CN109455243A - A kind of pipe support curvature self-reacting device - Google Patents
A kind of pipe support curvature self-reacting device Download PDFInfo
- Publication number
- CN109455243A CN109455243A CN201811324059.0A CN201811324059A CN109455243A CN 109455243 A CN109455243 A CN 109455243A CN 201811324059 A CN201811324059 A CN 201811324059A CN 109455243 A CN109455243 A CN 109455243A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- pipe support
- holding
- hold
- rack
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The present invention relates to machinery equipment field, it is therefore an objective to provide a kind of pipe support curvature self-reacting device, it is good to be applicable in a variety of curvature cylinder pipe supports, clamping effect.Above-mentioned self-reacting device includes the adsorbing mechanism and at least one hold-fast body of rack (1), setting on the rack (1)；The hold-fast body includes moving for driving two groups of pushing components of hold-fast body movement, for transmitting the pushing component and limiting two groups of guidance sets of its direction of motion and two groups of holding components for clamping pipe support, the pushing component is connected by the guidance set and the holding component is driven to clamp pipe support, and pushing component described in two groups, guidance set described in two groups, holding component described in two groups are respectively relative to the installation axle and are symmetrical set and cooperate.Pipe support curvature self-reacting device of the invention solves existing hold-fast body and does not adapt to curvature pipe support cylinder complicated and changeable, and clamping effect is bad, the limited problem of adaptation range.
Description
Technical field
The present invention relates to mechanical equipment technical fields, more particularly to a kind of pipe support curvature self-reacting device.
Background technique
Currently, building for offshore production platform needs a large amount of pipe support, the underwater facade of pipe support is mostly cylinder, due to pipe
Frame impregnates in the seawater for a long time, gets rusty easily, and is also easy the attachment by marine organisms, is limited by underwater environment, these pipes
Frame is difficult to clean up, but does not clear up will lead to pipe support corrosion and damage for a long time, causes economic loss.For this purpose, would generally be using under water
The underwater working devices such as pipe support robot clear up the cylinder of underwater pipe support, and underwater pipe support robot is existed by hold-fast body
Pipe support, which swashes to go, carries out cleaning work.
The hold-fast body of existing underwater pipe support robot, applicable curvature range is limited, cannot cope with diversified pipe support column
Face.As Chinese patent literature CN108296598A discloses a kind of underwater pipeline dry-type automatic soldering method and welder, packet
The gear ring and claw, openable and closable holding work chamber, closed operating cabin for including folding, filled with high pressure in closed operating cabin
Gas and be equipped with one or more than one can along the slide unit that pipeline axially and radially moves, be equipped on slide unit welding gun and its
Its functional unit.The hold-fast body of this device is held tightly pipeline by the gear ring and claw opened and closed, and gear ring and claw are
Cambered design can only hold the cylindrical tube within the scope of certain diameter tightly, be not suitable for the pipe support cylinder of other curvature.In for another example
State patent document CN106428274A discloses a kind of pipe robot walking outside hold-fast body and its method for optimally designing parameters, institute
The hold-fast body stated is a kind of four-bar mechanism of evolution, by optimum design method, guarantees phase between each fulcrum of hold-fast body
Every the smooth clamp or release service pipe of uniform and hold-fast body.This hold-fast body is in clamping pipe, left and right walking roller
Certain angle, which is formed, with support wheel diameter clamps pipeline, but since support wheel is fixed, even if left and right walking roller can be with
Position is adjusted under the drive of link mechanism, but still does not adapt to curvature pipe support cylinder complicated and changeable, clamping effect is bad,
Adaptation range is still limited.
Summary of the invention
It is answered for this purpose, not adapting to curvature technical problem to be solved by the present invention lies in the pipe support hold-fast body of the prior art
Miscellaneous changeable pipe support cylinder, clamping effect is bad, and adaptation range is limited, and provide it is a kind of can be applicable in a variety of curvature cylinder pipe supports,
The good pipe support curvature self-reacting device of clamping effect.
In order to solve the above technical problems, The technical solution adopted by the invention is as follows:
A kind of pipe support curvature self-reacting device, including rack, the adsorbing mechanism being arranged in the rack and at least one
Hold-fast body, the adsorbing mechanism are set to the rack close to the side of pipe support；It is provided with described in installation in the rack
The installation axle of hold-fast body；The hold-fast body includes for driving two groups of pushing components of the hold-fast body movement, being used for
It transmits the pushing component and moves and limit two groups of guidance sets of its direction of motion and two groups of holdings for clamping pipe support
Component, the pushing component are connected by the guidance set and the holding component are driven to clamp pipe support, pushed described in two groups
Component, guidance set described in two groups, holding component described in two groups are respectively relative to the installation axle and are symmetrical set and mutually
Cooperation.
Preferably, the pushing component includes propulsion cylinder body and propulsion cylinder bar, and the propulsion cylinder body is far from described
One end of propulsion cylinder bar is rotatably arranged in the installation axle；
The guidance set include form guide groove can sub-stent, it is described can sub-stent and the propulsion cylinder bar it is flat
Row, the propulsion cylinder bar are vertically connected with promotion guide post, the described promotion one end of guide post far from the propulsion cylinder bar
It is inserted into the guide groove；
The holding component includes holding cylinder block tightly and holding cylinder rod tightly, and the holding cylinder rod is vertically connected with holding and leads
Xiang Zhu, the guide post of holding tightly is far from one end insertion guide groove for holding cylinder rod tightly, the promotion guide post and institute
It states to hold tightly and be connected between guide post by push rod, the push rod is placed in the guide groove.
Preferably, connecting rod is provided on the cylinder of the propulsion cylinder body, the connecting rod is connect with the propulsion cylinder body
One end can be rotated relative to the propulsion cylinder body, the other end is provided with inside gripping block, and the connecting rod and the inside
Gripping block is to be rotatably connected.
Preferably, the holding cylinder block by the second dead axle be rotatablely arranged at it is described can be on sub-stent, described armful
Tight cylinder block is provided with outside gripping block far from described one end for holding cylinder rod tightly.
Preferably, it is described can sub-stent the side of the propulsion cylinder bar is provided with open tubular column, the rack is corresponding
Position on be provided with the first dead axle, first dead axle is inserted into the open tubular column and matched.
Preferably, the push rod is vertical with the promotion guide post, the holding guide post.
It preferably, further include at least one elevating mechanism, the elevating mechanism is set to the end of the rack, the liter
Descending mechanism includes lifting air cylinder rod, and the lifting air cylinder rod is the installation axle.
Preferably, the rack is tabular and is vertically arranged that the upper and lower part of the rack is each provided with one and rises
Platform drops, upper and lower two hoistable platforms are respectively arranged the elevating mechanism, upper and lower two elevating mechanisms it is described
The hold-fast body is respectively arranged in lifting air cylinder rod.
Preferably, the adsorbing mechanism includes at least one cylinder prismatic pair and magnet, the cylinder of the cylinder prismatic pair
Mobile accessory body is fixed in the rack, and the mobile secondary bar of the cylinder of the cylinder prismatic pair is fixedly connected with the magnet.
Preferably, the magnet is flaky magnet, and the magnet is arranged in parallel with the rack.
The above technical solution of the present invention has the following advantages over the prior art:
(1) pipe support curvature self-reacting device provided by the invention, including rack, the adsorbing mechanism being arranged on the rack and extremely
A few hold-fast body, hold-fast body include for driving two groups of pushing components of hold-fast body movement, for transmitting promotion group
Part moves and limits two groups of guidance sets of its direction of motion and two groups of holding components for clamping pipe support.The pipe support curvature
Self-reacting device design is unique, copes with the pipe support cylinder of different curvature, the scope of application by cooperating between each mechanism
Extensively, clamping effect is good.
(2) pipe support curvature self-reacting device provided by the invention, wherein two outside gripping blocks and one in hold-fast body
Inside gripping block cooperates, and forms 3 points of clampings, and as two outer gripping blocks are to the pinching action of pipe support, inside is clamped
Block can also be servo-actuated mobile towards pipe support direction and exert a force, i.e., when holding pipe support tightly, two outside gripping blocks and an inside are clamped
Block generates active pinching action, compared with the prior art, can complete pipe support clamping, and the pipe support changeable to curvature faster
Cylinder is more adaptable, and it is more preferable to clamp fastness.
(3) pipe support curvature self-reacting device provided by the invention, is additionally provided with elevating mechanism, in adsorbing mechanism, insurance money machine
Under the mutual cooperation of structure and elevating mechanism, it can be realized climbing movement of the self-reacting device of the present invention on pipe support, enhance this
The functional diversity of invention pipe support curvature self-reacting device.
(4) pipe support curvature self-reacting device provided by the invention, is additionally provided with adsorbing mechanism, before holding pipe support tightly, first
This self-reacting device is adsorbed on pipe support, then carries out holding operation, it can be ensured that pipe support curvature self-reacting device pair of the present invention
Mobile stability is held and climbed on pipe support to pipe support tightly.
Detailed description of the invention
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail, wherein
Fig. 1 is the overall structure figure of pipe support curvature self-reacting device of the present invention；
Fig. 2 is the schematic diagram of adsorbing mechanism in pipe support curvature self-reacting device of the present invention；
Fig. 3 is the schematic diagram of hold-fast body in pipe support curvature self-reacting device of the present invention.
In figure appended drawing reference indicate are as follows: 1- rack, 2- propulsion cylinder body, 3- propulsion cylinder bar, 4- can sub-stent, 5- push
Guide post, 6- holding cylinder block, 7- holding cylinder rod, 8- holding guide post, 9- push rod, 10- open tubular column, the first dead axle of 11-,
The second dead axle of 12-, gripping block on the outside of 13-, 14- connecting rod, gripping block on the inside of 15-, 16- lifting air cylinder rod, 17- cylinder prismatic pair
Body, the mobile secondary bar of 18- cylinder, 19- magnet, 20- hoistable platform, 21- lifting air cylinder body.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, being the preferred embodiment of pipe support curvature self-reacting device of the present invention.The self-reacting device includes machine
Frame 1, the adsorbing mechanism being arranged in the rack 1, at least one hold-fast body and at least one elevating mechanism, the adsorption machine
Structure is set to the rack 1 close to the side of pipe support；The installation axle for installing the hold-fast body is provided in the rack 1；
The hold-fast body includes for driving two groups of pushing components of the hold-fast body movement, for transmitting the pushing component fortune
Two groups of guidance sets of its direction of motion and two groups of holding components for clamping pipe support are moved and limit, the pushing component is logical
The guidance set is crossed to connect and the holding component is driven to clamp pipe support, pushing component described in two groups, guiding group described in two groups
Part, holding component described in two groups are respectively relative to the installation axle and are symmetrical set and cooperate.The elevating mechanism is set
It is placed in the end of the rack 1.
In the present embodiment, the rack 1 is tabular and is vertically arranged that the upper and lower part of the rack 1 is respectively arranged
There is a hoistable platform 20, an elevating mechanism is respectively arranged in upper and lower two hoistable platforms 20.The elevating mechanism packet
Lifting cylinder is included, the lifting cylinder is driven by motor, and the lifting cylinder includes lifting air cylinder body 21 and lifting air cylinder rod 16,
The lifting air cylinder body 21 is fixed on the hoistable platform 20, and the lifting air cylinder rod 16 is the installation axle.Upper and lower two
A lifting air cylinder rod 16 is each provided with the hold-fast body, this setup make device in adsorption tube trestle face and
It is more reliable and more stable when being climbed on pipe support, robot is protected, realizes safety and stability operation.
As shown in Fig. 2, the adsorbing mechanism includes at least one cylinder prismatic pair and magnet 19, the magnet 19 is rectangle
Flaky magnet, the magnet 19 are arranged in parallel with the rack 1, and the cylinder prismatic pair is driven by motor.In the present embodiment,
The adsorbing mechanism uses four bar parallel institutions, can adsorb the cylinder of different curvature, the magnet 19 uses permanent magnet, in square
One cylinder prismatic pair is respectively set on four Angle Positions of shape flaky magnet, to guarantee to move in cylinder mobile auxiliary drive magnet
It is more stable and reliable when dynamic.The mobile accessory body 17 of the cylinder of the cylinder prismatic pair is fixed in the rack 1, the cylinder prismatic pair
The mobile secondary bar 18 of cylinder be fixedly connected with the magnet 19.
As shown in figure 3, the pushing component includes propulsion cylinder in the hold-fast body, the propulsion cylinder is by electricity
Machine driving.The propulsion cylinder includes propulsion cylinder body 2 and propulsion cylinder bar 3, and the propulsion cylinder body 2 is far from the propulsion gas
One end of cylinder rod 3 is rotatably arranged in the lifting air cylinder rod 16.
The guidance set include form guide groove can sub-stent 4, it is described can sub-stent 4 and the propulsion cylinder bar
3 is parallel, and the propulsion cylinder bar 3, which is vertically connected with, pushes guide post 5, and the promotion guide post 5 is far from the propulsion cylinder bar 3
One end be inserted into the guide groove.The guide groove is elongated guide groove non-through up and down.It is described can sub-stent 4 pushed away backwards to described
The side of air inlet cylinder rod 3 is provided with open tubular column 10, is provided with the first dead axle 11 on the corresponding position of the rack 1, and described first
Dead axle 11 is inserted into the open tubular column 10 and matched.In the present embodiment, two institutes are respectively set in the top and the bottom of the rack 1
State the first dead axle 11, with it is described can sub-stent 4 10 corresponding matching of the open tubular column, first dead axle 11 is inserted into described hollow
After column 10 it is described can sub-stent 4 can be rotated 360 ° around first dead axle 11, for cylinder to be packed into hold-fast body.
The holding component includes holding cylinder tightly, and the holding cylinder includes holding cylinder block 6 tightly and holding cylinder rod 7, institute tightly
It states holding cylinder rod 7 and is vertically connected with holding guide post 8, the guide post 8 of holding tightly is inserted far from described one end for holding cylinder rod 7 tightly
Enter the guide groove, is connected between the promotion guide post 5 and the holding guide post 8 by push rod 9, the push rod 9 is placed in
In the guide groove.The push rod 9 is straight-bar, and is vertically arranged with the promotion guide post 5, the holding guide post 8.At this
Holding cylinder described in invention is servo-actuated, so that holding cylinder rod tightly is adjusted to suitable position.
The holding cylinder block 6 by the second dead axle 12 be rotatablely arranged at it is described can be on sub-stent 4, the holding gas
Cylinder body 6 is provided with outside gripping block 13 far from described one end for holding cylinder rod 7 tightly.It is arranged on the cylinder of the propulsion cylinder body 2
There is connecting rod 14, it can be seen from the figure that the connecting rod 14 and the cylinder of the propulsion cylinder body 2 are tangent.The connecting rod 14 and institute
The one end for stating the connection of propulsion cylinder body 2 can be rotated relative to the propulsion cylinder body 2, and the other end is provided with inside gripping block 15,
And the connecting rod 14 is to be rotatably connected with the inside gripping block 15.The inside gripping block 15 and two outsides clamp
Block 13 collectively forms 3 points of clampings.
Pipe support curvature self-reacting device provided by the invention can be coupled with robot, and it is bent can to hold different cylinders tightly
The pipe support of rate simultaneously realizes moving up and down along cylinder, carries out the work such as cleaning, detection waterborne or underwater.
With reference to the accompanying drawing, the specific operation process of pipe support curvature self-reacting device of the present invention is described in detail.
(1) operation is held tightly
Firstly, make described in left and right two can sub-stent 4 open, by pipe support cylinder be packed into two described in can between sub-stent 4,
The each cylinder prismatic pair of motor driven makes the magnet 19 be adsorbed in pipe support cylinder, the position of fixed whole device；Motor
The pusher cylinder is driven, the propulsion cylinder bar 3 extends, due to the guiding role of the guide groove, the propulsion cylinder body 2
With the propulsion cylinder bar 3 around the inwardly rotation of lifting air cylinder rod 16, so that the connecting rod 14 generates rotation, two companies
The angle of bar 14 becomes smaller, and makes the inside gripping block 15 towards close to the movement of the direction of pipe support cylinder, at the same time, is pushed away due to described
Air inlet cylinder rod 3 pushes the holding gas by the push rod 9 doing the compound motion for extending and rotating, the propulsion cylinder bar 3
Cylinder rod 7 and the holding cylinder block 6 make the outside gripping block 13 towards close to pipe support column around the inwardly rotation of the second dead axle 12
The direction in face rotates, and thus the inside gripping block 15 and two outside gripping blocks 13 are simultaneously towards the side close to pipe support cylinder
To movement, until resisting pipe support cylinder, and then pipe support is clamped, completes to hold operation tightly.Top hold-fast body and lower part hold-fast body
Holding process similarly, repeat no more.
(2) climbing operation
After completing to hold operation tightly, if you need to carry out climbing operation, then hold-fast body is needed to unclamp pipe support cylinder, then carry out
Climbing operation.If climbing needs first to unclamp top hold-fast body upwards, such as climbing needs first to unclamp lower part hold-fast body downwards, on
Portion's hold-fast body is identical as the release process of lower part hold-fast body.
Device is climbed upwards below and is described in detail.
(1) top hold-fast body is unclamped first: by pusher cylinder described in motor driven, receiving the pusher cylinder bar 3
Contracting, due to the guiding role of the guide groove, the propulsion cylinder body 2 and the propulsion cylinder bar 3 are around the lifting air cylinder rod
16 are turned out, so that the connecting rod 14 generates rotation, the angle of two connecting rods 14 becomes larger, and make the inside gripping block 15
It is mobile towards the direction for leaving pipe support cylinder, at the same time, since the propulsion cylinder bar 3 is doing the compound fortune shunk and rotated
Dynamic, the propulsion cylinder bar 3 pulls the holding cylinder rod 7 and the holding cylinder block 6 around described second by the push rod 9
Dead axle 12 is turned out, and rotates the outside gripping block 13 towards the direction for leaving pipe support cylinder, thus the inside gripping block
15 and two outside gripping blocks 13 simultaneously towards the directions movement for leaving pipe support cylinder, until unclamping pipe support cylinder.
(2) after, the lifting cylinder on top is driven by motor, the lifting cylinder positioned at 1 top of rack
Bar 16 extends, and the hold-fast body on top is driven to move up, and repeats the holding operation of (one) step, makes to embrace described in top
Tight mechanism holds pipe support cylinder tightly；The cylinder prismatic pair is driven by motor, the magnet 19 is made to leave pipe support cylinder；Drive top
The lifting air cylinder rod 16 shrink, servo-actuated elongation (the lifting air cylinder rod described in top of the lifting air cylinder rod 16 of lower part simultaneously
16 shrinkage is identical as the elongation of lifting air cylinder rod 16 described in lower part), drive rack 1 and the adsorbing mechanism on the whole
It moves；The cylinder prismatic pair is driven by motor, is adsorbed on the magnet 19 on pipe support cylinder；Using the identical step of step (1)
It is rapid to unclamp lower part hold-fast body；The lifting air cylinder rod 16 of lower part is driven to shrink；The holding operation for repeating (one) step, makes
Hold-fast body described in lower part holds pipe support cylinder tightly.So far, climbing operation upwards is completed.
Device is climbed downwards below and is described in detail.
(1) lower part hold-fast body is unclamped first: by pusher cylinder described in motor driven, receiving the pusher cylinder bar 3
Contracting, due to the guiding role of the guide groove, the propulsion cylinder body 2 and the propulsion cylinder bar 3 are around the lifting air cylinder rod
16 are turned out, so that the connecting rod 14 generates rotation, the angle of two connecting rods 14 becomes larger, and make the inside gripping block 15
It is mobile towards the direction for leaving pipe support cylinder, at the same time, since the propulsion cylinder bar 3 is doing the compound fortune shunk and rotated
Dynamic, the propulsion cylinder bar 3 pulls the holding cylinder rod 7 and the holding cylinder block 6 around described second by the push rod 9
Dead axle 12 is turned out, and rotates the outside gripping block 13 towards the direction for leaving pipe support cylinder, thus the inside gripping block
15 and two outside gripping blocks 13 simultaneously towards the directions movement for leaving pipe support cylinder, until unclamping pipe support cylinder.
(2) after, the lifting cylinder of lower part is driven by motor, the lifting cylinder positioned at 1 lower part of rack
Bar 16 extends, and the hold-fast body of lower part is driven to move down, and repeats the holding operation of (one) step, makes to embrace described in lower part
Tight mechanism holds pipe support cylinder tightly；The cylinder prismatic pair is driven by motor, the magnet 19 is made to leave pipe support cylinder；Drive lower part
The lifting air cylinder rod 16 shrink, servo-actuated elongation (the lifting air cylinder rod described in lower part of the lifting air cylinder rod 16 on top simultaneously
16 shrinkage is identical as the elongation of lifting air cylinder rod 16 described in top), drive rack 1 and the adsorbing mechanism integrally under
It moves；The cylinder prismatic pair is driven by motor, is adsorbed on the magnet 19 on pipe support cylinder；Using the identical step of step (1)
It is rapid to unclamp top hold-fast body；The lifting air cylinder rod 16 on top is driven to shrink；The holding operation for repeating (one) step, makes
Hold-fast body described in top holds pipe support cylinder tightly.So far, climbing operation downwards is completed.
In other embodiments, pipe support curvature self-reacting device of the invention can only portion or lower part setting rise on the rack
Descending mechanism and hold-fast body equally can be realized the climbing operation to the holding of pipe support cylinder and on pipe support.
In other embodiments, the magnet in adsorbing mechanism can use electromagnet, and shape may be other shapes, such as
Arc plate etc., as long as can be realized the function in adsorption tube trestle face.Equally, bay form of the invention can also basis
Actual needs changes, as long as the function of not influencing single unit system is realized.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. a kind of pipe support curvature self-reacting device, which is characterized in that including rack (1), the absorption being arranged on the rack (1)
Mechanism and at least one hold-fast body, the adsorbing mechanism are set to the side of the rack (1) close to pipe support；In the rack
(1) installation axle for installing the hold-fast body is provided on；The hold-fast body includes for driving the hold-fast body to act
Two groups of pushing components, for transmitting the pushing component move and limit two groups of guidance sets of its direction of motion and be used for
Two groups of holding components of pipe support are clamped, the pushing component is connected by the guidance set and the holding component is driven to clamp
Pipe support, pushing component described in two groups, guidance set described in two groups, holding component described in two groups are respectively relative to the installation axle left side
The right side is symmetrical arranged and cooperates.
2. pipe support curvature self-reacting device according to claim 1, which is characterized in that
The pushing component includes propulsion cylinder body (2) and propulsion cylinder bar (3), and the propulsion cylinder body (2) pushes away far from described
One end of air inlet cylinder rod (3) is rotatably arranged in the installation axle；
The guidance set include form guide groove can sub-stent (4), it is described can sub-stent (4) and the propulsion cylinder bar
(3) in parallel, the propulsion cylinder bar (3), which is vertically connected with, pushes guide post (5), and the promotion guide post (5) pushes away far from described
The guide groove is inserted into one end of air inlet cylinder rod (3)；
The holding component includes holding cylinder block (6) tightly and holding cylinder rod (7) tightly, and the holding cylinder rod (7) is vertically connected with
It holds tightly guide post (8), hold tightly guide post (8) are described far from one end insertion guide groove for holding cylinder rod (7) tightly
It pushes and is connect between guide post (5) and the holding guide post (8) by push rod (9), the push rod (9) is placed in the guide groove
It is interior.
3. pipe support curvature self-reacting device according to claim 2, which is characterized in that the column of the propulsion cylinder body (2)
It is provided on face connecting rod (14), one end that the connecting rod (14) connect with the propulsion cylinder body (2) can be relative to the propulsion
Cylinder block (2) rotation, the other end is provided with inside gripping block (15), and the connecting rod (14) is with the inside gripping block (15)
It is rotatably connected.
4. pipe support curvature self-reacting device according to claim 3, which is characterized in that the holding cylinder block (6) passes through
Second dead axle (12) be rotatablely arranged at it is described can be on sub-stent (4), the separate holding cylinder of the holdings cylinder block (6)
One end of bar (7) is provided with outside gripping block (13).
5. pipe support curvature self-reacting device according to claim 2, which is characterized in that it is described can sub-stent (4) backwards to institute
The side for stating propulsion cylinder bar (3) is provided with open tubular column (10), and the rack (1) is provided with the first dead axle on corresponding position
(11), first dead axle (11) is inserted into the open tubular column (10) and matched.
6. pipe support curvature self-reacting device according to claim 2, which is characterized in that the push rod (9) and the promotion
Guide post (5), the holding guide post (8) are vertical.
7. -6 any pipe support curvature self-reacting device according to claim 1, which is characterized in that further include at least one liter
Descending mechanism, the elevating mechanism are set to the end of the rack (1), and the elevating mechanism includes lifting air cylinder rod (16), institute
Stating lifting air cylinder rod (16) is the installation axle.
8. pipe support curvature self-reacting device according to claim 7, which is characterized in that the rack (1) be tabular and
It is vertically arranged, the upper and lower part of the rack (1) is each provided with a hoistable platform (20), upper and lower two hoistable platforms
(20) elevating mechanism, each setting one on the lifting air cylinder rod (16) of upper and lower two elevating mechanisms are respectively set
A hold-fast body.
9. pipe support curvature self-reacting device according to claim 8, which is characterized in that the adsorbing mechanism includes at least one
The cylinder mobile accessory body (17) of a cylinder prismatic pair and magnet (19), the cylinder prismatic pair is fixed on the rack (1), institute
The cylinder mobile secondary bar (18) for stating cylinder prismatic pair is fixedly connected with the magnet (19).
10. pipe support curvature self-reacting device according to claim 9, which is characterized in that the magnet (19) is sheet magnetic
Iron, the magnet (19) are arranged in parallel with the rack (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324059.0A CN109455243B (en) | 2018-11-08 | 2018-11-08 | Pipe rack curvature self-adaption device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324059.0A CN109455243B (en) | 2018-11-08 | 2018-11-08 | Pipe rack curvature self-adaption device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109455243A true CN109455243A (en) | 2019-03-12 |
| CN109455243B CN109455243B (en) | 2020-06-09 |
Family
ID=65609728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811324059.0A Expired - Fee Related CN109455243B (en) | 2018-11-08 | 2018-11-08 | Pipe rack curvature self-adaption device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109455243B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050007055A1 (en) * | 2001-03-30 | 2005-01-13 | Johann Borenstein | Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness |
| CN101214412A (en) * | 2008-01-15 | 2008-07-09 | 东南大学 | Scroll cable detecting robot |
| CN107140050A (en) * | 2017-05-11 | 2017-09-08 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
| CN107433989A (en) * | 2017-07-31 | 2017-12-05 | 浙江海洋大学 | A kind of pipeline external transmigration device |
| CN108163079A (en) * | 2017-12-26 | 2018-06-15 | 武汉科技大学 | Double collet climbing level robot |
| CN108556945A (en) * | 2018-01-03 | 2018-09-21 | 山东大学 | A kind of tube climber structure of tandem offshore oilfield wellhead platform jacket |
-
2018
- 2018-11-08 CN CN201811324059.0A patent/CN109455243B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050007055A1 (en) * | 2001-03-30 | 2005-01-13 | Johann Borenstein | Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness |
| CN101214412A (en) * | 2008-01-15 | 2008-07-09 | 东南大学 | Scroll cable detecting robot |
| CN107140050A (en) * | 2017-05-11 | 2017-09-08 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
| CN107433989A (en) * | 2017-07-31 | 2017-12-05 | 浙江海洋大学 | A kind of pipeline external transmigration device |
| CN108163079A (en) * | 2017-12-26 | 2018-06-15 | 武汉科技大学 | Double collet climbing level robot |
| CN108556945A (en) * | 2018-01-03 | 2018-09-21 | 山东大学 | A kind of tube climber structure of tandem offshore oilfield wellhead platform jacket |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109455243B (en) | 2020-06-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112873217A (en) | Angle steel tower bolt fastening robot | |
| CN103459296A (en) | Clamping device | |
| CN108584425A (en) | A kind of Mobile Cargo robot arm | |
| CN205033207U (en) | Grabbing device's top manipulator | |
| CN107962333A (en) | A kind of welding fixture of automotive suspension control arm | |
| CN109332979A (en) | A kind of vehicle rear-axle housing automatic soldering device | |
| CN112722102A (en) | Encircling foot for power transmission line iron tower body climbing robot | |
| CN109455243A (en) | A kind of pipe support curvature self-reacting device | |
| CN206511645U (en) | A kind of hydraulic clamping device for hollow brick | |
| CN208323180U (en) | The clamping device of metal packaging tank | |
| CN108747358B (en) | Automatic valve body assembly line | |
| CN113911891B (en) | Large spherical tank integral hoisting and shifting auxiliary device | |
| CN112719865B (en) | Rotation and plane scanning positioning mechanism | |
| CN211437815U (en) | Automatic pipe end machine flanging punch | |
| CN209815142U (en) | Barrel body synchronous moving equipment | |
| CN209427695U (en) | Centering manipulator is used in a kind of processing of auto parts and components | |
| CN217618822U (en) | Lining pipe butt welding device | |
| CN207205608U (en) | A kind of chemical industry electrolytic cell switching mechanism | |
| CN201325055Y (en) | Pressure vessel detection turn-over type mechanical arm | |
| CN218396424U (en) | Frock clamp for friction welding of tee pipe fitting | |
| CN215089962U (en) | Multi-time bending processing device for steel pipe | |
| SU1491798A1 (en) | Load engaging device | |
| CN216803420U (en) | Axle center positioner is used in processing of steel axle class part | |
| CN219465318U (en) | Clamp for transferring steel strip coil | |
| CN210575142U (en) | Clamping device of radioactive waste barrel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200609 Termination date: 20201108 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |