CN208311785U - A kind of pipeline rehabilitation robot - Google Patents
A kind of pipeline rehabilitation robot Download PDFInfo
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- CN208311785U CN208311785U CN201820873386.0U CN201820873386U CN208311785U CN 208311785 U CN208311785 U CN 208311785U CN 201820873386 U CN201820873386 U CN 201820873386U CN 208311785 U CN208311785 U CN 208311785U
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- robot
- pipeline rehabilitation
- pipeline
- umbilical cables
- car body
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Abstract
The utility model discloses a kind of pipeline rehabilitation robots, including rotation whitewashing disk, walking mechanism, the part such as compound umbilical cables, high-pressure pump, controller, electric pod, video camera and robot car body to form.Pipeline rehabilitation robot both can carry out inner wall of the pipe to check work or with the breakage in pipe-repairing.When robot is detected in pipeline, by gas detection sensor, video camera to the hazardous gas concentration in pipeline, the breakage in pipeline is detected；When being repaired, slurries can be repaired by the high speed rotation spraying of the rotation whitewashing disk with robot front.Onward impulse can be provided for robot by being located at the walking mechanism below robot, and robot is connected by the compound umbilical cables of tail portion with controller and high-pressure pump, can obtain control and power.
Description
Technical field
The utility model relates to a kind of pipeline rehabilitation robots, belong to inner wall of the pipe handling machine people field.
Background technique
The problem of China's underground piping, is increasing in recent years, a large amount of house refuse, plant waste, construction site mud
Deng often keeping drainage pipeline unsmooth, easily siltation, blocking, when prominent chance will will lead to effectiveness factors when raining heavyly.Due to underground piping depth
Under buried, situation is more complicated, badly broken, so the detection and reparation to pipeline are very troublesome.It is main using artificial at present
Detection and reparation, worker can only be repaired in pipe-repairing by excavating pipeline, when encountering some large-scale pipelines, be repaired
Speed is very slow.Artificial detection and reparation are dangerous also very big, and the country was annual in recent years according to statistics detects and repair accident over thousands of,
So many people injures and deaths are caused, economic loss reaches 10,000,000,000.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of pipeline rehabilitation robots, solve underground piping
Observation is mainly low using manual type detection efficiency at present with reparation, is repaired by excavating underground piping, long construction period,
Dangerous problem.
The utility model is realized in this way a kind of pipeline rehabilitation robot, the robot include:
Robot car body is used to support effect；
Walking mechanism is arranged below robot shell and drives shell walking by motor；
Axis body is fixed on the headstock of robot car body；
Rotation whitewashing disk, including nozzle holder, the nozzle holder and the axis body are rotatablely connected, tilt on nozzle holder
It is provided with swivel nozzle, the surrounding of nozzle holder is provided with coping device；
High-pressure pump, setting are connected to swivel nozzle by the hydraulic tube being arranged in compound umbilical cables on the ground, are used for
Reparation slurries are passed through in swivel nozzle by hydraulic tube.
Further, the cross section of the nozzle holder is regular hexagon.
Further, robot car body headstock portion is provided with camera, and camera observes piping failure feelings in front
Condition and repairing effect are provided with electric pod at the top of robot car body, and methane transducer, sulphur are arranged in the electric pod
Compound sensor and infrared detection sensor, the camera, methane transducer, sulfide sensor and infrared acquisition pass
Sensor is connect by the control cable in compound umbilical cables with the controller on ground.
Further, the high-pressure pump is connect with the controller, is controlled and is run by controller.
It further, further include having service cable in the compound umbilical cables, connecting power supply by service cable is machine
People's power supply.
Further, the compound umbilical cables have oversheath, and the oversheath adds Kevlar composite material system by rubber
Make.
Compared with prior art, beneficial effect is the utility model:
1. the utility model using high pressure liquid drives swivel nozzle rotate, liquid spray speed and rotation speed at
Direct ratio very easily controls spray area etc., and swivel head will not be caused to damage because of stall, and repair surface is uniform to repair
It is multiple high-efficient；
2. the pipeline rehabilitation robot of the utility model is connect by compound umbilical cables with ground controller and high-pressure pump,
Compound umbilical cables include hydraulic tube, and service cable controls cable.This highly integrated structure, can be improved the work of robot
Make efficiency, lowers the resistance of robot operation.
3. the clear obturator people of the utility model pipeline has electric pod, measurement module of this gondola as standard can be with
Connect most of measuring device, such as methane transducer, sulfide sensor, infrared detection sensor.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of pipeline rehabilitation robot；
Fig. 2 is the structural schematic diagram of compound umbilical cables；
Fig. 3 is the structural schematic diagram of rotation whitewashing disk, and the structural schematic diagram of the side (a) is (b) side of figure (a).
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
It is shown referring to Fig. 1 combination Fig. 3 (a) and Fig. 3 (b), including rotation whitewashing disk 1, electric pod 4, walking mechanism (driving
Wheel) 6, compound umbilical cables 8, camera 3, high-pressure pump 7, robot car body 5, controller 9, axis body 2.Rotation whitewashing disk 1 is mounted on
The foremost of robot car body 5, here before refer to direction just in face of operation, rotation whitewashing disk 1 by nozzle holder 16,
Coping device 14, swivel nozzle 15 form.Robot car body is used to support effect；Walking mechanism is arranged below robot shell
Shell walking is driven by motor；Axis body 2 is fixed on the headstock of robot car body；Rotation whitewashing disk 1 includes nozzle holder 16,
Nozzle holder 16 and the axis body 2 are rotatablely connected, and swivel nozzle 15 are tiltedly installed on nozzle holder 16, in nozzle holder 16
Surrounding is provided with coping device 14；The setting of high-pressure pump 7 hydraulic tube and the rotation by being arranged in compound umbilical cables 8 on the ground
Nozzle connection, for being passed through reparation slurries in swivel nozzle by hydraulic tube.The cross section of nozzle holder is regular hexagon.Ginseng
As shown in Figure 2, it is oversheath 12, hydraulic tube 10, service cable 11 and control cable respectively that compound umbilical cables 8 are made of four parts
13。
Robot car body headstock portion is provided with camera 3, and camera 3 observes piping failure situation in front and repairs effect
Fruit is provided with electric pod 4 at the top of robot car body, and methane transducer, sulfide sensing are arranged in the electric pod 4
Device and infrared detection sensor, the camera 3, methane transducer, sulfide sensor and infrared detection sensor are logical
The control cable crossed in compound umbilical cables 8 is connect with the controller on ground.
When robot dredging, slurries are repaired by 15 high speed ejection of swivel nozzle and drive nozzle holder under tangential force effect
16 high speed rotations, nozzle holder 16 drive 14 high speed rotation of coping device, inner wall of the pipe to be repaired are polished clean, reconditioning slurries
It uniformly sprays and is then formed by curing new inner wall protection layer in inner wall surface.Camera 3 and electricity are installed in robot upper part
Sub- gondola 4, camera 3 can observe piping failure situation and repairing effect in front, electric pod 4 in the back of camera 3,
A variety of detection sensors, such as methane transducer, sulfide sensor, infrared detection sensor can be installed, hung by electronics
The gas in pipeline is detected in cabin, finds dangerous situation in time.Compound umbilical cables 8 are installed in the tail portion of robot, it is multiple
Close the other end connection ground controller 9 and high-pressure pump 7 of umbilical cables.Robot car body lower part is equipped with 4 driving wheels, driving wheel
By DC motor drive, walking mechanism 6 is constituted, is mounted on the two sides of robot shell 5, each 2 on one side, oversheath is by rubber
Glue adds the production of Kevlar composite material to have wearability and pull resistance.
In conclusion the utility model provides a kind of pipeline rehabilitation robot, this robot can carry out underground piping
Detection and reparation because rotation whitewashing disk have very strong anti-overload ability, spraying effect is easy to control, without excavating pipe
Road, repairing effect are much higher than traditional repair mode.
The basic principles and main features and advantage of the utility model pipeline rehabilitation robot have been shown and described above.This
The technical staff of industry is described in above embodiments and description it should be appreciated that the utility model is restricted to the described embodiments
Only illustrate the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model is also
It will have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.
Claims (6)
1. a kind of pipeline rehabilitation robot, which is characterized in that the robot includes:
Robot car body is used to support effect；
Walking mechanism is arranged below robot shell and drives shell walking by motor；
Axis body is fixed on the headstock of robot car body；
Rotation whitewashing disk, including nozzle holder, the nozzle holder and the axis body are rotatablely connected, are obliquely installed on nozzle holder
There is swivel nozzle, the surrounding of nozzle holder is provided with coping device；
High-pressure pump, setting is connected to by the hydraulic tube being arranged in compound umbilical cables with swivel nozzle on the ground, for passing through
Hydraulic tube is passed through reparation slurries in swivel nozzle.
2. pipeline rehabilitation robot described in accordance with the claim 1, which is characterized in that the cross section of the nozzle holder is positive six
Side shape.
3. pipeline rehabilitation robot described in accordance with the claim 1, which is characterized in that robot car body headstock portion is provided with
Camera, camera observe piping failure situation and repairing effect in front, are provided with electric pod at the top of robot car body,
Methane transducer, sulfide sensor and infrared detection sensor, the camera, methane are set in the electric pod
Sensor, sulfide sensor and infrared detection sensor pass through the control cable in compound umbilical cables and the control on ground
Device connection.
4. pipeline rehabilitation robot described in accordance with the claim 3, which is characterized in that the high-pressure pump and the controller connect
It connects, is controlled and run by controller.
5. pipeline rehabilitation robot described in accordance with the claim 1, which is characterized in that further include having confession in the compound umbilical cables
Electrical cables connect power supply by service cable as robot power supply.
6. pipeline rehabilitation robot described in accordance with the claim 1, which is characterized in that the compound umbilical cables have oversheath,
The oversheath adds Kevlar composite material to make by rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820873386.0U CN208311785U (en) | 2018-06-07 | 2018-06-07 | A kind of pipeline rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820873386.0U CN208311785U (en) | 2018-06-07 | 2018-06-07 | A kind of pipeline rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208311785U true CN208311785U (en) | 2019-01-01 |
Family
ID=64709659
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820873386.0U Active CN208311785U (en) | 2018-06-07 | 2018-06-07 | A kind of pipeline rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208311785U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737314A (en) * | 2019-02-25 | 2019-05-10 | 洛阳耐锐机械设备有限公司 | A kind of pipe detection and repair robot |
| CN110388533A (en) * | 2019-07-29 | 2019-10-29 | 武汉特瑞升电子科技有限公司 | A kind of pipe detection and repair robot |
| CN111255979A (en) * | 2020-02-26 | 2020-06-09 | 郑州大学 | Visual intelligent rotary spraying equipment for repairing drainage pipeline |
| CN111779986A (en) * | 2020-07-12 | 2020-10-16 | 西南石油大学 | Gas pipeline lubricating oil accumulation positioning detection pumping system |
-
2018
- 2018-06-07 CN CN201820873386.0U patent/CN208311785U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737314A (en) * | 2019-02-25 | 2019-05-10 | 洛阳耐锐机械设备有限公司 | A kind of pipe detection and repair robot |
| CN109737314B (en) * | 2019-02-25 | 2023-08-29 | 洛阳耐锐机械设备有限公司 | Pipeline detection and repair robot |
| CN110388533A (en) * | 2019-07-29 | 2019-10-29 | 武汉特瑞升电子科技有限公司 | A kind of pipe detection and repair robot |
| CN111255979A (en) * | 2020-02-26 | 2020-06-09 | 郑州大学 | Visual intelligent rotary spraying equipment for repairing drainage pipeline |
| CN111779986A (en) * | 2020-07-12 | 2020-10-16 | 西南石油大学 | Gas pipeline lubricating oil accumulation positioning detection pumping system |
| CN111779986B (en) * | 2020-07-12 | 2022-03-22 | 西南石油大学 | Gas pipeline lubricating oil accumulation positioning detection pumping system |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190529 Address after: 230601 Two 406 Rooms in Area A of Susong Road 3963 Intelligent Equipment Science Park, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Hefei ha Gong Lun ton Engineering Technology Co., Ltd. Address before: 110000 Youth Street, Shenhe District, Shenyang City, Liaoning Province, No. 93, 7-6-1 Patentee before: Pei Jiayang |