CN206869568U - A kind of screw type pipeline inwall polishing for adapting to different tube diameters and polishing robot - Google Patents
A kind of screw type pipeline inwall polishing for adapting to different tube diameters and polishing robot Download PDFInfo
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- CN206869568U CN206869568U CN201621050117.1U CN201621050117U CN206869568U CN 206869568 U CN206869568 U CN 206869568U CN 201621050117 U CN201621050117 U CN 201621050117U CN 206869568 U CN206869568 U CN 206869568U
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Abstract
A kind of screw type pipeline inwall polishing for adapting to different tube diameters and polishing robot are the utility model is related to, belongs to pipe robot field.Hub unit is installed with Hooke's joint with spline fitted, totally 3 groups of the driving wheel grinding subassembly, installed by the drive shaft support assorted in bearing and hub unit at its drive shaft both ends, electric motor and controller is arranged on the maintaining body of direction with Power Component, and its motor shaft is installed with Hooke's joint with spline fitted.The utility model is adaptively adjusted helical angle of the grinding subassembly relative to pipe fitting cross section, so as to reach, caliber is thin, the place more than impurity is ground, the purpose that the place that caliber is big, impurity is few is ground less, the utility model can use with a variety of various sizes of grinding subassembly collocation, reach a multi-purpose purpose, can be cost-effective to a certain extent.
Description
Technical field
The utility model belongs to pipe robot field, more particularly to a kind of to be suitable in the screw type pipeline of different tube diameters
Wall is polished and polishing robot.
Background technology
In the life of people, there are various pipelines, such as petroleum pipeline, natural gas line, water supply pipe.
In many of these pipelines caliber and little, inconvenience is brought with maintenance for its detection, pipe robot arises at the historic moment.
Inner-walls of duct slickness is particularly significant, if inner surface of pipeline is more coarse, will be easier to cause inner-walls of duct to sink
The aggregation of product thing, the effective work area of pipeline is set to reduce or even result in blockage.Therefore, sanding and polishing just ten is carried out to inner-walls of duct
Dividing is necessary.However, although existing pipe robot species is various, inner-walls of duct can be carried out sanding and polishing it is few again
It is few.Meanwhile due to various injustice caused by reason such as welding inside the deposit or pipeline that different parts are saved bit by bit inside pipeline
Whole factor, it is changeful, method the simplest how is taken, robot is produced different processing capacities in different parts,
The raising of lifting and processing efficiency for processing effect is also particularly significant.
When internal diameter of the pipeline changes, the holding wheel of direction maintaining body is needed in certain limit to the pressure of inner-walls of duct
It is interior to ensure that direction keeps the completion of task, make robot normal work.However, pipe diameter is varied, so, if energy
Install spring force governor motion additional on the maintaining body of direction, carry out a preconditioning for caliber to be processed, can make
Robot direction keep component under a variety of calibers can normal work, reduce the unnecessary waste of resource.It is existing also to have phase
The device of pass, still, various shortcomings are also obvious.Such as " adaptive diameter pipeline robot walking device " (application number：
201310651593.3) adaptation to pipe diameter, can be realized, and its automaticity is higher, but due to needing
Install extra motor and control system additional, cause its it is internal do not have remaining space, when being assembled with robot other parts,
The excessive phenomenon of volume can be caused, can cause to be unfavorable for the bad phenomenons such as mechanism turning, its application is run into many restrictions.
The content of the invention
The utility model provides a kind of screw type pipeline inwall polishing for adapting to different tube diameters and polishing robot, to solve
Existing volume is excessive, be unfavorable for mechanism turn, using many restrictions are run into the problem of.
The utility model adopts the technical scheme that：Including hub unit, driving wheel grinding subassembly, Hooke's joint,
Motor and its power and control assembly and direction maintaining body, the hub unit are pacified with Hooke's joint with spline fitted
Dress, totally 3 groups of the driving wheel grinding subassembly, its drive shaft both ends are pacified by the drive shaft support assorted in bearing and hub unit
Dress, electric motor and controller are arranged on the maintaining body of direction with Power Component, and its motor shaft is matched somebody with somebody with Hooke's joint with spline
Close installation.
Hub unit described in the utility model is led by wheel hub, driving bracing strut, expansion link, compression spring, gear cap and spring
Formed to bar, the spring conductor rod is connected through a screw thread with wheel hub, shares 3, is oriented to respectively with 3 expansion links on wheel hub
Cylinder is with one heart；The compression spring lower end is arranged on spring conductor rod, and the cylindrical bore of upper end and expansion link lower end coordinates；It is described
There is lead on expansion link, expansion link is engaged by lead with the guiding groove on rod sleeve that stretched in wheel hub, after cooperation, by
In the effect of compression spring, expansion link can move up and down, and when lead is located at bottom, be oriented to mast axis and six ribs in the middle part of wheel hub
Post both sides end face angle is α, when lead is located at the top, angle β, and have β>α is high between extreme lower position and extreme higher position
It is h to spend difference0, angle change and height change are linear relationship between extreme lower position to extreme higher position, intermediate distance highest order
It is set at h, angleGear cap is arranged on above the flexible rod sleeve of wheel hub；Drive bracing strut and expansion link
Upper end is connected through a screw thread, and manhole axis and expansion link guiding mast axis are in 90 ° on installation rear drive shaft support；Institute
State structure and share 3 groups, divide and be listed in circumference of hub, angle is 120 ° to each other；Hub unit passes through spline and cross-axle universal shaft
Section coordinates installation.
Driving wheel grinding subassembly described in the utility model is by pedestal left cover, pedestal I, pedestal right cover plate, Grinding wheel, driven
II group of gear, driven shaft I, driving gear, drive shaft, driving wheel, pedestal II, driven shaft II, arc spring I and arc spring
Into wherein drive shaft both ends are installed by the drive shaft support assorted on bearing and hub unit；Drive shaft is from one end to another
End, coordinate with pedestal I, driving gear, pedestal II and driving wheel install successively, wherein, pass through flower with driving gear and driving wheel
Key connection, it is other to be connected by bearing；The both ends of driven shaft I pass through pedestal I and the back side arc-shaped through-hole of pedestal II, pass through bearing
Coordinate with its internal arc groove；The driven shaft I is matched somebody with somebody with Grinding wheel and driven gear with spline successively from one end to the other end
Close installation, arc spring I and arc spring II are arranged in the interior grooves of pedestal I, the pedestal left cover, pedestal right cover plate with
Pedestal I coordinates installation；The II related mated condition of pedestal is identical with pedestal I；The II related mated condition of driven shaft
It is identical with driven shaft I.
The utility model, which includes, keeps wheel construction and spring pressure governor motion, the direction keep component by lower plate,
Transverse axis, A-frame, keep wheel, support bar, cross bar, cylinder slide rail group, cylinder sliding block group, upper plate, adjusting rod I, gear train lid
It is plate, sliding block group I, adjusting rod II, sliding block group II, groups of springs, leading screw I, connector I, contiguous block, connector II, leading screw II, driven
Gear, driving gear and handle composition, are provided with cylinder slide rail group between the lower plate and upper plate, share 3 groups, and every group includes 2
One slide rail, forms basic framework, and the A-frame is arranged in lower plate by revolute pair；It is described to keep wheel to be installed with revolute pair
On A-frame top；The transverse axis is arranged on A-frame middle through-hole；Described support bar one end is rotatably assorted with transverse axis, separately
One end is rotatably assorted with cross bar；Cross bar both ends assemble conjunction with cylinder sliding block；Cylinder sliding block group is arranged in cylinder slide rail group；These
Component, which is formed, keeps wheel primary structure, shares 6 groups, and symmetrical point is listed on upper plate and lower plate；The spring pressure governor motion by
Adjusting rod I, gear train cover plate, sliding block group I, adjusting rod II, sliding block group II, groups of springs, leading screw I, connector I, contiguous block, connection
Part II, leading screw II, driven gear, driving gear and handle composition；The leading screw I and leading screw II are oppositely oriented, are fixed on jointly
On contiguous block, both ends are coordinated by bearing and upper plate and lower plate installs；The upper end of connector I is fixed on adjusting rod II, under
Hold as screw pair, coordinate with leading screw I and install；The upper end of connector II is fixed on adjusting rod I, and lower end is feed screw nut
Pair, coordinate with leading screw II and install；The adjusting rod I, the both ends of adjusting rod II pass through sliding block group I, sliding block group II and slide rail group respectively
Coordinate installation；The driven gear is with leading screw II with spline fitted；Pass through spline fitted between the driving gear and handle；Institute
Gear train cover plate is stated on upper plate；The spring pressure governor motion shares 3 groups, is uniformly distributed circumferentially, the bullet
Spring group is arranged between cross bar and the sliding block at the both ends of adjusting rod II, there is 2 groups on each spring pressure governor motion, in whole mechanism
Share 6 groups.
Screw type pipeline inwall polishing described in the utility model can be adaptive according to the change of caliber with polishing robot
Should ground regulation grinding subassembly relative to the helical angle of pipe fitting cross section, caliber is thin, the place more than impurity is ground so as to reaching, pipe
The purpose that the place that footpath is big, impurity is few is ground less；Moreover, show that each parameter of guiding groove is chosen with robot to unit in wheel hub
The relation of length tube grinding length, it can be provided for the manufacture of the grinding machine people for different use environments necessarily
Directive significance.Meanwhile direction keeps component to include manual adjustment means in the utility model, manually adjustable fixed sliding block
Position, spring is provided a suitable pressure so that direction keep component can adapt to more kinds of calibers, can with it is more
The various sizes of grinding subassembly collocation of kind uses, and reaches a multi-purpose purpose, can be cost-effective to a certain extent.
The utility model has the advantages that：Screw driving wheel and grinding subassembly are combined together, can be achieved to microtubule
The polishing and polishing of inwall；Grinding wheel is not fixed with driving wheel relative position, and when caliber changes, Grinding wheel can drive driven
Axle moves in the arcuate socket of pedestal along camber line, and flexible design both ensure that grinding is normally carried out, and turn avoid phenomenon of forging a knife
Generation；Hub unit and driving wheel grinding subassembly coordinate, and when spring extend, component helical angle becomes big, when spring change in short-term,
Component helical angle diminishes, and makes the polishing to caliber smaller part more abundant, at the same can quickly skim over again caliber it is larger go out, improve
Operating efficiency；The determination of relation between each parameter of wheel hub guiding groove and unit length pipeline grinding length, for for different pipelines
Situation manufactures pipe robot the most suitable and provides possibility；Direction keeps component to install spring force controlling organization additional, can lead to
Cross simple operations and the fixed stop of spring is adjusted to predeterminated position, direction maintaining body there are different tube diameters enough
Support force, it is only necessary to manufacture suitable hub unit and driving wheel grinding subassembly, realize one and use；Install spring force control machine additional
After structure, direction keeps component internal still to have enough spaces, compact-sized available for installation motor etc..
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the present utility model；
Fig. 2 (a) is the utility model hub unit primary structure schematic diagram；
Fig. 2 (b) is Fig. 2 (a) I portions enlarged drawing；
Fig. 3 (a) the utility model is wheel hub guide groove and expansion link lead partial enlarged drawing in hub unit；
Fig. 3 (b) is the utility model wheel hub guiding groove center line and six prism both ends of the surface variable angle schematic diagrames；
Fig. 4 is the utility model hub unit and driving wheel grinding subassembly installation helical angle schematic diagram
Fig. 5 is the utility model driving wheel grinding subassembly structural representation；
Fig. 6 is the utility model driving wheel grinding subassembly pedestal isometric view；
Fig. 7 is scheme of installation inside the utility model driving wheel grinding subassembly pedestal；
Fig. 8 is sectional view at the utility model driving wheel grinding subassembly driven gear shaft；
Fig. 9 is the utility model maintaining body primary structure schematic diagram；
Figure 10 is the utility model spring pressure governor motion schematic diagram；
Wherein：Hub unit 1, driving wheel grinding subassembly 2, Hooke's joint 3, motor and its power and control assembly 4,
Direction maintaining body 5, wheel hub 101, stretch rod sleeve 10101, guiding groove 10102, drives bracing strut 102, expansion link 103, stretches
Contracting bar lead 10301, compression spring 104, gear cap 105, spring conductor rod 106, pedestal left cover 201, pedestal I 202, pedestal
Right cover plate 203, Grinding wheel 204, driven gear 205, driven shaft I 206, driving gear 207, drive shaft 208, driving wheel 209, axle
Frame II 210, driven shaft II 211, arc spring I 212, arc spring II 213, lower plate 501, transverse axis 502, A-frame 503, protect
Hold wheel 504, support bar 505, cross bar 506, cylinder slide rail group 507, cylinder sliding block group 508, upper plate 509, adjusting rod I 510, gear
Group cover plate 511, sliding block group I 512, adjusting rod II 513, sliding block group II 514, groups of springs 515, leading screw I 516, connector I 517, even
Connect block 518, connector II 519, leading screw II 520, driven gear 521, driving gear 522, handle 523.
Embodiment
A kind of screw type pipeline inwall polishing for being suitable for different tube diameters of the utility model and polishing robot, including wheel hub
Component 1, driving wheel grinding subassembly 2, Hooke's joint 3, motor and its power and control assembly 4 and direction maintaining body 5, energy
The polishing and polishing to microtubule are enough realized, the hub unit 1 is installed with Hooke's joint 3 with spline fitted, driving
3 groups altogether of grinding subassembly 2 is taken turns, its both ends of drive shaft 208 is coordinated by the driving bracing strut 102 in bearing and hub unit 1 pacifies
Dress, electric motor and controller are arranged on direction maintaining body 5 with Power Component 4, and its motor shaft is with Hooke's joint 3 with spline
Coordinate installation.As shown in Figure 1.
Hub unit 1 described in the utility model, by wheel hub 101, driving bracing strut 102, expansion link 103, compression spring
104th, gear cap 105 and spring conductor rod 106 are formed, and the spring conductor rod 106 is connected through a screw thread with wheel hub 101, shares 3
Root, it is concentric with 3 flexible rod sleeves 10101 of wheel hub 101 respectively；Driving bracing strut 102 passes through screw thread with the upper end of expansion link 103
Connection, makes manhole axis and expansion link 103 lead, 10301 axis on driving bracing strut 102 in 90 ° after installation,
Now, the axis direction of 103 lead of expansion link 10301 and the angle of six prism end faces in the middle part of wheel hub are exactly helical angle；Pressure bullet
The lower end of spring 104 is arranged on spring conductor rod 106, and the cylindrical bore of upper end and the lower end of expansion link 103 coordinates；The expansion link
There is lead 10301 on 103, expansion link 103 passes through the guiding in lead 10301 and wheel hub 101 on flexible rod sleeve 10101
Groove 10102 is engaged, and guiding groove 10102 is used to change helical angle, after cooperation, due to the effect of compression spring 104, expansion link
103 can move up and down, and as shown in Fig. 3 (b), three horizontal lines represent successively from top to bottom：The lead 10301 of expansion link 103 exists
Extreme higher position that all component can reach after the completion of being respectively mounted, apart from highest point distance at h and spring lead can
The extreme lower position of arrival, difference in height is h between first and Article 3 line0, three broken circles in the right represent the flexible of respective heights
The cross section of rod sleeve 10101, real segment represent the direction of lead 10301 now, and vertical center line represents expansion link
Parallel to the straight line of the central six prism both ends of the surface of wheel hub on the cross section of sleeve 10101, thus, lead 10301 is located at bottom
When, the axis of lead 10301 is α (counterclockwise) with six prism both sides end face angles of the middle part of wheel hub 101, and lead 10301 is located at
During the top, angle is β (counterclockwise), and has β>α, angle change is with height change between extreme lower position to extreme higher position
Linear relationship, any distance extreme higher position are angle at hGear cap 105 is flexible installed in wheel hub 101
The top of rod sleeve 10101；The structure shares 3 groups, divides and is listed in circumference of hub, and angle is 120 ° to each other.Hub unit 1 is logical
Cross spline and coordinate installation with Hooke's joint.As shown in Fig. 2, Fig. 3 (a), Fig. 4.
Driving wheel grinding subassembly 2 described in the utility model, by pedestal left cover 201, pedestal I 202, pedestal right cover plate
203rd, Grinding wheel 204, driven gear 205, driven shaft I 206, driving gear 207, drive shaft 208, driving wheel 209, pedestal II
210th, driven shaft II 211, arc spring I 212 and arc spring II 213 form, and wherein the both ends of drive shaft 208 pass through bearing and wheel
Driving bracing strut 102 on hub assembly 1 coordinates installation, a helical angle is produced after installation, as shown in Figure 4；The drive shaft 208
From one end to the other end, coordinate with pedestal I 202, driving gear 207, pedestal II 210 and driving wheel 209 install successively, wherein,
It is other to pass through bearing fit with driving gear 207 and driving wheel 209 by spline fitted；The both ends of driven shaft I 206 pass through
Pedestal I 202 and the back side arc-shaped through-hole of pedestal II 210, coordinated by bearing and its internal arc groove, the driven shaft I 206 from
Installed successively with Grinding wheel 204 and driven gear 205 with spline fitted, arc spring I 212 and arc bullet to the other end one end
Spring II 213 is arranged in the interior grooves of pedestal I 202, and the pedestal left cover 201, pedestal right cover plate 203 and pedestal I 202 coordinate
Installation；The II 210 related mated condition of pedestal is identical with pedestal I 202；The II 211 related mated condition of driven shaft
It is identical with driven shaft I 206.Such as Fig. 5, shown in 6,7,8.
Direction described in the utility model keeps component, includes and keeps wheel construction and spring pressure governor motion, described
Direction keeps component to be slided by lower plate 501, transverse axis 502, A-frame 503, holding wheel 504, support bar 505, cross bar 506, cylinder
Rail group 507, cylinder sliding block group 508, upper plate 509, adjusting rod I 510, gear train cover plate 511, sliding block group I 512, adjusting rod II
513rd, sliding block group II 514, groups of springs 515, leading screw I 516, connector I 517, contiguous block 518, connector II 519, leading screw II
520th, driven gear 521, driving gear 522 and handle 523 are formed, and cylinder cunning is provided between the lower plate 501 and upper plate 509
Rail group 507,3 groups are shared, every group includes 2 one slide rails, forms basic framework, and the A-frame 503 is arranged on by revolute pair
In lower plate 501；It is described to keep wheel 504 to be arranged on the top of A-frame 503 with revolute pair；The transverse axis 502 is arranged on triangle branch
The middle through-hole of frame 503；Described one end of support bar 505 is rotatably assorted with transverse axis 502, and the other end is rotatably assorted with cross bar 506；Cross bar
506 both ends coordinate with cylinder sliding block group 508；Cylinder sliding block group 508 is arranged in cylinder slide rail group 507；These components, which are formed, to be protected
Wheel primary structure is held, shares 6 groups, symmetrical point is listed on upper plate 509 and lower plate 501；The spring pressure governor motion is by adjusting
Bar I 510, gear train cover plate 511, sliding block group I 512, adjusting rod II 513, sliding block group II 514, groups of springs 515, leading screw I 516, company
523 groups of fitting I 517, contiguous block 518, connector II 519, leading screw II 520, driven gear 521, driving gear 522 and handle
Into；The leading screw I 516 and leading screw II 520 are oppositely oriented, are fixed on jointly on contiguous block 518, both ends pass through bearing and upper plate
509 and lower plate 501 coordinate installation；The upper end of connector I 517 is fixed on adjusting rod II 513, and lower end is screw pair,
Coordinate with leading screw I 516 and install；The upper end of connector II 519 is fixed on adjusting rod I 510, and lower end is screw pair, with
Leading screw II 520 coordinates installation；The adjusting rod I 510, the both ends of adjusting rod II 513 pass through sliding block group I 512, sliding block group II respectively
514 coordinate installation with slide rail group 507；The driven gear 521 is with leading screw II 520 with spline fitted；The driving gear 522 with
Pass through spline fitted between handle 523；The gear train cover plate 511 is arranged on upper plate 509；The spring pressure governor motion
3 groups are shared, is uniformly distributed circumferentially, swing handle 523, to 6 the spring pressure of wheel can be kept to be adjusted simultaneously.Rotate
Handle 521, because leading screw I 514, leading screw II 518 are oppositely oriented, adjusting rod I 510, the direction of motion of adjusting rod II 512 are on the contrary, same
Shi Erzhe move distances are identical, and both sides can be made to keep wheel assembly spring pressure is same to increase same subtract.
The groups of springs 514 is arranged between cross bar 506 and the sliding block at the both ends of adjusting rod II 512, and each spring pressure is adjusted
There are 2 groups in section mechanism, 6 groups are shared in whole mechanism.As shown in Fig. 9,10.
Specific operation process is as follows：According to pipe diameter size, swing handle 523, due to leading screw I 516 and the rotation direction of leading screw II 520
On the contrary, adjusting rod I 510, the direction of motion of adjusting rod II 513 symmetrically keep wheel mechanism to consolidate on the contrary, two groups can be adjusted simultaneously all the time
Fixed slider group I512, sliding block group II514 reach suitable position, spring pressure is kept a rational preset value, guarantor
There is enough pressure to inner-walls of duct to component 5 is kept；Hub unit and driving wheel grinding subassembly from suitable dimension；By machine
Device people is put into the pipeline that need to be processed, and starts；When inner-walls of duct changes, compression spring 104 and direction in hub unit 1 are protected
Hold the groups of springs 515 in mechanism 5 will produce therewith it is flexible, make mechanism adapt to caliber change.When the change of actual caliber is small, grinding
Wheel 204 will drive driven shaft I 206 to be moved along pedestal I 202 and the arc-shaped through-hole at the back side of pedestal II 210 due to being acted on by power
Dynamic, same change will occur for driven shaft II 211 and its Grinding wheel above, so both meets grinding and requires, turn avoid
The generation for phenomenon of forging a knife.Simultaneously as on wheel hub 101 guiding groove 10102 effect, the lead 10301 above expansion link 103
During moving down with wheel hub in the middle part of six prism end face angles it is (counterclockwise) reduce so that helical angle reduction, helical angle
The reduction of pitch will be caused by reducing, and so, can be carried out more frequently being ground in the less part of caliber.Conversely, work as
When caliber becomes big, Grinding wheel 204 will move up, and helical angle will become big, and the increase of pitch can make robot quickly larger from caliber
Part skim over, improve operating efficiency.
Claims (4)
1. a kind of screw type pipeline inwall polishing for adapting to different tube diameters and polishing robot, it is characterised in that：Including wheel hub group
Part, driving wheel grinding subassembly, Hooke's joint, motor and its power and control assembly and direction maintaining body, the wheel hub
Component is installed with Hooke's joint with spline fitted, and totally 3 groups of the driving wheel grinding subassembly, its drive shaft both ends passes through bearing
To be installed with the drive shaft support assorted in hub unit, electric motor and controller is arranged on the maintaining body of direction with Power Component,
Its motor shaft is installed with Hooke's joint with spline fitted.
2. a kind of screw type pipeline inwall polishing for adapting to different tube diameters according to claim 1 and polishing robot, its
It is characterised by：The hub unit is made up of wheel hub, driving bracing strut, expansion link, compression spring, gear cap and spring conductor rod,
The spring conductor rod is connected through a screw thread with wheel hub, shares 3, concentric with 3 expansion link guide cylinders on wheel hub respectively；Institute
Compression spring lower end is stated on spring conductor rod, the cylindrical bore of upper end and expansion link lower end coordinates；On the expansion link
There is lead, expansion link is engaged by lead with the guiding groove on rod sleeve that stretched in wheel hub, after cooperation, due to pressure bullet
The effect of spring, expansion link can move up and down, and when lead is located at bottom, be oriented to mast axis and six prism two side ends in the middle part of wheel hub
Face angle is α, when lead is located at the top, angle β, and have β>α, difference in height is between extreme lower position and extreme higher position
h0, angle change and height change are linear relationship between extreme lower position to extreme higher position, and intermediate distance extreme higher position is h
Place, angleGear cap is arranged on above the flexible rod sleeve of wheel hub；Driving bracing strut leads to expansion link upper end
Cross threaded connection, it is in 90 ° to be oriented to mast axis for manhole axis and expansion link on installation rear drive shaft support；The driving
The structure that bracing strut, expansion link, compression spring, gear cap and spring conductor rod form shares 3 groups, divides and is listed in circumference of hub, that
Angle is 120 ° around here；Hub unit is coordinated by spline and Hooke's joint to be installed.
3. a kind of screw type pipeline inwall polishing for adapting to different tube diameters according to claim 1 and polishing robot, its
It is characterised by：The driving wheel grinding subassembly is by pedestal left cover, pedestal I, pedestal right cover plate, Grinding wheel, driven gear, driven
Axle I, driving gear, drive shaft, driving wheel, pedestal II, driven shaft II, arc spring I and arc spring II form, wherein driving
Installed by the drive shaft support assorted on bearing and hub unit at axle both ends；Drive shaft from one end to the other end, successively with axle
Frame I, driving gear, pedestal II and driving wheel coordinate installation, wherein, it is connected with driving gear and driving wheel by spline, it is other
Connected by bearing；The both ends of driven shaft I pass through pedestal I and the back side arc-shaped through-hole of pedestal II, pass through bearing and its inner arc
Connected in star coordinates；The driven shaft I is installed, arc with Grinding wheel and driven gear with spline fitted successively from one end to the other end
Shape spring I and arc spring II are arranged in the interior grooves of pedestal I, and the pedestal left cover, pedestal right cover plate and pedestal I coordinate
Installation；The II related mated condition of pedestal is identical with pedestal I；The II related mated condition of driven shaft and driven shaft I
It is identical.
4. a kind of screw type pipeline inwall polishing for adapting to different tube diameters according to claim 1 and polishing robot, its
It is characterised by：The direction maintaining body, which includes, keeps wheel construction and spring pressure governor motion, the direction maintaining body
By lower plate, transverse axis, A-frame, holding wheel, support bar, cross bar, cylinder slide rail group, cylinder sliding block group, upper plate, adjusting rod I, tooth
Wheel group cover plate, sliding block group I, adjusting rod II, sliding block group II, groups of springs, leading screw I, connector I, contiguous block, connector II, leading screw
IIth, driven gear, driving gear and handle composition, are provided with cylinder slide rail group, share 3 groups, often between the lower plate and upper plate
Group includes 2 one slide rails, forms basic framework, and the A-frame is arranged in lower plate by revolute pair；It is described to keep wheel to turn
Dynamic pair is arranged on A-frame top；The transverse axis is arranged on A-frame middle through-hole；Described support bar one end turns with transverse axis
Dynamic to coordinate, the other end is rotatably assorted with cross bar；Cross bar both ends assemble conjunction with cylinder sliding block；Cylinder sliding block group is arranged on cylinder slide rail
In group；These components, which are formed, keeps wheel primary structure, shares 6 groups, and symmetrical point is listed on upper plate and lower plate；The spring pressure is adjusted
Mechanism is saved by adjusting rod I, gear train cover plate, sliding block group I, adjusting rod II, sliding block group II, groups of springs, leading screw I, connector I, company
Connect block, connector II, leading screw II, driven gear, driving gear and handle composition；The leading screw I and leading screw II are oppositely oriented, altogether
With being fixed on contiguous block, both ends are coordinated by bearing and upper plate and lower plate installs；The upper end of connector I is fixed on adjusting rod
On II, lower end is screw pair, coordinates with leading screw I and installs；The upper end of connector II is fixed on adjusting rod I, and lower end is
Screw pair, coordinate with leading screw II and install；The adjusting rod I, the both ends of adjusting rod II pass through sliding block group I, sliding block group II respectively
Coordinate with slide rail group and install；The driven gear is with leading screw II with spline fitted；Pass through flower between the driving gear and handle
Key coordinates；The gear train cover plate is arranged on upper plate；The spring pressure governor motion shares 3 groups, is evenly distributed on circumference
On, the groups of springs is arranged between cross bar and the sliding block at the both ends of adjusting rod II, has 2 groups on each spring pressure governor motion,
6 groups are shared in whole mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621050117.1U CN206869568U (en) | 2016-09-12 | 2016-09-12 | A kind of screw type pipeline inwall polishing for adapting to different tube diameters and polishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621050117.1U CN206869568U (en) | 2016-09-12 | 2016-09-12 | A kind of screw type pipeline inwall polishing for adapting to different tube diameters and polishing robot |
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| CN206869568U true CN206869568U (en) | 2018-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621050117.1U Withdrawn - After Issue CN206869568U (en) | 2016-09-12 | 2016-09-12 | A kind of screw type pipeline inwall polishing for adapting to different tube diameters and polishing robot |
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| CN110281126A (en) * | 2019-07-04 | 2019-09-27 | 西安工业大学 | A kind of rotary pipeline grinder buffing system and method |
| CN110814886A (en) * | 2019-12-03 | 2020-02-21 | 康鹤川 | Pipe inner wall grinding device for building construction |
| CN111300452A (en) * | 2020-03-26 | 2020-06-19 | 大连理工大学 | Welding seam measuring-polishing robot in conical shell |
| CN112108874A (en) * | 2020-08-24 | 2020-12-22 | 南京蹑波物联网科技有限公司 | Industrial robot for pipeline welding and control method thereof |
| CN112276748A (en) * | 2020-10-12 | 2021-01-29 | 宁波灵凡智远电子设备有限公司 | Three-dimensional reducing support type pipeline polishing robot complete machine |
| CN112958550A (en) * | 2021-01-29 | 2021-06-15 | 罗安群 | Thermal decontamination method applied to long pipeline |
| CN113523920A (en) * | 2021-07-27 | 2021-10-22 | 武汉大学 | Multi-support-arm rotary polishing device for heat insulation layer of large engine combustion chamber |
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2016
- 2016-09-12 CN CN201621050117.1U patent/CN206869568U/en not_active Withdrawn - After Issue
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| CN110281126A (en) * | 2019-07-04 | 2019-09-27 | 西安工业大学 | A kind of rotary pipeline grinder buffing system and method |
| CN110814886B (en) * | 2019-12-03 | 2022-05-10 | 山东田兴建工有限公司 | Pipe inner wall grinding device for building construction |
| CN110814886A (en) * | 2019-12-03 | 2020-02-21 | 康鹤川 | Pipe inner wall grinding device for building construction |
| CN111300452A (en) * | 2020-03-26 | 2020-06-19 | 大连理工大学 | Welding seam measuring-polishing robot in conical shell |
| CN111300452B (en) * | 2020-03-26 | 2022-08-05 | 大连理工大学 | Welding seam measuring-polishing robot in conical shell |
| CN112108874A (en) * | 2020-08-24 | 2020-12-22 | 南京蹑波物联网科技有限公司 | Industrial robot for pipeline welding and control method thereof |
| CN112108874B (en) * | 2020-08-24 | 2021-11-30 | 南京蹑波物联网科技有限公司 | Industrial robot for pipeline welding and control method thereof |
| CN112276748A (en) * | 2020-10-12 | 2021-01-29 | 宁波灵凡智远电子设备有限公司 | Three-dimensional reducing support type pipeline polishing robot complete machine |
| CN112958550A (en) * | 2021-01-29 | 2021-06-15 | 罗安群 | Thermal decontamination method applied to long pipeline |
| CN112958550B (en) * | 2021-01-29 | 2023-04-14 | 罗安群 | Thermal decontamination method applied to long pipeline |
| CN113523920A (en) * | 2021-07-27 | 2021-10-22 | 武汉大学 | Multi-support-arm rotary polishing device for heat insulation layer of large engine combustion chamber |
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