CN116085584A - Pipe manned inspection device - Google Patents

Abstract

The invention relates to a pipeline manned inspection device, which includes an operation cabin, a detector and a running mechanism; the detector is arranged in the control cabin and is electrically connected with the operation cabin, and is used to detect the condition in the pipeline; the running mechanism includes a connecting seat, The driving arm assembly, the traveling wheel and the first driving source, the connection seat is fixed to the operating cabin, the driving arm assembly is movably connected to the connecting seat, the traveling wheel is rotatably connected to the driving arm assembly, the first drive is fixed to the driving assembly and is used to drive the traveling wheel Walk relative to the inner wall of the pipe. In the pipeline manned inspection device of the present invention, since the detector is located in the operation cabin, the running mechanism connected with the operation cabin can move the detector to the vicinity of the inner wall of the pipeline, so that the detector can complete the detection in the pipeline, and then the operation cabin The operator inside can maintain the pipeline inside the detection pipeline.

Description

A pipeline manned inspection device

technical field

The invention relates to the technical field of pumped water storage equipment, in particular to a pipeline manned inspection device.

Background technique

Under the new situation of global response to climate change and accelerated green and low-carbon transformation of energy, it is imperative to accelerate the development of pumped hydro storage. In 2020, the cumulative installed capacity of pumped storage in my country will reach 31.79GW. The National Energy Administration will issue the Medium and Long-term Development Plan for Pumped Storage (2021-2035) in 2021. By 2025, the total scale of pumped storage will reach more than 62 million kilowatts; By 2030, the total scale of pumped storage will reach 120 million kilowatts.

The pumped storage power station has an upper reservoir built on a high place and a lower reservoir built downstream of the power station. The water in the upper reservoir flows to the lower reservoir through pressure pipes. The pumped storage power station relies on the water flow to drive the turbine to generate electricity and store energy. Under the erosion of water flow all the year round, the pressure and impact of the water flow on the pressure pipeline may cause defects inside the pipeline, and some defects need to be detected by instruments in the pipeline. At present, the method for pipeline maintenance is generally manual maintenance. Due to the labor intensity of manual maintenance Large, time-consuming, and certain potential safety hazards make it difficult to carry out pipeline maintenance work, which leads to the long-term operation of some pressure pipeline sections in an unknown state. Therefore, effective inspection devices are urgently needed to monitor the status of pressure pipelines. Evaluate and overhaul.

Contents of the invention

The object of the present invention is to provide a pipeline manned inspection device, aiming at evaluating and overhauling the state of pressure pipelines.

In order to solve the above technical problems, a pipeline manned inspection device is provided, which includes an operation cabin, a detector and a running mechanism; the detector is arranged in the operation cabin and is electrically connected with the operation cabin, and is used to detect pipeline The condition inside; the traveling mechanism includes a connecting base, a driving arm assembly, a traveling wheel and a first driving source, the connecting base is fixed on the operating cabin, the driving arm assembly is movably connected to the connecting base, the The traveling wheel is rotatably connected to the driving arm assembly, and the first driver is fixed to the driving arm assembly and is used to drive the traveling wheel to travel relative to the inner wall of the pipeline.

Further, the driving arm assembly includes a first connecting arm, a second connecting arm and a first electric cylinder, one end of the first connecting arm is rotatably connected to the connecting seat, and the other end of the first connecting arm is rotatably connected to the One end of the second connecting arm, the other end of the second connecting arm is connected to the road wheel, one end of the first electric cylinder is rotatably connected to the connecting seat, and the other end of the first electric cylinder connected to the first connecting arm.

Further, the traveling mechanism further includes a positioning module, the said traveling wheel is disposed at the end of the driving arm assembly, and the positioning module is used to limit the movement of the traveling wheel.

Further, the positioning module further includes an electric push rod, a second driving source and a support, the electric push rod is fixed to the end of the second connecting arm, the support is connected to the electric push rod, and When the supporting member abuts against the inner wall of the pipeline, the supporting member is used for positioning and fixing the manned inspection device for the pipeline.

Further, the operating cabin includes a bracket, a safety seat, an operating table, a third driving source and a connecting piece, the traveling mechanism is fixed to the bracket, the third driving source is fixed to the bracket, and the connecting The safety seat is connected between the safety seat and the third driving source, the safety seat is adjusted and balanced by the third driving source, the operating table is fixed on the bracket, and the operating table is respectively It is electrically connected with the detector and the running mechanism.

Further, the operating cabin further includes a safety fence, and the safety fence is arranged around the safety seat and fixed to the bracket.

Further, the traveling mechanism includes a second electric cylinder, one end of the second electric cylinder is fixed to the first connecting arm, and the other end is fixed to the second connecting arm, so as to drive the second connecting arm relative to the Describe the movement of the first connecting arm.

Further, the detector includes a host computer and a sensor, the sensor is electrically connected to the host computer, the host computer is fixed on the bracket, and the sensor faces the inner wall of the pipeline, the host computer is connected with the operation Taipower connection.

Further, the operating cabin further includes a safety helmet and a safety belt, the safety helmet is attached to the safety seat, and the safety belt is tied to the safety seat.

Further, the pipeline manned inspection device also includes a safety device, the safety device includes a hoist and a safety rope, the hoist is detachable in the pipeline, one end of the safety rope is contracted and connected to the hoist, the safety The other end of the rope is fixed to the operating cabin.

Implementing the embodiment of the present invention will have the following beneficial effects:

In the pipeline manned inspection device in this embodiment, since the detector is located in the operating cabin, the walking mechanism connected with the operating cabin can move the detector to the vicinity of the inner wall of the pipeline, so that the detector can complete the detection in the pipeline, and then The operator in the operating cabin can maintain the pipeline in the detection pipeline, which overcomes the problems of high difficulty and low efficiency in pipeline detection and maintenance in the prior art.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a structural schematic diagram of a pipeline manned inspection device described in an embodiment of the present invention;

Fig. 2 is a partial enlarged view of place A in Fig. 1;

Fig. 3 is a bottom view of the pipeline manned inspection device described in the embodiment of the present invention;

Fig. 4 is a partial enlarged view of place B in Fig. 3;

Fig. 5 is a schematic structural view of the walking mechanism described in the embodiment of the present invention;

Fig. 6 is the front view of the walking mechanism described in the embodiment of the present invention;

Fig. 7 is a schematic structural view of the operating cabin according to the embodiment of the present invention.

Among them: 100. Pipeline manned inspection device; 110. Operation cabin; 111. Bracket; 112. Safety seat; 113. Operating table; 114. Third driving source; 115. Connecting piece; Detector; 121, upper computer; 122, sensor; 130, traveling mechanism; 131, connecting seat; 132, driving arm assembly; 1321, first connecting arm; 1322, second connecting arm; 1323, first electric cylinder; 1324 , the second electric cylinder; 133, the traveling wheel; 134, the first driving source; 135, the positioning module; 1351, the electric push rod; 1352, the second driving source; 1353, the supporting member.

Detailed ways

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention is capable of being implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Please refer to Fig. 1-Fig. 7, the embodiment of the present invention provides a pipeline manned inspection device 100, including an operating cabin 110, a detector 120 and a running gear 130; the detector 120 is located in the operating cabin 110, and 110 is electrically connected, and is used to detect the situation in the pipeline; the traveling mechanism 130 includes a connecting seat 131, a driving arm assembly 132, a traveling wheel 133 and a first driving source 134, the connecting seat 131 is fixed on the operating cabin 110, and the driving arm assembly 132 is movably connected On the connecting seat 131 , the traveling wheel 133 is rotatably connected to the driving arm assembly 132 , and the first drive is fixed to the driving arm assembly 132 and is used to drive the traveling wheel 133 to travel relative to the inner wall of the pipeline. In a specific application, the number of running gears 130 is six, among which, three running gears 130 are distributed at the front end of the operation cabin 110, three running gears 130 are distributed at the rear end of the operation cabin 110, and the three running gears 130 at the front end are supported on On one side of the inner wall of the pipeline, the three running gears 130 at the rear end are supported on the other side of the inner wall of the pipeline, thereby supporting the operating cabin 110. When the diameter of the pipeline changes, the driving assembly adjusts the angle with the connecting seat 131, so that the pipeline is loaded The human inspection device 100 adapts to the change of the diameter of the pipeline, so that the traveling wheel 133 abuts against the inner wall of the pipeline, and the first driving source 134 is a worm gear motor for driving the traveling wheel 133 to walk on the inner wall of the pipeline, so that the operation cabin 110 can move On the inner wall of the pipeline, the operator cabin 110 can be used for the operator to enter and operate, so that when the detector 120 detects the condition in the pipeline, the operator can maintain the pipeline in condition, so that the pipeline manned inspection device 100 The condition of the pipeline can be assessed and maintained.

In a possible implementation, the driving arm assembly 132 includes a first connecting arm 1321 , a second connecting arm 1322 and a first electric cylinder 1323 , one end of the first connecting arm 1321 is rotatably connected to the connecting seat 131 , and the first connecting arm 1321 The other end is rotatably connected to one end of the second connecting arm 1322, the other end of the second connecting arm 1322 is connected to the road wheel 133, one end of the first electric cylinder 1323 is rotatably connected to the connecting seat 131, and the other end of the first electric cylinder 1323 is connected to on the first connecting arm 1321 . In a specific application, the first electric cylinder 1323 is a hydraulic cylinder, which can make the rotational moment of the second connecting arm 1322 relative to the first connecting arm 1321 large, which is conducive to the walking wheel 133 connected to the other end of the second connecting arm 1322 to be close to the on the inner wall of the pipe,

Wherein, the first electric cylinder 1323 is electrically connected with the operation cabin 110, and the operation cabin 110 can control the movement of the first electric cylinder 1323 so that the driving arm assembly 132 rotates relative to the connecting seat 131, so that the operation cabin 110 can be adjusted according to the change of the inner diameter of the pipeline. The rotation of the first connecting arm 1321 relative to the connecting seat 131 is adjusted so that the running wheel 133 is always attached to the inner wall of the pipeline.

In a possible implementation manner, the traveling mechanism 130 further includes a positioning module 135 disposed at the end of the driving arm assembly 132 close to the traveling wheel 133 , and the positioning module 135 is used to limit the movement of the traveling wheel 133 . In a specific application, when the detector 120 detects a condition on the inner wall of the pipeline or the operator observes a condition on the inner wall of the pipeline, the detector 120 sends a signal to the operation cabin 110, and the operation cabin 110 controls the positioning module 135 to be supported on the inner wall of the pipeline, so that The traveling wheels 133 are separated from the inner wall of the pipeline. At this time, the operation cabin 110 is fixed relative to the pipeline, which is convenient for the operator to perform operations, such as maintenance or maintenance.

In a possible implementation manner, the positioning module 135 further includes an electric push rod 1351, a second driving source 1352 and a support member 1353, the electric push rod 1351 is fixed at the end of the second connecting arm 1322, and the support member 1353 is connected to the When the rod 1351 and the support member 1353 abut against the inner wall of the pipeline, the support member 1353 is used for positioning and fixing the pipeline manned inspection device 100 . In a specific application, in order to enable the positioning module 135 to be reliably positioned on the inner wall of the pipeline, the electric push rod 1351 fixed at the end of the second connecting arm 1322 drives the support member 1353 to extend, so that the support member 1353 abuts against the inner wall of the pipeline, wherein, The support member 1353 is a plastic part with a large friction coefficient, which can prevent the support member 1353 from sliding relative to the inner wall of the pipe. The second driving source 1352 is a servo motor or a stepping motor. The second driving source 1352 is controlled by the operation cabin 110 to adjust the support member 1353 Facing the inner wall of the pipe, it is more favorable for the support member 1353 to be firmly supported on the inner wall of the pipe.

In a possible implementation manner, the operating cabin 110 includes a bracket 111, a safety seat 112, an operating table 113, a third driving source 114 and a connecting piece 115, the traveling mechanism 130 is fixed on the bracket 111, and the third driving source 114 is fixed on the The bracket 111 and the connecting piece 115 are connected between the safety seat 112 and the third driving source 114, the safety seat 112 is adjusted and balanced by the third driving source 114, the operation platform 113 is fixed on the bracket 111, and the operation platform 113 is respectively connected with the detection The device 120 is electrically connected with the traveling mechanism 130. In a specific application, since the pipeline manned inspection device 100 walks in the pipeline, and there are straight pipelines, inclined pipelines and curved pipelines in the pipeline, when the pipeline manned inspection device 100 walks on the inclined or curved pipeline, it needs to automatically The safety seat 112 is adjusted to a horizontal state. Therefore, the third driving source 114 is fixed on the support frame, and the connecting member 115 is connected between the safety seat 112 and the third driving source 114. When the safety seat 112 loses balance, The safety seat 112 can be rebalanced through the third driving source 114, so that the operator seated on the safety seat 112 feels comfortable. In addition, the operating console 113 of the operating cabin 110 can be controlled by the operator, because the operating console 113 also They are respectively electrically connected to the detector 120 and the traveling mechanism 130 , so that it is convenient for the operator to control the detection of the inner wall of the pipeline by the detector 120 and control the moving distance and direction of the traveling mechanism 130 .

In a possible implementation manner, the operating compartment 110 further includes a safety fence 116 , and the safety fence 116 is arranged around the safety seat 112 and fixed to the bracket 111 . In a specific application, a safety fence 116 is provided around the safety seat 112 to improve the safety of the operating chamber, and the safety fence 116 is arranged around the safety seat 112 at a certain distance, and is fixed on the bracket 111 by welding, so that , that is, the operator seated on the safety seat 112 can be protected, and the operator can also be prevented from getting out of the safety seat 112 .

In a possible implementation manner, the traveling mechanism 130 includes a second electric cylinder 1324, one end of the second electric cylinder 1324 is fixed to the first connecting arm 1321, and the other end is fixed to the second connecting arm 1322, so as to drive the second connecting arm 1322 It moves relative to the first connecting arm 1321 . In a specific application, in order to make the second connecting arm 1322 rotate relative to the first connecting arm 1321, one end of the second electric cylinder 1324 is fixed on the first connecting arm 1321, and the other end is fixed on the second connecting arm 1322. When the second electric cylinder 1324 is When the operating cabin 110 is driven, the second connecting arm 1322 moves relative to the first connecting arm 1321 , so that the running wheel 133 connected to the end of the second connecting arm 1322 is attached to the inner wall of the pipeline. In this way, the traveling wheels 133 can be attached to the inner wall of the pipeline more firmly, so that the traveling wheels 133 drive the traveling mechanism 130 to drive the operation cabin 110 to move forward under the action of static friction.

In a possible implementation, the detector 120 includes a host computer 121 and a sensor 122, the sensor 122 is electrically connected to the host computer 121, the host computer 121 is fixed on the bracket 111, and the sensor 122 faces the inner wall of the pipeline, the host computer 121 and the operation Station 113 is electrically connected. In a specific application, the sensor 122 is a radar sensor 122 and/or a visual sensor 122 used to detect the condition of the inner wall of the pipeline, and then feeds back the situation to the host computer 121, and the host computer 121 analyzes the condition of the inner wall of the pipeline. When the analysis detects that the condition of the inner wall of the pipeline is abnormal , the host computer 121 feeds back the information to the console 113, reminds the operator of the situation, and waits for the operator's processing.

In a possible implementation manner, the operating cabin 110 further includes a safety helmet (not shown in the figure) and a safety belt (not shown in the figure), the safety helmet hangs on the safety seat 112 , and the safety belt is tied to the safety seat 112 . In a specific application, in order to protect the life and health of the operator, a safety helmet is attached to the safety seat 112, which is convenient for the operator to take; The pipeline manned inspection device 100 is allowed to start working until the safety belt and safety helmet are worn.

In a possible implementation, the pipeline manned inspection device 100 also includes a safety device (not shown in the figure). The other end of the rope is fixed to the operation cabin 110 . In a specific application, in order to ensure the safety of the operator and the pipeline manned inspection device 100, the hoist of the safety device can be installed and fixed in the pipeline, the safety rope is controlled by the contraction of the hoist, and the other end of the safety rope is fixed in the operating cabin 110. In this way, it can play a secondary protective role for the operator and the pipeline manned inspection device 100. When the pipeline manned inspection device 100 is working normally, the safety device moves with the pipeline manned inspection device 100 to retract and release the rope. The pipeline manned inspection device 100 has no traction effect, so as to avoid damage to the pipeline wall caused by the safety rope. When the pipeline manned inspection device 100 is abnormal or accidentally slipped, the safety device can effectively prevent the pipeline manned inspection device 100 and the operator from falling.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. A pipe manned inspection device, comprising:

an operation cabin;

the detector is arranged in the operation cabin and is electrically connected with the operation cabin and used for detecting the condition in the pipeline;

the traveling mechanism comprises a connecting seat, a driving arm assembly, traveling wheels and a first driving source, wherein the connecting seat is fixed on the operating cabin, the driving arm assembly is movably connected with the connecting seat, the traveling wheels are rotationally connected with the driving arm assembly, and the first driving mechanism is fixed on the driving arm assembly and used for driving the traveling wheels to travel relative to the inner wall of the pipeline.

2. The pipe manned inspection device of claim 1, wherein the driving arm assembly includes a first connecting arm, a second connecting arm and a first electric cylinder, one end of the first connecting arm is rotatably connected with the connecting base, the other end of the first connecting arm is rotatably connected with one end of the second connecting arm, the other end of the second connecting arm is connected with the travelling wheel, one end of the first electric cylinder is rotatably connected with the connecting base, and the other end of the first electric cylinder is connected with the first connecting arm.

3. The pipe manned inspection device of claim 1, wherein the travel mechanism further comprises a positioning module disposed proximate the travel wheel at the end of the drive arm assembly, the positioning module configured to limit movement of the travel wheel.

4. A pipe manned inspection apparatus according to claim 3, wherein the positioning module further comprises an electric push rod, a second driving source and a supporting member, the electric push rod is fixed at the end of the second connecting arm, the supporting member is connected to the electric push rod, and the supporting member is used for positioning and fixing the pipe manned inspection apparatus when the supporting member abuts against the inner wall of the pipe.

5. The pipe inspection device of any one of claims 1-4, wherein the cabin includes a bracket, a safety seat, an operation console, a third drive source and a connector, the running gear is fixed to the bracket, the third drive source is fixed to the bracket, the connector is connected between the safety seat and the third drive source, the safety seat is balanced by the third drive source, the operation console is fixed to the bracket, and the operation console is electrically connected to the detector and the running gear, respectively.

6. The pipe manned inspection device of claim 5, wherein the operator cabin further includes a safety rail surrounding the safety seat and secured to the bracket.

7. The pipe manned inspection device of claim 2, wherein the travelling mechanism comprises a second electrically powered cylinder having one end fixed to the first connecting arm and the other end fixed to the second connecting arm to drive the second connecting arm to move relative to the first connecting arm.

8. The manned inspection device according to claim 5, wherein the detector comprises an upper computer and a sensor, the sensor is electrically connected with the upper computer, the upper computer is fixed on the bracket, the sensor faces the direction of the inner wall of the pipeline, and the upper computer is electrically connected with the operation console.

9. The pipe manned inspection device of claim 5, wherein the operator cabin further includes a safety helmet and a safety harness, the safety helmet being suspended from the safety seat, the safety harness being tethered to the safety seat.

10. The pipe manned inspection device of claim 1, further comprising a safety device, the safety device comprising a hoist and a safety rope, the hoist being detachable in the pipe, one end of the safety rope being in shrink connection with the hoist, the other end of the safety rope being secured to the cabin.

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