CN117046839A - Variable-diameter maintenance robot for large-diameter pressure pipeline of hydropower station - Google Patents
Variable-diameter maintenance robot for large-diameter pressure pipeline of hydropower station Download PDFInfo
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- CN117046839A CN117046839A CN202311308876.8A CN202311308876A CN117046839A CN 117046839 A CN117046839 A CN 117046839A CN 202311308876 A CN202311308876 A CN 202311308876A CN 117046839 A CN117046839 A CN 117046839A
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- shaft body
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- sliding
- fixedly connected
- diameter
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- 238000012423 maintenance Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 92
- 239000000956 alloy Substances 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 45
- 238000005507 spraying Methods 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 19
- 238000004804 winding Methods 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 16
- 238000000034 method Methods 0.000 description 5
- 239000007921 spray Substances 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 241001415288 Coccidae Species 0.000 description 1
- 229910018487 Ni—Cr Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Abstract
The invention relates to the technical field of pipeline maintenance, in particular to a diameter-variable maintenance robot for a large-diameter pressure pipeline of a hydropower station, which comprises a first shaft body, wherein traveling mechanisms are arranged at two ends of the first shaft body, a crushing mechanism is arranged on the first shaft body, the crushing mechanism comprises a first mounting ring fixedly connected to the first shaft body, a second mounting ring is slidably arranged on the first shaft body, at least four crushing rods are uniformly and fixedly connected between the first mounting ring and the second mounting ring along the circumferential direction, at least four crushing rings are fixedly sleeved on each crushing rod at equal intervals along the axial direction of each crushing rod, the crushing rods are made of elastic alloy materials, a third mounting ring is fixedly sleeved on the first shaft body, four first electric push rods are uniformly and fixedly connected along the circumferential direction, and the output ends of the first electric push rods are fixedly connected with the second mounting ring and the output ends of a motor.
Description
Technical Field
The invention relates to the technical field of pipeline maintenance, in particular to a diameter-variable maintenance robot for a large-diameter pressure pipeline of a hydropower station.
Background
The hydropower station pressure pipeline is a water pipe for conveying water quantity from a reservoir, a pressure front pool or a pressure regulating chamber to a water turbine, and is in a pressure state generally.
Hydropower station pressure pipeline is in long-time use, because the quality of water in reservoir or river is untreated, and the silt content that contains is great, when the pressure pipeline is inside to flow, produce the incrustation scale in pipeline inside easily, and because the action of gravity, the incrustation scale is piled up in the bottom of pipeline more, along with the accumulation of incrustation scale, can erode the pressure pipeline, lead to the pressure pipeline to take place the damage easily, consequently, need regularly handle the incrustation scale of pipeline inside, current pipeline cleaning device, like chinese patent CN109396132a, disclosed a pipeline cleaner, including: a cylindrical support frame; a fixed plate; the first round leather cup is sleeved outside the cylindrical support frame and is arranged on one side of one end of the first fixed disc, which faces the cylindrical support frame; the first elastic straight plate is sleeved outside the cylindrical supporting frame. The soft scale on the inner wall of the pipeline is cleaned through the elastic straight plate and the steel brush, and the cutter moves in the pipeline to cut the hard large scale on the pipe wall into small pieces, so that the pipeline can be quickly improved in transportation capacity through the cooperation of cutting and cleaning for many times. However, when the pipeline is treated in the above patent, the diameter of the cutter is not changeable, and the cutter cannot adapt to pipelines with various diameters, so that the adaptability of the technical scheme is not high.
Therefore, there is a need for a hydropower station large diameter pressure conduit variable diameter maintenance robot that addresses the above-described issues.
Disclosure of Invention
In order to solve the problems, namely the problem that the existing pipeline maintenance equipment cannot process pipelines with various diameters, the invention provides a variable diameter maintenance robot for a large-diameter pressure pipeline of a hydropower station.
The utility model provides a power station major diameter pipeline under pressure variable diameter maintenance robot, includes first axis body, the both ends of first axis body are provided with advancing mechanism, be provided with crushing mechanism on the first axis body, crushing mechanism includes fixed connection first collar on the first axis body, it is provided with the second collar to slide on the first axis body, first collar with evenly four broken poles of fixedly connected with along the circumferencial direction between the second collar, every equidistant fixed cover is equipped with four at least broken rings along its axial direction on the broken pole, broken pole is made for elastic alloy material, fixed cover is equipped with the third collar on the first axis body, the even fixedly connected with four first electric putter of circumferencial direction is followed to the third collar, the output of first electric putter with second collar fixed connection, the tip of first axis body and the output fixed connection of motor.
Preferably, the crushing mechanism further comprises a supporting piece, the supporting piece comprises a mounting groove formed in the first shaft body, a hydraulic cylinder is fixedly mounted in the mounting groove, an oil groove is formed in the first shaft body, the output end of the hydraulic cylinder is communicated with the oil groove, a supporting ring is sleeved on the first shaft body in a clearance mode, an oil cavity is formed in the supporting ring, the oil cavity is communicated with the oil groove through an elastic hose, sliding grooves with the same number of crushing rods are uniformly communicated with the oil cavity along the circumferential direction, the sliding grooves are communicated with the outside, supporting rods are connected with the sliding grooves in each sliding groove in a sliding mode, the supporting rods extend out of the supporting ring, and two fixing rings are fixedly connected to the extending ends of the supporting rods and fixedly connected to the crushing rods.
Preferably, the first shaft body is connected with the advancing mechanism through a deflection mechanism, the deflection mechanism comprises a second shaft body, the tail end of the motor is connected with the end of the second shaft body through a universal joint, a fourth mounting ring is fixedly connected to the second shaft body, four rotating pieces are arranged on the fourth mounting ring at equal intervals along the circumferential direction, a pull rope is connected between each rotating piece and the tail end of the motor, the rotating pieces can retract the pull rope, and the deflection mechanism further comprises a deflection piece arranged between the first mounting ring and the advancing mechanism.
Preferably, the rotating member comprises a mounting fork fixedly connected to the fourth mounting ring, a rotating shaft is rotatably connected to the mounting fork, a winding wheel is fixedly sleeved on the rotating shaft, one end of the pull rope is fixedly connected to the winding wheel, the other end of the pull rope is fixedly connected to the tail end of the motor, one end of the rotating shaft is fixedly connected with the output end of the tightening motor, and the tightening motor is fixedly connected with the mounting fork.
Preferably, the universal joint comprises a ball cage fixedly connected to the tail end of the motor, a ball body is fixedly connected to the end part of the second shaft body, the ball body is rotationally connected to the ball cage, an installation cavity is formed in the second shaft body, a second electric push rod is fixedly arranged in the installation cavity, a locking groove is formed in the installation cavity in a communicated mode, the locking groove penetrates through the ball body and the ball cage, and the output end of the second electric push rod can be inserted into the locking groove.
Preferably, the deflection member comprises a mounting plate rotationally connected with the travelling mechanism, a through groove is formed in the mounting plate in a penetrating manner along the radial direction of the mounting plate, a sliding rod is slidably connected in the through groove, a spring groove is formed in the inner wall of the through groove, a spring is connected between the sliding rod and the spring groove, an opening groove is formed in the spring groove, which is close to one side wall of the first mounting ring, in a communicating manner, the opening groove is communicated with the outside, a universal joint is connected between the end portion of the sliding rod and the first mounting ring, and the universal joint is located at the eccentric position of the first mounting ring.
Preferably, the second shaft body is provided with a water spraying mechanism, the water spraying mechanism comprises a communication groove formed in the second shaft body, the communication groove is communicated with an external water supply mechanism through a connecting pipe, an annular water spraying tank is sleeved on the second shaft body in a clearance mode, eight nozzles are arranged on the outer circumferential surface of the water spraying tank at equal intervals along the circumferential direction, the nozzles are communicated with the inside of the water spraying tank, four connecting pipes are arranged on the inner circumferential surface of the water spraying tank at equal intervals along the circumferential direction, one end of each connecting pipe is communicated with the water spraying tank, and the other end of each connecting pipe is communicated with the communication groove.
Preferably, the advancing mechanism comprises a third shaft body, a fixing ring is fixedly sleeved on the third shaft body, three supporting legs are uniformly hinged on the fixing ring along the circumferential direction, the end parts of the supporting legs are rotatably connected with driving wheels, the driving wheels are fixedly connected with the output ends of driving motors, and the driving motors are fixedly connected with the supporting legs.
Preferably, the travelling mechanism further comprises a sliding cavity arranged in the third shaft body, a sliding block is connected in the sliding cavity in a sliding manner, an adjusting spring is connected between the sliding block and the sliding cavity, three sliding rails are arranged on the side wall of the sliding cavity along the circumferential direction, the sliding rails are communicated with the outside, a sliding ring is sleeved on the third shaft body in a sliding manner, the sliding block is fixedly connected with the sliding ring through the sliding rails, three supporting legs are hinged to the sliding ring, and each supporting leg is hinged to the adjacent supporting leg.
Preferably, the mounting plate is rotatably connected to an end of the third shaft in the adjacent travelling mechanism, and the fourth mounting ring is fixedly connected to an end of the third shaft in the adjacent travelling mechanism.
The beneficial effects of the invention are as follows:
1. through the arrangement of the travelling mechanism, the robot can be driven to travel in the pipeline, scale inside the pipeline can be crushed through the arrangement of the crushing mechanism, and meanwhile, the scale can be processed layer by layer through the arrangement of the crushing rod, so that the damage to the inner wall of the pipeline in the processing process is avoided, different pipelines can be adapted, and the adaptability of the machine is improved; meanwhile, scale clamped between adjacent crushing rings can be separated, and crushing work is convenient to carry out.
2. Through support piece's setting for broken pole is when crooked, and support column and solid fixed ring can support broken pole, guarantee that broken pole has certain rigidity when rotating broken incrustation scale, improve crushing effect.
3. Through the setting of deflection mechanism for when handling the pipeline of great diameter, crushing mechanism can deflect, make crushing mechanism press close to the incrustation scale more, handle the incrustation scale, further improved the adaptability of machine.
4. Through the setting of universal joint, can make broken mechanism take place to deflect to through the setting of second electricity push rod, can lock the universal joint, guarantee the stability of device.
5. Through the setting of deflection piece for when the crushing mechanism took place to deflect, the crushing mechanism still remained to be connected with the machine, guaranteed the connection stability of machine.
6. Through the setting of water spray mechanism for broken mechanism is when carrying out the breakage to the incrustation scale, and water spray mechanism blowout water column carries out further clearance to the pipeline inner wall, and the water column is collected into the rivers simultaneously after, with the incrustation scale washs away under the breakage, makes things convenient for going on of crushing work.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a right side view of the present invention;
FIG. 3 is an isometric cross-sectional view of the invention at A-A in FIG. 2;
FIG. 4 is an enlarged view of a portion of the invention at B in FIG. 3;
FIG. 5 is an enlarged view of a portion of the invention at C in FIG. 3;
FIG. 6 is an enlarged view of a portion of the invention at D in FIG. 3;
FIG. 7 is a front view of the present invention;
FIG. 8 is an isometric cross-sectional view taken at E-E of FIG. 7 in accordance with the invention;
FIG. 9 is an isometric cross-sectional view taken at F-F in FIG. 7 in accordance with the invention;
FIG. 10 is an isometric cross-sectional view taken at G-G of FIG. 7 in accordance with the invention;
fig. 11 is a partial enlarged view of H in fig. 10 according to the present invention.
In the figure:
1. a first shaft body;
2. a travel mechanism; 21. a third shaft body; 22. a fixing ring; 23. a support leg; 24. a driving wheel; 25. a sliding chamber; 26. a sliding block; 27. a slide rail; 28. a slip ring; 29. support legs; 210. an adjusting spring;
3. a crushing mechanism; 31. a first mounting ring; 32. a second mounting ring; 33. a breaker bar; 34. a crushing ring; 35. a third mounting ring; 36. a first electrical push rod; 37. a motor; 38. a support; 381. a mounting groove; 382. a hydraulic cylinder; 383. an oil groove; 384. a support ring; 385. an oil chamber; 386. an elastic hose; 387. a chute; 388. a support column; 389. a fixing ring;
4. a deflection mechanism; 41. a second shaft body; 42. a universal joint; 421. a ball cage; 422. a sphere; 423. a mounting cavity; 424. a second electric push rod; 425. a locking groove; 43. a fourth mounting ring; 44. a rotating member; 441. mounting a fork; 442. a rotating shaft; 443. a winding wheel; 444. tightening the motor; 45. a deflector; 451. a mounting plate; 452. a through groove; 453. a slide bar; 454. a spring groove; 455. a spring; 456. an open slot; 457. a second universal joint; 46. a pull rope;
5. a water spraying mechanism; 51. a communication groove; 52. a connecting pipe; 53. a water spray tank; 54. a nozzle; 55. and communicating pipe.
Description of the embodiments
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 1-3, the embodiment of the invention discloses a hydraulic power station large-diameter pressure pipeline variable-diameter maintenance robot, which comprises a first shaft body 1, wherein traveling mechanisms 2 are arranged at two ends of the first shaft body 1, a crushing mechanism 3 is arranged on the first shaft body 1, the crushing mechanism 3 comprises a first mounting ring 31 fixedly connected to the first shaft body 1, a second mounting ring 32 is slidably arranged on the first shaft body 1, at least four crushing rods 33 are uniformly and fixedly connected between the first mounting ring 31 and the second mounting ring 32 along the circumferential direction, at least four crushing rings 34 are fixedly sleeved on each crushing rod 33 at equal intervals along the axial direction, the crushing rods 33 are made of elastic alloy materials, a third mounting ring 35 is fixedly sleeved on the first shaft body 1, the output end of the first electric push rod 36 is fixedly connected with the second mounting ring 32 along the circumferential direction, and the output end of the first shaft body 1 is fixedly connected with the output end 37 of a motor.
Specifically, when the device is used, the robot is operated to a position where a pipeline needs to be maintained through the travelling mechanism 2, then the motor 37 is started, the output end of the motor 37 drives the first shaft body 1 to rotate, the first shaft body 1 drives the first mounting ring 31 and the second mounting ring 32 to rotate, the first mounting ring 31 and the second mounting ring 32 drive the crushing rod 33 to rotate, and the crushing rod 33 drives the crushing ring 34 to rotate so as to impact and crush scale in the pipeline; when the scale is treated, as the scale becomes thin, and the crushing ring 34 can not impact the scale any more, the first electric push rod 36 is started, the output end of the first electric push rod 36 drives the second mounting ring 32 to move towards the direction close to the first mounting ring 31, and the crushing rod 33 is extruded and deformed, so that the crushing rod 33 is bent, the crushing rod 33 is arched towards the direction far away from the first shaft body 1, and the crushing rod 33 can drive the crushing ring 34 to impact the thinned scale; when the scale is clamped in the adjacent crushing rings 34, the first electric push rod 36 is started, so that the crushing rods 33 are bent, and meanwhile, the distance between the adjacent crushing rings 34 is changed, so that the clamped scale is conveniently separated from the crushing rings 34.
Through the arrangement of the travelling mechanism 2, the robot can be driven to travel in the pipeline, the scale inside the pipeline can be crushed through the arrangement of the crushing mechanism 3, and meanwhile, the scale can be processed layer by layer through the arrangement of the crushing rod 33, so that the damage to the inner wall of the pipeline in the processing process is avoided, different pipelines can be adapted, and the adaptability of the machine is improved; at the same time, the scale clamped between the adjacent crushing rings 34 can be separated, so that the crushing work is convenient.
Further, the first electric push rod 36 is a prior art, and will not be described in detail.
Further, the breaker bar 33 is preferably made of an Fe-Ni-Cr series alloy material.
Further, a camera is arranged on the travelling mechanism 2 and is electrically connected with external display equipment.
Specifically, the user can control the telescopic length of the first electric push rod 36 according to the real-time image shot by the camera, so as to control the bending degree of the crushing rod 33, and avoid the crushing rod 33 from striking the inner wall of the pipeline when driving the crushing ring 34 to rotate.
As shown in fig. 3 and 5, the crushing mechanism 3 further includes a support member 38, the support member 38 includes a mounting groove 381 formed in the first shaft body 1, a hydraulic cylinder 382 is fixedly mounted in the mounting groove 381, an oil groove 383 is disposed in the first shaft body 1, an output end of the hydraulic cylinder 382 is communicated with the oil groove 383, a support ring 384 is disposed on the first shaft body 1 in a gap sleeve, an oil cavity 385 is formed in the support ring 384, the oil cavity 385 is communicated with the oil groove 383 through an elastic hose 386, the oil cavities 385 are uniformly communicated in a circumferential direction, a plurality of sliding grooves 387 equal to the crushing rods 33 are provided, the sliding grooves 387 are communicated with the outside, each sliding groove 387 is slidably connected with a supporting column 388, the supporting column 388 extends out of the support ring 384, two fixing rings 389 are fixedly connected to an extending end of the supporting column 388, and the fixing rings 389 are fixedly connected to the crushing rods 33.
Specifically, when the first electric push rod 36 pushes the second mounting ring 32 to move in use, the hydraulic cylinder 382 is started along with the second mounting ring, hydraulic oil with a corresponding capacity is output by the hydraulic cylinder 382 according to the moving distance of the output end of the first electric push rod 36, the hydraulic oil enters the oil groove 383 through the output end of the hydraulic cylinder 382, then the hydraulic oil enters the oil cavity 385 through the elastic hose 386, and then the support column 388 is driven to move away from the first shaft body 1 under the pressure of the hydraulic oil, and the support column 388 drives the fixing ring 389 to move so as to support the crushing rod 33; meanwhile, when the crushing rod 33 is bent, the crushing rod 33 drives the support ring 384 to move through the fixing ring 389 and the support columns 388, and the support ring 384 stretches the elastic hose 386.
Through the setting of support piece 38 for broken pole 33 is when crooked, and support column 388 and solid fixed ring 389 can support broken pole 33, guarantee that broken pole 33 has certain rigidity when rotating broken incrustation scale, improve crushing effect.
Further, the hydraulic cylinder 382 is of the prior art, and will not be described in detail.
As shown in fig. 3, the first shaft body 1 is connected with the travelling mechanism 2 through a deflection mechanism 4, the deflection mechanism 4 includes a second shaft body 41, the tail end of the motor 37 is connected with the end of the second shaft body 41 through a universal joint 42, a fourth mounting ring 43 is fixedly connected to the second shaft body 41, four rotating members 44 are arranged on the fourth mounting ring 43 at equal intervals along the circumferential direction, a pull rope 46 is connected between each rotating member 44 and the tail end of the motor 37, the rotating members 44 can retract the pull rope 46, and the deflection mechanism 4 further includes a deflection member 45 arranged between the first mounting ring 31 and the travelling mechanism 2.
Specifically, in use, when the pipe diameter of the pipeline is too large, and the crushing rod 33 is bent to the limit position, when the crushing ring 34 still cannot crush the scale, one of the rotating members 44 is started, the rotating member 44 contracts the pull rope 46, and the other three rotating members 44 are started simultaneously, so that the other three pull ropes 46 are loosened, the tail end of the motor 37 drives the universal joint 42 to deflect, the crushing mechanism 3 deflects relative to the second shaft body 41, and the crushing mechanism is more close to the scale.
Through the setting of deflection mechanism 4 for when handling the pipeline of great diameter, crushing mechanism 3 can deflect, make crushing mechanism 3 press close to the incrustation scale more, handle the incrustation scale, further improved the adaptability of machine.
As shown in fig. 3, 10 and 11, the rotating member 44 includes a mounting fork 441 fixedly connected to the fourth mounting ring 43, a rotating shaft 442 is rotatably connected to the mounting fork 441, a winding wheel 443 is fixedly sleeved on the rotating shaft 442, one end of the pull cord 46 is fixedly connected to the winding wheel 443, the other end of the pull cord 46 is fixedly connected to the tail end of the motor 37, one end of the rotating shaft 442 is fixedly connected to the output end of the tightening motor 444, and the tightening motor 444 is fixedly connected to the mounting fork 441.
Specifically, when the pull rope 46 is required to be contracted during use, the tightening motor 444 is started, the output end of the tightening motor 444 drives the rotating shaft 442 to rotate, the rotating shaft 442 drives the winding wheel 443 to rotate, and the winding wheel 443 winds the pull rope 46 on the winding wheel 443.
By means of the rotary piece 44, the stay cord 46 can be tightened, so that the crushing mechanism 3 can deflect conveniently, and the pipeline with a larger diameter can be adapted.
As shown in fig. 3 and 4, the universal joint 42 includes a ball cage 421 fixedly connected to the tail end of the motor 37, a ball 422 is fixedly connected to an end portion of the second shaft body 41, the ball 422 is rotatably connected to the ball cage 421, a mounting cavity 423 is formed in the second shaft body 41, a second electric push rod 424 is fixedly arranged in the mounting cavity 423, a locking groove 425 is formed in the mounting cavity 423 in a communicating manner, the locking groove 425 penetrates through the ball 422 and the ball cage 421, and an output end of the second electric push rod 424 can be inserted into the locking groove 425.
Specifically, in use, when the breaking mechanism 3 does not need to deflect, the output end of the second electric push rod 424 is inserted into the locking groove 425 to lock the universal joint 422; when the crushing mechanism 3 is required to deflect, the second electric push rod 424 is started, and the output end of the second electric push rod 424 is moved out of the locking groove 425, so that the ball cage 421 and the ball body 422 rotate relatively under the pulling action of the pull rope 46.
Through the arrangement of the universal joint 42, the crushing mechanism 3 can be deflected, and through the arrangement of the second electric push rod 424, the universal joint 42 can be locked, so that the stability of the device is ensured.
It should be noted that the second electric push rod 424 is a prior art and will not be described in detail.
As shown in fig. 3, 6 and 9, the deflector 45 includes a mounting plate 451 rotatably connected to the travelling mechanism 2, a through groove 452 is formed in the mounting plate 451 in a penetrating manner along a radial direction of the mounting plate 451, a sliding rod 453 is slidably connected to the through groove 452, a spring groove 454 is formed in an inner wall of the through groove 452, a spring 455 is connected between the sliding rod 453 and the spring groove 454, an opening groove 456 is formed in a side wall of the spring groove 454, which is close to the first mounting ring 31, the opening groove 456 is communicated with the outside, a second universal joint 457 is connected between an end of the sliding rod 453 and the first mounting ring 31, and the second universal joint 457 is located at an eccentric position of the first mounting ring 31.
Specifically, in use, when the crushing mechanism 3 deflects, the first mounting ring 31 drives the second universal joint 457 to deflect, and simultaneously the sliding rod 453 is pulled to slide in the through groove 452 by the second universal joint 457, and the pull rope spring 455; and because the second universal joint 457 is eccentrically connected with the first mounting ring 31, when the first mounting ring 31 deflects, the second universal joint 457 drives the mounting plate 451 to rotate, so that the sliding direction of the sliding rod 453 and the deflection direction of the first mounting ring 31 are on the same plane.
By arranging the deflection piece 45, when the crushing mechanism 3 deflects, the crushing mechanism 3 is still connected with the machine, and the connection stability of the machine is ensured.
It should be noted that the second universal joint 457 is in the prior art, and will not be described again.
As shown in fig. 3 and 10, the second shaft body 41 is provided with a water spraying mechanism 5, the water spraying mechanism 5 includes a communication groove 51 formed in the second shaft body 41, the communication groove 51 is communicated with an external water supply mechanism through a connecting pipe 52, an annular water spraying tank 53 is sleeved on the second shaft body 41 in a clearance mode, eight nozzles 54 are arranged on the outer circumferential surface of the water spraying tank 53 at equal intervals along the circumferential direction, the nozzles 54 are communicated with the inside of the water spraying tank 53, four communication pipes 55 are arranged on the inner circumferential surface of the water spraying tank 53 at equal intervals along the circumferential direction, one end of each communication pipe 55 is communicated with the water spraying tank 53, and the other end of each communication pipe 55 is communicated with the communication groove 51.
Specifically, in use, when the machine breaks scale, the external water supply mechanism is started, the external water supply mechanism supplies water into the communication groove 51 through the connecting pipe 52, then the water enters the water spraying box 53 through the communication pipe 55, and then the water is sprayed from the nozzle 54 to the inner wall of the pipeline.
Through the setting of water spray mechanism 5 for broken mechanism 3 is when carrying out the breakage to the incrustation scale, and water spray mechanism 5 blowout water column carries out further clearance to the pipeline inner wall, and the water column is collected into rivers simultaneously after, with the incrustation scale washs away under the breakage, makes things convenient for going on of crushing work.
It should be noted that, the external water supply mechanism is in the prior art, and will not be described again.
As shown in fig. 3 and 8, the travelling mechanism 2 includes a third shaft body 21, a fixing ring 22 is fixedly sleeved on the third shaft body 21, three supporting legs 23 are uniformly hinged on the fixing ring 22 along the circumferential direction, the end portion of each supporting leg 23 is rotatably connected with a driving wheel 24, the driving wheel 24 is fixedly connected with the output end of a driving motor, and the driving motor is fixedly connected on the supporting leg 23.
Specifically, when the machine is required to move in use, the driving motor is started, the output end of the driving motor drives the driving wheel 24 to rotate, and the driving wheel 24 rubs against the inner wall of the pipeline, so that the machine is driven to move.
As shown in fig. 3, 8 and 9, the travelling mechanism 2 further includes a sliding cavity 25 formed in the third shaft body 21, a sliding block 26 is slidably connected in the sliding cavity 25, an adjusting spring 210 is connected between the sliding block 26 and the sliding cavity 25, three sliding rails 27 are formed on a side wall of the sliding cavity 25 along a circumferential direction, the sliding rails 27 are communicated with the outside, a sliding ring 28 is slidably sleeved on the third shaft body 21, the sliding block 26 is fixedly connected with the sliding ring 28 through the sliding rails 27, three supporting legs 29 are hinged on the sliding ring 28, and each supporting leg 29 is hinged with the adjacent supporting leg 23.
Specifically, when the travelling mechanism 2 enters the pipeline according to different inner diameters of the pipeline in use, under the action of the inner wall of the pipeline, the driving wheel 24 approaches or departs from the third shaft body 21, the driving wheel 24 drives the supporting leg 23 to rotate, the supporting leg 23 drives the supporting leg 29 to rotate, and the supporting leg 29 drives the sliding block 26 to stretch the adjusting spring 210 to different degrees.
As shown in fig. 3 and 8, the mounting plate 451 is rotatably connected to an end of the third shaft 21 in the adjacent traveling mechanism 2, and the fourth mounting ring 43 is fixedly connected to an end of the third shaft 21 in the adjacent traveling mechanism 2.
It should be noted that, in the description of the present invention, terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings, are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus/means that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus/means.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.
Claims (10)
1. The utility model provides a power station major diameter pipeline under pressure variable diameter maintenance robot, its characterized in that, including first axis body (1), the both ends of first axis body (1) are provided with travel mechanism (2), be provided with broken mechanism (3) on first axis body (1), broken mechanism (3) are including fixed connection first collar (31) on first axis body (1), slide on first axis body (1) and be provided with second collar (32), first collar (31) with evenly fixedly connected with four broken poles (33) along circumferencial direction between second collar (32), every on broken pole (33) along its equidistant fixed cover of axial direction be equipped with four at least broken rings (34), broken pole (33) are made for the elastic alloy material, fixed cover is equipped with third collar (35) on first axis body (1), evenly be connected with four first electric push rod (36) along circumferencial direction on first axis body (1), output of first push rod (36) and fixed connection of first push rod (32) are fixed end (37).
2. The hydropower station large-diameter pressure pipeline variable-diameter maintenance robot according to claim 1, wherein the crushing mechanism (3) further comprises a supporting piece (38), the supporting piece (38) comprises a mounting groove (381) formed in the first shaft body (1), a hydraulic cylinder (382) is fixedly mounted in the mounting groove (381), an oil groove (383) is formed in the first shaft body (1), the output end of the hydraulic cylinder (382) is communicated with the oil groove (383), a supporting ring (384) is sleeved on the first shaft body (1) in a clearance mode, an oil cavity (385) is formed in the supporting ring (384), the oil cavity (385) is communicated with the oil groove (383) through an elastic hose (386), sliding grooves (387) with the same number of crushing rods (33) are uniformly formed in the oil cavity (385) in a communicating mode, each sliding groove (387) is communicated with the outside, supporting columns (388) are connected in a sliding mode, supporting rings (384) are sleeved on the first shaft body (1), and two crushing rods (389) are fixedly connected with the two fixed supporting rings (389).
3. The hydropower station large-diameter pressure pipeline variable-diameter maintenance robot according to claim 2, wherein the first shaft body (1) is connected with the travelling mechanism (2) through a deflection mechanism (4), the deflection mechanism (4) comprises a second shaft body (41), the tail end of the motor (37) is connected with the end part of the second shaft body (41) through a universal joint (42), a fourth mounting ring (43) is fixedly connected to the second shaft body (41), four rotating pieces (44) are arranged on the fourth mounting ring (43) at equal intervals along the circumferential direction, a pull rope (46) is connected between each rotating piece (44) and the tail end of the motor (37), the rotating pieces (44) can retract the pull rope (46), and the deflection mechanism (4) further comprises a deflection piece (45) arranged between the first mounting ring (31) and the travelling mechanism (2).
4. A hydropower station large-diameter pressure pipeline variable-diameter maintenance robot according to claim 3, characterized in that the rotating member (44) comprises a mounting fork (441) fixedly connected to the fourth mounting ring (43), a rotating shaft (442) is rotatably connected to the mounting fork (441), a winding wheel (443) is fixedly sleeved on the rotating shaft (442), one end of the pull rope (46) is fixedly connected to the winding wheel (443), the other end of the pull rope (46) is fixedly connected to the tail end of the motor (37), one end of the rotating shaft (442) is fixedly connected to the output end of a tightening motor (444), and the tightening motor (444) is fixedly connected to the mounting fork (441).
5. A hydropower station large-diameter pressure pipeline variable-diameter maintenance robot according to claim 3, characterized in that the universal joint (42) comprises a ball cage (421) fixedly connected to the tail end of the motor (37), a ball body (422) is fixedly connected to the end part of the second shaft body (41), the ball body (422) is rotationally connected to the ball cage (421), a mounting cavity (423) is formed in the second shaft body (41), a second electric push rod (424) is fixedly arranged in the mounting cavity (423), the mounting cavity (423) is communicated with a locking groove (425), the locking groove (425) penetrates through the ball body (422) and the ball cage (421), and the output end of the second electric push rod (424) can be inserted into the locking groove (425).
6. A hydropower station large-diameter pressure pipeline variable-diameter maintenance robot according to claim 3, characterized in that the deflection member (45) comprises a mounting plate (451) rotatably connected with the travelling mechanism (2), a through groove (452) is formed in the mounting plate (451) in a penetrating manner along the radial direction of the mounting plate, a sliding rod (453) is slidably connected in the through groove (452), a spring groove (454) is formed in the inner wall of the through groove (452), a spring (455) is connected between the sliding rod (453) and the spring groove (454), an open groove (456) is formed in the spring groove (454) near a side wall of the first mounting ring (31) in a communicating manner, the open groove (456) is communicated with the outside, a second universal joint (457) is connected between the end of the sliding rod (453) and the first mounting ring (31), and the second universal joint (457) is located at an eccentric position of the first mounting ring (31).
7. The hydropower station large-diameter pressure pipeline variable-diameter maintenance robot according to claim 6, wherein a water spraying mechanism (5) is arranged on the second shaft body (41), the water spraying mechanism (5) comprises a communication groove (51) formed in the second shaft body (41), the communication groove (51) is communicated with an external water supply mechanism through a connecting pipe (52), an annular water spraying tank (53) is sleeved on the second shaft body (41) in a clearance mode, eight nozzles (54) are arranged on the outer circumferential surface of the water spraying tank (53) at equal intervals in the circumferential direction, the nozzles (54) are communicated with the inside of the water spraying tank (53), four communication pipes (55) are arranged on the inner circumferential surface of the water spraying tank (53) at equal intervals in the circumferential direction, one end of each communication pipe (55) is communicated with the water spraying tank (53), and the other end of each communication pipe (55) is communicated with the corresponding communication groove (51).
8. The hydropower station large-diameter pressure pipeline variable-diameter maintenance robot according to claim 7, wherein the travelling mechanism (2) comprises a third shaft body (21), a fixed ring (22) is fixedly sleeved on the third shaft body (21), three supporting legs (23) are uniformly hinged on the fixed ring (22) along the circumferential direction, the end part of each supporting leg (23) is rotatably connected with a driving wheel (24), the driving wheels (24) are fixedly connected with the output end of a driving motor, and the driving motor is fixedly connected on the supporting legs (23).
9. The hydropower station large-diameter pressure pipeline variable-diameter maintenance robot according to claim 8, wherein the travelling mechanism (2) further comprises a sliding cavity (25) formed in the third shaft body (21), a sliding block (26) is connected in the sliding cavity (25) in a sliding mode, an adjusting spring (210) is connected between the sliding block (26) and the sliding cavity (25), three sliding rails (27) are formed in the side wall of the sliding cavity (25) in the circumferential direction, the sliding rails (27) are communicated with the outside, a sliding ring (28) is sleeved on the third shaft body (21) in a sliding mode, the sliding block (26) is fixedly connected with the sliding ring (28) through the sliding rails (27), three supporting legs (29) are hinged to the sliding ring (28), and each supporting leg (29) is hinged to the adjacent supporting leg (23).
10. A hydropower station large diameter pressure pipe variable diameter maintenance robot according to claim 9, characterized in that the mounting plate (451) is rotatably connected to an end of the third shaft (21) in the adjacent travelling mechanism (2), and the fourth mounting ring (43) is fixedly connected to an end of the third shaft (21) in the adjacent travelling mechanism (2).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311308876.8A CN117046839B (en) | 2023-10-11 | 2023-10-11 | Variable-diameter maintenance robot for large-diameter pressure pipeline of hydropower station |
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|---|---|---|---|
| CN202311308876.8A CN117046839B (en) | 2023-10-11 | 2023-10-11 | Variable-diameter maintenance robot for large-diameter pressure pipeline of hydropower station |
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| CN117046839B CN117046839B (en) | 2024-01-12 |
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| KR20080006224A (en) * | 2006-07-11 | 2008-01-16 | 덕원산업개발주식회사 | Centering device to remove a scale being the inside of pipe using powerless revolution |
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| CN117046839B (en) | 2024-01-12 |
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