A pipeline manned inspection device

Abstract

The present application relates to a kind of pipeline manned inspection device, including operating cabin, detector and walking mechanism;Detector is located in steering cabin, and with operating cabin electric connection, for detecting the condition in pipeline;Walking mechanism includes connecting seat, drive arm assembly, walking wheel and first drive source, connecting seat is fixed to operating cabin, drive arm assembly is movably connected to connecting seat, walking wheel is rotatably connected to drive arm assembly, and first drive is fixed to drive assembly and is used to drive walking wheel to walk relative to the inner wall of pipeline.The pipeline manned inspection device of the present application, since detector is located in operating cabin, and the walking mechanism connected with operating cabin can move detector to the vicinity of the inner wall of pipeline, so that detector can complete the detection in pipeline, and then the operator in operating cabin can maintain the pipeline in the detection pipeline.

Description

Technical Field

[0001] This invention relates to the technical field of pumped storage equipment, and more particularly to a manned pipeline inspection device. Background Technology

[0002] A pumped-storage power station consists of an upper reservoir built at a high elevation and a lower reservoir built downstream. Water from the upper reservoir flows to the lower reservoir through a pressure pipeline. The pumped-storage power station relies on the water flow to drive turbines for power generation and energy storage. Under the constant scouring of the water flow, the pressure and impact of the water flow can cause internal defects in the pressure pipeline. Some of these defects require instrumental inspection inside the pipe. Currently, pipeline maintenance is generally carried out manually. However, manual maintenance is labor-intensive, time-consuming, and poses certain safety hazards, making pipeline maintenance extremely difficult. Consequently, some sections of pressure pipelines operate in an unknown state for extended periods. Therefore, there is an urgent need for effective inspection devices to assess and maintain the condition of pressure pipelines. Summary of the Invention

[0003] The purpose of this invention is to provide a manned pipeline inspection device, which aims to solve the problem of assessing and maintaining the condition of pressure pipelines.

[0004] To address the aforementioned technical problems, a manned pipeline inspection device is provided, comprising an operating cabin, a detector, and a walking mechanism. The detector is located in and electrically connected to the operating cabin, and is used to detect the condition inside the pipeline. The walking mechanism includes a connecting seat, a drive arm assembly, walking wheels, and a first drive source. The connecting seat is fixed to the operating cabin, the drive arm assembly is movably connected to the connecting seat, the walking wheels are rotatably connected to the drive arm assembly, and the first drive source is fixed to the drive arm assembly and is used to drive the walking wheels to move relative to the inner wall of the pipeline.

[0005] Furthermore, the drive arm assembly includes a first connecting arm, a second connecting arm, and a first electric cylinder. One end of the first connecting arm is rotatably connected to the connecting seat, and the other end of the first connecting arm is rotatably connected to one end of the second connecting arm. The other end of the second connecting arm is connected to the traveling wheel. One end of the first electric cylinder is rotatably connected to the connecting seat, and the other end of the first electric cylinder is connected to the first connecting arm.

[0006] Furthermore, the walking mechanism also includes a positioning module, which is located near the walking wheel at the end of the drive arm assembly, and the positioning module is used to restrict the movement of the walking wheel.

[0007] Furthermore, the positioning module also includes an electric push rod, a second drive source, and a support member. The electric push rod is fixed to the end of the second connecting arm, and the support member is connected to the electric push rod. When the support member abuts against the inner wall of the pipe, the support member is used to position and fix the manned pipeline inspection device.

[0008] Furthermore, the operating cabin includes a bracket, a safety seat, an operating platform, a third drive source, and a connector. The walking mechanism is fixed to the bracket, the third drive source is fixed to the bracket, the connector is connected between the safety seat and the third drive source, the safety seat is balanced by the third drive source, the operating platform is fixed to the bracket, and the operating platform is electrically connected to the detector and the walking mechanism respectively.

[0009] Furthermore, the operating cabin also includes a safety fence that surrounds the safety seat and is fixed to the bracket.

[0010] Furthermore, the walking mechanism includes a second electric cylinder, one end of which is fixed to the first connecting arm and the other end of which is fixed to the second connecting arm, thereby driving the second connecting arm to move relative to the first connecting arm.

[0011] Furthermore, the detector includes a host computer and a sensor, the sensor is electrically connected to the host computer, the host computer is fixed to the bracket, and the sensor faces the inner wall of the pipe. The host computer is electrically connected to the operating table.

[0012] Furthermore, the operating cabin also includes a safety helmet and a seat belt, with the safety helmet attached to the safety seat and the seat belt fastened to the safety seat.

[0013] Furthermore, the pipeline manned inspection device also includes a safety device, which includes a winch and a safety rope. The winch is detachable from the pipeline, one end of the safety rope is retracted and connected to the winch, and the other end of the safety rope is fixed to the operating cabin.

[0014] Implementing the embodiments of the present invention will have the following beneficial effects:

[0015] In this embodiment, the manned pipeline inspection device has a detector located in the operating cabin. The walking mechanism connected to the operating cabin can move the detector to the vicinity of the inner wall of the pipeline, so that the detector can complete the inspection of the pipeline. Then, the operator in the operating cabin can maintain the pipeline inside the inspected pipeline, overcoming the problems of high difficulty and low efficiency in pipeline inspection and maintenance in the prior art. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the manned pipeline inspection device according to an embodiment of the present invention;

[0018] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0019] Figure 3 This is a bottom view of the pipeline manned inspection device described in an embodiment of the present invention;

[0020] Figure 4 for Figure 3 A magnified view of a section at point B in the middle;

[0021] Figure 5 This is a schematic diagram of the walking mechanism described in an embodiment of the present invention;

[0022] Figure 6 This is a front view of the walking mechanism described in an embodiment of the present invention;

[0023] Figure 7 This is a schematic diagram of the structure of the operating cabin according to an embodiment of the present invention.

[0024] The components are as follows: 100, Pipeline manned inspection device; 110, Operating cabin; 111, Support frame; 112, Safety seat; 113, Operating platform; 114, Third drive source; 115, Connector; 116, Safety fence; 120, Detector; 121, Host computer; 122, Sensor; 130, Walking mechanism; 131, Connecting seat; 132, Drive arm assembly; 1321, First connecting arm; 1322, Second connecting arm; 1323, First electric cylinder; 1324, Second electric cylinder; 133, Walking wheel; 134, First drive source; 135, Positioning module; 1351, Electric push rod; 1352, Second drive source; 1353, Support component. Detailed Implementation

[0025] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0026] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0028] Please refer to Figures 1-7 This invention provides a pipeline manned inspection device 100, including an operating cabin 110, a detector 120, and a walking mechanism 130. The detector 120 is disposed in the operating cabin 110 and electrically connected to the operating cabin 110, and is used to detect the condition inside the pipeline. The walking mechanism 130 includes a connecting seat 131, a drive arm assembly 132, a walking wheel 133, and a first drive source 134. The connecting seat 131 is fixed to the operating cabin 110, the drive arm assembly 132 is movably connected to the connecting seat 131, the walking wheel 133 is rotatably connected to the drive arm assembly 132, and the first drive source 134 is fixed to the drive arm assembly 132 and is used to drive the walking wheel 133 to walk relative to the inner wall of the pipeline. In specific applications, there are six walking mechanisms 130. Three walking mechanisms 130 are located at the front end of the operating cabin 110, and three walking mechanisms 130 are located at the rear end of the operating cabin 110. The three front walking mechanisms 130 are supported on one side of the inner wall of the pipe, and the three rear walking mechanisms 130 are supported on the other side of the inner wall of the pipe, thus supporting the operating cabin 110. When the pipe diameter changes, the drive component adjusts the angle with the connecting seat 131, so that the pipe manned inspection device 100 adapts to the change in pipe diameter, thereby causing the walking wheels 133 to abut against the inner wall of the pipe. The first drive source 134 is a worm geared motor used to drive the walking wheels 133 to walk on the inner wall of the pipe, thereby causing the operating cabin 110 to walk on the inner wall of the pipe. The operating cabin 110 can be entered and operated by the operator. When the detector 120 detects the condition inside the pipe, the operator can maintain the pipe with the problem. In this way, the pipe manned inspection device 100 can assess and maintain the condition of the pipe.

[0029] In one possible implementation, the drive arm assembly 132 includes a first connecting arm 1321, a second connecting arm 1322, and a first electric cylinder 1323. One end of the first connecting arm 1321 is rotatably connected to the connecting seat 131, and the other end of the first connecting arm 1321 is rotatably connected to one end of the second connecting arm 1322. The other end of the second connecting arm 1322 is connected to a traveling wheel 133. One end of the first electric cylinder 1323 is rotatably connected to the connecting seat 131, and the other end of the first electric cylinder 1323 is connected to the first connecting arm 1321. In specific applications, the first electric cylinder 1323 is a hydraulic cylinder, which can make the second connecting arm 1322 have a large rotational torque relative to the first connecting arm 1321. This is beneficial for the traveling wheel 133, which is connected to the other end of the second connecting arm 1322, to be in close contact with the inner wall of the pipe. The first electric cylinder 1323 is electrically connected to the operating cabin 110. The operating cabin 110 can control the movement of the first electric cylinder 1323 to make the drive arm assembly 132 rotate relative to the connecting seat 131. In this way, the operating cabin 110 can adjust the rotation of the first connecting arm 1321 relative to the connecting seat 131 according to the change of the inner diameter of the pipe, so that the traveling wheel 133 is always in contact with the inner wall of the pipe.

[0030] In one possible implementation, the walking mechanism 130 further includes a positioning module 135, which is located near the end of the drive arm assembly 132, close to the walking wheel 133. The positioning module 135 is used to restrict the movement of the walking wheel 133. In a specific application, when the detector 120 detects a problem on the inner wall of the pipe or the operator observes a problem on the inner wall of the pipe, the detector 120 sends a signal to the operating cabin 110. The operating cabin 110 controls the positioning module 135 to be supported on the inner wall of the pipe, so that the walking wheel 133 is disengaged from the inner wall of the pipe. At this time, the operating cabin 110 is fixed relative to the pipe, which facilitates the operator to perform operations such as inspection or maintenance.

[0031] In one possible implementation, the positioning module 135 further includes an electric push rod 1351, a second drive source 1352, and a support member 1353. The electric push rod 1351 is fixed to the end of the second connecting arm 1322, and the support member 1353 is connected to the electric push rod 1351. When the support member 1353 abuts against the inner wall of the pipe, the support member 1353 is used to position and fix the pipe manned inspection device 100. In specific applications, in order to ensure that the positioning module 135 can be reliably positioned on the inner wall of the pipe, the electric push rod 1351 fixed at the end of the second connecting arm 1322 drives the support member 1353 to extend, so that the support member 1353 abuts against the inner wall of the pipe. The support member 1353 is a plastic part with a high coefficient of friction, which can prevent the support member 1353 from sliding relative to the inner wall of the pipe. The second drive source 1352 is a servo motor or a stepper motor. The second drive source 1352 is controlled by the operating cabin 110 to adjust the support member 1353 to face the inner wall of the pipe, thereby making it easier for the support member 1353 to be firmly supported on the inner wall of the pipe.

[0032] In one possible implementation, the operating cabin 110 includes a bracket 111, a safety seat 112, an operating platform 113, a third drive source 114, and a connector 115. The walking mechanism 130 is fixed to the bracket 111, the third drive source 114 is fixed to the bracket 111, and the connector 115 is connected between the safety seat 112 and the third drive source 114. The safety seat 112 is balanced by the third drive source 114. The operating platform 113 is fixed to the bracket 111 and is electrically connected to the detector 120 and the walking mechanism 130, respectively. In practical applications, since the pipeline manned inspection device 100 travels in pipelines, which include straight, inclined, and curved pipes, when the pipeline manned inspection device 100 travels in inclined or curved pipes, it is necessary to automatically adjust the safety seat 112 to a horizontal state. Therefore, the third drive source 114 is fixed on the support frame, and the connector 115 is connected between the safety seat 112 and the third drive source 114. When the safety seat 112 loses its balance, the third drive source 114 can rebalance the safety seat 112, making the operator sitting in the safety seat 112 feel comfortable. In addition, the operating table 113 of the operating cabin 110 can be controlled by the operator. Since the operating table 113 is also electrically connected to the detector 120 and the walking mechanism 130 respectively, the operator can easily control the detector 120 to detect the inner wall of the pipeline and control the movement distance and direction of the walking mechanism 130.

[0033] In one possible implementation, the operating compartment 110 further includes a safety fence 116, which surrounds the safety seat 112 and is fixed to the bracket 111. In specific applications, the safety fence 116 surrounding the safety seat 112 enhances the safety of the operating compartment. The safety fence 116 is positioned at intervals around the safety seat 112 and fixed to the bracket 111 by welding. This protects the operator seated in the safety seat 112 and prevents the operator from leaving the safety seat 112.

[0034] In one possible implementation, the walking mechanism 130 includes a second electric cylinder 1324, one end of which is fixed to the first connecting arm 1321, and the other end to the second connecting arm 1322, thereby driving the second connecting arm 1322 to move relative to the first connecting arm 1321. In specific applications, to allow the second connecting arm 1322 to rotate relative to the first connecting arm 1321, one end of the second electric cylinder 1324 is fixed to the first connecting arm 1321, and the other end is fixed to the second connecting arm 1322. When the second electric cylinder 1324 is driven under the control of the operating cabin 110, the second connecting arm 1322 moves relative to the first connecting arm 1321, causing the walking wheel 133 connected to the end of the second connecting arm 1322 to adhere to the inner wall of the pipe. This allows the walking wheel 133 to adhere more firmly to the inner wall of the pipe, thereby driving the walking mechanism 130 to move the operating cabin 110 forward under the action of static friction.

[0035] In one possible implementation, the detector 120 includes a host computer 121 and a sensor 122. The sensor 122 is electrically connected to the host computer 121, which is fixed to a bracket 111. The sensor 122 faces the inner wall of the pipe. The host computer 121 is electrically connected to the operating console 113. In a specific application, the sensor 122 is a radar sensor 122 and / or a vision sensor 122 used to detect the condition of the inner wall of the pipe. The sensor then feeds the information back to the host computer 121. The host computer 121 analyzes the condition of the inner wall of the pipe. When the analysis detects an abnormality in the condition of the inner wall of the pipe, the host computer 121 feeds the information back to the operating console 113, alerts the operator to the situation, and awaits the operator's action.

[0036] In one possible implementation, the operating cabin 110 also includes a safety helmet (not shown) and a safety belt (not shown). The safety helmet is attached to the safety seat 112, and the safety belt is fastened to the safety seat 112. In specific applications, to ensure the life and health of the operator, a safety helmet is attached to the safety seat 112 for easy access by the operator; a safety belt is also fastened to the safety seat 112. The operator must fasten the safety belt and wear the safety helmet while on the seat before the pipeline manned inspection device 100 is allowed to start working.

[0037] In one possible implementation, the pipeline manned inspection device 100 also includes a safety device (not shown). The safety device includes a winch and a safety rope. The winch is detachable from the pipeline, one end of the safety rope is retracted and connected to the winch, and the other end of the safety rope is fixed to the operating cabin 110. In specific applications, to ensure the safety of the operator and the pipeline manned inspection device 100, the winch of the safety device can be installed and fixed in the pipeline. The safety rope is controlled by the retraction of the winch, and the other end of the safety rope is fixed in the operating cabin 110. This provides secondary protection for the operator and the pipeline manned inspection device 100. When the pipeline manned inspection device 100 is working normally, the safety device moves with the pipeline manned inspection device 100 to retract and extend the rope, without exerting any traction on the pipeline manned inspection device 100, thus avoiding damage to the pipe wall by the safety rope. In the event of an abnormality or accidental slippage of the pipeline manned inspection device 100, the safety device can effectively prevent the pipeline manned inspection device 100 and the operator from falling.

[0038] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A pipeline manned inspection device, characterized by, The pipeline manned inspection device comprises an operation cabin, a detector, a walking mechanism and a safety device. The detector is arranged in the operation cabin and electrically connected with the operation cabin, and is used for detecting the condition in the pipeline. The walking mechanism comprises a connecting seat, a driving arm assembly, a walking wheel and a first driving source. The connecting seat is fixed to the operation cabin. The driving arm assembly is movably connected to the connecting seat. The walking wheel is rotatably connected to the driving arm assembly. The first driving source is fixed to the driving arm assembly and used for driving the walking wheel to walk relative to the inner wall of the pipeline. The driving arm assembly comprises a first connecting arm, a second connecting arm and a first electric cylinder. One end of the first connecting arm is rotatably connected to the connecting seat.

2. The pipeline inspection device of claim 1, wherein, The other end of the first connecting arm is rotatably connected to one end of the second connecting arm.

3. The pipeline inspection device of claim 1, wherein, The other end of the second connecting arm is connected with the walking wheel.

4. The pipeline inspection device of claim 1, wherein, One end of the first electric cylinder is rotatably connected to the connecting seat.

5. The pipeline inspection device of claim 1, wherein, The other end of the first electric cylinder is connected to the first connecting arm. The walking mechanism further comprises a positioning module. The positioning module is arranged at the end of the driving arm assembly close to the walking wheel. The positioning module is used for limiting the movement of the walking wheel. The positioning module further comprises an electric push rod, a second driving source and a support. The electric push rod is fixed to the end of the second connecting arm. The support is connected to the electric push rod. When the support abuts against the inner wall of the pipeline, the support is used for positioning and fixing the pipeline manned inspection device. The operation cabin comprises a support, a safety seat, an operation table, a third driving source and a connecting piece. The walking mechanism is fixed to the support. The third driving source is fixed to the support. The connecting piece is connected between the safety seat and the third driving source. The safety seat is balanced by the third driving source. The operation table is fixed to the support and electrically connected with the detector and the walking mechanism. The walking mechanism comprises a second electric cylinder. One end of the second electric cylinder is fixed to the first connecting arm. The other end of the second electric cylinder is fixed to the second connecting arm. Thus, the second connecting arm is driven to move relative to the first connecting arm. The operation cabin further comprises a safety fence. The safety fence is arranged around the safety seat and fixed to the support. The detector comprises an upper computer and a sensor. The sensor is electrically connected with the upper computer. The upper computer is fixed to the support. The sensor faces the inner wall of the pipeline. The upper computer is electrically connected with the operation table. The operation cabin further comprises a safety helmet and a safety belt. The safety helmet is hung on the safety seat. The safety belt is tied to the safety seat. The pipeline manned inspection device further comprises a safety device. The safety device comprises a winch and a safety rope. The winch is detachable in the pipeline. One end of the safety rope is connected with the winch. The other end of the safety rope is fixed to the operation cabin.

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