CN213840046U - Automatic control trolley for internal maintenance of pipeline - Google Patents
Automatic control trolley for internal maintenance of pipeline Download PDFInfo
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- CN213840046U CN213840046U CN202022334973.2U CN202022334973U CN213840046U CN 213840046 U CN213840046 U CN 213840046U CN 202022334973 U CN202022334973 U CN 202022334973U CN 213840046 U CN213840046 U CN 213840046U
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- 238000012423 maintenance Methods 0.000 title abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000010276 construction Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 5
- 238000003466 welding Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005536 corrosion prevention Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
An automatic control trolley for pipeline internal maintenance relates to the technical field of pipeline maintenance, and comprises a trolley body which runs along the inner wall of a pipeline, wherein the trolley body comprises a trolley frame, at least three supporting arms are arranged around the trolley frame in a circle, the supporting arms are arranged along the radial direction of the pipeline and are symmetrically distributed around the central line of the pipeline, and the outer end parts of the supporting arms are respectively provided with a running mechanism which is matched with the pipeline to ensure that the trolley smoothly passes through the pipeline; the walking mechanism comprises a swinging frame hinged at the outer end part of the supporting arm through a hinged shaft, and the hinged shaft is perpendicular to the central axis of the pipeline so that the swinging frame swings back and forth along the central axis of the pipeline; front and rear rollers are symmetrically hinged on swing brackets on the front and rear sides of the hinge shaft, and a driving motor for driving the front rollers to move back and forth along the central axis direction of the pipeline is arranged on the front rollers; and detection mechanisms are arranged on the frame between the adjacent supporting arms. The utility model has the advantages of overhaul effectual, overhaul work efficiency height.
Description
Technical Field
The utility model belongs to the technical field of the pipeline overhaul technique and specifically relates to a pipeline inside overhauls automatic control dolly.
Background
In a large number of municipal engineering projects, the construction of water supply and drainage pipelines is an important component. In order to inspect the quality condition of a welding seam inside a pipeline and the coating effect of corrosion prevention in the pipeline, a method commonly used for municipal pipeline maintenance engineering is adopted at present, a handheld detection device with an ultrasonic detector is adopted, the pipeline is maintained around the periphery, a maintainer inspects the condition inside the pipeline through the real-time monitoring result of the ultrasonic detector, the pipeline blockage and the position of pipeline damage are found, and therefore the pipeline is repaired. The installation and construction operation space of most pipelines is narrow, the working surface is limited, the maintenance work of the pipeline laying effect by adopting the manual inspection method has low working efficiency, all problems of the detailed structure of the pipeline cannot be effectively inspected, and the maintenance effect is poor; there is a lack of automatic control devices that can effectively overhaul pipelines.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that to prior art not enough, provide one kind can overhaul automatically, overhaul effectual, the pipeline inside overhauls automatic control dolly that maintenance work efficiency is high automatically.
The utility model aims to solve the technical problem that the technical problem is realized by the following technical scheme, the utility model relates to an automatic control trolley for pipeline internal maintenance, which is characterized in that the automatic control trolley comprises a trolley body which travels along the inner wall of a pipeline, the trolley body comprises a frame, at least three supporting arms are arranged around the circumference of the frame, the supporting arms are arranged along the radial direction of the pipeline and symmetrically distributed around the central line of the pipeline, and the outer end parts of the supporting arms are respectively provided with a traveling mechanism which is matched with the pipeline to ensure that the trolley smoothly passes through the pipeline;
the walking mechanism comprises a swinging frame hinged at the outer end part of the supporting arm through a hinged shaft, and the hinged shaft is perpendicular to the central axis of the pipeline so that the swinging frame swings back and forth along the central axis of the pipeline; front and rear rollers are symmetrically hinged on swing brackets on the front and rear sides of the hinge shaft, and a driving motor for driving the front rollers to move back and forth along the central axis direction of the pipeline is arranged on the front rollers;
the frame between the adjacent supporting arms is provided with a detection mechanism;
the detection mechanism comprises an ultrasonic detector and a camera, and the ultrasonic detector and the camera are both arranged towards the inner wall of the pipeline; the frame is provided with a lighting lamp for providing a light source for the ultrasonic detector and the camera;
the frame is provided with an execution controller for controlling the driving motor and the detection mechanism;
the execution controller is provided with a signal receiving and transmitting module and is connected with a matched remote control terminal through wireless transmission;
the ultrasonic detector, the camera and the driving motor are all electrically connected with the execution controller, and the execution controller receives an execution command from the remote control terminal through a signal receiving and sending module of the execution controller, so that the starting and stopping of the ultrasonic detector, the camera and the driving motor are controlled, and flaw detection signals collected by the ultrasonic detector and imaging signals obtained by the camera are transmitted to the remote control terminal;
the frame is also provided with a battery pack for supplying power to the travelling mechanism, the detection mechanism and the execution controller.
The utility model discloses the technical problem that solve can also further realize through following technical scheme, above pipeline inside overhaul automatic control dolly in: the supporting arm is a telescopic arm.
The utility model discloses the technical problem that solve can also further realize through following technical scheme, above pipeline inside overhaul automatic control dolly in: the number of the supporting arms is four.
The utility model discloses the technical problem that solve can also further realize through following technical scheme, above pipeline inside overhaul automatic control dolly in: the camera is a CCD camera.
The utility model discloses the technical problem that solve can also further realize through following technical scheme, above pipeline inside overhaul automatic control dolly in: and illuminating lamps are arranged on the two sides of the ultrasonic detector and the camera.
Compared with the prior art, the beneficial effects of the utility model are that:
the trolley capable of walking along the inner wall of the pipeline is arranged, the support arms are symmetrically arranged on the trolley, and the walking mechanism is arranged at the outer ends of the support arms, so that the trolley can stably move along the inner wall of the pipeline; by arranging the swing frame, the front and rear idler wheels are arranged on the swing frame, so that the trolley can smoothly pass through when meeting welding seams or other obstacles in the pipeline;
the trolley is uniformly provided with a plurality of detection mechanisms, so that the interior of the pipeline can be detected in an all-round manner, and the defects that the installation and construction operation space is narrow and the manual maintenance is difficult under the condition of limited working surface are overcome; the pipeline maintenance system has the advantages that maintenance operation can be realized inside the pipeline, the maintenance efficiency of the pipeline and the construction quality of the pipeline are improved, quality problems in the pipeline laying process are found in time, and the pipeline maintenance system is convenient for an organizer to repair and perfect in time, so that high-quality and high-efficiency propulsion of a pipeline laying project is realized finally;
through setting up ultrasonic detector and camera, the welding condition of pipeline inside and anticorrosive coating's the construction condition is examined, can discover the quality problems of pipe laying in-process to transmit ultrasonic detector's detection signal and camera's imaging signal for remote control terminal through the wireless controller who sets up on the dolly, make things convenient for maintainer in time to restore, have important realistic meaning and social meaning to the pipe joint welded pipe laying construction.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a traveling mechanism;
FIG. 3 is a schematic view of the structure of the trolley passing through the obstacle;
fig. 4 is a block diagram of the control system of the present invention.
In the figure: 1. the automobile comprises an automobile body, 2 parts of an automobile frame, 3 parts of a supporting arm, 4 parts of a travelling mechanism, 5 parts of a hinge shaft, 6 parts of a swing frame, 7 parts of a front roller, 8 parts of a rear roller, 9 parts of a driving motor, 10 parts of an ultrasonic detector, 11 parts of a camera, 12 parts of a lighting lamp, 13 parts of a battery pack, 14 parts of an inner cylinder, 15 parts of an outer cylinder, 16 parts of a reset spring, 17 parts of a pipeline and 18 parts of an execution controller.
Detailed Description
The following further describes embodiments of the present invention in order to facilitate further understanding of the present invention by those skilled in the art, and does not constitute a limitation to the right thereof.
with reference to fig. 2 and 3, the traveling mechanism 4 includes a swing frame 6 hinged to the outer end of the support arm 3 through a hinge shaft 5, and the hinge shaft 5 is perpendicular to the central axis of the pipeline 17 so that the swing frame 6 swings back and forth along the central axis of the pipeline 17; front and rear idler wheels 8 are symmetrically hinged on swing frames 6 on the front and rear sides of the hinge shaft 5, and a driving motor 9 for driving the front idler wheel 7 to move back and forth along the central axis direction of the pipeline 17 is arranged on the front idler wheel 7; the driving motor 9 drives the front roller 7 to rotate, and drives the rear wheel to move along the central axis of the pipeline 17. Due to the arrangement of the swing frame 6, when a large welding seam or other obstacles are met, the swing frame 6 swings around the hinge shaft 5, so that the trolley can pass through smoothly.
The frame 2 between the adjacent supporting arms 3 is provided with a detection mechanism;
the detection mechanism comprises an ultrasonic detector 10 and a camera 11, and both the ultrasonic detector 10 and the camera 11 are arranged towards the inner wall of the pipeline 17; the ultrasonic probe 10 and the camera 11 are arranged in close proximity; an illuminating lamp 12 for providing a light source for the ultrasonic detector 10 and the camera 11 is arranged on the frame 2;
referring to fig. 4, an execution controller 18 for controlling the driving motor 9 and the detection mechanism is provided on the carriage 2;
the execution controller 18 is provided with a signal receiving and sending module, and the execution controller 18 is connected with a matched remote control terminal through wireless transmission;
the ultrasonic detector 10, the camera 11 and the driving motor 9 are all electrically connected with the execution controller 18, and receive an execution command from a remote control terminal through a signal receiving and sending module of the execution controller 18, so that the starting and stopping of the ultrasonic detector 10, the camera 11 and the driving motor 9 are controlled, and flaw detection signals acquired by the ultrasonic detector and imaging signals acquired by the camera are transmitted to the remote control terminal;
the frame 2 is also provided with a battery pack 13 for supplying power to the traveling mechanism 4, the detection mechanism and the execution controller 18.
The supporting arm 3 is a telescopic arm. The telescopic arm structure: the supporting arm 3 comprises a guide cylinder 15 and a telescopic column 14, the telescopic column 14 is slidably sleeved in the guide cylinder 15, a limit baffle is arranged at the top of the telescopic column 14, and a limit ring matched with the limit baffle of the telescopic column 14 is arranged at the bottom of the guide cylinder 15 and used for preventing the telescopic column 14 from slipping; a return spring 16 is arranged between the top of the telescopic column 14 and the top of the guide cylinder 15, so that the telescopic column 14 can be telescopic relative to the guide cylinder 15; the support arm 3 adopts flexible arm, through reset spring 16's automation flexible, can make the dolly adapt to multiple pipe diameter, can help the dolly to pass through pipeline 17 inner wall barrier smoothly simultaneously.
In the present embodiment, the number of the support arms 3 is four.
The camera 11 is a CCD camera 11.
And illuminating lamps 12 are arranged on two sides of the ultrasonic detector 10 and the camera 11.
The control process comprises the following steps:
the trolley is put into the pipeline 17, the illuminating lamp 12 is turned on, the illuminating lamp 12 is normally on, and the remote control terminal can also be used for controlling the on-off of the illuminating lamp 12. The remote control terminal sends out an execution command, a signal receiving and sending module of the execution controller receives and controls the ultrasonic detector 10 to be started, the ultrasonic detector 10 obtains a flaw detection signal, and the flaw detection signal acquired by the ultrasonic detector 10 is transmitted to the remote control terminal through the signal receiving and sending module of the execution controller 18; the remote control terminal sends an execution command to the execution controller 18 according to the transmitted flaw detection signal, receives the execution command returned from the remote control terminal through a signal receiving and sending module of the execution controller 18, so as to control the driving motor 9 to stop running and the trolley to stop, control the camera 11 to photograph the inner wall of the pipeline 17, transmit an imaging signal of the camera 11 to the remote control terminal through the signal receiving and sending module of the execution controller 18, and facilitate the timely maintenance of workers after the remote control terminal receives the fed-back imaging signal; and sending an instruction to the execution controller 18, controlling the driving motor 9 to start through the execution controller 18, driving the trolley to continue to advance along the inner wall of the pipeline 17, and continuing to detect by the ultrasonic detector 10 until the detection operation of the inner wall of the pipeline is completed.
Claims (7)
1. The utility model provides a pipeline inside overhauls automatic control dolly which characterized in that: the trolley comprises a trolley body which runs along the inner wall of a pipeline, wherein the trolley body comprises a trolley frame, at least three supporting arms are arranged around the trolley frame, the supporting arms are arranged along the radial direction of the pipeline and symmetrically distributed around the central line of the pipeline, and the outer end parts of the supporting arms are respectively provided with a running mechanism which is matched with the pipeline to ensure that the trolley smoothly passes through the pipeline;
the walking mechanism comprises a swinging frame hinged at the outer end part of the supporting arm through a hinged shaft, and the hinged shaft is perpendicular to the central axis of the pipeline so that the swinging frame swings back and forth along the central axis of the pipeline; front and rear rollers are symmetrically hinged on swing brackets on the front and rear sides of the hinge shaft, and a driving motor for driving the front rollers to move back and forth along the central axis direction of the pipeline is arranged on the front rollers;
and detection mechanisms are arranged on the frame between the adjacent supporting arms.
2. The automatic control trolley for the pipeline internal overhaul according to claim 1, wherein the automatic control trolley comprises: the supporting arm is a telescopic arm.
3. The automatic control trolley for the pipeline internal overhaul according to claim 1 or 2, wherein the automatic control trolley comprises: the number of the supporting arms is four.
4. The automatic control trolley for the pipeline internal overhaul according to claim 1, wherein the automatic control trolley comprises: the detection mechanism comprises an ultrasonic detector and a camera, and the ultrasonic detector and the camera are both arranged towards the inner wall of the pipeline; the frame is provided with a lighting lamp for providing a light source for the ultrasonic detector and the camera.
5. The automatic control trolley for the pipeline internal overhaul according to claim 4, wherein the automatic control trolley comprises: the camera is a CCD camera.
6. The automatic control trolley for the pipeline internal overhaul according to claim 4, wherein the automatic control trolley comprises: and illuminating lamps are arranged on the two sides of the ultrasonic detector and the camera.
7. The automatic control trolley for the pipeline internal overhaul according to claim 1, wherein the automatic control trolley comprises: the frame is also provided with a battery pack for supplying power to the travelling mechanism and the detection mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022334973.2U CN213840046U (en) | 2020-10-20 | 2020-10-20 | Automatic control trolley for internal maintenance of pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022334973.2U CN213840046U (en) | 2020-10-20 | 2020-10-20 | Automatic control trolley for internal maintenance of pipeline |
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| Publication Number | Publication Date |
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| CN213840046U true CN213840046U (en) | 2021-07-30 |
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| CN202022334973.2U Active CN213840046U (en) | 2020-10-20 | 2020-10-20 | Automatic control trolley for internal maintenance of pipeline |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114382987A (en) * | 2022-01-18 | 2022-04-22 | 长江生态环保集团有限公司 | Urban drainage pipeline detection and repair device and method |
-
2020
- 2020-10-20 CN CN202022334973.2U patent/CN213840046U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114382987A (en) * | 2022-01-18 | 2022-04-22 | 长江生态环保集团有限公司 | Urban drainage pipeline detection and repair device and method |
| CN114382987B (en) * | 2022-01-18 | 2023-04-25 | 长江生态环保集团有限公司 | Urban drainage pipeline detection and repair device and method |
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Effective date of registration: 20231127 Address after: No. 147, Zhongshan Middle Road, Lianyun District, Lianyungang City, Jiangsu Province Patentee after: JIANGSU BRANCH OF CCCC SHANGHAI PORT ENGINEERING Co.,Ltd. Patentee after: CCCC THIRD HARBOR ENGINEERING Co.,Ltd. Address before: No. 147, Zhongshan Middle Road, Lianyun District, Lianyungang City, Jiangsu Province Patentee before: JIANGSU BRANCH OF CCCC SHANGHAI PORT ENGINEERING Co.,Ltd. |