CN109296868B - A pipe robot for pipe butt joint - Google Patents

Abstract

The invention discloses a pipeline robot for internal construction of pipeline docking, which specifically includes a chassis, a running module, a screw drive mechanism, a power source, a control module, an internal support mechanism and an image acquisition system. Among them, the chassis is flat; the running module is set on the lower part of the chassis; the screw drive mechanism and the power source are set on the upper part of the chassis; the inner support mechanism is connected to the lead screw drive mechanism through a support rod; The upper part is arranged on one side of the power source; the control module is arranged on the lower part of the chassis. The walking module is symmetrically installed under the chassis, and the universal movement and precise positioning of the pipeline robot under remote control can be realized through the control module and image acquisition system. The pipeline robot of the present invention has the advantages of compact structure, precise positioning, flexible movement and strong controllability, and can complete pipeline butt jointing operations under various working conditions, especially performing well in small pipe diameter butt jointing operations that cannot be completed manually.

Description

A pipe robot for pipe butt joint

technical field

The invention relates to a pipe robot for pipe butt joint. In particular, it relates to a pipeline robot used for internal construction in pipeline butt jointing.

Background technique

Steel belt reinforced polyethylene spiral corrugated pipes are widely used in urban water supply and drainage pipes and other fields, and pipe butt joint is a relatively important link in the process of pipe laying construction. Therefore, the completion of accurate and efficient pipe connection is the primary goal of engineering construction.

The traditional pipeline butt joint construction technology mostly manually installs the inner support ring at the pipe joint, and the butt joint process mainly relies on manual experience to judge the joint status. For example, the pipeline docking devices disclosed in patents CN205859410U, CN205859425U and CN207848669U all utilize manual and various auxiliary devices to carry out pipeline docking. The disadvantage of this manual pipeline butt joint construction method is that the construction efficiency is low, the butt joint accuracy is low, and problems such as leakage are prone to occur, especially when the butt joint of small pipe diameters is very difficult.

Moreover, there is currently no equipment for using an automated robot to connect the interior of the pipeline in actual construction. Therefore, in order to ensure the accuracy and efficiency of pipeline butt joint construction, it is urgent to develop pipeline robots for automatic construction.

Contents of the invention

The object of the present invention is to provide an efficient and high-precision pipeline robot for internal construction of pipeline butt joints. The pipeline robot according to the present invention can provide uniform internal support force for the pipeline during the construction process of pipeline butt joint, and can realize precise butt joint, centering and circle calibration of the pipeline.

The pipeline robot according to the present invention specifically includes a chassis, a walking module, a screw drive mechanism, a power source, a control module, an internal support mechanism and an image acquisition system. Among them, the chassis is an I-shaped flat plate; the running module is set on the lower part of the chassis; the screw transmission mechanism and the power source are set on the upper part of the chassis; the inner support mechanism is connected with the screw transmission mechanism through a support rod; and the image acquisition system is set on The upper part of the chassis is arranged on one side of the power source; the control module is arranged on the lower part of the chassis.

According to the pipeline robot of the present invention, preferably, the walking module can specifically include a sliding bearing, a sliding bearing seat, a synchronous reduction motor, a flange and a universal wheel; wherein, the sliding bearing is matched with the sliding bearing seat, and the sliding bearing seat is matched with the Chassis connection; the synchronous deceleration motor and the flange are respectively arranged on both sides of the sliding bearing seat; and one side of the flange is sleeved on the output shaft of the synchronous deceleration motor; The inner wall of the flange is connected; the other side of the flange is connected with the universal wheel.

According to the pipeline robot of the present invention, preferably, there are multiple walking modules. In one embodiment of the present invention, there are four walking modules. In addition, the four running modules are arranged symmetrically on the lower part of the chassis, and the control module is arranged between the four running modules.

According to the pipeline robot of the present invention, preferably, the screw transmission mechanism can specifically include an end cover, a rolling bearing seat A, a rolling bearing seat B, a rolling bearing, a guide rod, a lead screw, a support rod A, a support rod B, a guide rod disc, and a lead screw Nut, cover, coupling, AC geared motor and AC geared motor mounting base. Among them, the rolling bearing housing A and the rolling bearing housing B are respectively fixed on the chassis, and rolling bearings are respectively arranged inside the two rolling bearing housings. . The lead screw thread is trapezoidal thread, which makes the inner support mechanism self-lock in any working position. Moreover, two lead screw nuts are installed on the lead screw, each lead screw nut is fixedly connected with the guide rod disk, and the two guide rod disks are sleeved on the lead screw. Two through holes are respectively arranged on each guide rod disk. Both ends of the two guide rods are sequentially inserted into the through holes of the two guide rod discs, and are axially fixed through the end cover and the through cover respectively. Both ends of the two guide rods extend to the outside of the guide rod disk, and are respectively fixed in the guide rod installation holes of the two rolling bearing housings. An AC gear motor installation base is provided on the outer side of the rolling bearing seat A and on the chassis, and an AC gear motor installation base is provided on the AC gear motor installation base. One end of the lead screw extends to the outside of the rolling bearing, and the other end of the lead screw is connected with the output shaft of the AC geared motor through a coupling. At the corresponding positions on the outer walls of the two guide rod discs, there are three sets of lugs, and the three sets of lugs of each guide disc are respectively connected with a support rod A through screws, and each support rod B is respectively connected with a support rod B through screws. The corresponding lugs on the other guide disc are connected.

According to the pipeline robot of the present invention, preferably, the internal support mechanism can specifically include a support block A, a support block B, a linear guide slider, a linear guide rod, and a support frame. Wherein, there are multiple supporting blocks A and supporting blocks B. In the embodiment of the present invention, there are three supporting blocks A and three supporting blocks B. Three support blocks A and three support blocks B are staggered adjacent to each other. Two linear guide rail sliders are fixedly connected to each support block A by bolts, and the two linear guide rail sliders are respectively slidably connected to the linear guide rail guide rods. Each linear guide rod is respectively fixed on a support block B, and each linear guide rod is slidably connected to two linear guide sliders, that is, a linear guide slider of two support blocks A adjacent to the left and right of the support block B. piece. There is a support frame in the middle of each linear guide rail guide bar, and each support frame is hinged with support bar A and support bar B through screws respectively to form a single-degree-of-freedom pipeline internal support mechanism of nine moving pairs.

According to the pipeline robot of the present invention, preferably, under the drive of the AC geared motor of the lead screw transmission mechanism, the coupling drives the lead screw to rotate, and further drives the support rod to perform expansion and contraction movements; and, when the support rod is stretched Under the action of the opening and contracting movement, the support block is driven to move radially, so that the inner support mechanism performs the stretching and contracting movement.

According to the pipeline robot of the present invention, preferably, the internal support mechanism can perform stretching and contraction movements driven by the screw drive mechanism, and when stretched to a full-circle structure, it can provide uniform internal support force for the pipe butt joint, so as to The pipes are accurately butt-jointed, centered and rounded.

According to the pipeline robot of the present invention, preferably, a power source is fixedly connected to the chassis on the outer side of the rolling bearing housing B. Further preferably, the power source outputs two simple harmonic alternating currents of 110V and 220V to provide power to the control module, and the battery life can be more than 8 hours, for example.

According to the pipeline robot of the present invention, preferably, one side of the power source and the chassis are connected to the image acquisition system by screws, and the screw connection can be a movable connection. Further preferably, the image acquisition system can observe the working condition environment of the pipeline robot in real time, and transmit the working condition image to an external image display by, for example, wireless transmission, so as to feed back the working condition information of the pipeline to the operator for the operator Perform real-time operations to facilitate the control of pipeline robot operations.

According to the pipeline robot of the present invention, preferably, the control module controls the start, stop, forward and reverse rotation of the synchronous deceleration motor in the traveling module and the AC deceleration motor in the lead screw transmission mechanism.

According to the pipeline robot of the present invention, preferably, four walking modules are installed on the chassis to form the walking part of the pipeline robot of the present invention. Moreover, through the control of the control module, the four walking modules move in coordination to form the universal motion of the walking part of the pipeline robot. Under the common control of the control module and the image acquisition system, the coordinated movement of the walking module enables the pipeline robot to move in all directions and precisely locate.

Compared with the prior art, the pipeline robot according to the present invention has the following advantages: it can replace traditional manpower with mechanization, and realize high-efficiency and high-precision pipeline docking construction; the universal wheels of the four walking modules move cooperatively, and the control module and image Under the control of the acquisition system, the universal movement and precise positioning of the remote control of the pipeline robot can be realized; the structure is compact, the positioning is accurate, the movement is flexible, and the controllability is strong. It can complete the pipeline docking operation under various working conditions, especially in traditional construction. It performs well in the completed small diameter pipe butt joint operation; the full circle design of the inner support mechanism can provide uniform internal support force for the pipe butt joint operation and realize precise pipe joint, centering and round calibration.

Description of drawings

Fig. 1 is the overall assembly schematic diagram of pipeline robot according to the present invention;

Fig. 2 is a schematic structural view of the walking module of the pipeline robot according to the present invention;

Fig. 3 is a schematic diagram of a lead screw transmission mechanism of a pipeline robot according to the present invention;

Fig. 4 is a schematic diagram of the internal support mechanism of the pipeline robot according to the present invention;

Fig. 5 is a schematic diagram of the inner support mechanism of the pipeline robot according to the present invention;

Fig. 6 is a bottom view of the chassis of the pipeline robot according to the present invention.

Detailed ways

The pipeline robot of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

Fig. 1 shows a general assembly schematic diagram of a pipeline robot according to the present invention. As shown in Figures 1 to 6, the pipeline robot according to the present invention specifically includes a walking module 101, a chassis 102, a power source 103, an image acquisition system 104, a screw transmission mechanism 105, an internal support mechanism 106 and a control module 107; wherein, The chassis 102 is an I-shaped flat plate, and four running modules 101 are symmetrically arranged on the lower part of the chassis 102, and a screw transmission mechanism 105, an image acquisition system 104 and a power source 103 are arranged on the upper part of the chassis 102, and a control module 107 is arranged on the chassis The lower part of 102, the inner supporting mechanism 106 is connected with the lead screw transmission mechanism 105 through the supporting rod A and the supporting rod B.

As shown in FIG. 2 , the running module 101 mainly includes a universal wheel 205 , a flange 204 , a sliding bearing seat 203 , a sliding bearing 202 and a synchronous gear motor 201 . Among them, the upper part of the sliding bearing seat 203 is fixed on the lower part of the chassis 102 by bolts, and the two sides of the sliding bearing seat 203 are respectively provided with a synchronous gear motor 201 and a flange 204, and the flange plate 204 is sleeved on the output of the synchronous gear motor 201. shaft, and connected with the synchronous gear motor 201 by screws. The outer wall of the flange 204 is in contact with the inner wall of the sliding bearing 202 , and the sliding bearing 202 is inserted into the inside of the sliding bearing seat 203 . The outer side of the flange 204 is fixedly connected with the universal wheel 205 .

As shown in Figure 3, the screw transmission mechanism mainly includes an end cover 301, a rolling bearing seat B 302, a rolling bearing 303, a guide rod 304, a screw 305, a support rod A 306-1, a support rod B 306-2, and a guide rod disc 307 , Lead screw nut 308, rolling bearing seat A309, transparent cover 310, coupling 311, AC deceleration motor 312 and AC deceleration motor installation base 313. Among them, the rolling bearing housing A309 and the rolling bearing housing B 302 are respectively fixed on the chassis 102, and a rolling bearing 303 is respectively arranged inside the two rolling bearing housings. The ring is fixed axially. The lead screw thread is trapezoidal thread, which makes the inner support work self-locking at any working position. Two lead screw nuts 308 are mounted on the top of the lead screw, each lead screw nut is fixedly connected with the guide rod disc, and the two guide rod discs 307 are sleeved on the lead screw. Two through holes are respectively arranged on each guide rod disk. Both ends of the two guide rods 304 are sequentially inserted into the through holes of the two guide rod discs, and are axially fixed by the end cover 301 and the through cover 310 respectively. Both ends of the two guide rods extend to the outside of the guide rod disk, and are respectively fixed in the guide rod installation holes of the two rolling bearing housings. An AC geared motor installation base 313 is provided on the outer side of the rolling bearing seat A and the chassis, and an AC geared motor 312 is arranged on the AC geared motor installation base. One end of the lead screw extends to the outside of a rolling bearing, and one end of the lead screw is connected with the output shaft of the AC geared motor through a coupling 311 . At the corresponding positions on the outer walls of the two guide rod discs, there are three sets of lugs, and the three sets of lugs on one guide disc are respectively connected to a support rod A 306-1 by screws, and each support rod B 306 -2 are respectively connected with the corresponding lugs on the other guide disc through screws.

As shown in FIGS. 4 to 5 , the inner support mechanism mainly includes a support block B 503 , a support block A 504 , a linear guide slider 505 , a linear guide rod 502 , and a support frame 501 . Three support blocks A and three support blocks B are staggered adjacent to each other. Two linear guide rail sliders are fixedly connected to each support block A by bolts, and the two linear guide rail sliders are respectively slidably connected to the linear guide rail guide rods. Each linear guide rod is respectively fixed on a support block B, and each linear guide rod is slidably connected to two linear guide sliders, that is, a linear guide slider of two support blocks A adjacent to the left and right of the support block B. piece. A supporting frame is arranged in the middle of each linear guide rail guide rod, and each supporting frame is hinged to the supporting rod A and the supporting rod B through screws respectively.

As shown in FIG. 1 , a power source 103 is fixedly connected to the outer side of the rolling bearing housing B and the chassis 102 . The power source 103 outputs two simple harmonic alternating currents of 110V and 220V and provides power to the control module, and the battery life can be more than 8 hours.

Moreover, on the other side of the power source 103, the chassis 102 is movably connected to the image acquisition system 104 through screws. The image acquisition system 104 can observe the working environment of the pipeline robot in real time, and wirelessly transmit the working condition image to an external image display for real-time operation by the operator.

As shown in FIG. 1 , the control module 107 is arranged at the lower part of the chassis 102 and placed between the four running modules 101 . Moreover, the control module 107 can control the start, stop, forward and reverse rotation of the four synchronous geared motors of the four traveling modules 101 and the AC geared motors of the lead screw transmission mechanism 105 .

According to the pipeline robot of the present invention, during the construction process of pipeline docking, the four walking modules 101 installed on the chassis constitute the walking part of the pipeline robot, and through the control of the control module 107, the four walking modules 101 move cooperatively to form a pipeline robot Universal movement of the walking part. Under the common control of the control module 106 and the image acquisition system 104, the coordinated movement of the walking module 101 enables the pipeline robot to perform universal movement and precise positioning. The screw transmission mechanism 105 drives the lead screw 305 to rotate through the coupling 311 under the drive of the AC geared motor, and then the lead screw 305 rotates through the lead screw nut 308 and the guide rod disc 307 to become the opposite direction of the two guide rod discs 307. Or reverse linear motion, and then drive the support rod A and the support rod B, so that the support rod A and the support rod B perform expansion and contraction movements. Under the expansion and contraction movement of the support rod A and the support rod B of the lead screw transmission mechanism 105 , the support block B is driven to move radially to realize the extension and contraction movement of the inner support mechanism 106 . Moreover, driven by the lead screw transmission mechanism 105, the internal support mechanism 106 performs stretching and contraction movements so that when it stretches to a full circular structure, it provides a uniform internal support force for the butt joint of the pipes, so as to accurately butt and center the pipes. and school circle.

It should be pointed out that, according to the pipeline robot of the present invention, the above preferred implementations are only for the purpose of illustration, and for those skilled in the art, without departing from the scope of the appended claims of the present invention, various Improvements and modifications, these improvements and modifications should be considered as belonging to the protection scope of the present invention.

List of reference numbers:

101 walking module

102 Chassis

103 power source

104 Image Acquisition System

105 screw drive mechanism

106 Inner support mechanism

107 control module

201 synchronous gear motor

202 plain bearing

203 sliding bearing housing

204 Flange

205 universal wheel

301 end cap

302 Rolling bearing housing B

303 rolling bearing

304 guide rod

305 screw

306-1 Support rod A

306-2 Support rod B

307 guide rod plate

308 lead screw nut

309 rolling bearing housing A

310 transparent cover

311 coupling

312 AC geared motor

313 AC Gear Motor Mounting Base

501 support frame

502 linear rail guide rod

503 Support block B

504 Support block A

505 linear guide rail slider

Claims (8)

1. it is a kind of for pipeline docking interior construction pipe robot, the pipe robot include: chassis, running module, Power source, lead-screw drive mechanism, control module, inner support mechanism and image capturing system；It is characterized in that,

Wherein, the chassis is plate shaped；The lower part on the chassis is arranged in the running module；The lead-screw drive mechanism and The top on the chassis is arranged in the power source；The inner support mechanism passes through support rod and the lead-screw drive mechanism phase Even；Also, the top that the chassis is arranged in described image acquisition system is placed in the side of the power source；The control mould The lower part on the chassis is arranged in block；

The inner support mechanism includes supporting block A, supporting block B, sliding block, guide rod and support frame；And, wherein the supporting block A It is multiple with the supporting block B, and the supporting block A is staggeredly disposed adjacent with the support frame of the supporting block B；It is each described Supporting block A is separately connected two sliding blocks, and described two sliding blocks are connected on the guide rod；Also, it is led described in each Bar is separately fixed on the supporting block B, and each linear guide guide rod is slidably connected the sliding block of two supporting block A respectively； Support frame as described above be arranged on each guide rod, and each support frame as described above respectively with the supporting block A, the supporting block B is hinged, supporting mechanism inside the pipeline to form the single-degree-of-freedom of multiple prismatic pairs；The inner support mechanism is able to carry out Stretching, extension and contractile motion, and when being stretched over completely circular structure, uniform internal support force is provided for pipeline docking, to pipeline Carry out Dock With Precision Position, to neutralization school circle.

2. pipe robot as described in claim 1, which is characterized in that the running module includes sliding bearing, sliding axle Hold seat, synchronous decelerating motor, ring flange and universal wheel；And

Wherein, the sliding bearing is matched with the plain bearing housing, and the plain bearing housing is connect with the chassis； The synchronous decelerating motor and the ring flange are separately positioned on the two sides of the plain bearing housing；And the one of the ring flange Side is socketed on the output shaft of the synchronous decelerating motor；Also, the outer wall of the ring flange side and the sliding bearing Inner wall connects；The other side of the ring flange connects the universal wheel.

3. pipe robot as described in claim 1, which is characterized in that wherein, the lead-screw drive mechanism includes that AC slows down Motor, motor installation base, shaft coupling, guide rod, guide rod disc, lead screw, feed screw nut, support rod, rolling bearing, rolling bearing Seat, transparent cover, end cap；And

Wherein, under the driving of the AC decelerating motor, the shaft coupling drives the lead screw rotation, and is further driven to described Support rod makees opening and contractile motion；Also, under the opening of the support rod and contractile motion effect, drive the supporting block A and supporting block B radial motion, so that the inner support mechanism carries out stretching, extension and contractile motion.

4. pipe robot as claimed in claim 2, which is characterized in that wherein, the running module is multiple also, more A running module is symmetricly set on the lower part on the chassis.

5. pipe robot as described in claim 1, which is characterized in that wherein, the control module is arranged multiple described Between running module.

6. pipe robot as described in claim 1, which is characterized in that wherein, the control module controls the traveling mould Starting, stopping and the positive and negative rotation of the AC decelerating motor of the synchronization decelerating motor and lead-screw drive mechanism of block.

7. pipe robot as described in claim 1, which is characterized in that wherein, described image acquisition system can be seen in real time Survey the construction environment of the pipe robot, and by operating condition image to be transmitted to external image display so that operator into Row real-time operation.

8. pipe robot as described in claim 1, which is characterized in that wherein, adopted in the control module and described image Under the control of collecting system, the cooperative motion of the running module makes the pipe robot carry out direction movement and accurately determine Position.