UA129372U - MECHATRONIC MOVEMENT DEVICE IN PIPELINES - Google Patents

Abstract

The mechatronic device for movement in the pipelines consists of a housing, a nasal and a tail spacer parts, made in the form of hermetically covered elastic shell of a hollow perforated cylinder, a supply system with a compressed medium with channels and a power line that connects with the tail, . The tail and nose parts are interconnected by pneumatic motors, which are arranged in pairs symmetrically relative to the center, on the nasal chamber symmetrically located strain gauges.

Description

The useful model belongs to mechatronic devices intended for movement in technological structures and pipelines for making rectilinear and curvilinear movements when passing branches and in other cases when there is more than one possible trajectory (path), as well as non-destructive control, ensuring the delivery of information collection means to the area of possible defects of structures and devices for carrying out repair work in thermal and atomic energy.

A worm-shaped mobile mechatronic device is known, which can move autonomously in a horizontal or vertical pipe (11.

The disadvantages of this mechatronic device are: insufficient flexibility, the possibility of its use in pipes of small diameters only, lack of reversible movement.

A well-known mechatronic device used for movement in technological structures and pipelines in thermal and atomic energy for non-destructive testing. The device consists of a body, nose and tail spacers dug in the form of a hollow perforated cylinder hermetically covered by an elastic shell, a system of feeding a compressed medium with channels and a power line that connects to the tail and nose spacers, the nose and tail parts consist of multi-section locking pneumatic chambers, on top of which an elastic friction shell is mounted, in each pneumatic chamber there are two or more electromagnetic distributors and pressure transmitters, in the tail chamber, an intake distributor and an electric motor are additionally installed, which is connected to an encoder and a flexible coupling, which is a flexible worm optical transmission, and an optical flaw detector is attached to the bow (21.

The disadvantage of the mechatronic device is the impossibility of independently monitoring the change in the movement trajectory when turning and the limitation (small turning angle) of the turning angle due to the stiffness of the power elements of the movement.

The task of the device is to ensure the independent change of the configuration of the power elements of the movement and the implementation of movements in a wide range of changes in the trajectory of the movement.

The task is solved by the fact that in a mechatronic device for moving in pipelines, which consists of a body, nose and tail spacer parts dug in the form of a hollow perforated cylinder hermetically covered by an elastic shell,

From the compressed medium supply system with channels and a supply line that connects to the tail and nose spacer parts of the optical flaw detector, according to a useful model, the tail and nose parts are connected to each other by pneumatic motors, which are located in pairs symmetrically with respect to the center, on the nose chamber symmetrically located tensor resistors.

Therefore, this mechatronic device provides for independently changing the configuration of power elements of the movement, namely making turns when passing branches, or in other cases when there is more than one possible path (trajectory).

The device is explained by drawings. In fig. 1 shows a section of the device, in fig. 2 section along A-A.

The mechatronic device for movement in pipelines consists of tail 1, 2 and nose 3, 4 fixing pneumatic chambers, on top of which an elastic friction shell 5 is mounted for additional protection of the pneumatic chambers, in each pneumatic chamber there are two electromagnetic valve distributors b, 7 and 8, 9 and sensors of pressure 10, 11 and 12, 13, for example, the 4th tensor resistors 14 are installed in the nose chamber, and the inlet distributor 15 is additionally installed in the tail part, for moving the device horizontally, for example, the 4th pneumatic motors 16 are used, which are located in the corrugated housing 17, to determine the movement of pneumatic motors, for example, 4th linear encoders 18 are used, the output signals of which are sent to the input of a programmed software logic controller (PLC), an optical flaw detector 19 (video camera with backlight) is fixed on the front part of the housing, which records and transmits images in real time on the control panel.

Filling the chamber of the pneumatic motor with compressed air, or discharging compressed air from it, is provided by the distributor 20. The PLC controls the operation of the distributors connected to the pneumatic motors and ensures the same elongation in the case of straight movement, or different during turning.

The principle of operation of the mechatronic device for movement in pipelines is as follows.

For movements in the initial range of pipelines with an internal diameter of, for example, 50-100 mm, the first section (internal) of multi-section chamber 1 is used. When a pneumatic signal arrives at chamber 1, the pneumatic chamber begins to expand, when pneumatic chamber 1 reaches a pressure of, for example, 6 atm., which The PLC reads with the help of the pressure sensor 10, the electromagnetic distributor 6 is closed.

During subsequent movements, namely in the range of pipelines with an internal diameter of, for example, 101-250 mm, the second section (external) of the multi-section pneumatic chamber 2 is used. If at the initial moment of time on the chamber 2, the PLC reads the specified pressure of 6 atm from the pressure sensor 11, then the electromagnetic spool distributor 7 is closed and the camera 2 will not be used in subsequent work cycles. Based on the signals from the tensor resistors 14, the PLC calculates the elongation of the pneumatic motors 16 in such a way that their tips are located in one plane at an angle required for rotation in any direction to the axis of the device. The output signals from the PLC are sent to the distributor and ensure that the chamber is filled with compressed air with the simultaneous elongation of the chamber, which is measured by the linear encoder 18. After reaching the specified displacement, the air supply to the pneumatic motor 16 is blocked. As a result, the unequal displacement of the pneumatic motors leads to the rotation of the front part of the device to a specified angle the right direction At the beginning of the turn, depending on the amount of force (pressure) on the shell, the microprocessor generates a signal to change the amount of linear movement of each of the pneumatic motors 16. The linear movement increases in the direction of decreasing pressure on a certain side of the nose chamber 3. After the chamber C is completely filled, a pressure transmitter signal is sent 10 and camera 1 descends. With the help of an optical flaw detector 19 (video camera with backlight), the image is recorded and transmitted in real time to the control panel.

The use of this invention will make it possible to create effective, reliable and simple mechatronic self-propelled devices for non-destructive control of technological structures and pipelines with automatic control systems and the ability to independently make turns when passing branches, or in other cases when there is more than one possible path (trajectory).

Sources of information: 1. M. Magataizy, M. Matiki apa K. Kouata, "Ashopotoi5 torie goroi ip rire og riripd oregaiiyopv", Rgos. IEEEE V5U Ipiegpayopa! Sopi op Ipiviyidepi Voboyiv apa bZuviet5, 2000. pp. 2166-2171.

From 2. Patent of Ukraine for utility model Me107531, (3058 19/18. Mechatronic device for movement in pipelines /Avruka 1.S. - Publ. 10.06.16, Byul. 11.

Claims (1)

UTILITY MODEL FORMULA A mechatronic device for moving in pipelines, which consists of a body, nose and tail spacers made in the form of a hollow perforated cylinder hermetically covered by an elastic shell, a compressed medium supply system with channels and a feed line that connects to the tail and nose spacer parts, an optical flaw detector, which differs in that the tail and nose parts are connected to each other by pneumatic motors, which are located symmetrically in pairs with respect to the center, tensor resistors are symmetrically located on the nose chamber. in I sn so n nn ; a sko ; yav I Ya rek NN Uk M Z N Z pen, DU t kr na ne s z an sreoreo Mneo -E NE ren ren - nshsh p vna in PN NN : і NE VN i Tiz 1718 20 voi Za l12 83 9 Fig. I . yan Z lekknkh that s Kai p Ov t g. Yahweh z Oya E i i Y: m ozh se sh y dk nyuyut to Fig. 7