CN210502951U - Self-propelled pipeline surface device of crawling - Google Patents

Abstract

The utility model discloses a self-propelled pipeline surface device of crawling, when mill seat rotating electrical machines rotates, the anchor clamps runner is passive rotatory, and then realize the rotary motion of whole organism around the steel-pipe axle on the pipe wall, realize the motion on the steel pipe, thereby general running gear and adsorption apparatus's shortcoming has been avoided, can realize steady walking, the initiative is held tightly, and simultaneously, mill anchor clamps motor is direct current servo motor, synchronous reversal is realized to two sets of mill anchor clamps motors, make anchor clamps runner contact the steel pipe wall simultaneously, and press from both sides the pipe wall with rotatory guiding axle jointly and press from both sides tightly, thereby realize the laminating with the steel pipe, can increase its application scope.

Description

Self-propelled pipeline surface device of crawling

Technical Field

The utility model relates to a pipe wall equipment technical field that crawls especially relates to a self-propelled pipeline surface device of crawling.

Background

The pipe wall crawling is a type of equipment which combines a special adsorption function and a mobile crawling device, can flexibly move on a vertical or inclined wall surface or even an inverted wall surface, and carries certain equipment to execute a specific task. The most important functions of such devices are the adsorption function and the walking function.

According to different adsorption modes, the adsorption mode can be divided into magnetic adsorption, negative pressure adsorption and the like, and although the vacuum adsorption adopted in the negative pressure adsorption has higher adaptability to the material of the working wall surface, when a gap appears on the wall surface or the surface quality is poor, the vacuum chuck is easy to leak air, and the adsorption force is also remarkably reduced. For the magnetic adsorption mode, although the influence of the wall surface roughness on the magnetic adsorption is small, the magnetic adsorption mode can also provide large adsorption force, but the wall surface material is required to be a magnetic conduction material, so that the application development of the magnetic adsorption wall climbing equipment is greatly limited.

According to different walking modes, the wall climbing equipment can be divided into wheel type, crawler type, foot type and the like. The crawler-type structure can provide larger friction force and has large bearing capacity, but the crawler-type structure has complex structure and high cost and needs a specific tensioning structure; the foot type structure has strong obstacle crossing capability, large accessible space range, large control difficulty, poor rigidity, complex structure, larger moving speed range of the wheel type structure, convenient control and the defects of small contact area between the moving wheel and the wall surface and poor obstacle crossing capability.

The adsorption mode and the crawling mode have respective limitations, and particularly, the adsorption mode and the crawling mode have special requirements when being used on special occasions such as the surface of a steel pipe, so that the manufacturing of the crawling mechanism capable of being used on the steel pipe has important practical significance.

Disclosure of Invention

An object of the utility model is to provide a self-propelled pipeline surface equipment of crawling, the walking of current pipeline surface equipment of crawling is unreliable, the problem of easy landing.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a self-propelled pipeline surface crawling device comprises a mill base, wherein two ends of the mill base are respectively connected with a rotary guide shaft, one end of each rotary guide shaft is connected with a mill base rotating motor, and the other end of each rotary guide shaft is sleeved with a rotary guide shaft rotating wheel; the left side and the right side of the lower part of the grinding machine base are respectively connected with a grinding machine clamp, and a grinding machine clamp motor and a clamp rotating wheel are respectively arranged at two ends of the grinding machine clamp; the two groups of grinder clamp motors synchronously rotate reversely, so that the clamp rotating wheels simultaneously contact the pipe wall and clamp the pipe wall together with the rotary guide shaft. The two groups of grinding machine clamps and the rotary guide shaft have height difference, and the distance between the two groups of grinding machine clamps is smaller than the distance between the rotary guide shafts, so that the grinding machine clamps are used for clamping the pipe wall.

Specifically, a rotary guide shaft is connected with a mill base through a shaft hole, a rotary wheel of the rotary guide shaft is sleeved on the rotary guide shaft and is in contact with the outer surface of the tube wall, and a rotary motor of the mill base drives the rotary guide shaft to move;

the grinding machine clamp is connected with the grinding machine seat through the shaft hole, the clamp rotating wheel is sleeved on the grinding machine clamp and is in contact with the inner surface of the pipe wall, and the grinding machine clamp motor drives the grinding machine clamp to rotate;

when the mill seat rotating motor rotates, the fixture rotating wheel rotates passively, and the pipeline surface crawling device rotates around the pipe shaft on the pipe wall.

Preferably, still be provided with the visual tracking system on the self-propelled pipeline surface device of crawling, accomplish real-time accurate tracking, still be provided with detecting system on the self-propelled pipeline surface device of crawling simultaneously, accomplish real-time detection.

Preferably, the mill clamp motor is a direct current servo motor.

Compared with the prior art, the utility model discloses following profitable technological effect has:

the utility model discloses a pipeline surface equipment of crawling, two sets of mill anchor clamps motors can realize synchronous reversal, make anchor clamps runner contact the pipeline wall simultaneously to press from both sides the pipe wall tightly with rotatory guiding axle jointly, thereby realize with the laminating of pipeline, gas leakage and the adsorption affinity that probably causes in the negative pressure adsorption neither can appear and reduce the phenomenon, also can not require the wall material must be this restriction of magnetic material like the magnetism adsorption formula, can increase its application scope.

Meanwhile, when the grinding machine seat rotating motor rotates, the fixture rotating wheel passively rotates, so that the whole machine body rotates around the pipeline shaft on the pipe wall, the motion on the pipeline is realized, and the complex crawler-type structure and high cost are avoided; the foot type control difficulty is large, the rigidity is poor, and the structure is complex; the contact area of the wheel type structure and the wall surface is small, the obstacle crossing capability is poor, and the like.

The utility model discloses a pipeline surface equipment of crawling can be at the steady walking of pipeline, and the initiative is held tightly and is difficult for following the landing of pipeline outer wall.

Drawings

Fig. 1 is a schematic structural view of a self-propelled pipeline surface crawling device provided by the present invention;

fig. 2 is a partially enlarged view of the steel pipe surface crawling apparatus.

In the figure: 1. a steel pipe; 2. a mill clamp motor; 3. a mill clamp; 4. a fixture runner; 5. grinding a machine base; 6. a mill base rotating motor; 7. rotating the guide shaft; 8. the steering shaft runner is rotated.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings:

referring to fig. 1 and 2, the utility model provides a self-propelled steel tube surface crawling device, which is used for crawling on the steel tube surface, a mill base rotating motor 6 drives a rotating guide shaft 7 to move, a rotating guide shaft rotating wheel 8 is sleeved on the rotating guide shaft 7 and contacts with the surface of the steel tube 1, and the rotating guide shaft 7 is connected with a mill base 5 through a shaft hole; mill anchor clamps motor 2 drives mill anchor clamps 3 rotatory, and anchor clamps runner 4 cover is on mill anchor clamps 3 and with 1 surface contact of steel pipe, and mill anchor clamps 3 are connected with mill seat 5 through the shaft hole, and mill anchor clamps 3 all are connected with mill seat 5 through the shaft hole with rotatory guiding axle 7.

Preferably, the utility model discloses steel pipe surface crawls device can cooperate visual tracking and detecting system to accomplish real-time accurate tracking motion to certain motion accuracy and stability have under the condition that carries certain load. The multifunctional grinding tool can be firmly adsorbed on the surfaces of ships, oil tanks and large curved surface container tanks by matching with different tools to move, and can also complete the work of grinding, welding, derusting and the like, so that the wall surface pattern layer can not be damaged, and the labor amount of workers is saved.

Preferably, the utility model discloses still include that mill anchor clamps motor 2 is direct current servo motor, two sets of mill anchor clamps motors 2 realize synchronous reversal, make 1 walls of anchor clamps runner 4 contact steel pipe simultaneously to press from both sides the pipe wall tightly jointly with rotatory guiding axle 7. Thereby realizing the joint with the steel pipe 1, and avoiding the phenomena of air leakage and reduced adsorption force which are possibly caused in the negative pressure adsorption. The magnetic adsorption type magnetic adsorption device does not have the limitation that the wall material is required to be a magnetic conduction material, and the application range of the magnetic adsorption type magnetic adsorption device can be enlarged.

Preferably, the utility model discloses still include: when the mill base rotating motor 6 rotates, the fixture rotating wheel 4 rotates passively, so that the whole machine body rotates around the steel pipe shaft on the pipe wall, and the movement on the steel pipe 1 is realized. The complex crawler-type structure and the high cost are avoided; the foot type control difficulty is large, the rigidity is poor, and the structure is complex; the contact area of the wheel type structure and the wall surface is small, the obstacle crossing capability is poor, and the like.

The working principle of the utility model is as follows: mill seat rotating electrical machines 6 drive the motion of rotatory guiding axle 7, and rotatory guiding axle runner 8 cover is on rotatory guiding axle 7 to with steel pipe 1 surface contact, rotatory guiding axle 7 passes through the shaft hole and is connected with mill seat 5, and mill seat 5 below is connected with mill anchor clamps 3 through the shaft hole, and with its motion transmission give steel pipe 1 contact's anchor clamps runner 4, thereby realize crawling the removal of device on steel pipe 1.

In the clamping process: the mill clamp motor 2 drives the mill clamp 3 to rotate, and the clamp runner 4 matched with the mill clamp 3 is in contact with the surface of the steel pipe 1, so that the motion is transmitted to the mill base 5, and the mill base 5 is connected with the mill clamp 3 through a shaft hole. Synchronous reverse rotation is realized through mill clamp rotating motors 2 at two ends of a mill base 5, a clamp rotating wheel 4 is enabled to be simultaneously contacted with the wall surface of the steel pipe 1, movement of a rotary guide shaft 7 is realized through contact of the mill base 5 and a rotary guide shaft rotating wheel 8, and a pipe wall is clamped by a mill clamp 3 and the rotary guide shaft 7 together. The system can complete real-time accurate tracking movement by matching with a visual tracking and detecting system, and has certain movement accuracy and stability under the condition of carrying certain load. The multifunctional grinding tool can be firmly adsorbed on the surfaces of ships, oil tanks and large curved surface container tanks to move by matching with different tools, and can also finish the work of grinding, welding, rust removal and the like.

Claims (5)

1. The self-propelled pipeline surface crawling device is characterized by comprising a mill base (5), wherein two ends of the mill base (5) are respectively connected with a rotary guide shaft (7), one end of each rotary guide shaft (7) is connected with a mill base rotating motor (6), and the other end of each rotary guide shaft (7) is sleeved with a rotary guide shaft rotating wheel (8);

the left side and the right side of the mill base (5) are respectively connected with a mill clamp (3), and a mill clamp motor (2) and a clamp rotating wheel (4) are respectively arranged at two ends of the mill clamp (3); the two groups of grinder clamp motors (2) synchronously rotate reversely, so that the clamp rotating wheels (4) simultaneously contact the pipe wall and clamp the pipe wall together with the rotary guide shaft (7);

the rotary guide shaft (7) is connected with the mill base (5) through a shaft hole, a rotary guide shaft rotating wheel (8) is sleeved on the rotary guide shaft (7) and is in contact with the outer surface of the pipe wall, and a mill base rotating motor (6) drives the rotary guide shaft (7) to move;

the grinding machine fixture (3) is connected with the grinding machine base (5) through a shaft hole, the fixture rotating wheel (4) is sleeved on the grinding machine fixture (3) and is in contact with the inner surface of the pipe wall, and the grinding machine fixture motor (2) drives the grinding machine fixture (3) to rotate;

when the mill base rotating motor (6) rotates, the clamp rotating wheel (4) rotates passively, and the pipeline surface crawling equipment rotates around a pipe shaft on the pipe wall.

2. The self-propelled pipe surface crawling apparatus according to claim 1, wherein the two sets of mill clamps (3) have a height difference with the rotary guiding shaft (7), and the distance between the two sets of mill clamps (3) is smaller than the distance between the rotary guiding shafts (7).

3. The self-propelled pipeline surface crawling device of claim 1, wherein a visual tracking system is further provided on the self-propelled pipeline surface crawling device to perform real-time accurate tracking.

4. The self-propelled pipeline surface crawling device according to claim 1 or 2, wherein a detection system is further provided on the self-propelled pipeline surface crawling device to perform real-time detection.

5. The self-propelled pipe surface crawling apparatus of claim 1, wherein the mill clamp motor (2) is a dc servo motor.

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