CN106224688B - A kind of new Double Oblique Wedge inner hole expanding device - Google Patents
A kind of new Double Oblique Wedge inner hole expanding device Download PDFInfo
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- CN106224688B CN106224688B CN201610614548.4A CN201610614548A CN106224688B CN 106224688 B CN106224688 B CN 106224688B CN 201610614548 A CN201610614548 A CN 201610614548A CN 106224688 B CN106224688 B CN 106224688B
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- telescopic block
- piston
- block
- piston rod
- matrix
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Classifications
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of new Double Oblique Wedge inner hole expanding device, including cylinder and claw, cylinder is dual piston cylinder, piston rod top in cylinder lower piston B passes cylinder head, piston rod top axial is provided with the circular conical surface of upper and lower two evaginations, claw includes matrix and telescopic block, matrix is open column shape, base bottom is fixedly connected with cylinder internal upper part piston A, circumferential outside telescopic block is arc-shaped, telescopic block inner ring is provided with the projection that two evagination circular conical surfaces are engaged up and down with piston rod top, matrix top is circumferentially provided with the window passed through for the projection in telescopic block.The present invention is simple in construction, reliable clamping, telescopic block and piston rod up and down two circular conical surfaces coordinate cause telescopic block arc-shaped outer surface all the time with pipe orifice bus keeping parallelism, ensure that between telescopic block and pipe orifice hole wall be that face contacts, both contact area is increased, the damage to inside pipe wall is reduced, increases frictional force again, improves reliability promptly.
Description
Technical field
The present invention relates to a kind of grasping mechanism of tube sheet climbing robot, and in particular to a kind of with the realization of Double Oblique Wedge structure
The device of hole swelling.
Background technology
Current most tube sheet climbing robots employ endoporus and firmly grasp the mode positioned, and most endoporus firmly grasp structure
Using monocline wedge swelling mode.Because tube sheet endoporus is circular hole, tube wall is relatively thin, therefore monocline wedge can not reliably adapt to its inwall,
And inside pipe wall can be caused because unbalance stress deforms and damages, and when claw is more valve elastic card claws in single wedge structure, work
In repeatedly the cyclic loading life-span it is shorter.Therefore, it is necessary to provide a kind of Internal hole positioning swelling dress simple in construction, reliable clamping
Put, to overcome the drawbacks described above of prior art.
The content of the invention
The problem of existing for prior art, the technical scheme that the present invention uses for solution problems of the prior art
It is as follows：
A kind of new Double Oblique Wedge inner hole expanding device, including cylinder 1 and claw 2, it is characterised in that：The cylinder 1 includes
Cylinder body 11, the end cap 12 for being arranged on the bottom of cylinder body 11, piston A13, piston B14, the piston guide set 15 for being arranged on inboard wall of cylinder block,
The piston A13 is arranged in the middle part of cylinder body, and the piston B14 is arranged on the bottom of cylinder body 11, and piston B14 upper and lower sides are equipped with piston
Bar, the top axial of piston rod 16 of the piston B14 upper ends is provided with the circular conical surface of upper and lower two evaginations, and front end passes through piston
A13 is stretched into matrix 21；
The claw 2 includes matrix 21, telescopic block 22, and described matrix 21 is open column shape matrix, the bottom of matrix 21 and work
Plug A13 is fixedly connected, and circumferential outside described telescopic block 22 is arc-shaped, and the inner ring of telescopic block 22 is provided with and piston rod 16
The projection that two evagination circular conical surfaces are engaged up and down on top, the top of matrix 21 is circumferentially provided with wears for the projection in telescopic block 22
The window crossed.
Described telescopic block 22 includes some independent telescopic blocks, be arc-shaped on the outside of each telescopic block, inner side provided with
The top of piston rod 16 projection that two evagination circular conical surfaces are engaged up and down, each independent telescope block top and bottom periphery are correspondingly set
Fluted, installation settings has turn 221 in groove, and turn 221 provides the retraction force after strutting for each telescopic block.
Described telescopic block 22 includes some along the circumferential equally distributed independent telescope block of piston rod 16, each independent telescope
Block inner ring is provided with the projection being engaged with two evagination circular conical surfaces above and below the top of piston rod 16, and each independent telescope block is magnetic
Structure, telescopic block inner ring have the magnetic inwardly to attract each other, and the adsorption magnetic force between each magnetoconstriction block will along the circumferential direction
The telescopic block 22 of equal distribution connects into overall structure, easy to disassemble, and the automatic retracted after strutting.
Described telescopic block 22 is that periphery is columned circumferential spring, and spring inner ring sets some and top of piston rod 16
The projection that upper and lower two evagination circular conical surfaces are engaged, spring outer ring are joined together to form cylindric for some arc-shaped springs
Circumferential spring, circumferential spring realize the contraction of telescopic block by its own resilient.
By the present apparatus be applied to heat-transfer pipe detection field climbing robot in, when the length dimension of telescopic block 22 be 50mm,
When 600N thrusts are provided in cylinder, preferably telescopic block number is chosen for 4, and single bump height is 12mm, and two projection distances are
18mm。
The invention has the advantages that：
1st, simple in construction, reliable clamping of the invention, two circular conical surfaces coordinate so that stretching telescopic block up and down with mandrel piston rod
Contracting block arc-shaped outer surface with pipe orifice bus keeping parallelism, ensures that between telescopic block and pipe orifice hole wall be that face contacts all the time,
On the one hand contact area is increased, reduces the damaged condition to inside pipe wall, on the other hand increase frictional force, improve promptly
Reliability.
2nd, the invention provides three kinds of flexible block structures, according to different structure, different telescopic block retracting manners is realized：Borrow
The elastical retraction for helping external springs circle elastic force to constrain；Bounced back by the magnetic force of itself magnetic；By the elastical retraction of its own resilient.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation that telescopic block of the present invention is magnetoconstriction block；
Fig. 3 is clamping jaw portion structure schematic diagram when telescopic block of the present invention is magnetoconstriction block；
Fig. 4 is the structural representation that telescopic block of the present invention is circumferential telescopic spring block；
Fig. 5 is clamping jaw portion structure schematic diagram when telescopic block of the present invention is circumferential telescopic spring block；
Fig. 6 is each course movement status architecture schematic diagram in the embodiment of the present invention；
Fig. 7 is telescopic block number of the present invention, bump height, two projections are answered apart from asynchronous telescopic block exterior arc surface maximum
Power distribution statisticses figure；
Fig. 8 is telescopic block number of the present invention, bump height, two projections apart from asynchronous telescopic block exterior arc surface stress point
The standard deviation statistics figure of cloth；
Wherein：1- cylinders, 11- cylinder bodies, 12- end caps, 13- pistons A, 14- piston B, 15- guide sleeve, 16- piston rods, 17-
Front chamber, 18- middle chambers, 19- rear chamber, 2- claws, 21- matrixes, 22- telescopic blocks, 221- turns, Level- stretch block number
Horizontal number of mesh, single bump height, two the projections different values corresponding to, Max- contact stress maximums, Standard
Deviation- contact stress standard deviations, A- telescopic block numbers, the single bump height of B- telescopic blocks, the projection of C- telescopic blocks two away from
From.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail, as Fig. 1-
Shown in 6, a kind of new Double Oblique Wedge inner hole expanding device, including cylinder 1 and claw 2, it is characterised in that：The cylinder 1 includes cylinder
Body 11, the end cap 12 for being arranged on the bottom of cylinder body 11, piston A13, piston B14, the piston guide set 15 for being arranged on inboard wall of cylinder block, institute
State piston A13 to be arranged in the middle part of cylinder body, the piston B14 is arranged on the bottom of cylinder body 11, and piston B14 upper and lower sides are equipped with piston
Bar, the top axial of piston rod 16 of the piston B14 upper ends is provided with the circular conical surface of upper and lower two evaginations, and front end passes through piston
A13 is stretched into matrix 21, and cylinder inner cavity is divided into front chamber 17, middle chamber 18, rear chamber 19 by the piston A13 and piston B14；
The claw 2 includes matrix 21, telescopic block 22, and described matrix 21 is open column shape matrix, the bottom of matrix 21 and work
Plug A13 is fixedly connected, and circumferential outside described telescopic block 22 is arc-shaped, and the inner ring of telescopic block 22 is provided with and the top of piston rod 16
The projection that two evagination circular conical surfaces are engaged up and down so that telescopic block 22 parallel to endoporus bus open, to endoporus active force
Uniformly；The top of matrix 21 is circumferentially provided with the window passed through for the projection in telescopic block 22.
Embodiment 1：As shown in figure 1, described telescopic block 22 includes some independent telescopic blocks, it is on the outside of each telescopic block
Arc-shaped, inner side are provided with the projection being engaged with two evagination circular conical surfaces above and below the top of piston rod 16, each independent telescope block top
Portion and bottom periphery are correspondingly provided with groove, and installation settings has turn 221 in groove, and turn 221 provides for each telescopic block
Retraction force after strutting.
Embodiment 2：As Figure 2-3, described telescopic block 22 includes some circumferential equally distributed only along piston rod 16
Vertical telescopic block, each independent telescope block inner ring are provided with the projection being engaged with two evagination circular conical surfaces above and below the top of piston rod 16,
Each independent telescope block is magnetic texure, and telescopic block inner ring has the magnetic inwardly to attract each other, between each magnetoconstriction block
Adsorption magnetic force the telescopic block 22 of along the circumferential direction equal distribution is connected into overall structure, it is easy to disassemble, and after strutting
Automatic retracted.
Embodiment 3：As illustrated in figures 4-5, described telescopic block 22 is that periphery is columned circumferential spring, and spring inner ring is set
Some projections being engaged with two evagination circular conical surfaces above and below the top of piston rod 16 are put, spring outer ring is that some arc-shaped springs connect
Be connected together the cylindric circumferential spring to be formed, and circumferential spring realizes the contraction of telescopic block by its own resilient.
Embodiment 4：By taking the flexible block structure in embodiment 1 as an example, as shown in a-g in Fig. 6, represent a kind of in the present invention
New Double Oblique Wedge inner hole expanding device, to tube wall is clamped, unclamps tube wall, exits the process of tube sheet afterwards out of deep pipe, specific action
Step is as follows：
The next individual climbing robot of ordinary circumstance is provided with four manipulators, when climbing robot is creeped in tube sheet lower end,
The claw on each manipulator is needed shrink and extending action completion movement.
Such as Fig. 6（a）And Fig. 6（b）It is shown, claw extending action：Be passed through compressed air to middle chamber 18, front chamber 17, after
Chamber 19 is connected with air, makes piston A13 drive guide sleeve 15, matrix 21, telescopic block 22 to move up.
Such as Fig. 6（c）Shown, the present apparatus is sent into hole by machine human organism.
Such as Fig. 6（d）Shown, claw promptly acts：Rear chamber 19 is passed through compressed air, and middle chamber 18 is connected with air,
Motion contacts piston rod 16 and telescopic block 22 to piston B14 upwards, and due to there is a upper and lower double cone face structure, each telescopic block 22 is parallel
Stretch out, and telescopic block outer surface increases with pipe orifice bus keeping parallelism, the circle diameter of each telescopic block 22 all the time, and then
Promptly inside pipe wall, allow what whole climbing robot consolidated to be lifted on tube sheet lower end, it is preceding to confirm whether claw firmly grasps endoporus
Chamber 17 is suitably passed through a small amount of compressed air, piston A13 is had the trend moved down, i.e. telescopic block 22 attempts to remove, to protect
Demonstrate,prove telescopic block 22 and hole wall fitting.
Such as Fig. 6（e）It is shown, claw release action：Middle chamber 18 is passed through compressed air, front chamber 17, rear chamber 19 and big
Gas phase is led to, and makes piston B14 drive the piston rod 16 above it to move down, the turn 221 installed on telescopic block upper groove
Elastic restraint restoring force effect under, telescopic block 22 bounces back, 22 each valve of telescopic block form circle diameter reduce, so as to card
Pawl unclamps hole wall.
Such as Fig. 6（f）Shown, present apparatus claw is removed hole by machine human organism.
Such as Fig. 6（g）It is shown, claw contractive action：Front chamber 17 is passed through compressed air, and middle chamber 18 and air are communicated, made
Piston A13 drives guide sleeve 15, matrix 21, telescopic block 22 to move down.When manipulator reaches Fig. 6（a）State when, front chamber
17 and air communicate, manipulator recover reset condition.
In summary, new Double Oblique Wedge inner hole expanding device of the invention, it can solve the problem that climbing robot is fixed on orifice plate
The problem of position is firmly grasped.
Embodiment 5：It is soft using orthogonal test method combination finite element analysis by taking the flexible block structure in embodiment 1 as an example
Part, contact analysis is carried out to the claw position and endoporus of the present apparatus, stress is more evenly distributed in when claw contacts with endoporus
Position where two projections of telescopic block, therefore not only need to consider telescopic block number during design, it is also contemplated that the height of projection
And two projection distance.Carried out exemplified by claw position telescopic block length dimension by the present apparatus is 50mm, cylinder provides 600N thrusts
Orthogonal test and simulation calculate, and testing program and result are as shown in table 1-2, and interpretation of result is as shown in table 3-4, maximum stress distribution
With stress distribution criterion difference statistical trend graph as shown in Figure 7 and Figure 8：
The orthogonal test influence factor of table 1 and horizontal value
The Orthogonal Experiment and Design of table 2 and result of the test
The orthogonal experiments analysis that 3 each factor of table influences on contact stress maximum
The orthogonal experiments that 4 each factor of table influences on contact stress standard deviation are analyzed
In table, node stress when contact stress maximum, standard deviation are contacted with telescopic block with endoporus on exterior arc surface
Based on draw.Within the specific limits（On the premise of not destroying hole wall）Contact stress maximum is bigger, and grasp is bigger, but right
The damage of hole wall is also bigger；Contact stress standard deviation is smaller, i.e. telescopic block and the size of endoporus hole wall contact stress is more uniform, dress
Put smaller with the damage of device to hole inwall during endoporus contact action.
It can be seen that by A curves in Fig. 7-8：When telescopic block number is 4, contact stress maximum value is minimum, when number is 6
Value is maximum, and telescopic block number is more, and standard deviation is bigger.During design, it is ensured that interference is not produced between each telescopic block,
Consider that processing and manufacturing difficulty or ease choose desired value.
It can be seen that by B curves in Fig. 7-8：Telescopic block bump height is higher, and contact stress maximum is smaller, and standard deviation is got over
It is small, influenceed by telescopic block overall dimensions and two projection distances, the desired value of centre is chosen after should considering during design.
It can be seen that by C curve in Fig. 7-8：The projection distance of telescopic block two influences weaker, standard to contact stress maximum
Difference considers that the cone height that is engaged with projection is higher almost without significant change, during design, in the longer selection of device service life
Between desired value.
When the present apparatus is applied in the climbing robot of heat-transfer pipe detection field, when the claw position telescopic block of the present apparatus
When length dimension is 50mm, cylinder provides 600N thrusts, considering that climbing robot positions to creep below tube sheet needs grasp sufficient
It is enough and destruction can not be produced to tube sheet endoporus, consider telescopic block and hole wall contact stress maximum, contact stress standard deviation,
Claw integral processing, selection meet under grasp requirement that the small example of contact stress standard deviation is as optimal solution, from Fig. 7
Understood with data in table 4, when telescopic block number is 4, contact stress maximum is minimum, i.e., minimum to the degree of wear of endoporus；It is single
When individual bump height is 12mm, contact stress maximum is minimum, and standard deviation is minimum, i.e., minimum to the endoporus degree of wear；Therefore it is comprehensive
Close the requirement for considering this application field（Under conditions of grasp is enough, contact stress maximum is the smaller the better）, choose satisfaction and grab
Sizing parameters corresponding to contact stress maximum and contact stress standard deviation under clamp force requirement, with orthogonal test in table 2
As a result as optimal solution, i.e. telescopic block number is chosen for 4 for the 7th group of parameter in, and single bump height is 12mm, two projection distances
For 18mm.
The present invention effectively overcomes some practical problems of the prior art so as to have very in terms of tube sheet climbing robot
High body is worth and used meaning.
Protection scope of the present invention is not limited to the above embodiments, it is clear that those skilled in the art can be to this hair
It is bright to carry out various changes and deformation without departing from scope and spirit of the present invention.If these changes and deformation belong to power of the present invention
In the range of profit requirement and its equivalent technologies, then including the intent of the present invention is also changed and deformed comprising these.
Claims (4)
1. a kind of Double Oblique Wedge inner hole expanding device, including cylinder（1）And claw（2）, it is characterised in that：The cylinder（1）Including
Cylinder body（11）, be arranged on cylinder body（11）The end cap of bottom（12）, piston A（13）, piston B（14）, be arranged on the work of inboard wall of cylinder block
Fill in guide sleeve（15）, the piston A（13）It is arranged in the middle part of cylinder body, the piston B（14）It is arranged on cylinder body（11）Bottom, piston
B（14）Upper and lower side is equipped with piston rod, the piston B（14）The piston rod of upper end（16）Top axial is provided with outside upper and lower two
Convex circular conical surface, and front end passes through piston A（13）Stretch into matrix（21）In；
The claw（2）Including matrix（21）, telescopic block（22）, described matrix（21）For open column shape matrix, matrix（21）Bottom
Portion and piston A（13）It is fixedly connected, described telescopic block（22）Outer circumference is arc-shaped, the telescopic block（22）Inner ring is provided with
With piston rod（16）The projection that two evagination circular conical surfaces are engaged up and down on top so that telescopic block（22）Parallel to endoporus bus
Open, its outer arc is uniform in face of endoporus active force, matrix（21）Top is circumferentially provided with for telescopic block（22）Interior projection
The window passed through；Described telescopic block（22）Outer circumference is arc-shaped.
A kind of 2. Double Oblique Wedge inner hole expanding device as claimed in claim 1, it is characterised in that：Described telescopic block（22）Including
Some independent telescopic blocks, each telescopic block outside is arc-shaped, and inner side is provided with and piston rod（16）Two evaginations above and below top
The projection that circular conical surface is engaged, each independent telescope block top and bottom periphery are correspondingly provided with groove, there is installation settings in groove
Turn（221）, turn（221）Retraction force after strutting is provided for each telescopic block.
A kind of 3. Double Oblique Wedge inner hole expanding device as claimed in claim 1, it is characterised in that：Described telescopic block（22）Including
It is some along piston rod（16）Circumferential equally distributed independent telescope block, each independent telescope block inner ring is provided with and piston rod（16）Top
The end projection that two evagination circular conical surfaces are engaged up and down, each independent telescope block is magnetic texure, and telescopic block inner ring has inwardly
The magnetic to attract each other, adsorption magnetic force between each magnetoconstriction block is by the telescopic block of along the circumferential direction equal distribution（22）Even
Overall structure is connected into, it is easy to disassemble, and the automatic retracted after strutting.
A kind of 4. Double Oblique Wedge inner hole expanding device as claimed in claim 1, it is characterised in that：Described telescopic block（22）To be outer
Week is columned circumferential spring, and spring inner ring sets some and piston rod（16）Two evagination circular conical surfaces are engaged up and down on top
Projection, spring outer ring is the cylindric circumferential spring that is joined together to form of some arc-shaped springs, circumferential spring rely on from
Body elastic force realizes the contraction of telescopic block.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610614548.4A CN106224688B (en) | 2016-07-29 | 2016-07-29 | A kind of new Double Oblique Wedge inner hole expanding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610614548.4A CN106224688B (en) | 2016-07-29 | 2016-07-29 | A kind of new Double Oblique Wedge inner hole expanding device |
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| Publication Number | Publication Date |
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| CN106224688A CN106224688A (en) | 2016-12-14 |
| CN106224688B true CN106224688B (en) | 2018-02-09 |
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| CN201610614548.4A Active CN106224688B (en) | 2016-07-29 | 2016-07-29 | A kind of new Double Oblique Wedge inner hole expanding device |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234303A (en) * | 2017-07-27 | 2017-10-10 | 苏州蓝王机床工具科技有限公司 | A kind of gear blank wheel clamping device on gear-hobbing machine |
| CN107457319A (en) * | 2017-08-02 | 2017-12-12 | 宁波精达成形装备股份有限公司 | A kind of clamping jaw clamping device of electric tube expander |
| CN107940167B (en) * | 2017-12-08 | 2019-11-22 | 西安理工大学 | Stepping type pipeline inner wall defect image obtains robot |
| CN110335689B (en) * | 2019-07-12 | 2020-08-28 | 哈尔滨工程大学 | Inner hole positioning device, positioning method and crawling mechanism |
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| US7340387B2 (en) * | 2003-06-26 | 2008-03-04 | Doosan Heavy Industries & Construction Co., Ltd. | Control rod driving simulator for verification of control rod driving mechanism control system of atomic power plant |
| CN103486402A (en) * | 2013-09-18 | 2014-01-01 | 国核电站运行服务技术有限公司 | Mechanical foot of heat transmission pipe detecting robot for vapor generators |
| CN203509607U (en) * | 2013-09-05 | 2014-04-02 | 重庆市霞艺汽车配件制造有限公司 | Taper expansion sleeve |
| CN204371179U (en) * | 2014-12-31 | 2015-06-03 | 西南石油大学 | A kind of controlled anti-sticking Oil/gas Well casing tube shaping device |
| CN105736510A (en) * | 2016-04-26 | 2016-07-06 | 武汉大学 | Single-cylinder dual-piston manipulator for inner hole |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7340387B2 (en) * | 2003-06-26 | 2008-03-04 | Doosan Heavy Industries & Construction Co., Ltd. | Control rod driving simulator for verification of control rod driving mechanism control system of atomic power plant |
| CN203509607U (en) * | 2013-09-05 | 2014-04-02 | 重庆市霞艺汽车配件制造有限公司 | Taper expansion sleeve |
| CN103486402A (en) * | 2013-09-18 | 2014-01-01 | 国核电站运行服务技术有限公司 | Mechanical foot of heat transmission pipe detecting robot for vapor generators |
| CN204371179U (en) * | 2014-12-31 | 2015-06-03 | 西南石油大学 | A kind of controlled anti-sticking Oil/gas Well casing tube shaping device |
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