An anti-corrosion operation robot for the inner wall of a pipeline

Abstract

The present invention belongs to the field of anti-corrosion construction, and particularly relates to a pipeline inner wall anti-corrosion operation robot. It includes a machine head, a front cover plate, a rear cover plate, a fuselage, a cabin body and an operation terminal machine. The cabin body wraps the fuselage inside, and the two ends of the cabin body are respectively connected to the front cover plate and the rear cover plate. The machine head is connected to the front cover plate, and the operation terminal machine is connected to the fuselage. The beneficial effects of the present invention are as follows: This pipeline inner wall anti-corrosion operation robot can enter the pipeline interior from the pipeline opening without disassembling the pipeline, and perform surface treatment and painting treatment on the inner wall of the pipeline, greatly improving the working efficiency of pipeline inner wall anti-corrosion treatment and reducing the working risk. At the same time, under the control of the terminal machine, the robot can explore the situation inside the pipeline. The robot can be directly externally connected to equipment such as a high-pressure water cleaning machine and compressed air, and can meet the anti-corrosion treatment of the inner wall of pipelines with a large range and long distance.

Description

Technical Field

[0001] The present invention belongs to the field of anti-corrosion construction, and particularly relates to a pipeline inner wall anti-corrosion operation robot. Background Art

[0002] In the fields of production and life such as power plants, water plants, and chemical and pharmaceutical industries, there are a large number of pipelines used to transport various media, and some pipelines are hundreds or thousands of meters long. In order to protect the pipelines from being corroded and scoured too quickly, anti-corrosion treatments such as painting coatings are usually carried out on the inner walls of the pipelines before installation.

[0003] During the service process of the pipeline, as time goes by, the anti-corrosion layer on the inner wall of the pipeline is continuously scoured, corroded, and consumed, and various defects such as bulges, cracks, and peeling will occur. At this time, it is necessary to repair the coating to prevent it from further damaging the substrate. However, since the pipeline has been installed at the site and put into use, the repair process faces many difficulties. For example, some pipelines are buried deep underground or located in narrow pipe galleries, and there are only some intermittent inspection openings. If the pipeline is disassembled, it will face a huge workload and cost expenditure, and the construction period will also be extended additionally, especially for some local small defects; if workers are arranged to enter the pipeline for treatment, the workers will face a harsh working environment and extremely high working risks, which will pose a great challenge to the physical and mental health of the workers and the risk management of the project. Summary of the Invention

[0004] The purpose of the present invention is to provide a pipeline inner wall anti-corrosion operation robot, which can carry out anti-corrosion treatment on the inner wall of the pipeline without disassembling the pipeline and without workers entering the pipeline interior, improving work efficiency and reducing work risks and cost expenditures.

[0005] The technical solution of the present invention is as follows: A pipeline inner wall anti-corrosion operation robot includes a machine head, a front cover plate, a rear cover plate, a fuselage, a cabin, and an operation terminal machine. The cabin wraps the fuselage inside, the two ends of the cabin are respectively connected to the front cover plate and the rear cover plate, the machine head is connected to the front cover plate, and the operation terminal machine is connected to the fuselage.

[0006] The cabin is a fan-shaped columnar structure, and three cabins form a cylindrical structure. The cabin is provided with bolt holes, a machine head quick connector, and a rear quick connector.

[0007] The machine head includes a paint spray gun head and a water sandblasting head.

[0008] The machine head is provided with a motor for controlling the rotation speed of the nozzle. One side of the machine head is connected to a paint spray gun head or a water sandblasting head, and the other side of the machine head is three pluggable quick connectors, each pluggable quick connector is connected to the cabin, and the machine head is provided with machine head bolt holes.

[0009] The front cover plate described above includes a protective cover, three wide-angle cameras, and front cover plate bolt holes. The wide-angle cameras are connected to the operation terminal. The front cover plate is provided with front cover plate bolt holes, and the front cover plate is fixed to the cabin body through the front cover plate bolt holes.

[0010] There are 3 cabin through holes on the rear cover plate described above. The cabin through holes are used to pass through the convex joints on the cabin body. On the side of the rear cover plate opposite to the cabin body, there is a fuselage groove, and the fuselage groove is used to clamp and stabilize the fuselage; there are also rear cover plate bolt holes on the rear cover plate, and the rear cover plate bolt holes are used to connect and fix the rear cover plate to the cabin body.

[0011] A safety handle is connected to the upper part of the rear cover plate described above, and an adjustment bolt hole is opened in the middle of the rear cover plate.

[0012] The fuselage described above includes two sets of a total of 6 hub servo motors and support rods. There are two fuselage frames, pitch adjustment rods, and servo motors. One end of the fuselage frame is connected to the pitch adjustment rod through a damping spring. The other end of the pitch adjustment rod is connected to a damping adjustment bolt through a damping spring. A servo motor is sleeved in the middle of the pitch adjustment rod. There are 3 support rods connected to the servo motor. Each support rod is a two-link structure. There are three ends where one rod is hinged to the middle of the other rod. One end is connected to the servo motor, and the other two ends are respectively connected to the hub servo motor and the bracket. The damping adjustment bolt is connected to another fuselage frame, and the housing is fixed on the fuselage frame.

[0013] The hub servo motors and the servo motors described above are all connected to the operation terminal, and the operation terminal controls the hub servo motors and the servo motors.

[0014] The operation terminal is connected to the fuselage through a wireless signal.

[0015] The beneficial effects of the present invention are as follows: The pipeline inner wall anti-corrosion operation robot can enter the pipeline interior from the pipeline opening without disassembling the pipeline, and perform surface treatment and painting treatment on the inner wall of the pipeline, greatly improving the working efficiency of pipeline inner wall anti-corrosion treatment and reducing the working risk. At the same time, under the control of the terminal, the robot can explore the situation inside the pipeline. The robot can be directly externally connected to equipment such as high-pressure water cleaners and compressed air, and can meet the anti-corrosion treatment of the inner wall of pipelines with a large range and long distance. Brief Description of the Drawings

[0016] Figure 1 It is an overall schematic diagram of a pipeline inner wall anti-corrosion operation robot provided by the present invention;

[0017] Figure 2 It is an overall exploded schematic diagram of a pipeline inner wall anti-corrosion operation robot provided by the present invention;

[0018] Figure 3Schematic diagram of the nose of an in-pipe wall anti-corrosion operation robot provided by the present invention;

[0019] Figure 4 Schematic diagram of the front cover plate of an in-pipe wall anti-corrosion operation robot provided by the present invention;

[0020] Figure 5 Schematic diagram of the rear cover plate of an in-pipe wall anti-corrosion operation robot provided by the present invention;

[0021] Figure 6 The first schematic diagram of the fuselage of an in-pipe wall anti-corrosion operation robot provided by the present invention;

[0022] Figure 7 The second schematic diagram of the fuselage of an in-pipe wall anti-corrosion operation robot provided by the present invention;

[0023] Figure 8 Schematic diagram of the cabin of an in-pipe wall anti-corrosion operation robot provided by the present invention;

[0024] Figure 9 The first operation schematic diagram of an in-pipe wall anti-corrosion operation robot provided by the present invention;

[0025] Figure 10 The second operation schematic diagram of an in-pipe wall anti-corrosion operation robot provided by the present invention.

[0026] In the figure: 1 nose, 2 front cover plate, 3 rear cover plate, 4 fuselage, 5 cabin, 6 operation terminal, 7 pipeline, 8 safety rope, 9 defect on the inner wall of the pipeline, 11 paint spray gun nose, 12 water sandblasting machine head, 13 motor, 14 plug-in quick connector, 15 nose bolt hole, 21 protective cover, 22 wide-angle camera, 23 front cover plate bolt hole, 31 through hole, 32 fuselage groove, 33 rear cover plate bolt hole, 34 safety handle, 35 adjustment bolt hole, 41 hub servo motor, 42 support rod, 43 fuselage frame, 44 distance adjustment rod, 45 damping spring, 46 servo motor, 47 housing, 48 damping adjustment bolt, 51 bolt hole, 52 nose quick connector, 53 rear quick connector. Detailed implementation manners

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] As Figure 1 、 Figure 2 shown, an in-pipe wall anti-corrosion operation robot includes a nose 1, a front cover plate 2, a rear cover plate 3, a fuselage 4, a plurality of cabins 5 and an operation terminal 6. A robot can carry three cabins 5, as Figure 8As shown in the figure, the cabin body 5 is a fan-shaped columnar structure. Three cabin bodies 5 form a cylindrical structure. Bolt holes 51, a quick connector 52 for the machine head, and a quick connector 53 for the rear part are provided on the cabin body 5. The cabin bodies are divided into two sets. One set is a battery compartment, a compressed air compartment, and a paint compartment; the other set is a battery compartment, a sand compartment, and a high-pressure gas and water compartment. Each set of cabin bodies is equipped with a different machine head. The outer shapes of the cabin bodies 5 are the same, and the main differences are the quick connector 52 for the machine head and the quick connector 53 for the rear part. If dealing with local small defects, the robot can independently complete the task by carrying two sets of cabin bodies respectively; if dealing with pipelines over a longer range, a high-pressure water cleaning machine, power supply, paint, compressed air, etc. can be externally connected through the quick connector 53 for the rear part. Among them, the cabin body 5 wraps the fuselage 4 inside. The two ends of the cabin body 5 are respectively connected by a front cover plate 2 and a rear cover plate 3. The front cover plate 2 is connected with the machine head 1. The operation terminal 6 can be connected to the fuselage 4 through a wireless signal. If long-distance data transmission is required, it can be connected through a cable.

[0029] As Figure 3 shown in the figure, the robot for anti-corrosion operation on the inner wall of the pipeline of this machine includes two types of machine heads, a paint spray gun head 11 and a water sandblasting head 12. In addition, the machine head 1 also includes a motor 13, which can control the rotation speed of the nozzle. One side of the machine head 1 is connected with a paint spray gun head 11 or a water sandblasting head 12. The other side of the machine head 1 has three pluggable quick connectors 14. Each pluggable quick connector 14 realizes quick assembly connection with the corresponding cabin body 5. Bolt holes 15 are provided on the machine head 1 to fix the machine head 1 on the fuselage 4.

[0030] As Figure 4 shown in the figure, the front cover plate 2 includes a protective cover 21, three wide-angle cameras 22, and front cover plate bolt holes 23. The protective cover 21 is used to protect the fuselage and cabin body, etc. from water sandblasting damage and paint contamination during the anti-corrosion operation of the robot. The wide-angle cameras 22 are used to monitor and record the processing situation of the anti-corrosion operation. The wide-angle cameras 22 are connected to the operation terminal 6, and their images can be transmitted to the operation terminal 6 in real time. Front cover plate bolt holes 23 are provided on the front cover plate 2 to fix the front cover plate 2 to the cabin body 5.

[0031] As Figure 5 shown in the figure, three cabin through holes 31 are provided on the rear cover plate 3. The cabin through holes 31 are used to pass through the protruding connectors on the cabin body 5. A fuselage groove 32 is provided on the side of the rear cover plate 3 opposite to the cabin body, and the fuselage groove 32 is used to clamp and stabilize the fuselage; rear cover plate bolt holes 33 are also provided on the rear cover plate 3, and the rear cover plate bolt holes 33 are used to connect and fix the rear cover plate 3 to the cabin body 5. A safety handle 34 is connected to the other side of the rear cover plate 3, and the safety handle 34 is used to tie the safety rope and fix the cable; an adjustment bolt hole 35 is provided in the middle of the rear cover plate 3, and the adjustment bolt hole 35 is used to adjust the damping spring of the fuselage.

[0032] AsFigure 6 , 7 As shown in 7 , the fuselage includes a total of 6 hub servo motors 41 and support rods 42 in two sets. There are two fuselage frames 43, two distance adjustment rods 44, and two servo motors 46. One end of the distance adjustment rod 44 is connected to the fuselage frame 43 through a damping spring 45. The other end of the distance adjustment rod 44 is connected to a damping adjustment bolt 48 through a damping spring 44. The servo motor 46 is sleeved in the middle of the distance adjustment rod 44. There are 3 support rods 42 connected to the servo motor 46. Each support rod 42 has a two-link structure. One rod is hinged in the middle of the other rod, with a total of three ends. One end is connected to the servo motor 46, and the other two ends are respectively connected to the hub servo motor 41 and the bracket 43. The damping adjustment bolt 48 can also be connected to another fuselage frame 43. The housing 47 is fixed to the fuselage frame 43 by bolts. The servo motor 46 and the distance adjustment rod 44 are matched in the form of a lead screw and a nut. When the servo motor 46 rotates, its position on the distance adjustment rod 44 changes. The hub servo motor 41 and the servo motor 46 are both connected to the operation terminal 6, and the operation terminal 6 controls the hub servo motor 41 and the servo motor 46.

[0033] Each hub servo motor 41 is installed at the end of the support rod 42, and the servo motor 46 is installed on the distance adjustment rod 44. The servo motor 46 and the distance adjustment rod 44 are matched in the form of a lead screw and a nut. When the servo motor 46 rotates, its position on the distance adjustment rod 44 changes, and it drives the hub servo motor 41 through the support rod 42, thereby realizing the contraction and expansion of the fuselage (as shown in Figure 7 ). When the hub servo motor 41 rotates, it can drive the entire robot to move forward and backward. When the robot walks or operates in the pipeline, the damping spring 45 can maintain the stability of the robot fuselage, and adjusting the damping adjustment bolt 48 can control the magnitude of the damping force of the damping spring 45. Figure 7 ) When the hub servo motor 41 rotates, it can drive the entire robot to move forward and backward. When the robot walks or operates in the pipeline, the damping spring 45 can maintain the stability of the robot fuselage, and adjusting the damping adjustment bolt 48 can control the magnitude of the damping force of the damping spring 45.

[0034] When the robot performs anti-corrosion operation on the inner wall of the pipeline, first use the water sandblasting head to perform surface treatment on the inner wall of the pipeline. At this time, the robot carries a battery compartment, a sand compartment, and a high-pressure gas-water compartment. When the gas and water in the high-pressure gas-water compartment are ejected from the water sandblasting head, negative pressure is generated to suck in the abrasive, which hits the inner wall of the pipeline and removes the defective coating and rust that are not well attached at the same time. After the surface treatment is completed, use high-pressure gas and water to flush the residue in the pipeline to the downstream of the pipeline and take out the residue at the downstream inspection port. Then replace the compressed air compartment and the paint compartment for the robot. First, use compressed air to dry the inner wall of the pipeline, and then spray paint on the defective parts.

[0035] As shown in Figure 9 Figure 9 , Figure 10 Taking the treatment of small defects several meters away from the pipe orifice as an example, the usage process of the present invention is as follows:

[0036] The first step is surface treatment.

[0037] Open an opening at the pipeline inspection port, load the water jet sandblasting head, high-pressure air-water tank, battery compartment and sand bin onto the robot and tie the safety rope to the safety handle. Then place the robot at the pipeline nozzle position. Adjust the position of the servo motor on the distance adjustment rod through the operation terminal, so that all six hub motors of the robot can contact the inner wall of the pipeline and generate a certain pressure, and adjust the rotation of the hub motors until the robot can move freely back and forth inside the pipeline. Operate the robot through the terminal to go deep into the defective position inside the pipeline. After reaching the defective position, open the water jet sandblasting nozzle, high-pressure air-water tank and sand bin, and perform water jet sandblasting treatment on a circle of the pipeline at the defective part. After the treatment is completed, close the sand bin, and rinse the defective position with high-pressure air and water. After the rinsing is completed, withdraw from the pipeline.

[0038] The second step is to perform painting treatment.

[0039] Load the painting head, compressed air tank and paint bin onto the robot and tie the safety rope to the safety handle, then place the robot at the pipeline nozzle position. Then adjust the position of the servo motor on the distance adjustment rod through the operation terminal, so that all six hub motors of the robot can contact the inner wall of the pipeline and generate a certain pressure, and adjust the rotation of the hub motors until the robot can move freely back and forth inside the pipeline. Operate the robot through the terminal to the surface treatment position, first dry the surface with compressed air, and then perform painting treatment on the surface treatment position. For pipelines that require multiple coatings, repeat the painting steps.

Claims

1. A pipeline inner wall anti-corrosion operation robot, characterized in that: it includes a machine head, a front cover plate, a rear cover plate, a fuselage, a cabin and an operation terminal. The cabin wraps the fuselage inside. The two ends of the cabin are respectively connected to the front cover plate and the rear cover plate. The front cover plate is connected with the machine head, and the operation terminal is connected to the fuselage; the cabin is a fan-shaped columnar structure, and three cabins form a cylindrical structure. The cabin is provided with bolt holes, a machine head quick connector and a rear quick connector; the machine head includes a paint spray gun head and a water sandblaster head; the cabin is divided into two sets. One set is a battery compartment, a compressed air compartment, and a paint compartment; the other set is a battery compartment, a sand compartment, and a high-pressure air-water compartment; the machine head is provided with a motor for controlling the rotation speed of the nozzle. One side of the machine head is connected with a paint spray gun head or a water sandblaster head. The other side of the machine head is three pluggable quick connectors, and each pluggable quick connector is connected to the cabin. The machine head is provided with machine head bolt holes; the front cover plate includes a protective cover, three wide-angle cameras and front cover plate bolt holes. The wide-angle cameras are connected to the operation terminal. The front cover plate is provided with front cover plate bolt holes, and the front cover plate is fixed to the cabin through the front cover plate bolt holes; the rear cover plate is provided with 3 cabin through holes for passing through the convex joints on the cabin. On the side of the rear cover plate opposite to the cabin, there is a fuselage groove for clamping and stabilizing the fuselage; the rear cover plate is also provided with rear cover plate bolt holes for connecting and fixing the rear cover plate to the cabin; the fuselage includes two sets of a total of 6 hub servo motors and support rods. There are two fuselage frames, adjusting rods and servo motors. One end of the adjusting rod is connected to the fuselage frame through a damping spring, and the other end of the adjusting rod is connected to a damping adjusting bolt through a damping spring. The middle of the adjusting rod is sleeved with a servo motor. The servo motor is connected with 3 support rods. Each support rod is a two-link structure, and one rod is hinged to the middle of the other rod. The support rod has three ends. One end is connected to the servo motor, and the other two ends are respectively connected to the hub servo motor and the fuselage frame. The damping adjusting bolt is connected to another fuselage frame. The two fuselage frames are fixed in the shell. The end of the support rod connected with the hub servo motor can extend out of the shell and is located outside the cabin. The shell is located inside the three cabins. The servo motor and the adjusting rod are matched in the form of a lead screw and a nut. When the servo motor rotates, its position on the adjusting rod changes, and the hub servo motor is driven through the support rod to realize the contraction and expansion of the fuselage.

2. The pipeline inner wall anti-corrosion operation robot according to claim 1, characterized in that: a safety handle is connected to the rear cover plate, and an adjusting bolt hole is opened in the middle of the rear cover plate.

3. The pipeline inner wall anti-corrosion operation robot according to claim 1, characterized in that: the hub servo motor and the servo motor are both connected to the operation terminal, and the operation terminal controls the hub servo motor and the servo motor.

4. The pipeline inner wall anti-corrosion operation robot according to claim 3, characterized in that: the operation terminal is connected to the fuselage through a wireless signal.

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