CN105347173A

CN105347173A - Device for automatically gripping various well lids

Info

Publication number: CN105347173A
Application number: CN201510896140.6A
Authority: CN
Inventors: 李增亮; 胥曰强; 孟凡林; 董祥伟; 张琦; 孙召成; 冯龙; 杜明超
Original assignee: China University of Petroleum East China
Current assignee: China University of Petroleum East China
Priority date: 2015-12-07
Filing date: 2015-12-07
Publication date: 2016-02-24
Anticipated expiration: 2035-12-07
Also published as: CN105347173B

Abstract

The invention discloses a device for automatically gripping various well lids, and belongs to the field of electromechanical equipment. The device consists of a controller, a first step motor, a rotary base, first oil cylinders, second step motors, locking racks, gears, mobile guide rail racks, electromagnets, grips, eddy current sensors and the like. The device is characterized in that the first step motor is fixed on a fixed base; the rotary base is mounted below the fixed base; the fixed base is fixed on a trolley; the front ends of the first oil cylinders are fixed on the base; the locking racks are fixed at the front ends of the second oil cylinders; the second step motors are mounted on the base; a grooved guide rail base and the base are mounted together, so that the gears are just engaged with the mobile guide rail racks; the grips pass through a groove of the grooved guide rail base and are connected with the mobile guide rail racks; the eddy current sensors are mounted on the middle parts of the grips; strain gages are mounted on round corners of the grips; and the electromagnets are mounted at the lower ends of the grips. The device realizes the function of automatically gripping various well lids, and well lid gripping efficiency is improved and labor power is saved.

Description

The device of the multiple well lid of a kind of automatic capturing

Technical field

The present invention relates to the device of the multiple well lid of a kind of automatic capturing, specifically application controller, waggon, oil cylinder, stepping motor, tooth bar, fluting track base, gear, electromagnet, handgrip, edd current transducer, the device of the multiple well lid of a kind of automatic capturing that strain-gauge etc. are formed, belongs to electromechanical appliance class.

Background technology

Along with the development of society, the continuous construction of building and road, now around our life, there is many wells, although these wells facilitate staff and lay the work such as pipeline and maintenance circuit, but staff keeps in repair all to be needed to open well lid at every turn, sometimes well lid is due to motionless for a long time, there will be the problem being difficult to open, open the time that well lid needs to spend workman besides, so all can waste a large amount of labour powers, reduce work efficiency, sometimes because the brute force of staff is opened, the meeting breakage causing well lid in various degree, cause a large amount of economic losses, when opening well lid at every turn, we just can detect well lid hole and the multiple manhole lid device of automatic capturing automatically in the urgent need to one, but there is no the device of the multiple well lid of such automatic capturing in the market.

Summary of the invention

For above-mentioned deficiency, the invention provides the device of the multiple well lid of a kind of automatic capturing.

The present invention is achieved by the following technical solutions: the device of the multiple well lid of a kind of automatic capturing is by wheel, stay, controller, battery, waggon, first stepping motor, first support, coupler, rotating shaft, permanent seat, second support, rotation seat, first oil cylinder, 3rd support, second oil cylinder, second stepping motor, locking rack, fluting track base, gear, moving guide rail tooth bar, base, electromagnet, handgrip, bearing, edd current transducer, strain-gauge composition, it is characterized in that: stay is arranged on wheel, wheel is arranged on immediately below waggon, controller and battery are arranged on waggon, first stepping motor is fixed on above permanent seat by the first support, the axle of the first stepping motor is connected by coupler with rotating shaft, bearing is arranged in the centre hole of permanent seat, rotating shaft matches with bearing, rotation seat is arranged on immediately below permanent seat, both are cooperated together by rotating shaft and nut, permanent seat is fixed on waggon by the second support, the end of the first oil cylinder is bolted on the below of rotation seat, the front end of the first oil cylinder is fixed on base, the end of the second oil cylinder is fixed on base by the 3rd support, locking rack is fixed on the front end of the second oil cylinder, second stepping motor is arranged on base, the output shaft of the second stepping motor matches with gear, moving guide rail tooth bar matches with fluting track base, fluting track base is together with floor installation, gear is just in time engaged with moving guide rail tooth bar, handgrip is connected with moving guide rail tooth bar through the fluting of fluting track base, edd current transducer is arranged on the middle part of handgrip, strain-gauge is arranged on the lower part fillet place of handgrip, electromagnet is arranged on immediately below handgrip.

The usefulness of this invention is: battery is contained on waggon, make need not carry electrical generator during outwork, convenient, wheel there is stay, wheel locking when device can be allowed to work, it is more stable when device is worked, strain-gauge is arranged on handgrip lower part fillet place, handgrip can be detected whether to hold well lid, prevent handgrip dropout well lid or handgrip from continuing to draw close as centre, cause the destruction of handgrip or well lid, after well lid firmly grasped by handgrip, second oil cylinder can drive locking rack to move downward, engage with mobile rack, the impact to the engagement of moving guide rail rack and pinion in the process of crawl can be reduced, reduce the destruction to both, controller passes through the common coordinated movement of various economic factors of the movement of control second stepping driven by motor handgrip and the rotary motion of the first stepping driven by motor rotation seat, achieve the detection of edd current transducer to well lid hole site, save the quantity of edd current transducer, save cost, the independently moving of two the first oil cylinders in left and right, make device can capture the well lid in a hole or two holes, electromagnet is arranged on immediately below handgrip, make device can capture the well lid not having hole, thus achieve the function capturing multiple well lid, device is made more to have applicability, after edd current transducer detects well lid hole, by controlling the flexible motion with two the stepping motor drive handgrips in left and right that moves up and down driving two bases in left and right of two the first oil cylinders in left and right, achieve the function of the automatic capturing to multiple well lid, substantially increase the efficiency of crawl well lid and save labour power.

Accompanying drawing explanation

Accompanying drawing 1 is integral structure schematic diagram of the present invention.

Accompanying drawing 2 is the partial enlarged drawing at A place in Fig. 1.

Accompanying drawing 3 is the partial enlarged drawing at B place in Fig. 1.

Accompanying drawing 4 is the structural representation of track base of slotting in Fig. 1.

Accompanying drawing 5 is plan structure schematic diagram of the present invention.

In figure, 1, wheel, 2, stay, 3, controller, 4, battery, 5, waggon, 6, the first stepping motor, the 7, first support, 8, coupler, 9, rotating shaft, 10, permanent seat, the 11, second support, 12, rotation seat, the 13, first oil cylinder, the 14, the 3rd support, 15, the second oil cylinder, the 16, second stepping motor, 17, locking rack, 18, to slot track base, 19, gear, 20, moving guide rail tooth bar, 21, base, 22, electromagnet, 23, handgrip, 24, bearing, 25, edd current transducer, 26, strain-gauge.

Detailed description of the invention

A device for the multiple well lid of automatic capturing is by wheel 1, stay 2, controller 3, battery 4, waggon 5, first stepping motor 6, first support 7, coupler 8, rotating shaft 9, permanent seat 10, second support 11, rotation seat 12, first oil cylinder 13, 3rd support 14, second oil cylinder 15, second stepping motor 16, locking rack 17, fluting track base 18, gear 19, moving guide rail tooth bar 20, base 21, electromagnet 22, handgrip 23, bearing 24, edd current transducer 25, strain-gauge 26 forms, it is characterized in that: stay 2 is arranged on wheel 1, wheel 1 is arranged on immediately below waggon 5, controller 3 and battery 4 are arranged on waggon 5, first stepping motor 6 is fixed on above permanent seat 10 by the first support 7, the axle of the first stepping motor 6 is connected by coupler 8 with rotating shaft 9, bearing 24 is arranged in the centre hole of permanent seat 10, rotating shaft 9 matches with bearing 24, rotation seat 12 is arranged on immediately below permanent seat 10, both are cooperated together by rotating shaft 9 and nut, permanent seat 10 is fixed on waggon 5 by the second support 11, the end of the first oil cylinder 13 is bolted on the below of rotation seat 12, the front end of the first oil cylinder 13 is fixed on base 21, the end of the second oil cylinder 15 is fixed on base 21 by the 3rd support 14, locking rack 17 is fixed on the front end of the second oil cylinder 15, second stepping motor 16 is arranged on base 21, the output shaft of the second stepping motor 16 matches with gear 19, moving guide rail tooth bar 20 matches with fluting track base 18, fluting track base 18 is installed together with base 21, gear 19 is just in time engaged with moving guide rail tooth bar 20, handgrip 23 is connected with moving guide rail tooth bar 20 through the fluting of fluting track base 18, edd current transducer 25 is arranged on the middle part of handgrip 23, strain-gauge 26 is arranged on the lower part fillet place of handgrip 23, electromagnet 22 is arranged on immediately below handgrip 23.

When this device uses, staff pushes away waggon 5 directly over well lid, then wheel 1 is locked with stay 2, open the switch of controller 3, controller 3 can control the rotation of the first stepping motor 6, the rotation of rotating shaft 9 is driven by coupler 8, and then drive the rotation of rotation seat 12, controller 3 also can control the rotation of the second stepping motor 16, the rotation of driven gear 19, gear 19 drives the movement of mobile rack 20, and then drive the movement of handgrip 23, controller 3 drives the movement of handgrip 23 and the first stepping motor 6 to drive the common coordinated movement of various economic factors of the rotary motion of rotation seat 12 by control second stepping motor 16, realize the comprehensive detection of edd current transducer 25 above well lid, thus determine the position in well lid hole, after one of them edd current transducer 25 detects the position in well lid hole, controller 3 can control the first stepping motor 6 and find the second stepping motor 16 of hole site to stop the rotation, now another second stepping motor 16 can drive the motion of corresponding handgrip 23, thus drive the detection in edd current transducer 25 pairs of well lid holes, if the position in hole can be detected, now the second stepping motor 16 stops the rotation, if the position in hole do not detected, second stepping motor 16 also can stop the rotation, then controller 3 can control to find corresponding first oil cylinder 13 in hole site to extend downwards, thus handgrip 23 stretches in well lid hole, now corresponding second stepping motor 16 can drive handgrip to draw close to centre, when strain-gauge 26 detects the change of power, controller 3 can be fed back to, controller 3 can control corresponding second stepper motor 16 and stop the rotation, can control corresponding second oil cylinder 15 drives locking rack 17 and moving guide rail tooth bar 20 engagement to fix the position of handgrip 23 simultaneously, thus well lid is held by handgrip 23, when two edd current transducers 25 all can not detect hole, two the second oil cylinders 15 can directly drive locking rack 17 to engage with moving guide rail tooth bar 20, thus fix the position of handgrip 23, controller 3 can control battery 4 and power to electromagnet 22, control the first oil cylinder 13 to extend downwards simultaneously, well lid is held, control the first oil cylinder 13 eventually through controller 3 to retract, achieve the function of the multiple well lid of automatic capturing, reach high efficiency and capture well lid and the object of saving labour power.

For the ordinary skill in the art, according to instruction of the present invention, when not departing from principle of the present invention and spirit, the change carried out embodiment, amendment, replacement and modification still fall within protection scope of the present invention.

Claims

1. a device for the multiple well lid of automatic capturing, is by wheel, stay, controller, battery, waggon, first stepping motor, first support, coupler, rotating shaft, permanent seat, second support, rotation seat, first oil cylinder, 3rd support, second oil cylinder, second stepping motor, locking rack, fluting track base, gear, moving guide rail tooth bar, base, electromagnet, handgrip, bearing, edd current transducer, strain-gauge composition, it is characterized in that: stay is arranged on wheel, wheel is arranged on immediately below waggon, controller and battery are arranged on waggon, first stepping motor is fixed on above permanent seat by the first support, the axle of the first stepping motor is connected by coupler with rotating shaft, bearing is arranged in the centre hole of permanent seat, rotating shaft matches with bearing, rotation seat is arranged on immediately below permanent seat, both are cooperated together by rotating shaft and nut, permanent seat is fixed on waggon by the second support, the end of the first oil cylinder is bolted on the below of rotation seat, the front end of the first oil cylinder is fixed on base, the end of the second oil cylinder is fixed on base by the 3rd support, locking rack is fixed on the front end of the second oil cylinder, second stepping motor is arranged on base, the output shaft of the second stepping motor matches with gear, moving guide rail tooth bar matches with fluting track base, fluting track base is together with floor installation, gear is just in time engaged with moving guide rail tooth bar, handgrip is connected with moving guide rail tooth bar through the fluting of fluting track base, edd current transducer is arranged on the middle part of handgrip, strain-gauge is arranged on the lower part fillet place of handgrip, electromagnet is arranged on immediately below handgrip.