CN101293237A - Automatic spraying robot outside of tube - Google Patents

Automatic spraying robot outside of tube Download PDF

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Publication number
CN101293237A
CN101293237A CNA2008100250001A CN200810025000A CN101293237A CN 101293237 A CN101293237 A CN 101293237A CN A2008100250001 A CNA2008100250001 A CN A2008100250001A CN 200810025000 A CN200810025000 A CN 200810025000A CN 101293237 A CN101293237 A CN 101293237A
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China
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chain
sprocket
minor
robot
tube
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CNA2008100250001A
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Chinese (zh)
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CN101293237B (en
Inventor
马履中
王成军
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江苏大学
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Priority to CN2008100250001A priority Critical patent/CN101293237B/en
Publication of CN101293237A publication Critical patent/CN101293237A/en
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Publication of CN101293237B publication Critical patent/CN101293237B/en

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Abstract

The invention relates to a spray finishing machine for pipe outer walls, which can meet the requirement of corrosion protection spray finishing of the outer walls of various straight pipes. A mechanical body consists of a spray finishing mechanism which can swing back and forth, a straight line running mechanism and a body frame, wherein, the spray finishing mechanism which can swing back and forth is composed of an incomplete chain transmission system and can lead a spraygun to swing back and forth around the outer wall of the pipe; the running mechanism is in a wheel type or a caterpillar type and can lead a robot to do continuous or interval straight line running along the pipe; the body frame consists of a lower part and an upper part, and can realize the quick assembly and disassembly of the robot through a quick dismantling handle. Different working devices can be installed on a general mechanical port of the robot to fulfill different pipe maintenance tasks such as descaling, deashing, measuring and welding, etc. at the exterior of the pipe. The spray finishing machine has simple system structure, high reliability and easy guarantee of working quality; the technique can replace the manual way to realize the automation of the maintenance working way such as corrosion protection spray finishing at the exterior of pipes.

Description

Automatic spraying robot outside of tube
Technical field
The present invention relates to a class pipeline outer wall spray coating mechanical, refer in particular to the full chain drive system of toing many or too much for use and realize that spray gun surrounding tube pipeline outer wall makes reciprocally swinging formula spraying operation, utilize wheeled or crawler type walking mechanism driven machine people along pipe walking.On this robot universal machine interface, the different work device can be installed, finish different pipe-line maintenance tasks, as the outer rust cleaning of pipeline, deashing, detection, welding etc.This robot belongs to the research field of pipe robot and pipeline corrosion protection equipment.
Background technology
Pipe robot is one of robot emphasis application, the research category that belongs to specialized robot, it is a kind of can the walking automatically along pipeline, carries one or more senser elements and Working mechanism, at the electro-mechanical system that can carry out pipeline operations such as a series of pipeline constructions, maintenance and detection under remote control or the computer control in rugged environment extremely.Wherein construction comprises cleaning, rust cleaning, repaired mouth, welding and the spraying of pipeline internal and external anti-corrosive etc. with maintenance items; Detect events in operation and comprise anticorrosion back situation, butt joint pipeline weldquality, the inside and outside extent of corrosion of pipeline, pipeline wall thickness, anticorrosive coat thickness, pipeline wall thickness, wall defects etc.Put into practice the verified development along with pipeline robot technique, its application will be more and more widely.
Open-air operation bury the ground oil and gas pipes, moving nearly about 30 years, external protection coating is aging, for guaranteeing the safe operation of oil and gas pipes, guarantee simultaneously the normal conveying of oil, natural gas again, need under the situation that does not stop transferring oil, gas, carry out the overhaul of external protection coating.During concrete operations, at first the soil around the buried pipeline is excavated, respectively reserve the space about 0.5m, and then pipeline is removed anticorrosive coat, processing such as rust cleaning, sandblast.At last again the pipeline of handling is carried out spraying operation.Because China's overhaul anticorrosion process flow process and different abroad, existing import spraying equipment is not suitable for the China's oil pipeline and carries out automatic spraying, can only hand spray, and inefficiency.The automatic spraying equipment that does not all have suitable open-air anticorrosive construction to use is not both at home and abroad reported about the research of the outer automatic spraying robot aspect of pipeline yet at present.Therefore, study the outer automatic spraying robot of pipe of the open-air anticorrosive construction of a kind of suitable China, realize the outer anti-corrosion spray automation of pipe, enhance productivity, just seem urgent and important more, meaning is also more great.
At present both at home and abroad also considerably less to the research of pipeline spraying robot, the patent that inquires as: CN96239917.5 only is confined to underground piping inner-wall spraying anti-corrosion spray, does not relate to the pipeline outer wall spraying.The invention solves the automatic anti-corrosion spray problem of straight pipeline outer wall.
Summary of the invention
The automatic anti-corrosion spray robot that the objective of the invention is to provide a class can realize the straight pipeline outer wall can be fit to the field pipeline anticorrosive construction, satisfies straight pipeline outer wall corrosion-resistant requirements such as oil, natural gas.
The technical solution used in the present invention is:
Manage outer automatic spraying robot and be made up of reciprocally swinging spray body, straight line moving mechanism and body frame, wherein the reciprocally swinging spray body is made of incomplete chain drive system, is used for realizing that spray gun surrounding tube pipeline outer wall makes reciprocally swinging; Walking mechanism adopts wheeled or crawler type, realizes that robot does continuously or the batch (-type) straight line moving along pipeline; The walking type of drive of robot can adopt any in single driving, two driving or three kinds of type of drive of three drivings; The body frame is made up of two parts up and down, can be by the fast assembling-disassembling of fast assembling-disassembling handle realization robot.
In addition, on this robot universal machine interface, the different work device can be installed, finish different pipe-line maintenance tasks such as the outer rust cleaning of pipe, deashing, inspection, welding.
System architecture of the present invention is simple, the reliability height, and operation quality is easy to guarantee that this technology can substitute the automation that manual type realizes upkeep operation modes such as the outer anti-corrosion spray of pipeline.
The invention has the beneficial effects as follows:
(1) the present invention can realize the mechanization and the automation of flat tube outer wall anti-corrosion spray, has especially solved the anti-corrosion spray difficult problem of field pipeline outer walls such as oil, natural gas;
(2) robot body adopts split-type structural, and is easy to operate simple by the fast assembling-disassembling of fast assembling-disassembling handle realization robot, saves time, and improved operating efficiency; Can under the situation that does not stop transferring oil, gas, carry out the overhaul of external protection coating.
(3) on the robot universal machine interface different work device can also be installed, can finish other pipe-line maintenance tasks such as the outer rust cleaning of pipe, deashing, inspection, welding, realize one-machine-multi-function.
Description of drawings
Fig. 1. manage outer spray robot spraying structural front view
Fig. 2. manage outer spray robot spraying structure left view
Fig. 3. incomplete chain drive system
The structure and the installation diagram of Fig. 4 .3 sprocket wheel
1. No. 9.1 minor sprockets of No. 5.3 hinge wheels of pipeline 2. drive motors 3. running gears, 4. quick operator handles 6. circumferential movement system 7. robot general-purpose interfaces, 8. spray guns 10. incomplete chain (10a, the 10b row that works, 10c supports row) No. 11.2 No. 15.5 sprocket wheels of No. 12.4 sprocket wheels of sprocket wheel 13,14. gears No. 16.6 sprocket wheels 17. cantilever shalvings, 18. motors and decelerator 19. holddown springs regulate bolt A 20. rolling elements 21. holddown springs and regulate bolt B 22. contact rollers 23. holddown springs
The specific embodiment
The structure principle chart of the outer free spray robot of a kind of pipe that adopts for the present invention as Fig. 1 and Fig. 2.Robot ambulation shown in this Fig partly adopts wheeled construction, Dual-motors Driving mode; Circumferential movement system 6 among the figure is exactly the reciprocally swinging mechanism that is made up of incomplete chain drive system; Four spray guns 8 are evenly along circumference and be fixed on No. 3 sprocket wheels 5; Robot body adopts split-type structural, two parts (becoming to be called the upper machine body and the lower body of pipe robot respectively) are by quick operator handle 4 up and down, realize the Fast Installation and the dismounting of robot, the quick operator handle adopts eccentric clamp mechanism to realize clamping fast.Four spray guns are separately fixed on the spray gun fixed mount of two semicircular ring, and two spray guns are installed on each semicircular ring fixed mount.One of them annulus fixed mount is connected with general-purpose interface 7 on No. 3 hinge wheels 5, and two semicircular ring realize fixing by fast connecting joint and are connected.
Incomplete chain of the present invention is meant that in the chain transmission that is made of many rows chain row's number of the part segment of chain is less than total row's number.Not exclusively the float number of chain is 2, and not exclusively chain is made up of the work row and the row of support, and work row's chain number is always less than work row's chain number.Work row adopts different chain numbers to realize different motions according to need of work, supports the effect that queues fixing, connection and support works row, and work row also can transmit motion.If not exclusively chain makeup ring transmission campaign, then the row of support is complete ring, and work row is incomplete ring.As the imperfect chain (10) that uses among the present invention is the incomplete chains of three rows, and row's number of the row of support (10c) is 1, and work row (10a, 10b) row's number is 2, is 1 at part segment chain row number, and the segment row number that has is 2, and the segment row number that also has is 3, as shown in Figure 3.The transmission system of being made up of incomplete chain just is called incomplete chain drive system.
Fig. 3 is the sprocket wheel layout drawing (not containing sprocket wheel 5 No. 3) of incomplete chain drive system, and this figure is that the A-A of Fig. 1 is to view.This incomplete chain drive system is by 1 three minor sprocket (9), 1 duplex minor sprocket (11), simply connected minor sprocket (12), 1 pair of simply connected minor sprocket (15,16), 1 duplex hinge wheel (5), the gear (13 of a pair of external toothing, 14) and two chains form, wherein No. 1 minor sprocket (9) is a drive sprocket, input power, link to each other with No. 2 minor sprockets (11) through incomplete chain (10), No. 2 minor sprockets (11) contact by ball with No. 4 minor sprockets (12) are coaxial, and No. 2 minor sprockets (11) are not connected with axle, No. 4 minor sprockets (12) and the same through-drive of gear (13); Gear (14) and the same through-drive of simply connected minor sprocket (15), chain has two, a single strand chain, one be incomplete chain (10), by single, double and three to arrange chains assembled.Hang on No. 5 sprocket wheels (15) and No. 6 sprocket wheels (16) single chain and not exclusively chain (10) outside working chain row (10a) respectively with two row's sprockets (5a, 5b) engagements of No. 3 sprocket wheels (5), transmit motion.The side plate that motor (18) is installed connecting bolt and additional cantilever shalving (17) by end face is fixed, motor (18) provides power for the circumferential movement system, motor (18) rotates by a direction all the time, by behind the incomplete chain drive system unidirectional motion output being changed into the circumferential reciprocating motion around conduit axis of No. 3 hinge wheels (5), No. 3 hinge wheels (5) pass motion to by robot general-purpose interface (7) on the actuators such as spray gun, finally realize the circumferential reciprocating motion of actuators such as spray gun.The circumferential movement system is a kind of realization and changes unidirectional rotary motion into circumferential reciprocating transmission system in the present invention.
Fig. 4 is the structure and the installation diagram of No. 3 sprocket wheels (5) in the incomplete chain drive system of the present invention's employing.No. 3 sprocket wheels (5) are imperfect chain ring, and its angle is near 180 °.Pressured tight springs of No. 3 sprocket wheels (5) (23) and contact roller (22) are pressed on the body frame, and the contact position is processed with raceway, and 4 row's rolling elements (ball) (20) are installed, and are used for reducing friction.Holddown spring is regulated bolt 19 and holddown spring and is regulated bolt 21 and be respectively the part that compresses that the circular orbit bilateral symmetry of No. 3 sprocket wheels (5) operation arranges, divides two rows, totally 6.
Practical work process of the present invention is:
As Fig. 1 and 2, during real work, earlier No. 3 sprocket wheels (5) are adjusted to the lower body position of pipe robot, and detain together with lower body and to be placed on the pipeline to be constructed, rotate to then in the pit foundation of pipeline below, place machine people's upper machine body connects quick operator handle (4), finishes the connection of lower body and fixes.Equipment is installed and just can be tried spraying after adjustment is finished, the check coating result, and record spray gun (8) adjusting position, as can formally spray after meeting the demands.
Must guarantee that in spraying application pipe robot is the formula walking that falls back, promptly spray gun is in the back of robot, with protective finish.The walking manner of robot can adopt dead-beat and two kinds of walking manners of batch (-type) according to the spraying coating process needs.Should adopt the intermittent ambulation mode to materials such as SPUA, to common anti-corrosion material, as adopting the multilayer spraying, the staggered technology that covers can be selected the dead-beat walking manner.
Do outer other pipe-line maintenance task that waits of pipe if adopt this robot, the mounting means of robot body is just the same with spraying, only need go up corresponding apparatus for work such as rust removal, dust remover, somascope, welding gun is installed at robot universal machine interface (7), can finish corresponding pipe-line maintenance task, realize one-machine-multi-function.

Claims (6)

1, automatic spraying robot outside of tube, it is characterized in that its main part is made up of reciprocally swinging spray body and straight line moving mechanism and basic machine frame, wherein the reciprocally swinging spray body is made of the incomplete chain drive system of one to three row, and walking mechanism is made of two groups of walking wheels or crawler belt.
2, automatic spraying robot outside of tube according to claim 1 is characterized in that described basic machine frame forms for two semicircular ring up and down, and wherein two semicircular ring are fixed by fast connecting joint and are connected.
3, automatic spraying robot outside of tube according to claim 1, it is characterized in that described incomplete chain drive system is by 1 three minor sprocket (9), 1 duplex minor sprocket (11), simply connected minor sprocket (12), 1 pair of simply connected minor sprocket (15,16), 1 duplex hinge wheel (5), 1 external meshed gears (13,14) and two chains form, wherein No. 1 minor sprocket (9) is a drive sprocket, input power, link to each other with No. 2 minor sprockets (11) through incomplete chain (10), No. 2 minor sprockets (11) contact by ball with No. 4 minor sprockets (12) are coaxial, and No. 2 minor sprockets (11) are not connected with axle, No. 4 minor sprockets (12) and the same through-drive of gear (13); Gear (14) and the same through-drive of simply connected minor sprocket (15), chain has two, a single strand chain, one be incomplete chain (10), by single, double and three to arrange chains assembled; Hang on No. 5 sprocket wheels (15) and No. 6 sprocket wheels (16) single chain and not exclusively chain (10) outside working chain row (10a) respectively with two row's sprockets (5a, 5b) engagements of No. 3 sprocket wheels (5).
4, automatic spraying robot outside of tube according to claim 1 is characterized in that four spray guns (8) are evenly along circumference and be fixed on No. 3 sprocket wheels (5).
5, automatic spraying robot outside of tube according to claim 1, it is characterized in that pressured tight springs of No. 3 sprocket wheels (5) (23) and contact roller (22) are pressed on the body frame, the contact position is processed with raceway, 4 row's rolling elements (20) are installed, and holddown spring is regulated bolt 19 and is regulated the circular orbit both sides that bolt 21 is pressed on No. 3 sprocket wheels (5) operation respectively with holddown spring.
6, automatic spraying robot outside of tube according to claim 1 is characterized in that robot universal machine interface (7) upward installation rust removal, dust remover, somascope, these corresponding apparatus for work of welding gun.
CN2008100250001A 2008-05-22 2008-05-22 Automatic spraying robot outside of tube CN101293237B (en)

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Application Number Priority Date Filing Date Title
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CN101293237B CN101293237B (en) 2012-07-04

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102120202A (en) * 2011-04-14 2011-07-13 中国水利水电第十三工程局有限公司橡塑制品厂 Annular chain type automatic spraying mechanism
CN103009262A (en) * 2011-09-20 2013-04-03 中国石油天然气集团公司 Four-driving walking apparatus for automatic pipeline joint coating sealing deruster
CN102120200B (en) * 2010-01-07 2013-04-17 中交上海三航科学研究院有限公司 Circular scanning mechanism
CN103640010A (en) * 2013-11-25 2014-03-19 天津大学 Multi-platform crawling type wind turbine tower drum operation robot
CN104025202A (en) * 2011-12-30 2014-09-03 斗山重工业株式会社 Automatic coating apparatus
CN105195367A (en) * 2015-10-16 2015-12-30 宝汇建设工程有限公司 Paint spraying device for outer surface of steel pipe
CN106076709A (en) * 2016-07-22 2016-11-09 芜湖鼎瀚再制造技术有限公司 A kind of cylindrical part spraying isolating device
CN106733342A (en) * 2016-11-16 2017-05-31 河北工程大学 A kind of pipeline outer wall anti-corrosion spray apparatus control system and method
CN109127210A (en) * 2018-10-15 2019-01-04 山东陆宇塑胶工业有限公司 A kind of plastic pipe surface spraying device
CN109174502A (en) * 2018-07-17 2019-01-11 东莞市奇趣机器人科技有限公司 A kind of steel pipe paint sprayer device people
CN110560301A (en) * 2019-07-31 2019-12-13 安徽沃尔德新材料有限公司 Surrounding type spraying device for water-based acrylic polyurethane protective coating
CN110961302A (en) * 2019-12-20 2020-04-07 浙江巨丰管业有限公司 Anticorrosive treatment device for gas pipeline processing
CN111545391A (en) * 2020-05-13 2020-08-18 中国海洋大学 Device for spraying oxide film on outer side surface of circular tube

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102120200B (en) * 2010-01-07 2013-04-17 中交上海三航科学研究院有限公司 Circular scanning mechanism
CN102120202A (en) * 2011-04-14 2011-07-13 中国水利水电第十三工程局有限公司橡塑制品厂 Annular chain type automatic spraying mechanism
CN103009262A (en) * 2011-09-20 2013-04-03 中国石油天然气集团公司 Four-driving walking apparatus for automatic pipeline joint coating sealing deruster
CN104025202A (en) * 2011-12-30 2014-09-03 斗山重工业株式会社 Automatic coating apparatus
CN104025202B (en) * 2011-12-30 2016-06-15 斗山重工业株式会社 Automatic coating device
CN103640010A (en) * 2013-11-25 2014-03-19 天津大学 Multi-platform crawling type wind turbine tower drum operation robot
CN103640010B (en) * 2013-11-25 2015-09-30 天津大学 Multi-platform creeping-type wind turbine tower cylinder Work robot
CN105195367A (en) * 2015-10-16 2015-12-30 宝汇建设工程有限公司 Paint spraying device for outer surface of steel pipe
CN106076709A (en) * 2016-07-22 2016-11-09 芜湖鼎瀚再制造技术有限公司 A kind of cylindrical part spraying isolating device
CN106733342A (en) * 2016-11-16 2017-05-31 河北工程大学 A kind of pipeline outer wall anti-corrosion spray apparatus control system and method
CN106733342B (en) * 2016-11-16 2019-07-16 河北工程大学 A kind of pipeline outer wall anti-corrosion spray apparatus control system and method
CN109174502B (en) * 2018-07-17 2020-12-08 浙江金汇休闲制品有限公司 Steel pipe painting robot
CN109174502A (en) * 2018-07-17 2019-01-11 东莞市奇趣机器人科技有限公司 A kind of steel pipe paint sprayer device people
CN109127210A (en) * 2018-10-15 2019-01-04 山东陆宇塑胶工业有限公司 A kind of plastic pipe surface spraying device
CN110560301A (en) * 2019-07-31 2019-12-13 安徽沃尔德新材料有限公司 Surrounding type spraying device for water-based acrylic polyurethane protective coating
CN110961302A (en) * 2019-12-20 2020-04-07 浙江巨丰管业有限公司 Anticorrosive treatment device for gas pipeline processing
CN111545391A (en) * 2020-05-13 2020-08-18 中国海洋大学 Device for spraying oxide film on outer side surface of circular tube

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