CN116085584A

CN116085584A - Pipe manned inspection device

Info

Publication number: CN116085584A
Application number: CN202310083929.4A
Authority: CN
Inventors: 史飞; 鲜开义; 赵松璞; 周仁彬; 王琴
Original assignee: Shenzhen Launch Digital Technology Co Ltd
Current assignee: Shenzhen Launch Digital Technology Co Ltd
Priority date: 2023-01-13
Filing date: 2023-01-13
Publication date: 2023-05-09

Abstract

The invention relates to a pipe manned inspection device, which comprises an operation cabin, a detector and a travelling mechanism; the detector is arranged in the control cabin and is electrically connected with the control cabin and used for detecting the condition in the pipeline; the travelling mechanism comprises a connecting seat, a driving arm assembly, travelling wheels and a first driving source, wherein the connecting seat is fixed on the operation cabin, the driving arm assembly is movably connected to the connecting seat, the travelling wheels are rotatably connected to the driving arm assembly, and the first driving source is fixed on the driving assembly and used for driving the travelling wheels to walk relative to the inner wall of the pipeline. According to the manned inspection device for the pipeline, the detector is arranged in the operation cabin, and the travelling mechanism connected with the operation cabin can move the detector to the vicinity of the inner wall of the pipeline, so that the detector can finish the detection of the pipeline, and an operator in the operation cabin can maintain the pipeline in the detection pipeline.

Description

Pipe manned inspection device

Technical Field

The invention relates to the technical field of pumped storage equipment, in particular to a pipe manned inspection device.

Background

Under the new situation of coping with climate change and accelerating energy green low-carbon transformation, pumped storage is imperative to accelerate development. In 2020, the accumulated installed scale of the pumped storage in China reaches 31.79GW, and the national energy agency 2021 issues 'plan for middle and long term development of pumped storage (2021-2035)', and the total scale of the pumped storage production reaches over 6200 kilowatts by 2025; the total scale of pumped storage production reaches about 1.2 hundred million kilowatts by 2030.

The pumped storage power station is provided with an upper reservoir built at a high place and a lower reservoir built at the downstream of the power station, water in the upper reservoir flows to the lower reservoir through a pressure pipeline, and the pumped storage power station drives a water turbine to generate electricity and store energy by means of water flow. Under the annual water flushing, the pressure pipeline is subjected to the pressure and impact of water flow, so that the pipeline is possibly internally defective, and the defects are detected in the pipeline by an instrument, and the current method for pipeline maintenance generally adopts manual maintenance.

Disclosure of Invention

The invention aims to provide a manned inspection device for pipelines, which aims to solve the problem of evaluating and overhauling the state of a pressure pipeline.

In order to solve the technical problems, the pipeline manned inspection device comprises an operation cabin, a detector and a travelling mechanism; the detector is arranged in the operation cabin and is electrically connected with the operation cabin and used for detecting the condition in the pipeline; the travelling mechanism comprises a connecting seat, a driving arm assembly, travelling wheels and a first driving source, wherein the connecting seat is fixed on the operating cabin, the driving arm assembly is movably connected with the connecting seat, the travelling wheels are rotationally connected with the driving arm assembly, and the first driving device is fixed on the driving arm assembly and used for driving the travelling wheels to walk relative to the inner wall of the pipeline.

Further, the driving arm assembly comprises a first connecting arm, a second connecting arm and a first electric cylinder, one end of the first connecting arm is rotationally connected with the connecting seat, the other end of the first connecting arm is rotationally connected with one end of the second connecting arm, the other end of the second connecting arm is connected with the travelling wheel, one end of the first electric cylinder is rotationally connected with the connecting seat, and the other end of the first electric cylinder is connected with the first connecting arm.

Further, the travelling mechanism further comprises a positioning module, the end, close to the travelling wheel, of the driving arm assembly is arranged, and the positioning module is used for limiting movement of the travelling wheel.

Further, the positioning module further comprises an electric push rod, a second driving source and a supporting piece, wherein the electric push rod is fixed at the tail end of the second connecting arm, the supporting piece is connected with the electric push rod, and when the supporting piece abuts against the inner wall of the pipeline, the supporting piece is used for positioning and fixing the manned pipeline inspection device.

Further, the operation cabin comprises a support, a safety seat, an operation table, a third driving source and a connecting piece, wherein the running mechanism is fixed on the support, the third driving source is fixed on the support, the connecting piece is connected between the safety seat and the third driving source, the safety seat is balanced by the third driving source, the operation table is fixed on the support, and the operation table is respectively electrically connected with the detector and the running mechanism.

Further, the operation cabin further comprises a safety fence, wherein the safety fence is arranged around the safety seat in a surrounding mode and fixed on the support.

Further, the travelling mechanism comprises a second electric cylinder, one end of the second electric cylinder is fixed on the first connecting arm, and the other end of the second electric cylinder is fixed on the second connecting arm, so that the second connecting arm is driven to move relative to the first connecting arm.

Further, the detector comprises an upper computer and a sensor, the sensor is electrically connected with the upper computer, the upper computer is fixed on the support, the sensor faces the direction of the inner wall of the pipeline, and the upper computer is electrically connected with the operation console.

Further, the operation cabin further comprises a safety helmet and a safety belt, wherein the safety helmet is hung on the safety seat, and the safety belt is tied on the safety seat.

Further, the pipeline manned inspection device further comprises a safety device, the safety device comprises a winch and a safety rope, the winch can be detached in the pipeline, one end of the safety rope is connected with the winch in a shrinkage mode, and the other end of the safety rope is fixed to the operation cabin.

The implementation of the embodiment of the invention has the following beneficial effects:

according to the pipeline manned inspection device, as the detector is arranged in the operation cabin, and the travelling mechanism connected with the operation cabin can move the detector to the vicinity of the inner wall of the pipeline, the detector can finish detection in the pipeline, and then an operator in the operation cabin can maintain the pipeline in the detection pipeline, so that the problems of high difficulty and low efficiency in pipeline detection and maintenance in the prior art are overcome.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a manned inspection device for a pipeline according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is a bottom view of a pipe manned inspection apparatus according to an embodiment of the present invention;

FIG. 4 is a partial enlarged view at B in FIG. 3;

fig. 5 is a schematic structural view of a travelling mechanism according to an embodiment of the invention;

FIG. 6 is a front view of a running gear according to an embodiment of the present invention;

fig. 7 is a schematic structural view of an operation cabin according to an embodiment of the present invention.

Wherein: 100. the pipeline manned inspection device; 110. an operation cabin; 111. a bracket; 112. a safety seat; 113. an operation table; 114. a third driving source; 115. a connecting piece; 116. a safety fence; 120. a detector; 121. an upper computer; 122. a sensor; 130. a walking mechanism; 131. a connecting seat; 132. a drive arm assembly; 1321. a first connecting arm; 1322. a second connecting arm; 1323. a first electric cylinder; 1324. a second electric cylinder; 133. a walking wheel; 134. a first driving source; 135. a positioning module; 1351. an electric push rod; 1352. a second driving source; 1353. and a support.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1-7, an embodiment of the present invention provides a pipe manned inspection apparatus 100, including an operation cabin 110, a detector 120 and a travelling mechanism 130; the detector 120 is arranged in the operation cabin 110 and is electrically connected with the operation cabin 110 for detecting the condition in the pipeline; the travelling mechanism 130 comprises a connecting base 131, a driving arm assembly 132, travelling wheels 133 and a first driving source 134, the connecting base 131 is fixed on the operation cabin 110, the driving arm assembly 132 is movably connected to the connecting base 131, the travelling wheels 133 are rotatably connected to the driving arm assembly 132, and the first driving device is fixed on the driving arm assembly 132 and used for driving the travelling wheels 133 to travel relative to the inner wall of the pipeline. In a specific application, the number of the running mechanisms 130 is 6, wherein 3 running mechanisms 130 are distributed at the front end of the operation cabin 110, 3 running mechanisms 130 are distributed at the rear end of the operation cabin 110, 3 running mechanisms 130 at the front end are supported at one side of the inner wall of the pipeline, 3 running mechanisms 130 at the rear end are supported at the other side of the inner wall of the pipeline, thereby supporting the operation cabin 110, when the diameter of the pipeline changes, the angle between the running mechanism and the connecting seat 131 is adjusted by the driving assembly, so that the pipeline manned inspection device 100 adapts to the diameter change of the pipeline, the running wheels 133 are abutted against the inner wall of the pipeline, the first driving source 134 is a turbine speed reducing motor for driving the running wheels 133 to run on the inner wall of the pipeline, so that the operation cabin 110 runs on the inner wall of the pipeline, an operator can enter and operate in the operation cabin 110, and when the detector 120 detects the condition in the pipeline, the operator can maintain the condition of the pipeline, and the pipeline manned inspection device 100 can evaluate and maintain the condition of the pipeline.

In one possible embodiment, the driving arm assembly 132 includes a first connecting arm 1321, a second connecting arm 1322 and a first electric cylinder 1323, one end of the first connecting arm 1321 is rotatably connected to the connecting base 131, the other end of the first connecting arm 1321 is rotatably connected to one end of the second connecting arm 1322, the other end of the second connecting arm 1322 is connected to the traveling wheel 133, one end of the first electric cylinder 1323 is rotatably connected to the connecting base 131, and the other end of the first electric cylinder 1323 is connected to the first connecting arm 1321. In a specific application, the first electric cylinder 1323 is a hydraulic cylinder, which can make the rotation moment of the second connecting arm 1322 relative to the first connecting arm 1321 large, so that the travelling wheel 133 connected with the other end of the second connecting arm 1322 is beneficial to be clung to the inner wall of the pipeline,

the first electric cylinder 1323 is electrically connected to the operation cabin 110, and the operation cabin 110 can control the movement of the first electric cylinder 1323 to enable the driving arm assembly 132 to rotate relative to the connection seat 131, so that the operation cabin 110 can adjust the rotation of the first connection arm 1321 relative to the connection seat 131 according to the change of the inner diameter of the pipeline, and the travelling wheel 133 is always attached to the inner wall of the pipeline.

In one possible embodiment, the travelling mechanism 130 further includes a positioning module 135 disposed near the end of the travelling wheel 133 on the driving arm assembly 132, and the positioning module 135 is used to limit the movement of the travelling wheel 133. In a specific application, when the detector 120 detects that the inner wall of the pipeline is in condition or the operator observes that the inner wall of the pipeline is in condition, the detector 120 sends a signal to the operation cabin 110, and the operation cabin 110 controls the positioning module 135 to be supported on the inner wall of the pipeline, so that the travelling wheel 133 is separated from the inner wall of the pipeline, and at this time, the operation cabin 110 is fixed relative to the pipeline, so that the operator can conveniently perform operations such as overhauling or maintenance.

In one possible embodiment, the positioning module 135 further includes an electric push rod 1351, a second driving source 1352, and a support member 1353, wherein the electric push rod 1351 is fixed at the end of the second connecting arm 1322, the support member 1353 is connected to the electric push rod 1351, and the support member 1353 is used for positioning and fixing the pipe manned inspection device 100 when the support member 1353 abuts against the inner wall of the pipe. In a specific application, in order to enable the positioning module 135 to be reliably positioned on the inner wall of the pipeline, the electric push rod 1351 fixed at the end of the second connecting arm 1322 drives the supporting member 1353 to extend, so that the supporting member 1353 is abutted on the inner wall of the pipeline, wherein the supporting member 1353 is a plastic member with a large friction coefficient, the supporting member 1353 can be prevented from sliding relative to the inner wall of the pipeline, the second driving source 1352 is a servo motor or a stepping motor, and the second driving source 1352 is controlled by the operation cabin 110 to adjust the supporting member 1353 to be opposite to the inner wall of the pipeline, so that the supporting member 1353 is more beneficial to being firmly supported on the inner wall of the pipeline.

In one possible embodiment, the cabin 110 includes a bracket 111, a safety seat 112, an operation console 113, a third driving source 114, and a connection member 115, the traveling mechanism 130 is fixed to the bracket 111, the third driving source 114 is fixed to the bracket 111, the connection member 115 is connected between the safety seat 112 and the third driving source 114, the safety seat 112 is balanced by the third driving source 114, the operation console 113 is fixed to the bracket 111, and the operation console 113 is electrically connected to the detector 120 and the traveling mechanism 130, respectively. In a specific application, since the pipe manned inspection device 100 runs in a pipe, and the pipe is provided with a straight pipe, an inclined pipe and a curved pipe, when the pipe manned inspection device 100 runs in the inclined pipe or the curved pipe, the safety seat 112 needs to be automatically adjusted to be in a horizontal state, therefore, the third driving source 114 is fixed on the support frame, the connecting piece 115 is connected between the safety seat 112 and the third driving source 114, when the safety seat 112 is out of balance, the safety seat 112 can be re-balanced by the third driving source 114, so that an operator sitting on the safety seat 112 feels comfortable, in addition, the operation table 113 of the operation cabin 110 can be controlled by the operator, and the operator can conveniently control the detection of the inner wall of the pipe by the detector 120 and control the movement distance and direction of the running mechanism 130 because the operation table 113 is electrically connected with the detector 120 and the running mechanism 130 respectively.

In one possible embodiment, the operator's compartment 110 further includes a safety rail 116, the safety rail 116 being disposed around the safety seat 112 and secured to the support 111. In a specific application, the safety fence 116 is arranged around the safety seat 112 to improve the safety of the operation cavity, the safety fence 116 is arranged around the safety seat 112 at a certain distance, and is fixed on the bracket 111 in a welding manner, so that an operator sitting on the safety seat 112 can be protected, and the operator can be prevented from being separated from the safety seat 112.

In one possible embodiment, the running gear 130 includes a second electric cylinder 1324, where one end of the second electric cylinder 1324 is fixed to the first connecting arm 1321 and the other end is fixed to the second connecting arm 1322, so as to drive the second connecting arm 1322 to move relative to the first connecting arm 1321. In a specific application, in order to make the second connecting arm 1322 rotate relative to the first connecting arm 1321, one end of the second electric cylinder 1324 is fixed to the first connecting arm 1321, and the other end is fixed to the second connecting arm 1322, when the second electric cylinder 1324 is driven under the control of the operation cabin 110, the second connecting arm 1322 moves relative to the first connecting arm 1321, so that the travelling wheel 133 connected to the end of the second connecting arm 1322 is attached to the inner wall of the pipeline. Therefore, the travelling wheel 133 is firmly attached to the inner wall of the pipeline, and the travelling wheel 133 drives the travelling mechanism 130 to drive the operation cabin 110 to move forward under the action of static friction force.

In one possible embodiment, the detector 120 includes an upper computer 121 and a sensor 122, the sensor 122 is electrically connected to the upper computer 121, the upper computer 121 is fixed to the support 111, and the sensor 122 faces the inner wall direction of the pipeline, and the upper computer 121 is electrically connected to the console 113. In a specific application, the sensor 122 is a radar sensor 122 and/or a vision sensor 122 for detecting the condition of the inner wall of the pipeline, then the condition is fed back to the upper computer 121, the upper computer 121 analyzes the condition of the inner wall of the pipeline, and when the analysis detects that the condition of the inner wall of the pipeline is abnormal, the upper computer 121 feeds back information to the operation table 113 to prompt the condition of the operator and wait for the processing of the operator.

In one possible embodiment, the operator's compartment 110 further includes a safety helmet (not shown) that is suspended from the safety seat 112 and a safety harness (not shown) that is tethered to the safety seat 112. In a specific application, in order to ensure the life health of operators, safety helmets are hung on the safety seats 112, so that the operators can conveniently take the safety helmets; a safety harness is also attached to the safety seat 112 and the operator is required to attach to the safety harness and to attach the safety helmet to the installation seat and the pipe inspection device 100 is allowed to begin operation.

In one possible embodiment, the pipe manned inspection apparatus 100 further includes a safety device (not shown) including a hoist and a safety rope, wherein the hoist is detachable from the pipe, one end of the safety rope is connected to the hoist in a contracted state, and the other end of the safety rope is fixed to the operation cabin 110. In particular application, in order to ensure the safety of the operator and the pipeline manned inspection device 100, the winch of the safety device can be installed and fixed in the pipeline, the safety rope is controlled by the shrinkage of the winch, and the other end of the safety rope is fixed in the operation cabin 110, so that the operation operator and the pipeline manned inspection device 100 can be protected secondarily, when the pipeline manned inspection device 100 works normally, the safety device moves along with the pipeline manned inspection device 100 to retract and release the rope, and the pipeline manned inspection device 100 does not have traction effect, so as to avoid damage to the pipeline wall caused by the safety rope. When the pipe manned inspection device 100 is abnormal or accidentally slipped, the safety device can effectively prevent the pipe manned inspection device 100 and operators from falling.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. A pipe manned inspection device, comprising:

an operation cabin;

the detector is arranged in the operation cabin and is electrically connected with the operation cabin and used for detecting the condition in the pipeline;

the traveling mechanism comprises a connecting seat, a driving arm assembly, traveling wheels and a first driving source, wherein the connecting seat is fixed on the operating cabin, the driving arm assembly is movably connected with the connecting seat, the traveling wheels are rotationally connected with the driving arm assembly, and the first driving mechanism is fixed on the driving arm assembly and used for driving the traveling wheels to travel relative to the inner wall of the pipeline.

2. The pipe manned inspection device of claim 1, wherein the driving arm assembly includes a first connecting arm, a second connecting arm and a first electric cylinder, one end of the first connecting arm is rotatably connected with the connecting base, the other end of the first connecting arm is rotatably connected with one end of the second connecting arm, the other end of the second connecting arm is connected with the travelling wheel, one end of the first electric cylinder is rotatably connected with the connecting base, and the other end of the first electric cylinder is connected with the first connecting arm.

3. The pipe manned inspection device of claim 1, wherein the travel mechanism further comprises a positioning module disposed proximate the travel wheel at the end of the drive arm assembly, the positioning module configured to limit movement of the travel wheel.

4. A pipe manned inspection apparatus according to claim 3, wherein the positioning module further comprises an electric push rod, a second driving source and a supporting member, the electric push rod is fixed at the end of the second connecting arm, the supporting member is connected to the electric push rod, and the supporting member is used for positioning and fixing the pipe manned inspection apparatus when the supporting member abuts against the inner wall of the pipe.

5. The pipe inspection device of any one of claims 1-4, wherein the cabin includes a bracket, a safety seat, an operation console, a third drive source and a connector, the running gear is fixed to the bracket, the third drive source is fixed to the bracket, the connector is connected between the safety seat and the third drive source, the safety seat is balanced by the third drive source, the operation console is fixed to the bracket, and the operation console is electrically connected to the detector and the running gear, respectively.

6. The pipe manned inspection device of claim 5, wherein the operator cabin further includes a safety rail surrounding the safety seat and secured to the bracket.

7. The pipe manned inspection device of claim 2, wherein the travelling mechanism comprises a second electrically powered cylinder having one end fixed to the first connecting arm and the other end fixed to the second connecting arm to drive the second connecting arm to move relative to the first connecting arm.

8. The manned inspection device according to claim 5, wherein the detector comprises an upper computer and a sensor, the sensor is electrically connected with the upper computer, the upper computer is fixed on the bracket, the sensor faces the direction of the inner wall of the pipeline, and the upper computer is electrically connected with the operation console.

9. The pipe manned inspection device of claim 5, wherein the operator cabin further includes a safety helmet and a safety harness, the safety helmet being suspended from the safety seat, the safety harness being tethered to the safety seat.

10. The pipe manned inspection device of claim 1, further comprising a safety device, the safety device comprising a hoist and a safety rope, the hoist being detachable in the pipe, one end of the safety rope being in shrink connection with the hoist, the other end of the safety rope being secured to the cabin.