CN109455243B - Pipe rack curvature self-adaption device - Google Patents
Pipe rack curvature self-adaption device Download PDFInfo
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- CN109455243B CN109455243B CN201811324059.0A CN201811324059A CN109455243B CN 109455243 B CN109455243 B CN 109455243B CN 201811324059 A CN201811324059 A CN 201811324059A CN 109455243 B CN109455243 B CN 109455243B
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- 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 invention relates to the field of mechanical equipment, and aims to provide a pipe rack curvature self-adaption device which can be suitable for pipe racks with various cylindrical surfaces and has a good clamping effect. The self-adaptive device comprises a rack (1), an adsorption mechanism arranged on the rack (1) and at least one clasping mechanism; embrace tight mechanism including being used for the drive embrace tightly two sets of pushing assemblies, be used for the transmission of mechanism action promote the subassembly motion and inject two sets of guide assemblies of its direction of motion and be used for pressing from both sides two sets of subassemblies of holding tightly of tight pipe support, the pushing assembly passes through the guide assembly is connected and is driven embrace tightly the subassembly and press from both sides tight pipe support, two sets of promote the subassembly, two sets of guide assembly, two sets of embrace tightly the subassembly respectively for installation axle bilateral symmetry sets up and mutually supports. The pipe frame curvature self-adaption device solves the problems that the existing holding mechanism cannot adapt to pipe frame cylindrical surfaces with complicated and variable curvatures, the clamping effect is poor, and the application range is limited.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a pipe rack curvature self-adaption device.
Background
At present, the construction of offshore exploitation platform needs a large amount of pipe racks, and the facade of pipe rack under water is mostly the cylinder, because the pipe rack soaks in the sea water for a long time, rusts easily, also receives marine organism's adhesion easily, receives the restriction of underwater environment, and these pipe racks are difficult to be cleared up, but do not clear up for a long time and will lead to pipe rack corrosion damage, cause economic loss. For this reason, the cylindrical surface of the underwater pipe support is usually cleaned by an underwater operation device such as an underwater pipe support robot, which performs cleaning work by climbing up the pipe support through a clasping mechanism.
The existing holding mechanism of the underwater pipe frame robot has limited curvature range and can not deal with diversified pipe frame cylindrical surfaces. For example, chinese patent document CN108296598A discloses a dry type automatic welding method and a welding device for underwater pipelines, which comprises an open-close gear ring and a jaw, an openable holding working chamber, and a closed working chamber, wherein the closed working chamber is filled with high-pressure gas and is provided with one or more than one sliding table capable of moving along the axial direction and the radial direction of the pipeline, and the sliding table is provided with a welding gun and other functional components. The pipeline is tightly held by the holding mechanism of the device through the opened and closed gear rings and the clamping jaws, and the gear rings and the clamping jaws are both in arc-shaped design, can only hold cylindrical pipelines within a certain diameter range and are not suitable for pipe frame cylindrical surfaces with other curvatures. For another example, chinese patent document CN106428274A discloses a clasping mechanism for an out-of-pipe walking robot and an optimized design method for parameters thereof, wherein the clasping mechanism is an evolved four-bar linkage mechanism, and the optimized design method ensures that the distance between the supporting points of the clasping mechanism is uniform, and the clasping mechanism smoothly clamps or releases the working pipeline. When the pipeline is clamped, the left and right walking rollers and the diameter of the supporting wheel form a certain included angle to clamp the pipeline, but the supporting wheel is fixed, so that the position of the left and right walking rollers can be adjusted under the driving of the connecting rod mechanism, the left and right walking rollers still cannot adapt to the pipe frame cylindrical surface with complex and changeable curvature, the clamping effect is poor, and the application range is still limited.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is that the pipe frame holding mechanism in the prior art cannot adapt to pipe frame cylindrical surfaces with complicated and variable curvatures, has poor clamping effect and limited application range, and provides a pipe frame curvature self-adapting device which can adapt to pipe frames with various cylindrical surfaces and has good clamping effect.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a pipe rack curvature self-adaption device comprises a rack, an adsorption mechanism and at least one clasping mechanism, wherein the adsorption mechanism is arranged on the rack and is arranged on one side, close to a pipe rack, of the rack; the rack is provided with an installation shaft for installing the clasping mechanism; embrace tight mechanism including being used for the drive embrace tightly two sets of pushing assemblies, be used for the transmission of mechanism action promote the subassembly motion and inject two sets of guide assemblies of its direction of motion and be used for pressing from both sides two sets of subassemblies of holding tightly of tight pipe support, the pushing assembly passes through the guide assembly is connected and is driven embrace tightly the subassembly and press from both sides tight pipe support, two sets of promote the subassembly, two sets of guide assembly, two sets of embrace tightly the subassembly respectively for installation axle bilateral symmetry sets up and mutually supports.
Preferably, the pushing assembly comprises a pushing cylinder body and a pushing cylinder rod, and one end of the pushing cylinder body, which is far away from the pushing cylinder rod, is rotatably arranged on the mounting shaft;
the guide assembly comprises a detachable support formed with a guide groove, the detachable support is parallel to the propelling cylinder rod, the propelling cylinder rod is vertically connected with a propelling guide post, and one end of the propelling guide post, which is far away from the propelling cylinder rod, is inserted into the guide groove;
the holding assembly comprises a holding cylinder body and a holding cylinder rod, the holding cylinder rod is vertically connected with a holding guide post, one end, far away from the holding cylinder rod, of the holding guide post is inserted into the guide groove, the pushing guide post is connected with the holding guide post through a push rod, and the push rod is arranged in the guide groove.
Preferably, a connecting rod is arranged on the cylindrical surface of the propulsion cylinder block, one end of the connecting rod connected with the propulsion cylinder block can rotate relative to the propulsion cylinder block, an inner side clamping block is arranged at the other end of the connecting rod, and the connecting rod is rotatably connected with the inner side clamping block.
Preferably, the holding cylinder body is rotatably arranged on the detachable support through a second dead axle, and an outer side clamping block is arranged at one end, far away from the holding cylinder rod, of the holding cylinder body.
Preferably, a hollow column is arranged on the side surface of the detachable support, which faces away from the propulsion cylinder rod, a first fixed shaft is arranged at a position corresponding to the rack, and the first fixed shaft is inserted into and matched with the hollow column.
Preferably, the push rod is perpendicular to the pushing guide column and the holding guide column.
Preferably, the mounting shaft further comprises at least one lifting mechanism, the lifting mechanism is arranged at the end part of the rack, the lifting mechanism comprises a lifting cylinder rod, and the lifting cylinder rod is the mounting shaft.
Preferably, the rack is flat and vertically arranged, the upper part and the lower part of the rack are respectively provided with a lifting platform, the upper lifting platform and the lower lifting platform are respectively provided with one lifting mechanism, and the lifting cylinder rods of the upper lifting mechanism and the lower lifting mechanism are respectively provided with one clasping mechanism.
Preferably, the adsorption mechanism comprises at least one cylinder moving pair and a magnet, a cylinder moving pair body of the cylinder moving pair is fixed on the rack, and a cylinder moving pair rod of the cylinder moving pair is fixedly connected with the magnet.
Preferably, the magnet is a sheet magnet, and the magnet is arranged in parallel with the rack.
Compared with the prior art, the technical scheme of the invention has the following advantages:
(1) the invention provides a pipe rack curvature self-adaption device which comprises a rack, an adsorption mechanism and at least one clasping mechanism, wherein the adsorption mechanism and the at least one clasping mechanism are arranged on the rack, and the clasping mechanism comprises two groups of pushing assemblies used for driving the clasping mechanisms to act, two groups of guiding assemblies used for transmitting the movement of the pushing assemblies and limiting the movement direction of the pushing assemblies and two groups of clasping assemblies used for clamping a pipe rack. This pipe support camber self-adaptation device design is unique, can deal with the pipe support cylinder of different curvatures through mutually supporting between each mechanism, and application scope is wide, presss from both sides tightly effectually.
(2) According to the pipe rack curvature self-adaption device provided by the invention, two outer clamping blocks and one inner clamping block in the clasping mechanism are mutually matched to form three-point clamping, and along with the clamping action of the two outer clamping blocks on the pipe rack, the inner clamping block can also move towards the pipe rack in a follow-up manner and apply force, namely when the pipe rack is clasped, the two outer clamping blocks and the inner clamping block both generate active clamping action, so that the pipe rack clamping can be completed more quickly compared with the prior art, the adaptability to the cylindrical surface of the pipe rack with variable curvature is stronger, and the clamping firmness is better.
(3) The pipe frame curvature self-adaptive device provided by the invention is also provided with the lifting mechanism, and under the mutual cooperation of the adsorption mechanism, the gold-protecting mechanism and the lifting mechanism, the climbing movement of the pipe frame curvature self-adaptive device can be realized, so that the functional diversity of the pipe frame curvature self-adaptive device is enhanced.
(4) The pipe frame curvature self-adaptive device provided by the invention is also provided with the adsorption mechanism, and before the pipe frame is clasped, the self-adaptive device is adsorbed on the pipe frame, and then clasping operation is carried out, so that the stability of clasping the pipe frame and climbing movement on the pipe frame by the pipe frame curvature self-adaptive device can be ensured.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is an overall block diagram of the curvature adaptive apparatus of the pipe frame of the present invention;
FIG. 2 is a schematic view of the adsorption mechanism in the curvature adaptive device of the pipe frame of the present invention;
fig. 3 is a schematic diagram of a clasping mechanism in the pipe frame curvature self-adaptive device.
The reference numbers in the figures denote: 1-a frame, 2-a propulsion cylinder body, 3-a propulsion cylinder rod, 4-a detachable support, 5-a propulsion guide column, 6-a hugging cylinder body, 7-a hugging cylinder rod, 8-a hugging guide column, 9-a push rod, 10-a hollow column, 11-a first fixed shaft, 12-a second fixed shaft, 13-an outer clamping block, 14-a connecting rod, 15-an inner clamping block, 16-a lifting cylinder rod, 17-a cylinder moving auxiliary body, 18-a cylinder moving auxiliary rod, 19-a magnet, 20-a lifting platform and 21-a lifting cylinder body.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a preferred embodiment of the curvature adaptive device of the pipe frame of the invention. The self-adaptive device comprises a rack 1, an adsorption mechanism arranged on the rack 1, at least one clasping mechanism and at least one lifting mechanism, wherein the adsorption mechanism is arranged on one side of the rack 1 close to the pipe frame; an installation shaft for installing the clasping mechanism is arranged on the frame 1; embrace tight mechanism including being used for the drive embrace tightly two sets of pushing assemblies, be used for the transmission of mechanism action promote the subassembly motion and inject two sets of guide assemblies of its direction of motion and be used for pressing from both sides two sets of subassemblies of holding tightly of tight pipe support, the pushing assembly passes through the guide assembly is connected and is driven embrace tightly the subassembly and press from both sides tight pipe support, two sets of promote the subassembly, two sets of guide assembly, two sets of embrace tightly the subassembly respectively for installation axle bilateral symmetry sets up and mutually supports. The lifting mechanism is arranged at the end part of the frame 1.
In this embodiment, the frame 1 is a flat plate and is vertically disposed, the upper portion and the lower portion of the frame 1 are respectively provided with a lifting platform 20, and the upper lifting platform 20 and the lower lifting platform 20 are respectively provided with one lifting mechanism. The lifting mechanism comprises a lifting cylinder, the lifting cylinder is driven by a motor, the lifting cylinder comprises a lifting cylinder body 21 and a lifting cylinder rod 16, the lifting cylinder body 21 is fixed on the lifting platform 20, and the lifting cylinder rod 16 is the mounting shaft. The two upper and lower lifting cylinder rods 16 are respectively provided with one clasping mechanism, so that the device is more stable and reliable when adsorbing the column surface of the pipe frame and climbing on the pipe frame, the robot is protected, and safe and stable operation is realized.
As shown in fig. 2, the adsorption mechanism includes at least one cylinder moving pair and a magnet 19, the magnet 19 is a rectangular sheet magnet, the magnet 19 is arranged parallel to the frame 1, and the cylinder moving pair is driven by a motor. In this embodiment, the adsorption mechanism adopts a four-bar parallel mechanism, and can adsorb cylindrical surfaces with different curvatures, the magnet 19 adopts a permanent magnet, and the cylinder moving pair is respectively arranged at four angular positions of the rectangular sheet magnet, so as to ensure that the cylinder moving pair drives the magnet to move more stably and reliably. The cylinder moving pair body 17 of the cylinder moving pair is fixed on the frame 1, and the cylinder moving pair rod 18 of the cylinder moving pair is fixedly connected with the magnet 19.
As shown in fig. 3, in the clasping mechanism, the pushing assembly includes a pushing cylinder that is driven by a motor. The propulsion cylinder comprises a propulsion cylinder body 2 and a propulsion cylinder rod 3, and one end of the propulsion cylinder body 2, far away from the propulsion cylinder rod 3, is rotatably arranged on the lifting cylinder rod 16.
The guide assembly comprises a detachable support 4 formed with a guide groove, the detachable support 4 is parallel to the propelling cylinder rod 3, the propelling cylinder rod 3 is vertically connected with a pushing guide post 5, and one end, far away from the propelling cylinder rod 3, of the pushing guide post 5 is inserted into the guide groove. The guide groove is a long guide groove which is not communicated up and down. The side surface of the detachable support 4, which faces away from the propelling cylinder rod 3, is provided with a hollow column 10, a first fixing shaft 11 is arranged at a position corresponding to the rack 1, and the first fixing shaft 11 is inserted into and matched with the hollow column 10. In this embodiment, two first fixed shafts 11 are respectively disposed at the upper and lower portions of the rack 1, and are correspondingly matched with the hollow columns 10 of the detachable support 4, and after the first fixed shafts 11 are inserted into the hollow columns 10, the detachable support 4 can rotate 360 degrees around the first fixed shafts 11, so as to mount a cylindrical surface into the clasping mechanism.
The holding assembly comprises a holding cylinder, the holding cylinder comprises a holding cylinder body 6 and a holding cylinder rod 7, the holding cylinder rod 7 is perpendicularly connected with a holding guide post 8, one end, far away from the holding cylinder rod 7, of the holding guide post 8 is inserted into the guide groove, the push guide post 5 is connected with the holding guide post 8 through a push rod 9, and the push rod 9 is arranged in the guide groove. The push rod 9 is a straight rod and is perpendicular to the push guide column 5 and the holding guide column 8. In the invention, the holding cylinder is driven, so that the holding cylinder rod is adjusted to a proper position.
The holding cylinder body 6 is rotatably arranged on the detachable support 4 through a second dead axle 12, and an outer side clamping block 13 is arranged at one end, far away from the holding cylinder rod 7, of the holding cylinder body 6. The cylindrical surface of the propulsion cylinder block 2 is provided with a connecting rod 14, and it can be seen from the figure that the connecting rod 14 is tangential to the cylindrical surface of the propulsion cylinder block 2. One end of the connecting rod 14 connected with the propulsion cylinder block 2 can rotate relative to the propulsion cylinder block 2, the other end is provided with an inner side clamping block 15, and the connecting rod 14 and the inner side clamping block 15 are rotatably connected. The inner clamping piece 15 and the two outer clamping pieces 13 together form a three-point clamping.
The pipe rack curvature self-adapting device provided by the invention can be matched with a robot for installation, can hold pipe racks with different cylindrical surface curvatures tightly, can move up and down along the cylindrical surface, and can perform cleaning, detection and other work on water or underwater.
The following describes in detail the specific operation process of the pipe rack curvature adaptive device according to the present invention with reference to the accompanying drawings.
Holding operation
Firstly, expanding the left and right separable supports 4, installing a pipe support cylindrical surface between the two separable supports 4, driving each cylinder moving pair by a motor, enabling the magnet 19 to be adsorbed on the pipe support cylindrical surface, and fixing the position of the whole device; the motor drives the pushing cylinder, the pushing cylinder rod 3 extends, the pushing cylinder body 2 and the pushing cylinder rod 3 rotate inwards around the lifting cylinder rod 16 under the guiding action of the guide groove, so that the connecting rods 14 rotate, the included angle between the two connecting rods 14 is reduced, the inner clamping block 15 moves towards the direction close to the cylindrical surface of the pipe frame, meanwhile, the pushing cylinder rod 3 pushes the enclasping cylinder rod 7 and the enclasping cylinder body 6 to rotate inwards around the second fixed shaft 12 through the push rod 9 due to the combined motion of extension and rotation of the pushing cylinder rod 3, so that the outer clamping block 13 rotates towards the direction close to the cylindrical surface of the pipe frame, and therefore the inner clamping block 15 and the two outer clamping blocks 13 move towards the direction close to the cylindrical surface of the pipe frame simultaneously until the inner clamping block and the two outer clamping blocks 13 abut against the cylindrical surface of the pipe frame and are clamped, and finishing the holding operation. The process of clasping the upper clasping mechanism and the lower clasping mechanism is the same, and is not described again.
(II) climbing operation
After the operation is embraced tightly in the completion, if need climb the operation, then need to embrace tightly the mechanism and loosen the pipe support cylinder, climb the operation again. If climbing upwards needs to loosen the upper portion clasping mechanism first, if climbing downwards needs to loosen the lower portion clasping mechanism first, the upper portion clasping mechanism and the lower portion clasping mechanism are loosened in the same process.
The climbing of the device upwards is described in detail below.
(1) Firstly, loosening the upper holding mechanism: the pushing cylinder is driven by a motor to contract the pushing cylinder rod 3, and due to the guiding action of the guide groove, the propulsion cylinder block 2 and the propulsion cylinder rod 3 are turned outwards around the lift cylinder rod 16, so that the connecting rods 14 rotate, the included angle between the two connecting rods 14 is increased, the inner clamping block 15 moves towards the direction away from the cylindrical surface of the pipe frame, and at the same time, because the propulsion cylinder rod 3 does the combined movement of contraction and rotation, the propulsion cylinder rod 3 pulls the enclasping cylinder rod 7 and the enclasping cylinder block 6 to rotate outwards around the second dead axle 12 through the push rod 9, so that the outer clamping block 13 rotates towards the direction away from the cylindrical surface of the pipe frame, the inner clamping shoe 15 and the two outer clamping shoes 13 are thereby simultaneously moved in the direction away from the pipe support cylinder until the pipe support cylinder is released.
(2) Then, the motor drives the lifting cylinder at the upper part, the lifting cylinder rod 16 at the upper part of the rack 1 extends to drive the clasping mechanism at the upper part to move upwards, and then the clasping operation in the first step is repeated to enable the clasping mechanism at the upper part to clasp the cylindrical surface of the pipe frame; the motor drives the cylinder moving pair to enable the magnet 19 to leave the cylindrical surface of the pipe frame; the upper lifting cylinder rod 16 is driven to contract, and simultaneously the lower lifting cylinder rod 16 extends in a follow-up manner (the contraction quantity of the upper lifting cylinder rod 16 is the same as the extension quantity of the lower lifting cylinder rod 16), so that the machine frame 1 and the adsorption mechanism are driven to move upwards integrally; the motor drives the cylinder moving pair to enable the magnet 19 to be adsorbed on the cylindrical surface of the pipe frame; loosening the lower holding mechanism by adopting the same step as the step (1); driving the lower lifting cylinder rod 16 to retract; and repeating the holding operation in the first step to enable the holding mechanism at the lower part to hold the cylindrical surface of the pipe frame. Thus, the upward climbing operation is completed.
The downward climbing of the device is described in detail below.
(1) Firstly, loosening the lower holding mechanism: the pushing cylinder is driven by a motor to contract the pushing cylinder rod 3, and due to the guiding action of the guide groove, the propulsion cylinder block 2 and the propulsion cylinder rod 3 are turned outwards around the lift cylinder rod 16, so that the connecting rods 14 rotate, the included angle between the two connecting rods 14 is increased, the inner clamping block 15 moves towards the direction away from the cylindrical surface of the pipe frame, and at the same time, because the propulsion cylinder rod 3 does the combined movement of contraction and rotation, the propulsion cylinder rod 3 pulls the enclasping cylinder rod 7 and the enclasping cylinder block 6 to rotate outwards around the second dead axle 12 through the push rod 9, so that the outer clamping block 13 rotates towards the direction away from the cylindrical surface of the pipe frame, the inner clamping shoe 15 and the two outer clamping shoes 13 are thereby simultaneously moved in the direction away from the pipe support cylinder until the pipe support cylinder is released.
(2) Then, the lifting cylinder at the lower part is driven by a motor, the lifting cylinder rod 16 at the lower part of the rack 1 extends to drive the clasping mechanism at the lower part to move downwards, and then the clasping operation in the first step is repeated to enable the clasping mechanism at the lower part to clasp the cylindrical surface of the pipe frame; the motor drives the cylinder moving pair to enable the magnet 19 to leave the cylindrical surface of the pipe frame; the lower lifting cylinder rod 16 is driven to contract, and the upper lifting cylinder rod 16 extends along with the lower lifting cylinder rod 16 (the contraction quantity of the lower lifting cylinder rod 16 is the same as the extension quantity of the upper lifting cylinder rod 16), so that the rack 1 and the adsorption mechanism are driven to move downwards integrally; the motor drives the cylinder moving pair to enable the magnet 19 to be adsorbed on the cylindrical surface of the pipe frame; loosening the upper holding mechanism by adopting the same steps in the step (1); driving the upper lifting cylinder rod 16 to contract; and repeating the holding operation in the first step to enable the upper holding mechanism to hold the cylindrical surface of the pipe frame. By this, the downward climbing operation is completed.
In other embodiments, the pipe frame curvature self-adaptive device of the invention can only arrange the lifting mechanism and the clasping mechanism on the upper part or the lower part of the frame, and can also clasp the cylindrical surface of the pipe frame and climb the pipe frame.
In other embodiments, the magnets in the adsorption mechanism may be electromagnets, and the shape may also be other shapes, such as an arc plate shape, as long as the function of adsorbing the cylindrical surface of the pipe frame can be achieved. Similarly, the shape of the frame of the invention can be changed according to actual needs as long as the function of the whole device is not affected.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (9)
1. The pipe rack curvature self-adaption device is characterized by comprising a rack (1), an adsorption mechanism and at least one clasping mechanism, wherein the adsorption mechanism is arranged on the rack (1), and is arranged on one side, close to a pipe rack, of the rack (1); an installation shaft for installing the clasping mechanism is arranged on the rack (1); the clamping mechanism comprises two groups of pushing assemblies for driving the clamping mechanism to act, two groups of guiding assemblies for transmitting the movement of the pushing assemblies and limiting the movement direction of the pushing assemblies, and two groups of clamping assemblies for clamping the pipe frame, the pushing assemblies are connected through the guiding assemblies and drive the clamping assemblies to clamp the pipe frame, and the two groups of pushing assemblies, the two groups of guiding assemblies and the two groups of clamping assemblies are respectively arranged in bilateral symmetry relative to the mounting shaft and are matched with each other;
the pushing assembly comprises a pushing cylinder body (2) and a pushing cylinder rod (3), and one end, far away from the pushing cylinder rod (3), of the pushing cylinder body (2) is rotatably arranged on the mounting shaft;
the guide assembly comprises a detachable support (4) formed with a guide groove, the detachable support (4) is parallel to the propelling cylinder rod (3), the propelling cylinder rod (3) is vertically connected with a propelling guide post (5), and one end, far away from the propelling cylinder rod (3), of the propelling guide post (5) is inserted into the guide groove;
the holding assembly comprises a holding cylinder body (6) and a holding cylinder rod (7), the holding cylinder rod (7) is perpendicularly connected with a holding guide post (8), one end, far away from the holding cylinder rod (7), of the holding guide post (8) is inserted into the guide groove, the pushing guide post (5) is connected with the holding guide post (8) through a push rod (9), and the push rod (9) is arranged in the guide groove.
2. Pipe rack curvature adaptive device according to claim 1, characterized in that a connecting rod (14) is arranged on the cylindrical surface of the propulsion cylinder block (2), one end of the connecting rod (14) connected with the propulsion cylinder block (2) can rotate relative to the propulsion cylinder block (2), the other end is provided with an inner clamping block (15), and the connecting rod (14) and the inner clamping block (15) are rotatably connected.
3. The pipe frame curvature self-adaption device according to claim 2, characterized in that the hugging cylinder body (6) is rotatably arranged on the detachable bracket (4) through a second dead axle (12), and an outer clamping block (13) is arranged at one end, away from the hugging cylinder rod (7), of the hugging cylinder body (6).
4. Pipe rack curvature adaptive device according to claim 1, characterized in that the side of the detachable support (4) facing away from the propulsion cylinder rod (3) is provided with a hollow column (10), and a first fixed shaft (11) is arranged on the corresponding position of the frame (1), and the first fixed shaft (11) is inserted into and matched with the hollow column (10).
5. Pipe rack curvature adaptive device according to claim 1, characterized in that the push rod (9) is perpendicular to the push guide post (5) and the hug guide post (8).
6. Pipe frame curvature self-adaptation device according to any one of claims 1 to 5, characterized in that, the device further comprises at least one lifting mechanism, the lifting mechanism is arranged at the end of the machine frame (1), the lifting mechanism comprises a lifting cylinder rod (16), and the lifting cylinder rod (16) is the mounting shaft.
7. The pipe frame curvature self-adaption device according to claim 6 is characterized in that the machine frame (1) is flat and vertically arranged, the upper portion and the lower portion of the machine frame (1) are respectively provided with a lifting platform (20), the upper lifting platform (20) and the lower lifting platform (20) are respectively provided with one lifting mechanism, and the lifting cylinder rods (16) of the upper lifting mechanism and the lower lifting mechanism are respectively provided with one clasping mechanism.
8. Pipe rack curvature adaptive device according to claim 7, characterized in that the adsorption mechanism comprises at least one cylinder moving pair and a magnet (19), wherein a cylinder moving pair body (17) of the cylinder moving pair is fixed on the rack (1), and a cylinder moving pair rod (18) of the cylinder moving pair is fixedly connected with the magnet (19).
9. Pipe rack curvature adaption device according to claim 8, characterized in that the magnet (19) is a sheet magnet, the magnet (19) being arranged parallel to the machine frame (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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324059.0A CN109455243B (en) | 2018-11-08 | 2018-11-08 | Pipe rack curvature self-adaption device |
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| CN109455243A CN109455243A (en) | 2019-03-12 |
| CN109455243B true CN109455243B (en) | 2020-06-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6870343B2 (en) * | 2001-03-30 | 2005-03-22 | The University Of Michigan | Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness |
| CN100563758C (en) * | 2008-01-15 | 2009-12-02 | 东南大学 | Scroll cable detecting robot |
| CN107140050B (en) * | 2017-05-11 | 2019-05-21 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
| CN107433989B (en) * | 2017-07-31 | 2019-05-21 | 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 |
| CN108556945B (en) * | 2018-01-03 | 2019-12-03 | 山东大学 | A kind of tube climber structure of tandem offshore oilfield wellhead platform jacket |
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