CN207230019U - Pipeline rehabilitation robot and system - Google Patents
Pipeline rehabilitation robot and system Download PDFInfo
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- CN207230019U CN207230019U CN201721184385.7U CN201721184385U CN207230019U CN 207230019 U CN207230019 U CN 207230019U CN 201721184385 U CN201721184385 U CN 201721184385U CN 207230019 U CN207230019 U CN 207230019U
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- master controller
- pipeline
- rehabilitation robot
- welding
- pipeline rehabilitation
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Abstract
The utility model provides a kind of pipeline rehabilitation robot and system, and pipeline rehabilitation robot includes fuselage, the master controller for being arranged at fuselage interior, communication module, and detection agency, walking mechanism, spray body, the welding mechanism being arranged on fuselage；Walking mechanism performs the traveling instruction of master controller；Detection agency includes ultrasonic sensor, and ultrasonic sensor detects and gathers complex information to be repaired in pipeline, complex information to be repaired is sent to master controller；The spraying that spray body is sent according to master controller instructs, and spraying reparation is carried out to the cut in pipeline；The welding that welding mechanism is sent according to master controller instructs, and REPAIR WELDING is carried out to the crack in pipeline；Master controller is established by communication module and host computer and communicated to connect.In this way, replacing artificial mode by using pipeline rehabilitation robot, the problem of existing repair mode hand labor intensity is big, operating efficiency is low so as to alleviate, and the traffic for being easy to cause related location is obstructed.
Description
Technical field
Pipeline cleaning equipment technical field is the utility model is related to, more particularly, to a kind of pipeline rehabilitation robot and is
System.
Background technology
Sewerage system, is collection, conveying, processing and the job facilities system of discharge municipal sewage and rainwater, is city
The important component of city's infrastructure.Urban discharging pipeline is to collect and convey municipal sewage and rainwater in sewerage system
Link.For founding of New over more than 60 years, Chinese city drainage pipeline development is rapid, and national length of pipeline is in the early days of foundation
6000km on the basis of rise to 439080km, amplification is up to more than 70 times.
During drainage pipeline use, situations such as cut, crack can be produced, if cannot repair in time, it also occur that broken
Split and the accident such as leak, cause lower water to dredge in time, in addition, after sewer pipe is cracked on its inner wall easily so that
Sewage seepage flow causes formation contaminant to underground.
At present, in China most cities the reparation of sewer pipe be all using the method for pipe laying again after excavating, with
The progress of urbanization, not only hand labor intensity is big for the repair mode, operating efficiency is low, and is easy to cause the traffic in related location
It is obstructed, so that the life and trip to people bring great inconvenience.
Utility model content
In view of this, it is existing to alleviate the purpose of this utility model is to provide a kind of pipeline rehabilitation robot and system
Repair mode hand labor intensity is big, operating efficiency is low, and the problem of the traffic for being easy to cause related location is obstructed.
In a first aspect, the utility model embodiment provides a kind of pipeline rehabilitation robot, including fuselage, it is arranged at fuselage
The master controller of inside, communication module, and detection agency, walking mechanism, spray body, the bonding machine being arranged on the fuselage
Structure；The detection agency, the walking mechanism, the spray body, the welding mechanism, the communication module respectively with it is described
Master controller connects；
The walking mechanism performs the traveling instruction of the master controller；
The detection agency includes ultrasonic sensor, and the ultrasonic sensor detects and gathers letter in reply to be repaired in pipeline
Breath, the complex information to be repaired is sent to the master controller；
The spraying that the spray body is sent according to the master controller instructs, and carries out spraying to the cut in pipeline and repaiies
It is multiple；
The welding that the welding mechanism is sent according to the master controller instructs, and carries out welding to the crack in pipeline and repaiies
It is multiple；
The master controller is established by the communication module and host computer and communicated to connect.
With reference to first aspect, the utility model embodiment provides the first possible embodiment of first aspect, its
In, the detection agency further includes obliquity sensor, and the obliquity sensor is connected with the master controller, described for detecting
Inclination angle in pipeline rehabilitation robot traveling process, the inclination angle is sent to the master controller；
The master controller is additionally operable to update and send according to the inclination angle traveling instruction to the walking mechanism.
The possible embodiment of with reference to first aspect the first, the utility model embodiment provide the of first aspect
Two kinds of possible embodiments, wherein, the walking mechanism includes the first driving motor, the main shaft for being arranged at the fuselage interior
Leading screw, and the wheel leg and traveling wheel of the external fuselage are arranged at, the wheel leg fixing end connects the fuselage, and the wheel leg is certainly
The traveling wheel is connected by end；
The first driving motor is connected with the master controller, the main shaft leading screw, is received the master controller and is sent
Traveling instruction, control the traveling wheel that the main shaft leading screw drives the wheel leg free end to advance.
Second of possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect
Three kinds of possible embodiments, wherein, the walking mechanism further includes slip strut, the first end for sliding strut with it is described
Fuselage is rotatablely connected, and the second end for sliding strut is slidably connected by slide assemblies and the wheel leg, so that the slip
The second end of strut can be slided along the length direction of the wheel leg.
The third possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect
Four kinds of possible embodiments, wherein, the cross dip that the obliquity sensor includes being connected with the master controller respectively passes
Sensor, vertical inclination angle sensor and slip strut obliquity sensor；
The cross dip sensor is used to detect cross dip；
The vertical inclination angle sensor is used to detect vertical inclination angle；
The inclination angle slided strut obliquity sensor and be used to detect the slip strut.
With reference to first aspect, the utility model embodiment provides the 5th kind of possible embodiment of first aspect, its
In, the spray body includes the first turntable and spray gun, and the spray gun is arranged on first turntable, first rotation
Turntable is used to drive the spray gun any rotation to be sprayed.
With reference to first aspect, the utility model embodiment provides the 6th kind of possible embodiment of first aspect, its
In, the welding mechanism includes the second turntable, wire-feed motor, gas cylinder and welding gun；
The gas cylinder is connected by tracheae with the wire-feed motor, protection gas during for providing welding；
The wire-feed motor is used to provide welding wire during welding；
The wire-feed motor and the welding gun are arranged on second turntable, and second turntable is used to drive described
Welding gun any rotation is welded.
With reference to first aspect, the utility model embodiment provides the 7th kind of possible embodiment of first aspect, its
In, the information to be repaired includes cut information and crack information two types；
The pipeline rehabilitation robot further includes memory, and the memory is connected with the master controller, is stored with and repaiies
Multiple standard information；The master controller reads the repairing standard information, contrast the repairing standard information with it is described to be repaired
Information, to judge the type of the complex information to be repaired.
With reference to first aspect, the utility model embodiment provides the 8th kind of possible embodiment of first aspect, its
In, disintegrating mechanism is further included, the disintegrating mechanism is connected with the master controller, along the walking of the pipeline rehabilitation robot
Direction, is arranged on the front end of the fuselage, and the disintegrating mechanism is used to crush mud.
Second aspect, the utility model embodiment also provide a kind of pipeline rehabilitation robot system, including host computer and such as
Pipeline rehabilitation robot described in first aspect and its any possible embodiment, the host computer and the pipeline rehabilitation machine
Device people communicates to connect.
The utility model embodiment brings following beneficial effect：
In embodiment provided by the utility model, pipeline rehabilitation robot includes fuselage, is arranged at the master control of fuselage interior
Device processed, communication module, and detection agency, walking mechanism, spray body, the welding mechanism being arranged on fuselage；Detection agency, OK
It is connected respectively with master controller into mechanism, spray body, welding mechanism, communication module；Walking mechanism performs the row of master controller
Into instruction；Detection agency includes ultrasonic sensor, and ultrasonic sensor detects and gathers complex information to be repaired in pipeline, will be to be repaired
Complex information is sent to master controller；The spraying that spray body is sent according to master controller instructs, and the cut in pipeline is sprayed
Apply and repair；The welding that welding mechanism is sent according to master controller instructs, and REPAIR WELDING is carried out to the crack in pipeline；Master controller
Established and communicated to connect by communication module and host computer.In the technical solution that the utility model embodiment provides, by using pipe
Road repair robot replaces the mode of pipe laying again after hand excavation, works so as to solve worker existing for manual work mode
The problem of intensity is big, and operating efficiency is low, and the traffic for being easy to cause related location is obstructed.In addition by according in detection pipeline
Damaged condition, carries out spraying reparation or REPAIR WELDING, further increases remediation efficiency.
Other feature and advantage of the utility model will illustrate in the following description, also, partly from specification
In become apparent, or understood by implementing the utility model.The purpose of this utility model and other advantages are illustrating
Specifically noted structure is realized and obtained in book, claims and attached drawing.
To enable the above-mentioned purpose of the utility model, feature and advantage to become apparent, preferred embodiment cited below particularly, and
Attached drawing appended by cooperation, is described in detail below.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, describe below
In attached drawing be the utility model some embodiments, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the schematic diagram for the pipeline rehabilitation robot that the utility model embodiment provides；
Fig. 2 is the first the communication link map interlinking for the pipeline rehabilitation robot that the utility model embodiment provides；
Fig. 3 is second of communication link map interlinking of the pipeline rehabilitation robot that the utility model embodiment provides；
Fig. 4 is the structure diagram for the pipeline rehabilitation robot system that the utility model embodiment provides.
Icon：
101- fuselages；102- master controllers；103- communication modules；104- detection agencies；1041- ultrasonic sensors；
1042- obliquity sensors；1043- slides strut obliquity sensor；105- walking mechanisms；1051- main shaft leading screws；1052- wheel legs；
1053- traveling wheels；1054- slides strut；106- spray bodies；The first turntables of 1061-；1062- spray guns；107- bonding machines
Structure；The second turntables of 1071-；1072- wire-feed motors；1073- welding guns；108- disintegrating mechanisms；109- power supplies；600- is upper
Machine；700- pipeline rehabilitations robot.
Embodiment
To make the purpose, technical scheme and advantage of the utility model embodiment clearer, below in conjunction with attached drawing to this
The technical solution of utility model is clearly and completely described, it is clear that described embodiment is that the utility model part is real
Example is applied, instead of all the embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making
All other embodiments obtained under the premise of creative work, shall fall within the protection scope of the present invention.
The reparation of sewer pipe is all using the method for pipe laying again after excavating, with city in China most cities at present
The progress in city, not only hand labor intensity is big for the repair mode, operating efficiency is low, and be easy to cause the traffic in related location by
Resistance, so that the life and trip to people bring great inconvenience.Based on this, a kind of pipeline of the utility model embodiment offer
Repair robot and system, can replace the mode of pipe laying again after hand excavation by using pipeline rehabilitation robot, so that
Solve that labor strength existing for manual work mode is big, and operating efficiency is low, and be easy to cause the traffic in related location by
The problem of resistance.In addition by according to the damaged condition in detection pipeline, carrying out spraying reparation or REPAIR WELDING, further improving
Remediation efficiency.
For ease of understanding the present embodiment, first to a kind of pipeline rehabilitation machine disclosed in the utility model embodiment
Device people describes in detail.
Embodiment one：
Fig. 1 shows the schematic diagram for the pipeline rehabilitation robot that the utility model embodiment provides；Fig. 2 shows this practicality
The first the communication link map interlinking for the pipeline rehabilitation robot that new embodiment provides.As shown in Figure 1 and Figure 2, the pipeline rehabilitation machine
People, including fuselage 101, the master controller 102 for being arranged at fuselage interior, communication module 103, and the explorer being arranged on fuselage
Structure 104, walking mechanism 105, spray body 106, welding mechanism 107；Wherein detection agency, walking mechanism, spray body, welding
Mechanism, communication module are connected with master controller respectively.
Further, detection agency includes ultrasonic sensor 1041, which detects and gather in pipeline
Complex information to be repaired, which is sent to master controller.By main control according to the complex information generation spraying instruction to be repaired
Or welding instruction.
In one embodiment, detection agency further includes obliquity sensor 1042, which connects with master controller
Connect, for detecting the inclination angle in pipeline repair robot traveling process, inclination angle is sent to master controller；Master controller is additionally operable to
Concurrently seen off into instruction to walking mechanism, so that can in traveling process of the pipeline rehabilitation robot in pipeline according to inclination angle renewal
With stable operation.
Further, walking mechanism performs the traveling instruction of master controller.Wherein traveling instruction be by master controller according to
What the information and default travel rule that detection agency is sent generated.
Specifically, in one embodiment, the first driving motor which includes being arranged at fuselage interior is (in figure
Do not mark), main shaft leading screw 1051, and be arranged at the wheel leg 1052 and traveling wheel 1053 of external fuselage, wheel leg fixing end connection machine
Body, wheel leg free end connection traveling wheel.First driving motor is connected with master controller, main shaft leading screw, is received master controller and is sent
Traveling instruction, control main shaft leading screw drives the traveling wheel of wheel leg free end to advance.Preferably the first driving motor is stepping
Motor.
It is different in view of pipe diameter to be repaired, in order to enable the pipeline rehabilitation machine that the utility model embodiment provides
People can be adapted for the pipeline of different-diameter, expand the scope of application of pipeline repair robot, in one embodiment, traveling machine
Structure, which further includes, slides strut 1054, and first end and the fuselage of the slip strut are rotatablely connected, and the second end for sliding strut passes through cunning
Dynamic component is slidably connected with wheel leg, so that sliding the second end of strut can slide along the length direction of wheel leg.In this way, sliding branch
During the length direction of bar along wheel leg slides, the expanded range of wheel leg can change, different straight so as to adapt to
The pipeline in footpath, in addition, the expanded range of wheel leg change it is also possible that the traveling of the pipeline rehabilitation robot in pipeline more
Add flexibly.
Further, in order to the expanded range of wheel leg and current pipeline rehabilitation robot can be controlled in real time in pipeline
Traveling situation, so as to adjust the specific action of walking mechanism.In one embodiment, the obliquity sensor of detection agency includes dividing
Cross dip sensor, vertical inclination angle sensor and the slip strut obliquity sensor 1043 not being connected with master controller；Laterally
Obliquity sensor is used to detect cross dip；Vertical inclination angle sensor is used to detect vertical inclination angle；Slide strut obliquity sensor
The inclination angle of strut is slided for detecting.
Further, which further includes camera device (not marked in figure), which is arranged on fuselage
Top, sends to master controller for gathering the image information in pipeline, and by the image information, so that master controller carries out
Graphical analysis, advances with reference to the inclination angle generation that obliquity sensor is sent and instructs, or combines the to be repaired of ultrasonic sensor collection
Complex information generation spraying instruction or welding instruction.Preferably, above-mentioned camera device uses industry camera.Specifically, adopt
With CCD (Charge-coupled Device, charge coupled cell) industry camera.
Further, the master controller is using DSP (Digital Signal Processing, digital information number processing)
Family chip.Preferably, master controller can select MSP430149 microcontrollers, and the chip is due to its high-performance, small size, low
The advantages of cost, obtain very extensive application, to carry in Industry Control, electrical instrumentation product, network communication equipment etc.
The mud pick-up performance of high pipeline repair robot is provided convenience condition.
Further, master controller is established by communication module and host computer and communicated to connect, and can also pass through above-mentioned communication
Module receives the operation signal that host computer is sent, and sends feedback result to host computer by above-mentioned communication module or performs knot
Fruit.Further, master controller is additionally operable to handle data, specifically, can be stored, encrypted, decrypted to data
Handled with denoising etc..
Further, master controller is arranged in the switch board in fuselage, prevent mud in pipeline or waste water into
Enter fuselage interior, the master controller in fuselage and peripheral control circuits caused to damage, influence pipeline rehabilitation work it is normal into
OK.
Further, the restoration information that the detection agency that master controller receives is sent includes cut information and crack information
Two types；Pipeline rehabilitation robot further includes memory, which is connected with master controller, is stored with repairing standard letter
Breath；Master controller reads repairing standard information, the repairing standard information and complex information to be repaired is contrasted, to judge complex information to be repaired
Type.Specifically, when the complex information to be repaired is cut information, then spraying instruction is generated according to the cut information and sent to spray
Apply mechanism；When the complex information to be repaired is crack information, is then instructed and sent to bonding machine according to the crack information generation welding
Structure.
The spraying that spray body is sent according to master controller instructs, and spraying reparation is carried out to the cut in pipeline.Specifically,
The spray body includes the first turntable 1061 and spray gun 1062, and spray gun is arranged on the first turntable, and the first turntable is used
Sprayed in driving spray gun any rotation.
The welding that welding mechanism is sent according to master controller instructs, and REPAIR WELDING is carried out to the crack in pipeline；Specifically,
The welding mechanism includes the second turntable 1071, wire-feed motor 1072, gas cylinder (not marked in figure) and welding gun 1073.Wherein, gas cylinder
It is connected by tracheae with wire-feed motor, protection gas during for providing welding；Wire-feed motor is used to provide welding wire during welding；Wire-feed motor
It is arranged on welding gun on the second turntable, the second turntable is used to drive welding gun any rotation to be welded.
Further, welding mechanism further includes clear rifle station (not marked in figure), which is connected with master controller, clear rifle
Stand and perform the clear rifle instruction that master controller is sent, clear up the welding slag in welding gun.
In embodiment provided by the utility model, pipeline rehabilitation robot includes fuselage, is arranged at the master control of fuselage interior
Device processed, communication module, and detection agency, walking mechanism, spray body, the welding mechanism being arranged on fuselage；Detection agency, OK
It is connected respectively with master controller into mechanism, spray body, welding mechanism, communication module；Walking mechanism performs the row of master controller
Into instruction；Detection agency includes ultrasonic sensor, and ultrasonic sensor detects and gathers complex information to be repaired in pipeline, will be to be repaired
Complex information is sent to master controller；The spraying that spray body is sent according to master controller instructs, and the cut in pipeline is sprayed
Apply and repair；The welding that welding mechanism is sent according to master controller instructs, and REPAIR WELDING is carried out to the crack in pipeline；Master controller
Established and communicated to connect by communication module and host computer.In the technical solution that the utility model embodiment provides, by using pipe
Road repair robot replaces the mode of pipe laying again after hand excavation, works so as to solve worker existing for manual work mode
The problem of intensity is big, and operating efficiency is low, and the traffic for being easy to cause related location is obstructed.In addition by according in detection pipeline
Damaged condition, carries out spraying reparation or REPAIR WELDING, further increases remediation efficiency.
Embodiment two：
Referring to Fig. 3, the utility model embodiment provides another pipeline rehabilitation robot, and the difference with embodiment one exists
In the pipeline rehabilitation robot includes disintegrating mechanism 108, and disintegrating mechanism is connected with master controller, along pipeline rehabilitation robot
Direction of travel, be arranged on the front end of fuselage, disintegrating mechanism is used to crush mud.
Above-mentioned disintegrating mechanism be used for mud, either mud block or impurity crush, to facilitate above-mentioned pipeline rehabilitation machine
Device people smoothly advances in pipeline to be repaired, and pipeline rehabilitation robot stagnates caused by preventing line clogging,
Be conducive to improve work efficiency.Specifically, disintegrating mechanism includes driving motor, crushes rotation axis and crushing knife.
Further, the pipeline rehabilitation robot that the utility model embodiment provides further includes power supply 109, power supply electricity
Source is installed in fuselage, and power supply is connected with master controller, for providing operating voltage for master controller.
Further, above-mentioned power supply includes power battery pack, and above-mentioned power battery pack is storage battery group, above-mentioned electric power storage
Storage battery in the group of pond can use lithium battery, and either multiple above-mentioned lithium batteries such as lead-acid accumulator or lead-acid accumulator etc. are gone here and there
Storage battery group is composed in parallel, to provide the operating voltage of master controller, certain master controller can include DC/DC (direct currents/straight
Stream) converter, voltage is changed, voltage stabilizing output supplies chip work to take power.
Further, above-mentioned power supply further includes earth leakage protective device, for preventing electric leakage from causing mechanical disorder and can
The potential electricity consumption hidden danger of energy, ensures Electrical Safety.
Embodiment three：
As shown in figure 4, the utility model embodiment provides a kind of pipeline rehabilitation robot system, which includes：On
Position machine 600 and the pipeline rehabilitation robot 700 that refers to of previous embodiment one or embodiment two, pipeline rehabilitation robot with it is upper
Machine communicates to connect.
Specifically, above-mentioned pipeline rehabilitation robot is communicated to connect by above-mentioned communication module and above-mentioned host computer.Host computer
Be arranged on ground control cabinet (ground control station), host computer can be can carried terminal equipment, such as cell phone, notebook
Computer, tablet etc. or industrial control computer (industrial personal computer).Above-mentioned communication module can be wire communication module, have
Line communication module includes RS485 bus modules, RS232 bus modules, cable or optical cable or wireless communication module,
Wireless communication module includes GPRS (General Packet Radio Service, general packet radio service technology) communication moulds
Block, 3G module, 4G modules, CDMA (Code Division Multiple Access, code multiple address) modules or ZigBee moulds
Block.
In the present embodiment, host computer selects industrial personal computer, and above-mentioned host computer passes through channel radio with above-mentioned pipeline rehabilitation robot
Letter module is connected.
It is further that above-mentioned wireless communication module selects ZigBee module.
The pipeline rehabilitation robot system that the utility model embodiment provides, the pipeline rehabilitation machine provided with above-described embodiment
Device people has identical technical characteristic, so can also solve identical technical problem, reaches identical technique effect.
It is apparent to those skilled in the art that for convenience and simplicity of description, the pipeline of foregoing description
The specific work process of repair robot system, may be referred to the corresponding process in aforementioned tubular duct repair robot embodiment,
This is repeated no more.
In addition, in the description of the utility model embodiment, unless otherwise clearly defined and limited, term " installation ",
" connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or integratedly be connected
Connect；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can
To be the connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the utility model.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, the technical solution of the utility model substantially or
Person says that the part of the part to contribute to the prior art or the technical solution can be embodied in the form of software product,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
Personal computer, server, or network equipment etc.) perform each embodiment the method for the utility model whole or portion
Step by step.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), with
Machine access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with Jie of store program codes
Matter.
, it is necessary to explanation in the description of the utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for description purpose, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, is only specific embodiment of the present utility model, to illustrate this
The technical solution of utility model, rather than its limitations, the scope of protection of the utility model is not limited thereto, although with reference to foregoing
The utility model is described in detail in embodiment, it will be understood by those of ordinary skill in the art that：It is any to be familiar with this skill
For the technical staff in art field in the technical scope that the utility model discloses, it still can be to the skill described in previous embodiment
Art scheme is modified or can readily occur in change, or carries out equivalent substitution to which part technical characteristic；And these modifications,
Change is replaced, and the essence of appropriate technical solution is departed from the spirit and model of the utility model embodiment technical solution
Enclose, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model described should be wanted with right
Subject to the protection domain asked.
Claims (10)
- A kind of 1. pipeline rehabilitation robot, it is characterised in that including fuselage, be arranged at fuselage interior master controller, communication mould Block, and detection agency, walking mechanism, spray body, the welding mechanism being arranged on the fuselage；It is the detection agency, described Walking mechanism, the spray body, the welding mechanism, the communication module are connected with the master controller respectively；The walking mechanism performs the traveling instruction of the master controller；The detection agency includes ultrasonic sensor, and the ultrasonic sensor detects and gathers complex information to be repaired in pipeline, The complex information to be repaired is sent to the master controller；The spraying that the spray body is sent according to the master controller instructs, and spraying reparation is carried out to the cut in pipeline；The welding that the welding mechanism is sent according to the master controller instructs, and REPAIR WELDING is carried out to the crack in pipeline；The master controller is established by the communication module and host computer and communicated to connect.
- 2. pipeline rehabilitation robot according to claim 1, it is characterised in that the detection agency further includes inclination angle sensing Device, the obliquity sensor are connected with the master controller, for detecting inclining in pipeline rehabilitation robot traveling process Angle, the inclination angle is sent to the master controller；The master controller is additionally operable to update and send according to the inclination angle traveling instruction to the walking mechanism.
- 3. pipeline rehabilitation robot according to claim 2, it is characterised in that the walking mechanism includes being arranged at described The first driving motor, the main shaft leading screw of fuselage interior, and the wheel leg and traveling wheel of the external fuselage are arranged at, the wheel leg is consolidated Fixed end connects the fuselage, and the wheel leg free end connects the traveling wheel；The first driving motor is connected with the master controller, the main shaft leading screw, receives the row that the master controller is sent Into instruction, the traveling wheel that the main shaft leading screw drives the wheel leg free end is controlled to advance.
- 4. pipeline rehabilitation robot according to claim 3, it is characterised in that the walking mechanism further includes slip branch Bar, first end and the fuselage for sliding strut are rotatablely connected, the second end for sliding strut by slide assemblies with The wheel leg is slidably connected, so that the second end for sliding strut can be slided along the length direction of the wheel leg.
- 5. pipeline rehabilitation robot according to claim 4, it is characterised in that the obliquity sensor include respectively with institute State the cross dip sensor, vertical inclination angle sensor and slip strut obliquity sensor of master controller connection；The cross dip sensor is used to detect cross dip；The vertical inclination angle sensor is used to detect vertical inclination angle；The inclination angle slided strut obliquity sensor and be used to detect the slip strut.
- 6. pipeline rehabilitation robot according to claim 1, it is characterised in that the spray body includes the first turntable And spray gun, the spray gun are arranged on first turntable, first turntable is used to drive the spray gun rotation any Angle is sprayed.
- 7. pipeline rehabilitation robot according to claim 1, it is characterised in that the welding mechanism includes the second rotation Platform, wire-feed motor, gas cylinder and welding gun；The gas cylinder is connected by tracheae with the wire-feed motor, protection gas during for providing welding；The wire-feed motor is used to provide welding wire during welding；The wire-feed motor and the welding gun are arranged on second turntable, and second turntable is used to drive the welding gun Any rotation is welded.
- 8. pipeline rehabilitation robot according to claim 1, it is characterised in that the information to be repaired includes cut information With crack information two types；The pipeline rehabilitation robot further includes memory, and the memory is connected with the master controller, is stored with reparation mark Calibration information；The master controller reads the repairing standard information, contrasts the repairing standard information and the complex information to be repaired, To judge the type of the complex information to be repaired.
- 9. pipeline rehabilitation robot according to claim 1, it is characterised in that further include disintegrating mechanism, the pulverizer Structure is connected with the master controller, along the direction of travel of the pipeline rehabilitation robot, is arranged on the front end of the fuselage, institute Disintegrating mechanism is stated to be used to crush mud.
- 10. a kind of pipeline rehabilitation robot system, it is characterised in that including host computer and as described in any one of claim 1 to 9 Pipeline rehabilitation robot, the host computer is connected with the pipeline rehabilitation robot communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721184385.7U CN207230019U (en) | 2017-09-15 | 2017-09-15 | Pipeline rehabilitation robot and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721184385.7U CN207230019U (en) | 2017-09-15 | 2017-09-15 | Pipeline rehabilitation robot and system |
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|---|---|
| CN207230019U true CN207230019U (en) | 2018-04-13 |
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ID=61862306
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721184385.7U Expired - Fee Related CN207230019U (en) | 2017-09-15 | 2017-09-15 | Pipeline rehabilitation robot and system |
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| CN108869949A (en) * | 2018-08-22 | 2018-11-23 | 南通理工学院 | A kind of detection of pipe internal coating and auto-mending robot |
| CN109488836A (en) * | 2018-11-21 | 2019-03-19 | 南通理工学院 | A kind of inner wall of the pipe automatic flaw detection, carbon plane and welding robot |
| CN109483568A (en) * | 2018-11-21 | 2019-03-19 | 南通理工学院 | A kind of pipeline outer wall automatic flaw detection, carbon plane and welding robot |
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| CN111189924A (en) * | 2020-02-18 | 2020-05-22 | 何碧侠 | Steel flaw detection repair equipment and use method thereof |
| CN111395466A (en) * | 2020-03-11 | 2020-07-10 | 广东新拓计算机科技有限公司 | Tap water pipeline cleaning robot |
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| CN112748117A (en) * | 2020-12-28 | 2021-05-04 | 河北凯森石化工程有限责任公司 | Petrochemical industry pipeline detecting system |
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2017
- 2017-09-15 CN CN201721184385.7U patent/CN207230019U/en not_active Expired - Fee Related
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| CN108577286A (en) * | 2018-04-20 | 2018-09-28 | 潘云 | So that circular arc is shaken pin class and shakes the method and intelligent driver that apparatus shakes automatically |
| CN108869949A (en) * | 2018-08-22 | 2018-11-23 | 南通理工学院 | A kind of detection of pipe internal coating and auto-mending robot |
| CN109488836A (en) * | 2018-11-21 | 2019-03-19 | 南通理工学院 | A kind of inner wall of the pipe automatic flaw detection, carbon plane and welding robot |
| CN109483568A (en) * | 2018-11-21 | 2019-03-19 | 南通理工学院 | A kind of pipeline outer wall automatic flaw detection, carbon plane and welding robot |
| CN109530854A (en) * | 2018-11-21 | 2019-03-29 | 南通理工学院 | A kind of flaw detection of hemi-closure space auxiliary, carbon plane and welding robot |
| CN109488836B (en) * | 2018-11-21 | 2020-11-27 | 南通理工学院 | Automatic flaw detection, carbon planing and welding robot for inner wall of pipeline |
| CN109530854B (en) * | 2018-11-21 | 2020-12-18 | 南通理工学院 | Semi-closed space auxiliary flaw detection, carbon planing and welding robot |
| CN111189924A (en) * | 2020-02-18 | 2020-05-22 | 何碧侠 | Steel flaw detection repair equipment and use method thereof |
| CN111395466A (en) * | 2020-03-11 | 2020-07-10 | 广东新拓计算机科技有限公司 | Tap water pipeline cleaning robot |
| CN112443028A (en) * | 2020-12-01 | 2021-03-05 | 张达 | Municipal road sewer construction equipment and construction method thereof |
| CN112748117A (en) * | 2020-12-28 | 2021-05-04 | 河北凯森石化工程有限责任公司 | Petrochemical industry pipeline detecting system |
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