CN208457440U - Pipeline internal corrosion repaired mouth robot system - Google Patents
Pipeline internal corrosion repaired mouth robot system Download PDFInfo
- Publication number
- CN208457440U CN208457440U CN201721732244.4U CN201721732244U CN208457440U CN 208457440 U CN208457440 U CN 208457440U CN 201721732244 U CN201721732244 U CN 201721732244U CN 208457440 U CN208457440 U CN 208457440U
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- China
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- vehicle
- car body
- robot system
- sandblasting
- internal corrosion
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Abstract
The utility model relates to pipeline internal corrosion repaired mouth robot systems, it include power buggy, accumulator drive vehicle, sandblasting vehicle, recovery vehicle and spraying vehicle, coupled between each car by universal joint, each car is made of the wheel of car body and vehicle bottom, the power unit of power buggy is made of motor a and turbine and worm reduction gearbox a, the power unit of accumulator drive vehicle is made of motor b and turbine and worm reduction gearbox b, sandblasting vehicle both ends are equipped with air bag, blast nozzle is among car body, sandblasting Chinese herbaceous peony end is equipped with positioning shooting machine, for being directed at weld seam, abrasive material storehouse is installed on recovery vehicle, vehicle bottom is equipped with recycling suction nozzle, it sprays to carry on vehicle and applies feed bin, spray gun occupy pipeline centre, the end of spray gun is equipped with rotation cup.
Description
Technical field
The utility model belongs to pipeline internal corrosion patch technology field, and in particular to system of pipeline internal corrosion repaired mouth robot
Exposed steel tube surface is carried out blasting treatment inside pipeline for the place that pipeline-weld and inside coating need to be repaired by system,
It is then coated with anticorrosive paint.
Background technique
Highly developed for the Anticorrosion measure of steel tube surface in steel pipe corrosion-proof factory, steel pipe both ends inner wall has
Section is reserved in the welding of 50~100 millimeters long no erosion resistant coating, is welded in erecting bed, and weld seam and two sides reserve section and are also required to class
Blasting treatment and coating like pre-fabricated factory coat operation, but currently without anticorrosion operating equipment inside mature pipeline.
Summary of the invention
In order to overcome the shortcomings of above-mentioned technology, the purpose of this utility model is to provide systems of pipeline internal corrosion repaired mouth robot
System has the characteristics that scientific reliable, wireless remote control, operating efficiency are high.
To achieve the goals above, the technical solution of the utility model are as follows: pipeline internal corrosion repaired mouth robot system includes
Dynamic tractor, accumulator drive vehicle, sandblasting vehicle, recovery vehicle and spraying vehicle, are coupled by universal joint between each car, each car by
The wheel of car body and vehicle bottom composition, power buggy power unit are made of motor a and turbine and worm reduction gearbox a, sandblasting
Vehicle both ends are equipped with air bag, and for blast nozzle among car body, sandblasting Chinese herbaceous peony end is equipped with positioning shooting machine, for being directed at weld seam, recycling
Abrasive material storehouse is installed, vehicle bottom is equipped with recycling suction nozzle, sprays and carries painting feed bin on vehicle, and spray gun occupy pipeline centre on vehicle.
The power buggy includes car body, and vehicle body is equipped with battery pack, and the front end of car body is equipped with turbine snail
Motor a is installed, the front end of turbine and worm reduction gearbox a is equipped with control system at the top of bar reduction gearbox a, turbine and worm reduction gearbox a
Case, embedding forward looking camera, top are installed with wireless communication module on the front panel of control system case.
The sandblasting vehicle car body both ends are installed with air bag, two air bags while inflation/deflation；Sandblasting vehicle car body both ends are equipped with
Six groups of support wheel groups；Sandblasting vehicle vehicle body is equipped with blast nozzle, and blast nozzle is located on car body central axes, is set behind blast nozzle
There is telescopic protective cover.
The recovery vehicle includes abrasive material storehouse, mill bin bottom be equipped with recycling suction nozzle, recycling suction nozzle installed in front wind
Machine.
The spraying vehicle includes to apply feed bin, proportions device, and body rear end bottom is equipped with support wheel, body rear end peace
It is filled with spray gun, the bottom of spray gun is installed with camera shooting photo module.
The rotation speed of the blast nozzle is not less than 15000rpm, and blast nozzle can do straight line along car body axis direction
It moves back and forth.
The spray gun can do straight reciprocating motion along car body axis direction.
The rotation speed of the rotation cup is not less than 20000rpm.
Pipeline interior video picture and photo can be passed through wireless communication module real-time Transmission by all video cameras
To operator outside pipe.
The utility model has the beneficial effects that tractor, which carries battery pack, can guarantee long range operation；In robot system
The video camera of carrying can be with precise positioning weld seam；Blast nozzle is enclosed in inside by the air bag on sandblasting vehicle, can prevent sand material and
Impurity jumps everywhere to be dissipated；Blast nozzle high speed rotation, it is ensured that sand material high speed strike steel tube surface reaches industrial Sa2.5 grades of anchor line；
Sand material can be recycled and be sorted by recovery vehicle, in case being recycled；It sprays and carries proportions device on vehicle, two kinds can be adjusted at any time
The mixed proportion of solventless epoxy resin coating；It sprays vehicle and revolves cup high speed rotation, it is ensured that coating is sufficiently atomized, improves and applies
Expect coating quality.
Detailed description of the invention
Fig. 1 is the overall structure figure of the utility model.
Fig. 2 is arrangement schematic diagram of the utility model sandblasting vehicle at pipeline internal weld seams.
Fig. 3 is that the utility model sprays arrangement schematic diagram of the vehicle at pipeline internal weld seams.
Fig. 4 is the control principle block diagram of the utility model.
Specific embodiment
The structural principle of the utility model and technical solution are completely illustrated with reference to the accompanying drawing.
Referring to figure 1, figure 2 and figure 3, pipeline internal corrosion repaired mouth robot system includes power buggy A, accumulator drive
Vehicle B, sandblasting vehicle C, recovery vehicle D and spraying vehicle E, are coupled by universal joint between each car, guarantee to have between vehicle and vehicle it is certain from
By spending.The electric power of a whole set of robot system is provided by battery pack, and battery pack is separately mounted to power buggy A and accumulator drive vehicle
In the car body 26 and 27 of B.The front end of car body 26 is installed with turbine and worm reduction gearbox a5, motor a4 and turbine and worm reduction gearbox a5 connection
It is connected together.The front end of turbine and worm reduction gearbox a5 is installed with control system case 2, arranges master control circuit board and battery in case
Circuit board is managed, embedding forward looking camera 1 on the front panel of cabinet is installed with wireless communication module 3 above cabinet.Car body 26
Bottom is arranged four groups of wheels, and wherein wheel 7 is driven wheel, and the wheel of the two sides turbine and worm reduction gearbox a5 is driving wheel.Car body
26 rear end is installed with air accumulator 6, and compressed gas therein is supplied with what air bag 13 used.Likewise, the front end of car body 27 is pacified
It is filled with turbine and worm reduction gearbox b9, motor b8 and turbine and worm reduction gearbox b9 to be linked together, the bottom of car body 27 is also arranged
Four groups of wheels, wherein the wheel of the two sides turbine and worm reduction gearbox b9 is driving wheel, and in addition two groups are driven wheels.Two tractors
Battery pack is unified by battery management circuit board management, then rationally effectively distributes to each motor, video camera and control system.
Sandblasting vehicle C is integrally made of two sides end plate and middle section, and air bag 13, air bag 13 and gas storage are installed on end plate
Tank 6 is coupled with tracheae, and the outside of two sides end plate is uniformly installed with three groups of support wheel groups 14, and the outside of front end-plate couples shell
12, power outlet and data socket and positioning shooting machine 11 are installed on shell 12, blast nozzle 15 occupy vehicle body, and
On the central axes (and axis of pipeline) of entire sandblasting vehicle, the rear end of blast nozzle 15 is close to telescopic protective cover 16, uses
To prevent sand material from invading motion structure.
Recovery vehicle D is integrally made of welded frame, and vehicle frame rear end is equipped with driven wheel 20, and sand feed bin 19 is provided with sand material,
19 bottom of sand feed bin be equipped with recycling suction nozzle 18, recycling 18 installed in front of suction nozzle blower 17, the upper surface of blower 17 pipe is installed
Connector 29.
Spraying vehicle E includes to apply feed bin 21, proportions device 22, and body rear end bottom is equipped with support wheel 24, body rear end
Spray gun 23 is installed, the bottom of spray gun 23 is installed with camera shooting photo module 28, and the end of spray gun 23 couples rotation cup 25, by spray gun
23 entirety formed with rotation cup 25 also are located at always on the axis of pipeline.
A whole set of pipeline internal corrosion repaired mouth robot system is introduced into (arrow in Fig. 1) test section, system boot self-test,
Ensure that parameters are correct on the outer operation computer of pipe, the video pictures of upload are clear.Mend in complete for test section
Mouth work flow.Firstly, starting motor a4 and motor b8, robot system are creeped along pipeline, creep speed can be adjusted therewith.
Picture observation is passed back by forward looking camera 1, when finding weld seam, video pictures switch to positioning shooting machine 11, continue to creep,
When 11 picture of positioning shooting machine is directed at weld seam center, suspend motor a4 and motor b8, starts a whole set of internal joint patch operation at this time and follow
Round trip sequence.
Internal joint patch work cycle program: after program starting, motor a4 and motor b8 are opened, and robot system continues to climb
Row, when blast nozzle 15 reaches weld seam and when with weld seam central alignment, motor a4 and motor b8 stop, and program starts gas storage automatically
Inner wall of the pipe is inflated and are adjacent to simultaneously to tank 6, two air bags 13, and air accumulator 6 is closed, and then blast nozzle 15 starts, and blast nozzle 15 is high
Speed rotation, and the straight reciprocating motion centered on weld seam center is done, while sand feed bin 19 is opened, sand material is supplied into blast nozzle
15, inner wall of the pipe is arrived into sand material high speed strike, the sand material high intensity of high-speed motion hits the overlap of weld seam position, welding slag, peeling,
There are also the surface of reserved area, overall surface processing reaches Sa2.5 grades of anchor lines, and surface roughness is up to 40~80 μm.Blast nozzle 15 stops
After only, air bag 13 is deflated, and motor a4 and motor b8 are opened, and continues to creep, when recycling suction nozzle 18 close to duct bottom sand material, wind
Machine 17 is opened, and the recycling of sand material is entered sand feed bin 19, the sand material of recycling sorts inside sand feed bin 19, the sand material that will be can be used
It is put into storehouse.Robot system continues to creep, and video pictures are switched to camera shooting photo module 28 at this time, can be observed spray coated
Journey.When revolving the alignment weld seam center of cup 25, motor a4 and motor b8 stop, and revolve cup 25 at this time and proportions device 22 starts,
Coating is injected rotation cup 25,25 high speed of rotation cup again by proportions device 22 by the coating feed spray gun 23 in painting feed bin 21, spray gun 23
Rotation, coating is sufficiently atomized, and at the same time, spray gun 23 drives rotation cup 25, does the linear reciprocation fortune centered on weld seam center
Dynamic, the coating covering weld seam and two sides reserved area of atomization, after that completes to set moves in circles, proportions device 22 first stops,
Spray gun 23 stops again, and rotation cup 25 finally stops.
Above-mentioned internal joint patch work cycle program is completed, automation, intelligentized anti-completely just is implemented to one of weld seam
Rotten operation.
Content described above is one of embodiment of the utility model, is not used in limitation the utility model, all at this
Any modification, equivalent substitution, improvement and etc. done within the spirit and principle of utility model should all be included in the utility model
Within protection scope.
Claims (8)
1. pipeline internal corrosion repaired mouth robot system, which is characterized in that include power buggy (A), accumulator drive vehicle (B),
Sandblasting vehicle (C), recovery vehicle (D) and spraying vehicle (E), are coupled between each car, each car is by car body and vehicle bottom by universal joint
Wheel composition, the power unit of power buggy (A) is made of motor a (4) and turbine and worm reduction gearbox a (5), accumulator drive
The power unit of vehicle (B) is made of motor b (8) and turbine and worm reduction gearbox b (9), and the both ends sandblasting vehicle (C) are equipped with air bag
(13), blast nozzle (15) is among car body, and the sandblasting vehicle front end (C) is equipped with positioning shooting machine (11), for being directed at weld seam, recovery vehicle
(D) it being installed on abrasive material storehouse (19), vehicle bottom is equipped with recycling suction nozzle (18), and it is carried in spraying vehicle (E) and applies feed bin (21), spray gun
(23) pipeline centre is occupy, the end of spray gun (23) is equipped with rotation cup (25).
2. pipeline internal corrosion repaired mouth robot system according to claim 1, which is characterized in that the power buggy
(A) include car body (26), battery pack is installed inside car body (26), the front end of car body (26) is equipped with turbine and worm reduction gearbox a
(5), it is installed with motor a (4) at the top of turbine and worm reduction gearbox a (5), the front end of turbine and worm reduction gearbox a (5) is equipped with control system
It unites case (2), embedding forward looking camera (1), top are installed with wireless communication module (3) on the front panel of control system case (2).
3. pipeline internal corrosion repaired mouth robot system according to claim 1, which is characterized in that the sandblasting vehicle (C)
Car body both ends are installed with air bag (13), two air bags (13) while inflation/deflation；Sandblasting vehicle (C) car body both ends are equipped with six groups of support wheels
Group (14)；Sandblasting vehicle (C) vehicle body is equipped with blast nozzle (15), and blast nozzle (15) is located on car body central axes, blast nozzle
(15) telescopic protective cover (16) are equipped with below.
4. pipeline internal corrosion repaired mouth robot system according to claim 1, which is characterized in that the recovery vehicle (D)
Include abrasive material storehouse (19), abrasive material storehouse (19) bottom is equipped with recycling suction nozzle (18), recycling suction nozzle (18) installed in front blower
(17)。
5. pipeline internal corrosion repaired mouth robot system according to claim 1, which is characterized in that the spraying vehicle (E)
It include to apply feed bin (21), proportions device (22), body rear end bottom is equipped with support wheel (24), and body rear end is installed with spray gun
(23), the bottom of spray gun (23) is installed with camera shooting photo module (28).
6. pipeline internal corrosion repaired mouth robot system according to claim 1, which is characterized in that the blast nozzle (15)
Rotation speed be not less than 15000rpm, and blast nozzle (15) can do straight reciprocating motion along car body axis direction.
7. pipeline internal corrosion repaired mouth robot system according to claim 1, which is characterized in that the spray gun (23) can
To do straight reciprocating motion along car body axis direction.
8. pipeline internal corrosion repaired mouth robot system according to claim 1, which is characterized in that the rotation cup (25)
Rotation speed is not less than 20000rpm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721732244.4U CN208457440U (en) | 2017-12-14 | 2017-12-14 | Pipeline internal corrosion repaired mouth robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721732244.4U CN208457440U (en) | 2017-12-14 | 2017-12-14 | Pipeline internal corrosion repaired mouth robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208457440U true CN208457440U (en) | 2019-02-01 |
Family
ID=65140993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721732244.4U Expired - Fee Related CN208457440U (en) | 2017-12-14 | 2017-12-14 | Pipeline internal corrosion repaired mouth robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208457440U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703751A (en) * | 2019-02-22 | 2019-05-03 | 中船重工(武汉)凌久信息技术有限公司 | A kind of military survey mission instrument |
| CN110261849A (en) * | 2019-07-24 | 2019-09-20 | 长江师范学院 | Tunnel lining structure detection device |
| CN111230750A (en) * | 2020-02-19 | 2020-06-05 | 西安深蓝智能机器有限公司 | Inner welding line shot blasting sand blasting rust removal crawler suitable for 8-10 inch pipeline |
| CN111300278A (en) * | 2020-02-26 | 2020-06-19 | 西安深蓝智能机器有限公司 | Full-automatic robot equipment for joint coating in welding line suitable for 16-48-inch pipeline field construction |
| CN111318397A (en) * | 2020-02-21 | 2020-06-23 | 西安深蓝智能机器有限公司 | Internal anti-corrosion spraying crawler suitable for 8-10-inch pipeline liquid solvent-free epoxy coating |
| WO2021109852A1 (en) * | 2019-12-06 | 2021-06-10 | 中国科学院深圳先进技术研究院 | Pipeline robot |
| CN115584494A (en) * | 2022-10-27 | 2023-01-10 | 西安热工研究院有限公司 | Method and device for improving steam oxidation resistance of small-caliber boiler tube of coal-fired boiler |
-
2017
- 2017-12-14 CN CN201721732244.4U patent/CN208457440U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703751A (en) * | 2019-02-22 | 2019-05-03 | 中船重工(武汉)凌久信息技术有限公司 | A kind of military survey mission instrument |
| CN109703751B (en) * | 2019-02-22 | 2022-01-28 | 韩绍泽 | Military detection flight instrument |
| CN110261849A (en) * | 2019-07-24 | 2019-09-20 | 长江师范学院 | Tunnel lining structure detection device |
| CN110261849B (en) * | 2019-07-24 | 2021-11-02 | 长江师范学院 | Tunnel lining structure detection device |
| WO2021109852A1 (en) * | 2019-12-06 | 2021-06-10 | 中国科学院深圳先进技术研究院 | Pipeline robot |
| CN111230750A (en) * | 2020-02-19 | 2020-06-05 | 西安深蓝智能机器有限公司 | Inner welding line shot blasting sand blasting rust removal crawler suitable for 8-10 inch pipeline |
| CN111318397A (en) * | 2020-02-21 | 2020-06-23 | 西安深蓝智能机器有限公司 | Internal anti-corrosion spraying crawler suitable for 8-10-inch pipeline liquid solvent-free epoxy coating |
| CN111300278A (en) * | 2020-02-26 | 2020-06-19 | 西安深蓝智能机器有限公司 | Full-automatic robot equipment for joint coating in welding line suitable for 16-48-inch pipeline field construction |
| CN115584494A (en) * | 2022-10-27 | 2023-01-10 | 西安热工研究院有限公司 | Method and device for improving steam oxidation resistance of small-caliber boiler tube of coal-fired boiler |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190201 Termination date: 20201214 |