Mechanical arm for detecting leakage of inner wall of pipeline and repairing by glue

Abstract

The utility model discloses a pipeline inner wall leakage detection and glue repair's mechanical arm, including head joint and a plurality of tail joints, be provided with rotary connector between head joint and tail joint, adjacent tail joint, realize detachable connection through rotary connector between head joint and tail joint, adjacent tail joint, realize multi -angle rotation through rotary connector between head joint and tail joint, adjacent tail joint, all be provided with adaptive support foot on head joint and tail joint, head joint is provided with detection probe and repair spray head, the utility model discloses through setting up head joint and a plurality of tail joints, and the multi -joint is connected through the ball hinge type rotary connector, can realize multi -angle rotation, can smoothly pass through the complex structure such as pipeline elbow, reducing section, solve the problem that the existing equipment is insufficient in the complex pipeline mobility.

Description

Technical Field

[0001] This utility model relates to the field of pipeline maintenance technology, specifically to a robotic arm for detecting and repairing leaks in the inner wall of pipelines. Background Technology

[0002] Pipelines, as critical infrastructure for transporting liquids, gases, and other fluids, are widely used in municipal water supply, drainage, petrochemicals, and gas transmission and distribution. Over long periods of service, pipelines are susceptible to damage such as leakage and cracks due to factors like media corrosion, geological subsidence, construction defects, and material aging. Currently, the detection and repair of pipeline leaks mainly rely on manual inspections combined with localized excavation and repair. This method has drawbacks: long construction cycles and high costs. Especially for pipeline repairs in areas such as main urban roads and under buildings, it can easily cause traffic disruptions and impact public welfare.

[0003] To address these issues, the industry has gradually developed pipeline robot technology, which allows remotely controlled robots to enter pipelines and perform inspection and repair operations. Most existing pipeline robots use wheeled or tracked locomotives, which, while adaptable to the movement needs of straight pipe sections, lack flexibility in complex pipeline structures such as bends and diameter changes, making it difficult to stably conform to the inner wall of the pipeline for accurate inspection. Utility Model Content

[0004] This utility model addresses the technical problems existing in the prior art by providing a robotic arm for detecting and repairing leaks in the inner wall of pipes, thus solving the problems of insufficient flexibility and poor support stability of existing pipe detection and repair equipment in complex pipe environments.

[0005] To achieve the above objectives, this utility model provides a robotic arm for detecting and repairing leaks in the inner wall of pipes, including a head joint and several tail joints. Rotating connectors are provided between the head joint and the tail joints, and between adjacent tail joints. The head joint and the tail joints, and between adjacent tail joints, are detachably connected through the rotating connectors. The head joint and the tail joints, and between adjacent tail joints, can rotate at multiple angles through the rotating connectors. Both the head joint and the tail joint are provided with adaptive support feet. The head joint is provided with a detection probe and a repair nozzle.

[0006] Furthermore, multiple detection probes and repair nozzles can be arranged circumferentially around the axis of the head joint to increase the working area.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Preferably, the adaptive support foot includes a sleeve rod fixedly installed on the head joint or tail joint, a push rod slidably connected inside the sleeve rod, a spring fixedly connected between one end of the push rod inside the sleeve rod and the inner wall of the sleeve rod, the spring being used to apply a preload force to the push rod away from the sleeve rod, and a roller being provided at the end of the push rod.

[0009] Preferably, the inner wall of the sleeve is fixedly connected with a sliding key, and the outer wall of the push rod is provided with a keyway that slides with the sliding key. The cooperation between the keyway and the sliding key restricts the circumferential rotation of the push rod relative to the sleeve.

[0010] Preferably, the rotating connector includes a connecting ball head and a connecting ball sleeve that rotates with the connecting ball head, and are symmetrically arranged at both ends of the head joint or tail joint. The connecting ball head is fixedly connected to the head joint or tail joint, and the end of the head joint or tail joint away from the connecting ball head is threadedly connected to the connecting ball sleeve.

[0011] Preferably, the head joint, tail joint, and connecting ball head are all hollow structures, and the internal cavity of the connecting ball head is connected to the internal cavity of the head joint or tail joint. The internal cavities of the head joint, tail joint, and connecting ball head are used for the passage of cables and pipes for the detection probe and repair nozzle.

[0012] Preferably, both the detection probe and the repair nozzle are mounted on the top rod on the head joint.

[0013] Furthermore, a sliding key can be provided on the inner wall of the connecting ball sleeve, and a keyway can be provided on the outer wall of the connecting ball head to achieve radial angular limiting.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows: By setting a head joint and several tail joints, and connecting multiple joints through ball joint rotating connectors, multi-angle rotation can be achieved, which can smoothly pass through complex structures such as pipe bends and diameter changes, solving the problem of insufficient mobility of existing equipment in complex pipelines. The spring-loaded support feet can automatically adjust the extension and retraction amount according to the pipe diameter, ensuring that the robotic arm can stably fit the inner wall of pipes of different specifications, and avoiding a decrease in accuracy due to shaking during inspection or repair. The head joint integrates a detection probe and a repair nozzle, which can immediately repair leaks after they are detected, without the need to replace equipment or re-enter the pipeline, greatly improving work efficiency. The joints are detachable, and the number of tail joints can be flexibly increased or decreased according to the length of the pipeline, reducing equipment maintenance costs and transportation difficulties. Attached Figure Description

[0015] Figure 1 This is an isometric view of one side of the overall structure of this utility model; Figure 2This is a schematic diagram of the head joint structure of this utility model; Figure 3 This is a schematic diagram of the tail joint structure of this utility model; Figure 4 This is a schematic diagram of the cross-sectional structure of the tail joint of this utility model.

[0016] The meanings of the labels in the diagram are as follows: 1. Head joint; 2. Tail joint; 3. Rotating connector; 301. Connecting ball head; 302. Connecting ball sleeve; 4. Adaptive support foot; 401. Sleeve rod; 402. Top rod; 403. Spring; 404. Slide key; 405. Keyway; 406. Roller; 5. Detection probe; 6. Repair nozzle. Detailed Implementation

[0017] 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.

[0018] Please see Figures 1-4 As shown, this embodiment provides a robotic arm for detecting and repairing leaks in the inner wall of pipes, including a head joint 1 and several tail joints 2. Rotary connectors 3 are provided between the head joint 1 and the tail joints 2, and between adjacent tail joints 2. Through the rotating connectors 3, not only is the detachable connection between the head joint 1 and the tail joints 2, and between adjacent tail joints 2, realized (facilitating flexible adjustment of the overall length of the robotic arm according to the pipe length), but also multi-angle rotation can be achieved (allowing the robotic arm to adapt to complex structures such as pipe bends and diameter changes).

[0019] Both the head joint 1 and the tail joint 2 are equipped with adaptive support feet 4, which enable the robotic arm to stably conform to the inner wall of pipes of different diameters, ensuring the stability of inspection and repair operations. The adaptive support feet 4 include a sleeve rod 401 fixedly installed on the head joint 1 or the tail joint 2. A push rod 402 is slidably connected inside the sleeve rod 401. A spring 403 is fixedly connected between one end of the push rod 402 inside the sleeve rod 401 and the inner wall of the sleeve rod 401. The spring 403 applies a preload force to the push rod 402 away from the sleeve rod 401, so that the end of the push rod 402 always presses against the inner wall of the pipe, thereby adapting to pipes of different diameters.

[0020] In summary, the improvement of this embodiment lies in the following: by setting a head joint 1 and several tail joints 2, and connecting multiple joints through ball joint rotating connectors 3, multi-angle rotation can be achieved, which can smoothly pass through complex structures such as pipe bends and diameter changing sections, thus solving the problem of insufficient mobility of existing equipment in complex pipelines.

[0021] Based on the above, other structures also need to be disclosed in detail, such as: To prevent the top rod 402 from rotating circumferentially during support (ensuring the stable orientation of the detection probe 5 and the repair nozzle 6), a sliding key 404 is fixedly connected to the inner wall of the sleeve rod 401, and a keyway 405 is provided on the outer wall of the top rod 402 to slide and engage with the sliding key 404. The circumferential rotation of the top rod 402 relative to the sleeve rod 401 is restricted by the engagement of the keyway 405 and the sliding key 404, and a roller 406 is provided at the end of the top rod 402.

[0022] The rotating connector 3 includes a connecting ball head 301 and a connecting ball sleeve 302 that rotatably engages with the connecting ball head 301. These two components are symmetrically positioned at both ends of the head joint 1 or tail joint 2. The connecting ball head 301 is fixedly connected to the head joint 1 or tail joint 2, and the end of the head joint 1 or tail joint 2 furthest from the connecting ball head 301 is threadedly connected to the connecting ball sleeve 302. This structure ensures flexible rotation between the joints while facilitating disassembly and assembly.

[0023] To achieve an orderly arrangement of cables and pipes (avoiding exposed wear or entanglement), the interiors of the head joint 1, tail joint 2, and connecting ball head 301 are all hollow structures, and the internal cavity of the connecting ball head 301 is connected to the internal cavity of the head joint 1 or tail joint 2 to form a through channel for the cables and pipes of the detection probe 5 and the repair nozzle 6 to pass through.

[0024] The head joint 1 is equipped with a detection probe 5 and a repair nozzle 6, both of which are integrated on the push rod 402 on the head joint 1 (adaptively conforming to the inner wall of the pipe with the push rod 402 to ensure detection accuracy and precise coating of repair material), realizing integrated "detection-repair" operation.

[0025] In summary, the workflow of this solution is as follows: Based on the diameter and length of the pipe to be inspected, select an appropriate number of tail joints 2, and assemble the robotic arm by rotating the connector 3 (engaging the connecting ball sleeve 302 with the threads of the adjacent joint) to ensure that each joint rotates flexibly; connect the signal line of the detection probe 5 and the hose of the repair nozzle 6 to the external control system and the glue pump.

[0026] The assembled robotic arm front end (head joint 1) is fed into the pipe inlet. The push rod 402 of the adaptive support foot 4 extends automatically under the action of the spring 403, and the roller 406 presses against the inner wall of the pipe to form a stable support.

[0027] The robotic arm is driven to advance along the pipeline axis by an external control device. The detection probe 5 of the head joint 1 collects images of the inner wall of the pipeline in real time and detects leakage signals. The data is transmitted to the control console through the built-in cable.

[0028] When a leak is detected, the control console sends a signal to stop the robotic arm from advancing; it then starts the adhesive pump and sprays sealant onto the leak through the repair nozzle 6 (the spray volume is controlled according to the degree of leakage) to complete the repair.

[0029] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for detecting and repairing leaks in the inner wall of pipes, characterized in that: It includes a head joint (1) and several tail joints (2). A rotating connector (3) is provided between the head joint (1) and the tail joints (2) and adjacent tail joints (2). The head joint (1) and the tail joints (2) and adjacent tail joints (2) are detachably connected by the rotating connector (3). The head joint (1) and the tail joints (2) and adjacent tail joints (2) can rotate at multiple angles by the rotating connector (3). Both the head joint (1) and the tail joints (2) are provided with adaptive support feet (4). The head joint (1) is provided with a detection probe (5) and a repair nozzle (6).

2. The robotic arm for detecting and repairing leaks in the inner wall of pipes according to claim 1, characterized in that: The adaptive support foot (4) includes a sleeve (401) fixedly installed on the head joint (1) or tail joint (2). A top rod (402) is slidably connected inside the sleeve (401). A spring (403) is fixedly connected between one end of the top rod (402) inside the sleeve (401) and the inner wall of the sleeve (401). The spring (403) is used to apply a preload force to the top rod (402) away from the sleeve (401). A roller (406) is provided at the end of the top rod (402).

3. The robotic arm for detecting and repairing leaks in the inner wall of pipes according to claim 2, characterized in that: The inner wall of the sleeve rod (401) is fixedly connected with a sliding key (404), and the outer wall of the top rod (402) is provided with a keyway (405) that slides with the sliding key (404). The cooperation between the keyway (405) and the sliding key (404) restricts the circumferential rotation of the top rod (402) relative to the sleeve rod (401).

4. The robotic arm for detecting and repairing leaks in the inner wall of pipes according to claim 3, characterized in that: The detection probe (5) and the repair nozzle (6) are both mounted on the top rod (402) on the head joint (1).

5. The robotic arm for detecting and repairing leaks in the inner wall of pipes according to claim 1, characterized in that: The rotating connector (3) includes a connecting ball head (301) and a connecting ball sleeve (302) that rotates with the connecting ball head (301), and is symmetrically arranged at both ends of the head joint (1) or tail joint (2). The connecting ball head (301) is fixedly connected to the head joint (1) or tail joint (2), and the end of the head joint (1) or tail joint (2) away from the connecting ball head (301) is threadedly connected to the connecting ball sleeve (302).

6. The robotic arm for detecting and repairing leaks in the inner wall of pipes according to claim 5, characterized in that: The head joint (1), tail joint (2) and connecting ball head (301) are all hollow structures, and the internal cavity of the connecting ball head (301) is connected to the internal cavity of the head joint (1) or tail joint (2). The internal cavities of the head joint (1), tail joint (2) and connecting ball head (301) are used for the cables and pipes of the detection probe (5) and repair nozzle (6) to pass through.

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