guide device comprises an active damping guide wheel assembly and a passive damping guide wheel assembly which are arranged on the front side of the carrier frame; the driving damping guide wheel assembly comprises two damping guide wheels (31 a), a steering assembly (32) for driving the damping guide wheels to steer and an assembly box (33), and the two damping guide wheels are arranged on two sides in the assembly box through guide plates (34); the steering assembly (32) comprises a screw rod (321), a push rod mechanism arranged on the damping guide wheel and a driving mechanism arranged on the assembly box; the driving mechanism drives the screw rod to rotate, and the push rod mechanism moves linearly along the screw rod under the drive of the screw rod, so that the damping guide wheel is driven to steer in a specified direction; the passive damping guide wheel assembly comprises damping universal wheels (31 b) arranged at two vertex angle positions at the upper end of the integrated frame;
the reciprocating cavitation jet cleaning device (4) and the high-speed brush cleaning device (5) are sequentially fixed in the middle of the front side of the carrier frame in an up-down sequence; the reciprocating cavitation jet flow cleaning device transmits cavitation bubbles to the pipeline to clean the surface of the pipeline while reciprocating along the circumferential direction of the pipeline; the high-speed brush cleaning device comprises more than one brush assembly (51), and the brush assembly is utilized to rotationally clean the surface of the pipeline; the reciprocating cavitation jet cleaning device (4) comprises a spray head (41), a guide assembly (42) for installing the spray head on any arc-shaped bracket at the front side of the integrated frame, and a driving assembly (43) for driving the spray head to reciprocate along the guide assembly; the spray head (41) is of an arc-shaped hollow pipeline structure, and more than two nozzles (411) are uniformly distributed on the arc-shaped spray head; the nozzle faces the central axial direction of the arc-shaped spray head along the radial direction; the arc-shaped spray head is provided with a drainage tube (412) communicated with the cavitation jet flow supply device; the guide assembly (42) comprises a toothed guide rail (421) and a V-shaped groove bearing (422), the toothed guide rail reciprocates along a track formed by the V-shaped groove bearing, the V-shaped groove bearing is fixedly arranged in a groove (141) of the integrated frame arc-shaped bracket, and a through groove which is convenient for the toothed guide rail to slide is formed on the side surface of the groove; the driving assembly comprises a driving motor and a gear (432) connected with an output shaft of the driving motor; the gear is meshed with the toothed guide rail;
the pipeline detection system (6) is fixed on the circumference of the carrier frame and is used for monitoring the surface condition of the pipeline in real time;
the pressure vessel (7) is fixed in the carrier frame; the omnidirectional moving device (2), the damping guide device (3), the reciprocating cavitation jet cleaning device (4), the high-speed brush cleaning device (5) and the pipeline detection system (6) are connected with the pressure vessel (7); the pressure vessel is connected with the terminal control equipment through a cable and is used for receiving an operation command from the terminal control equipment and controlling the damping guide device, the omnidirectional moving device, the reciprocating cavitation jet cleaning device, the high-speed brush cleaning device and the pipeline detection system.
2. The wall-climbing pipe external surface embracing inspection/cleaning robot according to claim 1, characterized in that the carrier frame (1) comprises an integral frame (11) and upper (12) and lower (13) base plates forming an integral frame with the integral frame; the upper floating plate is used for installing and fixing a plurality of propellers forming the omnidirectional mobile device; the lower bottom plate is used for installing and fixing the pressure vessel.
3. The wall climbing type pipeline outer surface embracing inspection/cleaning robot according to claim 1, wherein more than one horizontal thrusters are respectively arranged in two directions perpendicular to each other in a horizontal plane, and more than one vertical thrusters are arranged in a vertical direction.
4. The wall climbing pipe exterior surface embracing inspection/cleaning robot of claim 1, wherein the brush assembly (51) includes a brush roller and an in-wheel motor connected to a brush roller central shaft.
5. The robot for inspecting and cleaning the outer surface of a wall-climbing type pipeline according to claim 4, wherein the two ends of the brush roller are respectively arranged on arc-shaped brackets at the upper and lower ends of the front side of the integral frame through a first support arm (52) and a second support arm (53) which are rotationally connected through a rotating shaft (54); wherein, the first support arm (52) is fixedly connected with the arc-shaped bracket; the rotating shaft is connected with the driving motor through a bearing arranged in the first support arm mounting hole.
6. The wall climbing pipe exterior surface embracing inspection/cleaning robot according to claim 1, wherein the pipe inspection system comprises two or more cameras and two or more light supplement lamps circumferentially arranged along a carrier frame front side.
7. A method of cleaning a surface of a pipe, characterized in that the encircling inspection/cleaning robot for the outer surface of a wall-climbing pipe according to any one of claims 1 to 6 is carried out by:
step 1, acquiring a monitoring video based on a pipeline detection system, and driving an omnidirectional moving device to move a robot to a pipeline position;
step 2, further acquiring a monitoring video based on a pipeline detection system, and driving a damping guide device to enable the robot to be positioned to the central line of the pipeline;
step 3, driving an omnidirectional moving device to enable a robot to move downwards along the wall of a pipeline, starting a reciprocating cavitation jet flow cleaning device and a high-speed brush cleaning device at the same time, and emitting cavitation bubbles when the reciprocating cavitation jet flow cleaning device moves back and forth along the circumferential direction of the pipeline so as to clean the surface of the pipeline fully; the surface of the pipeline is further cleaned by a brush which rotates at a high speed by a high-speed brush cleaning device;
and 4, after the cleaning operation of the single pipeline is finished, driving the omnidirectional moving device to enable the robot to be detached and move to another pipeline to be cleaned, and repeating the steps 1-4 until the cleaning of the surfaces of all the pipelines is finished.
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