Flexible positioning and conveying device of pipeline maintenance robot

Abstract

The invention belongs to the field of pipeline maintenance, and particularly relates to a pipeline maintenance robot flexible positioning conveying device which comprises a robot primary positioning fixed plate, a robot secondary positioning movable plate, a pipeline manhole fixing flange and an electric pulley block. The pipeline manhole fixing flange is fixedly connected with the manhole; the robot primary positioning fixing plate and the bottom pipe wall of the pipeline are located on the same plane and fixedly connected to the outer side of the manhole. One end of the robot secondary positioning plate is movably connected with the robot primary positioning fixing plate; the electric pulley block is located at the horizontal central axis position of the manhole and fixedly connected to the pipe wall of the manhole. The connecting rope penetrates through the electric pulley block, one end of the connecting rope is connected with the hoisting mechanism, the other end of the connecting rope is connected with the robot secondary positioning plate, and the length of the connecting rope is adjusted through the electric pulley block to control the robot secondary positioning plate to turn up and down relative to the robot primary positioning fixing plate. According to the device, the working efficiency can be greatly improved, and personnel health injury caused by working is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of pipeline maintenance, and particularly relates to a flexible positioning and conveying device for a pipeline maintenance robot. Background Art

[0002] The flexible positioning and conveying device for a pipeline maintenance robot is mainly used to deliver working equipment into the working environment. The narrow entrance of the working environment may cause the operator to be unable to pass through, or the internal environment of the pipeline is complex, corrosive, toxic, or the internal space height is too high, making manual operation difficult. Moreover, when manually transporting equipment, the surface corrosion and toxic environment may cause permanent harm to the health of personnel, increasing the safety risk of confined space operations. In addition, the dark and airtight internal environment is not suitable for manual operation. Summary of the Invention

[0003] The purpose of the present invention is to provide a flexible positioning and conveying device for a pipeline maintenance robot, which can greatly improve the work efficiency, reduce the work cost, reduce the health damage of personnel caused by the work, and achieve stable and safe completion of the required operations.

[0004] Technical solutions for achieving the purpose of the present invention:

[0005] A flexible positioning and conveying device for a pipeline maintenance robot, the device includes: a primary positioning fixing plate of the robot, a secondary positioning movable plate of the robot, a pipeline manhole fixing flange, and an electric pulley group; the pipeline manhole fixing flange is fixedly connected to the manhole; the primary positioning fixing plate of the robot is in the same plane as the bottom pipe wall of the pipeline and is fixedly connected to the outside of the manhole; one end of the secondary positioning plate of the robot is movably connected to the primary positioning fixing plate of the robot; the electric pulley group is located at the horizontal central axis position of the manhole and is fixedly connected to the manhole pipe wall; a connecting rope passes through the electric pulley group, one end of the connecting rope is connected to a hoisting mechanism, and the other end is connected to the secondary positioning plate of the robot. The length of the connecting rope is adjusted by the electric pulley group to control the up and down flipping of the secondary positioning plate of the robot relative to the primary positioning fixing plate of the robot.

[0006] The pipeline manhole fixing flange is fixedly connected to the manhole through the cooperation of fastening bolts and the fixing bolt positioning holes of the manhole.

[0007] A plurality of electric pulley groups are symmetrically arranged along the horizontal central axis of the manhole for the device.

[0008] The angle of up and down flipping of the secondary positioning plate of the robot relative to the primary positioning fixing plate of the robot is 0 to 150°.

[0009] The secondary positioning movable plate of the robot and the primary positioning fixing plate of the robot are flexibly connected.

[0010] The materials of the robot primary positioning fixed plate, the robot secondary positioning movable plate, and the pipeline manhole fixed flange are carbon steel, aluminum alloy, or stainless steel.

[0011] The surfaces of the robot primary positioning fixed plate and the robot secondary positioning movable plate are smooth, without foreign objects or unevenness.

[0012] The electric pulley block is vertically arranged with the robot primary positioning fixed plate.

[0013] The beneficial technical effects of the present invention are as follows:

[0014] 1. A flexible positioning and conveying device for a pipeline maintenance robot provided by the present invention is easy to process, convenient for component installation and replacement, low in cost, safe and reliable, and has low requirements for the operation technical level of workers.

[0015] 2. A flexible positioning and conveying device for a pipeline maintenance robot provided by the present invention adopts automated conveying, greatly reducing the risks that the surface corrosion and toxic environment may cause permanent harm to the health of workers during manual operation, and the internal environment being dark and airtight is not suitable for manual operation.

[0016] 3. A flexible positioning and conveying device for a pipeline maintenance robot provided by the present invention can adapt to situations where the entrance of the working environment is small, which may prevent workers from passing through, or the manhole environment is complex, corrosive, toxic, or the internal space height is too high, making manual operation difficult. At the same time, it avoids problems such as the surface corrosion and toxic environment of the equipment transported manually may cause permanent harm to the health of workers, increasing the safety risks of working in confined spaces, and the internal environment being dark and airtight is not suitable for manual operation.

[0017] 4. Using the flexible positioning and conveying device for a pipeline maintenance robot provided by the present invention for pipeline operations has high working efficiency, high stability, high safety performance, is safe and reliable, and has low cost. Description of the Drawings

[0018] Figure 1 It is the front view of a flexible positioning and conveying device for a pipeline maintenance robot provided by the present invention;

[0019] Figure 2 It is the side view of a flexible positioning and conveying device for a pipeline maintenance robot provided by the present invention.

[0020] In the figure: 1. Robot primary positioning fixed plate; 2. Robot secondary positioning movable plate; 3. Pipeline manhole fixed flange; 5. Manhole fixed bolt positioning hole; 6. Electric pulley block. Detailed Embodiments

[0021] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0022] As shown Figure 1-2 in the figure, a flexible positioning and conveying device for a pipeline maintenance robot provided by the present invention includes: a robot primary positioning fixing plate 1, a robot secondary positioning movable plate 2, a pipeline manhole fixing flange 3, a manhole fixing bolt positioning hole 5, and an electric pulley group 6.

[0023] The pipeline manhole fixing flange 3 is tightly assembled with the manhole through the cooperation of fastening bolts and the manhole fixing bolt positioning hole 5 to ensure the operation stability of the device; the robot primary positioning fixing plate 1 is in the same plane as the bottom pipe wall of the pipeline and is fixedly connected to the outside of the manhole; one end of the robot secondary positioning plate 2 is movably connected to the robot primary positioning fixing plate 1; the electric pulley group 6 is located at a position of ±20%Φ of the horizontal central axis of the manhole, with two on the front and two on the back showing a symmetric and parallel posture, and is fixedly connected to the manhole pipe wall; the connecting rope passes through the electric pulley group 6, one end of the connecting rope is connected to the hoisting mechanism, and the other end is connected to the robot secondary positioning plate 2, and the robot secondary positioning plate 2 is controlled to flip up and down relative to the robot primary positioning fixing plate 1 through the electric pulley group 6.

[0024] The robot secondary positioning movable plate 2 is connected to the electric pulley group 6 by a connecting rope. By adjusting the length of the connecting rope, the working posture of the robot secondary positioning movable plate 2 is adjusted, that is, the flipping angle of the robot secondary positioning movable plate 2, so as to meet the requirements of different working positions. The downward flipping angle of the robot secondary positioning movable plate 2 is 0 to 150°, and the commonly used angles during work are 0° and 110°. If there are specific working environment requirements, the working angle of the robot secondary positioning movable plate 2 can also be adjusted by the connecting rope connected to the lifting ring on the hoisting mechanism.

[0025] The position of the robot secondary positioning movable plate 2 remains unchanged after it falls. During the operation process, the robot needs to enter and exit the pipeline multiple times. The robot takes the robot secondary positioning movable plate 2 as the operation origin of the robot.

[0026] A flexible connection is adopted between the robot secondary positioning movable plate 2 and the robot primary positioning fixing plate 1 for the independent flipping function of the robot secondary positioning movable plate 2 during work.

[0027] The robot primary positioning fixing plate 1, the robot secondary positioning movable plate 2, and the pipeline manhole fixing flange 3 are made of materials such as carbon steel, aluminum alloy, and stainless steel, which can realize the stable support function of the device.

[0028] The surfaces of the robot secondary positioning movable plate 2 and the robot primary positioning fixing plate 1 are smooth, and it is required that there are no foreign objects and no unevenness to avoid affecting the bumps and pose errors caused during the robot's loading process.

[0029] The electric pulley block 6 is perpendicular to the robot primary positioning fixing plate 1 to prevent the connecting rope from falling off and slipping due to angular skew, which may affect the retraction and extension of the robot secondary positioning movable plate 2 and the normal and effective operation of the robot.

[0030] When using the flexible positioning and conveying device for pipeline maintenance robots provided by the present invention to perform pipeline operations, the specific steps are as follows:

[0031] Connect the robot working mechanism to the robot body. After the functional test is confirmed to be correct, professional operators carry the robot onto the robot primary positioning fixing plate 1 and check whether the magnetic adsorption function of the robot is normal;

[0032] Professional operators operate to turn on the lighting system and remotely control the robot body to move forward onto the robot secondary positioning movable plate 2. By adjusting the length of the connecting rope between the electric pulley block 6 and the robot secondary positioning movable plate 2, lower the robot secondary positioning movable plate 2 to closely adhere to the inner wall. Then, remotely control the robot to be sent into the pipe again and ensure that the robot is adsorbed on the pipe wall;

[0033] After the robot completes the operation, the robot retreats onto the robot secondary positioning movable plate 2. By adjusting the length of the connecting rope between the electric pulley block 6 and the robot secondary positioning movable plate 2, retract the robot secondary positioning movable plate 2;

[0034] When the robot secondary positioning movable plate 2 and the robot primary positioning fixing plate 1 are in a coplanar state, professional operators operate to remotely control the robot body to move forward onto the robot primary positioning movable plate 1;

[0035] After the robot stops working, professional operators recycle the robot.

[0036] The present invention has been described in detail above in conjunction with the accompanying drawings and embodiments. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the gist of the present invention. The content not described in detail in the present invention can all adopt the prior art.

Claims

1. A flexible positioning and conveying device for a pipeline maintenance robot, characterized in that, the device includes: a robot primary positioning fixed plate (1), a robot secondary positioning movable plate (2), a pipeline manhole fixed flange (3), and an electric pulley block (6); the pipeline manhole fixed flange (3) is fixedly connected to the manhole; the robot primary positioning fixed plate (1) is in the same plane as the bottom pipe wall of the pipeline and is fixedly connected to the outside of the manhole; one end of the robot secondary positioning plate (2) is movably connected to the robot primary positioning fixed plate (1); the electric pulley block (6) is located at the horizontal central axis position of the manhole and is fixedly connected to the manhole pipe wall; the connecting rope passes through the electric pulley block (6), one end of the connecting rope is connected to the hoisting mechanism, and the other end is connected to the robot secondary positioning plate (2), and the length of the connecting rope is adjusted by the electric pulley block (6) to control the up and down flipping of the robot secondary positioning plate (2) relative to the robot primary positioning fixed plate (1).

2. The flexible positioning and conveying device for a pipeline maintenance robot according to claim 1, characterized in that, the pipeline manhole fixed flange (3) is fixedly connected to the manhole through the cooperation of fastening bolts and the manhole fixing bolt positioning holes (5).

3. The flexible positioning and conveying device for a pipeline maintenance robot according to claim 1, characterized in that, a plurality of electric pulley blocks (6) are symmetrically arranged along the horizontal central axis of the manhole.

4. The flexible positioning and conveying device for a pipeline maintenance robot according to claim 1, characterized in that, the angle of up and down flipping of the robot secondary positioning plate (2) relative to the robot primary positioning fixed plate (1) is 0 to 150°.

5. The flexible positioning and conveying device for a pipeline maintenance robot according to claim 1, characterized in that, a flexible connection is adopted between the robot secondary positioning movable plate (2) and the robot primary positioning fixed plate (1).

6. The flexible positioning and conveying device for a pipeline maintenance robot according to claim 1, characterized in that, the materials of the robot primary positioning fixed plate (1), the robot secondary positioning movable plate (2), and the pipeline manhole fixed flange (3) are carbon steel, aluminum alloy or stainless steel.

7. The flexible positioning and conveying device for a pipeline maintenance robot according to claim 1, characterized in that, the surfaces of the robot primary positioning fixed plate (1) and the robot secondary positioning movable plate (2) are smooth, without foreign objects and unevenness.

8. The flexible positioning and conveying device for a pipeline maintenance robot according to claim 1, characterized in that, the electric pulley block (6) is vertically arranged with respect to the robot primary positioning fixed plate (1).

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