CN117842228A - Pipe climbing operation robot for superheater - Google Patents
Pipe climbing operation robot for superheater Download PDFInfo
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- CN117842228A CN117842228A CN202410265604.2A CN202410265604A CN117842228A CN 117842228 A CN117842228 A CN 117842228A CN 202410265604 A CN202410265604 A CN 202410265604A CN 117842228 A CN117842228 A CN 117842228A
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- 230000009194 climbing Effects 0.000 title claims abstract description 65
- 230000000712 assembly Effects 0.000 claims abstract description 19
- 238000000429 assembly Methods 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 238000010438 heat treatment Methods 0.000 claims description 9
- 230000006698 induction Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 6
- 238000007689 inspection Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
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Abstract
The invention provides a superheater climbing pipe operation robot which comprises a climbing pipe mechanism, wherein the climbing pipe mechanism comprises a first body, a first lifting assembly, a first clamping assembly and an operation assembly, the first lifting assembly comprises a first motor, a first transmission assembly and a first sliding assembly, and the first transmission assembly comprises a first driving wheel, a first driven wheel and a first annular piece meshed with the first driving wheel and the first driven wheel; the first sliding assembly comprises a first sliding rail and a first sliding seat which is connected with the first sliding rail in a sliding way; the first clamping assemblies are provided with at least 2 and are respectively and fixedly arranged on opposite straight line sections of the first annular piece; each first clamping component is fixedly arranged on the first sliding seat; the working assembly can be connected to the first body in a sliding manner along a first direction. According to the superheater climbing pipe operation robot provided by the invention, the first clamping assemblies are respectively fixedly arranged on the opposite straight line sections of the first annular piece, so that the superheater climbing pipe mechanism is lifted along the pipe wall, and the operation assemblies are connected to the first body in a sliding manner, and maintenance of the superheater is realized.
Description
Technical Field
The invention relates to the technical field of wall climbing robots, in particular to a superheater tube climbing robot.
Background
The pipeline plays an important role in the industrial field as an important transmission channel, but the pipeline has problems in long-term use, such as easy corrosion damage or deformation and fracture of the pipeline due to long-term exposure, so that the pipeline is leaked to cause certain economic loss, influence on environment or damage to life safety of personnel, and therefore, the pipeline is required to be inspected and maintained regularly.
The superheater includes a plurality of pipelines that set up side by side, and current wall climbing robot can climb and accomplish the automation robot of operation on perpendicular approximate plane wall, adopts crawler-type generally, is not applicable to the inspection and the maintenance of multirow pipeline. Among the prior art, to a plurality of pipelines that set up side by side, usually through personnel's climbing pipeline inspection, patrol personnel's intensity of labour is big, and is inefficiency, causes casualties easily.
Disclosure of Invention
The invention provides a pipe climbing operation robot for a superheater, which is used for solving the technical problems that in the prior art, pipelines are usually inspected through climbing by personnel, the labor intensity of inspection personnel is high, the efficiency is low and casualties are easily caused.
The invention provides a superheater climbing pipe operation robot, which comprises a climbing pipe mechanism, wherein the climbing pipe mechanism comprises:
a first body;
the first lifting assembly comprises a first motor, a first transmission assembly and a first sliding assembly, the first transmission assembly comprises a first driving wheel, a first driven wheel and a first annular piece meshed with the first driving wheel and the first driven wheel, and the first motor is fixedly arranged on the first body; the first driving wheel is pivoted to the power output end of the first motor; the first driven wheel is pivoted to the first body; the first sliding assembly comprises a first sliding rail and a first sliding seat, the first sliding rail is fixedly arranged on the first body, and the first sliding seat is provided with at least 2 sliding seats and is connected with the first sliding rail in a sliding manner along a first direction;
the first clamping assemblies are provided with at least 2 and are respectively and fixedly arranged on opposite straight line sections of the first annular piece; the first clamping assemblies are in one-to-one correspondence with the first sliding seats in number, and each first clamping assembly is fixedly arranged on the first sliding seat; the first clamping component can clamp or unclamp the pipe wall; the method comprises the steps of,
a working assembly slidably coupled to the first body in the first direction.
According to the superheater climbing pipe operation robot provided by the invention, on one hand, the first clamping assemblies are respectively fixedly arranged on the opposite straight line sections of the first annular piece, so that the superheater climbing pipe mechanism is lifted along the pipe wall, the operation assemblies are connected to the first body in a sliding manner, and maintenance of the superheater is realized; on the other hand, by arranging the first sliding component, support and guide are provided for the movement of the clamping component; in addition, replace personnel to climb and inspect the pipeline, improve the maintenance efficiency of superheater, alleviate workman's intensity of labour.
Further, the pipe climbing robot further comprises a pipe spanning mechanism, the pipe spanning mechanism is perpendicular to the pipe climbing mechanism, and the pipe spanning mechanism comprises:
the second body is fixedly arranged on the first body;
the transverse moving assembly comprises a second motor, a second transmission assembly and a second sliding assembly, the second transmission assembly comprises a second driving wheel, a second driven wheel and a second annular piece meshed with the second driving wheel and the second driven wheel, and the second motor is fixedly arranged on the second body; the second driving wheel is pivoted to the power output end of the second motor; the second driven wheel is pivoted to the second body; the second sliding assembly comprises a second sliding rail and a second sliding seat, the second sliding rail is fixedly arranged on the second body, and the second sliding seat is provided with at least 2 sliding seats and is connected with the second sliding rail in a sliding manner along a third direction; the method comprises the steps of,
the second clamping assemblies are provided with at least 2 and are respectively and fixedly arranged on opposite straight line sections of the second annular piece; the second clamping assemblies are in one-to-one correspondence with the second sliding seats in number, each second clamping assembly is fixedly arranged on the second sliding seat, and the second clamping assemblies can clamp or loosen the pipe wall; wherein the first direction is perpendicular to the third direction.
According to the pipe climbing operation robot for the superheater, provided by the invention, the pipe climbing operation robot is transversely moved along the pipe row of the superheater by arranging the pipe spanning mechanism connected with the pipe climbing mechanism, so that the operation range of the pipe climbing robot is enlarged.
Further, the first clamping assembly comprises a first telescopic driving part, a first clamping driving part and a first clamping part, wherein the first telescopic driving part is fixedly arranged on the straight line section of the first annular part and the first sliding seat respectively, and the first telescopic driving part is used for driving the first clamping part to be close to or far away from the pipe wall along the second direction; the first clamping driving part is fixedly arranged at the power output end of the first telescopic driving part, the first clamping part is fixedly arranged at the power output end of the first clamping driving part, and the first clamping driving part is used for driving the first clamping part to clamp or loosen the pipe wall along a third direction; the first clamping part is provided with a first cambered surface structure, and the first cambered surface structure can be attached to the pipe wall;
and/or the second clamping assembly comprises a second telescopic driving component, a second clamping driving component and a second clamping part, wherein the second telescopic driving component is fixedly arranged on the straight line section of the second annular piece and the second sliding seat respectively, and the second telescopic driving component is used for driving the second clamping part to be close to or far away from the pipe wall along the second direction; the second clamping driving part is fixedly arranged at the power output end of the second telescopic driving part, the second clamping part is fixedly arranged at the power output end of the second clamping driving part, and the second clamping driving part is used for driving the second clamping part to clamp or loosen the pipe wall along the third direction; the second clamping part is provided with a second cambered surface structure, and the second cambered surface structure can be attached to the pipe wall;
the first direction, the second direction and the third direction are perpendicular to each other.
According to the pipe climbing operation robot for the superheater, the first cambered surface structure is arranged on the first clamping part, the second cambered surface structure is arranged on the second clamping part and is matched with the shape of the pipe wall, and the contact area with the pipe wall is increased.
Further, the first telescopic driving component is an electric push rod or an air cylinder;
and/or the first clamping driving part is a first double-acting air cylinder, the first clamping parts are respectively and fixedly arranged at the power output ends of the first double-acting air cylinder, and the first double-acting air cylinder drives the first clamping parts to clamp or loosen the pipe wall along the third direction;
and/or the first cambered surface structures are arranged back to back, or the first cambered surface structures are arranged oppositely;
and/or the first telescopic driving component is fixedly provided with a first clamping plate, the first clamping plate is fixedly provided with a second clamping plate, and the straight line section of the first annular piece is arranged between the first clamping plate and the second clamping plate;
and/or the second telescopic driving component is an electric push rod or an air cylinder;
and/or the second clamping driving part is a second double-acting air cylinder, the second clamping parts are respectively and fixedly arranged at the power output ends of the second double-acting air cylinder, and the second double-acting air cylinder drives the second clamping parts to clamp or loosen the pipe wall along the third direction;
and/or the second cambered surface structures are arranged back to back, or the second cambered surface structures are oppositely arranged;
and/or, the second telescopic driving component is fixedly provided with a third clamping plate, the third clamping plate is fixedly provided with a fourth clamping plate, and the straight line section of the second annular piece is arranged between the third clamping plate and the fourth clamping plate.
Further, the first clamping assembly is fixedly provided with a first guide assembly, the first guide assembly comprises a first bracket and a first guide wheel, the first bracket is fixedly arranged on the first double-acting cylinder, and the first guide wheel is pivoted to the first bracket;
and/or, the second clamping assembly is fixedly provided with a second guiding assembly, the second guiding assembly comprises a second bracket and a second guiding wheel, the second bracket is fixedly arranged on the second double-acting cylinder, and the second guiding wheel is pivoted to the second bracket.
Further, the operation subassembly includes second lifting assembly, remove subassembly and operation part, the second lifting assembly set firmly in first body, remove the subassembly set firmly in the power take off end of second lifting assembly, the operation part set firmly in remove the subassembly.
Further, the operation assembly further comprises a camera, and the camera is fixedly arranged on the moving assembly and used for monitoring an operation area of the operation component.
Further, the operation part is an induction heating coil, one end of the induction heating coil is fixedly arranged on the moving assembly, and the other end of the induction heating coil is provided with an arc-shaped structure and can be sleeved on the outer side of the pipe wall.
Further, the second lifting assembly comprises a guide rail, a driving piece and a first sliding block, the guide rail is fixedly arranged on the first body, the driving piece is fixedly arranged on the body, the first sliding block is slidably connected with the guide rail, and the driving piece is in transmission connection with the first sliding block and drives the first sliding block to move along the first direction;
and/or, the moving assembly comprises a connecting plate and a second sliding block, the connecting plate is fixedly arranged on the first sliding block, the second sliding block is slidably connected with the connecting plate, and the operation part is fixedly arranged on the second sliding block.
Further, the pipe climbing operation robot further comprises an anti-falling assembly, wherein the anti-falling assembly comprises an electric hoist and a steel wire rope;
the second body is positioned above the first body, and a hanging ring is arranged at the upper end of the second body or the upper end of the first body; one end of the steel wire rope is fixedly arranged on the electric hoist, and the other end of the steel wire rope is fixedly arranged on the hanging ring;
or the first body is positioned above the second body, and the upper end of the first body is provided with a hanging ring; one end of the steel wire rope is fixedly arranged on the electric hoist, and the other end of the steel wire rope is fixedly arranged on the hanging ring.
Drawings
FIG. 1 is a schematic view of a part of a pipe climbing mechanism in a pipe climbing robot for a superheater according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a pipe climbing robot for a superheater according to an embodiment of the present invention;
fig. 3 is a schematic view of a part of a pipe climbing mechanism in a pipe climbing robot for a superheater according to an embodiment of the present invention;
FIG. 4 is an enlarged schematic view of a portion of FIG. 3 at encircled portion A;
fig. 5 is a schematic structural diagram of a pipe climbing robot for a superheater according to an embodiment of the present invention;
reference numerals illustrate:
1. a pipe climbing mechanism; 10. a first body; 101. a hanging ring; 20. a first lifting assembly; 210. a first motor; 220. a first transmission assembly; 221. a first drive wheel; 222. a first driven wheel; 223. a first ring member; 224. a first clamping plate; 225. a second clamping plate; 230. a first slip assembly; 231. a first slide rail; 232. a first slider; 30. a first clamping assembly; 310. a first telescopic driving part; 320. a first clamping driving member; 330. a first clamping part; 40. a first guide assembly; 410. a first bracket; 420. a first guide wheel; 50. an anti-falling assembly; 510. an electric hoist; 520. a wire rope; 60. a work assembly; 610. a second lifting assembly; 611. a guide rail; 620. a moving assembly; 621. a connecting plate; 622. a second slider; 630. a working member;
2. a pipe crossing mechanism; 70. a second body; 80. a traversing assembly; 810. a second motor; 820. a second transmission assembly; 821. a second driving wheel; 822. a second driven wheel; 823. a second ring member; 90. a second clamping assembly; 910. a second telescopic driving part; 920. a second clamping driving member; 930. a second clamping portion; 100. a second guide assembly; 1001. a second bracket; 1002. and a second guide wheel.
Detailed Description
In order that the above objects, features and advantages of the present invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings 1-5.
In the present invention, the terms "coupled," "connected," and the like are to be construed broadly, and may be, for example, fixedly coupled, detachably coupled, or integrally formed.
In the present invention, the terms "inner", "outer", "upper", "lower" and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention.
Referring to fig. 1 and 2, the embodiment of the invention provides a pipe climbing robot for a superheater, which comprises a pipe climbing mechanism 1, wherein the pipe climbing mechanism 1 comprises a first body 10, a first lifting assembly 20, a first clamping assembly 30 and a working assembly 60, the first lifting assembly 20 comprises a first motor 210, a first transmission assembly 220 and a first sliding assembly 230, the first transmission assembly 220 comprises a first driving wheel 221, a first driven wheel 222 and a first annular piece 223 meshed with the first driving wheel and the first driven wheel, and the first motor 210 is fixedly arranged on the first body 10; the first driving wheel 221 is pivoted to the power output end of the first motor 210; the first driven wheel 222 is pivoted to the first body 10; the first sliding assembly 230 includes a first sliding rail 231 and a first sliding seat 232, the first sliding rail 231 is fixedly arranged on the first body 10, and the first sliding seat 232 has at least 2 sliding seats and is slidably connected to the first sliding rail 231 along a first direction; the first clamping assembly 30 has at least 2 clamping assemblies and is respectively fixed on two opposite sides of the straight line section of the first annular piece 223; the first clamping assemblies 30 are in one-to-one correspondence with the number of the first sliding seats 232, and each first clamping assembly 30 is fixedly arranged on each first sliding seat 232; the first clamping assembly 30 is capable of clamping or unclamping a pipe wall; the work module 60 is slidably coupled to the first body 10 in a first direction.
In the embodiment of the present invention, the first annular member 223 includes a first annular section, a first straight line section, a second annular section and a second straight line section that are sequentially connected; the first clamping assembly 30 comprises a first sub-clamping assembly and a second sub-clamping assembly, wherein the first sub-clamping assembly is fixedly arranged on the first straight line segment, and the second sub-clamping assembly is fixedly arranged on the second straight line segment.
The working principle of the pipe climbing operation robot for the superheater is as follows: the first sub-clamping assembly is clamped on the pipe wall, the second sub-clamping assembly loosens the pipe wall, and the motor rotates along the first direction, so that the body and the second sub-clamping assembly ascend along the pipe wall; then the first clamping component 30 is far away from the pipe wall, the second sub-clamping component is clamped on the pipe wall, and the motor rotates along the reverse direction of the first direction, so that the body and the first sub-clamping component ascend along the pipe wall; the first sub-clamping component and the second sub-clamping component are alternately clamped on the pipe wall, the motor alternately rotates positively and negatively, and the ascending of the superheater climbing pipe mechanism 1 along the pipe wall is circularly realized; conversely, the superheater climbing pipe mechanism 1 is lowered along the pipe wall.
According to the superheater climbing robot provided by the embodiment of the invention, on one hand, the first clamping assemblies 30 are respectively fixedly arranged on the opposite straight line sections of the first annular piece 223, so that the superheater climbing mechanism 1 is lifted along the pipe wall, and the operation assemblies 60 are connected to the first body 10 in a sliding manner, so that maintenance of the superheater is realized; on the other hand, by providing the first slip assembly 230, support and guidance are provided for movement of the clamping assembly; in addition, replace personnel to climb and inspect the pipeline, improve the maintenance efficiency of superheater, alleviate workman's intensity of labour.
Referring to fig. 2, in the embodiment of the present invention, the pipe climbing robot further includes a pipe spanning mechanism 2, where the pipe spanning mechanism 2 is disposed perpendicular to the pipe climbing mechanism 1, and the pipe spanning mechanism 2 includes a second body 70, a traversing assembly 80, and a second clamping assembly 90, where the second body 70 is fixedly disposed on the first body 10; the traversing assembly 80 comprises a second motor 810, a second transmission assembly 820 and a second sliding assembly, the second transmission assembly 820 comprises a second driving wheel 821, a second driven wheel 822 and a second annular member 823 meshed with the second driving wheel 821 and the second driven wheel 822, and the second motor 810 is fixedly arranged on the second body 70; the second driving wheel 821 is pivoted to the power output end of the second motor 810; the second driven wheel 822 is pivoted to the second body 70; the second sliding assembly comprises a second sliding rail and a second sliding seat, the second sliding rail is fixedly arranged on the second body 70, and the second sliding seat is provided with at least 2 sliding seats and is connected with the second sliding rail in a sliding manner along a third direction; the second clamping assembly 90 has at least 2 opposite sides respectively fixed to the straight line segment of the second annular member 823; the second clamping assemblies 90 are in one-to-one correspondence with the number of the second sliding seats, each second clamping assembly 90 is fixedly arranged on each second sliding seat, and the second clamping assemblies 90 can clamp or loosen the pipe wall; wherein the first direction is perpendicular to the third direction.
According to the pipe climbing operation robot for the superheater, provided by the embodiment of the invention, the pipe climbing operation robot is transversely moved along the pipe row of the superheater by arranging the pipe spanning mechanism 2 connected with the pipe climbing mechanism 1, so that the operation range of the pipe climbing robot is enlarged.
Referring to fig. 4, in the embodiment of the present invention, the first clamping assembly 30 includes a first telescopic driving component 310, a first clamping driving component 320 and a first clamping portion 330, where the first telescopic driving component 310 is respectively and fixedly arranged on the straight line section of the first annular member 223 and the first sliding seat 232, and the first telescopic driving component 310 is used for driving the first clamping portion 330 to approach or separate from the pipe wall along the second direction; the first clamping driving component 320 is fixedly arranged at the power output end of the first telescopic driving component 310, the first clamping part 330 is fixedly arranged at the power output end of the first clamping driving component 320, and the first clamping driving component 320 is used for driving the first clamping part 330 to clamp or loosen the pipe wall along the third direction; the first clamping portion 330 has a first cambered surface structure, and the first cambered surface structure can be attached to the pipe wall.
According to the superheater climbing robot provided by the embodiment of the invention, the first cambered surface structure is arranged on the first clamping part 330, so that the shape of the pipe wall is matched with that of the pipe wall, and the contact area with the pipe wall is increased.
Referring to fig. 2, in the embodiment of the present invention, the second clamping assembly 90 includes a second telescopic driving component 910, a second clamping driving component 920, and a second clamping portion 930, where the second telescopic driving component 910 is respectively and fixedly arranged on a straight line segment of the second annular member 823 and the second sliding seat, and the second telescopic driving component 910 is used to drive the second clamping portion 930 to approach or separate from the pipe wall along the second direction; the second clamping driving component 920 is fixedly arranged at the power output end of the second telescopic driving component 910, the second clamping part 930 is fixedly arranged at the power output end of the second clamping driving component 920, and the second clamping driving component 920 is used for driving the second clamping part 930 to clamp or loosen the pipe wall along the third direction; the second clamping part 930 is provided with a second cambered surface structure, and the second cambered surface structure can be attached to the pipe wall; the first direction, the second direction and the third direction are perpendicular to each other.
According to the superheater climbing robot provided by the embodiment of the invention, the second cambered surface structure is arranged on the second clamping part 930 and is matched with the shape of the pipe wall, so that the contact area with the pipe wall is increased.
In the embodiment of the present invention, the first telescopic driving part 310 is an electric push rod or an air cylinder.
In the embodiment of the present invention, the first clamping driving component 320 is a first double-acting air cylinder, the first clamping portions 330 are respectively and fixedly arranged at the power output ends of the first double-acting air cylinder, and the first double-acting air cylinder drives the first clamping portions 330 to clamp or unclamp the pipe wall along the third direction.
In an embodiment of the present invention, the first cambered surface structures are disposed back-to-back, and the first cambered surface structures are clamped on the outer sides of different pipe walls, and 1 pipe or a plurality of pipes can be spaced between the first clamping portions 330.
In another embodiment of the present invention, the first cambered structures are oppositely disposed, the first cambered structures of the first clamping portions 330 are oppositely disposed, and are clamped on the wall of the same pipe or the walls of different pipes, and 1 pipe or a plurality of pipes can be spaced between the first clamping portions 330.
Referring to fig. 4, in the embodiment of the present invention, the first telescopic driving part 310 is fixedly provided with a first clamping plate 224, the first clamping plate 224 is fixedly provided with a second clamping plate 225, and a straight line segment of the first annular member 223 is disposed between the first clamping plate 224 and the second clamping plate 225. So set up, convenient to detach.
In the embodiment of the present invention, the second telescopic driving part 910 is an electric push rod or an air cylinder.
In this embodiment of the present invention, the second clamping driving member 920 is a second double-acting cylinder, and the second clamping portions 930 are respectively and fixedly arranged at the power output ends of the second double-acting cylinder, where the second double-acting cylinder drives the second clamping portions 930 to clamp or unclamp the pipe wall along the third direction.
In one embodiment of the present invention, the second cambered surface structures are disposed back-to-back, the first cambered surface structures are clamped on the outer sides of different pipe walls, and 1 pipe or a plurality of pipes can be spaced between the first clamping portions 330.
In another embodiment of the present invention, the second cambered surface structures are oppositely disposed and clamped on the wall of the same pipe or the walls of different pipes, and 1 pipe or more first clamping portions 330 may be spaced apart.
In the embodiment of the present invention, the second telescopic driving part 910 is fixedly provided with a third clamping plate, the third clamping plate is fixedly provided with a fourth clamping plate, and the straight line section of the second annular part 823 is arranged between the third clamping plate and the fourth clamping plate.
Referring to fig. 2, in the embodiment of the present invention, a first guiding assembly 40 is fixedly arranged on the first clamping assembly 30, the first guiding assembly 40 includes a first bracket 410 and a first guiding wheel 420, the first bracket 410 is fixedly arranged on the first double-acting cylinder, and the first guiding wheel 420 is pivotally connected to the first bracket 410.
Referring to fig. 2, in the embodiment of the present invention, a second guide assembly 100 is fixedly arranged on the second clamping assembly 90, the second guide assembly 100 includes a second bracket 1001 and a second guide wheel, the second bracket 1001 is fixedly arranged on the second dual-action cylinder, and the second guide wheel is pivotally connected to the second bracket 1001.
Referring to fig. 2 and 5, in the embodiment of the present invention, the working assembly 60 includes a second lifting assembly 610, a moving assembly 620 and a working member 630, wherein the second lifting assembly 610 is fixedly arranged on the first body 10, the moving assembly 620 is fixedly arranged at a power output end of the second lifting assembly 610, and the working member 630 is fixedly arranged on the moving assembly 620 for maintaining the superheater. So configured, independent movement of the working member 630 is achieved.
In the embodiment of the present invention, the working assembly 60 further includes a camera, which is fixedly disposed on the moving assembly 620, for monitoring the working area of the working member 630.
In the embodiment of the present invention, the operation member 630 is an induction heating coil, one end of the induction heating coil is fixedly arranged on the moving component 620, and the other end of the induction heating coil has an arc structure and can be sleeved on the outer side of the pipe wall.
Referring to fig. 2 and 5, in the embodiment of the present invention, the second lifting assembly 610 includes a guide rail 611, a driving member and a first slider, the guide rail 611 is fixedly arranged on the first body 10, the driving member is fixedly arranged on the body, the first slider is slidably connected to the guide rail 611, and the driving member is in transmission connection with the first slider and drives the first slider to move along the first direction.
Referring to fig. 5, in the embodiment of the present invention, the moving assembly 620 includes a connecting plate 621 and a second slider 622, the connecting plate 621 is fixedly disposed on the first slider, the second slider 622 is slidably connected to the connecting plate 621, and the working member 630 is fixedly disposed on the second slider 622.
Referring to fig. 2 and 5, the pipe climbing robot according to the embodiment of the present invention further includes a fall protection assembly 50, and the fall protection assembly 50 includes an electric hoist 510 and a wire rope 520. So set up, prevent climbing pipe operation robot people from falling.
In an embodiment of the present invention, the second body 70 is located above the first body 10, and a hanging ring 101 is disposed at the upper end of the second body 70 or the upper end of the first body; one end of the steel wire rope 520 is fixedly arranged on the electric hoist 510, and the other end of the steel wire rope 520 is fixedly arranged on the hanging ring 101.
In another embodiment of the present invention, the first body 10 is located above the second body 70, and the hanging ring 101 is disposed at the upper end of the first body 10; one end of the steel wire rope 520 is fixedly arranged on the electric hoist 510, and the other end of the steel wire rope 520 is fixedly arranged on the hanging ring 101.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Claims (10)
1. The utility model provides a superheater climbing pipe operation robot, characterized in that includes climbing pipe mechanism (1), climbing pipe mechanism (1) includes:
a first body (10);
the first lifting assembly (20) comprises a first motor (210), a first transmission assembly (220) and a first sliding assembly (230), wherein the first transmission assembly (220) comprises a first driving wheel (221), a first driven wheel (222) and a first annular piece (223) meshed with the first driving wheel and the first driven wheel, and the first motor (210) is fixedly arranged on the first body (10); the first driving wheel (221) is pivoted to the power output end of the first motor (210); the first driven wheel (222) is pivoted to the first body (10); the first sliding assembly (230) comprises a first sliding rail (231) and a first sliding seat (232), the first sliding rail (231) is fixedly arranged on the first body (10), and the first sliding seat (232) is provided with at least 2 sliding seats and is connected with the first sliding rail (231) in a sliding manner along a first direction;
a first clamping assembly (30) having at least 2 opposed straight sections respectively secured to the first annular member (223); the first clamping assemblies (30) are in one-to-one correspondence with the first sliding seats (232), and each first clamping assembly (30) is fixedly arranged on each first sliding seat (232); the first clamping assembly (30) is capable of clamping or unclamping a pipe wall; the method comprises the steps of,
-a working assembly (60) slidably connected to the first body (10) along the first direction.
2. The superheater tube climbing robot according to claim 1, further comprising a tube spanning mechanism (2), the tube spanning mechanism (2) being disposed perpendicular to the tube climbing mechanism (1), the tube spanning mechanism (2) comprising:
the second body (70), the said second body (70) is fixed to the said first body (10);
the transverse moving assembly (80) comprises a second motor (810), a second transmission assembly (820) and a second sliding assembly, the second transmission assembly (820) comprises a second driving wheel (821), a second driven wheel (822) and a second annular piece (823) meshed with the second driving wheel and the second driven wheel, and the second motor (810) is fixedly arranged on the second body (70); the second driving wheel (821) is pivoted to the power output end of the second motor (810); the second driven wheel (822) is pivoted to the second body (70); the second sliding assembly comprises a second sliding rail and a second sliding seat, the second sliding rail is fixedly arranged on the second body, and the second sliding seat is provided with at least 2 sliding seats and is connected with the second sliding rail in a sliding manner along a third direction; the method comprises the steps of,
a second clamping assembly (90) having at least 2 opposed straight segments respectively secured to the second annular member (823); the second clamping assemblies (90) are in one-to-one correspondence with the number of the second sliding seats, each second clamping assembly (90) is fixedly arranged on each second sliding seat, and the second clamping assemblies (90) can clamp or loosen the pipe wall; wherein the first direction is perpendicular to the third direction.
3. The superheater climbing robot according to claim 2, wherein the first clamping assembly (30) includes a first telescopic driving component (310), a first clamping driving component (320) and a first clamping portion (330), the first telescopic driving component (310) is respectively and fixedly arranged on a straight line section of the first annular piece (223) and the first sliding seat (232), and the first telescopic driving component (310) is used for driving the first clamping portion (330) to approach or depart from a pipe wall along a second direction; the first clamping driving component (320) is fixedly arranged at the power output end of the first telescopic driving component (310), the first clamping part (330) is fixedly arranged at the power output end of the first clamping driving component (320), and the first clamping driving component (320) is used for driving the first clamping part (330) to clamp or loosen the pipe wall along a third direction; the first clamping part (330) is provided with a first cambered surface structure, and the first cambered surface structure can be attached to the pipe wall;
and/or the second clamping assembly (90) comprises a second telescopic driving component (910), a second clamping driving component (920) and a second clamping part (930), wherein the second telescopic driving component (910) is respectively and fixedly arranged on the straight line section of the second annular piece (823) and the second sliding seat, and the second telescopic driving component (910) is used for driving the second clamping part (930) to be close to or far away from the pipe wall along the second direction; the second clamping driving component (920) is fixedly arranged at the power output end of the second telescopic driving component (910), the second clamping part (930) is fixedly arranged at the power output end of the second clamping driving component (920), and the second clamping driving component (920) is used for driving the second clamping part (930) to clamp or loosen the pipe wall along the third direction; the second clamping part (930) is provided with a second cambered surface structure, and the second cambered surface structure can be attached to the pipe wall;
the first direction, the second direction and the third direction are perpendicular to each other.
4. A superheater tube climbing robot according to claim 3, characterized in that the first telescopic drive means (310) is an electric push rod or a cylinder;
and/or the first clamping driving component (320) is a first double-acting air cylinder, the first clamping parts (330) are respectively and fixedly arranged at the power output ends of the first double-acting air cylinders, and the first double-acting air cylinders drive the first clamping parts (330) to clamp or unclamp the pipe wall along the third direction;
and/or the first cambered surface structures are arranged back to back, or the first cambered surface structures are arranged oppositely;
and/or, the first telescopic driving component (310) is fixedly provided with a first clamping plate (224), the first clamping plate (224) is fixedly provided with a second clamping plate (225), and the straight line section of the first annular piece (223) is arranged between the first clamping plate (224) and the second clamping plate (225);
and/or, the second telescopic driving component (910) is an electric push rod or an air cylinder;
and/or the second clamping driving component (920) is a second double-acting air cylinder, the second clamping parts (930) are respectively and fixedly arranged at the power output ends of the second double-acting air cylinders, and the second double-acting air cylinders drive the second clamping parts (930) to clamp or unclamp the pipe wall along the third direction;
and/or the second cambered surface structures are arranged back to back, or the second cambered surface structures are oppositely arranged;
and/or, the second telescopic driving component (910) is fixedly provided with a third clamping plate, the third clamping plate is fixedly provided with a fourth clamping plate, and the straight line section of the second annular piece (823) is arranged between the third clamping plate and the fourth clamping plate.
5. The pipe climbing robot of claim 4, wherein the first clamping assembly (30) is fixedly provided with a first guide assembly (40), the first guide assembly (40) comprises a first bracket (410) and a first guide wheel (420), the first bracket (410) is fixedly arranged on the first double-acting cylinder, and the first guide wheel (420) is pivoted on the first bracket (410);
and/or, second clamping component (90) has set firmly second direction subassembly (100), second direction subassembly (100) include second support (1001) and second leading wheel (1002), second support (1001) set firmly in the second double-acting cylinder, second leading wheel (1002) pin joint in second support (1001).
6. The pipe climbing robot of claim 2, wherein the working assembly (60) comprises a second lifting assembly (610), a moving assembly (620) and a working component (630), the second lifting assembly (610) is fixedly arranged on the first body (10), the moving assembly (620) is fixedly arranged at a power output end of the second lifting assembly (610), and the working component (630) is fixedly arranged on the moving assembly (620).
7. The superheater tube climbing work robot of claim 6, said work assembly (60) further comprising a camera secured to said moving assembly (620) for monitoring a work area of said work component (630).
8. The pipe climbing robot of claim 6, wherein the working member (630) is an induction heating coil, one end of the induction heating coil is fixedly arranged on the moving assembly (620), and the other end of the induction heating coil has an arc structure and can be sleeved outside the pipe wall.
9. The pipe climbing robot of claim 6, wherein the second lifting assembly (610) includes a guide rail (611), a driving member and a first slider, the guide rail (611) is fixedly provided to the first body (10), the driving member is fixedly provided to the body, the first slider is slidably connected to the guide rail (611), and the driving member is drivingly connected to the first slider and drives the first slider to move along the first direction;
and/or, the moving assembly (620) comprises a connecting plate (621) and a second sliding block (622), the connecting plate (621) is fixedly arranged on the first sliding block, the second sliding block (622) is connected with the connecting plate (621) in a sliding manner, and the working component (630) is fixedly arranged on the second sliding block (622).
10. The superheater tube climbing robot of any one of claims 2-9, characterized in that the tube climbing robot further comprises a fall arrest assembly (50), the fall arrest assembly (50) comprising an electric hoist (510) and a wire rope (520);
the second body (70) is positioned above the first body (10), and a hanging ring (101) is arranged at the upper end of the second body (70) or the upper end of the first body (10); one end of the steel wire rope (520) is fixedly arranged on the electric hoist (510), and the other end of the steel wire rope (520) is fixedly arranged on the hanging ring (101);
or, the first body (10) is positioned above the second body (70), and a hanging ring (101) is arranged at the upper end of the first body (10); one end of the steel wire rope (520) is fixedly arranged on the electric hoist (510), and the other end of the steel wire rope (520) is fixedly arranged on the hanging ring (101).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410265604.2A CN117842228B (en) | 2024-03-08 | 2024-03-08 | Pipe climbing operation robot for superheater |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410265604.2A CN117842228B (en) | 2024-03-08 | 2024-03-08 | Pipe climbing operation robot for superheater |
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| Publication number | Publication date |
|---|---|
| CN117842228B (en) | 2024-06-25 |
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