CN115681672A - Metal pipeline repairing robot in nuclear radiation environment - Google Patents
Metal pipeline repairing robot in nuclear radiation environment Download PDFInfo
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- CN115681672A CN115681672A CN202211300214.1A CN202211300214A CN115681672A CN 115681672 A CN115681672 A CN 115681672A CN 202211300214 A CN202211300214 A CN 202211300214A CN 115681672 A CN115681672 A CN 115681672A
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- 239000002184 metal Substances 0.000 title claims abstract description 26
- 230000005855 radiation Effects 0.000 title claims abstract description 24
- 239000003292 glue Substances 0.000 claims abstract description 111
- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 238000004026 adhesive bonding Methods 0.000 claims abstract description 65
- 238000002347 injection Methods 0.000 claims abstract description 35
- 239000007924 injection Substances 0.000 claims abstract description 35
- 239000011248 coating agent Substances 0.000 claims abstract description 29
- 238000000576 coating method Methods 0.000 claims abstract description 29
- 230000007480 spreading Effects 0.000 claims abstract description 25
- 238000003892 spreading Methods 0.000 claims abstract description 25
- 230000008439 repair process Effects 0.000 claims abstract description 23
- 238000003860 storage Methods 0.000 claims abstract description 18
- 238000007667 floating Methods 0.000 claims description 32
- 238000001125 extrusion Methods 0.000 claims description 16
- 230000009471 action Effects 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 3
- 239000004020 conductor Substances 0.000 claims description 2
- 239000002994 raw material Substances 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 9
- 239000000243 solution Substances 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 3
- 238000010073 coating (rubber) Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000001723 curing Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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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
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Abstract
The invention discloses a metal pipeline repairing robot in a nuclear radiation environment, which consists of a vehicle body head, a vehicle body tail, a rotating vehicle body, a glue injection mechanism, a glue coating mechanism and a glue coating head retracting mechanism. The head part and the tail part of the vehicle body are coaxially arranged at two ends of the robot and play roles of supporting, walking and traction connection in a pipeline in a radiation environment; the glue injection mechanism, the glue spreading mechanism and the glue spreading head retracting mechanism are arranged in the rotary vehicle body, so that the functions of repairing glue solution storage, extruding, spreading and retracting of the glue spreading head and coating of the inner wall of the pipeline are realized; the rotary vehicle body is cylindrical, can realize circumferential continuous rotation, and is provided with operation windows at two sides, and the gluing head extends out of the windows to execute the pipeline coating repair operation. The robot is internally provided with 2 sets of glue injection mechanisms and glue coating mechanisms, can use double-component repair glue coating, is suitable for repairing embedded metal pipelines in a nuclear radiation environment, and ensures normal operation of a nuclear reactor water supply system.
Description
Technical Field
The invention relates to a trenchless pipeline repairing technology, in particular to a metal pipeline repairing robot in a nuclear radiation environment.
Background
In a reactor control area in the nuclear power field, a water supply system plays an important role, and the key is to ensure the normal operation of the water supply system. Some water supply pipes of the water supply system in the control area are embedded underground, and local cracking and leakage can occur along with the increase of service life, so that potential safety hazards are formed. Because the field environment is special, the water supply pipeline is difficult to repair by adopting an excavation mode, and the non-excavation mode is the first choice for repairing.
The pipeline repairing method adopting the non-excavation mode mainly comprises the modes of an in-situ curing method, an inserting method, centrifugal spraying, lining close fitting and the like, but on one hand, the methods are complex in repairing operation, rough in repairing process, low in repairing quality and easy to fall off to form foreign matters in the pipeline, and the defects are difficult to apply to repairing operation of the pipeline of the nuclear power water supply system.
CN 112901893A borrows from the thought of 3D printing technology, and applies the 3D printing technology to the pipeline to repair the operation scene. However, the method has high limitation on the repair materials, only can adopt the specified materials to carry out physical coating on the defect position of the pipeline, is difficult to form a reliable repair point in the pipeline, has the problems of easy falling off after a long time and the like, has low repair reliability, is only suitable for some unimportant pipeline repair scenes, and is difficult to be suitable for the scenes of reliable repair of the metal pipeline.
In view of the problem that the trenchless metal pipeline repairing operation in the nuclear radiation environment is difficult, the invention provides a metal pipeline repairing robot in the nuclear radiation environment. The repairing medium adopts the double-component repairing glue special for the metal pipeline, has high repairing reliability, and is also suitable for repairing the inner wall of the pipeline made of various materials. The robot adopts a physical repair mode of full-circle rotary coating, the adsorption of the repair material is reliable, and the service life is longer after the repair.
Therefore, the field personnel are dedicated to research on the metal pipeline repairing robot in the nuclear radiation environment.
Disclosure of Invention
In view of the above defects in the prior art, the technical problem to be solved by the present invention is to provide a metal pipeline repairing robot in a nuclear radiation environment, so as to solve the problem that a water supply metal pipeline in a nuclear power control area is difficult to repair.
In order to achieve the technical aim, the invention provides a metal pipeline repairing robot in a nuclear radiation environment, which comprises a vehicle body head, a vehicle body tail, a rotary vehicle body, a glue injection mechanism, a glue coating mechanism and a glue coating head retracting and releasing mechanism; the robot is integrally cylindrical and is supported on the inner wall of the pipeline through a plurality of groups of floating support wheels;
the head part of the vehicle body and the tail part of the vehicle body are respectively arranged at the front part and the rear part of the rotary vehicle body and are used for supporting and walking in the pipeline;
the glue injection mechanism, the glue spreading mechanism and the glue spreading head retracting mechanism are arranged in the rotary vehicle body; the rotary vehicle body can continuously rotate in the circumferential direction; the glue injection mechanism, the glue spreading mechanism and the glue spreading head retracting mechanism rotate along with the rotating vehicle body, and meanwhile, the functions of storing and extruding repair glue and coating the inner wall of the pipeline can be achieved.
Furthermore, the head of the vehicle body consists of at least 3 groups of floating supporting wheels, at least 3 groups of supporting springs, a head support, a front connecting plate and a connecting front cover; each group of floating supporting wheels comprises two pulleys supported on the inner wall of the pipeline and a hollow telescopic pin in the middle; the support spring is inserted into the hollow part of the hollow telescopic pin, the other end of the support spring is propped against the head support, the side surface of the hollow telescopic pin is provided with a convex block which is matched with the guide groove on the head support, the at least 3 groups of floating support wheels float in a certain radial range, and the stop block is arranged on the end surface of the guide groove and used for stopping the convex block to prevent the hollow telescopic pin from sliding out and playing a role in limiting; the adapter plate is installed on the end face of the head support and connected with the connecting front cover, and the connecting front cover is used for being connected with a traction power robot at the front end.
Furthermore, the tail part of the vehicle body consists of at least 3 groups of floating supporting wheels, at least 3 groups of supporting springs, a tail support, a vehicle body rotating motor, a gear, a rear adapter plate, a connecting rear cover, a camera, a lighting lamp and a tail connecting head; the floating support wheel at the tail part of the vehicle body has the same structure as the floating support wheel at the head part of the vehicle body; the vehicle body rotating motor is arranged on the tail support and is meshed with an inner gear ring on the rotating vehicle body through a gear on the vehicle body rotating motor so as to drive the rotating vehicle body to rotate; the camera and the illuminating lamp are arranged on the rear connecting cover; the tail connector is used for connecting a cable at the rear end of the robot.
Further, the rotating vehicle body consists of an inner gear ring, a rotating drum and 2 groups of rotating conductive devices; the glue injection mechanism, the glue coating mechanism and the glue coating head retracting mechanism are arranged in the rotary drum; when the robot executes a gluing repair task in a pipeline, the rotary vehicle body makes continuous rotary motion relative to the head and the tail of the vehicle body, the inner gear ring is meshed with a gear on the vehicle body rotating motor to realize self rotation, and the rotary conductive devices positioned on two sides of the rotary vehicle body supply power or transmit electric signals while the glue injection mechanism, the gluing mechanism and the gluing head retracting mechanism rotate along with the rotary drum.
Furthermore, 2 groups of glue injection mechanisms are arranged in a rotary vehicle body of the robot; the glue injection mechanism consists of a piston, a glue storage cylinder, a C-shaped mounting bracket, a screw motor, a guide rod and an extrusion head; a screw shaft of the screw motor is in threaded fit with the extrusion head, so that the reciprocating pushing action of the extrusion head is realized; the repairing glue is poured into the glue storage cylinder and is extruded out through the piston, and the extrusion head is matched with the guide rod for guiding; the rubber storage cylinder is embedded into the C-shaped mounting bracket, and the piston and the rubber storage cylinder can be quickly disassembled and replaced; when the robot carries out gluing repair on the inner wall of the pipeline, the double-component or single-component gluing raw material is used for carrying out gluing repair operation on the inner wall of the pipeline.
Furthermore, the 2 groups of glue injection mechanisms are all arranged on the inner end surface in the rotary drum and are arranged in an angle of 180 degrees; one component of the two-component glue is stored in the glue storage cylinder of the 2-group glue injection mechanism respectively, and the two kinds of glue are mixed on the inner wall of the pipeline during coating and are solidified after reaction.
Further, the gluing mechanism consists of a gluing head, a gluing mounting bracket, a fixing block and a pulling block; the gluing head is embedded into the gluing mounting bracket and locked by the fixing block, and when the fixing block is shifted to be in a horizontal state, the gluing head can be quickly disassembled and assembled; the inner side of the gluing head is connected with the pulling block in a hinge mode; the glue inlet of the gluing head is connected with the glue storage cylinder through a hose; the gluing head can freely swing within a certain angle range in the gluing mounting bracket, wherein the swing of the gluing head is controlled by stretching the cable connecting pull block.
Further, the rubber coating head retracting and releasing mechanism consists of a retracting and releasing motor, a motor support, a retracting and releasing mounting support, the stretching cable, an unfolding spring and a winch; a winding and unwinding motor drives a winch to rotate, one end of a tensile cable is fixed on the winch, the other end of the tensile cable is connected with the pulling block, and the gluing head is pulled to swing inwards when the winch rotates; the spreading spring leans against the inner side of the gluing head, when the winch rotates in the opposite direction, the stretching cable is released, and the gluing head is spread outwards under the action of the spreading spring and clings to the inner wall of the pipeline and can float in a certain radial range in a self-adaptive manner; the winch comprises a limit collision nail, a tray, a rotating wheel, a friction ring and a follow-up ring; the rotating wheel is rigidly connected with an output shaft of the winding and unwinding motor and is provided with an annular groove, a friction ring is embedded in the annular groove, and the inner circle of the follow-up ring is pressed on the friction ring; the tray is arranged on the lower end surface of the rotating wheel and supports the follow-up ring; the follow-up ring is provided with a limiting bulge, and the follow-up ring rotates for a certain angle and then contacts with the limiting collision nail to play a role of rotating limiting.
Furthermore, the floating supporting wheels at the tail part of the vehicle body and the floating supporting wheels at the head part of the vehicle body are respectively provided with 3 groups, and each 3 groups are respectively and uniformly distributed along the circumferential direction.
Furthermore, the rotary vehicle body is cylindrical, and rectangular operation windows are arranged on two sides of the cylinder body.
According to the technical scheme of the invention, the floating support wheels on the head part and the tail part of the vehicle body have certain self-adaptive adjustment amount in the radial direction, and can adapt to the walking of the inner walls of pipelines with different calibers and pass through the elbow parts of the pipelines. The rotary body and the gluing execution part in the rotary body can continuously rotate relative to the robot body. The gluing head can realize extending/retracting action under the action of a gluing head retracting mechanism. The glue injection mechanism conveys glue to the glue injection head through a hose.
The whole robot is in a cylindrical shape, is supported on the inner wall of the pipeline through a plurality of groups of floating supporting wheels, and keeps the body of the robot and the pipeline coaxially arranged when in use. The head of the robot body is used for connecting a pipeline walking robot for providing traction force, and is provided with a floating support wheel; the tail of the vehicle body is used for connecting a rear power supply cable, a camera and a lighting lamp for guiding the robot to exit are arranged on the tail of the vehicle body, and a floating support wheel is arranged on the tail of the vehicle body. The two sides of the rotary vehicle body are respectively provided with a floating support and are respectively arranged on the head part and the tail part of the vehicle body, and the rotary vehicle body can freely rotate in the circumferential direction relative to the head part and the tail part of the vehicle body. And rotary conductive devices are also arranged on two sides of the rotary vehicle body, so that when the rotary vehicle body rotates freely, components in the rotary vehicle body and the front-end traction robot supply power normally. An inner gear ring is coaxially arranged on one side of the rotating vehicle body and is meshed with an output shaft of a vehicle body rotating motor arranged on the tail of the vehicle body, so that the rotating vehicle body can rotate freely.
Before executing the task of repairing the pipeline by gluing, the robot fills the repairing glue into the glue storage cylinder. The 2 groups of glue injection mechanisms are arranged in the rotary drum and are arranged at an angle of 180 degrees on the circumference. The motor of the screw motor is parallel to the power output screw, the motor rotates to drive the screw to rotate through the reduction gearbox, the screw is matched with the internal thread on the extrusion head, the extrusion head moves downwards under the guiding action of the guide rod, the piston is pushed to move downwards, and the glue extrusion action is realized. One component of the two-component glue is stored in the glue storage cylinder of the 2-group glue injection mechanism respectively, and the two kinds of glue are mixed on the inner wall of the pipeline during coating and are solidified after reaction.
The robot has 2 group's rubber coating mechanisms, all installs on the inner wall of rotatory automobile body rotary drum, and 2 group's rubber coating mechanisms are 180 and arrange. The two ends of the gluing head are clamped into the mounting bracket and can swing within a certain range, and the gluing head can extend out of or retract back from the operation window of the rotary drum. The quick replacement of the gluing head can be realized by pulling up the fixed block, and the glue inlet of the gluing head is connected with the outlet of the glue storage cylinder through a hose.
The gluing head retracting mechanism is installed in the center of the rotary drum, the retracting motor drives the winch to rotate, one ends of the two stretching cables are fixed on the winch, the other ends of the two stretching cables are connected with the pulling block, and the gluing head is pulled to swing inwards when the winch rotates. The spreading spring leans against the inner side of the gluing head, when the winch rotates in the opposite direction, the stretching cable is released, and the gluing head swings outwards to be attached to the inner wall of the pipeline under the action of the spreading spring.
The invention has the following beneficial effects:
the robot is internally provided with 2 sets of glue injection mechanisms and glue coating mechanisms, can use double-component repair glue coating, is suitable for repairing embedded metal pipelines in a nuclear radiation environment, and can ensure the normal operation of a nuclear reactor water supply system.
Drawings
FIG. 1 is a schematic view of a metal pipeline repairing robot in a nuclear radiation environment according to the present invention;
FIG. 2 is a schematic view of the head of the vehicle body of the present invention;
FIG. 3 is a schematic rear view of the vehicle body of the present invention;
FIG. 4 is a schematic view of a rotary body of the present invention;
FIG. 5 is a schematic view of the glue injection mechanism of the present invention;
FIG. 6 is a schematic view of the glue application mechanism of the present invention;
fig. 7 is a schematic view of a glue head retracting mechanism of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples. It should be noted that in the descriptive terms of the present invention, the terms indicating the relative positional relationship and the like are illustrated based on the drawings, and do not indicate that the present invention has a specific orientation relationship, a specific configuration, an implementation manner and the like, and are not to be construed as limiting the present invention.
As shown in fig. 1 and 4, the metal pipeline repairing robot in the nuclear radiation environment comprises a vehicle body head 1, a vehicle body tail 2, a rotary vehicle body 3, a glue injection mechanism 4, a glue application mechanism 5 and a glue application head retraction and extension mechanism 6. The floating supporting wheels 7 on the head part 1 and the tail part 2 of the vehicle body are supported and tightly attached to the inner wall of the pipeline. The rotary vehicle body 3 can do continuous rotary motion relative to the vehicle body head 1 and the vehicle body tail 2. The glue injection mechanism 4, the glue spreading mechanism 5 and the glue spreading head retracting mechanism 6 of the glue spreading and repairing executing component are all arranged in a rotary drum 21 of the rotary vehicle body 3.
As shown in fig. 2, the head of the vehicle body is composed of 3 groups of floating supporting wheels 7, 3 groups of supporting springs 8, a head support 9, a front connecting plate 10 and a connecting front cover 11; each group of floating supporting wheels 7 comprises two pulleys 72 supported on the inner wall of the pipeline and a hollow telescopic pin 71 in the middle; the supporting spring 8 is inserted into the hollow part of the hollow telescopic pin 71, the other end of the supporting spring is propped against the head support 9, a convex block 73 is arranged on the side surface of the hollow telescopic pin 71 and is matched with a guide groove on the head support 9, the 3 groups of floating supporting wheels 7 float in a certain radial range, and a stop block 74 is arranged on the end surface of the guide groove and is used for stopping the convex block 73 to prevent the hollow telescopic pin 71 from sliding out and playing a role in limiting; the adapter plate 10 is installed on the end face of the head support 9, the head support 9 is provided with a front cover 11 in an installing and connecting mode, and the front cover 11 is connected with the traction power robot at the front end. The 3 groups of floating supporting wheels 7 arranged on the head support 9 realize floating supporting under the action of the supporting spring 8, adapt to pipelines with different calibers and ensure that the floating supporting wheels 7 flexibly stretch and smoothly pass through the pipeline elbow.
As shown in fig. 2 and 3, the tail of the vehicle body is composed of 3 groups of floating supporting wheels 7, 3 groups of supporting springs 8, a tail support 12, a vehicle body rotating motor 13, a gear 14, a rear adapter plate 15, a connecting rear cover 16, a camera 17, a lighting lamp 18 and a tail connector 19; the layout and the functional principle of the floating supporting wheels 7 on the tail part 2 of the vehicle body are consistent with those on the head part 1 of the vehicle body, and a vehicle body rotating motor 13 is arranged on the tail part support 12 and is meshed with an inner gear ring 20 on the rotating vehicle body through a gear to drive the rotating vehicle body 3 to rotate integrally. The rear connecting cover 16 is provided with a camera 17 and a lighting lamp 18 for visual guidance when the robot exits the pipeline after the repair task is executed. The middle of the tail part of the connection rear cover 16 is provided with a connector 19 for connecting and fixing a tail cable.
As shown in fig. 1, 3, and 4, the entire revolving vehicle body 3 is cylindrical. The rotating vehicle body 3 consists of an inner gear ring 20, a rotating drum 21 and 2 groups of rotating conductive devices 22; the glue injection mechanism 4, the glue spreading mechanism 5 and the glue spreading head retracting mechanism 6 are arranged in the rotary drum 21; when the robot executes a task of repairing the inner wall of the pipeline by coating glue, the rotary drum 21 is driven by the vehicle body rotating motor 13 to rotate in the pipeline, and the glue injection mechanism 4 and the glue head retracting and releasing mechanism 6 in the rotary drum 21 are conducted or transmit electric signals by the front and rear groups of rotary electric conductors 22, so that normal transmission and conduction are realized when the glue injection mechanism 4 and the glue head retracting and releasing mechanism 6 continuously rotate.
Furthermore, 2 groups of glue injection mechanisms 4 are arranged in a rotary vehicle body 3 of the robot; as shown in fig. 5, the glue injection mechanism 4 is composed of a piston 23, a glue storage cylinder 24, a C-shaped mounting bracket 25, a screw motor 26, a guide rod 27 and an extrusion head 28; the glue injection mechanism 4 adopts a threaded shaft of a screw motor 26 and an extrusion head 28 with a threaded hole to convert the rotary motion of the motor into reciprocating linear motion for injecting glue solution. One end of the extrusion head 28 is matched with the guide rod 27 to ensure that the extrusion head 28 moves smoothly, and the other end of the extrusion head extrudes the piston 23 to push the piston 23 to move forwards so as to extrude the glue solution in the glue storage barrel 24.
As shown in fig. 6, the glue coating mechanism 5 is composed of a glue coating head 29, a glue coating mounting bracket 30, a fixing block 31 and a pulling block 32; the pulling block 32 of the gluing mechanism 5 is connected with the gluing head 29 by a hinge. The gluing head 29 is embedded in the mounting bracket and is fixed or detached by a fixing block 31 which can be rotationally shifted. The gluing head 29 can swing within a certain range, and when the fixed block 31 is shifted to be in a horizontal state, the gluing head 29 is quickly installed or detached; when the fixed block 31 is shifted to the vertical state shown in the figure, the gluing head 29 is fixed in the radial direction and swings in a certain circumferential range.
As shown in fig. 6 and 7, the glue head retracting and releasing mechanism 6 is composed of a retracting and releasing motor 33, a motor bracket 34, a retracting and releasing mounting bracket 35, the extension cable 36, an expanding spring 37 and a winch 38; the retracting motor 33 of the gluing head retracting mechanism 6 is in friction contact with the winch 38, the retracting motor 33 rotates forwards and backwards to drive the winch 38 to rotate forwards and backwards, but the winch 38 only rotates forwards and backwards within a certain range, and keeps the current state after reaching the extreme position, and the retracting motor 33 continues to rotate. 2 pulling cables 36 are connected to the winch 38, the other end of the pulling cable 36 is connected to the pulling block 32, and when the winch 38 rotates in the first direction, the pulling cable 36 is retracted inwards, and the gluing head 29 swings inwards to retract. The torsion spring 37 is arranged at a proper position on the gluing head retracting mechanism 6, one foot of the torsion spring 37 leans against the inner side of the gluing head 29, so that the gluing head 29 always tends to swing outwards and expand, when the winch 38 rotates in the second direction, the cable 36 is loosened, the gluing head 29 swings outwards under the action of the torsion spring 37, expands and attaches to the inner wall of the pipeline and can swing in a self-adaptive manner along the radial direction under the action of the torsion spring 37, and a gluing repair task is executed. The winch 38 comprises a limit nail 381, a tray 382, a rotating wheel 383, a friction ring 384 and a follow-up ring 385; the rotating wheel 383 is rigidly connected with an output shaft of the retraction motor 33 and is provided with an annular groove, a friction ring 384 is embedded in the annular groove, and the inner circle of the follow-up ring 385 is pressed on the friction ring 384; the tray 382 is arranged on the lower end surface of the rotating wheel 383 and supports the follow-up ring 385; the follower ring 385 is provided with a limit protrusion, and rotates for a certain angle to contact with the limit impact nail 381 to limit rotation.
Parts of the invention not described in detail are well known in the art. The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and the preferred embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Various modifications and improvements of the technical solution of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and the technical solution of the present invention is to be covered by the protection scope defined by the claims.
Claims (10)
1. The metal pipeline repairing robot under the nuclear radiation environment is characterized by comprising a vehicle body head (1), a vehicle body tail (2), a rotary vehicle body (3), a glue injection mechanism (4), a glue coating mechanism (5) and a glue coating head retracting mechanism (6); the whole robot is cylindrical and is supported on the inner wall of the pipeline through a plurality of groups of floating support wheels (7);
the vehicle body head (1) and the vehicle body tail (2) are respectively arranged at the front part and the rear part of the rotary vehicle body (3) and are used for supporting and walking in the pipeline;
the glue injection mechanism (4), the glue coating mechanism (5) and the glue coating head retraction mechanism (6) are arranged in the rotary vehicle body (3); the rotary vehicle body (3) can continuously rotate in the circumferential direction; the glue injection mechanism (4), the glue spreading mechanism (5) and the glue spreading head retracting mechanism (6) rotate along with the rotating vehicle body (3), and meanwhile, the functions of repairing and spreading glue, storing and extruding and coating the inner wall of the pipeline can be achieved.
2. The metal pipeline repairing robot in nuclear radiation environment according to claim 1, characterized in that said vehicle body head (1) is composed of at least 3 sets of said floating supporting wheels (7), at least 3 sets of supporting springs (8), a head support (9), a front connection plate (10) and a connection front cover (11); each group of floating supporting wheels (7) comprises two pulleys (72) supported on the inner wall of the pipeline and a hollow telescopic pin (71) in the middle; the supporting spring (8) is inserted into the hollow part of the hollow telescopic pin (71), the other end of the supporting spring is propped against the head support (9), a convex block (73) is arranged on the side surface of the hollow telescopic pin (71) and is matched with a guide groove on the head support (9), at least 3 groups of floating supporting wheels (7) float in a certain radial range, and a stop block (74) is arranged on the end surface of the guide groove and used for stopping the convex block (73) to prevent the hollow telescopic pin (71) from sliding out and play a limiting role; the adapter plate (10) is installed on the end face of the head support (9), the adapter plate (10) is connected with the connecting front cover (11), and the connecting front cover (11) is used for being connected with a traction power robot at the front end.
3. The metal pipeline repairing robot in the nuclear radiation environment according to claim 2, wherein the vehicle body tail (2) is composed of at least 3 groups of floating supporting wheels (7), at least 3 groups of supporting springs (8), a tail support (12), a vehicle body rotating motor (13), a gear (14), a rear adapter plate (15), a connecting rear cover (16), a camera (17), a lighting lamp (18) and a tail connecting head (19); the floating supporting wheel (7) at the tail part (2) of the vehicle body has the same structure as the floating supporting wheel (7) at the head part (1) of the vehicle body; the vehicle body rotating motor (13) is arranged on the tail support (12) and is meshed with an inner gear ring (20) on the rotating vehicle body (3) through a gear (14) on the vehicle body rotating motor to drive the rotating vehicle body (3) to rotate; a camera (17) and an illuminating lamp (18) are arranged on the connecting rear cover (16); the tail connecting head (19) is used for connecting a rear cable of the robot.
4. The robot for repairing metal pipeline in nuclear radiation environment is characterized in that the rotating body (3) is composed of an inner gear ring (20), a rotating drum (21) and 2 sets of rotating conductive devices (22); the glue injection mechanism (4), the glue spreading mechanism (5) and the glue spreading head retracting mechanism (6) are arranged in the rotary drum (21); when the robot executes a gluing repair task in a pipeline, the rotary vehicle body (3) makes continuous rotary motion relative to the head and the tail of the vehicle body, the inner gear ring (20) is meshed with a gear (14) on the vehicle body rotating motor (13) to realize self rotation, and the rotary electric conductors (22) positioned on two sides of the rotary vehicle body (3) supply power or transmit electric signals while the glue injection mechanism (4), the glue coating mechanism (5) and the glue coating head retracting mechanism (6) rotate along with the rotary drum (21).
5. The robot for repairing metal pipelines in nuclear radiation environment according to claim 4, wherein the rotating body (3) of the robot is internally provided with 2 groups of glue injection mechanisms (4); the glue injection mechanism (4) consists of a piston (23), a glue storage cylinder (24), a C-shaped mounting bracket (25), a screw motor (26), a guide rod (27) and an extrusion head (28); a screw shaft of the screw motor (26) is in threaded fit with the extrusion head (28) to realize the reciprocating pushing action of the extrusion head (28); the repairing glue is poured into the glue storage cylinder (24) and extruded out through the piston (23), and the extrusion head (28) is matched with the guide rod (27) for guiding; the rubber storage cylinder (24) is embedded into the C-shaped mounting bracket (25), and the piston (23) and the rubber storage cylinder (24) can be quickly detached and replaced; when the robot carries out gluing repair on the inner wall of the pipeline, the double-component or single-component gluing raw material is used for carrying out gluing repair operation on the inner wall of the pipeline.
6. The robot for repairing metal pipelines in nuclear radiation environment according to claim 5, wherein the 2 groups of glue injection mechanisms (4) are all installed on the inner end surface in the drum and are arranged at 180 degrees; one component in the two-component glue is stored in the glue storage cylinder of the 2-group glue injection mechanism respectively, and the two kinds of glue are mixed on the inner wall of the pipeline during coating and are solidified after reaction.
7. The robot for repairing metal pipelines in nuclear radiation environment according to claim 5, wherein the gluing mechanism (5) is composed of a gluing head (29), a gluing mounting bracket (30), a fixing block (31) and a pulling block (32); the gluing head (29) is embedded into the gluing mounting bracket (30) and locked by the fixing block (31), and when the fixing block (31) is shifted to be in a horizontal state, the gluing head (29) can be quickly disassembled and assembled; the inner side of the gluing head (29) is connected with the pulling block (32) in a hinge mode; the glue inlet of the gluing head (29) is connected with the glue storage cylinder (24) through a hose; the gluing head (29) can freely swing within a certain angle range in the gluing mounting bracket (30), wherein the swing of the gluing head (29) is controlled by connecting a pulling block (32) through a pulling cable (36).
8. The robot for repairing metal pipeline in nuclear radiation environment according to claim 5, wherein the gluing head retracting and releasing mechanism (6) is composed of a retracting and releasing motor (33), a motor bracket (34), a retracting and releasing mounting bracket (35), the stretching cable (36), a spreading spring (37) and a winch (38); the winding and unwinding motor (33) drives the winch (38) to rotate, one end of the stretching cable (36) is fixed on the winch (38), the other end of the stretching cable is connected with the pulling block (32), and the gluing head (29) is pulled to swing inwards when the winch (38) rotates; the spreading spring (37) leans against the inner side of the gluing head (29), when the winch (38) rotates in the opposite direction, the stretching cable (36) is discharged, and the gluing head (29) is spread outwards under the action of the spreading spring (37) to be tightly attached to the inner wall of the pipeline and can float in a certain radial range in a self-adaptive manner; the winch (38) comprises a limit impact pin (381), a tray (382), a rotating wheel (383), a friction ring (384) and a follow-up ring (385); the rotating wheel (383) is rigidly connected with an output shaft of the retraction motor (33) and is provided with an annular groove, a friction ring (384) is embedded in the annular groove, and the inner circle of the follow-up ring (385) is pressed on the friction ring (384); the tray (382) is arranged on the lower end surface of the rotating wheel (383) and supports the follow-up ring (385); the follow-up ring (385) is provided with a limit bulge, and the follow-up ring rotates for a certain angle and then contacts with the limit collision nail (381) to play a role in rotation limit.
9. The metal pipeline repairing robot in the nuclear radiation environment is characterized in that 3 groups of the floating supporting wheels (7) of the tail part (2) and 3 groups of the floating supporting wheels (7) of the head part (1) are arranged, and each group is uniformly distributed along the circumferential direction.
10. The robot for repairing metal pipe under nuclear radiation environment of claim 1, wherein the rotary body is cylindrical and has rectangular operation windows on both sides of the body.
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CN116592211A (en) * | 2023-06-07 | 2023-08-15 | 山东省核与辐射安全监测中心 | Metal pipeline repairing robot in nuclear radiation environment |
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