CN113700976A - Robot for pipeline maintenance - Google Patents
Robot for pipeline maintenance Download PDFInfo
- Publication number
- CN113700976A CN113700976A CN202110946662.8A CN202110946662A CN113700976A CN 113700976 A CN113700976 A CN 113700976A CN 202110946662 A CN202110946662 A CN 202110946662A CN 113700976 A CN113700976 A CN 113700976A
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- China
- Prior art keywords
- maintenance
- guide rail
- rack
- pipeline
- robot
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- 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
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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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
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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
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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
- F16L2101/12—Cleaning
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- 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 robot for pipeline maintenance, which comprises a rack, a guide mechanism, a cleaning assembly, a guide rail maintenance group and a driving mechanism, wherein the guide mechanism is arranged on the rack; the guide mechanism comprises a plurality of guide wheels and a guide frame, and the guide wheels are linearly distributed on the guide frame along the longitudinal direction of the guide rail; the cleaning assembly comprises a cleaning nozzle group and a fluid conduit; the guide rail maintenance group comprises a plurality of guide rail maintenance devices; for each guide rail maintenance device, the guide rail maintenance device comprises a mounting base, a blow-drying nozzle, a wiping piece and an oil coating block with a plurality of oil outlets, wherein the wiping piece, the oil coating block and the blow-drying nozzle are sequentially arranged on the mounting base along the advancing direction of the maintenance robot, the oil coating block and the wiping piece can be arranged on the mounting base in a lifting mode, and the mounting base is arranged on the rack. According to the invention, through arranging the cleaning assembly, the guide rail maintenance group and the driving mechanism, walking and cleaning maintenance in a narrow pipeline are realized, the workload of manual operation is reduced, and the quality and the efficiency of maintenance are improved.
Description
Technical Field
The invention belongs to the field of special robots, and particularly relates to a robot for pipeline maintenance.
Background
In particular applications, the pipes are long, but have a small inner diameter. The inside of the pipeline is provided with a guide rail used for the walking or the auxiliary operation of the operation device. The guide rail needs to be maintained regularly in a working environment, and the maintenance comprises operations of cleaning and maintaining the inner wall of the pipeline and the guide rail. Because the guide rail is located inside the pipeline, the current manual work is adopted to maintain, namely, after climbing into the pipeline, an operator carries out maintenance operations such as observation, cleaning, wiping and the like on the inner wall and the track of the pipeline. Because the environment in the pipeline is bad, the manual operation efficiency is extremely low, the operation technical requirements for operators are high, and meanwhile, the physical and mental health of the operators is also influenced.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a robot for pipeline maintenance, which realizes the operations of maintaining, cleaning and oiling a guide rail through an integrated structure, can effectively maintain the pipeline and the guide rail in the pipeline, reduces the manual labor amount in the whole operation process, and realizes the automation of pipeline maintenance.
In order to achieve the above object, according to one aspect of the present invention, there is provided a robot for maintaining a pipeline, the pipeline including a pipeline body having an axis extending in a horizontal direction and a plurality of guide rails uniformly distributed on an inner circumference of the pipeline body, wherein the robot includes a frame, a guide mechanism, a cleaning assembly, a guide rail maintenance group, and a driving mechanism for traveling on the guide rails;
the guide mechanism is arranged on the rack in a lifting manner and comprises a plurality of guide wheels which are matched with the guide rail in shape and a guide frame for mounting the guide wheels, and the guide wheels are longitudinally distributed on the guide frame in a straight line along the guide rail;
the cleaning assembly includes a cleaning nozzle set and a fluid conduit for delivering cleaning fluid to the cleaning nozzle set; the cleaning nozzle group is arranged on the rack and used for cleaning the inner wall of the pipeline;
the guide rail maintenance group comprises a plurality of guide rail maintenance devices; for each guide rail maintenance device, each guide rail maintenance device comprises a mounting base, a blow-drying nozzle, a wiping sheet and an oiling block with a plurality of oil outlets, the wiping sheet, the oiling block and the blow-drying nozzle are sequentially arranged on the mounting base along the traveling direction of the maintenance robot, the oiling block and the wiping sheet can be mounted on the mounting base in a lifting mode, and the mounting base is mounted on the machine frame;
the driving mechanism is arranged on the rack and used for driving the rack to walk on the guide rail.
Preferably, the cleaning nozzle group includes first and second cleaning nozzles and they are respectively installed on the rack to respectively clean the inner wall of the pipe and the bottom of the pipe.
Preferably, the guide rail maintenance group comprises four guide rail maintenance devices of a first maintenance assembly, a second maintenance assembly, a third maintenance assembly and a fourth maintenance assembly which are respectively arranged on the machine frame; the second maintenance assembly and the third maintenance assembly are respectively rotatably mounted on the rack, so that the second maintenance assembly and the third maintenance assembly can be folded conveniently.
Preferably, the second maintenance assembly and the third maintenance assembly are mounted on the machine frame through a rotary fixing mechanism; the rotary fixing mechanism comprises a rotary cylinder, a synchronous rack plate and two rotary locking assemblies which are arranged on the rack; the rotating cylinder is connected with the synchronous rack plate; for each rotary locking assembly, the rotary locking assembly respectively comprises a rotary gear, a locking gear and a locking cylinder, and the locking cylinder is connected with the locking gear; the rack is reserved on both sides of the synchronous rack plate and is respectively used for being meshed with the rotating gear of the rotating locking assembly, so that the rotating locking assembly is driven to be fixedly sleeved on the rotating gear, and the guide rail maintenance device on the rotating gear rotates.
Preferably, the oil injection driving assembly comprises a quick-change oil cylinder, an oil injection interface, an oil injection pipe, an oil injection lead screw and an oil injection piston which is adaptive to the inner diameter of the quick-change oil cylinder; the quick-change oil cylinder is mounted on the rack, an opening for the oil injection piston to enter and exit is reserved on the quick-change oil cylinder, and the quick-change oil cylinder, the oil injection interface and the oil injection pipe are communicated in sequence; the oil injection screw rod is movably arranged on the rack and connected with the oil injection piston so as to drive the oil injection piston in the quick-change oil cylinder to do linear motion.
Preferably, the maximum stroke of the oil injection piston away from the oil injection interface is greater than the length of the quick-change oil cylinder, so that the quick-change oil cylinder can be replaced conveniently.
Preferably, the part of the oiling lead screw exposed out of the rack is connected with an oiling handle.
Preferably, a containing groove for containing the quick-change oil cylinder is reserved on the rack, and a through hole for conveniently extending the oil injection lead screw and a through hole for installing an oil injection interface are reserved on the groove wall of the containing groove.
Preferably, the rack is further provided with an accommodating groove cover plate assembly, and the accommodating groove cover plate assembly comprises an accommodating groove cover plate, a lock tongue, a lock body, a lock tongue spring and a lock tongue mounting seat; a limiting hole matched with the lock tongue is reserved on the lock body fixed on the accommodating groove cover plate, a blind hole is reserved at the limiting hole of the lock tongue mounting seat relative to the lock body, and the lock tongue spring and the lock tongue are sequentially connected from inside to outside and arranged in the blind hole, so that the lock tongue spring is clamped with the lock tongue extending into the limiting hole of the lock body; and a through hole communicated with the blind hole is reserved on the surface of the bolt mounting seat, so that the bolt is pushed to be far away from the lock body, and then unlocking is realized.
Preferably, the driving mechanism is arranged on the frame and comprises a driving synchronous pulley, a driven synchronous pulley, a synchronous belt, a walking bracket and a driving motor; the driving synchronous belt wheel and the driven synchronous belt wheel are respectively rotatably arranged on the walking bracket and used for sleeving the synchronous belt; the driving motor is arranged on the walking support and used for driving the driving synchronous belt wheel to rotate, so that the synchronous belt can walk on the guide rail in the pipeline.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) the invention realizes the guiding and the transverse limiting by utilizing the guiding mechanism arranged on the frame, and the frame is also provided with the cleaning assembly and the guide rail maintenance group for maintaining the inner wall of the pipeline and the guide rail in the pipeline, and realizes the automatic walking of the robot by the driving mechanism arranged at the bottom of the frame, thereby realizing the automatic and high-efficiency maintenance of the pipeline.
(2) The invention can maintain the inner wall of the pipeline and the track in a targeted manner by arranging the plurality of cleaning nozzles and the plurality of maintenance assemblies, wherein the maintenance assemblies which can be folded are arranged, so that the robot can conveniently enter and exit the pipeline and make adaptive adjustment according to the condition in the pipeline, and the environmental adaptability of the robot is improved.
(3) The maintenance component is fixedly clamped by the arrangement of the rotary fixing mechanism, so that the stability of the maintenance component in a folded state and a working state is ensured.
(4) According to the quick-change oil cylinder, the oiling driving assembly is used for effectively supplying oil to the oiling part of each maintenance assembly, and the stroke of the lead screw is enough to be separated from the interior of the quick-change oil cylinder, so that the quick-change oil cylinder can be replaced, and the quick-change oil cylinder is compact and orderly in structure and convenient for equipment maintenance.
(5) The automatic pipeline maintenance device is simple in structure and easy and convenient to operate, automatic maintenance of the interior of the pipeline can be achieved, the amount of manual labor is reduced, and meanwhile the quality of pipeline maintenance is improved.
Drawings
FIG. 1 is a schematic diagram of a robot for track maintenance in an unfolded working state according to the present invention;
FIG. 2 is a structural diagram of a folding and accommodating state of a robot for track maintenance in the invention;
FIG. 3 is a cross-sectional view of the oiling mechanism of the present invention;
FIG. 4 is a schematic structural view of the oil drum cover plate assembly of the present invention;
FIG. 5 is a schematic structural view of the rotating fixture of the present invention;
FIG. 6 is a schematic structural view of the drive mechanism of the present invention;
fig. 7 is a schematic diagram of the configuration of the track maintenance group of the present invention.
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. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 7, a robot for maintaining a pipe includes a pipe body having an axis extending in a horizontal direction and a plurality of guide rails uniformly distributed on an inner circumference of the pipe body. More specifically, the pipeline is 8.5m long, 4 guide rails which are 8.5m long are arranged on the inner wall of the pipeline according to the vertical direction, the horizontal direction and the vertical direction, and the section of the upper guide rail is concave. The maintenance operation in the pipeline comprises the operations of observing the interior of the pipeline and the surfaces of the four guide rails, cleaning, drying, wiping, coating oil and the like. The robot comprises a rack 1, a guide mechanism 2, a cleaning assembly 3, a guide rail maintenance group 4 and a driving mechanism 6 for walking on a guide rail;
the frame 1 is a high-strength aluminum alloy shell, and the shape of the frame adopts a closed cuboid structure; for the convenience of processing and assembly, divide into upper, middle and lower three-layer with this frame 1, the connection terminal surface all is provided with 0 type circle between the layer, ensures waterproof seal to connect through hidden screw. The frame 1 is located the terminal surface of robot direction of travel and is provided with main camera to and the light of the main camera work of being convenient for.
The guide mechanism 2 can be installed on the rack 1 in a lifting mode, so that the robot can conveniently adjust the adaptability in the pipeline and can conveniently enter and exit the pipeline. Preferably, the guide mechanism 2 is lifted and lowered by a cylinder. The guide mechanism 2 comprises a plurality of guide wheels 21 which are adaptive to the shape of the guide rail and a guide frame 22 for mounting each guide wheel 21, each guide wheel 21 is provided with a protruding part so as to be clamped into a concave part on the guide rail, so that the limiting and guiding effects are achieved, and the guide wheels 21 are linearly distributed on the guide frame 22 along the longitudinal direction of the guide rail.
The cleaning assembly 3 comprises a cleaning nozzle group 31 and a fluid conduit 32 for delivering cleaning liquid to the cleaning nozzle group 31, and a water source interface is arranged on the frame 1 and connected with the fluid conduit 32 so as to facilitate water in the water source interface to pass through the fluid conduit 32; the cleaning nozzle group 31 is mounted on the frame 1 and used for cleaning the inner wall of the pipeline;
the guide rail maintenance group 4 comprises a plurality of guide rail maintenance devices; for each guide rail maintenance device, each guide rail maintenance device comprises a mounting base 401, a blow-drying nozzle 402, a wiping sheet 403 and an oil coating block 404 with a plurality of oil outlets, the wiping sheet 403, the oil coating block 404 and the blow-drying nozzle 402 are sequentially arranged on the mounting base 401 along the traveling direction of the maintenance robot, the oil coating block 404 and the wiping sheet 403 are arranged on the mounting base 401 in a lifting manner through an air cylinder, and the mounting base 401 is mounted on the machine frame 1; the guide rail maintenance device further comprises a guide rail monitoring camera mounted on the mounting base 401 so as to check the state of the guide rail in the pipeline.
The driving mechanism 6 is arranged on the frame 1 and used for driving the frame 1 to move on a guide rail.
Further, the washing nozzle group 31 includes a first washing nozzle 311 and a second washing nozzle 312 and they are installed at the front and the bottom of the rack 1, respectively. First cleaning nozzle 311 is installed the front portion of frame 1, this first cleaning nozzle 311 adopts rotatory gondola water faucet shower nozzle, can produce the rotatory water jet that the stranded has great impact force, can 360 degrees all-round washing pipe walls, effectively clears up the front end housing and the pipe wall silt of pipeline. Second cleaning nozzle 312 includes two dual-purpose nozzles of steam, and it is installed through the nozzle mount pad respectively the both sides of frame 1 bottom, and become 45 degrees with the guide rail that is located the pipeline bottom simultaneously, the nozzle produces two efflux that have great impact force, can further wash the pipeline outside with long-pending sand or silt in the pipeline, improves pipeline bottom processing silt washing capacity.
Further, the guide rail maintenance group 4 includes four guide rail maintenance devices of a first maintenance assembly 41, a second maintenance assembly 42, a third maintenance assembly 43 and a fourth maintenance assembly 44 and they are respectively installed on the machine frame 1; the first maintenance assembly 41 and the second maintenance assembly 42 are respectively arranged at the top and the bottom of the rack 1 and are respectively used for cleaning and maintaining an upper rail and a lower rail; the second maintenance assembly 42 and the third maintenance assembly 43 are respectively rotatably mounted on the machine frame 1, so that the second maintenance assembly 42 and the third maintenance assembly 43 can be folded conveniently, the robot can be adaptively adjusted in a pipeline, and the robot can conveniently enter and exit the pipeline.
Further, the second maintenance assembly 42 and the third maintenance assembly 43 are mounted on the machine frame 1 through a rotary fixing mechanism 5; the rotary fixing mechanism 5 comprises a rotary cylinder 51, a synchronous rack plate 52 and two rotary locking assemblies 53 which are arranged on the frame 1; the rotating cylinder 51 is connected with the synchronous rack plate 52; for each of the rotation locking assemblies 53, it comprises a rotation gear 531, a rotation gear 532 and a locking cylinder 533, respectively, the locking cylinder 533 being connected to the rotation gear 532; the racks are reserved on the two sides of the synchronous rack plate 52 and are respectively used for being meshed with the rotating gear 531 of the rotating locking component 53, so that the rotating gear 531 can drive the fixed sleeve to be installed on the rotating gear 531 to maintain the rotation of the device, and therefore the second maintenance component 42 and the third maintenance component 43 are stable in the working state and the non-working state.
Further, the oil injection driving assembly 7 is further included, and comprises a quick-change oil cylinder 71, an oil injection interface 72, an oil injection pipe 73, an oil injection lead screw 74, an oil injection piston 76 which is adapted to the inner diameter of the quick-change oil cylinder 71, an oil injection taper sleeve 77, a seal ring 78, an oil injection driven idler pulley 79, an oil injection driven idler pulley shaft 80, an oil injection driving gear 81 and an oil injection driving gear shaft 82; the quick-change oil cylinder 71 is mounted on the frame 1, an opening for the oil injection piston 76 to enter and exit is reserved on the quick-change oil cylinder 71, and the quick-change oil cylinder 71, the oil injection taper sleeve 77, the oil injection interface 72 and the oil injection pipe 73 are communicated in sequence; the sealing ring 78 is arranged on the circumference of the oil injection piston 76 and is used for preventing grease in the quick-change oil cylinder 71 from overflowing; the oil injection screw 74 is movably mounted on the frame 1 through the oil injection driving gear 81 and the oil injection driven idler gear 79 and is connected with the oil injection piston 76 so as to drive the oil injection piston 76 in the quick-change oil cylinder 71 to make a linear motion. The oil injection driving gear 81 drives and decelerates through an oil injection driving motor and an oil injection speed reducer.
Further, the maximum stroke of the oil filling piston 76 away from the oil filling interface 72 is greater than the length of the quick-change oil cylinder 71, so that the quick-change oil cylinder 71 can be replaced conveniently. That is, the oil injection screw 74 can drive the oil injection piston 76 to disengage from the quick-change oil cylinder 71, so that the oil injection screw 74 does not obstruct the disassembly and assembly of the quick-change oil cylinder 71.
Further, the part of the oil injection screw 74 exposed out of the rack 1 is connected with an oil injection handle 75, so that the oil injection handle 75 is used for controlling the inlet and outlet of the oil injection screw 74.
Further, a containing groove 11 for containing the quick-change oil cylinder 71 is reserved on the rack 1, and a through hole for conveniently extending the oiling lead screw 74 and a through hole for installing the oiling interface 72 are reserved on a groove wall of the containing groove 11. That is, the quick-change oil cylinder 71 is installed in the accommodating groove 11 located on the rack 1, and the oil injection screw 74 and the oil injection port 72 are connected to the quick-change oil cylinder 71 through a hole located on the accommodating groove 11.
Further, the rack 1 is further provided with a receiving groove cover plate assembly 12, and the receiving groove cover plate assembly 12 includes a receiving groove cover plate 121, a lock tongue 122, a lock body 123, a lock tongue spring 124 and a lock tongue mounting seat 125; a limit hole corresponding to the lock tongue 122 is reserved on the lock body 123 fixed on the accommodating groove cover plate 121, a blind hole is reserved at the limit hole of the lock tongue mounting seat 125 corresponding to the lock body 123, and the lock tongue spring 124 and the lock tongue 122 are sequentially connected from inside to outside and arranged in the blind hole, so that the lock tongue spring 124 clamps the lock tongue 122 extending into the limit hole of the lock body 123; a through hole communicated with the blind hole is reserved on the surface of the bolt mounting seat 125 so as to push the bolt 122 to be far away from the lock body 123, and then unlocking is realized. That is, the lock tongue mounting seat 125 mounted on the rack 1 realizes locking or unlocking of the container cover plate 121 through the matching structure of the lock tongue 122 and the lock body 123, and the container cover plate 121 is located on the surface of the container 11 to cover the quick-change oil cylinder 71 located in the container 11.
Further, the driving mechanism 6 is arranged on the frame 1 and comprises a driving synchronous pulley 61, a driven synchronous pulley 62, a synchronous belt 63, a walking bracket 64 and a driving motor 65; the driving synchronous pulley 61 and the driven synchronous pulley 62 are respectively rotatably mounted on the walking bracket 64 for sleeving the synchronous belts; the driving motor 65 is mounted on the traveling bracket 64 and is used for driving the driving synchronous pulley 61 to rotate, so that the synchronous belt 63 travels on the in-pipe guide rail. By adopting the transmission mode, the transmission ratio is accurate, so that the accuracy of walking control is ensured; the structure is more compact, and the volume is smaller.
The invention is attached with an external monitoring operation box, which is provided with a display screen for displaying the condition in the pipeline and is provided with a button for operating the robot to carry out operation in the pipeline. Furthermore, all cylinders can be replaced by corresponding motors.
The specific working flow of the robot for pipeline maintenance provided by the invention is as follows:
(1) and connecting the external monitoring operation box, the robot, the water source, the air source and the power supply.
(2) And turning on a 'power switch' button of an external monitoring operation box, and starting power supply by the power supply.
(3) The robot is put into an inlet at the tail part of the pipeline in a contraction state, a lifting button of a guide mechanism 2 at the tail part of the robot is manually pressed, and at the moment, the guide mechanism 2 of the robot is lifted to a working position; the protruding part of the guide wheel 21 in the manual auxiliary guide mechanism 2 is clamped in a corresponding groove of the guide rail on the pipeline, the robot enters an initial working state, and at the moment, the camera and the lighting lamp light are turned on.
(4) And (3) opening a distance measuring button of the external monitoring operation box, starting a distance measuring function, and setting an initial position and a maximum stroke.
(5) Monitoring operation: opening a monitoring button of an external monitoring operation box, rotating a left guide rail maintenance device and a right guide rail maintenance device to 90 degrees and unfolding, then opening a forward button of the external monitoring operation box, enabling the robot to move forwards along the guide rails, adjusting a walking speed knob to change the moving speed of the robot according to actual needs, feeding back environmental information in a pipe by a main camera, automatically stopping the forward movement when the robot moves to the top end of the pipe, then closing the forward button and opening a backward button, enabling the robot to move backwards along the guide rails, returning to the inlet of the pipe, automatically stopping the backward movement, and then closing the backward button; and closing the monitoring button, and rotationally recovering the left and right guide rail maintenance devices to the folding position.
(6) Wiping operation: the 'wiping' button of an external monitoring operation box is opened, the left and right guide rail maintenance devices rotate to 90 degrees and expand, the wiping modules at the front parts of the guide rail maintenance devices drive the left and right wiping sheets 403 to extend under the action of the driving cylinders, the wiping sheets 403 are in contact with the surfaces of the left and right guide rails, and meanwhile, the upper and lower wiping modules drive the upper and lower wiping sheets 403 to extend to be in contact with the surfaces of the upper and lower guide rails under the action of the corresponding driving cylinders; then opening a forward button of an external monitoring operation box, enabling the robot to move forwards along the track, automatically stopping the robot to move forwards when the robot moves to the top end of the pipeline, then closing the forward button and opening a backward button, enabling the robot to move backwards along the track, returning to the inlet of the pipeline, automatically stopping the robot to move backwards, and then closing the backward button; then the 'wiping' button is closed, the four wiping modules are separated from the four guide rail surfaces to the initial position under the action of the driving air cylinder, and then the left and right guide rail maintenance devices rotate to be retracted to the folding position.
(7) Washing operation: and (2) opening a monitoring button of an external monitoring operation box, rotating the left and right guide rail maintenance devices to 90 degrees and unfolding, placing the water baffle at a corresponding clamping groove at the inlet of the pipeline, then opening an advancing button, advancing the robot along the pipeline, simultaneously opening an end cover cleaning button, rotating the sprinkler at the front part of the robot to start rotating water spraying cleaning operation, and feeding back the cleaning condition in the pipeline by the camera. When the robot moves to the top end of the pipeline, the forward movement is automatically stopped, the end cover cleaning button is closed and the guide rail cleaning button is opened, a nozzle at the bottom of the robot starts water spraying cleaning operation, the forward movement button is closed and the backward movement button is opened, the robot moves backward along the pipeline, the robot returns to the inlet of the pipeline, the backward movement is automatically stopped, the guide rail cleaning button is closed, the backward movement button is closed, the monitoring button is closed, and the left and right guide rail maintenance devices rotate and recover to the folding position.
(8) Drying: opening a blow-drying button of an external monitoring operation box, rotating a left guide rail maintenance device and a right guide rail maintenance device to 90 degrees, then starting to blow air on the guide rail surfaces, then opening a forward button, enabling a robot to move forward along a rail to perform blow-drying operation, automatically stopping moving forward when the robot moves to the top end of the pipeline, then closing the forward button and opening a backward button, enabling the robot to move backward along the rail, returning to the inlet of the pipeline, automatically stopping moving backward, and then closing the backward button; and closing the blow-drying button, and rotating and recovering the left and right guide rail maintenance devices to the folding position.
(9) Oiling operation: the 'forward' button of an external monitoring operation box is opened, the robot moves forwards along the track, when the robot moves to the top end of the pipeline, the robot automatically stops moving forwards, then the 'forward' button is closed, the 'oiling' button is opened, the left and right guide rail maintenance devices rotate to 90 degrees and are unfolded, the oiling module at the front part of the guide rail maintenance device drives the left and right oiling blocks 404 to extend to be in contact with the surfaces of the left and right guide rails under the action of a driving cylinder, and meanwhile, the upper and lower oiling modules drive the upper and lower oiling blocks 404 to extend to be in contact with the surfaces of the upper and lower guide rails under the action of corresponding driving cylinders; then, a 'back' button is turned on, the robot walks backwards along the track, returns to the inlet of the pipeline, automatically stops backing, and then is turned off; and then, the oiling button is closed, the four oiling modules are separated from the four guide rail surfaces to the initial position under the action of the driving cylinder, the left and right guide rail maintenance devices rotate and recover to the folding position, the oiling reset button is opened at last, the oiling motor is reset, and after the reset is completed, the oiling reset button is closed, and a new oil box is replaced.
(10) Manually press 2 lifting button of guiding mechanism of robot afterbody, descend guiding mechanism 2, then close "switch" button, the robot outage demolishs the connection, carries out equipment vanning and retrieves.
In the whole operation process, the video is monitored and recorded in the whole process, if a fault occurs, an emergency stop button can be started, the left and right guide rail maintenance devices of the robot retract, and the walking motor stops working.
The driving mechanism 6 is provided with the rack 1 for mounting the guide rail maintenance device, the guide mechanism 2 and the cleaning assembly 3, has compact structure and small volume, can stretch to a certain degree, has better environmental adaptability, and can adapt to the maintenance requirement in a narrow pipeline. In the process of the robot moving, the guide mechanism 2 can provide good supporting and guiding functions for the robot, so that the robot is ensured to have a stable working state; the robot for pipeline maintenance can run on a guide rail in a pipeline, and simultaneously, the guide rail is subjected to operations such as oiling, wiping, blow-drying and the like through a guide rail maintenance device arranged on the rack 1 so as to ensure that the guide rail in the pipeline is in a good state; the pipe wall and the guide rail of the pipeline are cleaned through the cleaning assembly 3, so that the silt treatment capacity in the pipeline is improved.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A robot for maintaining a pipeline comprises a pipeline body and a plurality of guide rails, wherein the axis of the pipeline body extends along the horizontal direction, the guide rails are uniformly distributed on the inner periphery of the pipeline body, and the robot is characterized by comprising a rack, a guide mechanism, a cleaning assembly, a guide rail maintenance group and a driving mechanism for walking on the guide rails;
the guide mechanism is arranged on the rack in a lifting manner and comprises a plurality of guide wheels which are matched with the guide rail in shape and a guide frame for mounting the guide wheels, and the guide wheels are longitudinally distributed on the guide frame in a straight line along the guide rail;
the cleaning assembly includes a cleaning nozzle set and a fluid conduit for delivering cleaning fluid to the cleaning nozzle set; the cleaning nozzle group is arranged on the rack and used for cleaning the inner wall of the pipeline;
the guide rail maintenance group comprises a plurality of guide rail maintenance devices; for each guide rail maintenance device, each guide rail maintenance device comprises a mounting base, a blow-drying nozzle, a wiping sheet and an oiling block with a plurality of oil outlets, the wiping sheet, the oiling block and the blow-drying nozzle are sequentially arranged on the mounting base along the traveling direction of the maintenance robot, the oiling block and the wiping sheet can be mounted on the mounting base in a lifting mode, and the mounting base is mounted on the machine frame;
the driving mechanism is arranged on the rack and used for driving the rack to walk on the guide rail.
2. A robot for pipe maintenance according to claim 1, wherein the cleaning nozzle group comprises a first cleaning nozzle and a second cleaning nozzle and they are respectively installed on the frame for cleaning the inner wall and the bottom of the pipe, respectively.
3. A robot for pipeline maintenance according to claim 1, wherein the guideway maintenance group comprises four guideway maintenance devices of a first maintenance assembly, a second maintenance assembly, a third maintenance assembly and a fourth maintenance assembly and they are respectively mounted on the machine frame; the second maintenance assembly and the third maintenance assembly are respectively rotatably mounted on the rack, so that the second maintenance assembly and the third maintenance assembly can be folded conveniently.
4. A robot for pipe maintenance according to claim 3, wherein the second maintenance assembly and the third maintenance assembly are mounted on the frame by a rotating fixing mechanism; the rotary fixing mechanism comprises a rotary cylinder, a synchronous rack plate and two rotary locking assemblies which are arranged on the rack; the rotating cylinder is connected with the synchronous rack plate; for each rotary locking assembly, the rotary locking assembly respectively comprises a rotary gear, a locking gear and a locking cylinder, and the locking cylinder is connected with the locking gear; the rack is reserved on both sides of the synchronous rack plate and is respectively used for being meshed with the rotating gear of the rotating locking assembly, so that the rotating locking assembly is driven to be fixedly sleeved on the rotating gear, and the guide rail maintenance device on the rotating gear rotates.
5. The robot for pipeline maintenance according to claim 1, further comprising an oil injection driving assembly, which comprises a quick-change oil cylinder, an oil injection interface, an oil injection pipe, an oil injection lead screw and an oil injection piston adapted to the inner diameter of the quick-change oil cylinder; the quick-change oil cylinder is mounted on the rack, an opening for the oil injection piston to enter and exit is reserved on the quick-change oil cylinder, and the quick-change oil cylinder, the oil injection interface and the oil injection pipe are communicated in sequence; the oil injection screw rod is movably arranged on the rack and connected with the oil injection piston so as to drive the oil injection piston in the quick-change oil cylinder to do linear motion.
6. The oil pump of claim 5, wherein the maximum travel of the oil filling piston away from the oil filling interface is greater than the length of the quick-change oil cylinder so as to facilitate replacement of the quick-change oil cylinder.
7. The robot for pipeline maintenance according to claim 5, wherein an oiling handle is connected to a portion of the oiling lead screw exposed out of the rack.
8. The robot for pipeline maintenance according to claim 5, wherein a containing groove for containing the quick-change oil cylinder is reserved on the rack, and a through hole for facilitating the oil injection screw to extend into and a through hole for installing an oil injection port are reserved on the groove wall of the containing groove.
9. The robot for pipeline maintenance according to claim 8, wherein the rack is further provided with a containing groove cover plate assembly, and the containing groove cover plate assembly comprises a containing groove cover plate, a lock tongue, a lock body, a lock tongue spring and a lock tongue mounting seat; a limiting hole matched with the lock tongue is reserved on the lock body fixed on the accommodating groove cover plate, a blind hole is reserved at the limiting hole of the lock tongue mounting seat relative to the lock body, and the lock tongue spring and the lock tongue are sequentially connected from inside to outside and arranged in the blind hole, so that the lock tongue spring is clamped with the lock tongue extending into the limiting hole of the lock body; and a through hole communicated with the blind hole is reserved on the surface of the bolt mounting seat, so that the bolt is pushed to be far away from the lock body, and then unlocking is realized.
10. The robot for pipeline maintenance according to claim 1, wherein the driving mechanism is arranged on the frame and comprises a driving synchronous pulley, a driven synchronous pulley, a synchronous belt, a traveling bracket and a driving motor; the driving synchronous belt wheel and the driven synchronous belt wheel are respectively rotatably arranged on the walking bracket and used for sleeving the synchronous belt; the driving motor is arranged on the walking support and used for driving the driving synchronous belt wheel to rotate, so that the synchronous belt can walk on the guide rail in the pipeline.
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| CN202110946662.8A CN113700976B (en) | 2021-08-18 | 2021-08-18 | Robot for pipeline maintenance |
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Cited By (1)
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| CN116913824A (en) * | 2023-09-08 | 2023-10-20 | 苏州锐杰微科技集团有限公司 | Chip substrate washing equipment and working method thereof |
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| CN113700976B (en) | 2023-06-02 |
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