Robot for pipeline climbing operation around pipeline

Abstract

The utility model discloses a pipeline-surrounding pipe climbing operation robot which comprises a pipe climbing robot body and a lengthwise track, and the pipe climbing robot body comprises a vehicle body and wheels. The wheel comprises an inner wheel used for walking on the surface of the track and an outer wheel abutting against the side wall of the track, the radius of the outer wheel is larger than that of the inner wheel, and the radius difference between the outer wheel and the inner wheel is smaller than the thickness of the track; a cantilever is further arranged on the vehicle body in the axial direction of the pipeline to be operated, and an operation clamp is movably arranged on the cantilever along the cantilever. The pipe climbing robot has the advantages that the inner wheel walks on the track, the outer wheel is tightly attached to the edge of the track for limiting, the outer wheel does not make contact with the outer surface of the material pipe, welding seams and pits in the material pipe can be effectively avoided, and it is guaranteed that the pipe climbing robot does not jump when walking, and the pipeline operation quality is not affected. All the devices are stored together through the movable cabinet, so that storage, movement and field operation are facilitated; and a cutting torch, a welding gun and the like can be selectively mounted according to operation requirements so as to realize different operations.

Description

Technical Field

[0001] The utility model relates to the field of machinery, in particular to a pipeline climbing operation robot. Background Art

[0002] In the field of pipeline maintenance and repair, the need to replace faulty pipelines is often encountered. The general operation process is: first cut and remove the faulty pipeline; then install a new section of pipeline; and finally perform welding. However, after the faulty pipeline is cut and removed, the underground pipeline is often affected by underground stress, which causes the two cut pipeline ports to shift, making the two ports not coaxial. If the newly installed pipeline is cut and cut in a coaxial manner, normal matching cannot be achieved. This situation is also called pipeline dead end. For the cutting and cutting of dead end pipelines, manual measurement is currently the most commonly used method for cutting and subsequent adjustments, which takes a lot of time, and the accuracy of the cut end face cannot be guaranteed.

[0003] The applicant provided a portable automatic circumferential walking device and a method for processing pipes in patent CN200910195003, in which a pipe-climbing robot automatically circles around the pipe to cut the pipe; however, it cannot autonomously adjust the cutting position along the axial direction, and in the cutting of the dead-end pipe, it is necessary to install the pipe-climbing robot twice and cut it, and it is necessary to manually re-measure and reposition, resulting in a decrease in operating efficiency and accuracy; and when the robot walks on the wall of the material pipe, if it encounters a weld or a pit, it will cause jumping, affecting the cutting quality and accuracy. Secondly, the structure has poor integration, and the equipment needs to be connected and debugged at the cutting site, resulting in a decrease in cutting efficiency. Utility Model Content

[0004] The utility model aims to provide a pipeline climbing robot which can solve the above-mentioned technical problems and can be applied to other pipeline operations.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A pipeline climbing robot comprises at least one pipeline climbing robot and at least one longitudinal track, wherein the track is connected at both ends by snaps to form a circular track around the pipeline to be operated, and the pipeline climbing robot comprises a vehicle body and a plurality of wheels arranged on the vehicle body; the wheels comprise an inner wheel for walking on the track surface and an outer wheel abutting against the side wall of the track, the radius of the outer wheel is greater than the radius of the inner wheel, and the difference in radius between the outer wheel and the inner wheel is less than the thickness of the track; the vehicle body is also provided with a cantilever along the axial direction of the pipeline to be operated, a working fixture is movably provided on the cantilever along the cantilever, and a moving motor is further provided to drive the working fixture to move along the cantilever.

[0007] Preferably, it also includes a control host; the control host is connected to the pipe-climbing robot via a cable.

[0008] Preferably, it further comprises at least one chain, wherein the chain is connected end to end to form an annular structure surrounding the track and the pipe-climbing robot, and the pipe-climbing robot is provided with a driving sprocket and a driven sprocket meshing with the chain, and a driving motor driving the driving sprocket to rotate.

[0009] Preferably, a plurality of through holes are arranged at equal intervals along the length direction of the track, and the buckle includes two connecting rods movably arranged on a screw rod, a nut for adjusting the distance between the two connecting rods is threadedly arranged on the screw rod, and a claw is pivotally arranged at both ends of each connecting rod, and a pin is arranged at the front end of the claw for being clamped in the through hole.

[0010] Preferably, it further includes a mobile cabinet, which includes a cabinet body, rollers arranged under the cabinet body, and hooks arranged on the cabinet body, and at least two storage rooms are arranged on the cabinet body to store the pipe climbing robot and the track respectively; the control host is arranged in the cabinet body.

[0011] Preferably, it also includes at least one handheld 3D scanning device and a portable computer connected to the handheld 3D scanning device, and the cabinet also includes a storage room for storing the handheld 3D scanning device and the portable computer.

[0012] The beneficial effects of the utility model are as follows: the inner wheel walks on the track, the outer wheel is tightly pressed against the edge of the track for position limiting, and the outer wheel does not contact the outer surface of the material pipe, which can effectively avoid the welds and pits on the material pipe, ensuring that the pipe climbing robot does not jump when walking to affect the quality of pipeline operations.

[0013] All devices are stored together in a mobile cabinet, which is convenient for storage, movement and field operation;

[0014] Cutting torches, welding guns, etc. can be installed according to the needs of the operation to achieve different operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of two pipe-climbing robots in use;

[0016] Figure 2 This is a schematic diagram of the partial structure of a pipe climbing robot in use;

[0017] Figure 3 It is a structural diagram of a mobile cabinet;

[0018] Figure 4 is a schematic diagram of the structure of the buckle device;

[0019] Figure 5 is a side view of the jaw;

[0020] Figure 6 It is a three-dimensional structural diagram of the pipe-climbing robot. DETAILED DESCRIPTION

[0021] The technical solution of the utility model is further described in detail below in conjunction with specific implementation methods.

[0022] In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0023] like Figures 1 to 6 As shown, a pipeline climbing robot of the utility model includes one or more pipeline climbing robots 10 working together, and one pipeline climbing robot 10 is equipped with a longitudinal track 12. The track 12 is connected at the head and tail by snaps to form a circular track around the pipeline to be operated. The pipeline climbing robot 10 includes a body 14 and a plurality of wheels 15 arranged on the body 14; the wheels 15 include an inner wheel 16 for walking on the surface of the track 12 and an outer wheel 18 resting on the side wall of the track 12, the radius of the outer wheel 18 is greater than the radius of the inner wheel 16, and the difference in radius between the outer wheel 18 and the inner wheel 16 is less than the thickness of the track 12, and the inner wheel 16 and the outer wheel 18 are integrally formed or fixed together. A cantilever 20 is also arranged on the body 14 along the axial direction of the pipeline to be operated, and a working fixture 22 is movably arranged on the cantilever 20, and a moving motor 24 for driving the working fixture 22 to move along the cantilever 20 is also included. The work fixture 22 is used to install a work tool 23, such as a cutting torch. The following design is made: the moving motor 24 drives the slider to move through the lead screw, and the work fixture 22 is set on the slider; or the linear motor drives the work fixture 22 to move along the cantilever 20. These implementation methods are conventional designs in the industry, and their structure itself is not the innovation point of the present invention, so they are not shown in detail.

[0024] One pipe-climbing robot 10 is equipped with one chain 26, which is connected end to end to form a ring structure surrounding the track 12 and the pipe-climbing robot 10. The pipe-climbing robot 10 is provided with a driving sprocket 28 and a driven sprocket 30 meshing with the chain 26, and a driving motor 32 driving the driving sprocket 28 to rotate. The pipe-climbing robot 10 is bounded to the pipe to be operated by the chain 26, and the rotation of the driving sprocket 28 drives the pipe-climbing robot 10 to move along the chain 26, thereby realizing movement on the pipe to be operated. Of course, a permanent magnet can also be used to bind the pipe-climbing robot 10 to the pipe to be operated by a strong magnetic force.

[0025] A plurality of through holes 34 are arranged at equal intervals along the length direction of the track 12. The buckle includes two connecting rods 38 movably arranged on a screw rod 36. A nut 40 for adjusting the distance between the two connecting rods 38 is threadedly arranged on the screw rod 36. A claw 42 is pivotally arranged at both ends of each connecting rod 38. A pin 44 for clamping in the through hole 34 is arranged at the front end of the claw 42.

[0026] It also includes a mobile cabinet, which includes a cabinet body 46, rollers 48 arranged under the cabinet body 46, and a hook 50 arranged on the cabinet body 46. At least two storage rooms 52 are arranged on the cabinet body 46 to store the pipe-climbing robot 10 and the track 12 respectively; the control host is arranged in the cabinet body 46, and the control host is connected to the pipe-climbing robot 10 through a cable.

[0027] It also includes a handheld 3D scanning device (not shown) and a portable computer (not shown) connected to the handheld 3D scanning device. The cabinet 46 also includes a storage room 52 for storing the handheld 3D scanning device and the portable computer. The handheld 3D scanning device is a matching device that can scan the pipe openings on both sides of the faulty pipe after cutting to obtain point cloud data with position information, based on which the pipe structure that needs to be replaced can be calculated; and the working pipe and cutting torch are pre-scanned to determine the position of the pipe climbing robot 10, the cutting parameters of the axial compensation, etc., so as to cut the pipe that meets the requirements. The handheld 3D scanning device is connected through a portable computer, which is convenient for movement and data upload and processing. It can calculate the cutting parameters and then transmit them to the pipe climbing robot 10 through a USB flash drive, a data cable, a wireless network, etc. to control its action and complete the cutting operation. Of course, the handheld 3D scanning device can also be applied to other scenarios.

[0028] The utility model can store all structures in a mobile cabinet, which is convenient for storage and transportation. A battery can also be set in the mobile cabinet to adapt to the scene of field operation. The pipe climbing robot 10 walks on the track 12, which can effectively avoid defects on the surface of the pipe to be operated and improve the stability of the operation. Different tools can be set on the operation fixture 22 as needed to achieve different operations, such as a cutting torch, a welding gun, etc.

[0029] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A pipeline climbing robot, comprising at least one pipeline climbing robot and at least one longitudinal track, wherein the track is connected at the head and tail by buckles to form a circular track around the pipeline to be operated, characterized in that: The pipe climbing robot comprises a body and a plurality of wheels arranged on the body; the wheels comprise an inner wheel for walking on the track surface and an outer wheel abutting against the side wall of the track, the radius of the outer wheel is greater than the radius of the inner wheel, and the difference between the radius of the outer wheel and the inner wheel is less than the thickness of the track; It also includes at least one chain, which is connected end to end to form a ring structure surrounding the track and the pipe climbing robot. The pipe climbing robot is provided with a driving sprocket and a driven sprocket meshing with the chain, and a driving motor driving the driving sprocket to rotate.

2. The pipeline climbing robot according to claim 1, characterized in that: The vehicle body is also provided with a cantilever along the axial direction of the pipeline to be operated, and a working fixture is movably provided on the cantilever along the cantilever, and also includes a moving motor for driving the working fixture to move along the cantilever.

3. The pipeline climbing robot according to claim 1, characterized in that: It also includes a control host; the control host is connected to the pipe-climbing robot via a cable.

4. The pipeline climbing robot according to claim 1, characterized in that: A plurality of through holes are arranged at equal intervals along the length direction of the track, and the buckle includes two connecting rods movably arranged on a screw rod, a nut for adjusting the distance between the two connecting rods is threadedly arranged on the screw rod, and a claw is pivotally arranged at both ends of each connecting rod, and a pin is arranged at the front end of the claw for being clamped in the through hole.

5. The pipeline climbing robot according to claim 3, characterized in that: It also includes a mobile cabinet, which includes a cabinet body, rollers arranged under the cabinet body, and a hook arranged on the cabinet body. The cabinet body is provided with at least two storage rooms to store the pipe climbing robot and the track respectively; the control host is arranged in the cabinet body.

6. The pipeline climbing robot according to claim 5, characterized in that: It also includes at least one handheld 3D scanning device and a portable computer connected to the handheld 3D scanning device. The cabinet also includes a storage room for storing the handheld 3D scanning device and the portable computer.

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