CN208804395U - A kind of detection of pipe internal coating and auto-mending robot - Google Patents
A kind of detection of pipe internal coating and auto-mending robot Download PDFInfo
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- CN208804395U CN208804395U CN201821362812.0U CN201821362812U CN208804395U CN 208804395 U CN208804395 U CN 208804395U CN 201821362812 U CN201821362812 U CN 201821362812U CN 208804395 U CN208804395 U CN 208804395U
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Abstract
The utility model provides a kind of detection of pipe internal coating and auto-mending robot, comprising: main pipe, walking mechanism, Coating measurement device and patching coating device；Coating measurement device, patching coating device is driven to move in inner wall of the pipe along axis by walking mechanism, rotating electric machine drives Coating measurement device, patching coating device along pipe circumference to moving, by pre- Medium-voltage Motor realize measuring probe and the contact of the coating of tested pipeline inner wall with separate acquisition coating film thickness data, the spray head for opening the patching coating device at coating layer thickness bad position according to film thickness data is sprayed, and the repairing of bad coating is completed；It can be automatically performed the detection and repairing of coating, repairing efficiency is high, and repairing is at low cost, greatly promotes steel construction corrosion resistance, improves steel construction stability.
Description
Technical field
The utility model relates to a kind of coatings to detect repair apparatus, and especially a kind of pipe internal coating is detected and repaired automatically
Mend robot.
Background technique
Steel construction occupies important role in ship and building, and steel pipe is a kind of very common steel construction, answers
With quite extensively.Steel construction corrodes in order to prevent to need to carry out coating to its outer wall and inner cavity, because of inner wall of the pipe narrow space, spray
Coating after painting is easy to happen uneven or holiday situation, and holiday part can generate serious corrosion if coating is not thorough.
Holiday is generally avoided using the method for multiple coating currently on the market, but such partial coating that will cause is blocked up, causes serious
Paint waste.Therefore need a kind of device that can effectively detect pipe internal coating thickness and specific aim progress repairing work.
Utility model content
In order to overcome the above-mentioned deficiencies of the prior art, the purpose of the utility model is to provide a kind of inspections of pipe internal coating
It surveys and auto-mending robot.
In order to achieve the above objectives, the technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of detection of pipe internal coating and auto-mending robot, comprising:
Main pipe；
Walking mechanism comprising tiltedly extend outwardly from main pipe and in circumference at equally distributed three group of first nutted rod
With the second nutted rod, every group of first nutted rod and the second nutted rod are staggered, and the head of first nutted rod is equipped with row
Motor is walked, driving wheel is installed in the rotation axis of the movable motor, the head of second nutted rod is equipped with driven wheel；
Coating measurement device is vertically mounted in the rotation axis of main pipe end rotating electric machine, the Coating measurement dress
It sets including telescopic rod, pre- Medium-voltage Motor, fixture and measuring instrumentss, the telescopic rod root is connected in the rotation axis of rotating electric machine,
The pre- Medium-voltage Motor is mounted on the head of telescopic rod, and fixture is equipped in the shaft of the pre- Medium-voltage Motor, the measuring instrumentss
Measuring probe is mounted on the fixture, and the main body of the measuring instrumentss is arranged in the instrument case on telescopic rod；
Patching coating device is vertically mounted in the rotation axis of main pipe end rotating electric machine, the patching coating dress
It sets and is mounted on rotating electric machine including spray head, connecting rod, spray painting pipe, control switch and flow control valve, the connecting rod root
In rotation axis, the spray head is mounted on the head of connecting rod, and the spray painting pipe is connected with the spray head, the control switch with
Flow control valve is installed on spray painting pipe.
The utility model drives Coating measurement device, patching coating device to exist compared to the prior art, by walking mechanism
Inner wall of the pipe is moved along axis, and rotating electric machine drives Coating measurement device, patching coating device, to moving, to pass through along pipe circumference
Pre- Medium-voltage Motor realize measuring probe and the contact of the coating of tested pipeline inner wall with separate acquisition coating film thickness data, according to film thickness
The spray head that data open the patching coating device at coating layer thickness bad position is sprayed, and repairing for bad coating is completed
It mends；It can be automatically performed the detection and repairing of coating, repairing efficiency is high, greatly promotes steel construction corrosion resistance, improves steel knot
Structure stability.
Further, the Coating measurement device and patching coating device pass through detachable connection structure and main pipe
The rotation axis connection of end rotating electric machine.
Using the above preferred scheme, Coating measurement device and patching coating device can be installed separately, in Coating measurement
After the completion of device detection, carries out replacement patching coating device again in the case where finding bad thickness coatings and repaired.
Further, a rotating electric machine, the Coating measurement device and coating are separately installed at the both ends of main pipe
Repair apparatus is separately mounted in the rotation axis of different end rotating electric machines.
Using the above preferred scheme, Coating measurement device and patching coating device are mounted on main pipe simultaneously, are being applied
When layer measuring device detects bad thickness coatings, synchronous patching coating device of opening is repaired, and should prevent coating from spraying to
In detection device, when necessary, the unlatching of patching coating device can be lagged suitably, and measuring device is left bad coating and measured next
When the coating film thickness of cross section, patching coating device is just moved to problem coating and is repaired.
Further, torque force limiting device is arranged in the rotation axis of the pre- Medium-voltage Motor, the fixture is connected to torsion limit
Device outer ring processed.
Using the above preferred scheme, torque force limiting device can control the torque value between measuring probe and pre- Medium-voltage Motor,
The conflict power of measuring probe and tube wall coating occurs when being more than torque force limiting device nominal torque to torque caused by pre- Medium-voltage Motor
It skids, prevents measuring probe from generating excessive pressure to coating, apply interlayer for measuring probe and tube wall and stable precompression is provided.
Further, bad marking mechanism, the patching coating are also clamped on the fixture of the Coating measurement device
Device further includes the image collecting device for detecting the bad marking mechanism label marking.
Using the above preferred scheme, the position that more can accurately position bad coating, improves the accuracy of repairing.
Further, the telescopic rod of the Coating measurement device is equipped with obliquity sensor, the patching coating device
Connecting rod is equipped with obliquity sensor.
Using the above preferred scheme, can accurately detection measuring probe and spray head circle circumferential position.
It further, further include control device and display device, the control device and Coating measurement device, display device
Signal connection, the display device are equipped with the multiple display lists consistent with Coating measurement device coating detection collection point quantity
Member, the control device receive the coating thickness data that measuring instrumentss detect in the Coating measurement device, by aobvious after processing
The display unit of showing device exports display.
Using the above preferred scheme, the position of detection data state and bad coating can be intuitively understood by display device
It sets.
Further, the control device is also connect with the patching coating device signal, when the spray of patching coating device
When the coating location of head position and bad thickness coincide, control device issue the control switch for controlling the patching coating device and
The command signal of flow control valve events.
Using the above preferred scheme, control device automatically controls the movement of patching coating device according to coating thickness data
And the size of spray head quantity for spray, so that coating layer thickness is consistent with standard thickness after repairing.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of embodiment of the utility model；
Fig. 2 is a kind of structural schematic diagram of embodiment of the utility model Coating measurement device；
Fig. 3 is the structural schematic diagram of the utility model another embodiment；
Fig. 4 is the structural schematic diagram of the utility model another embodiment；
Fig. 5 is a kind of structural schematic diagram of embodiment of the utility model display device.
The title of number and corresponding component represented by letter in figure:
1- main pipe；11- rotating electric machine；2- walking mechanism；The first nutted rod of 21-；The second nutted rod of 22-；23- walking electricity
Machine；24- driving wheel；25- driven wheel；3- Coating measurement device；31- telescopic rod；The pre- Medium-voltage Motor of 32-；33- fixture；34- measurement
Instrument；35- measuring probe；4-patching coating devices；41- spray head；42- connecting rod；5- control device.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figs 1-4, a kind of pipe internal coating detection and auto-mending robot, comprising:
Main pipe 1；
Walking mechanism 2 comprising tiltedly extend outwardly from main pipe 1 and be tensioned in circumference at equally distributed three group first
Bar 21 and the second nutted rod 22, every group of first nutted rod 21 and the second nutted rod 22 are staggered, the head of the first nutted rod 21
Movable motor 23 is installed, driving wheel 24 is installed in the rotation axis of movable motor 23, the head of the second nutted rod 22 be equipped with from
Driving wheel 25；
Coating measurement device 3 is vertically mounted in the rotation axis of 1 end rotating electric machine 11 of main pipe, Coating measurement dress
Setting 3 includes telescopic rod 31, pre- Medium-voltage Motor 32, fixture 33 and measuring instrumentss, and 31 root of telescopic rod is connected to turning for rotating electric machine 11
On moving axis, pre- Medium-voltage Motor 32 is mounted on the head of telescopic rod 31, and fixture 33, the survey are equipped in the shaft of pre- Medium-voltage Motor 32
The measuring probe 35 of amount instrument is mounted on fixture 33, and the instrument case 34 on telescopic rod is arranged in the main body of the measuring instrumentss
It is interior；
Patching coating device 4 is vertically mounted in the rotation axis of 1 end rotating electric machine 11 of main pipe, patching coating dress
Setting 4 includes that spray head 41, connecting rod 42, spray painting pipe, control switch and flow control valve, 42 root of connecting rod are mounted on rotating electric machine
In 11 rotation axis, spray head 41 is mounted on the head of connecting rod 42, and the spray painting pipe is connected with spray head 41, and the control is opened
It closes and flow control valve is installed on spray painting pipe.
Beneficial effect by adopting the above technical scheme is: driving Coating measurement device 3, patching coating by walking mechanism 2
Device 4 is moved in inner wall of the pipe along axis, and rotating electric machine 11 drives Coating measurement device 3, patching coating device 4 along pipe circumference
To movement, by pre- Medium-voltage Motor 32 realize measuring probe 35 and the contact of the coating of tested pipeline inner wall with separate, obtain coating
Film thickness data, and the spray head 41 that patching coating device 4 is opened according to the data obtained at coating layer thickness bad position is sprayed
It applies, completes the repairing of bad coating；It can be automatically performed the detection and repairing of coating, repairing efficiency is high, greatly promotes steel construction
Corrosion resistance improves steel construction stability.
In other embodiments of the utility model, Coating measurement device 3 and patching coating device 4 are by removable
Unload the rotation axis connection of formula connection structure Yu 1 end rotating electric machine 11 of main pipe.Beneficial effect by adopting the above technical scheme is:
Coating measurement device and patching coating device can be installed separately, and after the completion of the detection of Coating measurement device, find bad thickness
Replacement patching coating device is carried out in the case where degree coating again to be repaired.
In other embodiments of the utility model, it is separately installed with a rotating electric machine at the both ends of main pipe 1,
Coating measurement device 3 and patching coating device 4 are separately mounted in the rotation axis of different end rotating electric machines.Using above-mentioned technical side
The beneficial effect of case is: Coating measurement device and patching coating device while being mounted on main pipe, examines in Coating measurement device
When measuring bad thickness coatings, synchronous patching coating device of opening is repaired, and should prevent coating from spraying in detection device, must
When wanting, the unlatching of patching coating device can be lagged suitably, and measuring device leaves bad coating and measures the coating of next cross section
When film thickness, patching coating device is just moved to problem coating and is repaired, this needs to pay attention to Coating measurement device 3 and coating is repaired
The tandem of benefit device 4 and mutual distance.
In other embodiments of the utility model, torque force limiting device is arranged in the rotation axis of pre- Medium-voltage Motor 32
(not shown), fixture 33 are connected to torque force limiting device outer ring.Beneficial effect by adopting the above technical scheme is: torque force limiting device can
To control the torque value between measuring probe and pre- Medium-voltage Motor, pre- Medium-voltage Motor is produced in the conflict power of measuring probe and tube wall coating
Raw torque skids when being more than torque force limiting device nominal torque, prevents measuring probe from generating excessive pressure to coating, to survey
Amount probe applies interlayer with tube wall and provides stable precompression.
In other embodiments of the utility model, bad point is also clamped on the fixture 33 of Coating measurement device 3
Marking mechanism (not shown), patching coating device 4 further include the image for detecting the bad marking mechanism label marking
Acquisition device (not shown).Beneficial effect by adopting the above technical scheme is: more can accurately position the position of bad coating
It sets, improves the accuracy of repairing.
In other embodiments of the utility model, the telescopic rod 31 of Coating measurement device 3 is sensed equipped with inclination angle
The connecting rod 42 of device (not shown), patching coating device 4 is equipped with obliquity sensor (not shown).By adopting the above technical scheme
Beneficial effect is: can accurately detection measuring probe and spray head circle circumferential position.
It further include control device 5 and display device, 5 He of control device in other embodiments of the utility model
Coating measurement device 3, the connection of display device signal, the display device, which is equipped with, detects collection point with Coating measurement device coating
The consistent multiple display units of quantity, the control device receive the coating that measuring instrumentss detect in the Coating measurement device
Thickness data exports display by the display unit of display device after processing.Beneficial effect by adopting the above technical scheme is: logical
The position of detection data state and bad coating can intuitively be understood by crossing display device.
In other embodiments of the utility model, control device 5 also connects with 4 signal of patching coating device
It connects, when the coating location of 41 position of spray head of patching coating device 4 and bad thickness coincide, control device is issued described in control
The control switch of patching coating device and the command signal of flow control valve events.Beneficial effect by adopting the above technical scheme
Be: control device automatically controls the movement of patching coating device and the size of spray head quantity for spray according to coating thickness data, together
When also calculate the difference of bad coating film thickness and standard film thickness, spraying is adjusted by flow control valve according to the size of difference
Amount, so that coating layer thickness is consistent with standard thickness after repairing.
Here is the Coating measurement device of the utility model and the master of patching coating device detachable changeable type embodiment
Want working principle and process:
1. writing program input robot controller, the walking mechanism of robot is adjusted, robot is moved into pipeline
It is interior, so that the driving wheel of walking mechanism is close to inner wall of the pipe with driven wheel；
2. measuring instrumentss are put into instrument case, and measuring probe is mounted on fixture and is clamped, adjusts Coating measurement dress
The telescopic rod set enables measuring probe when measurement to be close to inner wall of the pipe；
3. fixture is by precompressed motor driven, when measurement, it is complete that pre- Medium-voltage Motor rotation makes measuring probe touch inner wall of the pipe
It works at spot measurement, is measured rear pre- Medium-voltage Motor and rotates backward, so that measuring probe is left inner wall of the pipe, then pass through electric rotating
Machine rotation, carries out the film thickness data of other measurement points of inner wall of the pipe current cross-sectional, such as each transversal planar survey 12 of inner wall of the pipe
A, then one film thickness numerical value of every measurement, rotates 30 ° for Coating measurement device, the measurement until completing all 12 points；
4. after being measured of current cross-sectional, movable motor driving driving wheel moves axially robot in pipeline,
It is moved to the measurement that next tested point carries out 12 points on the cross section, then repeats above-mentioned movement, until completing entire pipe
The measurement in road；
5. control device expresses each measuring point data of generation by display device in a manner of visual, as shown in figure 5,
Each circle represents a measuring point, according to the coating film thickness measurement data of each measuring point, distinguished with the circle of different colours it is qualified with not
It is good, in bad coating, the coating (underproof degree) of different film thickness ranges, it is also possible to which the circle of different colours is distinguished；
6. Coating measurement device is changed to patching coating device, walking mechanism moves axially into bad thickness coatings institute
At cross-section location, rotating electric machine is turned at bad measuring point, is opened the control switch of patching coating device and is adjusted flow
Then control valve carries out the repairing of other bad coating points to spraying at bad coating again, until completing entire pipeline
The patch work of inner wall.
The above embodiments are only for explaining the technical ideas and features of the present invention, and its object is to allow the common skill in this field
Art personnel can understand the content of the utility model and be implemented, and not limit the protection scope of the present invention,
All equivalent change or modifications according to made by the spirit of the present invention essence, should all cover in the protection scope of the utility model
It is interior.
Claims (8)
1. a kind of pipe internal coating detection and auto-mending robot characterized by comprising
Main pipe；
Walking mechanism comprising tiltedly extend outwardly from main pipe and in circumference at equally distributed three group of first nutted rod and
Two nutted rod, every group of first nutted rod and the second nutted rod are staggered, and the head of first nutted rod is equipped with walking electricity
Machine installs driving wheel in the rotation axis of the movable motor, and the head of second nutted rod is equipped with driven wheel；
Coating measurement device is vertically mounted in the rotation axis of main pipe end rotating electric machine, the Coating measurement device packet
Telescopic rod, pre- Medium-voltage Motor, fixture and measuring instrumentss are included, the telescopic rod root is connected in the rotation axis of rotating electric machine, described
Pre- Medium-voltage Motor is mounted on the head of telescopic rod, and fixture, the measurement of the measuring instrumentss are equipped in the shaft of the pre- Medium-voltage Motor
Probe is mounted on the fixture, and the main body of the measuring instrumentss is arranged in the instrument case on telescopic rod；
Patching coating device is vertically mounted in the rotation axis of main pipe end rotating electric machine, the patching coating device packet
It includes spray head, connecting rod, spray painting pipe, control switch and flow control valve, the connecting rod root and is mounted on the rotation of rotating electric machine
On axis, the spray head is mounted on the head of connecting rod, and the spray painting pipe is connected with the spray head, the control switch and flow
Control valve is installed on spray painting pipe.
2. pipe internal coating detection according to claim 1 and auto-mending robot, which is characterized in that the coating
Measuring device and patching coating device pass through the rotation axis connection of detachable connection structure Yu main pipe end rotating electric machine.
3. pipe internal coating detection according to claim 1 and auto-mending robot, which is characterized in that in main pipe
Both ends be separately installed with a rotating electric machine, the Coating measurement device and patching coating device are separately mounted to different ends rotations
In the rotation axis of rotating motor.
4. pipe internal coating detection according to claim 2 or 3 and auto-mending robot, which is characterized in that described
Torque force limiting device is arranged in the rotation axis of pre- Medium-voltage Motor, the fixture is connected to torque force limiting device outer ring.
5. pipe internal coating detection according to claim 4 and auto-mending robot, which is characterized in that the coating
Bad marking mechanism is also clamped on the fixture of measuring device, the patching coating device further includes described bad for detecting
The image collecting device of the point marking mechanism label marking.
6. pipe internal coating detection according to claim 5 and auto-mending robot, which is characterized in that the coating
The telescopic rod of measuring device is equipped with obliquity sensor, and the connecting rod of the patching coating device is equipped with obliquity sensor.
7. pipe internal coating detection according to claim 6 and auto-mending robot, which is characterized in that further include control
Device processed and display device, the control device and Coating measurement device, display device signal connect, and set in the display device
There are the multiple display units consistent with Coating measurement device coating detection collection point quantity, the control device receives the painting
The coating thickness data of measuring instrumentss detection, exports display by the display unit of display device after processing in layer measuring device.
8. pipe internal coating detection according to claim 7 and auto-mending robot, which is characterized in that the control
Device is also connect with the patching coating device signal, when the nozzle position of patching coating device and the coating location of bad thickness
When coincideing, control device issues the command signal of the control switch and flow control valve events that control the patching coating device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821362812.0U CN208804395U (en) | 2018-08-22 | 2018-08-22 | A kind of detection of pipe internal coating and auto-mending robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821362812.0U CN208804395U (en) | 2018-08-22 | 2018-08-22 | A kind of detection of pipe internal coating and auto-mending robot |
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| CN208804395U true CN208804395U (en) | 2019-04-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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2018
- 2018-08-22 CN CN201821362812.0U patent/CN208804395U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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