CN114013526A - Annular telescopic pipe clamping claw - Google Patents
Annular telescopic pipe clamping claw Download PDFInfo
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- CN114013526A CN114013526A CN202111301662.9A CN202111301662A CN114013526A CN 114013526 A CN114013526 A CN 114013526A CN 202111301662 A CN202111301662 A CN 202111301662A CN 114013526 A CN114013526 A CN 114013526A
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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
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Abstract
The invention relates to the technical field of external detection of pipes, in particular to an annular telescopic pipe clamping paw, wherein a first circular arc push rod and a second circular arc push rod are arranged in a pipeline at the front part of a base body, the back curved surfaces of the first circular arc push rod and the second circular arc push rod are provided with transmission tooth structures, a transmission system is arranged in a support structure in the base body and drives two cylindrical-conical dual gears through bevel gear shafts, cylindrical gears of the cylindrical-conical dual gears are respectively meshed with the transmission tooth structures of the first circular arc push rod and the second circular arc push rod, and bevel gears are respectively meshed with bevel gears in the two cylindrical-conical dual gears; the bevel gear shaft can rotate to drive the two cylindrical-conical dual gears to synchronously and reversely rotate so as to drive the first arc-shaped push rod and the second arc-shaped push rod to synchronously extend out of the base body. The pipe clamping gripper has the advantages that the pipe clamping gripper is small in clamping action and high in space utilization rate, and the pipe can be clamped tightly through a small gap.
Description
Technical Field
The invention relates to the technical field of external detection of pipes, in particular to an annular telescopic pipe clamping paw.
Background
The pipeline is a common gas-liquid conveying carrier and needs to be checked and maintained regularly, and a pipeline climbing robot needs to be used for replacing the pipeline part which is not easy to reach or operate by personnel. Pipe climbing robots often use pipe gripping devices to grip the outer wall of a pipe to achieve alternating progress.
The tubes are generally cylindrical and the outer wall is circular in cross-section, and there are sometimes a plurality of tubes arranged in parallel rows with only a small spacing between them, such as the superheater tube panels. The power sources of the prior pipe clamping device are manual, electric, pneumatic and hydraulic. Wherein, the manual driving volume is small, the cost is low, but the efficiency is not high; the pneumatic and hydraulic structures are simple, mainly linear output is realized, but the gas has compressibility and is not easy to be uniform in speed, and hydraulic elements are easy to leak and inconvenient to maintain; the electric drive has stronger applicability and convenient control and is commonly used.
Common forms of pipeline clamping mechanisms include an upper clamp type, a lower clamp type, a clamping die clamping type, an air bag expansion/internal expansion type, a band-type brake type, a pipe clamping frame unfolding type, a rolling pipe clamping type and the like, and the common forms of the pipeline clamping mechanisms have advantages, disadvantages and applicable environments, but have the common point that the pipeline clamping mechanisms are large in size or radial working range and cannot work on a pipeline row with small gaps.
Disclosure of Invention
In order to solve the problems, the invention provides an annular telescopic pipe clamping gripper which is a pipeline clamping mechanism with small clamping action and high space utilization rate, and can clamp a pipeline through a small gap.
In order to achieve the purpose, the invention adopts the technical scheme that:
an annular telescopic pipe clamping paw comprises a base body, a first arc-shaped push rod, a second arc-shaped push rod and a transmission system, wherein the front portion of the base body is a crescent-shaped pipeline, the first arc-shaped push rod and the second arc-shaped push rod are arranged in the pipeline in the front portion of the base body, the curvatures of the first arc-shaped push rod and the second arc-shaped push rod are matched with the curvature of the pipeline, the back curved surfaces of the first arc-shaped push rod and the second arc-shaped push rod are provided with transmission tooth structures, the rear portion of the base body is a support structure communicated with the interior of the pipeline, and the transmission system is arranged in the support structure;
the transmission system comprises a bevel gear shaft and two cylindrical-conical dual gears, the cylindrical-conical dual gears comprise cylindrical gears and conical gears which are coaxially arranged, the two cylindrical-conical dual gears are coaxially arranged and can independently rotate, the conical gear in each cylindrical-conical dual gear is arranged towards the direction of the other cylindrical-conical dual gear, the cylindrical gears of the two cylindrical-conical dual gears are respectively meshed with the transmission gear structures of the first arc-shaped push rod and the second arc-shaped push rod, the front end of the bevel gear shaft is provided with a bevel gear, and the bevel gear is respectively meshed with the conical gears of the two cylindrical-conical dual gears;
the bevel gear shaft can rotate to drive the two cylindrical-conical dual gears to synchronously and reversely rotate so as to drive the first arc-shaped push rod and the second arc-shaped push rod to synchronously extend out of the base body, and the first arc-shaped push rod, the second arc-shaped push rod and the base body form an annular or ring-like structure after the first arc-shaped push rod and the second arc-shaped push rod extend out of the base body.
Preferably, a partition plate is arranged in the pipeline, the partition plate divides the front pipeline of the base body into two independent cavities, and the first arc-shaped push rod and the second arc-shaped push rod are respectively arranged in the two independent cavities.
Preferably, the inner wall of the pipeline is provided with a sliding groove extending in the same direction as the pipeline, the surfaces of the first arc-shaped push rod and the second arc-shaped push rod are provided with guide rails extending in a curved shape, the guide rails are located in the sliding groove, and the guide rails are matched with the sliding groove to limit the pushing-out direction of the first arc-shaped push rod and the pushing-out direction of the second arc-shaped push rod.
Preferably, a raised top block is arranged at the center of the inner annular surface of the outer wall of the pipeline, when the first arc push rod and the second arc push rod extend out of the base body and are clamped on the outer wall of the pipe body to be clamped, the top block is in contact with the pipe body to be clamped, and the contact surfaces of the first arc push rod, the second arc push rod and the top block and the outer wall of the pipe body to be clamped are annular surfaces.
Preferably, the support structure comprises a first gear support and a second gear support which are symmetrically arranged, when the first gear support and the second gear support are buckled, the first gear support and the second gear support form three first support plates which are arranged at equal intervals, first hollowed-out holes are formed in joints of the three first support plates, first support shaft sleeves are respectively arranged in the three first hollowed-out holes, and the cylindrical-conical dual gear is rotatably arranged at the first support shaft sleeves through shaft structures on two end faces of the cylindrical-conical dual gear;
the bevel gear support is characterized in that a second support plate is formed when the first gear support and the second gear support are buckled, a second hollowed hole is formed in the joint of the second support plate, a second supporting shaft sleeve is arranged in the second hollowed hole, a thrust shaft collar is arranged on the bevel gear shaft, the bevel gear shaft is inserted into the second supporting shaft sleeve, and the rear end face of the thrust shaft collar abuts against the second supporting shaft sleeve.
Preferably, the driving device of the bevel gear shaft is a direct-current brushless right-angle speed reduction motor, the direct-current brushless right-angle speed reduction motor is provided with a worm and gear speed reduction system and has a self-locking function, an output shaft of the direct-current brushless right-angle speed reduction motor is a hollow shaft, and the inner cross section of the hollow shaft is consistent with the cross section of the tail end of the bevel gear shaft.
Preferably, the wrap angle of the front base body pipe relative to the pipe body to be clamped is 150 degrees; the wrap angle of the partition board relative to the pipe body to be clamped is 120 degrees; the wrap angle of the first arc-shaped push rod and the second arc-shaped push rod relative to the pipe body to be clamped is 155 degrees; the wrap angle of the transmission gear structure is 70 degrees.
Preferably, the wrap angle of the guide rail relative to the pipe body to be clamped is 120-135 degrees.
Preferably, the front ends of the first arc-shaped push rod and the second arc-shaped push rod are clamping sections, each clamping section comprises a clamping jaw and a rubber pad, the wrap angle of each clamping jaw is 35 degrees, the guide rail extends to the clamping section, the wrap angle of the axial coinciding part of the guide rail and the clamping section is 15 degrees, and one side, back to the guide rail, of each clamping jaw is widened to increase the clamping surface.
Preferably, the inner side surface of the clamping jaw is provided with a rubber pad, the contact surface of the outer edge of the rubber pad is in a wedge shape, clamping pressure can be provided through counter force generated by elastic deformation, and friction between the claw and the pipe wall is increased.
The beneficial effects of the invention are as follows:
when the pipe clamping gripper works, the first circular arc push rod and the second circular arc push rod slide and extend out along two sides of the base body, the track of the inner sides of the first circular arc push rod and the second circular arc push rod is a circle, the track circle and the cross section circle of the pipeline are eccentric through the ejector block of the base body, the two circles are intersected at two points, the clamping ends of the two circular arc push rods can be respectively pushed to the two intersection points by the transmission system, the two points and the ejector block of the base body jointly act on the cross section circle of the pipeline, and closed clamping force is generated to clamp the pipeline. The motor needs to have a self-locking function to maintain the clamping force. The clamping device has the advantages of small volume and high space utilization rate, and can be applied to clamping of single-row circular-section pipelines with small gaps.
Drawings
FIG. 1 is a general schematic view of the ring-shaped telescopic pipe clamping gripper of the present invention.
FIG. 2 is a schematic view of the working principle of the annular telescopic pipe clamping gripper in a top view.
FIG. 3 is a schematic diagram of the operation of the annular telescopic gripping gripper of the present invention in a pipe row.
FIG. 4 is a sectional top view and a view from the end of the base body of the annular telescopic clamping tube gripper of the present invention.
FIG. 5 is a schematic view of the circular arc push rod of the annular telescopic pipe clamping gripper according to the present invention.
FIG. 6 is a schematic view of the transmission system of the annular telescopic pipe clamping gripper of the present invention.
FIG. 7 is a simplified force analysis diagram of the circular telescopic pipe clamping gripper of the present invention, using a left circular push rod as an example.
The reference numerals include:
in the figure, 1 — the substrate; 2-a first arc push rod; 3-a second arc push rod; 4, a transmission system; 5, a direct-current brushless right-angle speed reduction motor; 6, a top block; 7-cylindrical-conical double gear; 8-bevel gear shaft; 9-a chute; 10-a separator; 11-a guide rail; 12-rubber pad; 13-a clamping section; 14, a transmission section; 15-a gear ring; 16 — a first gear holder; 17-a second gear support; 18-a first support sleeve; 19-second supporting sleeve.
Detailed Description
In order to make the purpose, technical solution and advantages of the present technical solution more clear, the present technical solution is further described in detail below with reference to specific embodiments. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present teachings.
As shown in fig. 1 to 7, the embodiment provides an annular telescopic pipe clamping gripper, which includes a base 1, a first arc push rod 2, a second arc push rod 3, and a transmission system 4, wherein a front portion of the base 1 is a crescent pipe, the first arc push rod 2 and the second arc push rod 3 are both disposed in the pipe at the front portion of the base 1, curvatures of the first arc push rod 2 and the second arc push rod 3 are matched with those of the pipe, back-to-back curved surfaces of the first arc push rod 2 and the second arc push rod 3 have transmission tooth structures, a rear portion of the base 1 is a bracket structure communicated with an inside of the pipe, and the transmission system 4 is disposed in the bracket structure.
As shown in fig. 2 and 6, the transmission system 4 includes a bevel gear shaft 8 and two cylindrical-conical dual gears 7, the cylindrical-conical dual gears 7 include cylindrical gears and conical gears which are coaxially disposed, the two cylindrical-conical dual gears 7 are coaxially disposed and can rotate independently, the conical gear in each cylindrical-conical dual gear 7 is disposed toward the other cylindrical-conical dual gear 7, the cylindrical gears of the two cylindrical-conical dual gears 7 are respectively engaged with the transmission gear structures of the first circular arc push rod 2 and the second circular arc push rod 3, the front end of the bevel gear shaft 8 is provided with a bevel gear which is respectively engaged with the conical gears of the two cylindrical-conical dual gears 7; the bevel gear shaft 8 rotates and can drive the two cylindrical-conical dual gears 7 to synchronously and reversely rotate so as to drive the first arc-shaped push rod 2 and the second arc-shaped push rod 3 to synchronously extend out of the base body 1, and after the first arc-shaped push rod 2 and the second arc-shaped push rod 3 extend out of the base body 1, the first arc-shaped push rod 2, the second arc-shaped push rod 3 and the base body 1 form a ring-shaped or ring-like structure.
The present apparatus is described in detail below.
As shown in fig. 4 and 5, the front part of the base body 1 is a crescent-shaped pipeline, a partition plate 10 is arranged in the pipeline, the partition plate 10 divides the front part of the base body 1 into two independent cavities, and the first arc push rod 2 and the second arc push rod 3 are respectively arranged in the two independent cavities. The inner wall of the pipeline is provided with a sliding groove 9 extending in the same direction as the pipeline, the surfaces of the first arc push rod 2 and the second arc push rod 3 are provided with a guide rail 11 extending in a curved shape, the guide rail 11 is positioned in the sliding groove 9, and the guide rail 11 is matched with the sliding groove 9 to limit the pushing-out direction of the first arc push rod 2 and the second arc push rod 3.
Specifically, as shown in fig. 1, the first arc push rod 2 and the second arc push rod 3 are arranged in opposite directions, the guide rail 11 on one side of the non-arc surface is inserted into the corresponding sliding slot 9 of the base body 1, the gear ring 15 is partially outward, and the first arc push rod 2 and the second arc push rod 3 are arranged in parallel up and down and respectively slide in two independent cavities of the base body 1.
The support structure comprises a first gear support 16 and a second gear support 17 which are symmetrically arranged, when the first gear support 16 and the second gear support 17 are buckled, the first gear support 16 and the second gear support 17 form three first support plates which are arranged at equal intervals, first hollowed holes are formed in joints of the three first support plates, first support shaft sleeves 18 are respectively arranged in the three first hollowed holes, and the cylindrical-conical dual gear 7 is rotatably arranged at the first support shaft sleeves 18 through shaft structures on two end faces of the cylindrical-conical dual gear;
form the second mounting panel when first gear bracket 16 and second gear bracket 17 lock, the seam crossing of this second mounting panel is equipped with second fretwork hole, and this second fretwork hole is equipped with second support axle sleeve 19, is equipped with the thrust axle collar on the bevel gear axle 8, and bevel gear axle 8 cartridge is in second support axle sleeve 19, and the rear end butt of thrust axle collar is on second support axle sleeve 19.
The gear rings 15 of the first arc push rod 2 and the second arc push rod 3 are respectively meshed with cylindrical gears of two cylindrical-conical dual gears 7 in the transmission system 4, one sides of openings of the first gear support 16 and the second gear support 17 are connected to and fixed with an opening on the outer side of the base body 1, so that the cylindrical gears can be fixed with rotating shafts of the gear rings 15 on the back of the first arc push rod 2 and the second arc push rod 3, and the transmission of motion and power is realized.
As shown in fig. 2 and 3, a raised top block 6 is arranged at the center of the inner annular surface of the outer wall of the pipeline, when the first arc push rod 2 and the second arc push rod 3 extend out of the base body 1 and are clamped on the outer wall of the pipe body to be clamped, the top block 6 is in contact with the pipe body to be clamped, and the contact surfaces of the first arc push rod 2, the second arc push rod 3 and the top block 6 and the outer wall of the pipe body to be clamped are annular surfaces.
Fig. 2 shows that the center of the cross-sectional circle of the outer wall of the pipe body to be clamped and the center of the track of the push rod are staggered by the top block 6 of the base body 1 to generate eccentricity, so that the track circles of the first arc-shaped push rod 2 and the second arc-shaped push rod 3 and the cross-sectional circle of the outer wall of the pipe body to be clamped generate intersection points, the input is transmitted to the first arc-shaped push rod 2 and the second arc-shaped push rod 3 through the gear ring 15 by the transmission system 4, and the first arc-shaped push rod 2 and the second arc-shaped push rod 3 are pushed out to realize clamping. Initially, the two push rods are located at the positions of solid lines shown in the figure, and the clamping jaws are symmetrical (the gear ring 15 of the first circular arc push rod 2 on the left side is located above, and the gear ring 15 of the second circular arc push rod 3 on the right side is located below, so that the two push rods are partially blocked); when the clamping device works, the bevel gear transmission can enable the two cylindrical-conical dual gears 7 to rotate in opposite directions, the first arc push rod 2 and the second arc push rod 3 are respectively pushed towards two sides until the wedge-shaped rubber pads 12 of the clamping jaws at the front ends of the first arc push rod 2 and the second arc push rod 3 are in contact with the section circle of the outer wall of the pipe body to be clamped, namely the position of the double-dot chain line shown in the figure. When clamping, the gear transmits driving torque, so that the clamping jaw and the top block 6 of the base body 1 respectively generate pressure towards the circle center of the section circle of the outer wall of the pipe body to be clamped, the three forces are balanced with each other, stable clamping force is generated, and the clamping force is maintained by self-locking of the direct-current brushless right-angle speed reducing motor 5.
In this embodiment, the driving device of the bevel gear shaft 8 is a dc brushless right-angle reduction motor 5, the dc brushless right-angle reduction motor 5 has a worm and gear reduction system and has a self-locking function, an output shaft of the dc brushless right-angle reduction motor 5 is a hollow shaft, and an inner cross section of the hollow shaft is consistent with a cross section of the tail end of the bevel gear shaft 8.
The wrap angle of the front pipeline of the base body 1 relative to the pipe body to be clamped is 150 degrees; the wrap angle of the partition board 10 relative to the pipe body to be clamped is 120 degrees; the wrap angle of the first arc push rod 2 and the second arc push rod 3 relative to the pipe body to be clamped is 155 degrees; the wrap angle of the transmission gear structure is 70 degrees. The wrap angle of the guide rail 11 relative to the pipe body to be clamped is 120-135 degrees,
the front ends of the first arc-shaped push rod 2 and the second arc-shaped push rod 3 are clamping sections 13, each clamping section 13 comprises a clamping jaw and a rubber pad, the wrap angle of each clamping jaw is 35 degrees, the guide rail 11 extends to the clamping section 13, the wrap angle of the axial coincident part of the guide rail 11 and the clamping section 13 is 15 degrees, and one side of each clamping jaw, back to the guide rail 11, is widened to increase the clamping surface.
The rubber pad 12 is arranged on the inner side face of the clamping jaw, the contact face of the outer edge of the rubber pad 12 is in a wedge shape, clamping pressure can be provided through counter force generated by elastic deformation, and friction between the claw and the pipe wall is increased.
Fig. 3 is a schematic view of the operation of the present invention in a piping row. Firstly, in an initial state, a first circular arc push rod 2 and a second circular arc push rod 3 are retracted into an inner cavity of a base body 1, a top block 6 of the base body 1 is in contact with the pipe wall of a pipe body to be clamped for positioning, and the base body 1 does not touch the pipe walls on two adjacent sides; secondly, the first arc push rod 2 and the second arc push rod 3 start to extend out, and extend out to two sides along arc tracks through the transmission system 4, the widest parts of the tracks of the outer sides of the first arc push rod 2 and the second arc push rod 3 cannot touch the pipe walls of two adjacent sides, and the inner sides of the first arc push rod 2 and the second arc push rod 3 do not reach clamping points, so that the first arc push rod and the second arc push rod can be pushed out smoothly; thirdly, in the state that the clamping ends of the first arc-shaped push rod 2 and the second arc-shaped push rod 3 are close to the clamping points, the rubber pads 12 on the inner sides of the clamping jaws start to act on the pipe wall, trace elastic deformation is generated in the process of continuing propulsion, the reaction force generated by the deformation forms the clamping force, and meanwhile, the friction force for preventing the first arc-shaped push rod 2 and the second arc-shaped push rod 3 from being propelled is generated and gradually increased along with the propulsion process; and fourthly, the pipe is in a clamping state, the thrust and the resistance are balanced at the moment, the clamping force reaches the maximum, the thrust is kept through self-locking of the direct-current brushless right-angle speed reducing motor 5, and the first arc-shaped push rod 2, the second arc-shaped push rod 3 and the top block 6 act on the outer wall of the pipe to realize clamping.
The base body 1 and the first and second arc push rods 2, 3 are shown in fig. 4 and 5. The sliding groove 9 in the base body 1 is matched with the guide rails 11 of the first circular arc push rod 2 and the second circular arc push rod 3, the sliding groove 9 is close to the inner side of the base body 1, and the outer side of the sliding groove leaves a movement space for the gear rings 15 of the first circular arc push rod 2 and the second circular arc push rod 3. The step of the clamping section 13 in the shape of widening can be propped against the partition plate 10 in the base body 1 to determine the limit positions of the first arc push rod 2 and the second arc push rod 3 when retracting, and to ensure that the movement tracks of the first arc push rod 2 and the second arc push rod 3 are symmetrical. Because the transmission sections 14 of the first arc push rod 2 and the second arc push rod 3 respectively slide up and down in a staggered manner in the cavity partition plate 10 of the base body 1, the tracks are not on the same plane, the problem that the clamping points are not on the same circumferential plane can be caused, and a torsion moment is generated, so that the widened clamping section 13 can also enable the projections of the clamping surfaces of the two clamping jaws to be overlapped, the overturning is avoided, the contact area is increased, and the stable clamping is ensured.
The transmission system 4 of the present invention is shown in fig. 6. The axes of the two cylindrical-conical dual gears 7 are overlapped and arranged in parallel and oppositely, the shafts close to one side of the conical gear are respectively inserted into two ends of the same first supporting shaft sleeve 18, the thrust shaft shoulders are used for carrying out radial positioning, and the first supporting shaft sleeve 18 is inserted into a semicircular groove arranged on the middle support of the first gear support 16 and the second gear support 17. The other ends of the two cylindrical and conical dual gears 7 are respectively connected into corresponding first supporting shaft sleeves 18 and are also positioned by thrust shaft shoulders, and the two first supporting shaft sleeves 18 are respectively arranged in semicircular grooves on the upper surface and the lower surface of the gear bracket. The bevel gear shaft 8 is connected into a second supporting shaft sleeve 19 and positioned by a thrust shaft collar, the second supporting shaft sleeve 19 is arranged in a semicircular groove on the side surface of the gear bracket, the bevel gear shaft 8 is respectively meshed with bevel gears of the two cylindrical-conical dual gears 7, and the intersection angles of the shafts are both 90 degrees. The section of the shaft section at the tail end of the bevel gear shaft 8 is a round surface with a notch, a molded surface connection mode is adopted between the bevel gear shaft 8 and a hollow shaft of the direct-current brushless right-angle speed reduction motor 5, and the bevel gear shaft 8 is used as the driving input of a gear set. The axes of the above first support boss 18 and second support boss 19 are located in the same plane. In this embodiment, the bevel gear shaft 8 is used as a drive to be respectively engaged with the bevel gears of the two cylindrical-conical dual gears 7, when the bevel gear shaft 8 rotates, the two cylindrical-conical dual gears 7 can rotate in opposite directions, the cylindrical gear portions are respectively engaged with the gear rings 15 of the two circular arc push rods, and the two circular arc push rods are pushed out in opposite directions until the pipeline is clamped.
Fig. 7 shows the stress of the first arc push rod 2, and the angle theta formed by the clamping point and the center of the cross section circle of the outer wall of the pipe body to be clamped and the center of the arc push rod is very small (2-3 degrees), so the influence of the angle is ignored in the analysis. In the figure, P is the reaction force of the outer wall of the pipe body to be clamped on the clamping jaws, and the pressure of the left clamping jaw on the outer wall of the pipe body to be clamped is the same as P according to Newton's third law, and the direction of the pressure is along the center of a cross-section circle of the pipe body to be clamped; the positive pressure is generated by the micro elastic deformation of the push rod and the rubber pad 12 which are contacted with the pipe wall of the pipe body to be clamped under the action of the thrust. F is the tangential acting force of the transmission gear on the gear ring 15 part and is the input force transmitted by the drive, and mu is the friction coefficient between the rubber pad 12 of the clamping jaw and the pipe wall of the pipe body to be clamped. The clamping jaw contacts the tight in-process with treating centre gripping body pipe wall, can produce frictional force:
f＝μP
in the process, the thrust force F is greater than the resistance force F, and the first arc push rod 2 continues to move forwards. The positive pressure P between the clamping jaw and the pipe wall of the pipe to be clamped is gradually increased, the generated friction force f is also gradually increased, and the direction of the friction force is opposite to the propelling direction of the first arc push rod 2 along the tangent line of the outer diameter of the pipe wall of the pipe to be clamped. And F' is the thrust force from the transmission system 4 on the clamping jaw, the magnitude of the thrust force is equal to that of F, and the direction of the thrust force is along the tangent line of the first circular arc push rod 2. Neglecting the influence of theta, the friction force F and the thrust force F' are approximately on the same straight line, and when the two forces are balanced, the clamping state is reached, and the maximum positive pressure Pmax generated at the moment is related to the thrust force F as follows:
F＝μPmax
the part of the first arc push rod 2 extending out of the base body 1 is equivalent to a cantilever beam, the suspension point is arranged at the end surface A, the clamping end receives the reaction force P of the pipe wall of the pipe body to be clamped at the clamping state, the included angle between the P and the end surface A is alpha, the radius is R, the part of the pipe body with the largest bending moment is arranged at the A, and the bending moment M and the shearing force Q are respectively:
M＝P·Rsinα
Q＝Pcosα
bending moment acts on the section of the transmission section 14 of the first circular arc push rod 2, and shearing force acts on the section of the guide rail 11, so that the stress borne by the first circular arc push rod should meet the following requirements:
in the formula:
σ a-bending stress at the cantilever, MPa;
[σa]-allowable bending stress, MPa;
w is the bending section modulus of the section of the transmission section 14, mm 3;
σb-shear stress at cantilever, MPa;
[σb]-allowable shear stress, MPa;
s-guide rail 11 cross-sectional area, mm 2.
The theoretical input torque T required for driving is:
in the formula:
d1the reference circle diameter of a cylindrical gear in the cylindrical and conical dual gear;
d2-pitch circle diameter of a bevel gear in a cylindrical and conical dual gear;
d3-drive bevel gear pitch circle diameter;
due to deformation, friction and other factors, the required actual torque is larger than the calculated value, and the clamping jaw just clamps the pipeline at the moment. The following units are used for the parameters in the above formula without units being noted: force is N, moment is N.mm, length is mm.
When the pipe clamping gripper works, the first circular arc push rod 2 and the second circular arc push rod 3 slide and extend out along two sides of the base body 1, the track of the inner sides of the base body 1 is a circle, the track circle and the cross-section circle of the pipeline are eccentric through the ejector block 6 of the base body 1, the two circles are intersected at two points, the clamping ends of the two circular arc push rods can be respectively pushed to the two intersection points by the transmission system 4, the two points and the ejector block 6 of the base body 1 jointly act on the cross-section circle of the pipeline, and closed clamping force is generated to clamp the pipeline. The motor needs to have a self-locking function to maintain the clamping force. The clamping device has the advantages of small volume and high space utilization rate, and can be applied to clamping of single-row circular-section pipelines with small gaps.
The foregoing is only a preferred embodiment of the present invention, and many variations in the specific embodiments and applications of the invention may be made by those skilled in the art without departing from the spirit of the invention, which falls within the scope of the claims of this patent.
Claims (10)
1. The utility model provides a telescopic double-layered pipe hand claw of annular which characterized in that: the transmission mechanism comprises a base body, a first arc push rod, a second arc push rod and a transmission system, wherein the front part of the base body is a crescent pipeline, the first arc push rod and the second arc push rod are arranged in the pipeline in the front part of the base body, the curvatures of the first arc push rod and the second arc push rod are matched with the curvature of the pipeline, the back curved surfaces of the first arc push rod and the second arc push rod are provided with transmission tooth structures, the rear part of the base body is a support structure communicated with the interior of the pipeline, and the transmission system is arranged in the support structure;
the transmission system comprises a bevel gear shaft and two cylindrical-conical dual gears, the cylindrical-conical dual gears comprise cylindrical gears and conical gears which are coaxially arranged, the two cylindrical-conical dual gears are coaxially arranged and can independently rotate, the conical gear in each cylindrical-conical dual gear is arranged towards the direction of the other cylindrical-conical dual gear, the cylindrical gears of the two cylindrical-conical dual gears are respectively meshed with the transmission gear structures of the first arc-shaped push rod and the second arc-shaped push rod, the front end of the bevel gear shaft is provided with a bevel gear, and the bevel gear is respectively meshed with the conical gears of the two cylindrical-conical dual gears;
the bevel gear shaft can rotate to drive the two cylindrical-conical dual gears to synchronously and reversely rotate so as to drive the first arc-shaped push rod and the second arc-shaped push rod to synchronously extend out of the base body, and the first arc-shaped push rod, the second arc-shaped push rod and the base body form an annular or ring-like structure after the first arc-shaped push rod and the second arc-shaped push rod extend out of the base body.
2. The annular telescopic pipe clamping gripper of claim 1, wherein: the pipeline is internally provided with an edge partition plate which divides the front pipeline of the base body into two independent cavities, and the first arc-shaped push rod and the second arc-shaped push rod are respectively arranged in the two independent cavities.
3. The annular telescopic pipe clamping gripper of claim 1, wherein: the inner wall of the pipeline is provided with a sliding groove extending in the same direction as the pipeline, the surfaces of the first arc-shaped push rod and the second arc-shaped push rod are provided with guide rails extending in a curved shape, the guide rails are located in the sliding groove, and the guide rails are matched with the sliding groove to limit the pushing-out direction of the first arc-shaped push rod and the second arc-shaped push rod.
4. The annular telescopic pipe clamping gripper of claim 1, wherein: the pipe clamping device is characterized in that a protruding top block is arranged at the center of an inner ring surface of the outer wall of the pipe, when the first arc-shaped push rod and the second arc-shaped push rod extend out of the base body and are clamped on the outer wall of a pipe body to be clamped, the top block is in contact with the pipe body to be clamped, and the contact surfaces of the first arc-shaped push rod, the second arc-shaped push rod and the top block and the outer wall of the pipe body to be clamped are annular surfaces.
5. The annular telescopic pipe clamping gripper of claim 1, wherein: the support structure comprises a first gear support and a second gear support which are symmetrically arranged, when the first gear support and the second gear support are buckled, the first gear support and the second gear support form three first support plates which are arranged at equal intervals, first hollowed-out holes are formed in joints of the three first support plates, first support shaft sleeves are respectively arranged in the three first hollowed-out holes, and the cylindrical-conical dual gear is rotatably arranged at the first support shaft sleeves through shaft structures on two end faces of the cylindrical-conical dual gear;
the bevel gear support is characterized in that a second support plate is formed when the first gear support and the second gear support are buckled, a second hollowed hole is formed in the joint of the second support plate, a second supporting shaft sleeve is arranged in the second hollowed hole, a thrust shaft collar is arranged on the bevel gear shaft, the bevel gear shaft is inserted into the second supporting shaft sleeve, and the rear end face of the thrust shaft collar abuts against the second supporting shaft sleeve.
6. The annular telescopic pipe clamping gripper of claim 1, wherein: the driving device of the bevel gear shaft is a direct-current brushless right-angle speed reducing motor which has a worm and gear speed reducing system and has a self-locking function, an output shaft of the direct-current brushless right-angle speed reducing motor is a hollow shaft, and the inner cross section of the hollow shaft is consistent with the cross section of the tail end of the bevel gear shaft.
7. The annular telescopic pipe clamping gripper of claim 1, wherein: the wrap angle of the front pipeline of the base body relative to the pipe body to be clamped is 150 degrees; the wrap angle of the partition board relative to the pipe body to be clamped is 120 degrees; the wrap angle of the first arc-shaped push rod and the second arc-shaped push rod relative to the pipe body to be clamped is 155 degrees; the wrap angle of the transmission gear structure is 70 degrees.
8. The annular telescopic pipe clamping gripper of claim 3, wherein: the wrap angle of the guide rail relative to the pipe body to be clamped is 120-135 degrees.
9. The annular telescopic pipe clamping gripper of claim 3, wherein: the front ends of the first arc-shaped push rod and the second arc-shaped push rod are clamping sections, each clamping section comprises a clamping jaw and a rubber pad, the wrap angle of each clamping jaw is 35 degrees, the guide rail extends to the clamping sections, the wrap angle of the axial coincident part of the guide rail and the clamping sections is 15 degrees, and one side, back to the guide rail, of each clamping jaw is widened to increase the clamping surface.
10. The annular telescopic pipe clamping gripper of claim 9, wherein: the inner side surface of the clamping jaw is provided with a rubber pad, the contact surface of the outer edge of the rubber pad is wedge-shaped, clamping pressure can be provided through counter force generated by elastic deformation, and friction between the claw and the pipe wall is increased.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111301662.9A CN114013526B (en) | 2021-11-04 | 2021-11-04 | Annular telescopic pipe clamping claw |
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| CN202111301662.9A CN114013526B (en) | 2021-11-04 | 2021-11-04 | Annular telescopic pipe clamping claw |
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| CN114013526A true CN114013526A (en) | 2022-02-08 |
| CN114013526B CN114013526B (en) | 2022-10-28 |
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| CN114643638A (en) * | 2022-03-24 | 2022-06-21 | 湖南德力电力建设集团有限公司线路器材制造分公司 | Steam curing device for cement telegraph pole production |
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