Local dry type repair mechanical arm system for internal defects of large-diameter pipeline

Abstract

The utility model relates to the technical field of pipeline structure underwater repair engineering, in particular to a local dry-type repair mechanical arm system for internal defects of a large-diameter pipeline, which comprises a drainage cover and a repair system, the repair system is positioned in the drainage cover, and the drainage cover is detachably fixed at the defect position of the inner wall of the large-diameter pipeline. The drainage cover can drain water and introduce air into the drainage cover to form a local dry-type repair environment for the repair system, and the repair system comprises a repair mechanical arm, a binocular camera and a lighting device. Automatic repairing is achieved through cooperation of the drainage cover and the repairing system, under the condition that normal work of the large-diameter pipeline is not stopped, defects of the large-diameter pipeline can be repaired from the interior of the pipeline, repairing engineering operation can be completed underwater, and the device is local dry type integrated automatic repairing equipment and is simple in structure, convenient to operate, economical and practical. And the practicability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater repair engineering of pipeline structures, in particular to a local dry-type repairing mechanical arm system for internal defects of large-diameter pipelines. Background Art

[0002] In recent years, with the continuous development of robotics, robotic underwater repair has gradually become a new trend. Robotic underwater repair technology can overcome the adverse effects of the underwater environment, improve repair quality and efficiency, reduce operational difficulty and cost, and reduce the safety risks of manual underwater repair. Therefore, robotic underwater repair technology has broad application prospects and market demand in fields such as marine engineering, ship maintenance, and submarine pipeline laying.

[0003] With the development of repair technology and robotics technology, more and more high-end technologies have been integrated, which also represents the current development direction of robotic automation. The integration of underwater repair technology and robotics technology is one of them. Underwater repair robots have remote control, strong operating capabilities, operating time is not limited by energy, no personnel risks, and can perform complex and arduous operations on the seabed for a long time. They can be equipped with various types of equipment such as underwater cameras, underwater lighting, pan-tilt heads, sonars, depth gauges, altimeters, compasses, manipulators, control systems, etc., with high work efficiency, wide application range, and broad market prospects.

[0004] Chinese invention patent application number 201410061756.7 discloses an ROV-based, partially dry underwater welding robot. The technical solution includes an ROV and a welding manipulator mounted on the ROV. This robot can remotely control fully automated, partially dry underwater welding operations, replacing manual welding by divers. It boasts high welding efficiency, high weld quality, and low labor intensity. However, this design is limited to underwater welding applications, and the partially dry method employed can easily cause wetting of the weld area, failing to completely drain the water. Furthermore, the device is bulky, making it difficult to access pipelines.

[0005] The utility model discloses a Chinese practical new type patent, application number 202121608139.6, discloses a rectangular coordinate formula submerged-arc welding robot, its technical scheme includes controller, rectangular coordinate motion device, welding circuit device, flux recovery device and laser tracking device, can be based on the integrated control principle of controller, cooperate multiple types of electrical elements and mechanical structure, adopt single arm formula structure, by three straight line axes, mechanical strength is good, and the carrying capacity is strong, and the response speed is fast, and the positioning accuracy is high, and the welding torch position is adjusted flexibly, and the straight line axle stroke can be extended along with the size of workpiece, realizes the welding demand of large range of different length, height workpiece, but the design is applicable to the submerged-arc welding operation on the ground, and is not applicable to underwater welding, and the control system is relatively complex, and if a part can not be used, will lead to the paralysis of the whole system;

[0006] The utility model discloses a Chinese practical new type patent, application number 200920218303.5, discloses a partial dry type welding small -size drainage device, its technical scheme mainly comprises drainage cover body, small -size welding torch and miniature underwater welding optical fiber mirror, by adopting miniature welding torch and miniature underwater welding optical fiber mirror, so that the size in cover body greatly reduces, not only make more conducive to with welding robot cooperation uses, and greatly shorten the time needed for the discharge of seawater in cover body, but the design can not adjust the position of the welding torch, and it is easy to cause the welding of the required welding part to be insufficient, and if the drainage cover body is filled with too much water, it will lead to the drainage not in time, and the effect of the welding part is affected;

[0007] At present, underwater repair has poor automation, low process adaptability and low production efficiency, therefore, in order to improve the deficiencies of the prior art, it is necessary to propose an improvement to overcome the above defects. Practical new type content

[0008] The utility model aims at solving the problems in the prior art, and provides a local dry type repair mechanical arm system for internal defects of a large-diameter pipeline.

[0009] The technical scheme of the utility model is: a local dry type repair mechanical arm system for internal defects of a large-diameter pipeline comprises a drainage cover and a repair system, the repair system is located inside the drainage cover, the drainage cover can be detachably fixed at a defect position on the inner wall of the large-diameter pipeline, the drainage cover is a hollow hexagonal prism structure, the drainage cover can drain water and introduce air into the inside thereof to achieve a local dry repair environment for the repair system, the repair system comprises a repair mechanical arm, a binocular camera and an illuminating device, the repair mechanical arm is a three-joint mechanical arm, a repair device is installed at the end of the repair mechanical arm to complete repair, the binocular camera is arranged on the upper side of the repair mechanical arm and is used for identifying pipeline defects and planning a repair track, and the illuminating device is arranged on the lower side of the repair mechanical arm and is used for illumination.

[0010] In order to achieve a locally dry underwater integrated repair environment, the drainage cover includes a bottom plate, a support plate, a support frame and six side plates. The bottom plate, support plate, support frame and six side plates are assembled to form a hollow hexagonal prism. The support plate is the bottom of the drainage cover. The support plate and the bottom plate are arranged opposite to each other. A hatch assembly is provided on the bottom plate. Multiple electromagnetic suction cups are installed on the support plate. The six side plate rings are A side plate, B side plate, C side plate, D side plate, E side plate and F side plate in a counterclockwise direction. Side plates A and C are both provided with sealed gloves extending inward. A lighting device is installed on the inside of side plate B, an outlet valve is provided on side plate B, a cable access port and an air inlet are provided on side plate D, a binocular camera is installed on the lower side of side plate E, and the repair robotic arm is detachably mounted on side plate E. An exhaust valve is provided on the inside of side plate F. A drainage pump is provided at the bottom of the drainage cover. The outlet valve and the drainage pump are connected by a drainage pipe, and the water suction port of the drainage pump is connected to a suction pipe.

[0011] In order to ensure the firmness, lightness and rust resistance of the drainage cover, the supporting frame is assembled from multiple profiles, which are fixed by wildebeests. The outer sides of the bottom plate, support plate, supporting frame and six side panels are all installed with outer panels. The bottom plate, support plate, outer panel, supporting frame and six side panels are all made of aluminum alloy.

[0012] In order to complete the automated repair operation and improve the quality and efficiency of the repair, the repair robot arm is a multi-degree-of-freedom serial robot arm, and the number of degrees of freedom of the repair robot arm is at least three degrees of freedom.

[0013] In order to realize the opening, closing and storage of the soft hatch, the hatch assembly includes a soft hatch, a hatch storage device, two motors, two synchronous belts and two hatch adsorption devices. The two motors are installed on the top of the drainage cover, and the two motors drive the two synchronous belts to move respectively. The hatch adsorption device includes adsorption plate 1 and adsorption plate 2. Adsorption plate 1 is arranged on the synchronous belt, and adsorption plate 2 is arranged on the soft hatch. Adsorption plate 1 and adsorption plate 2 can cooperate to adsorb each other. The hatch storage device is a winding shaft, and the winding shaft is synchronously driven by the motors at both ends to wind up and store the soft hatch.

[0014] In order to be able to be stably fixed on the curved surface of the inner wall of a large-diameter pipe and prevent moisture from seeping in, an elastic rubber ring is provided at the bottom of the drain cover.

[0015] In order to achieve firm adsorption with large-diameter pipes, there are six electromagnetic suction cups and they are arranged in a hexagonal shape on the support plate.

[0016] The utility model adopts the above structure and has the following advantages:

[0017] 1. Through the cooperation of the drainage cover and the repair system, automated repair is achieved. Without stopping the normal operation of the large-diameter pipeline, defects in the large-diameter pipeline can be repaired from the inside of the pipeline, and the repair project can be completed underwater. It is a partially dry, integrated, automated repair equipment with a simple structure and strong practicality.

[0018] 2. It can be stably fixed on the curved surface of the inner wall of large-diameter pipes. The infiltrated water can be discharged through the drainage pump, outlet valve and drain pipe. At the same time, air can be introduced through the air inlet to blow away the moisture in the area to be repaired, thus establishing a local dry welding repair environment for large-diameter pipe repair, making it easy to repair damaged large-diameter pipes.

[0019] 3. The high degree of freedom of the repair robot arm allows for repairs at different locations. A binocular camera is used for intelligent identification of pipeline defects and planning of repair trajectories. A synchronous belt is used to automatically open the drainage cover hatch, enabling automated repair operations for multiple layers after draining the water once. The overall operation is convenient, highly automated, and the repair efficiency is high, making it suitable for underwater repairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the main structure of the utility model (with hidden observation window);

[0021] Figure 2 This is a schematic diagram of the expanded structure of the A, B, and C side aluminum alloy plates of the present invention;

[0022] Figure 3 This is a schematic diagram of the expanded structure of the D, E, and F side aluminum alloy plates of the present invention;

[0023] Figure 4 This is a rear view structural diagram of the utility model;

[0024] Figure 5 This is a schematic diagram of the structure of the repair robot arm;

[0025] Figure 6 This is a schematic diagram of the three-dimensional structure of the utility model (with hidden observation window);

[0026] Figure 7 This is a schematic diagram of the main structure of the utility model.

[0027] In the figure, 1. Hatch door storage device; 2. Motor; 3. Exhaust valve; 4. Profile; 5. Bottom plate; 6. Drain cover; 7. Suction pipe; 8. Drain pipe; 9. Lighting device; 10. Repair robot arm; 11. Cable access port; 12. Air inlet; 13. Synchronous belt; 14. Soft hatch; 15. Hatch door suction device; 16. Sealed gloves; 17. Drain pump; 18. Water outlet valve; 19. Side panel A; 20. Elastic rubber ring; 21. Side panel B; 22. Side panel C; 23. Side panel D; 24. Side panel E; 25. Side panel F; 26. Electromagnetic suction cup; 27. Welding gun; 28. Wildebeest; 29. ​​Binocular camera; 30. Hatch door assembly; 31. Support plate; 32. Observation window. DETAILED DESCRIPTION

[0028] In order to make the technical means, technical features, purpose of the utility model and technical effects achieved by the utility model easier to understand, the utility model is further explained below with reference to specific illustrations.

[0029] like Figure 1-Figure 7 As shown, a local dry repair robot arm 10 system for internal defects of large-diameter pipes includes a drainage cover 6 and a repair system. The repair system is located inside the drainage cover 6. A circle of elastic rubber ring 20 is installed at the bottom of the drainage cover 6. The drainage cover 6 is adsorbed on the defects on the inner wall of the large-diameter pipe through six electromagnetic suction cups 26 arranged in a hexagon on the support plate 31. The electromagnetic suction cups 26 are energized to achieve adsorption between the defects on the inner wall of the large-diameter pipe; the repair system includes a repair robot arm 10, a binocular camera 29 and an illumination device 9, as shown in FIG. Figure 5 As shown, the repair robot arm 10 is a three-joint multi-degree-of-freedom serial robot arm, and the number of degrees of freedom of the repair robot arm 10 is at least three. A welding gun 27 is installed at the end of the robot arm. The repair robot arm 10 and the welding gun 27 realize the repair function of the robot arm on the internal defects of large-diameter pipes;

[0030] like Figure 1 and Figure 6 As shown, the drainage cover 6 includes a bottom plate 5, a support plate 31, a support frame and six side plates, and all of them are made of aluminum alloy. The bottom plate 5, the support plate 31, the support frame and the six side plates are assembled to form a hollow hexagonal prism. The support plate 31 is the bottom of the drainage cover 6. The support plate 31 and the bottom plate 5 are installed facing each other. A hatch assembly 30 is installed on the bottom plate 5. Six electromagnetic suction cups 26 are installed on the support plate 31 by multiple screws. The six side plate rings are A side plate 19, B side plate 21, C side plate 22, D side plate 23, E side plate 24 and F side plate 25 in a counterclockwise direction. The six side plates are all made of aluminum alloy, that is, A side aluminum alloy plate, B side aluminum alloy plate, C side aluminum alloy plate, D side aluminum alloy plate, E side aluminum alloy plate and F side aluminum alloy plate, as shown Figure 2As shown, the aluminum alloy plate on the A side and the aluminum alloy plate on the C side are both installed with sealed gloves 16 extending inwards, which are convenient for the operator to put his arm into the gloves to adjust the position of the repair robot 10. The lighting device 9 for lighting is installed on the inner side of the aluminum alloy plate on the B side, and the water outlet valve 18 is installed on the aluminum alloy plate on the B side. Figure 3 As shown, the D-side aluminum alloy plate is provided with a cable access port 11 for cable access and an air inlet 12 for draining moisture from the repair work area by letting in air. A binocular camera 29 for identifying pipeline defects and planning repair trajectories is installed on the lower side of the E-side aluminum alloy plate. The repair robot 10 is installed on the E-side aluminum alloy plate by multiple screws. An exhaust valve 3 for discharging the blown air is installed on the inner side of the F-side aluminum alloy plate. A drain pump 17 is installed at the bottom of the drain cover 6. The outlet valve 18 and the drain pump 17 are connected by a drain pipe 8 for draining moisture. The water inlet of the drain pump 17 is connected to a water suction pipe 7. The water suction pipe 7 and the drain pipe 8 are respectively installed at the water inlet and the water outlet of the drain pump 17. The water suction pipe 7 is arranged at the soft hatch 14 and is responsible for sucking away moisture from the repair area during repair.

[0031] The aluminum alloy support frame is assembled from multiple profiles 4. The profiles 4 are made of aluminum alloy, that is, aluminum alloy profiles. The multiple aluminum alloy profiles are fixed by wildebeests 28 and bolts. The outer sides of the aluminum alloy bottom plate 5, the aluminum alloy support plate 31, the aluminum alloy support frame and the six aluminum alloy side panels are all installed with aluminum alloy outer plates.

[0032] Transparent observation windows 32 are installed on the top of the six aluminum alloy side panels.

[0033] like Figure 4 As shown, the door assembly 30 includes a soft door 14, a door storage device 1, two motors 2, two synchronous belts 13 and two door adsorption devices 15, as shown in FIG. Figure 1 As shown, two motors 2 are installed at the top of the drainage cover 6. The two motors 2 drive the two synchronous belts 13 to move respectively. The door adsorption device 15 includes an adsorption plate 1 and an adsorption plate 2. The adsorption plate 1 is installed on the synchronous belt 13, and the adsorption plate 2 is installed on the soft door 14. The adsorption plate 1 and the adsorption plate 2 can cooperate with each other to adsorb. The door storage device 1 is a reeling shaft. The reeling shaft is rotated by the synchronous belts 13 of the motors 2 at both ends to reel in the soft door 14.

[0034] Working principle: After a defect is found inside a large-diameter pipe, the repair personnel carry the utility model into the pipe through the observation port exposed to the ground of the large-diameter pipe. After moving to the defect inside the large-diameter pipe, the utility model is placed above the defect and the drainage cover 6 is pressed down. At this time, the elastic rubber ring 20 is squeezed, and the multiple electromagnetic suction cups 26 at the bottom are energized to achieve adsorption between the utility model and the large-diameter pipe. After the utility model is fixed on the inner wall of the large-diameter pipe, the soft hatch 14 is opened, the lighting device 9 is turned on, and the infiltrated water is discharged through the water suction pipe 7, the drainage pump 17, the drainage pipe 8 and the outlet valve 18. At the same time, air is introduced into the drainage cover 6 through the air inlet 12 to blow away the moisture in the area to be repaired, so as to achieve a local dry welding repair environment. After the repair environment is achieved, the staff judges the location information and size of the defect to be repaired through the image information collected by the binocular camera 29, and operates the repair robot 10 to use the welding gun 27 to repair the defect. The operator can observe the repair status through the observation window 32 on the top;

[0035] When working, the repair robot arm 10 can also perform repairs at different positions, and can realize automated repair operations of multiple layers after draining the water once, thereby improving the quality and efficiency of the repair, and is suitable for underwater repairs in conjunction with robots.

[0036] It should be noted that the above-mentioned motor 2, exhaust valve 3, lighting device 9, repair robot arm 10, synchronous belt 13, sealed gloves 16, drainage pump 17, water outlet valve 18, elastic rubber ring 20, electromagnetic suction cup 26, welding gun 27, wildebeest 28, binocular camera 29, aluminum alloy material, bolts and screws are all applications of existing technologies.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. In other words, any equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the technical scope of the present invention.

Claims

1. A local dry repair robot arm system for internal defects of large-diameter pipelines, characterized by: The invention comprises a drainage cover (6) and a repair system, wherein the repair system is located inside the drainage cover (6), the drainage cover (6) is detachably fixed to the inner wall defect of a large-diameter pipe, the drainage cover (6) is a hollow hexagonal prism structure, the drainage cover (6) can drain water and simultaneously introduce air into the interior thereof to achieve a local dry repair environment for the repair system, the repair system comprises a repair robot arm (10), a binocular camera (29) and a lighting device (9), the repair robot arm (10) is a three-joint robot arm, a repair device is installed at the end of the repair robot arm (10) to complete the repair, the binocular camera (29) is arranged on the upper side of the repair robot arm (10) and is used to identify pipeline defects and plan repair trajectories, and the lighting device (9) is arranged on the lower side of the repair robot arm (10) and is used for lighting.

2. The local dry repair robot arm system for internal defects of large-diameter pipelines according to claim 1 is characterized by: The drainage cover (6) includes a bottom plate (5), a support plate (31), a support frame and six side plates. The bottom plate (5), the support plate (31), the support frame and the six side plates are assembled to form a hollow hexagonal prism. The bottom plate (5) is the bottom of the drainage cover (6). The support plate (31) and the bottom plate (5) are arranged facing each other. A hatch assembly (30) is arranged on the bottom plate (5). A plurality of electromagnetic suction cups (26) are installed on the support plate (31). The six side plate rings are A side plate (19), B side plate (21), C side plate (22), D side plate (23), E side plate (24) and F side plate (25) in a counterclockwise direction. The A side plate (19) and the C side plate (22) are both provided with There is a sealed glove (16) extending inward, the lighting device (9) is installed on the inner side of the B side panel (21), a water outlet valve (18) is provided on the B side panel (21), a cable access port (11) and an air inlet (12) are provided on the D side panel (23), the binocular camera (29) is installed on the lower side of the E side panel (24), the repair robot arm (10) is detachably installed on the E side panel (24), an exhaust valve (3) is provided on the inner side of the F side panel (25), a drainage pump (17) is provided on the inner bottom of the drainage cover (6), the water outlet valve (18) and the drainage pump (17) are connected through a drainage pipe (8), and the water inlet of the drainage pump (17) is connected to a water suction pipe (7).

3. The local dry repair robot arm system for internal defects of large-diameter pipelines according to claim 2 is characterized by: The support frame is assembled from a plurality of profiles (4), and the plurality of profiles (4) are fixed to each other by wildebeests (28). The outer sides of the bottom plate (5), the support plate (31), the support frame, and the six side plates are all installed with outer plates. The bottom plate (5), the support plate (31), the outer plates, the support frame, and the six side plates are all made of aluminum alloy.

4. The local dry repair robot arm system for internal defects of large-diameter pipelines according to claim 3 is characterized by: The repair robot arm (10) is a multi-degree-of-freedom serial robot arm, and the number of degrees of freedom of the repair robot arm (10) is at least three degrees of freedom.

5. The local dry repair robot arm system for internal defects of large-diameter pipelines according to claim 4 is characterized by: The hatch assembly (30) includes a soft hatch (14), a hatch storage device (1), two motors (2), two synchronous belts (13) and two hatch adsorption devices (15), wherein the two motors (2) are installed at the top of the drainage cover (6), and the two motors (2) correspondingly drive the two synchronous belts (13) to move, and the hatch adsorption device (15) includes an adsorption plate 1 and an adsorption plate 2, wherein the adsorption plate 1 is arranged on the synchronous belt (13), and the adsorption plate 2 is arranged on the soft hatch (14), and the adsorption plate 1 and the adsorption plate 2 can cooperate with each other to be adsorbed, and the hatch storage device (1) is a reeling shaft, and the reeling shaft is synchronously driven by the motors (2) at both ends to reel and store the soft hatch (14).

6. The local dry repair robot arm system for internal defects of large-diameter pipelines according to claim 5 is characterized by: An elastic rubber ring (20) is provided at the bottom of the drainage cover (6).

7. The local dry repair robot arm system for internal defects of large-diameter pipelines according to claim 6 is characterized by: The number of the electromagnetic chucks (26) is six and they are arranged in a hexagonal pattern on the support plate (31).

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