CN102848126B - Intelligent pneumatic internal clamp applicable to mountain construction - Google Patents
Intelligent pneumatic internal clamp applicable to mountain construction Download PDFInfo
- Publication number
- CN102848126B CN102848126B CN201210260575.8A CN201210260575A CN102848126B CN 102848126 B CN102848126 B CN 102848126B CN 201210260575 A CN201210260575 A CN 201210260575A CN 102848126 B CN102848126 B CN 102848126B
- Authority
- CN
- China
- Prior art keywords
- vehicle frame
- driving wheel
- sliding sleeve
- internal clamp
- support arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000010276 construction Methods 0.000 title claims abstract description 15
- 239000000835 fiber Substances 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 claims description 7
- 230000001737 promoting effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000009432 framing Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
An intelligent pneumatic internal clamp applicable to mountain construction comprises a clamping working portion, a travelling section and an air storage tank, wherein a travelling wheel is installed on a vehicle frame, a driving wheel is installed at one end of a driving wheel supporting arm through a pin shaft, the middle portion of the driving wheel supporting arm can be rotatably installed on a first rotating shaft, the other end of the driving wheel supporting arm is connected with a sliding sleeve through a hinge, the driving wheel is connected with a driving device, a transmission mechanism of a brake block is similar to the driving wheel, the sliding sleeve can be sleeved on a central shaft in a sliding mode, the sliding sleeve is connected with a retracting mechanism which is used for pushing the sliding sleeve to extend and retract, the clamping working portion is fixedly connected with a sliding column, the sliding column can be installed inside a sleeving pipe in a sliding mode, the sliding sleeve is fixedly installed on one side of the vehicle frame, the sliding column is fixedly connected with a piston rod of an air cylinder, and the other side of the vehicle frame is connected with the air storage tank through a hinge. The intelligent pneumatic internal clamp is effectively applicable to occasions with large gradients and is high in positioning efficiency and accurate.
Description
Technical field
The present invention relates to pipeline welding construction equipment, especially a kind of pneumatic internal clamp.
Background technology
Pneumatic internal clamp is to be used in pipeline welding construction, and group is right rapidly to the pipe mouth of pipe to treat group with radial load two from steel duct, and meets a kind of special-purpose machinery of pipeline welding requirement.It is driving and the operation that realizes equipment taking compressed air as power source.Existing pipeline internal clamp can not be walked in the time that the gradient exceedes 30 °, and in the time going up a slope walking, due to the parking poor reliability that brake control valve and the control mode of walking control valve interlocking cause, in addition, when descending,, there is very large potential safety hazard on the easy slope that slips.In the time having the gradient, existing very difficult in pipeline opening adjustment position to mouthpart, efficiency is very low.
When mountain region pipeline construction, because the gradient is large, internal clamp weight is large, manually controls very large to mouthpart difficulty in walking.
Summary of the invention
The deficiency that can not be applicable to the larger occasion of the gradient, poor reliability, have potential safety hazard in order to overcome existing pneumatic internal clamp, the invention provides a kind of intelligent pneumatic internal clamp that is suitable for mountain region construction of intelligence constant speed walking while being effectively applicable to the larger occasion of the gradient, different gradient.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of intelligent pneumatic internal clamp that is suitable for mountain region construction, comprise counterpart operate portions, walking section and air accumulator, described walking section comprises vehicle frame, road wheel, driving wheel and brake shoes, on described vehicle frame, arrange successively 2 road wheels, driving wheel, brake shoes and 2 road wheels along the central axis direction of vehicle frame, be positioned at the lower half circle of vehicle frame from the axle road wheel that looks up, driving wheel and brake shoes are positioned at the upper semi-circle of vehicle frame; Radial distribution is that 2 road wheels are about Y-axis symmetry, road wheel is arranged on vehicle frame, driving wheel is arranged on one end of driving wheel support arm by a bearing pin, the middle part of described driving wheel support arm is installed in rotation on the first gyroaxis, described the first gyroaxis is fixedly mounted on vehicle frame, the other end of described driving wheel support arm connects with the first sliding sleeve by hinge, and described driving wheel is connected with drive unit; Brake shoes is arranged on one end of brake shoes support arm by a bearing pin, the middle part of described brake shoes support arm is installed in rotation on the second gyroaxis, described the second gyroaxis is fixedly mounted on vehicle frame, and the other end of described brake shoes support arm connects with the second sliding sleeve by hinge;
Described two sliding sleeves are slidably sleeved on central shaft, described sliding sleeve be connected for promoting the flexible telescoping mechanism of sliding sleeve;
Described counterpart operate portions is fixedly connected with traveller, and described traveller is slidably mounted in sliding sleeve, and described sliding sleeve is fixedly mounted in a side of vehicle frame, and described traveller is connected with the piston rod of the 3rd cylinder; The opposite side of described vehicle frame is connected with air accumulator by hinge.
Further, described drive unit is gas motor, and described gas motor is arranged on vehicle frame.
Described telescoping mechanism comprises the first cylinder and the second cylinder, and the first cylinder is arranged on mouthpart frame central, and piston rod is connected with the first sliding sleeve; The second cylinder is also arranged on mouthpart frame central, and piston rod is connected with the second sliding sleeve; The first and second two cylinders are oppositely disposed in central shaft two ends.
Further, the circular arc compartment of terrain such as outside of described air accumulator arranges three rollers.
Intelligence control system comprises industrial computer, to PLC controller and importation thereof, output in mouthpart, operation instrument part.Mouthpart controller and industrial control computer are designed with to communication interface.Importation to mouthpart controller comprises: Fibre Optical Sensor, photoelectric encoder, obliquity sensor, cylinder magnetic switch, power supply voltage signal, baroceptor.
(1) Fibre Optical Sensor.Fibre Optical Sensor, for the location to mouthpart, is exported high level in the time that Fibre Optical Sensor is in pipeline, output low level after Fibre Optical Sensor goes out pipe, output control signal.Adopt dual-positioning to guarantee positioning precision, in the time of one-level Fibre Optical Sensor output framing signal, illustrated mouthpart near position location, mouthpart is slowed down immediately, stop according to setting program; Control the 3rd cylinder operation, counterpart operate portions is released forward, when the 3rd cylinder after secondary light fiber sensor output framing signal stops, guaranteeing positioning precision 2mm, at this moment can carry out counterpart action.
(2) photoelectric encoder.Photoelectric encoder is installed on driving wheel.Controller gathers this signal by high-speed counting interface, calculates pace, and available this calculates the distance that mouthpart is advanced.
(3) obliquity sensor.Obliquity sensor is installed on mouthpart, for the inclination angle of measuring channel and horizontal plane.When mouthpart is gone up a slope, this inclination angle is for just, and during to mouthpart descending, this inclination angle is for negative.Controller determines to be level, upward slope, descending mode of operation to the walking control model of mouthpart according to this inclination angle, i.e. the control parameter difference of two proportional pressure-reducing valves under different working modes.
(4) cylinder magnetic switch.Whether cylinder magnetic switch stretches out for detection of each cylinder or regains and put in place, and controller is the whether correct or cylinder trouble of signal decision mechanism motion accordingly.
(5) power supply voltage signal.Power supply voltage signal is delivered to controller and is monitored, and guarantees that the power voltage supply of controller is stable.When first voltage report to the police during lower than a certain setting value, prompting operation person shuts down and guarantees safety, if operator does not shut down within a certain period of time, controller is by power-off loop automatically to system cut-off, and at this moment system is in braking state.If now do not force power-off, may there is unpredictable logic error in controller, and security incident occurs.
(6) baroceptor.Baroceptor is for detection of starting system voltage.Air pressure is reported to the police during lower than a certain setting value.
Output to mouthpart controller comprises: air-operated solenoid valve, pneumatic proportional pressure-reducing valve, controller power-off loop, audible-visual annunciator.
(1) air-operated solenoid valve.Control system requires these valves to carry out logic control by magnetic valve output interface and according to controlling.
(2) pneumatic proportional pressure-reducing valve.Two pneumatic proportional pressure-reducing valves are connected with two work of gas motor respectively, and controller passing ratio pressure-reducing valve control panel is controlled the pressure of turnover gas motor, realize by the operation torque of controlling gas motor the gait of march of controlling mouthpart.
(3) controller power-off loop.When the situation such as undesired at system power supply voltage, baric systerm air pressure is on the low side, controller is forced power-off by relay to controller power-off loop, and at this moment system is in braking state.
(4) audible-visual annunciator.When detecting the system failure, controller carries out sound and light alarm.
Operation instrument part to mouthpart controller: the guidance panel that operation instrument is operating personnel, and can carry out the state demonstration of system and report to the police.
(1) button.Operation instrument has the button such as " startup ", " stopping ", " suddenly stopping ", and the system that is respectively used to starts, stops and emergent stopping.
(2) knob.On operation instrument, have " manual/auto " knob, controller judges that automated system operation is still by the manual controlling run of operator accordingly.On operation instrument, there is " proportion control " knob, and " descending proportion control " knob, for adjusting gait of march.
(3) indicator lamp.On operation instrument, there are " near position indicator lamp ", " indicator lamp puts in place ", " power supply indicator ", " malfunction indicator lamp " etc.
(4) text display.Show real-time parameters such as mouthpart running status, pace, forward travel distances.
Beneficial effect of the present invention is mainly manifested in: be effectively applicable to the larger occasion of the gradient, and for different gradient, intelligent constant speed walking, mouth of pipe place location efficiency is high, accurate.
Brief description of the drawings
Fig. 1 is the schematic diagram that is suitable for the intelligent pneumatic internal clamp of mountain region construction.
Fig. 2 is the axial schematic diagram of walking section.
Fig. 3 is the axial schematic diagram of air accumulator.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
With reference to Fig. 1～Fig. 3, a kind of intelligent pneumatic internal clamp that is suitable for mountain region construction, this intelligent pneumatic internal clamp as shown in Figure 1, is divided into three sections along Z-direction, and A section is counterpart operate portions 1, and B section is walking section, and C section is air accumulator 13.Traveller 2 is arranged in A section, and sliding sleeve 3 is arranged in B section, and A section connects with sliding sleeve by traveller with B section, and B section connects by hinge 12 with C section.From Z-direction, three pairs of travellers 2 are uniform on circumference with sliding sleeve 3.Cylinder 5 promotes traveller 2 by connecting plate 4 can move relative to the section of walking counterpart operate portions 1.
Walking section has cylinder cage type vehicle frame 6, along arranging successively two caterpillar type tavelling wheels 7, two crawler type driving wheels 8, two brake shoes 9 and two caterpillar type tavelling wheels 7 on Z-direction vehicle frame, radial distribution as shown in Figure 2, the angle of two road wheels is 120 ° and about Y-axis symmetry, the angle of two driving wheels (two brake shoes) is also 120 ° and about Y-axis symmetry, and the angle of driving wheel and road wheel is 60 °.4 road wheels are directly installed on vehicle frame.Two driving wheels are arranged on respectively one end of driving wheel support arm 20 by bearing pin, driving wheel support arm can rotate around the gyroaxis being fixed on vehicle frame, and the other end of support arm connects with sliding sleeve 22 by hinge.Gas motor 19 is arranged in frame, on gas motor drive shaft, wheel support arm gyroaxis and live axle, sprocket wheel is installed, and by chain transmission, power is delivered to driving wheel from gas motor, and vehicle frame has been installed 2 cover driving wheel and support arms thereof.Two brake shoes are arranged on respectively one end of brake shoes support arm 18 by bearing pin, brake shoes support arm can rotate around the gyroaxis being fixed on vehicle frame, and the other end of brake shoes support arm connects with sliding sleeve 17 by hinge.Roller radial distribution on air accumulator as shown in Figure 3, is respectively taken turns angle and is also 120 ° and about Y-axis symmetry.
If when being fixed on cylinder 23 piston rods in the frame of center and stretching out, promote sliding sleeve 22 and also make to take turns support arm and rotate, driving wheel, along with the motion of wheel support arm is pressed on duct wall, meanwhile, also makes 4 road wheel wheels be pressed on duct wall.In the time of gas revolution, drive driving wheel to rotate by chain transmission, thereby traction vehicle frame is walked at pipeline internal.When cylinder 23 piston rods are return, sliding sleeve 22 makes driving wheel depart from duct wall along with returning of cylinder 23 piston rods pulls wheel support arm.
If when being fixed on cylinder 15 piston rods in the frame of center and stretching out, promote sliding sleeve 17 and also make brake shoes support arm rotate, brake shoes, along with the motion of brake shoes support arm is pressed on duct wall, stops walking device.When cylinder 15 piston rods are return, sliding sleeve 17 makes brake shoes depart from duct wall along with returning of piston rod pulls brake shoes support arm.
Claims (5)
1. one kind is suitable for the intelligent pneumatic internal clamp of mountain region construction, it is characterized in that: described pneumatic internal clamp comprises counterpart operate portions, walking section and air accumulator, described walking section comprises vehicle frame, road wheel, driving wheel and brake block, on described vehicle frame, arrange successively 2 road wheels, driving wheel, brake block and 2 road wheels along the central axis direction of vehicle frame, be positioned at the lower half circle of vehicle frame from the axle road wheel that looks up, driving wheel and brake block are positioned at the upper semi-circle of vehicle frame; Radial distribution is that 2 road wheels are about Y-axis symmetry, road wheel is arranged on vehicle frame, driving wheel is arranged on one end of driving wheel support arm by a bearing pin, the middle part of described driving wheel support arm is installed in rotation on the first gyroaxis, described the first gyroaxis is fixedly mounted on vehicle frame, the other end of described driving wheel support arm connects with sliding sleeve by hinge, and described driving wheel is connected with drive unit; Brake block is arranged on one end of brake block support arm by a bearing pin, the middle part of described brake block support arm is installed in rotation on the second gyroaxis, described the second gyroaxis is fixedly mounted on vehicle frame, and the other end of described brake block support arm connects with sliding sleeve by hinge;
Described sliding sleeve is slidably sleeved on central shaft, described sliding sleeve be connected for promoting the flexible telescoping mechanism of sliding sleeve;
Described counterpart operate portions is fixedly connected with traveller, and described traveller is slidably mounted in sleeve pipe, and described sliding sleeve is fixedly mounted in a side of vehicle frame, and described traveller is connected with the piston rod of cylinder; The opposite side of described vehicle frame is connected with air accumulator by hinge.
2. the intelligent pneumatic internal clamp that is suitable for mountain region construction as claimed in claim 1, is characterized in that: described drive unit is gas motor, and described gas motor is arranged on vehicle frame.
3. the intelligent pneumatic internal clamp that is suitable for mountain region construction as claimed in claim 1 or 2, is characterized in that: described telescoping mechanism comprises the first cylinder and the second cylinder, and the first cylinder is arranged on mouthpart frame central, and piston rod is connected with the first sliding sleeve; The second cylinder is also arranged on mouthpart frame central, and piston rod is connected with the second sliding sleeve; The first and second two cylinders are oppositely disposed in central shaft two ends.
4. the intelligent pneumatic internal clamp that is suitable for mountain region construction as claimed in claim 1 or 2, is characterized in that: the circular arc compartment of terrains such as the outside of described air accumulator arrange three rollers.
5. the intelligent pneumatic internal clamp that is suitable for mountain region construction as claimed in claim 1, it is characterized in that: described intelligent pneumatic internal clamp also comprises intelligence control system, described intelligence control system comprises industrial computer, to PLC controller and importation thereof, output in mouthpart, operation instrument part; Importation to PLC controller in mouthpart comprises: Fibre Optical Sensor, photoelectric encoder, obliquity sensor, cylinder magnetic switch, power supply voltage signal and baroceptor; Output to PLC controller in mouthpart comprises: air-operated solenoid valve, pneumatic proportional pressure-reducing valve, controller power-off loop and audible-visual annunciator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210260575.8A CN102848126B (en) | 2012-07-25 | 2012-07-25 | Intelligent pneumatic internal clamp applicable to mountain construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210260575.8A CN102848126B (en) | 2012-07-25 | 2012-07-25 | Intelligent pneumatic internal clamp applicable to mountain construction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102848126A CN102848126A (en) | 2013-01-02 |
| CN102848126B true CN102848126B (en) | 2014-12-03 |
Family
ID=47395315
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210260575.8A Expired - Fee Related CN102848126B (en) | 2012-07-25 | 2012-07-25 | Intelligent pneumatic internal clamp applicable to mountain construction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102848126B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113751955B (en) * | 2021-09-09 | 2023-10-27 | 河北浩通管业制造有限公司 | Large-scale pipeline welding treatment system |
| CN114952174A (en) * | 2022-06-17 | 2022-08-30 | 上海市安装工程集团有限公司 | Intelligent pipeline internal butt-joint device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4140262A (en) * | 1977-04-15 | 1979-02-20 | Midcon Pipeline Equipment Co. | Size-adjustable internal pipe clamp apparatus |
| US5288005A (en) * | 1992-09-04 | 1994-02-22 | Beakley Lane D | Automatic internal pipe line-up clamp |
| US6109503A (en) * | 1998-05-15 | 2000-08-29 | Sabre International, Inc. | Internal pipe clamp |
| CN1669666A (en) * | 2005-03-25 | 2005-09-21 | 中国石油天然气管道第三工程公司 | Opening filling anticorrosive construction device in long distance conveying pipeline |
| CN202825095U (en) * | 2012-07-25 | 2013-03-27 | 浙江工业大学 | Intelligent pneumatic internal clamp applicable to mountain construction |
-
2012
- 2012-07-25 CN CN201210260575.8A patent/CN102848126B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4140262A (en) * | 1977-04-15 | 1979-02-20 | Midcon Pipeline Equipment Co. | Size-adjustable internal pipe clamp apparatus |
| US5288005A (en) * | 1992-09-04 | 1994-02-22 | Beakley Lane D | Automatic internal pipe line-up clamp |
| US6109503A (en) * | 1998-05-15 | 2000-08-29 | Sabre International, Inc. | Internal pipe clamp |
| CN1669666A (en) * | 2005-03-25 | 2005-09-21 | 中国石油天然气管道第三工程公司 | Opening filling anticorrosive construction device in long distance conveying pipeline |
| CN202825095U (en) * | 2012-07-25 | 2013-03-27 | 浙江工业大学 | Intelligent pneumatic internal clamp applicable to mountain construction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102848126A (en) | 2013-01-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102941876B (en) | Automatic driving vehicle steering swivel system and control method thereof | |
| CN102661470B (en) | Novel crawling pipeline robot | |
| CN103194967B (en) | Detecting system of bridge cable | |
| CN104613274B (en) | A kind of self-adapting pipe sniffing robot | |
| CN103419673B (en) | Driverless operation electri forklift | |
| CN106394153A (en) | Travelling and steering servo driving wheel integrating hydraulic brake and suspension system | |
| CN104034536A (en) | Electric auxiliary drive bicycle assist rate automatic test table | |
| CN105805485A (en) | Urban gas pipe robot adapting to pipe shape change | |
| CN105501863A (en) | Monorail logistics trolley based on greenhouse interior accurate positioning and control method thereof | |
| CN102848126B (en) | Intelligent pneumatic internal clamp applicable to mountain construction | |
| CN209148006U (en) | A kind of driven wheeled track machine operating status self-operated measuring unit | |
| CN108482032B (en) | A kind of highway railway combined transport intelligent transport vehicle | |
| CN108487172B (en) | A kind of railway is intelligently removed obstacles equipment | |
| CN108482031B (en) | A kind of railway intelligent multifunctional traveling platform | |
| CN109611640A (en) | Pipe robot | |
| CN202825095U (en) | Intelligent pneumatic internal clamp applicable to mountain construction | |
| CN106585706A (en) | Steering control device for pilotless automobile | |
| CN205311599U (en) | Single track commodity circulation car of accurate positioning for industrialized agriculture | |
| CN103434391A (en) | Driving and steering device for unmanned vehicle | |
| CN103046468B (en) | Control circuit, detection device and control method for steel box girder detection car orbital transfer operation | |
| CN108515818B (en) | A kind of combined vehicle | |
| CN107284377B (en) | A kind of new-energy automobile with Tire Friction self-checking function | |
| CN102848125B (en) | Combined type mountain internal clamp capable of being positioned quickly and accurately | |
| CN102853206B (en) | Self propelled combined type pipeline inner engineering truck suitable for mountain construction | |
| CN116411538A (en) | Intelligent tractor man-machine cooperation system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191223 Address after: 314411 Jianshe East Road, Guodian, Yanguan Town, Haining City, Jiaxing City, Zhejiang Province Patentee after: Haining Yanguan Industrial Investment Co.,Ltd. Address before: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Effective date of registration: 20191223 Address after: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Address before: Hangzhou City, Zhejiang province 310014 City Zhaohui District Six Patentee before: Zhejiang University of Technology |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141203 Termination date: 20200725 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |