Pipeline inner wall operation device with automatic deviation correction function

Abstract

The embodiment of the utility model discloses a pipeline inner wall operation device with an automatic deviation correction function, which mainly comprises an advancing assembly, a horizontal detection assembly and a circumferential transmission assembly, wherein a horizontal calibration piece of the horizontal detection assembly and a rotary driving motor, a first rotary driving piece and a second rotary driving piece of the circumferential transmission assembly are mounted on a mounting frame of the advancing assembly, and are connected to the rotary driving motor through a plurality of electrode pieces arranged on the horizontal calibration piece; and different electrode pieces are communicated under different inclined states of the horizontal calibration piece so as to control the rotating direction of the rotating driving motor, so that the first rotating transmission piece is driven to be matched with the combination relation of the first rotating transmission piece and the second rotating transmission piece and the position relation of the inner wall of the pipeline to rectify and calibrate the running state of the device. The pipeline inner wall operation device has the advantages of being simple in structure and capable of automatically achieving deviation rectification during operation, and the efficiency of operation such as pipeline inner wall detection and cleaning can be improved with the assistance of the device.

Description

Technical Field

[0001] The present application relates to the technical field of calibration equipment, and in particular to a pipeline inner wall running device with an automatic deviation correction function. Background Art

[0002] In large-scale water and gas pipeline engineering applications, some special equipment is often required to operate inside the pipe, such as smoke exhaust pipe cleaning robots for special aluminum plants, special robots for large-scale water vapor pipeline inspection and weld cleaning, etc. During the operation of these devices along the inner wall of the pipeline, due to the ovality of the pipe wall or foreign matter on the inner wall, the equipment will deflect in the circumferential direction inside the pipeline. This deflection may affect the quality of inspection or cleaning operations, and because the equipment is inside the pipeline, it is difficult for operators to calibrate the equipment outside the pipeline or at the port. Even if it is calibrated at the port through tools or other means, it is difficult to ensure a good calibration effect and accuracy, thus affecting the overall work efficiency of the equipment. Utility Model Content

[0003] The main purpose of the present application is to provide a pipeline inner wall running device with an automatic deviation correction function, aiming to solve the technical problem that the existing pipeline inner wall running device is inconvenient and difficult to correct under the condition of circumferential deviation.

[0004] To achieve the above-mentioned purpose, the present application proposes a pipeline inner wall running device with an automatic deviation correction function, the pipeline inner wall running device is installed inside the pipeline, and the pipeline inner wall running device includes:

[0005] Traveling assembly; the traveling assembly is movably arranged in the pipe diameter direction of the pipeline, and includes a mounting frame;

[0006] A horizontal detection component; the horizontal detection component comprises a horizontal calibration member horizontally arranged on the mounting frame and a plurality of electrode members arranged side by side on the horizontal calibration member, each electrode member passing through one side of the horizontal calibration member and extending to the inside;

[0007] A circumferential transmission assembly, the circumferential transmission assembly includes a rotary drive motor mounted on the mounting frame and perpendicular to the cross section of the pipeline, the output end of the rotary drive motor is connected to a first rotary transmission member to drive the first rotary transmission member to rotate, the first rotary transmission member abuts against a second rotary transmission member for transmission, the second rotary transmission member abuts against an inner wall of the pipeline, the rotary drive motor is electrically connected to a plurality of electrode members, and is powered on and rotated when two electrode members of the plurality of electrode members are connected.

[0008] Optionally, the pipeline inner wall running device further comprises a rolling deviation correcting member, which is coaxially connected to the second rotating transmission member and rolls circumferentially along the inner wall of the pipeline under the drive of the second rotating transmission member.

[0009] Optionally, the second rotating transmission member and the rolling correction member form a driven correction group, and the pipeline inner wall running device includes multiple driven correction groups, which are all arranged on the circumference of the first rotating transmission member and correct according to the transmission rotation of the first rotating transmission member.

[0010] Optionally, the circumferential transmission assembly includes two, which are respectively arranged at both ends of the traveling direction of the traveling assembly.

[0011] Optionally, the mounting frame is a T-shaped plate, and the driven deviation correction groups of the circumferential transmission member are respectively arranged at the three ends of the T-shaped plate.

[0012] Optionally, the horizontal calibration member is a bubble level, and a plurality of electrode members penetrate and extend into the interior of the level, and two of the electrodes are connected at different tilt states through a conductive medium therein.

[0013] Optionally, the first rotating transmission member and the second rotating transmission member are gear structures, and the rotating drive motor is a servo motor.

[0014] Optionally, the pipeline inner wall running device also includes a traction member, and the traction member is arranged at one end of the traveling component.

[0015] Optionally, the traveling assembly further comprises a pipe wall cleaning piece, wherein the pipe wall cleaning piece abuts against an inner wall of the pipe and is used for cleaning the inner wall of the pipe.

[0016] Optionally, the traveling assembly further comprises a pipe wall detection member, the pipe wall detection member being used to detect the inner wall of the pipe.

[0017] Compared with the existing in-pipe running devices, the in-pipe wall running device of the present application has at least the following beneficial effects: by movably arranging a traveling component in the pipe diameter direction of the pipeline, the entire operating device is driven to move in the pipeline, and the mounting frame of the traveling component can be installed with a horizontal detection component and a circumferential transmission component to follow the operating device to move together; the horizontal calibration part of the horizontal detection component is provided with a plurality of electrode parts that penetrate the horizontal calibration part and extend into the interior thereof, and under different inclination states of the horizontal calibration part, the calibration medium inside it can connect two electrodes of different groups, thereby forming a closed circuit to supply power to the rotary drive motor, so that the rotary drive motor works and drives the first rotary transmission part and the second rotary transmission part to rotate, and because the second rotary transmission part abuts against the inner wall of the pipeline, under the condition that the inner wall of the pipeline is fixed, the second rotary transmission part will drive the operating device as a whole to rotate in the circumferential direction, so that after it reaches the expected correction posture, the two electrodes are disconnected and stop rotating, thereby realizing circumferential correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0019] Figure 1 This is a schematic diagram of the cross-sectional structure of the operating device of this application when it is running in a pipeline;

[0020] Figure 2 A schematic diagram of the structure of the level detection component of the operating device of this application;

[0021] Figure 3 This is a structural schematic diagram of a cross section of one end of an operating device in one embodiment of the operating device of the present application;

[0022] Figure 4 This is a schematic diagram of the structure of a circumferential transmission assembly in one embodiment of the operating device of the present application;

[0023] Reference numerals: 10, pipeline; 20, traveling assembly; 201, mounting frame; 30, horizontal detection assembly; 301, horizontal calibration member; 302, electrode member; 40, circumferential transmission assembly; 401, rotary drive motor; 402, first rotary transmission member; 403, second rotary transmission member; 50, rolling deviation correction member; 60, pipe wall cleaning member; 70, traction member;

[0024] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0027] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0029] like Figure 1 The figure shows a pipeline 10 inner wall running device with an automatic deviation correction function, the pipeline 10 inner wall running device is installed inside the pipeline 10, and the pipeline 10 inner wall running device includes:

[0030] Traveling assembly 20; the traveling assembly 20 is movably arranged in the pipe diameter direction of the pipe 10, and includes a mounting frame 201;

[0031] A horizontal detection component 30; the horizontal detection component 30 comprises a horizontal calibration member 301 horizontally arranged on the mounting frame 201 and a plurality of electrode members 302 arranged side by side on the horizontal calibration member 301, each electrode member 302 passes through one side of the horizontal calibration member 301 and extends to the inside;

[0032] The circumferential transmission assembly 40 includes a rotary drive motor 401 mounted on the mounting frame 201 and perpendicular to the cross section of the pipeline 10, the output end of the rotary drive motor 401 is connected to the first rotary transmission member 402 to drive the first rotary transmission member 402 to rotate, the first rotary transmission member 402 is abutted against the second rotary transmission member 403 for transmission, the second rotary transmission member 403 is abutted against the inner wall of the pipeline 10, the rotary drive motor 401 is electrically connected to the plurality of electrode members 302, and is powered on and rotated when two electrode members 302 of the plurality of electrode members 302 are connected.

[0033] In this embodiment, the traveling component 20 is a cylindrical frame that matches the cross-section of the internal cavity of the pipe 10. This structural form is conducive to the smooth movement of the traveling component 20 in the pipe 10 (for example, a straight pipe). At the same time, this structural form is also conducive to avoiding axial tipping of the operating device in the pipe 10, and has good axial structural stability; the mounting frame 201 is fixedly connected or integrally formed at the head or tail of the cylindrical frame in the traveling direction with a plate structure, and is provided with a mounting position. The setting method of the mounting position can be changed accordingly according to different implementation methods, and this application will explain this in the corresponding implementation method.

[0034] The level detection component 30 is mainly a level calibration piece 301 with improved features and mounted horizontally on the mounting frame 201, which can measure and display the circumferential deflection of the traveling component 20. Taking a bubble level as the level calibration piece 301 for illustration, the observation part of the bubble level is generally a rectangular or cylindrical cavity filled with a calibration medium, such as water, alcohol or other conductive mixture liquids. A bubble is left in the cavity filled with the calibration medium. The bubble level is located in the middle of the rectangular or cylindrical cavity in a completely horizontal state, that is, the principle of this type of equipment is to determine the horizontal relationship by the position of the bubble; the improved feature of the level calibration piece 301 is that there are a number of electrode pieces 302 arranged side by side on the upper side of the cavity and extending into the cavity, see Figure 2 , assume that there are 5 electrode members 302, namely a, b, c, d, and e, one end of which extends to the bubble position of the bubble level. When the bubble level is horizontal, the electrodes are not connected, and the equipment connected to them is in an open circuit state; when the bubble level is tilted to the left, the bubble moves to the right under the flow of the internal calibration medium, causing electrodes a and b to contact the calibration medium and connect with the a and b electrodes through the calibration medium, and then the connected equipment is powered on; conversely, the same is true for tilting to the other side, which will not be repeated here.

[0035] The rotary drive motor 401 of the circumferential transmission assembly 40 is a device connected to the electrode member 302. The rotary drive motor 401 is mounted on the mounting frame 201 and is located at the axial position of the pipeline 10. Its output end is fixedly connected to the first rotary transmission member 402. When the bubble level is tilted, the electrode of the rotary drive motor 401 is connected and energized to drive the first rotary transmission member 402 to rotate, and the second rotary transmission member 403 engaged therewith is driven to rotate. One end of the second rotary drive member abuts against the inner wall of the pipeline 10. When it rotates, it drives the operating device as a whole to produce circumferential deflection under the action of friction.

[0036] Optionally, the first rotating transmission member 402 and the second rotating transmission member 403 are gears.

[0037] Optionally, the rotation driving electrode is a servo motor capable of realizing bidirectional rotation.

[0038] In this embodiment, a traveling component 20 is movably arranged in the pipe diameter direction of the pipeline 10 to drive the entire operating device to move in the pipeline 10, and the mounting frame 201 of the traveling component 20 can be installed with a horizontal detection component 30 and a circumferential transmission component 40 to move together with the operating device; the horizontal calibration component 301 of the horizontal detection component 30 is provided with a plurality of electrode components 302 that penetrate the horizontal calibration component 301 and extend into the interior thereof, and under different tilt states of the horizontal calibration component 301, the calibration medium inside it can connect two electrodes of different groups, thereby forming a closed circuit to supply power to the rotary drive motor 401, so that the rotary drive motor 401 works and drives the first rotary transmission component 402 and the second rotary transmission component 403 to rotate, and because the second rotary transmission component 403 abuts against the inner wall of the pipeline 10, under the condition that the inner wall of the pipeline 10 is fixed, the second rotary transmission component 403 will drive the operating device as a whole to rotate in the circumferential direction, so that after it reaches the expected correction posture, the two electrodes are disconnected and stop rotating, thereby realizing circumferential correction.

[0039] Combining the above embodiments with Figure 1 , 2 3. An overall introduction to the deviation correction principle of the operating device of this application:

[0040] When the running device moves in one direction in the pipeline 10, due to foreign matter or pipeline structure reasons, the running device generates circumferential (cross-sectional) deflection in the pipeline 10;

[0041] After the running device produces circumferential deflection, combined with Figure 2Taking the leftward deflection as an example, the calibration medium in the horizontal calibration member 301 flows to the left and covers the two electrodes d and e on the left. Under the condition that it has conductive properties, the electrodes d and e are connected to form a path, driving the rotating drive member electrically connected to each electrode member 302 to work, so that the rotating drive member drives the first rotating transmission member 402 to rotate counterclockwise, and correspondingly, the second rotating transmission member 403 rotates clockwise. Due to the action relationship of abutting against the inner wall of the pipeline 10, the operating device as a whole also rotates counterclockwise in the inner circumference of the pipeline 10, and starts to correct the deviation;

[0042] When the whole operating device reaches horizontal level, the calibration medium returns to horizontal state, electrodes d and e are empty, the conductive function of the calibration medium is lost, and a short circuit is formed, so that the rotation drive motor 401 stops working and the deviation correction is completed.

[0043] The above process is only a correction process selected for the purpose of explaining the correction principle. In actual work, the operating device can realize correction through the above process as long as there is a circumferential deviation in either clockwise or counterclockwise direction.

[0044] As an implementation mode, based on the aforementioned embodiment, the inner wall running device of the pipeline 10 also includes a rolling correction member 50, and the rolling correction member 50 is coaxially connected to the second rotating transmission member 403 and rolls circumferentially along the inner wall of the pipeline 10 under the drive of the second rotating transmission member 403.

[0045] In the aforementioned embodiment, the deviation correction is mainly achieved through the interaction relationship between the second rotating transmission member 403 and the pipe wall. The main function of the second rotating transmission member 403 is rotational transmission. The deviation correction using the second rotating transmission member 403 may not be ideal. For example, in an embodiment where the second rotating transmission member 403 is a gear, the friction effect between it and the inner wall of the pipe 10 makes it difficult to achieve the deviation correction. Therefore, in this embodiment, the deviation correction is achieved by providing a rolling deviation correction member 50 coaxial with the second rotating transmission member 403 and making it abut against the inner wall of the pipe 10.

[0046] Optionally, the rolling deviation-correcting member 50 is a roller with a rough surface.

[0047] In the aforementioned embodiment, there is only one second rotating transmission member 403 (and rolling correction member 50), and accordingly the contact point with the inner wall of the pipe 10 is single, and the effect of driving the overall correction of the running device may not be good, and multiple force points are required to improve the circumferential rotation efficiency and stability. Therefore, the present application also provides an embodiment to solve the above problem. On the basis of the aforementioned embodiment, optionally, the second rotating transmission member 403 and the rolling correction member 50 are a group of driven correction groups, and the inner wall running device of the pipe 10 includes multiple groups of driven correction groups, which are all arranged on the circumference of the first rotating transmission member 402 and corrected according to the transmission rotation of the first rotating transmission member 402.

[0048] Specifically, see Figure 3 Or 4, in this embodiment, the mounting frame 201 is a T-shaped plate structure, and each end of the mounting frame 201 is provided with a mounting position for mounting a set of driven deviation correction groups, and the second rotating transmission member 403 of each set of driven deviation correction groups is in abutment with the first rotating transmission member 402 for transmission. The first rotating transmission member 402 and the second rotating transmission member 403 of this embodiment are similarly implemented by a gear structure. Through three sets of driven deviation correction groups, the operating device has three deviation correction action positions on the inner wall of the pipeline 10, and the circumferential force of each driven deviation correction group will be decomposed when the deviation correction is driven by the rotating driving member, thereby improving the deviation correction efficiency.

[0049] In some embodiments, the first rotating transmission member 402 and the rotating drive motor 401 are respectively arranged in corresponding numbers with the driven correction group, that is, the circumferential transmission assembly 40 includes a rotating drive motor 401, a first rotating transmission member 402, a second rotating transmission assembly and a rolling correction member 50 corresponding to each other in multiple combinations, so as to improve the transmission efficiency of each driven correction group.

[0050] It can be understood that the number of driven correction groups can be selected according to the specific application scenario and is not limited to the number in the above-mentioned implementation mode.

[0051] Optionally, the circumferential transmission assembly 40 includes two circumferential transmission assemblies 40 , which are respectively arranged at two ends of the traveling direction of the traveling assembly 20 .

[0052] By respectively arranging the same circumferential components at the head and tail of the traveling component 20 in the traveling direction, increasing the deviation correction position and driving source, the deviation correction efficiency of the operating device of the present application in the pipeline 10 can be further improved.

[0053] As an implementation mode, based on the aforementioned embodiment, in order to facilitate the operator to control the traveling state of the operating device in the pipeline 10, optionally, the inner wall running device of the pipeline 10 also includes a traction member 70, and the traction member 70 is arranged at one end of the traveling component 20.

[0054] In some application scenarios such as clearing debris from the inner wall of the pipe 10, the deviation correction function may be blocked by some attachments on the inner wall of the pipe 10 and cannot be achieved. Therefore, the present application also provides an implementation method of an operating device, specifically: the traveling component 20 also includes a pipe wall cleaning component 60, and the pipe wall cleaning component 60 abuts against the inner wall of the pipe 10 for cleaning the inner wall of the pipe 10.

[0055] Specifically, the pipe wall cleaning piece 60 can be a plate-like structure that matches the cross-sectional size and shape of the pipe 10. The installation direction is perpendicular to the traveling direction of the traveling component 20. The edge of the pipe wall cleaning piece 60 abuts against the inner wall of the pipe 10. Under the driving action of the traveling component 20, the attachments on the pipe wall are scraped off, thereby facilitating the correction function of the circumferential transmission component 40.

[0056] In some embodiments, the pipe wall cleaning member 60 may also be replaced by a detection component in the prior art to detect the inner wall of the pipe 10 .

[0057] The above description is only an optional embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the inventive concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A pipeline inner wall running device with an automatic deviation correction function, the pipeline inner wall running device is installed inside the pipeline, characterized in that: The pipeline inner wall running device comprises: Traveling assembly; the traveling assembly is movably arranged in the pipe diameter direction of the pipeline, and includes a mounting frame; A horizontal detection component; the horizontal detection component comprises a horizontal calibration member horizontally arranged on the mounting frame and a plurality of electrode members arranged side by side on the horizontal calibration member, each electrode member passing through one side of the horizontal calibration member and extending to the inside; A circumferential transmission assembly, the circumferential transmission assembly includes a rotary drive motor mounted on the mounting frame and perpendicular to the cross section of the pipeline, the output end of the rotary drive motor is connected to a first rotary transmission member to drive the first rotary transmission member to rotate, the first rotary transmission member abuts against a second rotary transmission member for transmission, the second rotary transmission member abuts against an inner wall of the pipeline, the rotary drive motor is electrically connected to a plurality of electrode members, and is powered on and rotated when two electrode members of the plurality of electrode members are connected.

2. The pipeline inner wall running device according to claim 1, characterized in that: The pipeline inner wall running device also includes a rolling deviation correcting member, which is coaxially connected to the second rotating transmission member and rolls circumferentially along the inner wall of the pipeline under the drive of the second rotating transmission member.

3. The pipeline inner wall running device according to claim 2, characterized in that: The second rotating transmission member and the rolling deviation correcting member form a driven deviation correcting group, and the pipeline inner wall running device includes multiple driven deviation correcting groups, which are all arranged on the circumference of the first rotating transmission member and correct the deviation according to the transmission rotation of the first rotating transmission member.

4. The pipeline inner wall running device according to claim 3, characterized in that: The circumferential transmission components include two components, which are respectively arranged at two ends of the traveling direction of the traveling component.

5. The pipeline inner wall running device according to claim 4, characterized in that: The mounting frame is a T-shaped plate, and the driven deviation-correcting groups of the circumferential transmission assembly are respectively arranged at the three ends of the T-shaped plate.

6. The pipeline inner wall running device according to claim 1, characterized in that: The horizontal calibration piece is a bubble level, and a plurality of electrode pieces penetrate and extend into the interior of the level, and two of the electrodes are connected in different tilting states through a conductive medium therein.

7. The pipeline inner wall running device according to claim 1, characterized in that: The first rotating transmission member and the second rotating transmission member are gear structures, and the rotating drive motor is a servo motor.

8. The pipeline inner wall running device according to claim 1, characterized in that: The pipeline inner wall running device also includes a traction member, and the traction member is arranged at one end of the traveling component.

9. The pipeline inner wall running device according to claim 1, characterized in that: The traveling assembly further comprises a pipe wall cleaning member, which abuts against the inner wall of the pipe and is used for cleaning the inner wall of the pipe.

10. The pipeline inner wall running device according to claim 1, characterized in that: The traveling assembly further comprises a pipe wall detection member, and the pipe wall detection member is used to detect the inner wall of the pipe.

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