CN205852421U - A kind of machine for grinding surface of inside pipe wall device people based on parallel institution - Google Patents
A kind of machine for grinding surface of inside pipe wall device people based on parallel institution Download PDFInfo
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- CN205852421U CN205852421U CN201620739535.5U CN201620739535U CN205852421U CN 205852421 U CN205852421 U CN 205852421U CN 201620739535 U CN201620739535 U CN 201620739535U CN 205852421 U CN205852421 U CN 205852421U
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Abstract
This utility model relates to pipeline milling robot field, specifically a kind of machine for grinding surface of inside pipe wall device people based on parallel institution, including a joint, is positioned at No. two joints at rear, a joint and No. three joints, is positioned at the sanding apparatus of front end, a joint, is positioned at the clearing apparatus of rear end, No. three joints, minisize pick-up head and infrared sensor；A described joint is all connected by Hooks coupling universal coupling between No. three joints with No. two joints, No. two joints；Described sanding apparatus includes a plate, six roots of sensation polishing cylinder, No. two plates, polish motor and emery wheels；Described clearing apparatus includes cleaning motor, cleaning rotating disk and rubber swipe.This utility model at straight long steel pipe, and can carry out polishing operation in the complicated shape steel pipe such as bend pipe, and polishing emery wheel of the present utility model can arbitrarily adjusting position and angle, and then according to particular situation in pipeline, tube wall can be carried out the careful polishing in local.
Description
Technical field
This utility model relates to pipeline milling robot field, a kind of inner-walls of duct based on parallel institution
Milling robot.
Background technology
The development of steel pipe (Steel pipe) production technology starts from the manufacturing rise of bicycle, 19th century initial stage stone
Naval vessel, boiler, the manufacture of aircraft during the exploitation of oil, Two World Wars, the manufacture of apparatus of thermo-electric power boiler after World War II,
The development of chemical industry and the drilling of petroleum gas and transport etc., the most effectively promote Steel Tube Industries in kind, yield
With qualitative development.
Steel pipe is applied not only to conveyance fluid and powdery solid, exchange heat energy, manufactures machine components and container, it or one
Economic steel.Manufacture building structure rack, pillar and machinery mount with steel pipe, weight can be alleviated, save metal 20～
40%, and batch production mechanized construction can be realized.Manufacture highway bridge with steel pipe not only to save steel, simplify construction, and
The area of stopping off, investment reduction and maintenance cost can be greatly reduced.
The method of steel pipe inner wall polishing typically has two kinds:
One is steel pipe finish machining equipment.Steel pipe inner wall polishing device one is endoporus boring and honing machine the most both at home and abroad, and it adds
Different bistriques need to be changed during the steel pipe of work different pore size, and this equipment manufacturing cost is high, bistrique spare part is many, productivity ratio is low；
Another kind is the inside and outside circle polishing device just for pipe end, and both steel pipe inner wall polishing devices have it
The limitation of body.
And said method has some superiority to short tube polishing, but for long steel pipe, the said equipment cannot be accomplished effectively to beat
Mill, meanwhile, existing steel pipe inner wall grinding apparatus very flexible, the bistrique of polishing cannot carry out careful beating to steel pipe inner wall local
Mill.
Can effectively polish long steel pipe inner wall in consideration of it, be now badly in need of one, and can adapt to that the complex environments such as bend pipe are lower to be beaten
The equipment of mill, and this equipment can realize locally steel pipe inner wall is carried out careful polishing.
Summary of the invention
In order to make up the deficiencies in the prior art, this utility model provides the polishing of a kind of inner-walls of duct based on parallel institution
Robot, it is capable of careful polishing long straight steel pipe inwall, the complicated shape steel pipe inner walls such as bend pipe of simultaneously polishing.
This utility model solves its technical problem and be the technical scheme is that a kind of inner-walls of duct based on parallel institution
Milling robot, including a joint, is positioned at No. two joints at rear, a joint and No. three joints, is positioned at front end, a joint
Sanding apparatus, be positioned at the clearing apparatus of rear end, No. three joints, minisize pick-up head and infrared sensor.
A described joint, No. two joints and No. three joints are cylinder, a described joint and No. two joints,
No. two joints are all connected by Hooks coupling universal coupling between No. three joints, thus a joint and No. two joints, No. two joints
And all can arbitrarily rotate between No. three joints, described rear end, No. three joints is provided with support plate.
Along an articulation center axis, four driving means, described each driving are uniformly installed on a described joint
Device all includes pair of driving wheels, fixed mount, a pair belt pulley and drives motor, and described pair of driving wheels is pacified by fixed mount
Being contained in periphery, a joint, a pair described belt pulley connects pair of driving wheels respectively, passes through between a pair described belt pulley
Belt is connected, and one of described driving motor and a pair belt pulley are connected, and during work, drives electric machine rotation to drive belt pulley
Rotating, and then drive each driving wheel to rotate, driving wheel rotates and then drives a joint to move in pipeline.
No. two described joints and No. three joints are all uniformly provided with four along respective central axis and take turns supporting, and described is each
Supporting wheel and all include that wheel body, bracing frame, fulcrum and buffer spring, described wheeling thereof are arranged on bracing frame, described props up
Axle one end is fixed on No. two joints or No. three joints, and the fulcrum other end slidably runs through bracing frame, thus bracing frame can be around
Fulcrum does and slightly slides up and down, and described buffer spring surrounds fulcrum surface, and buffer spring one end is fixed on No. two joints
Or on No. three joints, the buffer spring other end is fixed on bracing frame lower surface, thus bracing frame is when fulcrum slides up and down, because of slow
Rushing the effect of spring, bracing frame can reset to original position under without External Force Acting；
A plate that described sanding apparatus includes being fixedly connected with a joint front end face, six roots of sensation polishing cylinder, No. two plates,
Polishing motor and emery wheel, described six roots of sensation polishing cylinder bottom is all hinged with a cricket, and six roots of sensation polishing cylinder head is all with two
Number cricket is hinged, and described polishing motor is arranged on No. two plate rear ends, and described emery wheel is positioned at No. two front edge of board, and emery wheel with beat
Mill electric machine main shaft is connected, and during work, six roots of sensation polishing Telescopic-cylinder drives No. two plate six degree of freedoms to rotate, electric machine rotation band of polishing
Dynamic emery wheel rotates with pipe interior of polishing, and owing to polishing motor is installed on No. two plates with emery wheel, therefore emery wheel can be with No. two
Plate synchronizes to carry out six degree of freedom rotation；Thus the position of emery wheel and angle can adjust in real time according to pipeline structure so that this
The polishing effect of utility model inner-walls of duct is more preferable for conventional pipelines inwall milling robot.
Described clearing apparatus includes cleaning motor, cleaning rotating disk and be arranged on cleaning rotating disk surrounding rubber swipe, institute
The motor that cleans stated is fixed on the support plate of rear end, No. three joints, and described cleaning rotating disk is connected with cleaning electric machine main shaft, institute
The swipe stated is cylindrical strip；During work, clean electric machine rotation and drive cleaning rotating disk to rotate, and then drive swipe to rotate with right
Inner-walls of duct is cleared up.
Described minisize pick-up head is arranged on front end, a joint, and it is real that the effect of minisize pick-up head is easy for peripheral operation person
Time observe pipeline inside information condition.
Described infrared sensor is arranged on the polishing electric machine main shaft end face of emery wheel front center, the work of infrared sensor
With being easy for this utility model movement locus situation during advancing in anticipation pipeline, it is unlikely to produce with inner-walls of duct to touch
Hit and cause damage of the present utility model.
Beneficial effect:
(1) of the present utility model it is provided with three joints, is connected by Hooks coupling universal coupling between each joint, by first
The driving means in joint drives mass motion, and this design makes this utility model can be at straight long steel pipe, and the complexity such as bend pipe
Carry out polishing operation in shape steel pipe, thus adaptability of the present utility model is extensive.
(2) abrasive end of the present utility model uses the design of parallel institution so that the emery wheel polishing inner-walls of duct
Can rotate by six degree of freedom, thus polishing emery wheel of the present utility model energy arbitrarily adjusting position and angle, and then can be according to pipe
In road, particular situation carries out the careful polishing in local to tube wall, makes inner-walls of duct polishing effect more preferable, thus promotes pipeline life
Prolongation.
Accompanying drawing explanation
With embodiment, this utility model is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is overall schematic of the present utility model；
Fig. 2 is the structural representation of this utility model first half section；
Fig. 3 is the structural representation of this utility model second half section；
Fig. 4 is the structural representation of this utility model sanding apparatus；
In figure: joint 3, joint 2, three, a joint 1, two, sanding apparatus 4, clearing apparatus 5, minisize pick-up head 6, red
Outer sensor 7, Hooks coupling universal coupling 11, driving means 12, driving wheel 121, fixed mount 122, a pair belt pulley 123, driving motor
124, wheel 21, wheel body 211, bracing frame 212, fulcrum 213,214, plate 41 of buffer spring, polishing 42, No. two plates of cylinder are supported
43, polishing motor 44, emery wheel 45, cleaning motor 51, cleaning rotating disk 52, swipe 53.
Detailed description of the invention
For the technological means making this utility model realize, creation characteristic, reach purpose and be easy to understand with effect, under
Face combines detailed description of the invention, and this utility model is expanded on further.
As it is shown in figure 1, a kind of machine for grinding surface of inside pipe wall device people based on parallel institution described in the utility model, including one
Number joint 1, No. two joints 2 being positioned at rear, a joint 1 and No. three joints 3, be positioned at front end, a joint 1 sanding apparatus 4,
It is positioned at the clearing apparatus 5 of rear end, No. three joints 3, minisize pick-up head 6 and infrared sensor 7.
As depicted in figs. 1 and 2, a kind of machine for grinding surface of inside pipe wall device people based on parallel institution described in the utility model,
Joint 2, a described joint 1, two and No. three joints 3 are cylinder, a described joint 1 and No. two joints 2, two
Number all it is connected by Hooks coupling universal coupling 11 between joint 2 with No. three joints 3, thus a joint 1 and No. two joints 2, two
All can arbitrarily rotate between joint 2 and No. three joints 3, described rear end, No. three joints 3 is provided with support plate 31.
Uniformly being provided with four driving means 12 along joint 1 central axis on a described joint 1, described is each
Driving means 12 all includes pair of driving wheels 121, fixed mount 122, a pair belt pulley 123 and drives motor 124, described a pair
It is peripheral that driving wheel 121 is arranged on a joint 1 by fixed mount 122, and described a pair belt pulley 123 connects a pair driving respectively
Wheel 121, is connected by belt between described a pair belt pulley 123, described driving motor 124 and a pair belt pulley 123
One of be connected, during work, drive motor 124 to rotate and drive belt pulley 123 to rotate, and then drive each driving wheel 121 to rotate, drive
Driving wheel 121 rotates and then drives a joint 1 to move in pipeline.
As shown in figures 1 and 3, a kind of machine for grinding surface of inside pipe wall device people based on parallel institution described in the utility model,
Described No. two joints 2 and No. three joints 3 are all uniformly provided with four to support wheel 21, described each support along respective central axis
Wheel 21 all includes that wheel body 211, bracing frame 212, fulcrum 213 and buffer spring 214, described wheel body 211 are rotatably installed in support
On frame 212, described fulcrum 213 one end is fixed on No. two joints 2 or No. three joints 3, and fulcrum 213 other end slidably passes through
Perforating branches support 212, thus bracing frame 212 can do around fulcrum 213 and slightly slide up and down, described buffer spring 214 surrounds and props up
Axle 213 surface, and buffer spring 214 one end is fixed on No. two joints 2 or No. three joints 3, buffer spring 214 other end is fixed
In bracing frame 212 lower surface, thus bracing frame 212 is when fulcrum 213 slides up and down, because of the effect of buffer spring 214, bracing frame
212 can reset to original position under without External Force Acting；
As shown in Figure 1, Figure 2 and Figure 4, a kind of machine for grinding surface of inside pipe wall device based on parallel institution described in the utility model
People, described sanding apparatus 4 includes a plate 41, six roots of sensation polishing 42, No. two plates of cylinder being fixedly connected with joint 1 front end face
43, polishing motor 44 and emery wheel 45, bottom described six roots of sensation polishing cylinder 42 all with the ball-joint of a plate 41, the six roots of sensation is polished cylinder
42 tops all with the ball-joint of No. two plates 43, described polishing motor 44 is arranged on No. two plate 43 rear ends, and described emery wheel 45 is positioned at
No. two plate 43 front ends, and emery wheel 45 is connected with polishing motor 44 main shaft, during work, six roots of sensation polishing cylinder 42 is flexible drives No. two
Plate 43 six degree of freedom rotates, and polishing motor 44 rotates and drives emery wheel 45 to rotate pipe interior of polishing, and due to polishing motor 44
It is installed on No. two plates 43 with emery wheel 45, therefore emery wheel 45 can synchronize to carry out six degree of freedom rotation with No. two plates 43；Thus emery wheel
The position of 45 and angle can adjust in real time according to pipeline structure so that the polishing effect of this utility model inner-walls of duct is relative
For conventional pipelines inwall milling robot more preferably.
As shown in figures 1 and 3, a kind of machine for grinding surface of inside pipe wall device people based on parallel institution described in the utility model,
Described clearing apparatus 5 includes cleaning motor 51, cleaning rotating disk 52 and be arranged on cleaning rotating disk 52 surrounding rubber swipe 53, institute
The motor 51 that cleans stated is fixed on the support plate 31 of rear end, No. three joints 3, described cleaning rotating disk 52 and cleaning motor 51 main shaft
Being connected, described swipe 53 is cylindrical strip；During work, clean motor 51 rotation and drive cleaning rotating disk 52 to rotate, and then
Swipe 53 is driven to rotate inner-walls of duct is cleared up.
Described minisize pick-up head 6 is arranged on front end, a joint 1, and the effect of minisize pick-up head 6 is easy for peripheral operation
Situation in person's Real Time Observation pipeline.
Described infrared sensor 7 is arranged on the polishing motor 44 main shaft end face of emery wheel 45 front center, infrared sensing
The effect of device 7 is easy for this utility model movement locus situation during advancing in anticipation pipeline, be unlikely to in pipeline
Wall produces collision and causes damage of the present utility model.
During work, when pipeline is polished by needs, then drive motor 124 to rotate and drive belt pulley 123 to rotate, and then band
Dynamic each driving wheel 121 rotates, and driving wheel 121 rotates and then drives a joint 1 to move in pipeline, and a joint 1 is at pipeline
Interior motion drives No. two joints 2 and No. three joints 3 to follow a joint 1 closely and move in pipeline, and due to a joint 1 and No. two
Joint 2, is connected between No. two joints 2 and No. three joints 3 and has Hooks coupling universal coupling 11, thus this utility model can easier lead to
Cross bending pipeline.The support wheel 21 in described No. two joints 2 and No. three joints 3 can be used for supporting enter in pipeline No. two joints 2 with
No. three joints 3, make No. two joints 2 and No. three joints 3 be in pipeline center all the time, and No. two joints 2 are passed through all the time with No. three joints 3
Support wheel 21 contact inner-walls of duct, thus sliding friction is changed into rolling friction, reduce this utility model rubbing in pipeline
Wipe resistance, reduce the load driving motor；
When a joint 1 drives No. two joints 2 and move in pipeline in No. three joint 3, six roots of sensation polishing cylinder 42 stretches
Driving No. two plate 43 six degree of freedoms to rotate, polishing motor 44 rotates and drives emery wheel 45 to rotate pipe interior of polishing, and emery wheel 45
Synchronize to carry out six degree of freedom rotation with No. two plates 43；The position of emery wheel 45 and angle can adjust in real time according to pipeline structure,
The polishing effect making this utility model inner-walls of duct is more preferable for conventional pipelines inwall milling robot.
Meanwhile, clean motor 51 rotation and drive cleaning rotating disk 52 to rotate, and then drive swipe 53 to rotate with to inner-walls of duct
Clear up.
In the process, minisize pick-up head 6 situation in peripheral operation person's Real Time Observation pipeline.
Infrared sensor 7 makes this utility model movement locus situation during advancing in anticipation pipeline, is unlikely to
Produce collision with inner-walls of duct and cause damage of the present utility model.
Of the present utility model ultimate principle, principal character and advantage have more than been shown and described.The technical staff of the industry
It should be appreciated that this utility model is not restricted to the described embodiments, the simply explanation of the description in above-described embodiment and description
Principle of the present utility model, on the premise of without departing from this utility model spirit and scope, this utility model also has various change
Change and improve, in the range of these changes and improvements both fall within claimed this utility model.This utility model claims model
Enclose and defined by appending claims and equivalent thereof.
Claims (3)
1. a machine for grinding surface of inside pipe wall device people based on parallel institution, it is characterised in that: include a joint (1), be positioned at one
Sanding apparatus (4) that No. two joints (2) at number joint (1) rear with No. three joints (3), are positioned at joint (1) front end, it is positioned at
The clearing apparatus (5) of No. three joint (3) rear ends, minisize pick-up head (6) and infrared sensor (7), wherein:
A described joint (1), No. two joints (2) and No. three joints (3) are cylinder, a described joint (1) with
No. two joints (2), No. two joints (2) are all connected by Hooks coupling universal coupling (11) between No. three joints (3), described No. three
Joint (3) rear end is provided with support plate (31)；
Along joint (1) central axis, four driving means (12) are uniformly installed on a described joint (1), described
Each driving means (12) all includes pair of driving wheels (121), fixed mount (122), a pair belt pulley (123) and drives motor
(124), it is peripheral that described pair of driving wheels (121) is arranged on a joint (1) by fixed mount (122), a pair described skin
Belt wheel (123) connects pair of driving wheels (121) respectively, is connected by belt between described a pair belt pulley (123), described
Driving motor (124) be connected with one of a pair belt pulley (123)；
No. two described joints (2) and No. three joints (3) are all uniformly provided with four to supporting wheel (21), institute along respective central axis
The wheel (21) that respectively supports stated all includes wheel body (211), bracing frame (212), fulcrum (213) and buffer spring (214), described wheel
Body (211) is rotatably installed on bracing frame (212), and described fulcrum (213) one end is fixed on No. two joints (2) or No. three joints
(3) on, fulcrum (213) other end slidably runs through bracing frame (212), and described buffer spring (214) surrounds fulcrum
(213) surface, and buffer spring (214) one end is fixed on No. two joints (2) or No. three joints (3), buffer spring (214) is another
One end is fixed on bracing frame (212) lower surface；
Described sanding apparatus (4) includes a plate (41), the six roots of sensation polishing cylinder being fixedly connected with joint (1) front end face
(42), No. two plates (43), polishing motor (44) and emery wheels (45), bottom described six roots of sensation polishing cylinder (42) all with a plate
(41) ball-joint, the six roots of sensation polishing cylinder (42) top all with the ball-joint of No. two plates (43), described polishing motor (44) is arranged on
No. two plate (43) rear ends, described emery wheel (45) is positioned at No. two plate (43) front ends, and emery wheel (45) and polishing motor (44) main shaft
It is connected；
Described clearing apparatus (5) includes cleaning motor (51), cleaning rotating disk (52) and be arranged on cleaning rotating disk (52) surrounding
Rubber swipe (53), described cleaning motor (51) is fixed on the support plate (31) of No. three joint (3) rear ends, and described cleaning turns
Dish (52) is connected with cleaning motor (51) main shaft, and described swipe (53) is cylindrical strip.
A kind of machine for grinding surface of inside pipe wall device people based on parallel institution the most according to claim 1, it is characterised in that: described
Minisize pick-up head (6) be arranged on joint (1) front end.
A kind of machine for grinding surface of inside pipe wall device people based on parallel institution the most according to claim 1, it is characterised in that: described
Infrared sensor (7) be arranged on polishing motor (44) the main shaft end face of emery wheel (45) front center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620739535.5U CN205852421U (en) | 2016-07-14 | 2016-07-14 | A kind of machine for grinding surface of inside pipe wall device people based on parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620739535.5U CN205852421U (en) | 2016-07-14 | 2016-07-14 | A kind of machine for grinding surface of inside pipe wall device people based on parallel institution |
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| Publication Number | Publication Date |
|---|---|
| CN205852421U true CN205852421U (en) | 2017-01-04 |
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ID=57646240
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620739535.5U Active CN205852421U (en) | 2016-07-14 | 2016-07-14 | A kind of machine for grinding surface of inside pipe wall device people based on parallel institution |
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| CN (1) | CN205852421U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107138958A (en) * | 2017-07-01 | 2017-09-08 | 张帝 | A kind of intermetallic composite coating grading material device |
| CN110388535A (en) * | 2019-07-05 | 2019-10-29 | 常州大学 | A kind of tensioning integrated piping robot |
| CN114147604A (en) * | 2021-12-20 | 2022-03-08 | 江苏绿能汽配科技有限公司 | Metal pipe polishing device |
-
2016
- 2016-07-14 CN CN201620739535.5U patent/CN205852421U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107138958A (en) * | 2017-07-01 | 2017-09-08 | 张帝 | A kind of intermetallic composite coating grading material device |
| CN107138958B (en) * | 2017-07-01 | 2019-03-15 | 广东创汇实业有限公司 | A kind of intermetallic composite coating grading material device |
| CN110388535A (en) * | 2019-07-05 | 2019-10-29 | 常州大学 | A kind of tensioning integrated piping robot |
| CN114147604A (en) * | 2021-12-20 | 2022-03-08 | 江苏绿能汽配科技有限公司 | Metal pipe polishing device |
| CN114147604B (en) * | 2021-12-20 | 2022-08-26 | 江苏绿能汽配科技有限公司 | Metal pipe polishing device |
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