CN117090997B - Pipeline connection correction inspection robot - Google Patents
Pipeline connection correction inspection robot Download PDFInfo
- Publication number
- CN117090997B CN117090997B CN202311118037.XA CN202311118037A CN117090997B CN 117090997 B CN117090997 B CN 117090997B CN 202311118037 A CN202311118037 A CN 202311118037A CN 117090997 B CN117090997 B CN 117090997B
- Authority
- CN
- China
- Prior art keywords
- frame
- seat
- rod
- correcting
- pipeline
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 38
- 210000001503 joint Anatomy 0.000 claims description 9
- 235000004443 Ricinus communis Nutrition 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 239000012530 fluid Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/06—Accessories therefor, e.g. anchors
- F16L1/11—Accessories therefor, e.g. anchors for the detection or protection of pipes in the ground
-
- 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
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/06—Accessories therefor, e.g. anchors
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of pipeline robots, in particular to a pipeline connection correction inspection robot, which aims to ensure that adjacent pipelines can be quickly abutted and the tightness of pipeline joints is ensured, whether front and rear pipelines are on the same axis or whether joint ends are aligned is required to be determined when the pipelines are abutted. The invention can be used for the arrangement and installation of pipelines and the inspection of pipelines, and has simple structure and convenient operation.
Description
Technical Field
The invention relates to the technical field of pipeline robots, in particular to a pipeline connection deviation correcting inspection robot.
Background
Pipes are devices for transporting gas, liquid or fluid with solid particles, which are coupled by pipes, pipe couplings, valves, etc. In general, after the fluid is pressurized by a blower, a compressor, a pump, a boiler, etc., the fluid flows from a high pressure place to a low pressure place of a pipeline, and the fluid can be conveyed by the pressure or gravity of the fluid. The piping is used in a wide variety of applications, mainly in water supply, water drainage, heat supply, gas supply, long distance transportation of petroleum and natural gas, agricultural irrigation, hydraulic engineering and various industrial devices.
In the pipeline arrangement and installation process, in order to ensure the tightness of the joint of the adjacent pipelines and the pipeline, whether the front pipeline and the rear pipeline are on the same axis or whether the joint ends are aligned or not needs to be determined when the pipelines are in butt joint, and in the general pipeline arrangement and installation process, workers are used for self-checking and butt joint, and for butt joint installation of some thicker or longer pipelines, a plurality of persons or other equipment are often required to assist in completion.
When some pipelines laid underground or inconvenient to observe are overhauled, if the pipeline interfaces are misplaced and distorted, the overall safety of the pipelines is affected, and a robot capable of carrying out inspection and correction on the pipeline connection is needed to complete the work.
Disclosure of Invention
The invention aims to provide a pipeline connection deviation rectifying and inspection robot which can realize pipeline arrangement butt joint and pipeline inspection deviation rectifying.
To achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a pipeline connection inspection robot that rectifies, including the frame, be used for the running gear that removes in the pipeline and to the mechanism of rectifying that rectifies of linking to each other pipeline installation, running gear and mechanism of rectifying all pass through electric control module control, running gear distributes along the frame circumference and the symmetry is installed in the frame, and the mechanism of rectifying is installed at the both ends of frame symmetrically, and the mechanism of rectifying includes the head of rectifying and rectifies the seat, rectifies the head and installs on rectifying the seat, rectifies the seat and passes through tensioning assembly and install the both ends at the frame.
Preferably, the frame includes multiunit link and connecting plate, is connected through the connecting plate between link and the link, and running gear distributes the installation along tip link circumferencial direction, and electric control module passes through mounting bracket and pole frame to be installed in the fuselage that link and connecting plate constitute, and the link at both ends is connected to the pole frame, and the mounting bracket is located the link inboard and with the both ends fixed connection of pole frame.
Preferably, the running gear includes wheel carrier subassembly and electronic truckle and makes things convenient for the electronic truckle to adapt to the adaptation subassembly of different environment and pipe diameter, and electronic truckle is installed on the wheel carrier subassembly, and wheel carrier subassembly symmetry is installed on two ring frames of frame tip, and adaptation subassembly is installed between two adjacent ring frames and is connected with corresponding wheel carrier subassembly.
Preferably, the wheel carrier assembly comprises a wheel foot and a foot seat, the electric castor is arranged at one end of the wheel foot, the other end of the wheel foot is hinged with the foot seat, the foot seat is fixed on the corresponding ring frame, and the middle part of the wheel foot is connected with the adjusting assembly.
Preferably, the adapting assembly comprises a sliding seat, a connecting rod and an inclined strut, one end of the inclined strut is hinged with the wheel leg, the other end of the inclined strut is hinged with the sliding seat, the sliding seat is sleeved on the connecting rod, two ends of the connecting rod are respectively connected with the adjacent ring frames, the sliding seat is connected with the corresponding ring frames through springs, the springs are sleeved on corresponding screw rods, and two ends of the springs are respectively in butt joint with the sliding seat and the ring frames.
Preferably, the tensioning assembly comprises a central screw rod, a motor and two connecting seats, the motor is arranged on the mounting frame, the central screw rod is fixedly connected with an output shaft of the motor, the two connecting seats are respectively in threaded connection with two ends of the central screw rod, the connecting seats are connected with the deviation rectifying seats through supporting rods, two ends of the supporting rods are respectively hinged with the deviation rectifying seats and the connecting seats, the central screw rod is connected with the deviation rectifying mechanisms through rod sleeves, and the rod sleeves are arranged in the middle of the central screw rod.
Preferably, the correcting mechanism further comprises a correcting frame and a camera, the correcting frame is fixedly and symmetrically arranged on the annular frames at two ends of the frame, the camera is arranged on the correcting frame through an outer end plate, the tensioning assembly is located on the inner side of the correcting frame, the correcting frame is connected with the rod sleeve through a frame sleeve, and the correcting seat is in sliding connection with the frame sleeve.
Preferably, the deviation correcting seat is connected with the supporting rod through a seat angle plate, the seat angle plate is fixedly arranged on the inner side of the deviation correcting seat, the seat angle plate is connected with the frame sleeve through a guide rod, the guide rod is fixedly arranged on the seat angle plate and is in sliding connection with the frame sleeve through a groove rod, and the groove rod is arranged on the frame sleeve.
Preferably, the deviation rectifying head comprises a conical sleeve and a deviation rectifying shaft, the conical sleeve is of a conical structure, the conical sleeve can be rotatably sleeved at one end of the deviation rectifying shaft, and the other end of the deviation rectifying shaft is fixed on the deviation rectifying seat.
Preferably, the top of the deviation correcting seat is provided with an anti-slip pad.
The invention has the beneficial effects that: in order to ensure that adjacent pipelines can be quickly butted and the tightness of the pipeline joint is required to determine whether front and rear pipelines are on the same axis or whether joint ends are aligned or not when the pipelines are butted, the invention adopts the steps that the deviation correcting mechanism is arranged on the frame, the frame and the deviation correcting mechanism are driven to move in the pipelines by using the travelling mechanism, the pipelines are inspected, when the joints of the adjacent pipelines are found to have dislocation or distortion, the deviation correcting head and the deviation correcting seat are respectively moved to the front and rear pipeline joint ends by using the tensioning assembly of the deviation correcting mechanism, the deviation correcting head stretches into the inner side of the joint of the front pipeline in the process, the deviation correcting seat is positioned at the joint of the rear pipeline, and then the tensioning assembly slowly expands the deviation correcting head and the deviation correcting seat outwards until the deviation correcting seat is clung to the edge of the joint inner ring of the rear pipeline, and the deviation correcting head aligns the dislocation pipeline joint with the joint of the rear pipeline. The invention can be used for the arrangement and installation of pipelines and the inspection of pipelines, and has simple structure and convenient operation.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are required to be used in the embodiments of the present invention will be briefly described below. It is evident that the drawings described below are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of a second embodiment of the present invention.
Fig. 3 is a side view of the present invention.
Fig. 4 is a top view of the present invention.
Fig. 5 is a front view of the present invention.
Fig. 6 is a schematic perspective view of the frame and running gear of the present invention.
Fig. 7 is a schematic perspective view of the deviation rectifying mechanism according to the present invention.
Fig. 8 is a schematic perspective view of a deviation rectifying mechanism according to the second embodiment of the present invention.
Fig. 9 is an exploded view of the deviation rectifying mechanism.
Fig. 10 is a schematic view of a semi-cut-away perspective structure of the present invention.
In the figure:
1-a frame; 1 a-ring frames; 1 b-a connecting plate; 1 c-a pole frame; 1 d-mounting frame; 2-a travelling mechanism; 2 b-electric casters; 2 a-wheel carriage assembly; 2a 1-casters; 2a 2-footstands; 2 c-an adaptation component; 2c 1-a slide; 2c 2-connecting rod; 2c 3-diagonal bracing; 2c 4-springs; 3-a deviation correcting mechanism; 3 a-a deviation rectifying frame; 3a 1-an outer end plate; 3a 2-frame sleeve; 3a 3-grooved bars; 3 b-camera; 3c, correcting the deviation; 3c 1-a conical sleeve; 3c 2-correcting the offset axis; 3 d-a deviation correcting seat; 3d 1-guide bar; 3d 2-seat gussets; 3d 3-cleat; 3 e-tensioning assembly; 3e 1-a central screw; 3e 2-motor; 3e 3-connecting seats; 3e 4-struts; 3e 5-pole sleeve; 4-an electric control module.
Description of the embodiments
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for convenience in describing the present invention and simplifying the description, rather than indicating or implying that the apparatus or elements being referred to must have a specific orientation, be constructed and operated in a specific orientation, so that the terms describing the positional relationships in the drawings are merely for exemplary illustration and should not be construed as limiting the present patent, and that the specific meaning of the terms described above may be understood by those of ordinary skill in the art according to specific circumstances.
In the description of the present invention, unless explicitly stated and limited otherwise, the term "coupled" or the like should be interpreted broadly, as it may be fixedly coupled, detachably coupled, or integrally formed, as indicating the relationship of components; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between the two parts or interaction relationship between the two parts. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 to 10:
the utility model provides a robot is patrolled and examined in pipeline connection, which comprises a frame 1, be used for the running gear 2 that removes in the pipeline and to the mechanism 3 of rectifying that rectifies of linking to each other pipeline installation, running gear 2 and mechanism 3 all control through electronic control module 4 rectify, running gear 2 distributes along the circumference of frame 1 and the symmetry is installed on frame 1, mechanism 3 symmetry is installed at the both ends of frame 1 rectifies, mechanism 3 is including rectifying first 3c and rectifying seat 3d rectify, rectify first 3c and install on rectifying seat 3d, rectifying seat 3d passes through tensioning assembly 3e and installs the both ends at frame 1.
In order to ensure that adjacent pipelines can be quickly abutted and the tightness of pipeline joints is required to be determined whether front and rear pipelines are on the same axis or whether joint ends are aligned or not when the pipelines are abutted, the invention uses the travelling mechanism 2 to drive the frame 1 and the deviation correcting mechanism 3 to move in the pipelines by arranging the deviation correcting mechanism 3 on the frame 1, and the pipelines are inspected, when the joints of the adjacent pipelines are found to have dislocation or distortion, the deviation correcting head 3c and the deviation correcting seat 3d are respectively moved to the front and rear pipeline joint ends by using the tensioning assembly 3e of the deviation correcting mechanism 3, in the process, the deviation correcting head 3c stretches into the inner side of the joint of the front pipeline, the deviation correcting seat 3d is positioned at the joint of the rear pipeline, and then the tensioning assembly 3e slowly expands the deviation correcting head 3c and the deviation correcting seat 3d outwards until the deviation correcting seat 3d is clung to the edge of the joint inner ring of the rear pipeline, and the dislocation correcting head 3c is aligned with the joint of the rear pipeline. The invention can be used for the arrangement and installation of pipelines and the inspection of pipelines, and has simple structure and convenient operation.
The frame 1 includes multiunit link 1a and connecting plate 1b, is connected through connecting plate 1b between link 1a and the link 1a, and running gear 2 distributes along tip link 1a circumferencial direction and installs, and electric control module 4 passes through mounting bracket 1d and pole frame 1c and installs in the fuselage that link 1a and connecting plate 1b constitute, and link 1a at both ends is connected to pole frame 1c, and mounting bracket 1d is located link 1a inboard and with the both ends fixed connection of pole frame 1 c.
The running mechanism 2 comprises a wheel frame assembly 2a, an electric trundle 2b and an adapting assembly 2c which is convenient for the electric trundle 2b to adapt to different environments and pipe diameters, the electric trundle 2b is arranged on the wheel frame assembly 2a, the wheel frame assembly 2a is symmetrically arranged on two ring frames 1a at the end part of the machine frame 1, and the adapting assembly 2c is arranged between two adjacent ring frames 1a and is connected with the corresponding wheel frame assembly 2 a.
In order to facilitate mobile inspection in a pipeline, the electric trundle 2b drives the rack 1 and the deviation correcting mechanism 3 to move in the pipeline, and the electric trundle 2b can be tightly attached to the inner wall of the pipeline by matching the adjusting component 2c with the wheel frame component 2a, so that the invention is suitable for pipeline facilities with complex environments in the pipeline and different pipe diameters.
The wheel carrier assembly 2a comprises a wheel foot 2a1 and a foot seat 2a2, the electric caster wheel 2b is arranged at one end of the wheel foot 2a1, the other end of the wheel foot 2a1 is hinged with the foot seat 2a2, the foot seat 2a2 is fixed on the corresponding ring frame 1a, and the middle part of the wheel foot 2a1 is connected with the adjusting assembly 2 c.
The adapting component 2c comprises a sliding seat 2c1, a connecting rod 2c2 and an inclined strut 2c3, one end of the inclined strut 2c3 is hinged with a wheel leg 2a1, the other end of the inclined strut is hinged with the sliding seat 2c1, the sliding seat 2c1 is sleeved on the connecting rod 2c2, two ends of the connecting rod 2c2 are respectively connected with an adjacent ring frame 1a, the sliding seat 2c1 is connected with a corresponding ring frame 1a through a spring 2c4, the spring 2c4 is sleeved on a corresponding screw rod, and two ends of the spring 2c4 are respectively abutted with the sliding seat 2c1 and the ring frame 1 a.
In order to meet the requirements of pipeline installation and arrangement of different pipe diameters and pipeline inspection with complex environments in the pipe, the adaptive movement of the electric casters 2b is realized by utilizing the adaptive adjusting component 2c, the inclined struts 2c3 on the sliding seat 2c1 are always outwards supported by utilizing the springs 2c4 and the sliding seat 2c1, and then the casters 2a1 are ensured to be opened so that the electric casters 2b can always be attached to the pipe wall, and the use of the robot in different pipe diameters and complex environments can be effectively ensured.
Tensioning assembly 3e includes center screw rod 3e1, motor 3e2 and two connecting seat 3e3, motor 3e2 installs on mounting bracket 1d, center screw rod 3e1 and the output shaft fixed connection of motor 3e2, two connecting seat 3e3 respectively with center screw rod 3e 1's both ends threaded connection, be connected through branch 3e4 between connecting seat 3e3 and the seat 3d that rectifies, the both ends of branch 3e4 respectively with rectify seat 3d and connecting seat 3e3 articulated, be connected through pole cover 3e5 between center screw rod 3e1 and the mechanism 3 that rectifies, pole cover 3e5 sets up at center screw rod 3e 1's middle part.
The correcting mechanism 3 further comprises a correcting frame 3a and a camera 3b, the correcting frame 3a is fixedly and symmetrically arranged on the annular frames 1a at two ends of the frame 1, the camera 3b is arranged on the correcting frame 3a through an outer end plate 3a1, the tensioning assembly 3e is positioned on the inner side of the correcting frame 3a, the correcting frame 3a is connected with the rod sleeve 3e5 through a frame sleeve 3a2, and the correcting seat 3d is in sliding connection with the frame sleeve 3a 2.
The deviation correcting seat 3d is connected with the supporting rod 3e4 through a seat angle plate 3d2, the seat angle plate 3d2 is fixedly arranged on the inner side of the deviation correcting seat 3d, the seat angle plate 3d2 is connected with the frame sleeve 3a2 through a guide rod 3d1, the guide rod 3d1 is fixedly arranged on the seat angle plate 3d2 and is in sliding connection with the frame sleeve 3a2 through a groove rod 3a3, and the groove rod 3a3 is arranged on the frame sleeve 3a 2. The top of the deviation rectifying seat 3d is provided with an anti-slip pad 3d3. Because the deviation correcting seat 3d needs to be tightly attached to a fixed pipeline, in order to prevent the deviation correcting seat 3d from slipping in the deviation correcting process, the deviation correcting seat 3d is connected with the inner wall of the pipeline by utilizing the anti-slip pad 3d3, and the anti-slip pad 3d3 has certain magnetism so as to further absorb the metal pipeline.
The correcting head 3c comprises a conical sleeve 3c1 and a correcting shaft 3c2, the conical sleeve 3c1 is of a conical structure, the conical sleeve 3c1 can be rotatably sleeved at one end of the correcting shaft 3c2, and the other end of the correcting shaft 3c2 is fixed on the correcting seat 3 d.
By utilizing the conical structure of the conical sleeve 3c1, when correction is carried out, the tip end of the conical sleeve 3c1 stretches into the front-section pipeline, and the front-section pipeline can gradually move along the conical surface of the conical sleeve 3c1 and be aligned with the joint of the rear-section pipeline in the tensioning process.
When the robot performs pipeline inspection, the condition in the pipeline is shot and monitored in real time by using the camera 3b, when the pipeline is found to be misplaced, the correction frame 3a is firstly moved to the joint of the front pipeline and the rear pipeline when correction is performed on the front pipeline and the rear pipeline, at this time, the correction seat 3d and the correction head 3c are both close to the center of the correction frame 3a, the correction head 3c extends to the joint of the front pipeline, the correction seat 3d is opposite to the joint of the rear pipeline, then the motor 3e2 drives the central screw 3e1 to rotate, so that the two connecting seats 3e3 move in the opposite direction, the supporting rod 3e4 is opened, the supporting rod 3e4 pushes the seat angle plate 3d2 and the correction seat 3d to gradually move outwards and be close to the inner wall of the rear pipeline, and meanwhile, the correction head 3c is also outwards opened, and the correction head 3c is contacted with the joint of the front pipeline firstly because the front pipeline is misplaced, then is continuously tensioned, and the correction head 3c gradually corrects the front pipeline.
It should be understood that the above description is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be apparent to those skilled in the art that various modifications, equivalents, variations, and the like can be made to the present invention. However, such modifications are intended to fall within the scope of the present invention without departing from the spirit of the present invention. In addition, some terms used in the specification and claims of the present application are not limiting, but are merely for convenience of description.
Claims (6)
1. The utility model provides a pipeline connection inspection robot that rectifies, a serial communication port, including frame (1), be used for in the pipeline remove walking mechanism (2) and to the mechanism (3) of rectifying of connecting the pipeline installation, walking mechanism (2) and mechanism (3) all pass through electronic control module (4) control, walking mechanism (2) are distributed along frame (1) circumference and symmetry install on frame (1), mechanism (3) of rectifying are installed at the both ends of frame (1) symmetry, mechanism (3) of rectifying include rectify first (3 c) and rectify seat (3 d), rectify first (3 c) and install on rectify seat (3 d), rectify seat (3 d) and install at the both ends of frame (1) through tensioning assembly (3 e);
the frame (1) comprises a plurality of groups of ring frames (1 a) and connecting plates (1 b), the ring frames (1 a) are connected with the ring frames (1 a) through the connecting plates (1 b), the travelling mechanisms (2) are distributed and installed along the circumferential direction of the end ring frames (1 a), the electric control modules (4) are installed in a frame formed by the ring frames (1 a) and the connecting plates (1 b) through installation frames (1 d) and rod frames (1 c), the rod frames (1 c) are connected with the ring frames (1 a) at two ends, and the installation frames (1 d) are positioned at the inner sides of the ring frames (1 a) and fixedly connected with the two ends of the rod frames (1 c);
the tensioning assembly (3 e) comprises a central screw rod (3 e 1), a motor (3 e 2) and two connecting seats (3 e 3), the motor (3 e 2) is installed on the installation frame (1 d), the central screw rod (3 e 1) is fixedly connected with an output shaft of the motor (3 e 2), the two connecting seats (3 e 3) are respectively in threaded connection with two ends of the central screw rod (3 e 1), the connecting seats (3 e 3) are connected with the deviation rectifying seats (3 d) through supporting rods (3 e 4), two ends of each supporting rod (3 e 4) are respectively hinged with the deviation rectifying seats (3 d) and the connecting seats (3 e 3), the central screw rod (3 e 1) is connected with the deviation rectifying mechanism (3) through rod sleeves (3 e 5), and the rod sleeves (3 e 5) are arranged in the middle of the central screw rod (3 e 1);
the correcting mechanism (3) further comprises a correcting frame (3 a) and a camera (3 b), the correcting frame (3 a) is fixedly and symmetrically arranged on the annular frames (1 a) at two ends of the frame (1), the camera (3 b) is arranged on the correcting frame (3 a) through an outer end plate (3 a 1), the tensioning assembly (3 e) is positioned at the inner side of the correcting frame (3 a), the correcting frame (3 a) is connected with the rod sleeve (3 e 5) through a frame sleeve (3 a 2), and the correcting seat (3 d) is in sliding connection with the frame sleeve (3 a 2);
the correcting seat (3 d) is connected with the supporting rod (3 e 4) through a seat angle plate (3 d 2), the seat angle plate (3 d 2) is fixedly arranged on the inner side of the correcting seat (3 d), the seat angle plate (3 d 2) is connected with the frame sleeve (3 a 2) through a guide rod (3 d 1), the guide rod (3 d 1) is fixedly arranged on the seat angle plate (3 d 2) and is in sliding connection with the frame sleeve (3 a 2) through a groove rod (3 a 3), and the groove rod (3 a 3) is arranged on the frame sleeve (3 a 2).
2. A pipeline connection deviation rectifying inspection robot according to claim 1, characterized in that the travelling mechanism (2) comprises a wheel frame component (2 a) and an electric castor (2 b) and an adjusting component (2 c) which is convenient for the electric castor (2 b) to adapt to different environments and pipe diameters, the electric castor (2 b) is arranged on the wheel frame component (2 a), the wheel frame component (2 a) is symmetrically arranged on two ring frames (1 a) at the end part of the frame (1), and the adjusting component (2 c) is arranged between two adjacent ring frames (1 a) and is connected with the corresponding wheel frame component (2 a).
3. A pipeline connection deviation rectifying inspection robot according to claim 2, characterized in that the wheel frame assembly (2 a) comprises a wheel foot (2 a 1) and a foot seat (2 a 2), the electric caster wheel (2 b) is arranged at one end of the wheel foot (2 a 1), the other end of the wheel foot (2 a 1) is hinged with the foot seat (2 a 2), the foot seat (2 a 2) is fixed on the corresponding ring frame (1 a), and the middle part of the wheel foot (2 a 1) is connected with the adapting assembly (2 c).
4. A pipeline connection deviation rectifying inspection robot as claimed in claim 3, characterized in that the adapting component (2 c) comprises a sliding seat (2 c 1), a connecting rod (2 c 2) and a diagonal brace (2 c 3), one end of the diagonal brace (2 c 3) is hinged with a wheel leg (2 a 1) and the other end is hinged with the sliding seat (2 c 1), the sliding seat (2 c 1) is sleeved on the connecting rod (2 c 2), two ends of the connecting rod (2 c 2) are respectively connected with an adjacent ring frame (1 a), the sliding seat (2 c 1) is connected with a corresponding ring frame (1 a) through a spring (2 c 4), the spring (2 c 4) is sleeved on a corresponding screw rod, and two ends of the spring are respectively in butt joint with the sliding seat (2 c 1) and the ring frame (1 a).
5. The pipeline connection correction inspection robot according to claim 1, wherein the correction head (3 c) comprises a conical sleeve (3 c 1) and a correction shaft (3 c 2), the conical sleeve (3 c 1) is of a conical structure, the conical sleeve (3 c 1) can be rotatably sleeved at one end of the correction shaft (3 c 2), and the other end of the correction shaft (3 c 2) is fixed on the correction seat (3 d).
6. The pipeline connection deviation rectifying inspection robot according to claim 5, wherein an anti-slip pad (3 d 3) is arranged at the top of the deviation rectifying seat (3 d).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311118037.XA CN117090997B (en) | 2023-09-01 | 2023-09-01 | Pipeline connection correction inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311118037.XA CN117090997B (en) | 2023-09-01 | 2023-09-01 | Pipeline connection correction inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117090997A CN117090997A (en) | 2023-11-21 |
| CN117090997B true CN117090997B (en) | 2024-01-26 |
Family
ID=88782678
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311118037.XA Active CN117090997B (en) | 2023-09-01 | 2023-09-01 | Pipeline connection correction inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117090997B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110094612A (en) * | 2010-02-17 | 2011-08-24 | 웰텍 주식회사 | Device for shaping roundness of inside-joint portions of steel pipes |
| CN104325256A (en) * | 2014-10-23 | 2015-02-04 | 桂林电子科技大学 | Electric internal clamp for pipeline |
| KR101575111B1 (en) * | 2014-10-01 | 2015-12-07 | 부경대학교 산학협력단 | Pipe inspection robot assembly |
| KR200479032Y1 (en) * | 2014-11-20 | 2015-12-10 | 한국원자력연구원 | In-Pipe Inspection Robot |
| CN109296868A (en) * | 2018-11-14 | 2019-02-01 | 燕山大学 | A kind of pipe robot for pipeline docking |
| CN109759771A (en) * | 2019-01-30 | 2019-05-17 | 北京石油化工学院 | A kind of inner bearing type Large diameter pipe end docking hydraulic synchronization correction centralizer |
| CN212191958U (en) * | 2020-05-12 | 2020-12-22 | 润泽天下(天津)科技有限公司 | Pipe internal butt-joint device |
| CN112128511A (en) * | 2020-09-24 | 2020-12-25 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Pipeline endoscope inspection mobile robot |
| CN113618323A (en) * | 2021-07-21 | 2021-11-09 | 华电云南发电有限公司以礼河发电厂 | Auxiliary centering device for installation of underground pressure steel pipe |
| CN114619184A (en) * | 2022-05-13 | 2022-06-14 | 苏州思萃熔接技术研究所有限公司 | Preheating welding device for welding workpiece |
| CN114923062A (en) * | 2022-05-31 | 2022-08-19 | 太仓阿尔法数字科技有限公司 | Self-adaptive pipeline climbing inspection robot |
| CN218818926U (en) * | 2022-10-19 | 2023-04-07 | 成都理工大学 | Obstacle-avoidable pipeline detection robot adaptive to pipe diameter |
| CN116146825A (en) * | 2023-02-21 | 2023-05-23 | 道雨耐节能科技宿迁有限公司 | Mobile robot for pipeline detection and repair |
-
2023
- 2023-09-01 CN CN202311118037.XA patent/CN117090997B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110094612A (en) * | 2010-02-17 | 2011-08-24 | 웰텍 주식회사 | Device for shaping roundness of inside-joint portions of steel pipes |
| KR101575111B1 (en) * | 2014-10-01 | 2015-12-07 | 부경대학교 산학협력단 | Pipe inspection robot assembly |
| CN104325256A (en) * | 2014-10-23 | 2015-02-04 | 桂林电子科技大学 | Electric internal clamp for pipeline |
| KR200479032Y1 (en) * | 2014-11-20 | 2015-12-10 | 한국원자력연구원 | In-Pipe Inspection Robot |
| CN109296868A (en) * | 2018-11-14 | 2019-02-01 | 燕山大学 | A kind of pipe robot for pipeline docking |
| CN109759771A (en) * | 2019-01-30 | 2019-05-17 | 北京石油化工学院 | A kind of inner bearing type Large diameter pipe end docking hydraulic synchronization correction centralizer |
| CN212191958U (en) * | 2020-05-12 | 2020-12-22 | 润泽天下(天津)科技有限公司 | Pipe internal butt-joint device |
| CN112128511A (en) * | 2020-09-24 | 2020-12-25 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Pipeline endoscope inspection mobile robot |
| CN113618323A (en) * | 2021-07-21 | 2021-11-09 | 华电云南发电有限公司以礼河发电厂 | Auxiliary centering device for installation of underground pressure steel pipe |
| CN114619184A (en) * | 2022-05-13 | 2022-06-14 | 苏州思萃熔接技术研究所有限公司 | Preheating welding device for welding workpiece |
| CN114923062A (en) * | 2022-05-31 | 2022-08-19 | 太仓阿尔法数字科技有限公司 | Self-adaptive pipeline climbing inspection robot |
| CN218818926U (en) * | 2022-10-19 | 2023-04-07 | 成都理工大学 | Obstacle-avoidable pipeline detection robot adaptive to pipe diameter |
| CN116146825A (en) * | 2023-02-21 | 2023-05-23 | 道雨耐节能科技宿迁有限公司 | Mobile robot for pipeline detection and repair |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117090997A (en) | 2023-11-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107021144B (en) | Magnetic track climbing robot of self-adaptation contact | |
| CN107489854A (en) | A kind of contactless magnetic adsorption wall climbing robot for adapting to complicated wall operation | |
| CN206514066U (en) | A kind of compressed natural gas loading arm | |
| CN101319747A (en) | Self-adapting pipe robot | |
| CN117090997B (en) | Pipeline connection correction inspection robot | |
| CN112923142B (en) | Emergency joint for petroleum conveying pipeline | |
| CN109399187A (en) | Portable tubular product centre gripping distributor | |
| CN114234018B (en) | Disconnect-type pipeline inspection robot | |
| CN113063747A (en) | Walking robot for pipeline gas detection | |
| US3519206A (en) | Traveling water supply for field irrigation system | |
| CN205479743U (en) | Pipeline support convenient to adjust | |
| JPH06123794A (en) | Device and method for remote incore work | |
| CN106984920A (en) | A kind of all-around mobile formula pipe welding robot | |
| CN114658932B (en) | Hydraulic truss type moving mechanism capable of rapidly folding and unfolding pipeline and adjusting angle | |
| CN215469049U (en) | Gas protection device for pipeline welding | |
| CN214793625U (en) | Submersible mixer gas tightness detection equipment for sewage treatment | |
| CN105904467B (en) | A kind of self-centering docking robot of pipe | |
| CN213442969U (en) | Foldable recovery device for underwater robot | |
| CN113790309A (en) | Support device with wide application range for municipal pipeline laying and use method thereof | |
| CN214326438U (en) | Natural gas line construction is got with pressing from both sides and is settled device | |
| CN219584348U (en) | A climb tub robot for multitube footpath detects | |
| CN214107598U (en) | Spraying device for natural gas pipeline installation | |
| CN219662368U (en) | Chemical-resistant decontamination robot | |
| CN112387494A (en) | Anticorrosive spraying equipment of inlayer suitable for arc pipe | |
| CN216943120U (en) | Tubular product transportation equipment for municipal construction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |