CN116255524A - Inspection robot for endoscopic examination of concrete pump pipe - Google Patents
Inspection robot for endoscopic examination of concrete pump pipe Download PDFInfo
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- CN116255524A CN116255524A CN202211579975.5A CN202211579975A CN116255524A CN 116255524 A CN116255524 A CN 116255524A CN 202211579975 A CN202211579975 A CN 202211579975A CN 116255524 A CN116255524 A CN 116255524A
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- 238000007689 inspection Methods 0.000 title claims abstract description 33
- 239000000725 suspension Substances 0.000 claims description 21
- 238000007789 sealing Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 238000001839 endoscopy Methods 0.000 claims 5
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005336 cracking Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010978 in-process monitoring Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/26—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors
- G01M3/28—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds
- G01M3/2807—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds for pipes
- G01M3/2815—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds for pipes using pressure measurements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
- F16L55/44—Constructional aspects of the body expandable
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
- G01N2021/9548—Scanning the interior of a cylinder
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Biochemistry (AREA)
- Immunology (AREA)
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
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- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
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Abstract
The invention discloses a concrete pump pipe endoscopic inspection robot, which comprises an omnidirectional view finding camera, a tightness inspection module and a main body travelling mechanism; the main body advancing mechanism is formed by connecting a plurality of single-section robots in series, the omnidirectional view finding camera is arranged in front of the single-section robot at the forefront end, the tightness checking module is arranged on the single-section robot, a closed space is formed in the pump pipe, and tightness in the closed space is checked by utilizing air pressure intensity. The invention can reliably and intelligently pre-check the safety of the inner wall of the pump pipe.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a concrete pump pipe endoscopic inspection robot.
Background
At present, domestic concrete needs are huge, and concrete can be quickly conveyed to a place where the concrete needs to be poured through a concrete conveying pump pipeline, so that huge losses are caused by the blockage of the concrete pump pipeline. The existing pump pipe blockage research methods are all in-process monitoring and post-fault removal, and risks cannot be safely prevented in advance. Therefore, the method has important practical value for preventing and pre-checking foreign matters and cracks in the concrete pump pipe.
However, it is affected by various factors, and there is a difficulty in pre-inspecting the inside of the pump tube. First, the pump pipe inside diameter is generally classified into 150mm, 125mm and 80mm, and there are cases where the inside diameter is small, the internal environment is complex (there may be a risk of foreign matters in the interior, the pipe wall is wet and slippery, and the pipe has elbows and reducer pipes) and the pipe is long and there are a large number of vertical pipes. Secondly, the pump pipe is generally made of metal, can shield and isolate signal receiving and sending inside and outside, and increases the difficulty of acquiring internal condition data. Thirdly, the pump pipe is generally formed by splicing a plurality of sections, and the splicing is at risk of cracking after a period of time. Finally, the long-time high-pressure friction between the inner wall of the pump pipe and the concrete can also lead to the risk of cracking caused by thinning the pipe wall, and the sealing pre-inspection is needed.
At present, a plurality of pipeline detection robots exist on the market, but the complex use conditions of the pump pipe cannot be completely met. Chinese patent CN201811475235.0 discloses a pipeline robot, which provides a robot mechanism with strong pipeline adaptability and three crawler wheels capable of independently telescoping. Although the robot can be attached to the pipe wall and freely move in a common pipeline, the robot firstly lacks an endoscopic and airtight checking function and cannot perform closed pre-checking on cracks. Secondly, this robot structure is loaded down with trivial details and the volume is great, can't be applied to the inside of national standard pumping pipeline. Thirdly, the robot has a large dead weight and cannot be locked and moved in the vertical pipeline. Chinese patent CN202011218368.7 discloses an air bag type pipeline robot, which mainly checks whether a pipeline is damaged or not and calculates a damaged area through a magnetic leakage phenomenon generated by a magnetic field at a damaged portion of the pipeline. The robot solves the problem of detecting cracks in the pipeline, but the robot cannot meet the requirement of long-distance vertical climbing in the pump pipe. Secondly, this robot structure is fixed, can't solve the inside reducing of pump line and the difficulty that the obstacle climbs.
Therefore, how to quickly, reliably and intelligently pre-check the safety of the inner wall of the pump tube is a technical problem to be solved by the person skilled in the art.
Disclosure of Invention
In view of the above, the invention provides an endoscopic inspection robot for a concrete pump pipe, which can reliably and intelligently pre-inspect the safety of the inner wall of the pump pipe.
The technical scheme adopted by the invention is as follows:
the endoscopic inspection tour inspection robot for the concrete pump pipe comprises an omnidirectional view finding camera, a tightness inspection module and a main body travelling mechanism;
the main body advancing mechanism is formed by connecting a plurality of single-section robots in series, the omnidirectional view finding camera is arranged in front of the single-section robot at the forefront end, the tightness checking module is arranged on the single-section robot, a closed space is formed in a pump pipe, and tightness in the closed space is checked by utilizing air pressure intensity.
Further, the omnidirectional view finding camera is a camera with a steering device or a wide-angle fisheye camera, and the steering device can endow the camera with three rotational degrees of freedom.
Further, the tightness checking module comprises a sealing device, an air pump and an air pressure detecting device;
the sealing device comprises two pipeline air bags which can be inflated to form a sealed space, and the pipeline air bags are respectively arranged at the front end and the rear end of the single-section robot and are used for forming the sealed space; the air pump is used for inflating the sealing device and the sealing space; the air pressure detection device is arranged on a single-section robot positioned in the closed space and is used for detecting and recording the air pressure intensity.
Further, the pipeline air bags are arranged at the front end and the rear end of the single-section robot at the forefront end, and the air pump is arranged on the second single-section robot.
Further, the air pressure detection device adopts a pressure sensor.
Further, the single-section robot comprises a body, a suspension module, a locking module and a driving module;
the suspension module is arranged on the body, the driving module is arranged at the tail end of the suspension module, and the locking module is arranged between the suspension module and the body;
the suspension module is used for providing static friction force larger than the dead weight of the single-section robot and changing the radius of the single-section robot to adapt to the inner diameter of the pipeline; the locking module is used for locking the single-section robot; the driving module is used for providing travelling power.
Further, the suspension module comprises a motor push rod and a damper; the motor push rod is connected with the damper coaxially in series, and the motor can adjust the damping size of the damper.
Further, the damper is composed of one or more of a spring, a hydraulic damper and an air damper.
Further, the endoscopic inspection robot further comprises a positioning module;
the positioning module comprises an acceleration sensor, an IMU sensor, a power wheel revolution counting coder and decoder and a data line length counter, and is integrated in a plurality of printed circuit boards and connected with each other.
Further, the endoscopic inspection robot further comprises a remote control device; the remote control device is provided with a display screen and is in data communication with the main body travelling mechanism in a wired or wireless mode.
The beneficial effects are that:
1. the omnidirectional view finding camera head enables the robot to have an endoscopic function; secondly, the tightness checking module forms a closed space in the pump pipe, can check tightness in the closed space by utilizing air pressure intensity, can perform tightness checking on cracks, and reliably and intelligently pre-checks safety of the inner wall of the pump pipe
2. The omnidirectional view finding camera can perform omnidirectional inspection, has a wide view angle range and can acquire more comprehensive information.
3. The suspension module and the locking module can provide enough pressure to lock and move the robot in the vertical pipeline; secondly, the working radius of the robot can be changed by the suspension module, so that the suspension module can adapt to the change of the inner diameter of a pipeline, has the capability of crossing, has a simple structure and can meet the moving requirement of the complex environment in the pump pipe.
4. The positioning module combines an acceleration sensor, an IMU sensor, a power wheel revolution counting coder and decoder and a data line length counter to construct a three-in-one space positioning system, and accurately positions and alternately re-verifies fault early-warning positions in the pump pipe from strokes, space positions and elevations.
5. The invention also comprises a remote control device, wherein the remote control device is provided with a display screen and is in data communication with the main body travelling mechanism in a wired or wireless mode, the working environment with long distance can avoid signal isolation for the wall thickness of the pipe, the internal condition is acquired, and the working environment with short distance is more flexible and convenient to use for the thin wall of the pipe.
6. The air pump of the tightness checking module is arranged on the second single-section robot, so that the gas transmission pipeline is shortest, the mechanism is safer, and the reliability is high.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention in a pumping circuit.
The device comprises a 1-pump pipe, a 2-omnidirectional view finding camera, a 3-pipeline air bag, a 4-positioning module, a 5-pressure sensor, a 6-gas transmission pipeline, a 7-air pump, an 8-hanging module, a 9-power control line and a 10-remote control device.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The invention provides a concrete pump pipe endoscopic inspection robot which comprises an omnidirectional view finding camera 2, a tightness inspection module and a main body travelling mechanism.
The main body advancing mechanism is formed by connecting a plurality of single-section robots in series through a power control line 9, the omnidirectional view finding camera 2 is arranged in front of the single-section robot at the forefront end, the tightness checking module is arranged on the single-section robot, a closed space is formed in the pump pipe 1, and tightness in the closed space is checked by utilizing air pressure intensity.
The omnidirectional viewfinder camera 2 is a camera with a steering device that gives the camera three degrees of freedom of rotation or a wide angle fisheye camera.
The tightness checking module comprises a sealing device, an air pump 7 and an air pressure detecting device; the sealing device comprises two pipeline air bags 3 which can be inflated to form a sealed space, and the pipeline air bags are respectively arranged at the front end and the rear end (in the drawing, in a contracted state) of the single-section robot at the foremost end and are used for expanding and blocking the pump pipe 1 to form the sealed space; the air pump 7 is arranged at the center of the second single-section robot, and is used for inflating the pipeline air bag 3 through the air conveying pipeline 6, and the air bag 3 is inflated to form a closed space after the space is closed; the air pressure detection device is arranged on a single-section robot positioned in the closed space, namely the forefront single-section robot, and is used for detecting and recording the air pressure intensity. The air pressure detection device adopts a pressure sensor 5.
The single-section robot comprises a body, a suspension module 8, a locking module and a driving module; the suspension module 8 is arranged on the body, the driving module is arranged at the tail end of the suspension module 8, and the locking module is arranged between the suspension module 8 and the body; the suspension module 8 is used for providing static friction force larger than the dead weight of the single-section robot and can change the radius of the single-section robot to adapt to the inner diameter of the pipeline; the locking module is used for locking the single-section robot; the driving module is used for providing travelling power.
Preferably, the suspension module 8 comprises a motor pushrod and a damper; the motor push rod is connected with the damper coaxially in series and fixedly connected with the body; the motor can adjust the damping size of the damper, and the damper is composed of one or more of a spring, a hydraulic damper and an air damper.
The endoscopic inspection robot further comprises a positioning module 4; the positioning module 4 comprises an acceleration sensor, an IMU sensor, a power wheel revolution counting codec and a data line length counter, and is integrated in a plurality of printed circuit boards and connected with each other.
The endoscopic inspection robot further comprises a remote control device 10; the remote control 10 is provided with a display screen and is in data communication with the main body traveling mechanism by a wired manner.
As shown in fig. 1, in this embodiment, three single-section robots are provided, the first is a detection section, and all detection operations of the robots are responsible, and an omnidirectional viewfinder camera 2, a pipeline airbag 3 of a tightness inspection module and a pressure sensor 5 for detecting air pressure are all arranged in the detection section; the second section is an air pump section, an air pump is carried independently, and an air pump 7 of the tightness checking module is arranged on the air pump section; the third section is a power section, and power is provided independently. Preferably, the number of the power sections can be increased to provide additional power according to the requirement, and the more the number of the single-section robots is, the longer the travel distance of the endoscopic inspection robot in the pump tube 1 is.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The endoscopic inspection tour inspection robot for the concrete pump pipe is characterized by comprising an omnidirectional view finding camera, a tightness inspection module and a main body travelling mechanism;
the main body advancing mechanism is formed by connecting a plurality of single-section robots in series, the omnidirectional view finding camera is arranged in front of the single-section robot at the forefront end, the tightness checking module is arranged on the single-section robot, a closed space is formed in a pump pipe, and tightness in the closed space is checked by utilizing air pressure intensity.
2. The inspection robot for concrete pump pipe endoscopy according to claim 1, wherein the omnidirectional view finding camera is a camera with a steering device or a wide angle fish-eye camera, and the steering device can give three rotational degrees of freedom to the camera.
3. The inspection robot for concrete pump pipe endoscopy according to claim 1, wherein the tightness inspection module comprises a sealing device, an air pump and an air pressure detection device;
the sealing device comprises two pipeline air bags which can be inflated to form a sealed space, and the pipeline air bags are respectively arranged at the front end and the rear end of the single-section robot and are used for forming the sealed space; the air pump is used for inflating the sealing device and the sealing space; the air pressure detection device is arranged on a single-section robot positioned in the closed space and is used for detecting and recording the air pressure intensity.
4. The inspection robot for concrete pump pipe endoscopy according to claim 3, wherein the pipe air bags are installed at front and rear ends of a single-section robot at the forefront end, and the air pump is installed on a second single-section robot.
5. The inspection robot for concrete pump pipe endoscopy of claim 3, wherein the air pressure detecting means adopts a pressure sensor.
6. The concrete pump pipe endoscopic inspection robot according to claim 3, wherein the single-section robot comprises a body, a suspension module, a locking module and a driving module;
the suspension module is arranged on the body, the driving module is arranged at the tail end of the suspension module, and the locking module is arranged between the suspension module and the body;
the suspension module is used for providing static friction force larger than the dead weight of the single-section robot and changing the radius of the single-section robot to adapt to the inner diameter of the pipeline; the locking module is used for locking the single-section robot; the driving module is used for providing travelling power.
7. The concrete pump line endoscopic inspection robot of claim 6, wherein said suspension module comprises a motor pushrod and a damper; the motor push rod is connected with the damper coaxially in series, and the motor can adjust the damping size of the damper.
8. The inspection robot for concrete pump pipe endoscopy of claim 7, wherein the damper is composed of one or more of a spring, a hydraulic damper, and an air damper.
9. The concrete pump line inspection robot according to any one of claims 1-8, further comprising a positioning module;
the positioning module comprises an acceleration sensor, an IMU sensor, a power wheel revolution counting coder and decoder and a data line length counter, and is integrated in a plurality of printed circuit boards and connected with each other.
10. The concrete pump line inspection robot according to claim 9, wherein the inspection robot further comprises a remote control device; the remote control device is provided with a display screen and is in data communication with the main body travelling mechanism in a wired or wireless mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211579975.5A CN116255524A (en) | 2022-12-09 | 2022-12-09 | Inspection robot for endoscopic examination of concrete pump pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211579975.5A CN116255524A (en) | 2022-12-09 | 2022-12-09 | Inspection robot for endoscopic examination of concrete pump pipe |
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| Publication Number | Publication Date |
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| CN116255524A true CN116255524A (en) | 2023-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211579975.5A Pending CN116255524A (en) | 2022-12-09 | 2022-12-09 | Inspection robot for endoscopic examination of concrete pump pipe |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116877933A (en) * | 2023-07-25 | 2023-10-13 | 武汉市燃气集团有限公司 | Gas pipe network fault information monitoring and early warning system and method |
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2022
- 2022-12-09 CN CN202211579975.5A patent/CN116255524A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116877933A (en) * | 2023-07-25 | 2023-10-13 | 武汉市燃气集团有限公司 | Gas pipe network fault information monitoring and early warning system and method |
| CN116877933B (en) * | 2023-07-25 | 2024-01-19 | 武汉市燃气集团有限公司 | Gas pipe network fault information monitoring and early warning system and method |
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