CN113858309A - Pipeline inner flanging leveling device and pipeline inner flanging leveling method - Google Patents
Pipeline inner flanging leveling device and pipeline inner flanging leveling method Download PDFInfo
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- CN113858309A CN113858309A CN202111081726.9A CN202111081726A CN113858309A CN 113858309 A CN113858309 A CN 113858309A CN 202111081726 A CN202111081726 A CN 202111081726A CN 113858309 A CN113858309 A CN 113858309A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 99
- 238000004891 communication Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 5
- 230000003993 interaction Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 239000012943 hotmelt Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- -1 polyethylene Polymers 0.000 description 2
- 239000004698 Polyethylene Substances 0.000 description 1
- 239000004743 Polypropylene Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 229920001155 polypropylene Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/45—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member the movement of which is not covered by any preceding group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/007—Control means comprising cameras, vision or image processing systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/08—Means for actuating the cutting member to effect the cut
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/26—Means for mounting or adjusting the cutting member; Means for adjusting the stroke of the cutting member
- B26D7/2614—Means for mounting the cutting member
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Abstract
A pipeline inner flanging leveling device and a pipeline inner flanging leveling method are provided, the pipeline inner flanging leveling device comprises: a traveling mechanism; the main body structure is arranged on the travelling mechanism; the rotating mechanism is connected with the main body mechanism and is provided with a plurality of rotating parts which are jointly used for driving the main body structure to rotate in the pipeline; the cutting device is arranged on the rotating mechanism and is used for cutting the inward flanging of the pipeline; the driving device is used for driving the travelling mechanism to travel, driving the rotating mechanism to rotate and driving the cutting device to cut; the locating device is used for assisting in determining the position of the inner flanging of the pipeline; and the local control unit is arranged in the main body structure and is electrically connected with the driving device and the position searching device respectively. The pipeline inner flanging cutting device can walk in a pipeline, can cut the whole inner flanging through the cutting device, solves the problem that the inner flanging part of the pipeline is difficult to cut, is simple and convenient to operate integrally, and is suitable for industrial popularization.
Description
Technical Field
The invention belongs to the field of pipeline construction, and particularly relates to pipeline inner flanging leveling equipment and a pipeline inner flanging leveling method.
Background
In the field of municipal engineering, various chemical building material pipelines (such as polyethylene pipes, polypropylene pipes and the like) are widely applied, and the connecting modes of the pipelines mainly comprise flange connection, hot melt connection and the like, wherein the hot melt connection has the most common application due to the excellent connecting effect. After hot melting butt joint, the connection part is provided with inner and outer flanges which are smoothly and symmetrically arranged along the circumference of the pipe section. For the outer flanging, a cutting tool can be directly used for cutting, but for the inner flanging, corresponding processing devices are lacked in the market at present, so that effective cutting cannot be realized.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides pipeline inner flanging leveling equipment, which solves the problem that effective cutting of the pipeline inner flanging is difficult. The invention also provides a method for leveling the inner flange of the pipeline.
According to the first aspect of the invention, the pipe inner flanging leveling device comprises:
the travelling mechanism is used for travelling in the pipeline;
the main body structure is arranged on the travelling mechanism;
the rotating mechanism is connected with the main body mechanism and is provided with a plurality of rotating parts which are jointly used for driving the main body structure to rotate in the pipeline;
the cutting device is arranged on the rotating mechanism and is used for cutting the inner flanging of the pipeline;
the driving device is arranged in the main body structure and is used for driving the travelling mechanism to travel, driving the rotating mechanism to rotate and driving the cutting device to cut;
the locating device is used for assisting in determining the position of the inward flange of the pipeline;
and the local control unit is arranged in the main body structure, is electrically connected with the driving device and the locating device respectively, and is used for carrying out wireless data interaction with a remote control device.
The pipeline inner flanging leveling device provided by the embodiment of the invention at least has the following technical effects: the running gear can realize walking in the pipeline, can realize through slewing mechanism in the pipeline internal rotation, from can letting cutting device once only accomplish whole inside flanging excision. The position of the inner flanging can be conveniently determined by the position searching device, so that the mistaken cutting of a non-inner flanging area can be avoided, and the smooth cutting of the flanging area can be ensured. The remote control device can remotely and wirelessly control the local control unit, so that a user can intuitively control the walking, the rotation and the cutting of the whole pipeline inner flanging leveling equipment. The pipeline inner flanging leveling device solves the problem that the pipeline inner flanging part is difficult to cut off, is simple and convenient to operate integrally, and is suitable for industrial popularization.
According to some embodiments of the invention, the walking mechanism comprises:
the walking fixing seat is used for bearing the main body structure;
and the plurality of travelling wheels are arranged on the lower surface of the travelling fixing seat and are used for rotating under the driving of the driving device.
According to some embodiments of the invention, the rotation mechanism comprises:
one end of the driving arm is connected with the main body structure, and the other end of the driving arm is provided with a driving wheel set; the driving wheel set is used for rotating under the driving of the driving device;
one end of each driven arm is connected with the main body structure, and the other end of each driven arm is provided with a driven wheel set; the driving arm and the two driven arms are jointly used for supporting the main body structure to rotate in the pipeline.
According to some embodiments of the present invention, the driving wheel set includes two driving wheels, and the two driving wheels are coaxially disposed and configured to rotate under the driving of the driving device;
the cutting device includes:
the blade base is coaxially arranged with the driving wheel set, is positioned between the two driving wheels and is used for rotating under the driving of the driving device; the blade base is provided with a plurality of blade fixing parts;
a plurality of blades respectively arranged on the blade base through the plurality of blade fixing parts;
and the cutter head base is arranged on the driving arm and used for rotatably supporting the blade base and the driving wheel set.
According to some embodiments of the invention, the blade fixing portion is a fixing screw hole provided on the blade mount, and the blade is provided with a mounting through hole; the blade passes through the bolt, fixed screw with the installation through-hole can be dismantled and fix on the blade base.
According to some embodiments of the invention, each of the follower arms comprises:
one end of the driven main arm is connected with the main body structure, and a telescopic groove is formed in the driven main arm;
one end of the telescopic arm is arranged in the telescopic groove and is used for realizing the telescopic action under the driving of the driving device;
the driven wheel set is arranged at the other end of the telescopic arm.
According to some embodiments of the invention, the bit seeking apparatus comprises:
the light source is arranged on the main body structure and is electrically connected with the local control unit;
and the image acquisition device is arranged on the main body structure and is electrically connected with the local control unit.
According to some embodiments of the invention, the remote control device comprises:
the wireless communication module is wirelessly connected with the local control unit;
and the display control unit is electrically connected with the wireless communication module.
According to the pipe inner flanging leveling method provided by the embodiment of the second aspect of the invention, the method comprises the following steps:
starting the traveling mechanism and the position searching device;
determining the position of an inner flanging of the pipeline through a locating device;
continuously advancing the travelling mechanism until the cutting device is aligned with the inward flanging position of the pipeline;
controlling a rotating mechanism and the cutting device to cut the inner flanging position of the pipeline to be flat;
and stopping the position searching device, and controlling the traveling mechanism to continuously retreat until the pipeline is withdrawn.
The method for leveling the inner flange of the pipeline provided by the embodiment of the invention at least has the following technical effects: the running mechanism and the locating device can be started and controlled to walk in the pipeline and determine the position needing to be specifically subjected to the inner flanging cutting, and after the inner flanging position is determined, the whole inner flanging cutting can be finished at one time by controlling the rotating mechanism and the cutting device. The method for leveling the inner flange of the pipeline solves the problem that the inner flange part of the pipeline is difficult to cut off, is simple and convenient to operate integrally, and is suitable for industrial popularization.
According to some embodiments of the invention, the locating device comprises a light source and an image acquisition device: the light source is arranged on the main body structure and is electrically connected with the local control unit; the image acquisition device is arranged on the main body structure and is electrically connected with the local control unit;
the method for determining the position of the inner flanging of the pipeline through the position finding device comprises the following steps:
turning on the light source to enable the image acquisition device to acquire pipeline images in a pipeline, wherein the pipeline images acquired by the image acquisition device are transmitted to a local control unit;
and acquiring the pipeline image received by the local control unit so that a user can confirm the inward flanging position of the pipeline according to the pipeline image.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic perspective view of a pipe inside flanging leveling device according to an embodiment of the present invention;
FIG. 2 is a schematic view of a cutting apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic view of the pipe inside flanging leveling device according to the embodiment of the invention;
fig. 4 is a block diagram of an electrical system of the pipe inside flanging leveling device according to the embodiment of the present invention.
Reference numerals:
a walking mechanism 100, a walking fixing seat 110, a walking wheel 120,
A main body structure 200,
A rotating mechanism 300, a driving arm 310, a driving wheel set 311, a driven arm 320, a driven wheel set 321, a driven main arm 322, a telescopic arm 323,
Cutting device 400, blade base 410, blades 420, cutterhead base 430,
A driving device 500,
A position-searching device 600,
A local control unit 700,
A remote control device 800.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the directional descriptions, such as the directions of upper, lower, front, rear, left, right, etc., are referred to only for convenience of describing the present invention and for simplicity of description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
A pipe inside-flanging flattening apparatus according to an embodiment of the first aspect of the present invention is described below with reference to fig. 1 to 4.
The pipe inner flanging leveling device according to the embodiment of the invention comprises a walking mechanism 100, a main body structure 200, a rotating mechanism 300, a cutting device 400, a driving device 500, a locating device 600 and a local control unit 700.
A traveling mechanism 100 for traveling in the pipeline;
a main body structure 200 disposed on the traveling mechanism 100;
the rotating mechanism 300 is connected with the main body mechanism, the rotating mechanism 300 is provided with a plurality of rotating parts, and the plurality of rotating parts are jointly used for driving the main body structure 200 to rotate in the pipeline;
the cutting device 400 is arranged on the rotating mechanism 300 and is used for cutting the inner flanging of the pipeline;
the driving device 500 is arranged in the main body structure 200 and is used for driving the traveling mechanism 100 to travel, driving the rotating mechanism 300 to rotate and driving the cutting device 400 to cut;
the locating device 600 is used for assisting in determining the position of an inner flanging of the pipeline;
the local control unit 700 is disposed in the main body structure 200, electrically connected to the driving device 500 and the position-finding device 600, and configured to perform wireless data interaction with the remote control device 800.
Referring to fig. 1 to 4, the main body structure 200 is disposed on the traveling mechanism 100, and the main body structure 200 can be driven by the traveling mechanism 100 to move forward and backward in the pipeline. The main body structure 200 is an installation foundation, the rotating mechanism 300, the driving device 500, the position finding device 600 and the local control unit 700 can be installed and fixed through the main body structure 200, and the cutting device 400 is installed by relying on the rotating mechanism 300.
The rotation mechanism 300 is provided on the main body structure 200 and has a plurality of rotation portions with a sufficient angle therebetween, typically greater than 90 degrees. When the rotation portion is set to be 3, the angle between 3 rotation portions is set to be 120 degrees, so that the rotation stability can be ensured.
The cutting device 400 is disposed on the rotating mechanism 300, and can perform a cutting action, thereby effectively cutting the inner flange. When the rotating mechanism 300 starts to rotate, the cutting device 400 is synchronously started, so that the inner flanging of the pipeline can be cut off in a whole circle.
The pipeline is usually narrower and dark, so the pipeline inside flanging position is difficult to directly see through the manpower, and the pipeline inside flanging position can be determined through the position finding device 600, so that the cutting device 400 can accurately cut the pipeline inside flanging.
The remote control device 800 may issue various operation instructions to the local control unit 700, such as: forward, backward, work, etc. After receiving the operation command, the local control unit 700 executes corresponding operations to remotely control the traveling mechanism 100, the rotating mechanism 300, the cutting device 400, and the locating device 600. The driving device 500 is a basis for driving the traveling mechanism 100, the rotating mechanism 300, and the cutting device 400 to operate, and is used for providing a power source.
According to the pipeline inner flanging leveling device provided by the embodiment of the invention, the walking mechanism 100 can walk in a pipeline, and can rotate in the pipeline through the rotating mechanism 300, so that the cutting device 400 can cut the whole inner flanging at one time. The positioning device 600 can be used for conveniently determining the position of the inward flanging, so that the mistaken cutting of a non-inward flanging area can be avoided, and the smooth cutting of the flanging area can be ensured. The remote control device 800 can remotely and wirelessly control the local control unit 700, so that a user can intuitively control the walking, the rotation and the cutting of the whole pipeline inner flanging leveling device. The pipeline inner flanging leveling device solves the problem that the pipeline inner flanging part is difficult to cut off, is simple and convenient to operate integrally, and is suitable for industrial popularization.
In some embodiments of the invention, referring to fig. 1, 3, the travel mechanism 100 includes: a walking fixing seat 110 and a plurality of walking wheels 120. A walking fixing seat 110 for bearing the main body structure 200; and a plurality of traveling wheels 120 disposed on the lower surface of the traveling holder 110 and configured to rotate under the driving of the driving device 500. The main structure 200 can be installed and fixed through the walking fixing base 110, so that all the structures installed on the basis of the main structure 200 can be driven to walk through the walking wheels 120.
In some embodiments of the invention, referring to fig. 1, 3, the rotation mechanism 300 comprises: a master arm 310, two slave arms 320. An active arm 310, one end of which is connected to the main body structure 200 and the other end of which is provided with an active wheel set 311; the driving wheel set 311 is used for rotating under the driving of the driving device 500; two driven arms 320, one end of each driven arm 320 is connected with the main body structure 200, and the other end is provided with a driven wheel set 321; the master arm 310 and the two slave arms 320 together serve to support the body structure 200 for rotation within the duct. The driving arm 310 and the two driven arms 320 form a stable rotating structure, and the angle between each two arms needs to be larger than 90 degrees, and is usually set at 120 degrees. The driving wheel set 311 on the driving arm 310 can actively rotate under the driving of the driving device 500, so as to drive the driven wheel sets 321 on the two driven arms 320 to passively rotate, and finally, the whole main body structure 200 can be driven to synchronously rotate. It should be noted that, in order to ensure smooth rotation, the wheels of the driving wheel set 311 and the driven wheel set 321 are distributed on both sides of the flange when extending to the pipe flange position.
In some embodiments of the invention, referring to fig. 1 and fig. 2, the driving wheel set 311 includes two driving wheels, which are coaxially disposed and configured to rotate under the driving of the driving device 500; the cutting apparatus 400 includes: a blade mount 410, a deck base 430, a plurality of blades 420. The blade base 410 is coaxially arranged with the driving wheel set 311, is positioned between the two driving wheels, and is driven by the driving device 500 to rotate; the blade mount 410 is provided with a plurality of blade fixing portions; a plurality of blades 420 respectively disposed on the blade mount 410 through a plurality of blade fixing portions; and the cutter head base 430 is arranged on the driving arm 310 and is used for rotatably supporting the blade base 410 and the driving wheel set 311. The cutter head base 430 is disposed on the driving arm 310, and can provide a rotating basis for the blade base 410 and the driving wheel, so that the blade base 410 and the driving wheel can rotate under the driving of the driving device 500, thereby completing the rotation in the pipeline, and driving the blade 420 to cut.
In some embodiments of the invention, referring to fig. 2, the blade fixing portion is a fixing screw hole provided on the blade mount 410, and the blade 420 is provided with a mounting through hole; the insert 420 is detachably fixed to the insert mount 410 by bolts, fixing screw holes, and mounting through holes. The blade mount 410 is provided with a fixing screw hole, and the blade 420 is provided with an installation through hole, so that the blade 420 can be directly fixed on the fixing screw hole by using a bolt. When the blade 420 needs to be replaced, the rapid replacement can be realized through the bolt screw hole fixing structure.
In some embodiments of the invention, referring to fig. 1, 3, each follower arm 320 includes: a driven main arm 322, a telescopic arm 323 and a driven wheel set 321. A driven main arm 322 having one end connected to the main body structure 200 and having a telescopic groove therein; a telescopic arm 323, one end of which is disposed in the telescopic slot, for being driven by the driving device 500 to be telescopic; the driven pulley 321 is provided at the other end of the telescopic arm 323. The telescopic control of the telescopic arm 323 is realized by the driving device 500, and the telescopic control of the telescopic arm 323 can be completed by adopting a screw rod telescopic structure, or the telescopic control of the telescopic arm 323 can be completed by directly adopting a telescopic motor. When the telescopic arm 323 is controlled to be extended or retracted, a spring mechanism may be provided to assist the extension or retraction. The driven wheel set 321 is disposed at an end of the telescopic arm 323 away from the main body structure 200, so that the telescopic arm 323 can be stably contacted with the inner wall of the pipe after being extended. Driven wheelset 321 includes two from the driving wheels equally, and two are followed the driving wheel and are carried out coaxial setting, and interval between the two needs to be greater than the width of inside out turned over edge to guarantee can stably accomplish the rotation, and in the same way, the width of two action wheels in the initiative wheelset 311 also needs to be greater than the width of inside out turned over edge.
Here, as shown in fig. 1 and 3, when the traveling mechanism 100 is used to travel, the telescopic arm 323 may be contracted, and when the traveling mechanism travels to the burring position, the telescopic arm 323 may be controlled to extend. The arrangement can meet the requirements of walking and cutting, and cannot cause mutual interference between the walking mechanism 100 and the rotating mechanism 300.
In some embodiments of the invention, the bit-seeking apparatus 600 comprises: light source, image acquisition device. A light source disposed on the main body structure 200 and electrically connected to the local control unit 700; the image capturing device is disposed on the main body structure 200 and electrically connected to the local control unit 700. The luminance of pipeline can be guaranteed to the light source to make image acquisition device can gather clear pipeline image, can further transmit remote control unit 800 with the pipeline image through local control unit 700 and show in real time, thereby be convenient for constructor accomplishes the cutting to the inside turn-ups according to the pipeline image.
In some embodiments of the invention, the locating device 600 may further employ a magnetic field strength detecting sensor and a magnetic field emitting device. The magnetic field intensity detection sensor is arranged on the main body structure 200 and is electrically connected with the local control unit 700, and the magnetic field emission device is directly arranged on the outer surface of the pipeline through constructors and corresponds to the position of the inward flanging of the pipeline. When the traveling mechanism 100 travels forward, the change of the magnetic field intensity can be detected by the magnetic field intensity detection sensor, and when the traveling mechanism travels to the position of the pipe inner flanging, the detected magnetic field intensity is the maximum, so that the cutting device 400 is matched with the position of the pipe inner flanging, and the cutting device 400 can cut the pipe. It should be noted here that the magnetic field intensity detection sensor and the magnetic field emission device are used for locating, so that the position of the inner flange of the pipeline can be located automatically, and the local control unit 700 has small data volume to be transmitted, so that the cost can be effectively reduced.
In some embodiments of the invention, the locating device 600 may also employ an infrared camera and a heat source. The infrared camera is arranged on the main body structure 200 and is electrically connected with the local control unit 700, and the heat source is directly arranged on the outer surface of the pipeline through constructors and corresponds to the inner flanging position of the pipeline. When the infrared camera collects the infrared image, the heat source is a very prominent bright spot, so that whether the infrared camera walks to the inner flanging position or not can be determined only by determining the position of the bright spot on the infrared image. Specifically, assuming that the cutting device 400 rotates to the inward flanging position when the bright spot is at the middle in the infrared image, the cutting device 400 and the pipeline inward flanging position can be corresponded only by controlling the traveling mechanism 100 to travel to the infrared image in the state, so that the cutting device 400 can cut. It should be noted here that, the infrared camera and the heat source are used for locating, so that the position of the inward flange of the pipeline can be automatically located better, and the amount of data to be transmitted by the local control unit 700 is smaller than that of the optical image, so that the cost can be effectively reduced, and the speed of data processing can be ensured.
It should be noted here that the main body mechanism 200 may be always provided with an image capturing device, so that the actual inner flange cutting effect can be conveniently checked at one side of the remote control device 800.
In some embodiments of the invention, the remote control device 800 comprises: wireless communication module, show accuse unit. A wireless communication module wirelessly connected with the local control unit 700; and the display control unit is electrically connected with the wireless communication module. The wireless communication module can realize wireless communication with the local control unit 700, and in order to realize wireless communication, a wireless communication module having the same type as the wireless communication module in the remote control device 800 is installed at one side of the local control unit 700. The display control unit can adopt a tablet personal computer or adopt a structure of combining a controller, a display screen and a key to realize visual operation. In some embodiments of the invention, the wireless communication module may adopt a WiFi module, a ZigBee module, a bluetooth module, or the like.
In some embodiments of the invention, the core control unit of the local control unit 700 may employ a single chip, a DSP, or an ARM. The specific type of processor used can be determined according to the data amount of the pipeline image which needs to be transmitted actually. When the image data transmission amount is large, the DSP can be used as a core control unit.
Here, the driving device 500 includes a battery unit and various transmission mechanisms. Therefore, the walking mechanism 100, the rotating mechanism 300 and the cutting device 400 can be driven to work respectively through various transmission mechanisms by utilizing the electric energy in the storage battery, and the power can be supplied to the locating device 600 and the local control unit 700.
According to the pipe inner flanging leveling method provided by the embodiment of the second aspect of the invention, the method comprises the following steps:
starting the traveling mechanism 100 and the position searching device 600;
determining the position of an inner flanging of the pipeline through the locating device 600;
continuously advancing the travelling mechanism 100 until the cutting device 400 is aligned with the inward flanging position of the pipeline;
controlling the rotating mechanism 300 and the cutting device 400 to cut the inner flanging position of the pipeline to be flat;
and stopping the position searching device 600, and controlling the travelling mechanism 100 to continuously retreat until the pipeline is withdrawn.
Referring to fig. 1 to 4, the main structure 200 is disposed on the traveling mechanism 100, and the traveling mechanism 100 can drive the main structure 200 to move forward and backward in the pipeline. The main body structure 200 is an installation foundation, the rotating mechanism 300, the driving device 500, the position finding device 600 and the local control unit 700 can be installed and fixed through the main body structure 200, and the cutting device 400 is installed by relying on the rotating mechanism 300. The rotation mechanism 300 is disposed on the main body structure 200 and has a plurality of rotation portions with a sufficient angle therebetween, typically with an angular difference greater than 90 degrees. When the number of the rotating portions is set to 3, it is preferable that the angle between the 3 rotating portions is set to 120 degrees, so that the rotation stability can be best ensured. The cutting device 400 is disposed on the rotating mechanism 300, and can perform a cutting action, thereby effectively cutting the inner flange. When the rotating mechanism 300 starts to rotate, the cutting device 400 is synchronously started, so that the inner flanging of the pipeline can be cut off in a whole circle. The pipeline is comparatively narrow and dark usually, consequently hardly directly sees the pipeline inside flanging position through the manpower, then can provide the basis of confirming the pipeline inside flanging position through seeking the position device 600 to make cutting device 400 can accurately cut the pipeline inside flanging.
When the inward flanging is needed to be performed, a forward operation instruction is sent to the local control unit 700 through the remote control device 800, so that the traveling mechanism 100 and the locating device 600 are started through the local control unit 700; after the position finder 600 detects the inner flanging position, the remote control device 800 can send a working operation command to the local control unit 700, so as to start the cutting device 400 to cut. After cutting, the remote control device 800 controls the traveling mechanism 100 to retreat, and one-time inner flanging cutting is completed.
According to the method for leveling the inner flanging of the pipeline, disclosed by the embodiment of the invention, the walking mechanism 100 and the position searching device 600 are started and controlled to realize walking in the pipeline and determine the position needing to be specifically subjected to inner flanging cutting, and after the inner flanging position is determined, the whole inner flanging cutting can be finished at one time by controlling the rotating mechanism 300 and the cutting device 400. The method for leveling the inner flange of the pipeline solves the problem that the inner flange part of the pipeline is difficult to cut off, is simple and convenient to operate integrally, and is suitable for industrial popularization.
In some embodiments of the present invention, the locating device 600 comprises a light source and an image capturing device: the light source is disposed on the main body structure 200 and electrically connected to the local control unit 700; the image acquisition device is arranged on the main body structure 200 and is electrically connected with the local control unit 700;
the position of the inward flange of the pipeline is determined through the position finding device 600, and the method comprises the following steps:
turning on a light source so that the image acquisition device can acquire pipeline images in the pipeline, wherein the pipeline images acquired by the image acquisition device are transmitted to the local control unit 700;
the pipeline image received by the local control unit 700 is acquired so that the user can confirm the position of the inward flange of the pipeline according to the pipeline image.
The pipeline image in the pipeline collected by the image collecting device is transmitted to one end of the remote control device 800, so that the constructor at one end of the remote control device 800 can observe the current position, the cutting device 400 can be aligned to the inner flanging position at last, and the subsequent cutting is facilitated.
In some embodiments of the invention, the locating device 600 may further employ a magnetic field strength detecting sensor and a magnetic field emitting device. The magnetic field intensity detection sensor is arranged on the main body structure 200 and is electrically connected with the local control unit 700, and the magnetic field emission device is directly arranged on the outer surface of the pipeline through constructors and corresponds to the position of the inward flanging of the pipeline.
When the magnetic field intensity detection sensor and the magnetic field emission device are required to be used for determining the position of the inner flanging, the method can be realized through the following steps:
arranging a magnetic field emission device on the outer surface of the pipeline and corresponding to the position of the inward flanging of the pipeline;
after receiving a locating instruction sent by the remote control device 800, the local control unit 700 starts the traveling mechanism 100 and the magnetic field intensity detection sensor;
continuously detecting and continuously collecting the magnetic field strength value in the pipeline through a magnetic field strength detection sensor, and transmitting the magnetic field strength value to one end of a remote control device 800 for displaying;
and determining the target position when the magnetic field strength value in the interval of the pipeline to be cut is maximum, and controlling the travelling mechanism 100 to stop at the target position.
It should be noted that the magnetic field strength value is larger as the magnetic field strength detection sensor is closer to the magnetic field emission device, so that a process that the magnetic field is from small to large and from large to small is experienced during the forward movement of the traveling mechanism 100, and at the maximum, the magnetic field strength detection sensor corresponds to the position of the inward flanging of the pipeline. It should be noted here that the magnetic field intensity detection sensor and the magnetic field emission device are used for locating, so that the position of the inner flange of the pipeline can be located automatically, and the local control unit 700 has small data volume to be transmitted, so that the cost can be effectively reduced.
In some embodiments of the invention, the locating device 600 may also employ an infrared camera and a heat source. The infrared camera is arranged on the main body structure 200 and is electrically connected with the local control unit 700, and the heat source is directly arranged on the outer surface of the pipeline through constructors and corresponds to the inner flanging position of the pipeline.
When the infrared camera and the heat source are needed to be used for determining the position of the inner flanging, the method can be realized through the following steps:
arranging a heat source on the outer surface of the pipeline and corresponding to the position of the inward flanging of the pipeline;
after receiving a locating instruction sent by the remote control device 800, the local control unit 700 starts the traveling mechanism 100 and the infrared camera;
continuously detecting and continuously acquiring infrared images in the pipeline through an infrared camera, and transmitting the infrared images to one end of a remote control device 800 for display;
and determining the stop walking position of the walking mechanism 100 according to the infrared image in the pipeline.
When the infrared camera collects the infrared image, the heat source is a very prominent bright spot, so that whether the infrared camera walks to the inner flanging position or not can be determined only by determining the position of the bright spot on the infrared image. Specifically, assuming that the cutting device 400 rotates to the inward flanging position when the bright spot is at the middle in the infrared image, the cutting device 400 and the pipeline inward flanging position can be corresponded only by controlling the traveling mechanism 100 to travel to the infrared image in the state, so that the cutting device 400 can cut. It should be noted here that, the infrared camera and the heat source are used for locating, so that the position of the inward flange of the pipeline can be automatically located better, and the amount of data to be transmitted by the local control unit 700 is smaller than that of the optical image, so that the cost can be effectively reduced, and the speed of data processing can be ensured. It should be noted here that the main body mechanism 200 may be always provided with an image capturing device, so that the actual inner flange cutting effect can be conveniently checked at one side of the remote control device 800.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to the embodiments, and those skilled in the art will understand that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a turn-ups spade equipment in pipeline which characterized in that includes:
the travelling mechanism (100) is used for travelling in the pipeline;
a main body structure (200) provided on the traveling mechanism (100);
the rotating mechanism (300) is connected with the main body mechanism, the rotating mechanism (300) is provided with a plurality of rotating parts, and the plurality of rotating parts are jointly used for driving the main body structure (200) to rotate in the pipeline;
the cutting device (400) is arranged on the rotating mechanism (300) and is used for cutting the inward flanging of the pipeline;
the driving device (500) is arranged in the main body structure (200) and is used for driving the walking mechanism (100) to walk, driving the rotating mechanism (300) to rotate and driving the cutting device (400) to cut;
the locating device (600) is used for assisting in determining the position of the inward flanging of the pipeline;
the local control unit (700) is arranged in the main body structure (200), is electrically connected with the driving device (500) and the locating device (600) respectively, and is used for carrying out wireless data interaction with the remote control device (800).
2. The pipe in-flange leveling apparatus according to claim 1, wherein the traveling mechanism (100) includes:
the walking fixing seat (110) is used for bearing the main body structure (200);
the walking wheels (120) are arranged on the lower surface of the walking fixing seat (110) and are driven by the driving device (500) to rotate.
3. The pipe in-flange leveling apparatus according to claim 1, wherein the rotating mechanism (300) comprises:
the driving arm (310) is connected with the main body structure (200) at one end, and a driving wheel set (311) is arranged at the other end; the driving wheel set (311) is used for rotating under the driving of the driving device (500);
two driven arms (320), one end of each driven arm (320) is connected with the main body structure (200), and the other end is provided with a driven wheel set (321); the driving arm (310) and the two driven arms (320) are used together for supporting the main body structure (200) to rotate in the pipeline.
4. The pipeline inner flanging leveling device according to claim 3, wherein the driving wheel set (311) comprises two driving wheels, and the two driving wheels are coaxially arranged and are used for rotating under the driving of the driving device (500);
the cutting device (400) comprises:
the blade base (410) is coaxially arranged with the driving wheel set (311), is positioned between the two driving wheels, and is used for rotating under the driving of the driving device (500); a plurality of blade fixing parts are arranged on the blade base (410);
a plurality of blades (420) provided on the blade mount (410) through a plurality of the blade fixing portions, respectively;
the cutter head base (430) is arranged on the driving arm (310) and used for rotatably supporting the blade base (410) and the driving wheel set (311).
5. The pipeline inner flanging leveling device according to claim 4, wherein the blade fixing portion is a fixing screw hole formed in the blade base (410), and the blade (420) is provided with a mounting through hole; the blade (420) is detachably fixed on the blade base (410) through a bolt, the fixing screw hole and the mounting through hole.
6. The pipe in-flange leveling apparatus of claim 3, wherein each of the follower arms (320) includes:
a driven main arm (322) having a telescopic slot therein, one end of which is connected to the main structure (200);
one end of the telescopic arm (323) is arranged in the telescopic groove and is used for realizing the telescopic action under the driving of the driving device (500);
the driven wheel set (321) is arranged at the other end of the telescopic arm (323).
7. The pipe in-turned edge leveling apparatus according to claim 1, wherein the position finding device (600) comprises:
the light source is arranged on the main body structure (200) and is electrically connected with the local control unit (700);
the image acquisition device is arranged on the main body structure (200) and is electrically connected with the local control unit (700).
8. The pipe in-flange leveling apparatus according to claim 1 or 7, wherein the remote control device (800) comprises:
a wireless communication module, wirelessly connected with the local control unit (700);
and the display control unit is electrically connected with the wireless communication module.
9. A method for leveling an inner flange of a pipeline is characterized by comprising the following steps:
starting the traveling mechanism (100) and the position searching device (600);
determining the position of an inner flanging of the pipeline through a position finding device (600);
continuously advancing the travelling mechanism (100) until the cutting device (400) is aligned with the inward flanging position of the pipeline;
controlling a rotating mechanism (300) and the cutting device (400) to cut the inner flanging position of the pipeline to be flat;
stopping the position searching device (600), and controlling the travelling mechanism (100) to continuously retreat until the pipeline is withdrawn.
10. The pipe inner flange leveling method according to claim 9, wherein the position finding device (600) comprises a light source and an image acquisition device: the light source is arranged on the main body structure (200) and is electrically connected with the local control unit (700); the image acquisition device is arranged on the main body structure (200) and is electrically connected with the local control unit (700);
the method for determining the position of the inner flanging of the pipeline through the position finding device (600) comprises the following steps:
turning on the light source so that the image acquisition device can acquire pipeline images in a pipeline, wherein the pipeline images acquired by the image acquisition device are transmitted to a local control unit (700);
and acquiring the pipeline image received by the local control unit (700), so that a user can confirm the inward flanging position of the pipeline according to the pipeline image.
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| CN202111081726.9A CN113858309A (en) | 2021-09-15 | 2021-09-15 | Pipeline inner flanging leveling device and pipeline inner flanging leveling method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111081726.9A CN113858309A (en) | 2021-09-15 | 2021-09-15 | Pipeline inner flanging leveling device and pipeline inner flanging leveling method |
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Application publication date: 20211231 |