CN107139251B - Device and method for machining bionic groove surface on inner wall of pipeline - Google Patents
Device and method for machining bionic groove surface on inner wall of pipeline Download PDFInfo
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- CN107139251B CN107139251B CN201710501563.2A CN201710501563A CN107139251B CN 107139251 B CN107139251 B CN 107139251B CN 201710501563 A CN201710501563 A CN 201710501563A CN 107139251 B CN107139251 B CN 107139251B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D3/00—Cutting work characterised by the nature of the cut made; Apparatus therefor
- B26D3/08—Making a superficial cut in the surface of the work without removal of material, e.g. scoring, incising
Abstract
A pipeline inner wall bionic groove surface processing device and a processing method thereof are provided, the device comprises a driving mechanism for providing driving force, a traveling mechanism for supporting the inner wall surface of the pipeline, a processing mechanism for processing the bionic groove on the inner wall of the processing pipeline and a controller, wherein the driving mechanism is arranged on the traveling mechanism through a bolt; the processing mechanism is fixedly connected with the travelling mechanism through a bolt; the driving mechanism and the processing mechanism are electrically connected with corresponding control ends of the controller; the method comprises the following steps: the pipe diameter of the pipeline is processed according to the requirement, the front and rear travelling units are adjusted in a rotating mode, when the mechanism to be processed moves to the position, to be processed, of the inner wall of the pipeline, the travelling units stop moving and press the inner wall of the pipeline tightly, the position of a cutter of the mechanism to be processed is adjusted, and the groove of the inner wall of the pipeline begins to be processed. The invention has the beneficial effects that: the tangential counter force applied to the three cutters during cutting can be offset, so that the bending deformation and the torsional deformation are avoided, and the device has the advantages of high precision, simple structure and simple and convenient operation.
Description
Technical Field
The invention relates to a device and a method for processing a bionic groove surface on the inner wall of a pipeline.
Background
Pipeline transportation of fuel such as petroleum and natural gas generates relatively large transportation resistance, thereby lowering transportation efficiency. At this stage, two methods of coating drag reduction and polymer drag reducer addition are mainly applied to a few pipelines. The coating drag reduction technology is to coat a layer of drag reduction coating on the inner surface of the pipeline, but the coating has larger turbulent pulsation resistance and very weak drag reduction capability. Drag reduction is simple and convenient compared with drag reduction of a coating, but drag reduction agents are consumed quickly and need to be replenished continuously, and particularly for pipelines needing long-term transportation, the economic benefit is not obvious due to the large amount of drag reduction agents needed.
Therefore, at present, no effective resistance reduction technology is applied to the oil-gas transmission pipeline, and the bionic resistance reduction surface can reduce the oil-gas transmission resistance by fully simulating the surface resistance reduction structure form of the biological life habit. According to the experimental research of some researchers in China on the resistance reduction of the grooves, the method has the following steps: the V-shaped, the spaced triangular and the U-shaped grooves have more excellent drag reduction characteristics and smooth surfaces, and the V-shaped grooves have the best drag reduction performance.
Disclosure of Invention
The invention aims to provide a device and a method for processing the surface of a bionic groove on the inner wall of a pipeline, which have the advantages of simple structure and easy operation and can process the bionic groove structure on the surface of a protective coating on the inner wall of the pipeline.
The invention relates to a device for processing the surface of a bionic groove on the inner wall of a pipeline, which is characterized in that: the bionic groove machining device comprises a driving mechanism for providing driving force, a travelling mechanism for supporting the inner wall surface of the pipeline, a machining mechanism for machining a bionic groove in the inner wall of the machined pipeline and a controller, wherein the driving mechanism is installed on the travelling mechanism through a bolt; the processing mechanism is fixedly connected with the travelling mechanism through a bolt; the driving mechanism and the processing mechanism are electrically connected with corresponding control ends of the controller;
the driving mechanism comprises a driving motor, a worm wheel, a worm, a supporting frame, a transmission shaft and a roller, and the driving motor is arranged on the supporting frame; an output shaft of the driving motor is connected with the transmission shaft through a coupler; the worm wheel is coaxially and fixedly arranged on the transmission shaft; the worm is rotationally connected with the support frame and meshed with the worm wheel; the rollers are arranged at the two shaft ends of the worm; the control end of the driving motor is electrically connected with the corresponding control end of the controller;
the travelling mechanism comprises a bracket and two travelling units, wherein one travelling unit is used as a front travelling unit, the other travelling unit is used as a rear travelling unit, the two travelling units are consistent in structure, and the front travelling unit and the rear travelling unit are respectively arranged at two ends of the machining mechanism through corresponding connecting shafts and are rotationally connected with the machining mechanism; the upper part of the support is fixedly connected with the bottom of the front walking unit, the lower part of the support is provided with a sliding groove for adjusting the longitudinal height of the support frame, and the lower part of the support is fixedly connected with one end of the support frame through a bolt clamped in the sliding groove to realize the longitudinal limit of the support frame; the walking unit comprises a walking frame for being clamped on the inner wall of the pipe and a connecting shaft for transmission connection, the walking frame comprises a large bevel gear, a small bevel gear, a plurality of moving claws and a plurality of supporting rods, and the large bevel gear is fixedly connected with the upper end of the supporting frame; the movable claws correspond to the support rods one by one, the inner ends of the support rods are respectively connected with the corresponding movable claws by welding, and the outer ends of the support rods are provided with pulleys for pressing the inner wall of the pipe; the moving claws are uniformly arranged in the circumferential direction of the chuck; the other end of the connecting shaft is rotatably connected with the front end of the processing mechanism;
the processing mechanism comprises a hollow roller, a processing motor, a motor supporting frame, a gear, a telescopic mechanism and a cutter, the front end of the hollow roller is rotatably connected with the connecting shaft of the front walking unit, and the rear end of the hollow roller is rotatably connected with the connecting shaft of the rear walking unit; the processing motor, the motor support frame, the gear and the telescopic mechanism are all arranged in the hollow roller, the motor support frame is fixedly connected with the front end of the inner cavity of the hollow roller, the processing motor is arranged on the motor support frame, the gear is arranged on the output shaft of the processing motor, and the gear is meshed with teeth arranged on the inner wall of the hollow roller in the circumferential direction; the telescopic rod of the telescopic mechanism moves along the radial direction of the hollow roller, and a cutter for processing the inner wall of the pipe is arranged at the outer end of the telescopic rod after penetrating through the hollow roller; and the control end of the telescopic mechanism is electrically connected with the corresponding control end of the controller.
The telescopic mechanism comprises a telescopic rod, a linear motor, a sliding table, a guide rail, a transmission shaft, a motor supporting table, a bracket and an inclined plate, wherein the linear motor is arranged on the sliding table; two ends of the guide rail are fixed on a support table by two bolts, the support table is of a boss structure in the hollow roller, and a sliding table is arranged on the guide rail and keeps the linear motor to do linear reciprocating motion along the axial direction of the hollow roller; one end of the transmission shaft is connected with the sliding table, an inclined plate used for adjusting the extension length of the telescopic rod is coaxially installed at the other end of the transmission shaft, and the inclined directions of the inclined plates are consistent; each telescopic rod corresponds to one inclined plate, a plurality of through holes are uniformly distributed on the inner wall of the hollow roller in the circumferential direction, each through hole is correspondingly matched with one telescopic rod, the telescopic rods penetrate through the through holes of the hollow roller along the radial direction of the hollow roller, the inner ends of the telescopic rods are connected with the corresponding inclined plates in a sliding mode, and cutters are mounted at the outer ends of the telescopic rods; the top end of each telescopic rod is provided with a hole, and one side of the axial end surface is provided with a groove; the cutter is inserted into the hole and fixed in the groove by two bolts arranged in the vertical direction. The inclined plate can be replaced by a frustum, a circular truncated cone and the like.
Mounting through holes for embedding the tapered roller bearings are respectively formed in two ends of the hollow roller, and the central axes of the mounting through holes are overlapped with the central axis of the hollow roller; the mounting through hole is embedded with a lantern ring, the convex shoulder of the lantern ring is clamped at the corresponding end face of the hollow roller, a tapered roller bearing is arranged in the lantern ring, the outer end face of the tapered roller bearing is provided with a corresponding end cover, and the end cover and the lantern ring are fixedly connected with the end face of the hollow roller through bolts.
3 moving claws are uniformly distributed on the circumferential direction of the walking unit, and a supporting rod is arranged on each of the 3 moving claws in the radial direction and welded together; 3 through holes are uniformly distributed at one end of the hollow roller in the circumferential direction, and each through hole is correspondingly provided with a telescopic rod; an internal gear structure is arranged on the inner wall of the hollow roller and is internally meshed with a gear connected with the output shaft of the processing motor.
The transmission shaft is in a step shape, penetrates through bearing holes in two bosses of the support frame, is provided with angular contact ball bearings, and the shaft end of the transmission shaft is correspondingly provided with an end cover; the worm is arranged below the support frame, two end faces of the support frame are respectively provided with a central through hole, an angular contact ball bearing is embedded in each central through hole, an end cover fixedly connected with the corresponding end face of the support frame is externally matched, and two ends of the worm are rotatably connected with the support frame through the end covers and the angular contact ball bearings.
The whole processing device works under the condition of sufficient lubrication.
The machining method of the bionic groove surface machining device for the inner wall of the pipeline comprises the following steps of:
1) According to the pipe diameter of the pipeline to be processed, the hexagon nuts in the front and rear walking units are adjusted in a rotating mode, the supporting rods are extended radially until each pulley at the top end of the supporting rod can just abut against the inner wall of the pipeline, the part of the processing device entering the pipeline for operation is balanced in stress, and the stability of the processing device is guaranteed;
2) Adjusting a bolt of a bracket below the forward walking unit to enable the driving mechanism to move radially until pulleys arranged at two ends of the worm contact the inner wall of the pipeline;
3) Placing a bionic groove surface processing device on the inner wall of the pipeline in the pipeline to be processed;
4) Starting a driving motor to drive a worm gear to drive, so that the travelling mechanism supports the machining mechanism to axially travel in the pipeline to be machined;
5) When the mechanism to be processed moves to the position to be processed on the inner wall of the pipeline, the walking unit stops moving and compresses the inner wall of the pipeline, and the driving motor is turned off;
6) Starting the linear motor, enabling the transmission shaft to axially move along the hollow roller to drive the cutter to approach the inner wall of the pipeline to be processed, enabling the cutter to reach the position to be processed of the inner wall of the pipeline, and turning off the linear motor after the cutting edge of the cutter is in contact with the inner wall of the pipeline to be processed;
7) Starting a machining motor, wherein the machining motor rotates to drive a gear to rotate, the gear is meshed with a gear on the inner wall of the roller, and then the roller rotates, so that the cutter rotates to start machining the groove on the inner wall of the pipeline;
8) After the machining is finished, the cutting edge of the cutter is made to radially leave the machined surface by controlling the linear motor;
9) And 4) repeating 8), so that the continuous processing of the bionic groove in the pipeline to be processed can be realized.
The invention has the beneficial effects that: the three cutters are used for reverse cutting processing at the same time, so that tangential counter force applied to the three cutters during cutting processing can be offset, bending deformation and torsional deformation are avoided, and the operation quality of the processing device is ensured. The machining device uses one power source during cutting, power transmission is carried out by means of the transmission mechanism, three cutters are driven to simultaneously realize cutting machining, and the structural design of the machining device is compact. The processing device has wide range of processing pipe diameters and has good centering and positioning functions. Meanwhile, cutters in different shapes can be mounted to complete machining of the corresponding resistance reducing structure, and the device is high in precision, simple in structure and easy and convenient to operate.
Drawings
FIG. 1 is a block diagram of the present invention.
FIG. 2 is a three-dimensional block diagram of the present invention.
Fig. 3 is a structural view of the drive mechanism.
Fig. 4 is one of three-dimensional structural views of the traveling mechanism.
Fig. 5 is one of three-dimensional structural views of the traveling mechanism.
Fig. 6 is a view showing a structure of a machining mechanism.
Fig. 7 is a structure view of gear engagement in the machining mechanism.
Fig. 8 is a three-dimensional structural view of a propeller shaft.
Detailed Description
The invention will be further explained with reference to the drawings
With reference to the accompanying drawings:
the travelling mechanism 2 comprises a support 22 and two travelling units 21, wherein one travelling unit is used as a front travelling unit, the other travelling unit is used as a rear travelling unit, the two travelling units are consistent in structure, the length range is within 3-5m when short-distance pipelines are machined, the travelling units adopt a mechanical three-jaw chuck structure, and the front travelling unit and the rear travelling unit are respectively installed at two ends of the machining mechanism 3 through corresponding connecting shafts 212 and are in rotating connection with the machining mechanism; the upper part of the support 22 is fixedly connected with the bottom of the front walking unit, the lower part of the support 22 is provided with a sliding groove 221 for adjusting the longitudinal height of the support, and the lower part of the support 22 is fixedly connected with one end of the support 14 through a bolt clamped in the sliding groove to realize the longitudinal limit of the support 14; the walking unit 21 comprises a walking frame 211 clamped on the inner wall of the pipe and an engaging shaft 212 for transmission connection; the walking frame 211 is a three-jaw chuck and comprises a mounting assembly, a plurality of moving jaws 2111 and a plurality of support rods 2112, the mounting assembly is fixedly connected with the upper end of the support frame 2112, and the moving jaws 2111 are slidably connected with the mounting assembly; the moving claws 2111 correspond to the supporting rods 2112 one by one, the inner ends of the supporting rods 2112 are fixedly connected with the corresponding moving claws 2111 respectively, and the outer ends are provided with pulleys 2113 used for pressing the inner wall of the pipe; the other end of the connecting shaft 212 is rotatably connected with the front end of the processing mechanism 3;
when the pipeline with short distance is processed, the length range is within 3-5m, the walking unit adopts a mechanical three-jaw chuck structure, the mounting assembly comprises a large bevel gear 2115 and a small bevel gear 2116, and the large bevel gear 2115 is fixedly connected with the upper end of the supporting frame 14; the moving claws 2111 correspond to the supporting rods 2112 one by one, the inner ends of the three supporting rods 2112 are respectively connected with the three moving claws 2111 in the axial direction by welding, and the outer ends are provided with pulleys 2113 for pressing the inner wall of the pipe; the three moving claws 2111 are provided with uniform grooves in the circumferential direction and are meshed with the annular grooves of the large bevel gear 2115, so that the supporting rods 2112 are arranged in the radial direction of the large bevel gear 2115; the small bevel gear 2116 is meshed with the large bevel gear 2115, and the outer end of the small bevel gear 2116 is provided with a wrench inserting square hole 2117; the other end of the connecting shaft 212 is rotatably connected with the front end of the processing mechanism 3; the support 22 is symmetrically arranged right below the front walking unit, a through groove is formed in the support 22 in the vertical direction, the support is connected with the driving mechanism through bolts, and the whole driving mechanism can move radially by adjusting the connecting bolts to enter pipelines with different pipe diameters; the structure of the rear walking unit is the same as that of the front walking unit, but no bracket is arranged, and the structure and the matching mode of the rear walking unit are the same as those of the hollow roller;
for a long-distance pipeline, the length range is more than 5m, the walking unit adopts an air pressure three-jaw chuck, the mounting assembly comprises a hollow main shaft 214, a chuck 215 with an air cylinder, an air pipe 216, a main shaft connecting sleeve 217 and an air pressure controller 218 with an instrument 219, one end of the hollow main shaft 214 is connected with the chuck 215, and the hollow main shaft 214 and the chuck 215 are circumferentially fixed; the other end is connected with a main shaft connecting sleeve 217, and the rear end of the main shaft connecting sleeve 217 is connected with an air pressure controller 218; the air pipe 216 is arranged in the hollow main shaft 214, one end of the air pipe is communicated with the chuck 215, and the other end of the air pipe passes through a connecting sleeve of the main shaft 214 and is connected to the air pressure controller 218; the movable claws 2111 are communicated with the chuck 215, and the three movable claws 2111 can simultaneously and radially move through the air pressure controller 218 to enter pipelines with different pipe diameters, so that the inner wall machining is completed.
The processing mechanism 3 comprises a hollow roller 31, a processing motor 32, a motor support frame 33, a gear 34, a telescopic mechanism 35 and a cutter 36, the front end of the hollow roller 31 is rotatably connected with the connecting shaft 212 of the front walking unit, and the rear end of the hollow roller 31 is rotatably connected with the connecting shaft of the rear walking unit; the processing motor 32, the motor support frame 33, the gear 34 and the telescopic mechanism 35 are all arranged in the hollow roller 31, the motor support frame 33 is fixedly connected with the front end of the inner cavity of the hollow roller 31, the processing motor 32 is arranged on the motor support frame 33, the gear 34 is arranged on an output shaft of the processing motor 32, the gear 34 is meshed with an internal gear circumferentially arranged on the inner wall of the hollow roller 31, an annular baffle is arranged at the right end of the internal gear in the axial direction and is of an integral structure with the roller, one side of the gear 34 can be axially positioned, the other side of the gear 34 is positioned by using a sleeve 38, and the circumferential positioning of the gear 34 is realized through key connection; the telescopic rod of the telescopic mechanism 35 moves along the radial direction of the hollow roller, and a cutter for processing the inner wall of the pipe is arranged at the outer end of the telescopic rod after penetrating through the hollow roller; and the control end of the telescopic mechanism is electrically connected with the corresponding control end of the controller.
The telescopic mechanism 35 comprises a telescopic rod 351, a linear motor 352, a sliding table 353, a guide rail 354, a transmission shaft 355, a motor support table 356 and an inclined plate 357, wherein the linear motor 352 is uniformly arranged on the sliding table 353 by 4 bolts in the circumferential direction; the two ends of the guide rail 354 are fixed on a support platform 356 by two bolts, the support platform 356 is a boss structure in the hollow roller and only plays a role of supporting the guide rail 354, and the sliding table 353 is arranged on the guide rail 354 and keeps the linear motor 352 to do linear reciprocating motion along the axial direction of the hollow roller 31; one end of the transmission shaft 355 is connected with the sliding table 353; the other end of the transmission shaft 355 is coaxially provided with an inclined plate 357 for adjusting the extension length of the telescopic rod, and the inclined directions of the inclined plates 357 are consistent; each telescopic rod 351 corresponds to one inclined plate 357, 3 through holes are uniformly distributed in the circumferential direction on the inner wall of the hollow drum 31, each through hole is correspondingly provided with one telescopic rod 351, the telescopic rods 351 radially penetrate through the through holes of the hollow drum 31, the inner ends of the telescopic rods 351 are slidably connected with the corresponding inclined plates 357, and cutters 36 are mounted at the outer ends of the telescopic rods 351; grooves are formed at the joint positions of the three telescopic rods 351 and the inclined plate 357, and baffles are arranged at the two ends of the grooves to prevent the telescopic rods from moving in the rotation process of the roller 36; the structure can realize the simultaneous radial movement of the three telescopic rods 351, the top end of each telescopic rod 351 is provided with a hole, and one side of the axial end surface is provided with a groove; when the cutter 36 is placed, the cutter 36 is inserted into the hole, and the groove is fixed by two bolts arranged in the vertical direction, so that the cutter can be prevented from rotating during cutting. When the machining motor 32 rotates slowly during machining, the cutting force generated by the cutter 36 during cutting is large, so that the cutter is a hard alloy cutter, and sufficient strength is ensured. And the cutter 36 is specially made, and different groove structures can be machined by installing cutters 36 with different shapes.
In order to facilitate manufacturing and mounting of other parts, the hollow roller 31 of the processing mechanism is of a middle-open type and is divided into two halves, and the two sides of the hollow roller are respectively spliced together by three bolts; the second section of the traveling unit is connected to the hollow drum 31 through a bearing. When the processing device runs in a pipeline, the hollow roller 31 is subjected to a large axial force of the connecting shaft 212, and when the processing device is processed, radial force is generated due to self rotation, so that two tapered roller bearings 381 are selected to be installed and symmetrically arranged. One end of the bearing is axially positioned by a shaft shoulder, and the other end of the bearing is axially positioned by an end cover 37 and a sleeve 38, so that the two ends of the bearing are axially positioned. The inner and outer rings of the tapered roller bearing 381 are in interference fit with the second section of the traveling unit and the sleeve 38 respectively, so that the axial positioning of the bearing is realized. Meanwhile, the two bearings adopt a normal installation mode, and the structure is simple, and the assembly, disassembly and adjustment are convenient. Bolts are evenly distributed on the two ends of the hollow roller 31 in the circumferential direction, the end cover 37 and the sleeve 38 are fixed on the hollow roller 31, and meanwhile, a felt ring 39 is installed for blocking dust.
3 moving claws 2111,3 are uniformly distributed on the circumference of the walking unit, and supporting rods 2112 are arranged on all the moving claws 2111 in the radial direction and are welded together; 3 through holes are uniformly distributed in the circumferential direction at one end of the hollow roller 31, and each through hole is correspondingly provided with a telescopic rod 351; the inner wall of the hollow drum 31 is provided with an internal gear structure which is internally engaged with a gear connected with the output shaft of the processing motor 32.
The transmission shaft 15 is a three-section stepped shaft, the worm wheel 12 is arranged on a first section of the transmission shaft 15, one end of the worm wheel is axially positioned through a shaft shoulder of the transmission shaft 15, the other end of the worm wheel is positioned through a first sleeve ring 151, and the circumferential positioning of the worm wheel 12 is realized through key connection; the shaft end of the transmission shaft 15 is connected with the support frame 14 through a first angular contact ball bearing 152, one end of the angular contact ball bearing 152 is axially positioned by a first collar 151, the other end of the angular contact ball bearing 152 is positioned by the outer end of the first collar 151 which is provided with an end cover 37, and the end cover 37 is fixed by 6 bolts; a second section of the transmission shaft 15 penetrates through a through hole of the support frame 14, and is provided with a second angular contact ball bearing 153, one end of the second angular contact ball bearing is positioned through a second lantern ring 154, and the other end of the second angular contact ball bearing is positioned through a shaft shoulder of the transmission shaft 15; the third section of the transmission shaft 15 is mounted on the coupling 111; the worm 13 is arranged right below the rotation direction of the worm wheel 12 and is connected with the support frame 14, the support frame 14 and the worm wheel 12 are symmetrically provided with two bearing holes in the direction matched with each other, two second angular contact ball bearings 153 are correspondingly arranged, bearing end covers are arranged outside the support frame 14 and the worm wheel 12, two ends of each second angular contact ball bearing 153 are respectively positioned by a shaft shoulder of the worm 12 and the bearing end cover, and the bearing end covers are axially fixed by 6 bolts; the support frame 14 is fixed on the walking structure through two horizontally and symmetrically arranged bolts; the rollers 16 are arranged at two ends of the worm 13 and screwed tightly through threads;
the whole processing device works under the condition of sufficient lubrication.
Embodiment 2 a method for processing a device for processing a surface of a bionic groove in an inner wall of a pipeline according to embodiment 1, comprising the steps of:
1) The pipe diameter of the pipeline is processed according to the requirement, the front-section walking mechanism and the rear-section walking mechanism are adjusted, the three moving claws are enabled to move simultaneously so as to drive the three support rods to extend radially until the rollers can just contact the inner wall of the pipeline, the stress balance of the whole processing device entering the pipeline for operation is ensured, and the stability of the processing device is ensured;
2) Adjusting a bolt of a bracket below the front walking unit to enable the driving mechanism to move radially until rollers arranged at two ends of the worm contact the inner wall of the pipeline;
3) The bionic groove surface processing device for the inner wall of the pipeline is completely arranged in the pipeline to be processed, so that the stability of the bionic groove surface processing device is ensured;
4) Starting a driving motor, driving a worm wheel to engage with a worm to rotate through control, so that rolling wheels connected to two ends of the worm rotate, and further enabling the walking unit supporting and processing parts at the front end and the rear end to move forwards for 60mm, and enabling the walking mechanism supporting and processing mechanism to axially walk in a pipeline to be processed;
5) When the mechanism to be processed moves to the position to be processed on the inner wall of the pipeline, the walking unit stops moving by controlling and turning off the driving motor, and meanwhile, the supporting rod extends in the radial direction properly and tightly presses the inner wall of the pipeline, so that the processing device is ensured to vibrate in the processing process;
6) Starting a linear motor, and controlling to enable a transmission shaft to axially move for 15mm along a hollow roller, so that three telescopic rods radially extend outwards for 20mm along the hollow roller to drive a cutter to approach the inner wall of a pipeline to be processed, the cutter reaches the position to be processed of the inner wall of the pipeline, and the linear motor is turned off after a cutting edge of the cutter is contacted with the inner wall of the pipeline to be processed;
7) Starting a machining motor, driving a gear to rotate by the rotation of the machining motor, controlling the gear to rotate by 120 degrees, driving a roller to rotate by 120 degrees by the gear connected with the machining motor, and correspondingly rotating the position to be machined of the pipe wall by 120 degrees by each cutter simultaneously to complete the machining of a circle of bionic groove structure;
8) After the machining is finished, the cutting edge of the cutter is radially contracted by 15mm by controlling the linear motor to be away from the machined surface;
9) And repeating the operations 4) to 8) until the pipeline processing is finished.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but includes equivalent technical means as would be recognized by those skilled in the art based on the inventive concept.
Claims (7)
1. The utility model provides a bionical slot surface machining device of pipeline inner wall which characterized in that: the bionic groove machining device comprises a driving mechanism for providing driving force, a travelling mechanism for supporting the inner wall surface of the pipeline, a machining mechanism for machining a bionic groove in the inner wall of the machined pipeline and a controller, wherein the driving mechanism is installed on the travelling mechanism through a bolt; the processing mechanism is fixedly connected with the travelling mechanism through a bolt; the driving mechanism and the processing mechanism are electrically connected with corresponding control ends of the controller;
the driving mechanism comprises a driving motor, a worm wheel, a worm, a supporting frame, a transmission shaft and a roller, and the driving motor is arranged on the supporting frame; an output shaft of the driving motor is connected with the transmission shaft through a coupler; the worm wheel is coaxially and fixedly arranged on the transmission shaft; the worm is rotationally connected with the support frame and meshed with the worm wheel; the rollers are arranged at the two shaft ends of the worm; the control end of the driving motor is electrically connected with the corresponding control end of the controller;
the travelling mechanism comprises a bracket and two travelling units, wherein one travelling unit is used as a front travelling unit, the other travelling unit is used as a rear travelling unit, the two travelling units are consistent in structure, and the front travelling unit and the rear travelling unit are respectively arranged at two ends of the machining mechanism through corresponding connecting shafts and are in rotary connection with the machining mechanism; the upper part of the support is fixedly connected with the bottom of the front walking unit, the lower part of the support is provided with a sliding groove for adjusting the longitudinal height of the support frame, and the lower part of the support is fixedly connected with one end of the support frame through a bolt clamped in the sliding groove to realize the longitudinal limit of the support frame; the walking unit comprises a walking frame for being clamped on the inner wall of the pipe and a connecting shaft for transmission connection, the walking frame is a three-jaw chuck and comprises a mounting assembly, a plurality of moving jaws and a plurality of supporting rods, the mounting assembly is fixedly connected with the upper end of the supporting frame, and the moving jaws are connected with the mounting assembly in a sliding mode; the movable claws correspond to the support rods one to one, the inner ends of the support rods are fixedly connected with the corresponding movable claws respectively, and the outer ends of the support rods are provided with pulleys for pressing the inner wall of the pipe; the moving claws are uniformly arranged in the circumferential direction of the chuck; the other end of the connecting shaft is rotatably connected with the front end of the processing mechanism;
the processing mechanism comprises a hollow roller, a processing motor, a motor supporting frame, a gear, a telescopic mechanism and a cutter, the front end of the hollow roller is rotatably connected with the connecting shaft of the front walking unit, and the rear end of the hollow roller is rotatably connected with the connecting shaft of the rear walking unit; the processing motor, the motor supporting frame, the gear and the telescopic mechanism are all arranged in the hollow roller, the motor supporting frame is fixedly connected with the front end of the inner cavity of the hollow roller, the processing motor is arranged on the motor supporting frame, the gear is arranged on an output shaft of the processing motor, the gear is meshed with an internal gear circumferentially arranged on the inner wall of the hollow roller, an annular baffle is arranged at the right end of the internal gear in the axial direction and is of an integral structure with the hollow roller, the other side of the gear is positioned by a sleeve, and the circumferential positioning of the gear is realized by key connection; the telescopic rod of the telescopic mechanism moves along the radial direction of the hollow roller, and a cutter for processing the inner wall of the pipe is arranged at the outer end of the telescopic rod after penetrating through the hollow roller; and the control end of the telescopic mechanism is electrically connected with the corresponding control end of the controller.
2. The device for processing the surface of the bionic groove on the inner wall of the pipeline as claimed in claim 1, wherein: the telescopic mechanism comprises a telescopic rod, a linear motor, a sliding table, a guide rail, a transmission shaft, a motor supporting table, a bracket and an inclined plate, wherein the linear motor is arranged on the sliding table; two ends of the guide rail are fixed on a support table by two bolts, the support table is of a boss structure in the hollow roller, and a sliding table is arranged on the guide rail and keeps the linear motor to do linear reciprocating motion along the axial direction of the hollow roller; one end of the transmission shaft is connected with the sliding table, an inclined plate used for adjusting the extension length of the telescopic rod is coaxially installed at the other end of the transmission shaft, and the inclined directions of the inclined plates are consistent; each telescopic rod corresponds to one inclined plate, a plurality of through holes are uniformly distributed in the circumferential direction on the inner wall of the hollow roller, each through hole is correspondingly provided with one telescopic rod, the telescopic rods radially penetrate through the through holes of the hollow roller along the hollow roller, the inner ends of the telescopic rods are connected with the corresponding inclined plates in a sliding manner, and cutters are mounted at the outer ends of the telescopic rods; the top end of each telescopic rod is provided with a hole, and one side of the axial end surface is provided with a groove; the cutter is inserted into the hole and fixed in the groove by two bolts arranged in the vertical direction.
3. The device for processing the surface of the bionic groove on the inner wall of the pipeline as claimed in claim 2, wherein: mounting through holes for embedding the tapered roller bearings are respectively formed in two ends of the hollow roller, and the central axes of the mounting through holes are overlapped with the central axis of the hollow roller; the mounting through hole is embedded with a lantern ring, the convex shoulder of the lantern ring is clamped at the corresponding end face of the hollow roller, a tapered roller bearing is arranged in the lantern ring, the outer end face of the tapered roller bearing is provided with a corresponding end cover, and the end cover is fixedly connected with the end face of the hollow roller through a bolt.
4. The device for processing the surface of the bionic groove on the inner wall of the pipeline as claimed in claim 1, characterized in that: when a short-distance pipeline is machined, the length range is within 3-5m, the walking unit adopts a mechanical three-jaw chuck structure, the mounting assembly comprises a large bevel gear and a small bevel gear, and the large bevel gear is fixedly connected with the upper end of the support frame; the moving claw is provided with uniform grooves in the circumferential direction and meshed with the annular groove of the large bevel gear, so that the supporting rod is arranged along the radial direction of the large bevel gear; the small bevel gear is meshed with the large bevel gear, and the outer end of the small bevel gear is provided with a square hole for inserting a wrench.
5. The device for processing the surface of the bionic groove on the inner wall of the pipeline as claimed in claim 1, wherein: for a long-distance pipeline, the length range is more than 5m, the walking unit adopts an air pressure three-jaw chuck, the mounting assembly comprises a hollow main shaft, a chuck with an air cylinder, an air pipe, a main shaft connecting sleeve and an air pressure controller with an instrument, one end of the hollow main shaft is connected with the chuck, and the hollow main shaft and the chuck are circumferentially fixed; the other end of the main shaft connecting sleeve is connected with a main shaft connecting sleeve, and the rear end of the main shaft connecting sleeve is connected with an air pressure controller; the air pipe is arranged in the hollow main shaft, one end of the air pipe is communicated with the chuck, and the other end of the air pipe penetrates through the main shaft connecting sleeve and is connected to the air pressure controller; the movable jaw is communicated with the chuck.
6. The device for processing the surface of the bionic groove on the inner wall of the pipeline as claimed in claim 1, wherein: the connecting shaft is in a step shape, penetrates through bearing holes in two bosses of the support frame, is provided with angular contact ball bearings, and is correspondingly provided with an end cover at the shaft end of the transmission shaft; the worm is arranged below the support frame, two end faces of the support frame are respectively provided with a central through hole, an angular contact ball bearing is embedded in each central through hole, an end cover fixedly connected with the corresponding end face of the support frame is externally matched, and two ends of the worm are rotatably connected with the support frame through the end covers and the angular contact ball bearings.
7. The method for processing the surface of the bionic groove on the inner wall of the pipeline according to any one of claims 1~6, comprising the following steps:
1) According to the pipe diameter of the pipeline to be processed, the hexagon nuts in the front and rear walking units are adjusted in a rotating mode, the supporting rods are extended radially until each pulley at the top end of the supporting rod can just abut against the inner wall of the pipeline, the part of the processing device entering the pipeline for operation is balanced in stress, and the stability of the processing device is guaranteed;
2) Adjusting a bolt of a bracket below the forward walking unit to enable the driving mechanism to move radially until pulleys mounted at two ends of the worm contact the inner wall of the pipeline;
3) Placing a bionic groove surface processing device on the inner wall of the pipeline in the pipeline to be processed;
4) Starting a driving motor to drive a worm gear to drive, so that the travelling mechanism supports the machining mechanism to axially travel in the pipeline to be machined;
5) When the mechanism to be processed moves to the position to be processed on the inner wall of the pipeline, the walking unit stops moving and compresses the inner wall of the pipeline, and the driving motor is turned off;
6) Starting the linear motor, enabling the transmission shaft to axially move along the hollow roller to drive the cutter to approach the inner wall of the pipeline to be processed, enabling the cutter to reach the position to be processed of the inner wall of the pipeline, and turning off the linear motor after the cutting edge of the cutter is contacted with the inner wall of the pipeline to be processed;
7) Starting a machining motor, wherein the machining motor rotates to drive a gear to rotate, the gear is meshed with a gear on the inner wall of the roller, and then the roller rotates, so that the cutter rotates to start machining the groove on the inner wall of the pipeline;
8) After the machining is finished, the cutting edge of the cutter is made to radially leave the machined surface by controlling the linear motor;
9) Repeating the operation of 4) -8), so that the continuous processing of the bionic groove in the pipeline to be processed can be realized.
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| CN109047933B (en) * | 2018-09-29 | 2024-03-22 | 浙江工业大学 | Bionic groove processing device for pipeline inner wall coating |
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| CN113858309A (en) * | 2021-09-15 | 2021-12-31 | 通号建设集团有限公司 | Pipeline inner flanging leveling device and pipeline inner flanging leveling method |
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| CN101788093B (en) * | 2010-03-10 | 2011-08-10 | 大庆石油学院 | Drive running mechanism of pipeline robot |
| FR2973096B1 (en) * | 2011-03-23 | 2013-04-26 | Entpr Philippe Lassarat | INTERIOR WALL MAINTENANCE SYSTEM OF A CONDUCT AND METHOD OF IMPLEMENTING THE SAME |
| CN102764804B (en) * | 2012-07-04 | 2014-11-05 | 哈尔滨工程大学 | Processing device and method for inner-wall resistance reduction structure of pipeline |
| CN105276333B (en) * | 2015-11-13 | 2017-07-07 | 深圳威特尔自动化科技有限公司 | A kind of pipeline internal robot walking |
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| CN106670587B (en) * | 2017-01-24 | 2018-06-05 | 浙江工业大学 | A kind of bionical flute surfaces processing unit (plant) of short distance inner-walls of duct and its processing method |
| CN206999059U (en) * | 2017-06-27 | 2018-02-13 | 浙江工业大学 | A kind of bionical flute surfaces processing unit (plant) of inner-walls of duct |
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