A pipeline leakage remote control plugging device and method suitable for a snake-shaped fire-fighting robot

Abstract

The present invention provides a pipeline leakage remote control plugging device suitable for a snake-like fire-fighting robot, comprising: a movable mechanism and a fixed mechanism, the fixed mechanism is an integral design, including a support structure and a fixed structure, and a fixing pin for fixing a flexible pipe clamp is arranged on the fixed mechanism; the movable mechanism is a combined design as a whole, the front and rear shells are fixed by bolts, the bottom is fixed to the slider by screws, and the movement of the slider on the slide rail is limited by the slider baffle, and a servo motor and a gear are installed on the top of the movable mechanism to realize the rotation of the stud bolt. A hook spring for resetting after the pipeline repair work is completed is arranged between the slider and the slider baffle. The steering wheel is connected to the first section of the servo of the snake-like robot to realize the free rotation of the entire pipeline leakage remote control plugging device. The present invention can complete the automatic repair of the pipeline leakage point after the pipeline leakage detection snake-like robot locates the fault point, under the premise of ensuring the safety of life and property of the staff.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline leakage remote control plugging, and in particular to a pipeline leakage remote control plugging device and method suitable for a snake-like fire-fighting robot. Background Art

[0002] Pipelines on ships and ports are an important part of the loading and unloading of hazardous chemicals, oil and gas. They are the link of the entire cargo loading and unloading process and are also the hardest hit areas for serious fire accidents such as leakage and fire. There are many pipelines on ships and ports, and the maintenance is complicated. They are often in strong vibration, strong noise, corrosion, high temperature and humidity. In addition, the environmental constraints are complex, the layout space is diverse, and the connection specifications of various components are different. It is difficult to avoid failures in the pipeline system. Once the pipeline for transporting or loading hazardous chemicals leaks or the flange is loose, it is easy to cause fire accidents. Once an accident occurs, the staff will enter the site to detect the fault point, which undoubtedly increases the risk of life for the staff. It is also difficult to use traditional manual methods to detect pipeline leaks after the leak occurs.

[0003] Due to its multi-joint and multi-degree-of-freedom characteristics, the bionic snake-like robot can realize multiple modes of movement in two-dimensional and three-dimensional space: it can realize traditional movements such as winding and crawling of biological snakes, and it can also realize movements that biological snakes cannot realize, such as traveling wave movement and tumbling movement. It breaks the limitation that traditional wheeled and tracked robots can only be applied to good roads or non-harsh movement environments, and has excellent environmental adaptability. Therefore, snake-like robots can complete special operations such as firefighting, and can also fully meet the pipeline inspection tasks under complex pipe systems. However, snake-like robots and other types of inspection robots can only locate the fault point, but cannot effectively repair and handle the fault point. The repair work after the pipeline leakage fault still needs to be carried out manually, which is still dangerous. At present, the mechanical gripper designed for snake-like robots can only perform simple grasping tasks, but cannot meet the complex work requirements such as pipeline leakage repair. The plugging device that meets the complex work requirements is large in size and complex in structure and cannot be applied to snake-like firefighting robots. Summary of the invention

[0004] According to the above-mentioned actual working requirements of the existing fire-fighting robots used for pipeline leakage detection, there is an urgent need for a new type of pipeline leakage remote control plugging device suitable for snake-like fire-fighting robots, which can effectively meet the complex requirements of pipeline repair work in the event of pipeline leakage, and efficiently complete the complex operation of pipeline repair under the premise of effectively providing protection for the life and property safety of the staff.

[0005] The technical means adopted by the present invention are as follows:

[0006] A pipeline leakage remote control plugging device suitable for a snake-shaped fire-fighting robot comprises: a movable mechanism with a slide rail and a fixed mechanism, wherein:

[0007] The fixing mechanism comprises a supporting structure and a fixing structure, and the supporting structure and the fixing structure are integrated;

[0008] The movable mechanism is a combined design as a whole, including a front movable mechanism housing, a rear movable mechanism housing, a slider, a slider baffle, a flexible pipe clamp, stud bolts, a slide rail, a steering wheel, a gear, a motor, and a first section steering gear of the robot; wherein:

[0009] The front movable mechanism housing and the rear movable mechanism housing are fixed by bolts, and the bottoms of the front movable mechanism housing and the rear movable mechanism housing are fixed to the slider by screws;

[0010] The slide rail is arranged on the supporting structure, and the movement of the slide block on the slide rail is limited by the slide block baffle;

[0011] The flexible pipe clamp is fixedly arranged on the fixing structure through a fixing pin;

[0012] One end of the steering disc is fixedly connected to the side of the supporting structure, and the other end of the steering disc is connected to the first section steering gear of the robot, so as to realize the free rotation of the entire pipeline leakage remote control plugging device;

[0013] The gear and the motor are arranged at the top end of the movable mechanism to realize the rotation of the stud bolt.

[0014] Furthermore, a hook spring is connected between the internal fixing pin of the slider and the fixing pin on the slider baffle, which is used for resetting the mechanism after the pipeline repair work is completed.

[0015] Furthermore, the flexible pipe clamp is provided with an annular groove, which includes a large annular groove and a small annular groove. The small annular groove is used to ensure smooth passage of the stud bolt, and the large annular groove is used to clamp the nut portion of the stud bolt.

[0016] Furthermore, a T-slot is provided on the outer wall of the flexible pipe clamp, and the T-slot is fixedly connected to the T-clip. The T-clip and the T-slot are used to keep the fastening threaded hole of the flexible pipe clamp and the inner wall of the fixed structure and the movable mechanism housing in a vertical state at all times, and the fastening threaded hole of the flexible pipe clamp is concentric with the stud bolt to ensure that the stud bolt can be screwed in smoothly.

[0017] Furthermore, one end of the stud bolt is connected to a stud bolt nut, and one end connected to the stud bolt nut is screwed in between the front movable mechanism housing and the rear movable mechanism housing, passing through the annular groove and the flexible pipe clamp fastening threaded hole during rotation.

[0018] Furthermore, the flexible pipe clamp comprises an outer shell and a rubber pad arranged on the inner wall, the outer shell is made of a flexible rigid material, and the rubber pad is made of natural rubber.

[0019] Furthermore, the motor realizes transmission through an external gear and the gear, and the gear realizes transmission through an internal gear and a stud bolt.

[0020] The present invention also provides a working method of the pipeline leakage remote control plugging device applicable to the snake-shaped fire-fighting robot, comprising:

[0021] When the pipeline snake-shaped detection robot locates the fault point, the orthogonal structure snake-shaped robot uses joint twisting and swinging, and then rotates the first section of the robot servo to push the leaking pipe against the inside of the flexible pipe clamp through the open angle of the flexible pipe clamp;

[0022] Start to rotate the motor. Under the action of the external gear, the gear rotates and the internal thread of the gear drives the stud bolt to rotate to the right.

[0023] When the stud nut is pressed against the large annular groove, the flexible pipe clamp begins to bend;

[0024] The motor continues to rotate, and the stud bolt continues to rotate to the right. Since the T-shaped buckle is fixed to the T-shaped slot on the outer wall of the flexible pipe clamp, the fastening threaded hole of the flexible pipe clamp and the stud bolt are kept in a vertical state, and the stud bolt enters the fastening threaded hole of the flexible pipe clamp;

[0025] Under the tightening torque of the stud bolts and the threaded holes of the flexible pipe clamp, the hook spring is stretched, the flexible pipe clamp gradually becomes concentric with the leaking pipe and is tightened, and then the rubber pad on the inner wall of the flexible pipe clamp better fits the leaking pipe to complete the repair process;

[0026] When the end of the stud bolt exits the gear, the movable mechanism slides to the left under the pre-tightening force of the hook spring and finally returns to its position. At this time, the snake-like robot pulls the gripper in the direction perpendicular to the pipe wall of the leaking pipe, so that the T-shaped buckle is disengaged from the T-shaped slot on the outer wall of the flexible pipe clamp, completing the automatic repair process of the entire leaking pipe system.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] 1. The pipeline leakage remote control plugging device suitable for the snake-like fire-fighting robot provided by the present invention can automatically repair the pipeline leakage point after the pipeline leakage detection snake-like robot locates the fault point while ensuring the safety of life and property of the staff.

[0029] 2. The pipeline leakage remote control plugging device suitable for the snake-like fire-fighting robot provided by the present invention can effectively meet the complex requirements of pipeline repair work in the case of pipeline leakage, and effectively complete the complex operation of pipeline repair while providing protection for the life and property safety of the staff.

[0030] Based on the above reasons, the present invention can be widely promoted in the fields of remote control plugging of pipeline leakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0032] Figure 1 It is a schematic diagram of the overall structure of the pipeline leakage remote control plugging device of the present invention.

[0033] Figure 2 This is a plan view of the remote control plugging device for pipeline leakage of the present invention.

[0034] In the figure: 1. Support structure; 2. Fixed structure; 3. Front movable mechanism housing; 4. Rear movable mechanism housing; 5. Slider; 6. Slider baffle; 7. Flexible pipe clamp; 8. Annular groove; 9. Flexible pipe clamp fastening threaded hole; 10. Stud bolt; 11. Hook spring; 12. Slide rail; 13. Steering wheel; 14. Gear; 15. Motor; 16. Rubber pad; 17. T-type buckle; 18. T-type slot; 19. Stud bolt nut; 20. First section servo of the robot. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0038] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0039] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0040] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0041] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0042] like Figure 1-2 As shown, the present invention provides a pipeline leakage remote control plugging device suitable for a snake-like fire-fighting robot, comprising: a movable mechanism with a slide rail and a fixed mechanism, wherein:

[0043] The fixing mechanism comprises a supporting structure 1 and a fixing structure 2, wherein the supporting structure 1 and the fixing structure 2 are an integral whole;

[0044] The movable mechanism is a combined design as a whole, including a front movable mechanism housing 3, a rear movable mechanism housing 4, a slider 5, a slider baffle 6, a flexible pipe clamp 7, a stud bolt 10, a slide rail 12, a steering wheel 13, a gear 14, a motor 15, and a robot first section steering gear 20; wherein:

[0045] The front movable mechanism housing 3 and the rear movable mechanism housing 4 are fixed by bolts, and the bottoms of the front movable mechanism housing 3 and the rear movable mechanism housing 4 are fixed to the slider 5 by screws; the slide rail 12 is arranged on the supporting structure 1, and the movement of the slider 5 on the slide rail 12 is limited by the slider baffle 6; the flexible pipe clamp 7 is fixedly arranged on the fixed structure 2 by a fixing pin; one end of the steering wheel 13 is fixedly connected to the side of the supporting structure 1, and the other end of the steering wheel 13 is connected to the first section steering gear 20 of the robot, so as to realize the free rotation of the entire pipeline leakage remote control plugging device; the gear 14 and the motor 15 are arranged at the top of the movable mechanism to realize the rotation of the stud bolt 10.

[0046] In specific implementation, as a preferred embodiment of the present invention, a hook spring 11 is connected between the internal fixing pin of the slider 5 and the fixing pin on the slider baffle 6 to reset the mechanism after the pipeline repair work is completed.

[0047] In specific implementation, as a preferred embodiment of the present invention, the flexible pipe clamp 7 is provided with an annular groove 8, which includes a large annular groove and a small annular groove. The small annular groove is used to ensure smooth passage of the stud bolt 10, and the large annular groove is used to clamp the protruding part of the stud bolt 10.

[0048] In specific implementation, as a preferred embodiment of the present invention, the outer wall of the flexible pipe clamp 7 is provided with a T-slot 18, and the T-slot 18 is fixedly connected to the T-clip 17. The T-clip 17 and the T-slot 18 are used to keep the flexible pipe clamp fastening threaded hole 9 and the inner walls of the fixed structure 2 and the movable mechanism housing in a vertical state at all times, and the flexible pipe clamp fastening threaded hole 9 is concentric with the stud bolt 10 to ensure that the stud bolt 10 can be screwed in smoothly.

[0049] In specific implementation, as a preferred embodiment of the present invention, one end of the stud bolt 10 is connected to a stud bolt nut 19, and one end of the stud bolt nut 19 is screwed in from between the front movable mechanism housing 3 and the rear movable mechanism housing 4, and passes through the annular groove 8 and the flexible pipe clamp fastening threaded hole 9 during rotation.

[0050] In specific implementation, as a preferred embodiment of the present invention, the flexible pipe clamp 7 includes an outer shell and a rubber pad 16 arranged on the inner wall. The outer shell is made of a flexible rigid material, and the rubber pad 16 is made of natural rubber.

[0051] The present invention also provides a working method of the pipeline leakage remote control plugging device applicable to the snake-shaped fire-fighting robot, comprising:

[0052] When the pipeline serpentine detection robot locates the fault point, the orthogonal structure of the serpentine robot uses joint twisting and swinging, and then rotates through the robot's first section servo 20 to push the leaking pipe against the inside of the flexible pipe clamp 7 through the open angle of the flexible pipe clamp 7; at this time, the motor 15 starts to rotate, and the gear 14 rotates under the action of the external gear, and at the same time, the internal thread of the gear 14 drives the stud 10 to rotate to the right; when the stud nut 19 is pressed against the large annular groove of the annular groove 8, the flexible pipe clamp 7 begins to bend; at this time, the motor 15 continues to rotate, and the stud 10 continues to rotate to the right, because the T-type buckle 17 is fixed to the T-type slot 18 on the outer wall of the flexible pipe clamp, the flexible pipe clamp tightening screw The grooved hole 9 and the stud bolt 10 remain in a vertical state, and the stud bolt 10 enters the flexible pipe clamp fastening threaded hole 9; under the tightening torque of the stud bolt 10 and the flexible pipe clamp fastening threaded hole 9, the hook spring 11 is stretched, and the flexible pipe clamp 7 is gradually concentric with the leaking pipe and tightened, and then the rubber pad 16 on the inner wall of the flexible pipe clamp 7 better fits the leaking pipe to achieve the repair process; when the end of the stud bolt 10 exits the gear 14, the movable mechanism slides to the left under the pre-tightening force of the hook spring 11 and finally returns to its position. At this time, the snake-like robot pulls the gripper in the direction perpendicular to the wall of the leaking pipe, so that the T-shaped buckle 17 is disengaged from the T-shaped slot 18 on the outer wall of the flexible pipe clamp, completing the automatic repair process of the entire leaking pipe system.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A working method of a pipeline leakage remote control plugging device suitable for a snake-like fire-fighting robot, characterized in that: include: When the pipeline snake-shaped detection robot locates the fault point, the snake-shaped robot with an orthogonal structure twists and swings its joints, and then rotates the first section steering gear (20) of the robot to push the leaking pipeline against the inside of the flexible pipe clamp (7) through the open angle of the flexible pipe clamp (7); The motor (15) starts to rotate, and the gear (14) rotates under the action of the external gear, and the internal thread of the gear (14) drives the stud bolt (10) to rotate to the right; When the stud nut (19) is pressed against the large annular groove of the annular groove (8), the flexible pipe clamp (7) begins to bend; The motor (15) continues to rotate, and the stud bolt (10) continues to rotate rightward. Since the T-shaped buckle (17) is fixed to the T-shaped slot (18) on the outer wall of the flexible pipe clamp, the flexible pipe clamp fastening threaded hole (9) and the stud bolt (10) are kept in a vertical state, and the stud bolt (10) enters the flexible pipe clamp fastening threaded hole (9). Under the tightening torque of the stud bolt (10) and the threaded hole (9) of the flexible pipe clamp, the hook spring (11) is stretched, the flexible pipe clamp (7) gradually becomes concentric with the leaking pipe and is tightened, and the rubber pad (16) on the inner wall of the flexible pipe clamp (7) better fits the leaking pipe, thereby completing the repair process; When the end of the stud bolt (10) exits the gear (14), the movable mechanism slides to the left under the pre-tightening force of the hook spring (11) and finally returns to its original position. At this time, the snake-like robot pulls the gripper in a direction perpendicular to the wall of the leaking pipe, so that the T-shaped buckle (17) is disengaged from the T-shaped groove (18) on the outer wall of the flexible pipe clamp, thus completing the entire automatic repair process of the leaking pipe system; The pipeline leakage remote control plugging device suitable for the snake-like fire fighting robot completes the automatic repair work of the pipeline leakage point after the pipeline leakage detection snake-like robot locates the fault point, and includes: a movable mechanism with a slide rail and a fixed mechanism, wherein: The fixing mechanism comprises a supporting structure (1) and a fixing structure (2), wherein the supporting structure (1) and the fixing structure (2) are an integral whole; The movable mechanism is of combined design as a whole, comprising a front movable mechanism housing (3), a rear movable mechanism housing (4), a slider (5), a slider baffle (6), a flexible pipe clamp (7), stud bolts (10), a slide rail (12), a steering wheel (13), a gear (14), a motor (15), and a first section steering gear (20) of the robot; wherein: The front movable mechanism housing (3) and the rear movable mechanism housing (4) are fixed by bolts, and the bottoms of the front movable mechanism housing (3) and the rear movable mechanism housing (4) are fixed to the slider (5) by screws; a hook spring (11) is connected between an internal fixing pin of the slider (5) and a fixing pin on the slider baffle (6) for resetting the mechanism after the pipeline repair work is completed; The slide rail (12) is arranged on the support structure (1), and the movement of the slide block (5) on the slide rail (12) is limited by the slide block baffle (6); The flexible pipe clamp (7) is fixedly arranged on the fixed structure (2) by means of a fixing pin; an annular groove (8) is arranged on the flexible pipe clamp (7), the annular groove (8) comprising a large annular groove and a small annular groove, the small annular groove is used to ensure that the stud bolt (10) passes smoothly, and the large annular groove is used to clamp the protruding part of the stud bolt (10); the outer wall of the flexible pipe clamp (7) is provided with a T-shaped groove (18), the T-shaped groove (18) is fixedly connected to the T-shaped buckle (17), the T-shaped buckle (17) and the T-shaped groove (18) are used to keep the flexible pipe clamp fastening threaded hole (9) and the inner wall of the fixed structure (2) and the movable mechanism housing in a vertical state at all times, and the flexible pipe clamp fastening threaded hole (9) is concentric with the stud bolt (10) to ensure that the stud bolt (10) is screwed in smoothly; One end of the steering disc (13) is fixedly connected to the side of the support structure (1), and the other end of the steering disc (13) is connected to the first section steering gear (20) of the robot, so as to realize free rotation of the entire pipeline leakage remote control plugging device; The gear (14) and the motor (15) are arranged at the top end of the movable mechanism; the motor (15) realizes transmission via the external gear and the gear (14); and the gear (14) realizes transmission via the internal gear and the stud bolt (10).

2. The working method of the pipeline leakage remote control plugging device suitable for a snake-like fire-fighting robot according to claim 1 is characterized in that: One end of the stud bolt (10) is connected to a stud bolt nut (19), and one end of the stud bolt nut (19) is screwed in between the front movable mechanism housing (3) and the rear movable mechanism housing (4), passing through the annular groove (8) and the flexible pipe clamp fastening threaded hole (9) during rotation.

3. The working method of the pipeline leakage remote control plugging device suitable for a snake-like fire-fighting robot according to claim 1 is characterized in that: The flexible pipe clamp (7) comprises an outer shell and a rubber pad (16) arranged on the inner wall; the outer shell is made of a flexible rigid material, and the rubber pad (16) is made of natural rubber.

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