Manipulator for repairing interior of pipeline
By designing flexible internal pipe repair robots, using a combination of motor drivers and cylinder pistons, combined with adjustable support and mortar extrusion, the problem that existing tools cannot adapt to different pipe diameters is solved, improving repair efficiency and quality, and reducing costs .
Patent Information
- Application Number
- CN202411365789.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-27
- Publication Date
- 2024-12-06
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing pipeline repair tools lack flexibility and versatility, and cannot adapt to the repair needs of different pipe diameters, resulting in high equipment costs and low work efficiency.
A pipe internal repair robot is designed. The power transmission and position adjustment of the robot is achieved through the combination of motor driver, cylinder piston and tightening ring. It is equipped with adjustable support and adjustment components and mortar extrusion plates, which can adapt to pipes of different pipe diameters. , and evenly extrude the mortar by rotating centrifugal force for repair.
It realizes the flexibility and adaptability of the robot, can accurately locate and repair pipes of different pipe diameters, improves the quality and speed of repair, and reduces equipment costs and construction cycles.
Smart Images
Figure CN119084695A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of pipeline repair, and in particular to a pipeline internal repair manipulator. Background Art
[0002] With the continuous advancement of urbanization and the improvement of infrastructure, pipelines play a vital role in various fields, such as urban water supply and drainage pipelines, petrochemical pipelines, etc. However, due to the long-term use of pipelines, external environmental influences, and material aging, various damages and defects such as cracks, corrosion, and blockages are prone to occur inside the pipelines.
[0003] Traditional pipeline internal repair methods often require large-scale excavation of the pipeline, which not only takes a long time and is costly, but also causes great damage to the surrounding environment. For example, pipeline excavation and repair in cities may affect traffic, damage infrastructure such as roads and underground pipelines, and bring many inconveniences to people's lives and work. Therefore, a pipeline internal repair robot is needed.
[0004] Existing pipeline repair tools are usually only suitable for pipelines of specific diameters and lack flexibility and versatility. When faced with the need to repair pipelines of different diameters, equipment of different specifications needs to be used, which not only increases equipment costs but also reduces work efficiency. Summary of the invention
[0005] In view of the shortcomings of the prior art, the present invention provides a pipeline internal repair robot to solve the problem of lack of flexibility and versatility. When faced with the need to repair pipelines of different diameters, equipment of different specifications needs to be used, which not only increases equipment costs but also reduces work efficiency.
[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:
[0007] The pipeline internal repair manipulator comprises a motor mounting plate, the interior of the motor mounting plate is fixedly connected with a cylinder fixing seat, the outer wall of the cylinder fixing seat is provided with a cylinder driving plate, the outer wall of the cylinder fixing seat is fixedly connected with a cylinder shell, the interior of the cylinder shell is provided with a cylinder piston, the inner wall of the cylinder piston is slidably connected with a sliding rod, the outer wall of the sliding rod is fixedly connected to the inner wall of the motor mounting plate, the output end of the cylinder piston is fixedly connected with a tightening ring body, the inner wall of the tightening ring body is slidably connected to the outer wall of the sliding rod, a rotating shaft pressure plate is provided on the right side of the motor mounting plate, the outer wall of the sliding rod is slidably connected to the inner wall of the rotating shaft pressure plate, the inner wall of the motor mounting plate is rotatably connected with a bearing body, a driving assembly is provided inside the motor mounting plate, a moving assembly is provided on the outer wall of the tightening ring body, a supporting and adjusting assembly is provided on the driving assembly, and a connecting assembly is provided inside the motor mounting plate.
[0008] Preferably, the driving assembly comprises a motor driver, an outer wall of the motor driver is fixedly connected to an inner wall of a motor mounting disk, a motor body is arranged inside the motor mounting disk, and an output end of the motor body is fixedly connected to a main shaft.
[0009] Preferably, the moving assembly includes a wheel mounting arm, the outer wall of the wheel mounting arm is rotatably connected to the outer wall of the tightening ring body, the top end of the wheel mounting arm is fixedly connected to a wheel fixing seat, and the inner wall of the wheel fixing seat is rotatably connected to a straight wheel.
[0010] Preferably, the support adjustment assembly includes a rear wheel tightening ring, the outer wall of the rear wheel tightening ring is arranged on the left and right sides of the motor mounting plate, and the outer wall of the rear wheel tightening ring is fixedly connected to the output end of the cylinder piston.
[0011] Preferably, a rear wheel fixing plate is provided on the outer wall of the rear wheel tightening ring, and a main grabbing arm is rotatably connected to the outer wall of the rear wheel tightening ring.
[0012] Preferably, the support adjustment assembly comprises a box body, the lower surface of the box body is fixedly connected to the upper surface of the main grabbing arm, and the outer wall of the box body is fixedly connected with a hinge.
[0013] Preferably, the outer wall of the hinge is fixedly connected with a wiper plate, and the outer wall of the box body is provided with a box sealing plate.
[0014] Preferably, a stainless steel bending part is fixedly connected to the outer wall of the box body, a mortar extrusion plate is arranged inside the box body, and a support shaft is arranged inside the motor mounting plate.
[0015] Preferably, the left outer wall of the support shaft is fixedly connected to a wire tube fixing plate, the outer wall of the wire tube fixing plate is fixedly connected to a wire tube connecting seat, and a splicing shell is provided on the lower side of the motor mounting plate.
[0016] Preferably, tension adjustment plates are provided on both sides of the motor mounting plate, the inner wall of the tension adjustment plate is slidably connected to the outer wall of the slide rod, and the inner wall of the tension adjustment plate is slidably connected to the outer wall of the support shaft.
[0017] Working principle: The pipeline internal repair manipulator is fixed to the inner wall of the motor mounting plate through a motor driver. The motor body is also set in the motor mounting plate. The motor body drives the main shaft. The motor driver controls the motor body to work and provides a power source for the entire manipulator. The wheel mounting arm is on the outer wall of the tightening ring body. The straight wheel is rotated in the wheel fixing seat at the top of the wheel mounting arm. Under the power provided by the motor, the straight wheel rolls to realize the movement of the manipulator in the pipeline. The cylinder fixing seat inside the motor mounting plate fixes the cylinder. The cylinder piston inside the cylinder shell drives the sliding rod. The outer wall of the sliding rod is fixedly connected to the inner wall of the motor mounting plate to stabilize the sliding rod. The output end of the cylinder piston is fixedly connected to the tightening ring body. The tightening ring body is When the inner wall slides, it drives the sliding rod, and a rotating shaft pressure plate is arranged on the right side of the motor mounting plate. The outer wall of the sliding rod is slidably connected to the inner wall of the rotating shaft pressure plate. When the cylinder is working, the cylinder piston pushes the tightening ring body to move, so as to adjust and fix the position of the manipulator. The support and adjustment component includes a rear wheel tightening ring, and the rear wheel tightening ring is arranged on the left and right sides of the motor mounting plate, and the outer wall is fixedly connected to the output end of the cylinder piston. The outer wall of the rear wheel tightening ring is provided with a rear wheel fixing plate and a rotatably connected main grasping arm. The lower surface of the box body is fixedly connected to the upper surface of the main grasping arm, the outer wall of the box body is fixedly connected to the hinge, and the outer wall of the hinge is fixedly connected to the smear plate. The outer wall of the box body is also provided with a box sealing plate, a stainless steel bending part and an internal mortar extrusion plate. The outer wall of the left side of the support shaft arranged inside the motor mounting plate is fixedly connected to The wiring pipe fixing plate and the wire pipe connecting seat, the inner wall of the tension adjustment plate on both sides of the motor mounting plate slides to connect the sliding rod and the outer wall of the support shaft. Through the synergistic effect of these components, the support adjustment function of the manipulator is realized. According to the shape of the pipe cylinder, two groups of supports are set, three in each group, and distributed at 120 degrees. By changing the diameter of the front and rear wheel adjustment rings, it can adapt to pipes of different diameters. When the manipulator reaches the repair position, the cylinder drives the front and rear tightening rings for positioning to ensure the stability of the manipulator in the pipe. The trowel is filled with mortar and the plastering surface has holes. There is a top plate in the box for mortar. When the manipulator is working, the box rotates with the manipulator, and the centrifugal force generated by the rotation is used to squeeze the mortar out of the hole to realize the repair of the inner wall of the pipe. The main grab arm has Three are installed on the main shaft at a 120-degree angle. The main shaft is connected to an adjustable-speed motor, and the speed can be adjusted according to site needs. The cylinder piston inside the main shaft is connected to the cylinder drive plate to adjust the expansion and closing of the wiper. The camera is divided into front view and side view, which can be switched according to site needs. It can take pictures and videos to provide operators with clear images of the inside of the pipeline for better repair work. There are three built-in small cleaning heads, which can be flushed or blown according to site needs to effectively clean up debris and dirt inside the pipeline, creating good conditions for repair work. A water pipe is connected to the rear of the manipulator and connected to a pressure pump. The water source is a sprinkler truck. There is a tee on the head of the pipe to connect the air compressor for blowing, which has the effect of cleaning dust or foreign matter in the pipeline.
[0018] The present invention provides a pipeline internal repair manipulator, which has the following beneficial effects:
[0019] 1. The present invention uses rear wheel tightening rings arranged on both sides of the motor mounting plate. The diameters of the rear wheel tightening rings and related adjustment rings can be changed according to the pipe diameter through the cylinder piston. When the manipulator reaches the repair position, the cylinder piston in the cylinder housing pushes the tightening ring body and the rear wheel tightening ring to position, so that it can adapt to pipes with different pipe diameters during use, and the tightening ring is driven by the cylinder to achieve precise positioning.
[0020] 2. The outer wall of the box body of the present invention is fixedly connected to the trowel by a hinge, and a mortar squeezing plate is arranged inside the box body. When the manipulator is working, the box body rotates with the manipulator, and the internal mortar squeezing plate squeezes the mortar from the holes of the trowel under the action of the centrifugal force generated by the rotation, so that the inner wall of the pipeline is evenly repaired during use, the mortar is applied more efficiently and evenly, and the repair quality and speed are improved.
[0021] 3. The main grab arm of the present invention is rotatably connected to the outer wall of the rear wheel tightening ring, and has three arms installed on the main shaft at a 120-degree angle. The main shaft is connected to the speed-adjustable motor body, and the speed can be adjusted according to on-site needs. The cylinder piston inside the main shaft is connected to the cylinder drive disk, and the expansion and closing of the wiper plate can be adjusted. During use, precise control of the repair operation is achieved through cooperation with the motor and the cylinder, thereby improving the flexibility and adaptability of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 A perspective view of the present invention;
[0023] Figure 2 It is a schematic diagram of the box body of the present invention;
[0024] Figure 3 It is a schematic diagram of the motor mounting plate of the present invention;
[0025] Figure 4 Schematic diagram of the slide bar of the present invention.
[0026] Among them, 1. Motor driver; 2. Motor body; 3. Spindle; 4. Motor mounting plate; 5. Wheel fixing seat; 6. Wheel mounting arm; 7. Straight wheel; 8. Tightening ring body; 9. Slide rod; 10. Main grab arm; 11. Cylinder drive plate; 12. Cylinder fixing seat; 13. Cylinder housing; 14. Bearing body; 15. Cylinder piston; 16. Rotating shaft pressure plate; 17. Rear wheel fixing plate; 18. Rear wheel tightening ring; 19. Box body; 20. Hinge; 21. Wipe plate; 22. Box sealing plate; 23. Stainless steel bending parts; 24. Mortar squeezing plate; 25. Support shaft; 26. Wire pipe fixing plate; 27. Wire pipe connecting seat; 28. Splicing shell; 29. Tension adjustment plate. DETAILED DESCRIPTION
[0027] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.
[0028] Example:
[0029] Please see attached Figure 1 -Attached Figure 4 The embodiment of the present invention provides a pipeline internal repair manipulator, including a motor mounting disk 4, the interior of the motor mounting disk 4 is fixedly connected with a cylinder fixing seat 12, the outer wall of the cylinder fixing seat 12 is provided with a cylinder driving disk 11, the outer wall of the cylinder fixing seat 12 is fixedly connected with a cylinder shell 13, the interior of the cylinder shell 13 is provided with a cylinder piston 15, the inner wall of the cylinder piston 15 is slidably connected with a slide rod 9, the outer wall of the slide rod 9 is fixedly connected to the inner wall of the motor mounting disk 4, the output end of the cylinder piston 15 is fixedly connected with a tightening ring body 8, the inner wall of the tightening ring body 8 is slidably connected to the outer wall of the slide rod 9, a rotating shaft pressing plate 16 is provided on the right side of the motor mounting disk 4, the outer wall of the slide rod 9 is slidably connected to the inner wall of the rotating shaft pressing plate 16, the inner wall of the motor mounting disk 4 is rotatably connected with a bearing body 14, the interior of the motor mounting disk 4 is provided with a driving component, the outer wall of the tightening ring body 8 is provided with a moving component, the driving component is provided with a support and adjustment component, and the interior of the motor mounting disk 4 is provided with a connecting component.
[0030] Specifically, the motor body 2 is controlled to work through the motor driver 1 in the motor mounting disk 4, and the main shaft 3 connected to the output end of the motor body 2 provides power for the manipulator. During use, the wheel fixing seat 5 at the top of the wheel mounting arm 6 on the outer wall of the tightening ring body 8 rotates to connect the straight wheel 7, so that the manipulator can move in the pipeline under the action of power. The cylinder piston 15 in the cylinder housing 13 on the cylinder fixing seat 12 slides along the slide rod 9, pushing the tightening ring body 8 to adjust its position, and positioning is performed after reaching the repair position. The support and adjustment part of the drive assembly in the motor mounting disk 4 further ensures the stability and adaptability of the manipulator.
[0031] Please see attached Figure 1 , Attachment Figure 3 and attached Figure 4 The driving assembly includes a motor driver 1, the outer wall of the motor driver 1 is fixedly connected to the inner wall of the motor mounting disk 4, the motor mounting disk 4 is provided with a motor body 2 inside, and the output end of the motor body 2 is fixedly connected to the main shaft 3.
[0032] Specifically, the motor driver 1 accurately controls the operation of the motor body 2, thereby ensuring power output and stability while providing adjustability and power.
[0033] Please see attached Figure 1 -Attached Figure 2 and attached Figure 3 The moving assembly includes a wheel mounting arm 6, the outer wall of the wheel mounting arm 6 is rotatably connected to the outer wall of the tightening ring body 8, the top of the wheel mounting arm 6 is fixedly connected to the wheel fixing seat 5, and the inner wall of the wheel fixing seat 5 is rotatably connected to the straight wheel 7.
[0034] Specifically, through the connection between the wheel mounting arm 6 and the tightening ring body 8 and the linear wheel 7 being rotatable in the wheel fixing seat 5, the linear wheel 7 can roll in the pipeline, thereby driving the manipulator to move in the pipeline, and realizing the flexible movement of the manipulator in the pipeline when in use. The rolling of the linear wheel 7 can allow the manipulator to quickly reach the position that needs to be repaired, thereby improving work efficiency.
[0035] Please see attached Figure 1 The support and adjustment component includes a rear wheel tightening ring 18, the outer wall of the rear wheel tightening ring 18 is arranged on the left and right sides of the motor mounting plate 4, and the outer wall of the rear wheel tightening ring 18 is fixedly connected to the output end of the cylinder piston 15; the outer wall of the rear wheel tightening ring 18 is provided with a rear wheel fixing plate 17, and the outer wall of the rear wheel tightening ring 18 is rotatably connected to the main grab arm 10; the support and adjustment component includes a box body 19, the lower surface of the box body 19 is fixedly connected to the upper surface of the main grab arm 10, and the outer wall of the box body 19 is fixedly connected to a hinge 20; the outer wall of the hinge 20 is fixedly connected to a wiper plate 21, and the outer wall of the box body 19 is provided with a box sealing plate 22.
[0036] Specifically, under the action of the cylinder piston 15, the rear wheel tightening ring 18 achieves precise adjustment and fixation of the position of the manipulator, thereby enhancing the stability of the manipulator in the pipeline. The rear wheel fixing plate 17 further enhances the structural stability of the rear wheel tightening ring 18. The main grabbing arm 10 provides support for the box body 19 and other components. Repair materials can be placed in the box body 19. The smear plate 21 connected to the hinge 20 can evenly spread the material on the inner wall of the pipeline to improve the repair quality and efficiency. The box sealing plate 22 can protect the items in the box body 19 and prevent them from being disturbed by the outside world.
[0037] Please see attached Figure 1 and attached Figure 3The outer wall of the box body 19 is fixedly connected with a stainless steel bending part 23, a mortar squeezing plate 24 is arranged inside the box body 19, and a support shaft 25 is arranged inside the motor mounting disk 4; the left outer wall of the support shaft 25 is fixedly connected with a wire tube fixing plate 26, the outer wall of the wire tube fixing plate 26 is fixedly connected with a wire tube connecting seat 27, and a shearing shell 28 is arranged on the lower side of the motor mounting disk 4; tension adjustment plates 29 are arranged on both sides of the motor mounting disk 4, the inner wall of the tension adjustment plate 29 is slidably connected to the outer wall of the slide rod 9, and the inner wall of the tension adjustment plate 29 is slidably connected to the outer wall of the support shaft 25.
[0038] Specifically, the stainless steel bending part 23 enhances the structural strength of the box body 19, the mortar squeezing plate 24 ensures that the mortar can be evenly extruded to improve the repair effect, the support shaft 25 improves the overall stability of the manipulator, the wire pipe fixing plate 26 and the wire pipe connecting seat 27 make the line layout more reasonable and avoid line confusion affecting work. The setting of the tension adjustment plate 29 enables the manipulator to be flexibly adjusted according to different pipe diameters and work requirements, thereby improving the adaptability and versatility of the manipulator.
[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A pipe internal repair manipulator, comprising a motor mounting plate (4), characterized in that: The motor mounting plate (4) is fixedly connected to a cylinder fixing seat (12) inside, the outer wall of the cylinder fixing seat (12) is provided with a cylinder driving plate (11), the outer wall of the cylinder fixing seat (12) is fixedly connected to a cylinder housing (13), the cylinder housing (13) is provided with a cylinder piston (15), the inner wall of the cylinder piston (15) is slidably connected to a slide rod (9), the outer wall of the slide rod (9) is fixedly connected to the inner wall of the motor mounting plate (4), and the output end of the cylinder piston (15) is fixedly connected to a tightening ring body (8 ), the inner wall of the tightening ring body (8) is slidably connected to the outer wall of the slide rod (9), a rotating shaft pressure plate (16) is arranged on the right side of the motor mounting plate (4), the outer wall of the slide rod (9) is slidably connected to the inner wall of the rotating shaft pressure plate (16), the inner wall of the motor mounting plate (4) is rotatably connected to the bearing body (14), a driving component is arranged inside the motor mounting plate (4), a moving component is arranged on the outer wall of the tightening ring body (8), a supporting and adjusting component is arranged on the driving component, and a connecting component is arranged inside the motor mounting plate (4).
2. The pipeline internal repair manipulator according to claim 1, characterized in that: The drive assembly comprises a motor driver (1), the outer wall of the motor driver (1) being fixedly connected to the inner wall of a motor mounting plate (4), a motor body (2) being arranged inside the motor mounting plate (4), and a main shaft (3) being fixedly connected to the output end of the motor body (2).
3. The pipeline internal repair manipulator according to claim 1, characterized in that: The moving assembly comprises a wheel mounting arm (6), the outer wall of the wheel mounting arm (6) is rotatably connected to the outer wall of the tightening ring body (8), the top end of the wheel mounting arm (6) is fixedly connected to a wheel fixing seat (5), and the inner wall of the wheel fixing seat (5) is rotatably connected to a straight wheel (7).
4. The pipeline internal repair manipulator according to claim 1, characterized in that: The support adjustment assembly comprises a rear wheel tightening ring (18), the outer wall of which is arranged on the left and right sides of the motor mounting plate (4), and the outer wall of which is fixedly connected to the output end of the cylinder piston (15).
5. The pipeline internal repair manipulator according to claim 4, characterized in that: The outer wall of the rear wheel tightening ring (18) is provided with a rear wheel fixing plate (17), and the outer wall of the rear wheel tightening ring (18) is rotatably connected to a main grabbing arm (10).
6. The pipeline internal repair manipulator according to claim 5, characterized in that: The support adjustment assembly comprises a box body (19), the lower surface of the box body (19) is fixedly connected to the upper surface of the main grabbing arm (10), and the outer wall of the box body (19) is fixedly connected with a hinge (20).
7. The pipeline internal repair manipulator according to claim 6, characterized in that: The outer wall of the hinge (20) is fixedly connected with a wiper plate (21), and the outer wall of the box body (19) is provided with a box sealing plate (22).
8. The pipeline internal repair manipulator according to claim 7, characterized in that: The outer wall of the box body (19) is fixedly connected with a stainless steel bending piece (23), a mortar extrusion plate (24) is arranged inside the box body (19), and a support shaft (25) is arranged inside the motor mounting plate (4).
9. The pipeline internal repair manipulator according to claim 8, characterized in that: The left outer wall of the support shaft (25) is fixedly connected to a wire tube fixing plate (26), the outer wall of the wire tube fixing plate (26) is fixedly connected to a wire tube connecting seat (27), and a splicing shell (28) is provided on the lower side of the motor mounting plate (4).
10. The pipeline internal repair manipulator according to claim 9, characterized in that: A tensioning adjustment plate (29) is provided on both sides of the motor mounting plate (4), the inner wall of the tensioning adjustment plate (29) is slidably connected to the outer wall of the slide rod (9), and the inner wall of the tensioning adjustment plate (29) is slidably connected to the outer wall of the support shaft (25).