CN108758161B - In-pipe maintenance device and maintenance method thereof - Google Patents
In-pipe maintenance device and maintenance method thereof Download PDFInfo
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- CN108758161B CN108758161B CN201810537086.XA CN201810537086A CN108758161B CN 108758161 B CN108758161 B CN 108758161B CN 201810537086 A CN201810537086 A CN 201810537086A CN 108758161 B CN108758161 B CN 108758161B
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- 238000012423 maintenance Methods 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 62
- 238000004140 cleaning Methods 0.000 claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000000007 visual effect Effects 0.000 claims abstract description 48
- 230000009471 action Effects 0.000 claims abstract description 8
- 238000007689 inspection Methods 0.000 claims abstract description 7
- 238000013519 translation Methods 0.000 claims description 23
- 229910000831 Steel Inorganic materials 0.000 claims description 21
- 239000010959 steel Substances 0.000 claims description 21
- 239000007921 spray Substances 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000002146 bilateral effect Effects 0.000 claims 1
- 238000005406 washing Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 229910000619 316 stainless steel Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/265—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means specially adapted for work at or near a junction between a main and a lateral pipe
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
本发明公开了一种管内检修装置及其检修方法，管内检修装置包括设置在管体内部的可视化清洗喷头、固定调节组件和监控动力组件，固定调节组件包括扩撑固定机构、通道架和通道架调节机构，管体的管壁上设有侧支管；在监控动力组件的带动下，固定调节组件能够在管体内移动，在指定区域扩撑固定机构打开并扩撑于管体的内壁，且通道架调节机构动作使通道架对着侧支管管口；再在驱动力的作用下，可视化清洗喷头进入侧支管并抵达侧支管的检修端。本发明稳定性和调节效率高，能够有效解决所述工况下设备的固定和调节，进而保证可视化清洗喷头能够顺利进出侧支管管口完成相应的清洗或视频检查工作，实现所需的检修工作。
The invention discloses an in-pipe maintenance device and a maintenance method thereof. The in-pipe maintenance device comprises a visual cleaning nozzle arranged inside a pipe body, a fixed adjustment component and a monitoring power component, and the fixed adjustment component includes an expansion and fixing mechanism, a channel frame and a channel frame Adjustment mechanism, a side branch pipe is arranged on the pipe wall of the pipe body; under the driving of the monitoring power assembly, the fixed adjustment assembly can move in the pipe body, and the expansion and support of the fixed mechanism in the designated area is opened and expanded on the inner wall of the pipe body, and The action of the channel rack adjustment mechanism makes the channel rack face the nozzle of the side branch pipe; and then under the action of the driving force, the visual cleaning nozzle enters the side branch pipe and reaches the maintenance end of the side branch pipe. The invention has high stability and adjustment efficiency, and can effectively solve the fixing and adjustment of equipment under the working conditions, thereby ensuring that the visual cleaning nozzle can smoothly enter and exit the nozzle of the side branch pipe to complete the corresponding cleaning or video inspection work, and realize the required maintenance. Work.
Description
Technical Field
The invention relates to the field of pipeline robots, in particular to an in-pipe maintenance device and a maintenance method thereof.
Background
Some annular pipes distribute tiny collateral branch pipes in circumference, as shown in figure 1, according to the needs of overhauing, need to overhaul the end of branch pipe work, there are some obstacles through the annular inside simultaneously, need develop dedicated pipeline robot and accomplish the maintenance work. In this example, the maintenance is performed by taking visual cleaning as an example, the annular tube is made of 316 stainless steel, and a plurality of measuring branch tubes are uniformly distributed in the circumferential direction, and the length of the measuring branch tubes in the annular tube is 1/3 of the inner diameter of the annular tube, as shown in fig. 2, a great obstacle is provided for the movement of the robot, and the difficulty in visually cleaning the inlet and outlet side branch tubes of the spray head is increased. For convenient movement, the circumferential size of the robot is smaller than 2/3 of the inner diameter of the annular pipe, but the circumferential size brings about no small challenge to the design of a fixing and adjusting mechanism of the robot at the side branch pipe.
Disclosure of Invention
In order to solve the technical problems, the invention provides an in-pipe maintenance device and a maintenance method thereof aiming at the visual cleaning robot of the end part of the side branch pipe under the specific condition, and the technical scheme of the invention is as follows:
on one hand, the invention provides an in-pipe maintenance device which comprises a visual cleaning spray head, a fixed adjusting assembly and a monitoring power assembly, wherein the visual cleaning spray head, the fixed adjusting assembly and the monitoring power assembly are arranged in a pipe body;
the fixed adjusting assembly can move in the pipe body under the driving of the monitoring power assembly, when the visual cleaning spray head moves to the side branch pipe, the expanding and fixing mechanism of the fixed adjusting assembly is opened and expanded on the inner wall of the pipe body, the channel frame is close to the pipe orifice of the side branch pipe, and the channel frame adjusting mechanism acts to enable the channel frame to face the pipe orifice of the side branch pipe and can be verified through the first camera;
and under the action of driving force, the visual cleaning spray head enters the side branch pipe and reaches the repair end of the side branch pipe.
Furthermore, the expanding and fixing mechanism of the fixed adjusting assembly comprises a translation frame, a rotating frame, a fixing frame and a tension spring, wherein one end of the translation frame is connected with the monitoring power assembly through a steel wire, and the other end of the translation frame is hinged with the rotating frame;
under the driving of the monitoring power assembly, the translation frame moves along the linear guide groove, so that the rotating frame rotates to deform the tension spring, and meanwhile, the rotating frame pushes the fixing frame to expand so as to expand the fixing frame to the inner wall of the pipe body;
after removing the drive power of control power component, under the stress of extension spring, the swivel mount resets, and then the mount is closed.
Further, fixed adjusting part's passageway frame adjustment mechanism includes that motor, worm, turbine, protruding axle, passageway frame adjust the chamber, passageway frame spacing and set up the spacing groove of passageway frame spacing both sides, the passageway frame install in passageway frame adjust the chamber and spacing in the passageway frame spacing under the drive of motor, worm drive turbine rotates and then realizes that eccentric arrangement's protruding axle is rotatory, the front end sphere of protruding axle tangent with the spacing groove, make the passageway frame spacing carries out position control, the spacing groove includes vertical spacing groove and horizontal spacing groove, vertical spacing groove is used for right the passageway frame spacing carries out the translation regulation, horizontal spacing groove is used for right the passageway frame spacing carries out the rotation regulation, adjusts to the visual washing shower nozzle is facing to the collateral branch pipe mouth of pipe.
Furthermore, the quantity of motor, worm, turbine, protruding axle is 2, sets up respectively in the left and right sides of casing, is used for realizing the translation and the rotation regulation of channel rack spacing respectively.
Furthermore, the in-pipe maintenance device also comprises a driving mechanism for driving the visual cleaning spray head, the front end of the driving mechanism is connected with one end, far away from the monitoring power assembly, of the fixed adjusting assembly, a propelling pipe is installed at the rear end of the driving mechanism, the outer end of the propelling pipe extends to the outside of the maintenance opening of the pipe body and is connected with a handle outside the maintenance opening, and the propelling pipe and the in-pipe maintenance device are driven to rotate circumferentially by rotating the handle so as to realize circumferential pre-positioning of the visual cleaning spray head;
the propelling pipe is a hollow pipe with a built-in steel wire, and a cable of the visual cleaning nozzle is arranged inside the propelling pipe.
Furthermore, the pipe body is an annular pipe, a plurality of measuring branch pipes inserted into the pipe body to a certain depth are arranged on the pipe body of the annular pipe, and a space for the monitoring power assembly, the fixing and adjusting assembly and the driving mechanism to pass through is arranged between each measuring branch pipe and the corresponding pipe wall;
the control power component passes through the universal joint with fixed adjusting part and is connected, the last tractive frame of keeping away from one of fixed adjusting part in the control power component is connected with the tractive rope, the tractive rope towards the direction that control power component gos forward extends, and follows the access hole department of body stretches out.
Furthermore, the monitoring power assembly further comprises an upper shell, a lower shell, a piston rod, a first monitoring camera for monitoring the view ahead of movement, and an air source interface, a first power source interface and a second monitoring camera which are arranged at the rear, wherein the second monitoring camera is used for monitoring the fixed state of the expanding and fixing mechanism of the fixed adjusting assembly, the air source interface provides power for the movement of the piston rod, and the first power source interface provides power and a signal line for the camera;
the pneumatic expansion device comprises a lower shell, and is characterized in that an air cavity is arranged in the lower shell and is communicated with an air source interface, one end of a piston rod is fixedly connected with a steel wire, the other end of the steel wire is connected with a translation frame of a fixed adjusting component, and when the air source interface is communicated with an air source, the piston rod moves in the air cavity and drives the steel wire and the translation frame to move, so that the fixed frame of the fixed adjusting component is expanded.
Furthermore, the fixed adjusting assembly further comprises a housing entity composed of a front housing, a rear housing, two side housings, and a second power interface for providing power for the motor, the translational frame is limited between the two side housings, and the second power interface is arranged on the rear housing;
the rotating frame comprises a main rotating frame and a slave rotating frame, one end of the main rotating frame is hinged with the rear end of the translation frame, the other end of the main rotating frame is hinged with the fixed frame, one end of the tension spring is fixed on the main rotating frame, and the other end of the tension spring is fixed on the connecting shafts of the two side shells;
one end of the slave rotating frame is hinged with the fixed frame, and the other end of the slave rotating frame is hinged with the rear shell.
The outer side surface of the upper end of the channel frame is a spherical surface, and the outer side surface of the upper end of the channel frame is matched with the inner spherical surface of the adjusting cavity of the channel frame;
the channel frame limiting frame is arranged between the front shell and the rear shell and is in clearance fit with an end shaft of the front shell and an end shaft of the rear shell.
In another aspect, the present invention provides a method for repairing an in-pipe repairing apparatus, including:
s1, placing the in-pipe maintenance device into one end of the maintenance opening, and extending the traction rope out of the other end of the maintenance opening by surrounding the pipe body for a circle;
s2, pulling the pulling rope and simultaneously pushing the propelling pipe forwards to drive the monitoring power assembly and the fixed adjusting assembly to move towards the inner side of the pipe body until the first monitoring camera identifies a side branch pipe on the pipe wall of the pipe body;
s3, rotating the handle according to the first monitoring camera and the camera shooting result of the first camera to realize the circumferential prepositioning of the visual cleaning nozzle;
s4, starting the monitoring power assembly to drive the expanding and fixing mechanism of the fixing and adjusting assembly to expand and support on the inner wall of the pipe body to realize fixing;
s5, starting a channel frame adjusting mechanism of the fixed adjusting assembly to enable the channel frame to be opposite to the side branch pipe orifice;
s6, starting a driving mechanism to drive the visual cleaning nozzle to penetrate through the channel frame and enter the side branch pipe;
and S7, enabling the visual cleaning spray head to reach the maintenance end of the side branch pipe, and performing cleaning and maintenance work.
The invention has the following advantages: the invention relates to a fixing and adjusting mechanism of an in-pipe maintenance robot, in particular to a fixing and adjusting mechanism for measuring the condition that a branch pipe penetrates into a ring pipe to influence the movement of the maintenance robot. Through the combination of control power component, fixed adjuster subassembly and universal joint, the removal through the piston rod finally realizes the fixed of mount in collateral branch pipe orifice department, realizes the position control of channel frame in collateral branch pipe orifice department through the motor, guarantees that visual washing shower nozzle can pass in and out collateral branch pipe orifice smoothly and accomplish corresponding washing or video inspection work, and this structure convenient to use, stability is high, and regulation efficiency is high, can effectively solve the fixed and regulation of equipment under the operating mode, and then realizes required maintenance work.
Drawings
FIG. 1 is a schematic structural view of an annular pipe assembly to be serviced according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a measuring leg of an annular tube assembly provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a monitoring power assembly according to an embodiment of the present invention;
FIG. 4 is a schematic cross-sectional view of a monitoring power assembly provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a fixed adjustment assembly according to an embodiment of the present invention;
FIG. 6 is a detailed schematic view of a fixed adjustment assembly provided by an embodiment of the present invention;
FIG. 7 is a schematic view of the overall arrangement of the attachment and adjustment mechanism provided by the embodiment of the present invention mounted on a circular tube assembly;
fig. 8 is a flowchart of a maintenance method of the maintenance apparatus according to the embodiment of the present invention.
Wherein the reference numerals are: 1-a ring pipe assembly, 11-a service opening, 12-a pipe body, 13-a side branch pipe, 14-a measuring branch pipe, 15-a service end, 2-a monitoring power assembly, 21-a traction frame, 22-a first monitoring camera, 23-an upper shell, 24-a second monitoring camera, 25-an air source interface, 26-a steel wire protective sleeve, 27-a steel wire, 28-a first power interface, 29-a lower shell, 210-a set screw, 211-a piston rod, 212-an air cavity, 3-a fixed adjusting assembly, 31-a universal joint, 32-a front shell, 33-a channel frame adjusting cavity, 34-a channel frame, 35-a fixed frame, 36-a main rotating frame, 37-a slave rotating frame, 38-a rear shell, 39-a second power interface, 310-a tension spring, 311-a translation frame, 312-a motor, 313-a channel frame limit frame, 314-a turbine, 315-a worm, 316-a side shell, 317-a convex shaft, 318-a limit groove, 319-an end shaft, 4-a visual cleaning spray head, 5-a driving component, 6-a propelling pipe, 7-a pulling rope and 8-a handle.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the specific embodiments in the specification. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
The invention discloses a fixing and adjusting mechanism of an in-pipe maintenance robot, and particularly relates to a fixing and adjusting mechanism for measuring the condition that a branch pipe penetrates into an annular pipe to influence the movement of the maintenance robot. Through the combination of control power component, fixed adjuster subassembly and universal joint, the removal through the piston rod finally realizes the fixed of mount in collateral branch pipe orifice department, realizes the position control of channel frame in collateral branch pipe orifice department through the motor, guarantees that visual washing shower nozzle can pass in and out collateral branch pipe orifice smoothly and accomplish corresponding washing or video inspection work, and this structure convenient to use, stability is high, and regulation efficiency is high, can effectively solve the fixed and regulation of equipment under the operating mode, and then realizes required maintenance work.
Referring to fig. 1-2, the circular pipe assembly 1 is an object for performing maintenance, and includes a maintenance opening 11, a pipe body 12, a side branch pipe 13, a measuring branch pipe 14, and a maintenance end 15, the visual cleaning robot is introduced into the pipe body 12 through the maintenance opening 11 and moves inside the pipe body, the maintenance end 15 at the rear end of the side branch pipe 13 is a position for performing visual cleaning, the measuring branch pipe 14 is inserted into the pipe body 12 to a certain depth, and a certain obstacle is set for the design and movement of the visual cleaning robot.
In an embodiment of the present invention, an in-pipe maintenance device is provided, as shown in fig. 7, the in-pipe maintenance device includes a visual cleaning nozzle 4, a fixed adjusting assembly 3 and a monitoring power assembly 2 which are arranged inside a pipe body 12, the fixed adjusting assembly 3 includes an expanding fixing mechanism, a channel frame 34 and a channel frame adjusting mechanism, the visual cleaning nozzle 4 includes a cable, a first camera and a nozzle which are connected with the cable, the cable passes through the fixed adjusting assembly 3 and can move in the channel frame 34, and a side branch pipe 13 is arranged on a pipe wall of the pipe body 12;
the pipe body 12 is a ring pipe, a plurality of measuring branch pipes 14 inserted into the pipe body 12 to a certain depth are arranged on the ring pipe body 12, a space for the monitoring power assembly 2, the fixed adjusting assembly 3 and the driving mechanism 5 to pass through is arranged between each measuring branch pipe 14 and the corresponding pipe wall, and the monitoring power assembly 2 and the fixed adjusting assembly 3 are connected through the universal joint 31 to meet the requirement of motion in the small-diameter pipe.
Under the driving of the monitoring power assembly 2, the fixed adjusting assembly 3 can move in the tube body 12, when the visual cleaning nozzle moves to the side branch 13, preferably, a nozzle of the visual cleaning nozzle faces the orifice of the side branch 13, the expanding fixing mechanism of the fixed adjusting assembly 3 opens and expands on the inner wall of the tube body 12, so that the channel frame 34 is close to the orifice of the side branch 13, and the channel frame adjusting mechanism acts to enable the channel frame 34 to face the orifice of the side branch 13 and can be verified by the first camera;
under the action of driving force, the visual cleaning spray head 4 enters the side branch pipe 13 and reaches the maintenance end 15 of the side branch pipe 13.
Specifically, the monitoring power assembly 2 is used for monitoring the movement and the fixing state of the robot and providing power for expanding and fixing, as shown in fig. 3-4, the monitoring power assembly 2 includes a front traction frame 21, a first monitoring camera 22 for monitoring the front view of the movement, a rear second monitoring camera 24 for monitoring the fixing state, an air source interface 25, a steel wire protective sleeve 26, a first power interface 28, an upper shell 23, and a lower shell 29, the lower shell 29 houses an air cavity 212 and is communicated with the air source interface 25, the piston rod 211 reciprocates in the air cavity 212, the air source interface 25 provides power for the movement of the piston rod 211, the first power interface 28 provides power and signal lines for the camera, the end of the piston rod 211 is connected with the end of the steel wire 27 and is fixed by a set screw 210, the steel wire 27 freely moves in the steel wire protective sleeve 26, and the piston rod 211 moves in the air cavity 212 and drives the steel wire 27 and the translation frame 311 to move.
Referring to fig. 5-6, the fixed adjusting assembly 3 is used for fixing a robot and adjusting the angle of the visual cleaning nozzle 4 entering the side branch 13, the fixed adjusting assembly 3 includes a front housing 32, a rear housing 38, and side housings 316 (divided into a right housing and a left housing, both of which have the same structure, and the left housing is not shown in the figure), the front housing 32, the rear housing 38, and the side housings 316 are connected into a solid body by bolts, the translation frame 311 is limited between the two side housings 316, the front end is connected with the piston rod 211 of the monitoring power assembly 2 by the steel wire 27, the rear end is hinged with one end of the main rotating frame 36, the other end of the main rotating frame 36 is hinged with the fixed frame 35, one end of the tension spring 310 is mounted on the main rotating frame 36, the other end is mounted on the connecting shafts of the two side housings, the two ends of the auxiliary rotating frame 37 are hinged on the fixed, the channel frame 34 is used as a channel of the inlet and outlet side branch pipe 13 of the visual cleaning spray head 4, the channel frame 34 is limited in the channel frame limiting frame 313, the outer side surface of the upper end of the channel frame 34 is spherical and is matched with the spherical surface in the channel frame adjusting cavity 33, the channel frame limiting frame has two rotational degrees of freedom, two ends of the channel frame limiting frame 313 are limited between the front shell 32 and the rear shell 38 through the clearance fit of two end shafts 319, two side surfaces of the channel frame limiting frame 313 are respectively provided with a limiting groove 318 (respectively a vertical limiting groove and a horizontal limiting groove, shown in the figure as the vertical limiting groove), the limiting grooves 318 are respectively matched with the convex shaft 317 in a tangent way, the front end of the convex shaft 317 is spherical and is arranged at the eccentric position of the turbine 314, the turbine 314 is meshed with the worm 315 arranged at the shaft end of the motor 312, and the left and right sides of the turbine 314 and the convex shaft, the front end of the front shell 32 is provided with a universal joint 31, the other end of the universal joint 31 is mounted on the lower shell 29 of the monitoring power assembly 2 through a bolt, and the rear shell 38 is provided with a second power interface 39 for supplying power to the motor 312.
In addition, the rear end of the fixed adjusting component 3 is connected with a driving mechanism 5, the movement of the visual cleaning nozzle 4 is preferably realized in an automatic mode, the movement and circumferential pre-positioning of the robot in the pipe are preferably realized in a manual mode, a propelling pipe 6 is installed at the rear end of the driving mechanism 5, the propelling pipe is a built-in steel wire hollow pipe, the inner space is used for the movement of the visual cleaning nozzle 4, a handle 8 is installed at the maintenance end 15 of the propelling pipe 6, a pulling rope 7 is installed on a pulling frame 21 of the monitoring power component 2, and the pulling rope 7 extends towards the advancing direction of the monitoring power component 2 and extends out of the maintenance opening 11 of the pipe body 12. The robot can move in the annular tube 12 through the propelling tube 6 and the traction rope 7, and the propelling tube 6 is driven by the rotating handle 8 so as to realize circumferential prepositioning of the robot.
Referring to fig. 7, which is a schematic diagram of the robot in the small-diameter tube installed inside the circular tube assembly 1, when the robot moves to a proper position and completes circumferential pre-positioning, the air source interface 25 is vented to push the piston rod 211 to move to the left in the air cavity 212, so as to pull the steel wire 27 to move the translational frame 311 to the left, the main rotating frame 36 and the auxiliary rotating frame 37 rotate clockwise under the action of the translational frame 311, and further expand the fixed frame 35, so that the top of the fixed frame 35 and the lower part of the side housing 316 are tightly attached to the inside of the tube body 12 to be fixed, and the tension spring 310 is deformed; after the fixation, the motor 312 is turned on through the second power interface 39, the worm 315 drives the turbine 314 to rotate under the driving of the motor 312, the protruding shaft 317 is tangent to the limiting groove 318, the channel frame limiting frame 313 realizes the translation and rotation of the channel frame 34 along the central axis direction of the two end shafts 319 under the rotation motion of the protruding shaft 317 along the central axis of the turbine, the vertical limiting groove is used for translation adjustment, the horizontal limiting groove is used for rotation adjustment, the visual cleaning nozzle 4 freely moves in the channel frame, and the corresponding work of the inlet side branch pipe 13 can be conveniently completed through the position adjustment of the channel frame 34; further, when the air source interface 25 is closed, the main rotary frame 36 and the auxiliary rotary frame 37 rotate counterclockwise under the action of the tension spring 310, so as to retract the fixed frame 35, and simultaneously, the translation frame 311 moves to the right to retract the piston rod 211 through the steel wire 27.
In another embodiment of the present invention, there is provided a maintenance method based on the above-mentioned in-pipe maintenance apparatus, referring to fig. 8, the method includes the following procedures:
s1, placing the in-pipe maintenance device into one end of the maintenance opening, and extending the traction rope out of the other end of the maintenance opening by surrounding the pipe body for a circle;
s2, pulling the pulling rope and simultaneously pushing the propelling pipe forwards to drive the monitoring power assembly and the fixed adjusting assembly to move towards the inner side of the pipe body until the first monitoring camera identifies a side branch pipe on the pipe wall of the pipe body;
s3, rotating the handle according to the first monitoring camera and the camera shooting result of the first camera to realize the circumferential prepositioning of the visual cleaning nozzle;
s4, starting the monitoring power assembly to drive the expanding and fixing mechanism of the fixing and adjusting assembly to expand the inner wall of the pipe body to realize fixing;
s5, starting a channel frame adjusting mechanism of the fixed adjusting assembly to enable the channel frame to be opposite to the side branch pipe orifice;
s6, starting a driving mechanism to drive the visual cleaning nozzle to penetrate through the channel frame and enter the side branch pipe;
and S7, enabling the visual cleaning spray head to reach the maintenance end of the side branch pipe, and performing cleaning and maintenance work.
The invention relates to a fixing and adjusting mechanism of a visual cleaning robot in a small diameter tube, in particular to an application environment that a working position is at a side branch tube and the side branch tube extends into the small diameter tube to occupy a certain space. Through the combination of control power component 2, fixed adjusting part 3 and universal joint 31, the removal through piston rod 211 finally realizes the fixed of mount 35 in collateral branch pipe 13 mouth of pipe department, realizes the position control of passageway frame 34 in collateral branch pipe mouth of pipe department through motor 312, guarantees that visual washing shower nozzle 4 can business turn over collateral branch pipe 13 smoothly and accomplish corresponding washing or video inspection work, and this structure convenient to use, stability is high, and the regulation efficiency is high, can effectively solve the fixed and the regulation of equipment under the operating mode, and then realize required maintenance work.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes that can be directly or indirectly applied to other related technical fields using the contents of the present specification and the accompanying drawings are included in the scope of the present invention.
Claims (8)
1. The in-pipe maintenance device is characterized by comprising a visual cleaning spray head (4), a fixed adjusting component (3) and a monitoring power component (2) which are arranged inside a pipe body (12), wherein the fixed adjusting component (3) comprises an expanding fixing mechanism, a channel frame (34) and a channel frame adjusting mechanism, the visual cleaning spray head (4) comprises a cable, a first camera and a nozzle which are connected with the cable, the cable penetrates through the fixed adjusting component (3) and can move in the channel frame (34), a side branch pipe (13) is arranged on the pipe wall of the pipe body (12), the expanding fixing mechanism of the fixed adjusting component (3) comprises a translation frame (311), a rotating frame, a fixing frame (35) and a tension spring (310), one end of the translation frame (311) is connected with the monitoring power component (2) through a steel wire (27), the other end is hinged with the rotating frame;
the fixed adjusting component (3) can move in the pipe body (12) under the driving of the monitoring power component (2), when the visual cleaning spray head (4) moves to the side branch pipe (13), the expanding fixing mechanism of the fixed adjusting component (3) is opened and expanded on the inner wall of the pipe body (12), the translation frame (311) moves along a linear guide groove, the rotation frame rotates to enable the tension spring (310) to deform, meanwhile, the rotation frame pushes the fixing frame (35) to expand and further expand on the inner wall of the pipe body (12), the channel frame (34) is made to be close to the pipe orifice of the side branch pipe (13), and the channel frame adjusting mechanism acts to enable the channel frame (34) to face the pipe orifice of the side branch pipe (13) and can be verified through the first camera; after the driving force of the monitoring power assembly (2) is removed, the rotating frame is reset under the stress action of the tension spring (310), and then the fixed frame (35) is closed;
and under the action of driving force, the visual cleaning spray head (4) enters the side branch pipe (13) and reaches the overhaul end (15) of the side branch pipe (13).
2. The in-pipe inspection device according to claim 1, wherein the channel frame adjusting mechanism of the fixed adjusting component (3) comprises a motor (312), a worm (315), a worm wheel (314), a channel frame limiting frame (313) and limiting grooves (318) arranged at two sides of the channel frame limiting frame (313), the channel frame (34) is limited in the channel frame limiting frame (313), under the drive of the motor (312), the worm (315) drives a worm wheel (314) to rotate, so that the position of the channel frame limiting frame (313) is adjusted, the limiting groove (318) comprises a vertical limiting groove and a horizontal limiting groove, the vertical limiting groove is used for carrying out translation adjustment on the channel frame limiting frame (313), the horizontal limiting groove is used for rotationally adjusting the channel frame limiting frame (313) until the visual cleaning spray head (4) penetrates through the channel frame (34) and enters the pipe orifice of the side branch pipe (13).
3. The in-pipe maintenance device according to claim 1, further comprising a driving mechanism (5) for driving the visual cleaning nozzle (4), wherein the front end of the driving mechanism (5) is connected with one end of the fixed adjusting assembly (3) far away from the monitoring power assembly (2), the rear end of the driving mechanism (5) is provided with a propelling pipe (6), the outer end of the propelling pipe (6) extends to the outside of the maintenance opening (11) of the pipe body (12) and is connected with a handle (8) outside the maintenance opening (11), and the propelling pipe (6) and the in-pipe maintenance device are driven to rotate circumferentially by rotating the handle (8) so as to realize circumferential pre-positioning of the visual cleaning nozzle (4);
the propelling pipe (6) is a hollow pipe with a built-in steel wire, and a cable of the visual cleaning nozzle (4) is arranged inside the propelling pipe.
4. The in-pipe maintenance device according to claim 3, wherein the pipe body (12) is an annular pipe, a plurality of measuring branch pipes (14) inserted into the pipe body (12) to a certain depth are arranged on the annular pipe body (12), and a space for the monitoring power assembly (2), the fixed adjusting assembly (3) and the driving mechanism (5) to pass through is arranged between the measuring branch pipes (14) and the opposite pipe wall;
the monitoring power assembly (2) is connected with the fixed adjusting assembly (3) through a universal joint 31, a traction frame (21) which is arranged at one end, far away from the fixed adjusting assembly (3), of the monitoring power assembly (2) is connected with a traction rope (7), and the traction rope (7) extends towards the advancing direction of the monitoring power assembly (2) and extends out of a maintenance opening (11) of the pipe body (12).
5. The in-pipe inspection device according to claim 1, wherein the monitoring power assembly (2) further comprises an upper housing (23), a lower housing (29), a piston rod (211), a first monitoring camera (22) for monitoring the field of view in front of the movement, and an air source interface (25), a first power source interface (28) and a second monitoring camera (24) arranged at the rear, wherein the second monitoring camera (24) is used for monitoring the fixed state of the expanding and fixing mechanism of the fixed adjusting assembly (3), the air source interface (25) provides power for the movement of the piston rod (211), and the first power source interface (28) provides power and signal lines for the cameras;
an air cavity (212) is arranged in the lower shell (29), the air cavity (212) is communicated with the air source interface (25), one end of the piston rod (211) is fixedly connected with the steel wire (27), the other end of the steel wire (27) is connected with the translation frame (311) of the fixed adjusting component (3), and when the air source interface (25) is communicated with an air source, the piston rod (211) moves in the air cavity (212) and drives the steel wire (27) and the translation frame (311) to move, so that the fixed frame (35) of the fixed adjusting component is expanded.
6. The in-pipe service apparatus according to claim 2, wherein the fixed adjusting assembly (3) further comprises a housing body composed of a front housing (32), a rear housing (38), two side housings (316), and a second power interface (39) for supplying power to the motor (312), the translational carriage (311) is disposed between the two side housings (316), and the second power interface (39) is disposed on the rear housing (38);
the rotating frame comprises a main rotating frame (36) and a secondary rotating frame (37), one end of the main rotating frame (36) is hinged with the rear end of the translation frame (311), the other end of the main rotating frame is hinged with the fixed frame (35), one end of the tension spring (310) is fixed on the main rotating frame (36), and the other end of the tension spring is fixed on the connecting shaft of the two side shells (316);
one end of the secondary rotating frame (37) is hinged with the fixed frame (35), and the other end of the secondary rotating frame is hinged with the rear shell (38).
7. The in-pipe inspection device according to claim 6, wherein the channel frame adjusting mechanism of the fixed adjusting assembly (3) further comprises a channel frame adjusting cavity (33) and a protruding shaft (317) arranged at an eccentric position of the worm wheel (314), the number of the motor (312), the number of the worm (315), the number of the worm wheel (314) and the number of the protruding shaft (317) are two and arranged in bilateral symmetry, the two are respectively used for realizing translation and rotation adjustment of the channel frame limiting frame, the eccentrically arranged protruding shaft (317) rotates along with the rotation of the worm wheel, the limiting grooves (318) are respectively matched with the protruding shaft (317) in a tangent manner, the channel frame (34) is arranged in the channel frame adjusting cavity (33), the outer side surface of the upper end of the channel frame (34) is a spherical surface, and the outer side surface is matched with the inner spherical surface of the channel frame adjusting cavity (33);
the channel frame limiting frame (313) is arranged between the front shell (32) and the rear shell (38) and is in clearance fit with the end shaft (319) of the front shell (32) and the end shaft (319) of the rear shell (38).
8. A method of servicing an in-pipe service apparatus according to claim 4, comprising:
s1, placing the in-pipe maintenance device into one end of the maintenance opening, and extending the traction rope out of the other end of the maintenance opening by surrounding the pipe body for a circle;
s2, pulling the pulling rope and simultaneously pushing the propelling pipe forwards to drive the monitoring power assembly and the fixed adjusting assembly to move towards the inner side of the pipe body until the first monitoring camera identifies a side branch pipe on the pipe wall of the pipe body;
s3, rotating the handle according to the first monitoring camera and the camera shooting result of the first camera to realize the circumferential prepositioning of the visual cleaning nozzle;
s4, starting the monitoring power assembly to drive the expanding and fixing mechanism of the fixing and adjusting assembly to expand and support on the inner wall of the pipe body to realize fixing;
s5, starting a channel frame adjusting mechanism of the fixed adjusting assembly to enable the channel frame to be opposite to the side branch pipe orifice;
s6, starting a driving mechanism to drive the visual cleaning nozzle to penetrate through the channel frame and enter the side branch pipe;
and S7, enabling the visual cleaning spray head to reach the maintenance end of the side branch pipe, and performing cleaning and maintenance work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810537086.XA CN108758161B (en) | 2018-05-30 | 2018-05-30 | In-pipe maintenance device and maintenance method thereof |
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| CN201810537086.XA CN108758161B (en) | 2018-05-30 | 2018-05-30 | In-pipe maintenance device and maintenance method thereof |
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| CN108758161A CN108758161A (en) | 2018-11-06 |
| CN108758161B true CN108758161B (en) | 2020-04-17 |
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| CN110274125A (en) * | 2019-05-20 | 2019-09-24 | 中国矿业大学 | A kind of wireless control robot suitable for narrow tapered pipeline |
| CN111350901B (en) * | 2020-03-20 | 2021-02-12 | 北京理工大学 | Measuring device for size precision of inner wall of long pipeline and surface defects of inner wall |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5105882A (en) * | 1990-01-25 | 1992-04-21 | Trb Specialty Rehabilitation, Inc. | Lateral cutter device |
| US7191673B2 (en) * | 2003-08-11 | 2007-03-20 | Hathorn Corporation | Apparatus for inspecting a lateral conduit |
| US7845372B2 (en) * | 2007-03-30 | 2010-12-07 | Lmk Enterprises, Inc. | Bladderless pipeliner and method for using same |
| US20120006440A1 (en) * | 2010-07-08 | 2012-01-12 | Lmk Enterprises, Inc. | Apparatus and method for lining a pipe junction |
| GB2549238A (en) * | 2015-02-23 | 2017-10-11 | Source 1 Env Llc | Pipe repair apparatus and method |
| CN105605371B (en) * | 2016-01-27 | 2018-01-23 | 温州职业技术学院 | Building pipe apparatus for examination and repair |
| CN206159742U (en) * | 2016-11-08 | 2017-05-10 | 绍兴职业技术学院 | A explore robot for small pipeline |
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