Combustible gas detection device for maintenance of chemical pipeline

Abstract

The utility model discloses a combustible gas detection device for chemical pipeline maintenance. The combustible gas detection device comprises a maintenance robot crawling in a pipeline, the maintenance robot comprises a crawling mechanism and a turning mechanism for driving the crawling mechanism to turn; the crawling mechanism comprises a center frame, and a plurality of crawling arm structures are installed on the center frame. The climbing arm structure comprises a climbing arm, a wheel arm is mounted on the climbing arm through a spring structure, and a climbing roller is mounted on the wheel arm; a crawling motor for driving the crawling roller is mounted on the crawling roller; the center part of the center frame is fixedly connected with a center seat, the turning mechanism comprises a turning rod fixedly mounted on the center seat, the turning rod is hinged with a hinge seat, and a turning motor for driving the turning rod to swing is mounted on the hinge seat; the hinge seat is fixedly provided with an anchor supporting structure, in the turning process, the anchor supporting structure is supported on the inner wall of the pipeline, and the turning motor drives the pipeline to turn. Crawling detection in the pipeline to be overhauled is achieved through the device, and the safety of overhauling operation is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to chemical industry pipeline overhauls detection technical field especially, it relates to a kind of combustible gas detection device of chemical industry pipeline overhauls. BACKGROUND

[0002] Chemical industry pipeline is the pipeline for conveying material in chemical production process.And the material required by chemical reaction, such as organic material, is mostly flammable, explosive or highly corrosive material.In the conveying process of chemical industry pipeline, material of certain pressure is conveyed from pipeline to reaction kettle for chemical reaction.

[0003] Therefore, for conveying flammable, explosive or highly corrosive material, the sealing requirement of pipeline is relatively high, and the safety of pipeline conveying material needs to be ensured.Therefore, in actual use process, it is necessary to lift the pipeline for overhaul, such as cutting off the seriously corroded part of the pipeline and reconnecting the pipeline.

[0004] In the maintenance process, the material in the pipeline is pumped out in advance, so that there is no flammable and explosive material remaining in the pipeline, and then the corroded pipeline is cut by construction personnel.

[0005] However, in the actual maintenance process, although the material in the pipeline is pumped out, the gas in the pipeline burns and explodes during cutting process.The specific reason is that although the organic material is pumped out, the volatile gas, mostly organic gas, remains in the pipeline and is not completely pumped out.

[0006] At the same time, it is found in actual use process that corrosion is often caused from the inside of the pipeline, and for the part with no obvious penetration, the penetrated material will soon occur due to further corrosion.

[0007] Therefore, if the corrosion site of the pipeline cannot be explored and the concentration of residual organic gas in the pipeline cannot be detected, the construction safety risk is greatly increased by cutting the pipeline rashly. CONTENT OF THE UTILITY MODEL

[0008] Based on the above background, the purpose of the utility model is to provide a combustible gas detection device for chemical industry pipeline overhauls.

[0009] To achieve the above purpose, the utility model adopts the following technical solutions:

[0010] A combustible gas detection device for chemical industry pipeline overhauls, comprising an overhaul robot crawling in the pipeline;

[0011] The overhaul robot comprises a crawling mechanism and a turning mechanism for driving the crawling mechanism to turn;

[0012] The crawling mechanism comprises a central frame, and a plurality of crawling arm structures are installed on the central frame;

[0013] The crawling arm structure comprises a crawling arm, a wheel arm is installed on the crawling arm through a spring structure, and a crawling roller is installed on the wheel arm;

[0014] Through the spring structure, the crawling roller is elastically abutted against the pipeline wall;

[0015] The central part of the central frame is fixedly connected with a central seat, the turning mechanism comprises a turning rod fixedly installed on the central seat, the turning rod is hingedly connected with a hinged seat, and a turning motor for driving the turning rod to swing is installed on the hinged seat;

[0016] The hinged seat is fixedly installed with an anchor support structure, and the anchor support structure is supported on the inner wall of the pipeline during the turning process, and the turning motor drives the turning.

[0017] Preferably, a cylindrical sliding cavity is formed in the crawling arm;

[0018] The spring sliding seat is fixedly connected in the cylindrical sliding cavity, and the wheel arm is fixedly connected on the spring sliding seat;

[0019] The spring structure comprises a spring fixedly connected on the spring sliding seat, and the inner end of the spring is fixedly connected with the inner end of the cylindrical sliding cavity.

[0020] Preferably, a plurality of exhaust holes are formed in the crawling arm and communicated with the cylindrical sliding cavity.

[0021] Preferably, the crawling roller comprises a wheel frame and a roller rotatably connected in the wheel frame, and the output shaft of the crawling motor is fixed on the roller.

[0022] Preferably, the rear end of the turning rod is fixedly connected with a hinge tongue plate, and the bottom of the hinge tongue plate is rotatably connected with the bottom of the hinged seat through a rotating shaft;

[0023] The output shaft of the turning motor is fixedly connected with the top of the hinge tongue plate.

[0024] Preferably, the anchor support structure comprises a tail plate, the hinged seat is fixedly connected with the tail plate, a plurality of electric telescopic rods are installed in the tail plate, and a plurality of anchor support rods slidably connected with the tail plate are fixedly connected on the electric telescopic rods;

[0025] During the anchoring process, the electric telescopic rods drive the anchor support rods to move outward and are anchored and supported on the inner side wall of the pipeline, and during the driving process, the anchor support rods keep a distance from the inner side wall of the pipeline.

[0026] Preferably, the outer end of the anchor support rod is fixedly connected with an anchor head, an inner recess is formed in the anchor head, and a gas detection sensor is installed in the inner recess.

[0027] A plurality of air hole structures communicating with the inner recess are formed in the anchor head.

[0028] Preferably, a monitoring probe structure is fixedly connected to the front side wall of the center seat.

[0029] Preferably, the monitoring probe structure comprises a probe tube, an electric push rod is installed in the probe tube, and a camera is fixedly connected to the pushing end of the electric push rod.

[0030] The utility model has the following beneficial effects:

[0031] 1. The robot can realize crawling in the pipeline and detecting the corrosion site and the concentration of organic gas in the pipeline at the same time. The robot comprises a crawling mechanism and a turning mechanism for driving the crawling mechanism to turn. The crawling mechanism realizes linear motion, and when the turning mechanism is encountered, the orientation of the crawling mechanism is adjusted, and then the crawling mechanism continues to crawl linearly. This method can be used for operating the pipeline with many bends.

[0032] 2. The anchor turning method can realize turning in the vertical position (i.e. upward movement by using the friction force of the roller in the elastic state during upward crawling) and turning in the horizontal position, which can deal with complex pipeline structures. The above turning method is reliable.

[0033] 3. The camera and the gas detection sensor can be used for pipeline exploration to accurately find the pipeline part that needs to be cut due to serious corrosion and monitor the concentration of flammable and explosive gas in the pipeline, so as to determine whether the pipeline can be cut by open flame. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings needed in the embodiment or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to the structures shown in the drawings without creative labor for those skilled in the art.

[0035] Figure 1 It is a schematic diagram of the overall structure in the embodiment of the utility model;

[0036] Figure 2 It is a schematic diagram of the dispersion structure of the crawling arm in the embodiment of the utility model;

[0037] Figure 3This is a schematic structural diagram of the turning mechanism in an embodiment of the present utility model;

[0038] Figure 4 This is a structural diagram of the anchor head in an embodiment of the present utility model;

[0039] Figure 5 This is one of the structural diagrams of the crawling mechanism in the turning state in the embodiment of the present utility model;

[0040] Figure 6 This is the second structural diagram of the crawling mechanism in the turning state in the embodiment of the present utility model.

[0041] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0044] In addition, in this utility model, the descriptions of "first" and "second" are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this utility model.

[0045] Example 1

[0046] like Figure 1-6 As shown, a combustible gas detection device for chemical pipeline maintenance includes a maintenance robot that crawls inside the pipeline. The maintenance robot crawls inside the pipeline while detecting corrosion sites and simultaneously detecting the concentration of organic gas in the pipeline.

[0047] Specifically, the inspection robot includes a crawling mechanism and a turning mechanism that drives the crawling mechanism to turn. The crawling mechanism achieves linear motion, and when encountering a bend in the pipeline, the turning mechanism adjusts the crawling mechanism's orientation, allowing the robot to continue its straight-line crawling. This approach allows for operations on pipelines with numerous bends.

[0048] The specific structure of the crawling mechanism is as follows:

[0049] The crawling mechanism includes a center frame 1 of an annular structure, on which a plurality of climbing arm structures 2 are mounted.

[0050] The climbing arm structure 2 includes a climbing arm 21, which is equipped with a wheel arm 22 through a spring structure. A crawling roller is installed on the wheel arm 22; a crawling motor 25 for driving the crawling roller is installed on the crawling roller; through the spring structure, the crawling roller is elastically pressed against the pipe wall.

[0051] At the same time, the central part of the central frame 1 is fixedly connected with the central seat 11. The climbing arm 21 is fastened on the central seat 11 by a connecting screw.

[0052] Specifically, the climbing arm 21 has a cylindrical sliding cavity; a spring slide 221 is fixedly connected within the cylindrical sliding cavity, and the wheel arm 22 is fixedly connected to the spring slide 221. The spring structure includes a spring 222 fixedly connected to the spring slide, and the inner end of the spring 222 is fixedly connected to the inner end of the cylindrical sliding cavity. The climbing arm 21 has several exhaust holes connected to the cylindrical sliding cavity.

[0053] During operation, the wheel arm 22 is pressed into the cylindrical sliding cavity according to the tightening of the pipe. The entire device is then placed into the pipe. Under the elastic force of the spring, the crawling roller elastically presses against the pipe wall and crawls very smoothly under the drive of the crawling motor 25. The purpose of this method is to solve the problem of slipping and preventing forward movement during crawling due to the dirt adhered to the pipe wall caused by the organic materials transported in the pipe all year round.

[0054] Specifically, the crawling roller includes a wheel frame 23 and a roller 24 rotatably connected to the wheel frame 23. The output shaft of the crawling motor 25 is fixed to the roller 24. The motor body of the crawling motor 25 is fixed to the wheel frame 23, and its output shaft is rotatably connected to the wheel frame 23 and mounted on the roller. The other end of the roller 25 is rotatably connected to the wheel frame 23 via a wheel axle.

[0055] During operation, driven by the crawling motor 25, the crawler moves forward in the pipeline in a very stable manner.

[0056] Example 2

[0057] like Figure 1-6As shown, the embodiment is based on the structure of embodiment 1, when crawling to the pipe turning position, it turns through the following structure, as follows:

[0058] The turning mechanism includes a turning rod 111 fixedly installed on the center seat 11, which is hingedly connected with a hinge seat, and a turning motor 12 for driving the turning rod 111 to swing is installed on the hinge seat (the turning motor 12 is fixed on the tail plate to be described below through a motor support); the hinge seat is fixedly installed with an anchor support structure, which is supported on the inner wall of the pipe during turning, and the turning motor 12 drives the turning.

[0059] Specifically, the rear end of the turning rod 111 is fixedly connected with a hinge tongue plate, the bottom of the hinge tongue plate is rotatably connected with the bottom of the hinge seat 13 through a rotating shaft, and the output shaft of the turning motor 12 is fixedly connected with the top of the hinge tongue plate.

[0060] Meanwhile, the anchor support structure includes a tail plate 31, and the hinge seat 13 is fixedly connected with the tail plate 31. According to the existing telescopic anchor support mode, a plurality of electric telescopic rods (not shown in the figure) are installed in the tail plate 31. Specifically, according to the existing mode, an installation cavity is formed in the tail plate 31, and three electric telescopic rods are circumferentially distributed and fixedly installed in the installation cavity. Meanwhile, a plurality of anchor support rods 32 slidingly connected with the tail plate 31 are fixedly connected with the electric telescopic rods; the anchor support rods 32 are penetrated from the sliding holes formed in the tail plate 31 and fixed to the telescopic end positions of the electric telescopic rods (the electric telescopic rods are conventional electric telescopic rods disclosed in the prior art).

[0061] During anchoring, the electric telescopic rods drive the anchor support rods 32 to move outward and be anchored and supported on the inner side wall of the pipe (during the crawling driving process, the anchor support rods 32 keep a distance from the inner side wall of the pipe), at this time, the turning motor 12 drives the turning rod 111 to rotate, and after the crawling mechanism is adjusted in angle under the driving of the turning rod 111, the electric telescopic rods drive the anchor support rods 32 to retract, at this time, the crawling mechanism continues to crawl linearly. Through this mode, turning in the pipe is realized.

[0062] This turning mode is realized through the anchoring support mode, so it can realize turning at a vertical position (i.e., during upward movement in the elastic abutting state, the friction force of the rollers is utilized to roll upward) and turning at a horizontal position, and it can cope with complex and complicated pipe structures, and the above-mentioned turning mode is reliable.

[0063] The outer end of the anchor support rod 32 is fixedly connected with an anchor head 33, which realizes support on the pipe wall through the anchor head 33.

[0064] Embodiment 3

[0065] As Figure 1-6As shown, this embodiment builds upon the structure of Example 2, with the anchor head 33 having an internal sinking groove within which a gas detection sensor 5 is mounted. Gas detection sensor 5 is a conventional sensor disclosed in the prior art for detecting gases such as flammable and explosive gases, such as a methane sensor. Gas concentration signals are detected by gas detection sensor 5 in the same manner as in existing gas concentration detection methods.

[0066] At the same time, the anchor head 33 is provided with a plurality of vent structures communicating with the inner sinking groove (to facilitate the sensor to contact the gas).

[0067] To monitor the location of corrosion within the pipeline, a monitoring probe structure is fixedly attached to the front sidewall of the center seat 11, in accordance with existing monitoring methods. This monitoring probe structure comprises a probe tube 41, within which is mounted an electric push rod 42 (a conventional electric telescopic rod known in the art). A camera 43 is fixedly attached to the push end of the push rod 42. During cornering, the camera 43 retracts into the probe tube 41 to protect it.

[0068] In actual operation, in order to maintain gravity balance on the front and rear sides, the weight of the probe tube 41 is adjusted according to the weight of the tail plate to keep the geometric center at the center of the entire device.

[0069] During operation, the electric push rod 42 pushes the camera 43 out of the probe tube 41 .

[0070] The camera 43 and the gas detection sensor 5 transmit the detected signals to the work background in a conventional manner disclosed in the prior art. Specifically, during actual operation, the data line is hung on the tail plate and follows it into the pipeline, and the detected signals are transmitted to the work background via the data line.

[0071] The above method is used to detect the pipeline to ensure that during the construction process, the pipeline parts that are severely corroded and need to be cut can be accurately found, and the concentration of flammable and explosive gases in the pipeline can be monitored to determine whether open flame cutting is possible.

[0072] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the scope of protection of the present invention.

Claims

1. A combustible gas detection device for chemical pipeline maintenance, characterized in that: Including maintenance robots that crawl inside pipes; The maintenance robot includes a crawling mechanism and a turning mechanism for driving the crawling mechanism to turn; The crawling mechanism includes a center frame, on which a plurality of climbing arm structures are mounted; The climbing arm structure includes a climbing arm, the climbing arm is equipped with a wheel arm through a spring structure, and a crawling roller is installed on the wheel arm; the crawling roller is equipped with a crawling motor for driving the crawling roller; The crawling roller is elastically pressed against the pipe wall through the spring structure; The center portion of the center frame is fixedly connected to a center seat, and the turning mechanism includes a turning rod fixedly mounted on the center seat, the turning rod is hinged to an articulated seat, and a turning motor for driving the turning rod to swing is mounted on the articulated seat; The articulated seat is fixedly mounted with an anchor support structure. During the turning process, the anchor support structure is supported on the inner wall of the pipe, and the turning motor drives the turning.

2. The combustible gas detection device for chemical pipeline maintenance according to claim 1 is characterized in that: A cylindrical sliding cavity is provided on the climbing arm; A spring slide is fixedly connected in the cylindrical slide cavity, and the wheel arm is fixedly connected to the spring slide; The spring structure comprises a spring fixedly connected to a spring slide seat, and the inner end of the spring is fixedly connected to the inner end of the cylindrical slide cavity.

3. The combustible gas detection device for chemical pipeline maintenance according to claim 2, characterized in that: The climbing arm is provided with a plurality of exhaust holes communicating with the cylindrical sliding cavity.

4. The combustible gas detection device for chemical pipeline maintenance according to claim 1, characterized in that: The crawling roller includes a wheel frame and a roller rotatably connected to the wheel frame, and the output shaft of the crawling motor is fixed on the roller.

5. The combustible gas detection device for chemical pipeline maintenance according to claim 1, characterized in that: The rear end of the turning rod is fixedly connected to a hinge plate, and the bottom of the hinge plate is rotatably connected to the bottom of the hinge seat through a rotating shaft; The output shaft of the turning motor is fixedly connected to the top of the hinge plate.

6. The combustible gas detection device for chemical pipeline maintenance according to claim 1, characterized in that: The anchor support structure includes a tail tray, a hinged seat fixedly connected to the tail tray, a plurality of electric telescopic rods installed in the tail tray, and a plurality of anchor support rods slidably connected to the electric telescopic rods; During the anchoring process, the electric telescopic rod drives the anchor support rod to move outward and anchor it on the inner wall of the pipe. During the movement, the anchor support rod maintains a distance from the inner wall of the pipe.

7. The combustible gas detection device for chemical pipeline maintenance according to claim 6, characterized in that: The outer end of the anchor support rod is fixedly connected to an anchor head, an inner sinking groove is opened in the anchor head, and a gas detection sensor is installed in the inner sinking groove; The anchor head is provided with a plurality of vent structures communicating with the inner sinking groove.

8. The combustible gas detection device for chemical pipeline maintenance according to claim 1, characterized in that: A monitoring probe structure is fixedly connected to the front side wall of the central seat.

9. The combustible gas detection device for chemical pipeline maintenance according to claim 8, characterized in that: The monitoring probe structure includes a probe tube, an electric push rod is installed in the probe tube, and a camera is fixedly connected to the pushing end of the electric push rod.

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