In-pipe operation device and processing operation method

Abstract

The invention relates to the technical field of pipeline machining, and particularly discloses an operation device in a pipeline and a machining operation method, which are suitable for inner machining operation of a large-diameter water diversion pressure steel pipe. The at least three walking wheel sets can independently walk on the inner wall of the pipeline in the length direction of the pipeline; the processing operation of the operation device in the pipeline is not limited by the placing angle of the pipeline; a telescopic adjusting mechanism is further arranged, the telescopic amount of a telescopic driving part can be adjusted according to pipelines with different inner diameters, and the walking wheel sets can be tightly attached to the inner walls of the pipelines, so that the walking wheel sets can stably walk along the inner walls of the pipelines; for bent pipeline machining, turning can be achieved by controlling different telescopic lengths of the telescopic driving pieces on the inner side and the outer side of the pipeline bending position in cooperation with different rotating speed control of the walking wheel sets on the inner side and the outer side of the pipeline bending position, and the structure is ingenious.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline processing, and in particular to an in-pipeline operation device and a processing operation method. Background Art

[0002] In the industrial production process, pipelines play a vital role and are widely used to transport liquids, gases, powders and other substances. For some scenarios, such as hydropower stations, their pipelines are usually welded, inspected, repaired and other operations are usually carried out on site.

[0003] At present, the traditional operation method mainly relies on manual operation, in which workers are sent to the workstation by a crane with a hanging basket, and gradually descend to the predetermined work position before the operation is carried out. For example, the automatic installation operation system for large-diameter high-strength steel pipes in deep shafts disclosed in Chinese Patent Publication No. CN118908024A can be referred to. This type of operation method has the following problems: First, workers are sent to the workstation by a crane and a hanging rope, which is only suitable for vertical pipes. If the inclination angle of the pipe exceeds 45°, or even the pipes are placed in parallel, the crane and the hanging rope cannot be carried out smoothly; second, workers need to cooperate with the rotation of the crane (winch) to complete the rotation operation of the inner wall, so the processing efficiency is low, and workers enter the pipeline to work, which poses certain safety hazards.

[0004] In addition, some manufacturers have designed equipment that does not require manual operation, such as a wheeled pipeline inner wall cleaning and inspection robot disclosed in Chinese patent publication number CN111457192A, which uses a wheeled walking traction device to tow the cleaning device. This processing method is suitable for processing small-diameter pipelines (250-380mm) placed in parallel. For large-diameter non-parallel pipelines, processing is difficult to carry out. Moreover, its traction structure cannot turn and cannot adapt to the processing of curved pipelines.

[0005] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide an in-pipeline operation device and a processing operation method to solve the above-mentioned problems.

[0007] Pipeline working device, including: A bearing mechanism, comprising a bearing frame that can extend into the pipeline along the length direction of the pipeline; A guide rail mechanism, fixed to the carrier frame; A processing mechanism, which can move along the guide rail mechanism and is used for processing the inner wall of the pipeline; A walking mechanism, comprising a plurality of walking wheel groups circumferentially distributed around the center of the carrier, and a second driving device for independently controlling the rotation speed of the walking wheel groups, at least three of the walking wheel groups are connected to the second driving device, and each of the walking wheel groups independently walks on the inner wall of the pipeline along the length direction of the pipeline; The telescopic adjustment mechanism comprises a plurality of telescopic driving members fixed to the carrier frame and corresponding to the positions of the running wheel groups, wherein the telescopic driving members are used for telescopically adjusting the distance of the running wheel group relative to the center of the carrier frame.

[0008] Specifically, the pipe is a circular pipe; The guide rail mechanism includes a circular guide rail fixed to the carrier frame, a mounting plate sliding around the circular guide rail, a first driving device fixed to the mounting plate, a gear connected to the output end of the first driving device, and a toothed chain fixed to the circular guide rail in an annular shape and meshing with the gear; The processing mechanism is fixed to the mounting plate.

[0009] Specifically, the guide rail mechanism further includes a pulley frame fixed to the mounting plate, and a pulley rotatably arranged on the pulley frame; The pulley slides along the circular guide rail.

[0010] Specifically, the walking wheel group includes a vertical plate connected to the telescopic driving end of the telescopic driving member, and a walking wheel rotatably arranged on the vertical plate; the second driving device is fixed to the vertical plate and its driving end is drivingly connected to the walking wheel; The number of the running wheels is not less than two and they are arranged in sequence along the length direction of the pipeline.

[0011] Specifically, the telescopic driving member is a hydraulic cylinder, the hydraulic cylinder is connected to a hydraulic device, and each of the hydraulic cylinders is provided with a pressure controller.

[0012] Specifically, at least one safety rope is connected to the supporting frame.

[0013] Specifically, a flexible baffle or a net bag for preventing falling objects is connected to the lower end of the supporting frame.

[0014] Specifically, the processing mechanism is an unmanned operating robot; the unmanned operating robot is equipped with at least one of an automatic grinding device, an automatic shot blasting device, an automatic spraying device, an automatic powder spraying device, an automatic welding device, an automatic detection device, and an automatic dredging device.

[0015] The in-pipe processing method uses the in-pipe processing device, and comprises the following steps: S1 extends the carrying mechanism into the pipeline along the length direction of the pipeline, and during the extending process, the walking wheel set of the walking mechanism autonomously moves along the length direction of the pipeline on the inner wall of the pipeline until it reaches the pre-processing position; The S2 processing mechanism moves along the guide rail mechanism, and processes the inner wall of the pipeline by using the processing mechanism.

[0016] Beneficial effects of the present invention: The in-pipeline working device and processing method of the present invention are suitable for the internal processing of large-diameter water diversion pressure steel pipes. By arranging at least three second driving devices for independently controlling the rotation speed of the walking wheel groups, at least three walking wheel groups can independently move on the inner wall of the pipeline along the length direction of the pipeline respectively; so that the processing operation of the in-pipeline working device is not restricted by the placement angle of the pipeline; a telescopic adjustment mechanism is also provided, and the telescopic amount of the telescopic driving member can be adjusted according to pipelines with different inner diameters, so that the walking wheel group can be close to the inner wall of the pipeline, thereby being able to stably move along the inner wall of the pipeline; for the processing of curved pipelines, turning can be achieved by controlling the different telescopic lengths of the inner and outer side telescopic driving members at the curved position of the pipeline, and coordinating with the different rotation speeds of the inner and outer side walking wheel groups at the curved position of the pipeline, and the structure is ingenious. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional diagram of the in-pipeline working device and the pipeline of Example 1; Figure 2 is a cross-sectional view of the in-pipeline working device and the pipeline of Example 1; Figure 3 It is a three-dimensional diagram of the in-pipeline operation device of Example 1; Figure 4 is a three-dimensional diagram of the guide rail mechanism of Example 1; Figure 5 for Figure 4 A magnified view of part A; Figure 6 This is a three-dimensional diagram of the in-pipeline working device of Example 2.

[0018] The figures are marked as follows: pipeline 20, supporting frame 11, guide rail mechanism 30, processing mechanism 40, walking wheel group 50, circular guide rail 31, mounting plate 32, first driving device 33, gear 34, toothed chain 35, pulley frame 36, pulley 37, telescopic driving member 61, vertical plate 51, walking wheel 52, safety rope 12, net bag 13. DETAILED DESCRIPTION

[0019] The present invention provides an in-pipeline operation device and a processing operation method. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0020] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0021] Example 1

[0022] like Figures 1 to 5 The pipeline operation device of this embodiment includes: The bearing mechanism includes a bearing frame 11 that can extend into the pipe 20 along the length direction of the pipe 20; The guide rail mechanism 30 is fixed to the carrier frame 11; The processing mechanism 40 can move along the guide rail mechanism 30 and is used for processing the inner wall of the pipe 20; The walking mechanism includes a plurality of walking wheel groups 50 circumferentially distributed around the center of the carrier 11, and a second driving device for independently controlling the rotation speed of the walking wheel groups 50, at least three walking wheel groups 50 are connected to the second driving device (not shown), and each walking wheel group 50 independently walks on the inner wall of the pipe 20 along the length direction of the pipe 20; The telescopic adjustment mechanism includes a plurality of telescopic driving members 61 fixed to the carrier frame 11 and corresponding to the positions of the running wheel group 50 . The telescopic driving members 61 are used to telescopically adjust the distance of the running wheel group 50 relative to the center of the carrier frame 11 .

[0023] The in-pipeline working device of the present embodiment is provided with a bearing mechanism, a guide rail mechanism 30, a processing mechanism 40 and a traveling mechanism. The bearing mechanism includes a bearing frame 11. When the bearing frame 11 extends into the inner side of the pipe 20 along the length direction of the pipe 20, the traveling wheel group 50 can independently travel on the inner wall of the pipe 20, and more than three traveling wheel groups 50 are provided, which can avoid the deviation of the bearing frame 11 when it moves along the inner side of the pipe 20; the guide rail mechanism 30 is provided on the bearing frame 11, and the processing mechanism 40 can travel along the guide rail mechanism 30. The inner wall of the pipe 20 is processed by the processing mechanism 40, and the processing efficiency is high, no human operation is required, and the safety factor is high.

[0024] In this embodiment, at least three second driving devices for independently controlling the rotation speed of the traveling wheel groups are provided, so that at least three traveling wheel groups 50 can independently travel on the inner wall of the pipeline 20 along the length direction of the pipeline 20. By adopting the autonomous traveling mode of the traveling wheel groups 50, compared with the traditional hoisting shaft operation mode, this embodiment can operate not only on the vertically placed pipeline 20, but also on the inclined pipeline 20, and even on the horizontal pipeline 20, without being restricted by the placement angle of the pipeline 20.

[0025] In addition, the present embodiment is also provided with a telescopic adjustment mechanism, which includes a plurality of telescopic driving members 61 fixed to the carrier frame 11 and corresponding to the position of the walking wheel group 50. The telescopic driving member 61 is used to telescopically adjust the distance of the walking wheel group 50 relative to the center of the carrier frame 11. The telescopic driving member 61 has two functions. The first function is: the telescopic amount of the telescopic driving member 61 can be adjusted according to the pipes 20 with different inner diameters, so that the walking wheel group 50 can be close to the inner wall of the pipe 20, so that it can stably move along the inner wall of the pipe 20; the second function is: for the processing of the curved pipe 20, the different telescopic lengths of the telescopic driving members 61 inside and outside the curved position of the pipe 20 are controlled, and the different speeds of the walking wheel groups 50 inside and outside the curved position of the pipe 20 are controlled, so that turning can be achieved, and the structure is ingenious.

[0026] Moreover, at least three walking wheel groups 50 are independently controlled to rotate through the second driving device. The wheels are collectively referred to as power wheels below. The specific number of power wheels depends on the diameter of the pipeline 20. If the diameter of the pipeline 20 is larger, more power wheels are equipped. The remaining walking wheel groups 50 can be set as non-powered wheel groups, but they need to be set at intervals from the power wheels. The advantage of this is that it can save equipment costs.

[0027] For further information, please refer to Figure 4 and Figure 5 The pipe 20 of this embodiment is a circular pipe, specifically a water diversion pressure steel pipe with a diameter of more than 2m used in water conservancy and hydropower projects; the guide rail mechanism 30 includes a circular guide rail 31 fixed to the carrier frame 11, a mounting plate 32 sliding around the circular guide rail 31, a first drive device 33 fixed to the mounting plate 32, a gear 34 connected to the output end of the first drive device 33, and a toothed chain 35 fixed to the circular guide rail 31 in an annular shape and meshing with the gear 34; the processing mechanism 40 is fixed to the mounting plate 32. The first drive device 33 of this embodiment adopts a servo motor. In some processing scenarios that need to be immersed in water, the second drive device can also adopt a waterproof motor.

[0028] It should be noted that the pipe 20 of this embodiment is a circular structure, which is only one of the implementation methods. In other embodiments, internal processing can also be performed on polygonal pipes. Accordingly, the guide rail mechanism 30 adopts a structure that is compatible with the polygonal pipe, or adopts a controllable carrying device to carry the processing mechanism 40 along a predetermined trajectory, so that it can adapt to the internal processing of the polygonal pipe.

[0029] For further information, please refer to Figure 4 and Figure 5 The guide rail mechanism 30 of this embodiment also includes a pulley frame 36 fixed to the mounting plate 32 and a pulley 37 rotatably arranged on the pulley frame 36; the pulley 37 slides along the circular guide rail 31. By setting the pulley 37, the sliding stability of the guide rail mechanism 30 along the predetermined track is improved.

[0030] The walking wheel group 50 includes a vertical plate 51 connected to the telescopic driving end of the telescopic driving member 61, and a walking wheel 52 rotatably arranged on the vertical plate 51; the second driving device is fixed to the vertical plate 51 and its driving end is transmission-connected to the walking wheel 52, and at least one walking wheel 52 on the same vertical plate 51 is driven to rotate by the second driving device. The second driving device adopts a servo motor, which can accurately control the rotation speed, so as to better control the turning of the entire walking mechanism; in addition, in some processing scenarios that need to be immersed in water, the second driving device can also adopt a waterproof motor; the number of walking wheels 52 is not less than two and they are arranged in sequence along the length direction of the pipeline 20. By setting two walking wheels 52, this embodiment can make the carrier frame 11 stable and not tilted when entering the interior of the pipeline 20.

[0031] Furthermore, the telescopic driving member 61 is a hydraulic cylinder, which is connected to a hydraulic device. Each hydraulic cylinder is provided with a pressure controller. By setting the pressure controller, the hydraulic pressure of the hydraulic device is monitored in real time to ensure that after the telescopic driving member 61 is extended, the walking wheel group 50 can maintain a high grip on the inner wall of the pipe 20.

[0032] It should be noted that the telescopic drive member 61 used in this embodiment is a hydraulic cylinder, which is only one of the preferred implementations. In other embodiments, the telescopic drive member 61 can also use pneumatic devices, electric devices, mechanical control, etc. to control the walking wheel group 50 to move radially outward along the pipe 20, thereby improving the grip of the walking wheel group 50 on the inner wall of the pipe 20, so that the walking mechanism can be stabilized at a predetermined position on the inner side of the pipe 20, which is convenient for the processing mechanism 40 to perform processing.

[0033] The upper end of the support frame 11 will be connected to some lifting ropes for lifting. The lifting ropes can be retracted and released by a crane arranged on the outer side of the upper end of the pipe 20, so as to adjust the height of the support frame 11 on the inner side of the pipe 20 to adapt to operations at different heights. In order to improve the safety factor, at least one safety rope 12 is connected to the support frame 11 of this embodiment. The use of the safety rope 12 can effectively avoid the occurrence of falling injury accidents. The upper end of the safety rope 12 can be passed through the outside of the pipe 20 and tied to some fixed objects to prevent the support frame 11 from falling.

[0034] The processing mechanism 40 is an unmanned operating robot; the use of an unmanned operating robot does not require manual operation, has better safety performance and higher processing accuracy; in addition, since there are no workers, operations can also be carried out in scenes such as inclined pipes or those that need to be immersed in water.

[0035] The unmanned operation robot can be equipped with different functions according to actual processing requirements. Specifically, it can be installed with one of an automatic grinding device, an automatic shot blasting device, an automatic spraying device, an automatic powder spraying device, an automatic welding device, an automatic detection device, and an automatic dredging device. The above only mentions some of the more commonly used processing operations for the inside of the pipeline 20. They can be selected according to different processing operation requirements and are not limited to the processing devices mentioned above.

[0036] This embodiment also discloses a method for processing in a pipeline, using an in-pipeline processing device, comprising the following steps: S1 extends the carrying mechanism into the pipe 20 along the length direction of the pipe 20, and the walking wheel set 50 of the walking mechanism moves along the inner wall of the pipe 20 along the length direction of the pipe 20 until reaching the pre-processing position; S2 The processing mechanism 40 moves along the guide rail mechanism 30, and the inner wall of the pipeline 20 is processed by the processing mechanism 40, which has high processing efficiency, does not require human operation, and has a high safety factor.

[0037] Example 2

[0038] like Figure 6 As shown, compared with Example 1, the in-pipeline working device disclosed in this embodiment has a flexible baffle or net bag 13 connected to the lower end of the supporting frame 11 for preventing falling objects. The flexible baffle or net bag 13 can catch accidental dropped objects during processing to prevent the dropped objects from falling directly from the pipeline 20.

[0039] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. An in-pipeline operation device, characterized in that: include: A bearing mechanism, comprising a bearing frame (11) capable of extending into the pipe (20) along the length direction of the pipe (20); A guide rail mechanism (30) fixed to the carrier frame (11); A processing mechanism (40) capable of moving along the guide rail mechanism (30) and used for processing the inner wall of the pipe (20); A walking mechanism, comprising a plurality of walking wheel assemblies (50) circumferentially distributed around the center of the carrier (11), and a second driving device for independently controlling the rotation speed of the walking wheel assemblies (50), at least three of the walking wheel assemblies (50) being connected to the second driving device, and each of the walking wheel assemblies (50) independently walking on the inner wall of the pipeline (20) along the length direction of the pipeline (20); The telescopic adjustment mechanism comprises a plurality of telescopic driving members (61) fixed to the carrier frame (11) and corresponding to the positions of the running wheel group (50), wherein the telescopic driving members (61) are used to telescopically adjust the distance of the running wheel group (50) relative to the center of the carrier frame (11).

2. The in-pipeline working device according to claim 1, characterized in that: The pipe (20) is a circular pipe; The guide rail mechanism (30) comprises a circular guide rail (31) fixed to the carrier frame (11), a mounting plate (32) sliding around the circular guide rail (31), a first driving device (33) fixed to the mounting plate (32), a gear (34) connected to the output end of the first driving device (33), and a toothed chain (35) fixed to the circular guide rail (31) in an annular shape and meshing with the gear (34); The processing mechanism (40) is fixed to the mounting plate (32).

3. The pipeline operation device according to claim 2, characterized in that: The guide rail mechanism (30) further comprises a pulley frame (36) fixed to the mounting plate (32), and a pulley (37) rotatably disposed on the pulley frame (36); The pulley (37) slides along the circular guide rail (31).

4. The in-pipeline working device according to claim 1, characterized in that: The walking wheel assembly (50) comprises a vertical plate (51) connected to the telescopic driving end of the telescopic driving member (61), and a walking wheel (52) rotatably arranged on the vertical plate (51); the second driving device is fixed to the vertical plate (51) and its driving end is drivingly connected to the walking wheel (52); The number of the running wheels (52) is no less than two and they are arranged in sequence along the length direction of the pipeline (20).

5. The in-pipeline working device according to claim 1, characterized in that: The telescopic driving member (61) is a hydraulic cylinder, the hydraulic cylinder is connected to a hydraulic device, and each hydraulic cylinder is provided with a pressure controller.

6. The in-pipeline working device according to claim 1, characterized in that: At least one safety rope (12) is connected to the supporting frame (11).

7. The in-pipeline working device according to claim 1, characterized in that: A flexible baffle or a net bag (13) for preventing falling objects is connected to the lower end of the support frame (11).

8. The in-pipeline working device according to claim 1, characterized in that: The processing mechanism (40) is an unmanned operation robot; The unmanned operation robot is equipped with at least one of an automatic grinding device, an automatic shot blasting device, an automatic spraying device, an automatic powder spraying device, an automatic welding device, an automatic detection device, and an automatic dredging device.

9. A method for processing in a pipeline, characterized in that: The pipeline operation device according to any one of claims 1 to 8 is used, comprising the following steps: S1: extending the carrying mechanism into the pipe (20) along the length direction of the pipe (20), and during the extending process, the walking wheel set (50) of the walking mechanism autonomously moves along the length direction of the pipe (20) on the inner wall of the pipe (20) until reaching the pre-processing position; S2 The processing mechanism (40) moves along the guide rail mechanism (30) and processes the inner wall of the pipe (20) using the processing mechanism (40).

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