CN101293237B - Automatic spraying robot outside of tube - Google Patents
Automatic spraying robot outside of tube Download PDFInfo
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- CN101293237B CN101293237B CN2008100250001A CN200810025000A CN101293237B CN 101293237 B CN101293237 B CN 101293237B CN 2008100250001 A CN2008100250001 A CN 2008100250001A CN 200810025000 A CN200810025000 A CN 200810025000A CN 101293237 B CN101293237 B CN 101293237B
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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
Technical field
The present invention relates to one type of 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 drive machines people along pipe walking.On this robot universal machine interface, the different work device can be installed, accomplish different pipe-line maintenance tasks, like 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 in rugged environment extremely, carry out pipeline operations such as a series of pipeline constructions, maintenance and detection under remote control or the computer control.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 excavate the soil around the buried pipeline, 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 is different with 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 at present reported about the research of the outer automatic spraying robot aspect of pipeline yet.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 more and important, 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 objective of the invention is to provide one type of automatic anti-corrosion spray robot that can realize the straight pipeline outer wall, can be fit to the field pipeline anticorrosive construction, satisfy straight pipeline outer wall corrosion-resistant requirements such as oil, natural gas.
The technical scheme that the present invention adopts 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 up 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 through 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, accomplish different pipe-line maintenance tasks such as the outer rust cleaning of pipe, deashing, inspection, welding.
System architecture of the present invention is simple, and reliability is high, 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 through 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 accomplish 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 like 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 through 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 through fast connecting joint and are connected.
Incomplete chain according to the invention is meant that in the chain transmission that is made up 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 the different links number 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.Like 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, and is 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 made up of gear (13,14) and two chains of 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), a pair of external toothing; Wherein No. 1 minor sprocket (9) is a drive sprocket; Input power links to each other with No. 2 minor sprockets (11) through incomplete chain (10), and No. 2 minor sprockets (11) contact through 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.The outside working chain row (10a) who hangs over single chain and incomplete chain (10) on No. 5 sprocket wheels (15) and No. 6 sprocket wheels (16) 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) through end face is fixed; Motor (18) provides power for the circumferential movement system; Motor (18) rotates by a direction all the time; Through 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 through robot general-purpose interface (7) on the actuator 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 °.No. 3 sprocket wheels (5) lean on holddown spring (23) and contact roller (22) to be 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:
Like Fig. 1 and 2; During real work, earlier No. 3 sprocket wheels (5) are adjusted to the lower body position of pipe robot, and detained 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), the connection of lower body and fixing in the completion.Equipment is installed and just can be tried spraying after adjustment is accomplished, 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 accomplish corresponding pipe-line maintenance task, realize one-machine-multi-function.
Claims (5)
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 up of the incomplete chain drive system of one to three row, and walking mechanism is made up of two groups of walking wheels or crawler belt; Said incomplete chain drive system is made up of 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; 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 through ball with No. 4 minor sprockets (12) are coaxial, and No. 2 minor sprockets (11) are not connected No. 4 minor sprockets (12) and the same through-drive of gear (13) with axle; 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; The outside working chain row (10a) who hangs over single chain and incomplete chain (10) on No. 5 sprocket wheels (15) and No. 6 sprocket wheels (16) respectively with two row's sprockets (5a, 5b) engagements of No. 3 sprocket wheels (5).
2. automatic spraying robot outside of tube according to claim 1 is characterized in that said basic machine frame forms for two semicircular ring up and down, and wherein two semicircular ring are fixed through fast connecting joint and are connected.
3. 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).
4. automatic spraying robot outside of tube according to claim 1; It is characterized in that No. 3 sprocket wheels (5) lean on holddown spring (23) and contact roller (22) to be 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.
5. automatic spraying robot outside of tube according to claim 1 is characterized in that No. 3 hinge wheels (5) are provided with general-purpose interface (7), and robot universal machine interface (7) is gone up rust removal, dust remover, somascope, these corresponding apparatus for work of welding gun are installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100250001A CN101293237B (en) | 2008-05-22 | 2008-05-22 | Automatic spraying robot outside of tube |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100250001A CN101293237B (en) | 2008-05-22 | 2008-05-22 | Automatic spraying robot outside of tube |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101293237A CN101293237A (en) | 2008-10-29 |
| CN101293237B true CN101293237B (en) | 2012-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100250001A Expired - Fee Related CN101293237B (en) | 2008-05-22 | 2008-05-22 | Automatic spraying robot outside of tube |
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| CN (1) | CN101293237B (en) |
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2008
- 2008-05-22 CN CN2008100250001A patent/CN101293237B/en not_active Expired - Fee Related
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| CN101293237A (en) | 2008-10-29 |
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