Pipeline rust removal robot

Abstract

The utility model relates to the technical field of pipeline robots, and discloses a pipeline rust removal robot which comprises a traction part, a rust removal part, a collection part, a protection part and a universal joint set, and the universal joint set is used for sequentially connecting the traction part, the rust removal part, the collection part and the protection part. The traction part, the rust removal part, the collection part and the protection part are connected through the universal joint sets, so that the whole robot has high flexibility and can easily adapt to some arc-shaped or even turning pipelines, and the operation range of the robot is widened; after rust powder and dust are collected, the protection part is additionally arranged to conduct oil injection protection on the pipeline, so that the protection strength on the pipeline after rust removal is improved, and the service life of the pipeline is prolonged; and by means of the air inlet filter screen annularly distributed on the circumferential wall face of the collecting outer shell, rust powder and dust can be collected in all directions in the circumferential range, and the collecting coverage rate is increased.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robot technology, specifically, a pipeline rust removal robot. Background Technology

[0002] Pipelines, as a crucial mode of transportation, are widely used in industries such as oil, natural gas, chemicals, water treatment, and heat transmission. With the growth of global energy demand and the advancement of industrialization, pipeline technology has undergone continuous development and innovation. The development of pipeline inspection and maintenance technologies is equally vital. Employing advanced inspection equipment, such as pipeline inspection robots and intelligent sensors, enables real-time monitoring of pipeline operating status, timely detection of problems, and reduction of unexpected accidents.

[0003] In the process of pipe rust removal, some mechanical devices use methods such as high-pressure water rust removal and grinding to remove rust, which have the following problems: 1. High-pressure water rust removal not only requires a large amount of water resources, but also leaves water behind after rust removal, which can cause secondary corrosion to the pipes. 2. Currently available internal pipe rust removal machines leave rust residue inside the pipes after rust removal, failing to achieve a cleaning effect. 3. Some pipe robots have difficulty navigating curved or bent pipes. Therefore, most existing pipe robots cannot meet the requirements of energy conservation, post-rust removal protection, lightweight design, and simplified mechanization. Utility Model Content

[0004] The purpose of this utility model is to provide a pipeline rust removal robot to solve the problems of existing pipeline robots being inconvenient to move when performing rust removal operations on the inner wall of pipelines; and the pipelines not being protected after rust removal, resulting in secondary corrosion.

[0005] This utility model is achieved through the following technical solution: a pipeline rust removal robot, comprising:

[0006] The traction unit uses a spiral travel wheel assembly that fits against the pipe wall to pull the entire robot forward in the pipe.

[0007] The rust removal section uses a rotary cleaning method to remove rust from the inner wall of the pipe;

[0008] The collection section uses an adsorption and capture method to collect the stripped rust dust.

[0009] The protective part is used to spray protective grease onto the inner wall of the cleaned pipe;

[0010] Universal joint assembly, which is used to connect the traction unit, rust removal unit, collection unit and protection unit in sequence, and to transmit power.

[0011] To better realize this utility model, the collecting part further includes a collecting shell, on which a plurality of third roller mounting shafts are installed, and third rollers are installed on the third roller mounting shafts. The collecting shell has a plurality of slots, and an air intake filter is detachably connected to the slots. The collecting shell is equipped with an exhaust grille, a main drive motor, a dust collection bag, a fan assembly, and a fan motor. The output end of the fan motor is connected to the fan assembly. After the fan motor is started, rust dust is drawn into the collecting shell from the air intake filter, collected by the dust collection bag, and then discharged from the exhaust grille through the dust collection bag.

[0012] To better realize this utility model, an auxiliary cover is further installed on the collection housing. The auxiliary cover is funnel-shaped and is used to assist the fan assembly in collecting rust dust.

[0013] To better realize this utility model, a partition is further installed in the collection housing. The partition is used to separate the main drive motor from the auxiliary cover to prevent rust dust from affecting the operation of the main drive motor.

[0014] To better realize this utility model, the rust removal part further includes a cleaning brush and two flexible shafts. The two flexible shafts are connected by a drive. The cleaning brush is installed at the connection of the two flexible shafts. The flexible shaft near the collection part is connected to the main drive motor through a universal joint. When the main drive motor starts, the power is transmitted to the flexible shaft through the universal joint, thereby driving the cleaning brush to rotate for rust removal.

[0015] To better realize this utility model, the traction unit further includes a spiral forward wheel assembly, a retaining wheel assembly, and a drive shaft. The drive shaft is connected to the flexible shaft near the traction unit via a universal joint assembly. The spiral forward wheel assembly includes a first roller mounting seat, a first roller mounting shaft, and a first roller. The first roller mounting seat is fixedly mounted on the drive shaft, and multiple first roller mounting shafts are mounted on the first roller mounting seat. The first roller is mounted on the first roller mounting shaft. The retaining wheel assembly includes a second roller mounting seat, a second roller mounting shaft, and a second roller. The second roller mounting seat is rotatably connected to the drive shaft, and multiple second roller mounting shafts are mounted on the second roller mounting seat. The second roller is mounted on the second roller mounting shaft.

[0016] To better realize this utility model, the protective part further includes a protective outer shell, which is connected to the exhaust grid through a universal joint assembly. Multiple fourth roller mounting shafts are installed on the protective outer shell, and fourth rollers are mounted on the fourth roller mounting shafts. An air compressor pump, an oil tank, an oil pump, and an atomizing nozzle are installed on the protective outer shell. The oil pump pumps oil from the oil tank to the atomizing nozzle, while the air compressor pumps compressed air to the atomizing nozzle, thus achieving atomized spraying of the oil.

[0017] To better realize this utility model, a first spring is further provided between the first roller mounting base and the first roller mounting shaft; a second spring is provided between the second roller mounting base and the second roller mounting shaft; a third spring is provided between the third roller mounting shaft and the collecting housing; and a fourth spring is provided between the protective housing and the fourth roller mounting shaft.

[0018] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0019] (1) This utility model connects the traction part, rust removal part, collection part and protection part through multiple universal joints, so that the whole robot has high flexibility and can easily adapt to some curved or even curved pipes, which increases the robot's working range and makes it more practical; after the rust dust is collected, the addition of the protection part to spray oil on the pipe improves the protection of the pipe after rust removal and increases the pipe's lifespan.

[0020] (2) This utility model uses an air intake filter that is distributed in a ring on the circumferential wall of the collection shell to collect rust dust in all directions around the circumference, thus improving the collection coverage rate. At the same time, the air intake filter is covered by bolts on the outside of the slot, which makes it convenient to replace when needed without disassembling the entire collection shell, thus facilitating the later maintenance work.

[0021] (3) By setting a flexible shaft, this utility model can not only transmit power, but also has a bending function, that is, the cleaning brush can continuously perform cleaning operations in arc-shaped or bent pipes without dead corners. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0023] Figure 2 Schematic diagram of the overall structure of the collection unit Figure 1 .

[0024] Figure 3 Schematic diagram of the overall structure of the collection unit Figure 2 .

[0025] Figure 4 This is a cross-sectional view of the collection section structure.

[0026] Figure 5 This is a schematic diagram of the traction unit structure.

[0027] Figure 6 This is a schematic diagram of the rust removal section.

[0028] Figure 7 This is a cross-sectional view of the rust removal section.

[0029] Figure 8 This is a schematic diagram of the protective section.

[0030] Wherein: 1-traction unit; 2-rust removal unit; 3-collection unit; 4-protection unit; 5-universal joint assembly; 101-drive shaft; 102-first roller mounting seat; 103-first roller mounting shaft; 104-first roller; 105-first spring; 106-second roller mounting seat; 107-second roller mounting shaft; 108-second roller; 109-second spring; 201-flexible shaft; 202-cleaning brush; 301-collection part Housing; 302-Auxiliary cover; 303-Third roller mounting shaft; 304-Third roller; 305-Third spring; 306-Intake filter; 307-Exhaust grille; 308-Main drive motor; 309-Baffle; 310-Dust collection bag; 311-Fan assembly; 312-Fan motor; 401-Protective housing; 402-Fourth roller; 403-Fourth roller mounting shaft; 404-Fourth spring; 405-Atomizing nozzle. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] Example 1:

[0034] This embodiment provides a pipeline rust removal robot, specifically as follows: Figure 1 As shown, the robot includes: a traction unit 1, a rust removal unit 2, a collection unit 3, a protective unit 4, and a universal joint assembly 5. The traction unit 1 uses a spiral traveling wheel assembly to adhere to the pipe wall, thereby tractioning the entire robot to move through the pipe. The rust removal unit 2 uses a rotary cleaning method to remove rust from the inner wall of the pipe. The collection unit 3 uses an adsorption and capture method to collect the removed rust dust. The protective unit 4 is used to spray protective grease onto the cleaned inner wall of the pipe. The universal joint assembly 5 is used to connect the traction unit 1, the rust removal unit 2, the collection unit 3, and the protective unit 4 in sequence and to transmit power. It should be noted that the traction unit 1 is prior art, and its working principle is the same as that of the spiral pipe robot with application number CN201310691308.0 or the spiral pipe inner wall grinding and polishing robot adapted to different pipe diameters with application number CN201610817328.1. This is easily known to those skilled in the art and will not be elaborated further here.

[0035] When the robot is working, the traction unit 1 is first placed inside the pipe. Then, the traction unit 1 uses universal joints 5 to sequentially pull the rust removal unit 2, the collection unit 3, and the protective unit 4 forward synchronously. During the movement, the rust removal unit 2 cleans the inner wall of the pipe. After cleaning, the floating dust is captured by the collection unit 3. Then, the protective unit 4 sprays oil on the inner wall of the pipe to protect it and prevent further corrosion. The advantage of the spiral movement of the traction unit 1 is that it is stable and has a large driving force. The connection of the traction unit 1, rust removal unit 2, collection unit 3, and protective unit 4 through multiple universal joints 5 gives the entire robot high flexibility, allowing it to easily adapt to curved or even turning pipes, thus increasing the robot's operating range and practicality. After the rust dust is collected, the addition of the protective unit 4 to spray oil on the pipe further enhances the protection of the pipe after rust removal and extends the pipe's lifespan.

[0036] Example 2:

[0037] This embodiment further expands upon the collection unit 3 based on the above embodiment, specifically as follows: Figures 2-4 As shown, the collection unit 3 includes a collection housing 301, on which a plurality of third roller mounting shafts 303 are mounted, and third rollers 304 are mounted on the third roller mounting shafts 303. The collection housing 301 has a plurality of slots, and an air intake filter 306 is detachably connected to the slots. The collection housing 301 is equipped with an exhaust grille 307, a main drive motor 308, a dust collection bag 310, a fan assembly 311, and a fan motor 312. The output end of the fan motor 312 is connected to the fan assembly 311.

[0038] After the fan motor 312 is started, the fan assembly 311 begins to operate. At this time, airflow enters from the inlet filter 306, passes through the dust collection bag 310, and then exits from the exhaust grille 307 into the collection housing 301. During this process, rust dust is also drawn into the collection housing 301 from the inlet filter 306 along with the airflow. After being collected by the dust collection bag 310, only the airflow passes through the dust collection bag 310 and exits from the exhaust grille 307. The inlet filter 306, which is distributed in a ring on the circumferential wall of the collection housing 301, can collect rust dust in an all-round circumferential range, improving the collection coverage. At the same time, the inlet filter 306 is bolted to the outside of the slot, making it convenient to replace without disassembling the entire collection housing 301, which facilitates later maintenance.

[0039] In another specific embodiment, specifically as follows: Figures 2-4 As shown, an auxiliary cover 302 is installed on the collection housing 301. The auxiliary cover 302 is funnel-shaped and is used to assist the fan assembly 311 in collecting rust dust.

[0040] By utilizing the auxiliary cover 302 to block rust dust, the collection rate of rust dust is further increased, greatly enhancing the adsorption and collection effect.

[0041] In another specific embodiment, specifically as follows: Figure 4 As shown, a partition 309 is installed in the collection housing 301. The partition 309 is used to separate the main drive motor 308 from the auxiliary cover 302 to prevent rust dust from affecting the operation of the main drive motor 308.

[0042] The other parts of this embodiment are the same as those in the above embodiments, and will not be described again.

[0043] Example 3:

[0044] This embodiment further expands upon the rust removal section 2 based on the above embodiment, specifically as follows: Figure 6 , Figure 7 As shown, the rust removal part 2 includes a cleaning brush 202 and two flexible shafts 201. The two flexible shafts 201 are connected by a drive. The cleaning brush 202 is installed at the connection of the two flexible shafts 201. The flexible shaft 201 near the collection part 3 is connected to the main drive motor 308 by a universal joint 5. When the main drive motor 308 starts, the power is transmitted to the flexible shaft 201 through the universal joint 5, thereby driving the cleaning brush 202 to rotate for rust removal.

[0045] When the main drive motor 308 starts, power is transmitted to a flexible shaft 201 via the universal joint assembly 5, and then to another flexible shaft 201. During this process, the flexible shaft 201 also drives the cleaning brush 202 to rotate. As the cleaning brush 202 rotates, it cleans the rust from the inner wall of the pipe. The advantage of using the flexible shaft 201 is that it not only transmits power but also has a bending function, meaning the cleaning brush 202 can continuously clean inside curved or bent pipes without dead angles. The flexible shaft 201 is a commercially available product, and its specific specifications are selected by those skilled in the art based on actual conditions. Its working principle is also easily understood and will not be elaborated upon here.

[0046] The other parts of this embodiment are the same as those in the above embodiments, and will not be described again.

[0047] Example 4:

[0048] This embodiment further expands the traction unit 1 based on the above embodiment, as shown in the universal joint assembly 5. The traction unit 1 includes a spiral forward wheel assembly, a retaining wheel assembly, and a drive shaft 101. The drive shaft 101 is connected to the flexible shaft 201 near the traction unit 1 via a universal joint assembly 5. The spiral forward wheel assembly includes a first roller mounting seat 102, a first roller mounting shaft 103, and a first roller 104. The first roller mounting seat 102 is fixedly mounted on the drive shaft 101. Multiple first roller mounting shafts 103 are mounted on the first roller mounting seat 102, and the first roller 104 is mounted on the first roller mounting shaft 103. The retaining wheel assembly includes a second roller mounting seat 106, a second roller mounting shaft 107, and a second roller 108. The second roller mounting seat 106 is rotatably connected to the drive shaft 101. Multiple second roller mounting shafts 107 are mounted on the second roller mounting seat 106, and the second roller 108 is mounted on the second roller mounting shaft 107.

[0049] The flexible shaft 201 drives the transmission shaft 101 through the universal joint assembly 5. The transmission shaft 101 drives the first roller mounting seat 102 to rotate. When the first roller mounting seat 102 rotates, the first roller 104 starts to rotate spirally on the pipe wall because there is an angle between the first roller 104 and the pipe axis. At the same time, the second roller 108 provides auxiliary support for the transmission shaft 101 to ensure that the transmission shaft 101 is aligned with the pipe axis as much as possible. When the first roller 104 rotates spirally, it will pull the other components to move in the pipe.

[0050] The other parts of this embodiment are the same as those in the above embodiments, and will not be described again.

[0051] Example 5:

[0052] This embodiment further expands upon the protective part 4 based on the above embodiment, specifically as follows: Figure 8 As shown, the protective part 4 includes a protective outer shell 401, which is connected to the exhaust grille 307 via a universal joint assembly 5. Multiple fourth roller mounting shafts 403 are mounted on the protective outer shell 401, and fourth rollers 402 are mounted on the fourth roller mounting shafts 403. An air compressor pump, an oil tank, an oil pump, and an atomizing nozzle 405 are mounted on the protective outer shell 401.

[0053] Through the connection of the universal joint assembly 5, the protective part 4 moves synchronously when the collecting part 3 moves; at the same time, the oil pump pumps the oil in the oil storage tank to the atomizing nozzle 405, and the air compressor pumps the compressed air to the atomizing nozzle 405 to realize the atomization spray of the oil and protect the pipe wall.

[0054] The other parts of this embodiment are the same as those in the above embodiments, and will not be described again.

[0055] Example 6:

[0056] This embodiment further extends the above embodiment, specifically as follows: Figure 2 , Figure 5 , Figure 8 As shown, a first spring 105 is provided between the first roller mounting base 102 and the first roller mounting shaft 103; a second spring 109 is provided between the second roller mounting base 106 and the second roller mounting shaft 107; a third spring 305 is provided between the third roller mounting shaft 303 and the collecting housing 301; and a fourth spring 404 is provided between the protective housing 401 and the fourth roller mounting shaft 403. The first roller mounting shaft 103, the second roller mounting shaft 107, the third roller mounting shaft 303, and the fourth roller mounting shaft 403 are all telescopic, and the first spring 105, the second spring 109, the third spring 305, and the fourth spring 404 are always in a compressed state.

[0057] The above configuration enables the traction unit 1, collection unit 3, and protection unit 4 to work in pipes of different diameters, thereby increasing the overall operating range of the robot and improving its practicality.

[0058] The other parts of this embodiment are the same as those in the above embodiments, and will not be described again.

[0059] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present utility model shall fall within the protection scope of the present utility model.

Claims

1. A pipeline deruster robot, characterized by, The utility model relates to a pipeline rust removal robot, which comprises a traction part (1), a rust removal part (2), a collection part (3) and a protection part (4). The traction part (1) is used to pull the whole robot in the pipeline by adopting the spiral traveling wheel group adhering to the pipeline wall. The rust removal part (2) is used to peel off the rust on the inner wall of the pipeline by adopting the rotary cleaning mode. The collection part (3) is used to collect the peeled rust dust by adopting the adsorption capture mode. The protection part (4) is used to spray protective grease on the cleaned inner wall of the pipeline. The universal joint group (5) is used to sequentially connect the traction part (1), the rust removal part (2), the collection part (3) and the protection part (4) and to transmit power.

2. A pipe deruster robot according to claim 1, characterized in that: The collection part (3) comprises a collection outer shell (301), a plurality of third roller mounting shafts (303) mounted on the collection outer shell (301), third rollers (304) mounted on the third roller mounting shafts (303), a plurality of slots formed in the collection outer shell (301), and a detachable air inlet filter screen (306) connected to the slots.

3. A pipe deruster robot according to claim 2, wherein: The collection outer shell (301) is provided with an exhaust grid (307), a main drive motor (308), a dust collection bag (310), a fan group (311) and a fan motor (312).

4. The pipe derusting robot according to claim 2, characterized in that: The fan motor (312) is connected to the fan group (311) at the output end.

5. The pipe derusting robot according to claim 2, characterized in that: When the fan motor (312) is started, the rust dust is sucked into the collection outer shell (301) from the air inlet filter screen (306), collected by the dust collection bag (310) and discharged from the exhaust grid (307) through the dust collection bag (310). The collection outer shell (301) is provided with an auxiliary cover (302) in the form of a funnel, which is used to assist the fan group (311) in collecting the rust dust. The collection outer shell (301) is provided with a partition plate (309) for separating the main drive motor (308) from the auxiliary cover (302) to prevent the rust dust from affecting the operation of the main drive motor (308). The rust removal part (2) comprises a cleaning brush (202) and two flexible shafts (201). The two flexible shafts (201) are drivingly connected, the cleaning brush (202) is mounted at the connection of the two flexible shafts (201), the flexible shaft (201) close to the collection part (3) is drivingly connected to the main drive motor (308) through a universal joint group (5), and when the main drive motor (308) is started, power is transmitted to the flexible shaft (201) through the universal joint group (5) to drive the cleaning brush (202) to rotate for rust removal.

6. A pipe deruster robot according to claim 5, wherein: The traction part (1) comprises a spiral advancing wheel group, a retaining wheel group, a transmission shaft (101), the transmission shaft (101) is in driving connection with the flexible shaft (201) close to the traction part (1) through a universal joint group (5); the spiral advancing wheel group comprises a first roller mounting seat (102), a first roller mounting shaft (103), a first roller (104), the first roller mounting seat (102) is fixedly installed on the transmission shaft (101), a plurality of first roller mounting shafts (103) are installed on the first roller mounting seat (102), and the first roller (104) is installed on the first roller mounting shaft (103); the retaining wheel group comprises a second roller mounting seat (106), a second roller mounting shaft (107), a second roller (108), the second roller mounting seat (106) is rotatably connected to the transmission shaft (101), a plurality of second roller mounting shafts (107) are installed on the second roller mounting seat (106), and a second roller (108) is installed on the second roller mounting shaft (107).

7. A pipe deruster robot according to claim 6, wherein: The protection part (4) comprises a protection outer shell (401), the protection outer shell (401) is connected with the air exhaust grid (307) through a universal joint group (5), a plurality of fourth roller mounting shafts (403) are installed on the protection outer shell (401), and fourth rollers (402) are installed on the fourth roller mounting shafts (403); an air compression pump, an oil tank, an oil pump and an atomizing nozzle (405) are installed on the protection outer shell (401), oil in the oil tank is pumped to the atomizing nozzle (405) by the oil pump, compressed air is pumped to the atomizing nozzle (405) by the air compression pump, and the oil is atomized and sprayed.

8. A pipe deruster robot according to claim 7, characterised in that: First springs (105) are arranged between the first roller mounting seat (102) and the first roller mounting shaft (103); second springs (109) are arranged between the second roller mounting seat (106) and the second roller mounting shaft (107); third springs (305) are arranged between the third roller mounting shaft (303) and the collection outer shell (301); and fourth springs (404) are arranged between the protection outer shell (401) and the fourth roller mounting shaft (403).

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