Robot with pipeline inner wall cleaning and repairing functions
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI TUNNEL ENG CO LTD
- Filing Date
- 2025-05-19
- Publication Date
- 2026-05-29
AI Technical Summary
Traditional methods of cleaning and repairing the inner walls of pipes require separate procedures, resulting in low efficiency, time and labor costs, increased maintenance costs, and downtime.
Design a robot that combines pipe inner wall cleaning and repair functions, including a wall brushing device, a flushing device, a support device, a propulsion system, and a repair device, to achieve pipe inner wall cleaning and repair through integrated operation.
It significantly improves maintenance efficiency, reduces interference with normal operation, lowers equipment and labor costs, extends pipeline lifespan, reduces economic losses and environmental pollution, and aligns with energy conservation, emission reduction, and sustainable development goals.
Smart Images
Figure CN224301645U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of municipal pipeline construction technology, and specifically relates to a robot that combines pipeline inner wall cleaning and repair functions. Background Technology
[0002] Pipelines, as a crucial component of modern industrial and urban infrastructure, are widely used in the transportation of oil, natural gas, and water resources, as well as urban drainage. However, over time, the inner walls of pipelines often suffer from corrosion, scaling, and deposit accumulation, leading to reduced transportation efficiency and even leaks and safety hazards. Therefore, cleaning and repair of the pipeline inner walls are necessary. Traditional pipeline cleaning and repair methods typically require separate procedures, such as placing a cleaning device into the pipeline to clean the inner walls and then placing a repair device to repair them. This separate approach is time-consuming, labor-intensive, and increases maintenance costs and downtime. Therefore, we propose a robot that combines pipeline inner wall cleaning and repair functions to address these issues. Utility Model Content
[0003] To address the aforementioned problems, this invention provides a robot that combines pipe inner wall cleaning and repair functions, thus solving the problem of low operational efficiency caused by traditional pipe inner wall cleaning and repair methods.
[0004] This utility model is achieved through the following solution: a robot that combines the functions of cleaning and repairing the inner wall of pipes, comprising:
[0005] case;
[0006] A wall-brushing device includes a first driving member and a brush disc that can rotate around the axis of a pipe. The brush disc is located in front of the housing. The first driving member is fixed inside the front section of the housing, and the output end of the first driving member extends out of the housing and is fixedly connected to the brush disc to drive the brush disc to rotate in order to brush the inner wall of the pipe.
[0007] A rinsing device is used to rinse the brushed area during the process of the brush plate sweeping the inner wall of the pipe.
[0008] A support device connected to the shell is used to suspend and support the shell inside the pipe. The support device can move relative to the inner wall of the pipe along the axial direction of the pipe.
[0009] A propulsion system for applying a forward thrust along the pipe axis to the casing, causing the casing to move forward along the pipe under the relative movement of the support device; and
[0010] The repair device, located at the rear of the casing, is used to repair the inner wall of the pipe after cleaning.
[0011] A further improvement of this utility model of a robot that combines pipe inner wall cleaning and repair functions is that the brush plate includes a fixed plate, multiple first cylinders and multiple wire brushes. The fixed plate is fixedly connected to the output end of the first drive component. The multiple first cylinders are arranged along the outer circumferential surface of the fixed plate, and the multiple wire brushes are respectively fixed to the output ends of the multiple first cylinders.
[0012] A further improvement of this utility model of a robot that combines pipe inner wall cleaning and repair functions is that the flushing device includes a water supply pipe, a nozzle and multiple nozzles. The nozzle is connected to the water outlet of the water supply pipe, and the multiple nozzles are arranged along the outer peripheral surface of the nozzle and face the outer peripheral surface of the brush plate.
[0013] A further improvement of this utility model of a robot that combines pipe inner wall cleaning and repair functions is that the support device includes a gantry, multiple second hydraulic cylinders, multiple sliding parts, and multiple ports. The multiple ports are arranged circumferentially outside the housing. The gantry is fixed inside the housing. The multiple second hydraulic cylinders are all fixed outside the gantry, and the positions of the multiple second hydraulic cylinders correspond one-to-one with the positions of the multiple ports. The multiple sliding parts are respectively fixed to the output ends of the multiple second hydraulic cylinders. The multiple second hydraulic cylinders drive the corresponding sliding parts to pass through the ports until they abut against the inner wall of the pipe, so as to suspend the housing and support it inside the pipe, and satisfy the requirement that the support device can move relative to the pipe axis.
[0014] A further improvement of this utility model of a robot that combines pipe inner wall cleaning and repair functions is that the sliding component includes a tray and a ball assembly. The tray is fixed to the output end of the corresponding second hydraulic cylinder, and the ball assembly is connected to the side of the tray facing the inner wall of the pipe, so as to abut against the inner wall of the pipe when the shell is suspended and supported in the pipe.
[0015] A further improvement of this utility model of a robot that combines pipe inner wall cleaning and repair functions is that the propulsion system includes a second drive component and a support assembly. The second drive component is fixed inside the rear section of the housing, and the output end of the second drive component extends out of the rear section of the housing. The support assembly is located behind the housing and is fixedly connected to the output end of the second drive component. It is used to support the inner wall of the pipe, so as to provide a reaction force when the second drive component pushes the support assembly, so that the housing moves forward along the pipe under the relative movement of the support device.
[0016] A further improvement of this utility model of a robot that combines pipe inner wall cleaning and repair functions is that the top support assembly includes a first support ring and a plurality of third hydraulic cylinders. The first support ring is fixed to the output end of the second drive component, and the plurality of third hydraulic cylinders are arranged along the outer circumferential surface of the first support ring.
[0017] A further improvement of this utility model of a robot that combines pipe inner wall cleaning and repair functions is that the second driving component includes a second support ring fixed inside the housing and a plurality of fourth hydraulic cylinders arranged circumferentially on the second support ring. The first support ring is fixed to the output ends of the plurality of fourth hydraulic cylinders. The extension and retraction direction of each of the fourth hydraulic cylinders is along the axial direction of the housing, and the extension and retraction direction of each of the third hydraulic cylinders is along the radial direction of the housing.
[0018] A further improvement of this utility model of a robot that combines pipe inner wall cleaning and repair functions is that the top support assembly also includes multiple support shoes, and the multiple support shoes are respectively fixed to the output ends of multiple third hydraulic cylinders for supporting the inner wall of the pipe.
[0019] A further improvement of this utility model of a robot that combines pipe inner wall cleaning and repair functions is that a guide rail is provided on the side of the first support ring away from the fourth oil cylinder, and the repair device includes a spraying robotic arm for spraying repair material onto the cleaned pipe inner wall, the spraying robotic arm being relatively slidably connected to the guide rail.
[0020] The repair device also includes a third driving component for driving the spraying robotic arm to slide along the guide rail so that the spraying robotic arm can perform full-area spraying.
[0021] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0022] This invention enables the robot to quickly repair pipes while cleaning the inner walls of them, which significantly improves maintenance efficiency and reduces disruption to normal operations. Furthermore, the integrated operation reduces equipment and labor costs. In addition, the application of this innovative robot helps extend the service life of pipes, reducing economic losses and environmental pollution caused by pipe malfunctions, thus aligning with the goals of energy conservation, emission reduction, and sustainable development. Attached Figure Description
[0023] Figure 1 The diagram shows the structure of the robot of this invention when cleaning and repairing the inner wall of a pipe.
[0024] Figure 2 This utility model is shown Figure 1 Schematic diagram of the cross-sectional structure of AA.
[0025] Figure 3 This utility model is shown Figure 1 Schematic diagram of the cross-sectional structure of BB.
[0026] Figure 4 This utility model is shown Figure 1 Schematic diagram of the CC cross-section structure.
[0027] Figure 5 This utility model is shown Figure 1 Schematic diagram of the cross-sectional structure of DD.
[0028] In the diagram: 1. Shell; 2. Pipe; 3. Brushing device; 301. First driving component; 302. Fixed plate; 303. First hydraulic cylinder; 304. Wire brush; 4. Flushing device; 401. Water supply pipe; 402. Spray head; 403. Nozzle; 5. Support device; 501. Gantry; 502. Second hydraulic cylinder; 503. Through port; 504. Tray; 505. Ball bearing; 6. Propulsion system; 601. Second support ring; 602. Fourth hydraulic cylinder; 603. First support ring; 604. Third hydraulic cylinder; 605. Support shoe; 7. Repair device; 701. Guide rail; 702. Gear ring; 703. Gear; 704. Base; 705. Spraying robotic arm; 8. Vision camera; 9. Through port. Detailed Implementation
[0029] To address the low efficiency of traditional pipe cleaning and repair methods, this invention provides a robot that combines pipe cleaning and repair functions. The following detailed description, in conjunction with the accompanying drawings, provides further insights into this robot.
[0030] See Figures 1-5 As shown, a robot that combines pipe inner wall cleaning and repair functions includes:
[0031] Casing 1;
[0032] The wall brushing device 3 includes a first driving member 301 and a brush disk that can rotate around the axis of the pipe 2. The brush disk is located in front of the housing 1. The first driving member 301 is fixed inside the front section of the housing 1, and the output end of the first driving member 301 extends out of the housing 1 and is fixedly connected to the brush disk to drive the brush disk to rotate so as to achieve brushing of the inner wall of the pipe 2.
[0033] The rinsing device 4 is used to rinse the brushed area during the process of the brush plate brushing the inner wall of the pipe 2.
[0034] The support device 5 connected to the shell 1 is used to suspend and support the shell 1 inside the pipe 2. The support device 5 can move relative to the inner wall of the pipe 2 along the axial direction of the pipe 2.
[0035] A propulsion system 6 for applying a forward thrust along the axis of the pipe 2 to the housing 1, causing the housing 1 to move forward along the pipe 2 under the relative movement of the support device 5; and
[0036] The repair device 7, located at the rear of the housing 1, is used to repair the inner wall of the pipe 2 after cleaning.
[0037] This robot can quickly repair pipe 2 while cleaning the dirt on the inner wall. On the one hand, it can significantly improve maintenance efficiency and reduce interference with normal operation. On the other hand, the integrated operation reduces equipment and labor costs. In addition, the application of innovative robots helps to extend the service life of pipe 2 and reduce economic losses and environmental pollution caused by pipe 2 failures, which is in line with the goals of energy conservation, emission reduction and sustainable development.
[0038] Among them, see Figure 1-2 As shown, the brush disc includes a fixed disc 302, multiple first hydraulic cylinders 303 and multiple wire brushes 304. The fixed disc 302 is fixedly connected to the output end of the first driving member 301. The multiple first hydraulic cylinders 303 are arranged along the outer circumferential surface of the fixed disc 302, and the multiple wire brushes 304 are respectively fixed to the output ends of the multiple first hydraulic cylinders 303.
[0039] Specifically, the extension and retraction directions of the multiple first hydraulic cylinders 303 are all along the radial direction of the housing 1;
[0040] The extension and retraction of the first hydraulic cylinder 303 can drive the corresponding wire brush 304 to extend and retract, which can be adjusted according to the pipe 2 with different inner diameters, making it widely applicable. The first hydraulic cylinder 303 can push the wire brush 304 to abut against the inner wall of the pipe 2. Then, the first driving component 301 is activated to drive the fixed plate 302 to rotate, which in turn drives the wire brush 304 to rotate through the first hydraulic cylinder 303, thereby brushing the inner wall of the pipe 2.
[0041] Among them, see Figure 1 As shown, the rinsing device 4 includes a water supply pipe 401, a nozzle 402 and a plurality of nozzles 403. The nozzle 402 is connected to the water outlet end of the water supply pipe 401, and the plurality of nozzles 403 are arranged along the outer peripheral surface of the nozzle 402 and facing the outer peripheral surface of the brush plate.
[0042] Specifically, in this embodiment, a water supply device for supplying water to the water supply pipe 401 can be provided inside the housing 1. Both the brush plate and the first drive member 301 are provided with a through hole 9 at their center. The water inlet end of the water supply pipe 401 passes through the through hole 9 on the brush plate and the through hole 9 on the first drive member 301 in sequence and is connected to the water supply device provided inside the housing 1. The water outlet end of the water supply pipe 401 passes through the through hole 9 on the brush plate to the front of the brush plate.
[0043] By adopting the above design, the first driving component 301 drives the fixed disk 302 to rotate through the connecting rod; water is supplied to the nozzle 402 through the water supply pipe 401, and then the brushed area is rinsed through multiple nozzles 403, so as to achieve the brushing effect in conjunction with the rotating wire brush 304, and the cleaning effect is good.
[0044] Among them, see Figure 3As shown, the support device 5 includes a gantry 501, multiple second hydraulic cylinders 502, multiple sliding parts, and multiple ports 503. The multiple ports 503 are arranged circumferentially outside the housing 1. The gantry 501 is fixed inside the housing 1. The multiple second hydraulic cylinders 502 are all fixed outside the gantry 501, and the positions of the multiple second hydraulic cylinders 502 and the multiple ports 503 correspond one-to-one. The multiple sliding parts are respectively fixed to the output ends of the multiple second hydraulic cylinders 502. The multiple second hydraulic cylinders 502 drive the corresponding sliding parts to pass through the ports 503 until they abut against the inner wall of the pipe 2, so as to suspend the housing 1 in the pipe 2 and satisfy that the support device 5 can move relative to the axis of the pipe 2.
[0045] The sliding component includes a tray 504 and a ball assembly. The tray 504 is fixed to the output end of the corresponding second cylinder 502, and the ball assembly is connected to the side of the tray 504 facing the inner wall of the pipe 2, for abutting against the inner wall of the pipe 2 when the housing 1 is suspended and supported in the pipe 2.
[0046] Specifically, in this embodiment, refer to Figure 3 As shown, the gantry 501 is triangular, and there are three second hydraulic cylinders 502. The three second hydraulic cylinders 502 are fixed on the three sides of the triangular gantry 501 respectively, and the extension and retraction direction of each second hydraulic cylinder 502 is along the radial direction of the housing 1.
[0047] Furthermore, the ball assembly includes multiple balls 505, and the multiple balls 505 are evenly distributed on the side of the tray 504 facing the inner wall of the pipe 2.
[0048] By adopting the above design, multiple second hydraulic cylinders 502 push the corresponding trays 504 through the openings 503 until the balls 505 on the trays 504 abut against the inner wall of the pipe 2, thus suspending and supporting the housing 1 in the pipe 2. The supported housing 1 and the pipe 2 can slide relative to each other by means of the balls 505, so that the housing 1 slides along the pipe 2 when the propulsion system 6 pushes the housing 1.
[0049] Among them, see Figure 1 and 4 As shown, the propulsion system 6 includes a second drive member and a top support assembly. The second drive member is fixed inside the rear section of the housing 1, and the output end of the second drive member extends out of the rear section of the housing 1. The top support assembly is located behind the housing 1 and is fixedly connected to the output end of the second drive member. It is used to support the inner wall of the pipe 2 so as to provide a reaction force when the second drive member pushes the top support assembly, so that the housing 1 moves forward along the pipe 2 under the relative movement of the support device 5.
[0050] The top support assembly includes a first support ring 603 and a plurality of third hydraulic cylinders 604. The first support ring 603 is fixed to the output end of the second drive member, and the plurality of third hydraulic cylinders 604 are arranged along the outer circumferential surface of the first support ring 603.
[0051] The second driving component includes a second support ring 601 fixed inside the housing 1 and a plurality of fourth cylinders 602 arranged circumferentially on the second support ring 601. The first support ring 603 is fixed to the output end of the plurality of fourth cylinders 602. The extension and retraction direction of each fourth cylinder 602 is along the axial direction of the housing 1, and the extension and retraction direction of each third cylinder 604 is along the radial direction of the housing 1.
[0052] The support assembly also includes multiple support shoes 605, which are respectively fixed to the output ends of multiple third hydraulic cylinders 604 for supporting the inner wall of the pipe 2.
[0053] By adopting the above design, multiple third hydraulic cylinders 604 drive corresponding support shoes 605 to push against the inner wall of the pipe 2, thereby fixing the first support ring 603 to the pipe 2. Then, multiple fourth hydraulic cylinders 602 push the first support ring 603, and the reaction force provided can push the second support ring 601, thereby pushing the housing 1 forward along the inner wall of the pipe 2. When the fourth hydraulic cylinder 602 pushes to the maximum distance, the third hydraulic cylinder 604 is controlled to drive the support shoes 605 to disengage from the pipe 2, and then the fourth hydraulic cylinder 602 is controlled to pull the first support ring 603 back to the initial position. By repeating this cycle, the housing 1 can be driven to move inside the pipe 2, so as to cooperate with the wall brushing device 3, the flushing device 4 and the repair device 7 to achieve the cleaning and repair of the inner wall of the pipe 2.
[0054] Among them, see Figure 1 and 5 As shown, a guide rail 701 is provided on the side of the first support ring 603 away from the fourth oil cylinder 602. The repair device 7 includes a spraying robotic arm 705 for spraying repair material onto the inner wall of the cleaned pipe 2. The spraying robotic arm 705 is slidably connected to the guide rail 701.
[0055] The repair device 7 also includes a third drive unit for driving the spraying robot arm 705 to slide along the guide rail 701 so that the spraying robot arm 705 can perform full spraying.
[0056] Specifically, the bottom of the spraying robot arm 705 is fixedly connected to a base 704. The spraying robot arm 705 cooperates with the guide rail 701 through the base 704 to achieve circumferential sliding along the guide rail 701. The third driving component includes an annular opening that passes through the thickness direction of the first support ring 603, a toothed ring 702 fixed to the inner wall of the annular opening, a drive motor (not shown in the figure) fixed to the base 704, and a gear 703 fixed to the output end of the drive motor and meshing with the toothed ring 702.
[0057] By adopting the above design, the drive motor can drive the gear 703 to rotate. The rotating gear 703 will rotate along the fixed gear ring 702, thereby driving the spraying robot arm 705 to rotate, which is beneficial for all-round spraying repair of the inner wall of the pipe 2.
[0058] Furthermore, vision cameras 8 are fixedly connected to both the upper and lower ends of the first support ring 603 on the side away from the fourth oil cylinder, which are used to perform point cloud scanning on the inner wall of the pipe 2 to obtain the internal geometry of the pipe 2. Combined with the spraying robot arm 705, which has six degrees of freedom motion characteristics, it can perform overall uniform spraying and concentrated spraying of some damaged areas inside the pipe 2.
[0059] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0060] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.
Claims
1. A robot that combines pipe inner wall cleaning and repair functions, characterized in that, include: case; A wall-brushing device includes a first driving member and a brush disc that can rotate around the axis of a pipe. The brush disc is located in front of the housing. The first driving member is fixed inside the front section of the housing, and the output end of the first driving member extends out of the housing and is fixedly connected to the brush disc to drive the brush disc to rotate in order to brush the inner wall of the pipe. A rinsing device is used to rinse the brushed area during the process of the brush plate sweeping the inner wall of the pipe. A support device connected to the shell is used to suspend and support the shell inside the pipe. The support device can move relative to the inner wall of the pipe along the axial direction of the pipe. A propulsion system for applying a forward thrust along the pipe axis to the casing, causing the casing to move forward along the pipe under the relative movement of the support device; and The repair device, located at the rear of the casing, is used to repair the inner wall of the pipe after cleaning.
2. The robot with both pipe inner wall cleaning and repair functions as described in claim 1, characterized in that, The brush plate includes a fixed plate, multiple first hydraulic cylinders and multiple wire brushes. The fixed plate is fixedly connected to the output end of the first driving component. The multiple first hydraulic cylinders are arranged along the outer circumferential surface of the fixed plate, and the multiple wire brushes are respectively fixed to the output ends of the multiple first hydraulic cylinders.
3. The robot with both pipe inner wall cleaning and repair functions as described in claim 1, characterized in that, The rinsing device includes a water supply pipe, a spray head, and multiple nozzles. The spray head is connected to the water outlet of the water supply pipe, and the multiple nozzles are arranged along the outer periphery of the spray head and facing the outer periphery of the brush plate.
4. The robot with both pipe inner wall cleaning and repair functions as described in claim 1, characterized in that, The support device includes a gantry, multiple second hydraulic cylinders, multiple sliding members, and multiple ports. The ports are arranged circumferentially on the outside of the housing. The gantry is fixed inside the housing. The multiple second hydraulic cylinders are all fixed on the outside of the gantry, and the positions of the multiple second hydraulic cylinders correspond one-to-one with the positions of the multiple ports. The multiple sliding members are respectively fixed to the output ends of the multiple second hydraulic cylinders. The multiple second hydraulic cylinders drive the corresponding sliding members to pass through the ports until they abut against the inner wall of the pipe, so as to suspend and support the housing inside the pipe and allow the support device to move relative to the pipe axis.
5. The robot with both pipe inner wall cleaning and repair functions as described in claim 4, characterized in that, The sliding component includes a tray and a ball assembly. The tray is fixed to the output end of the corresponding second hydraulic cylinder, and the ball assembly is connected to the side of the tray facing the inner wall of the pipe, for abutting against the inner wall of the pipe when the housing is suspended and supported inside the pipe.
6. The robot with both pipe inner wall cleaning and repair functions as described in claim 1, characterized in that, The propulsion system includes a second drive member and a top support assembly. The second drive member is fixed inside the rear section of the housing, and the output end of the second drive member extends out of the rear section of the housing. The top support assembly is located behind the housing and is fixedly connected to the output end of the second drive member. It is used to support the inner wall of the pipe so as to provide a reaction force when the second drive member pushes the top support assembly, so that the housing moves forward along the pipe under the relative movement of the support device.
7. The robot with both pipe inner wall cleaning and repair functions as described in claim 6, characterized in that, The top support assembly includes a first support ring and a plurality of third hydraulic cylinders. The first support ring is fixed to the output end of the second drive member, and the plurality of third hydraulic cylinders are arranged along the outer circumferential surface of the first support ring.
8. The robot with both pipe inner wall cleaning and repair functions as described in claim 7, characterized in that, The second driving component includes a second support ring fixed inside the housing and a plurality of fourth hydraulic cylinders arranged circumferentially on the second support ring. The first support ring is fixed to the output ends of the plurality of fourth hydraulic cylinders. The extension and retraction direction of each fourth hydraulic cylinder is along the axial direction of the housing, and the extension and retraction direction of each third hydraulic cylinder is along the radial direction of the housing.
9. The robot with both pipe inner wall cleaning and repair functions as described in claim 7, characterized in that, The top support assembly also includes multiple support shoes, which are respectively fixed to the output ends of multiple third hydraulic cylinders for supporting the inner wall of the pipe.
10. The robot with both pipe inner wall cleaning and repair functions as described in claim 7, characterized in that, The first support ring is provided with a guide rail on the side away from the fourth oil cylinder. The repair device includes a spraying robotic arm for spraying repair material onto the cleaned inner wall of the pipe. The spraying robotic arm is slidably connected to the guide rail. The repair device also includes a third driving component for driving the spraying robotic arm to slide along the guide rail so that the spraying robotic arm can perform full-area spraying.