CN210770996U - Pipeline robot tensioning and running gear - Google Patents
Pipeline robot tensioning and running gear Download PDFInfo
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- CN210770996U CN210770996U CN201921615498.7U CN201921615498U CN210770996U CN 210770996 U CN210770996 U CN 210770996U CN 201921615498 U CN201921615498 U CN 201921615498U CN 210770996 U CN210770996 U CN 210770996U
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Abstract
The utility model relates to a pipeline robot tensioning and running gear belongs to wood-based plate production technical field. The technical scheme is as follows: an output shaft of the tensioning motor (2.1) penetrates through the tensioning disc (2.2) and is connected with a tensioning lead screw (2.14) through a tensioning coupling (2.4), and the tensioning lead screw is connected with a lead screw sleeve in a threaded matching manner; a plurality of tensioning disc earrings (2.3) are arranged around the tensioning screw rod, one ends of a plurality of tensioning large arms (2.6) are respectively hinged with the plurality of tensioning disc earrings, and travelling wheel supports (2.10) are arranged at the other ends of the plurality of tensioning large arms; the big tensioning arm is provided with a big tensioning arm ear ring (2.5), the lead screw sleeve is provided with a lead screw sleeve ear ring, and two ends of the small tensioning arm are respectively hinged with the big tensioning arm ear ring and the lead screw sleeve ear ring. The utility model provides a pipeline robot frequently dismantles and gets into the problem of inspection door difficulty when getting into major diameter pipeline operation, can realize pipeline robot tensioning and walking.
Description
Technical Field
The utility model relates to a pipeline robot tensioning and running gear for dry duct inner wall built-up of clearance wood-based plate production usefulness belongs to wood-based plate production technical field.
Background
In the production process of the medium fiber density board, the drying of the fibers is an important process, and the wood fibers, the urea-formaldehyde glue and the steam are injected into a drying pipeline together for drying. High-temperature air is simultaneously introduced into the drying pipeline, the wood fiber is dried under the action of the high-temperature air, and mixed attachments of the wood fiber and the urea-formaldehyde glue are remained on the inner wall of the drying pipeline in the drying process, and the drying pipeline is commonly called as a wall hanging. With the continuous scouring and drying of the inner wall of the pipeline by the subsequent fibers, the wall-hanging materials fall off from the inner wall of the pipeline and are doped in the fibers to be pressed into medium fiber density boards, the density boards doped with a small amount of wall-hanging materials are degraded and even evaluated as waste products, the production cost is seriously influenced, and meanwhile, wood resources are wasted. At present, the method for cleaning the wall hanging of the drying pipeline adopted in the prior art is manual cleaning, and workers enter the drying pipeline and need to stop for a long time to clean the drying pipeline, so that production is influenced; meanwhile, the general diameter of the drying pipeline is larger than 2 meters, the manual cleaning is too difficult, the workload is huge, formaldehyde with certain concentration is also arranged in the drying pipeline, and people can be poisoned if the drying pipeline is not contacted with the formaldehyde for a long time without protective measures. In order to reduce the labor amount of workers, improve the automation level, reduce the production cost and improve the resource utilization rate, the wall hanging of a drying pipeline for producing the board needs to be mechanically and automatically cleaned, and the method has very important significance for processing the medium fiber density board.
In the development process of the pipeline robot, the tensioning device is always a troublesome problem, and is particularly suitable for the pipeline robot with a larger-diameter pipeline, the tensioning device occupies too large space or the process of manually assembling the tensioning device to realize the tensioning function after the robot enters the pipeline is too complicated. Generally, pipelines with larger diameters are provided with inspection ports, and the size of the inspection ports is very limited so that persons with medium stature can be drilled through the inspection ports. Taking a drying pipeline of a medium fiber density board production line as an example, a square inspection opening with the side length of half a meter is formed in the pipeline with the diameter of 2 meters, and a dried mixture of an adhesive and wood fibers is arranged on the inner wall of the pipeline. According to actual conditions, if the mixture of the inner wall of the pipeline is to be cleaned by entering the pipeline, the diameter of the pipeline robot can reach 2 meters after tensioning and the walking device are unfolded, the pipeline robot can pass through an inspection opening with the side length of half meter after being folded, and the frequent disassembly and assembly of the tensioning device can be avoided only if the above conditions are met. The pneumatic tensioning device has the defects that the structure of the tensioning device becomes more complex due to the fact that a pressure air source is needed for pneumatic tensioning, the electric telescopic tensioning mode cannot be folded, and the diameter of the tensioning device is still larger than half of the diameter of the pipeline when the tensioning arm retracts completely. In order to ensure that the pipeline robot can smoothly enter a pipeline through an isomorphic observation port to realize a tensioning function, the development of a brand-new foldable tensioning device is very important.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a pipeline robot tensioning and running gear, pipeline robot get into the pipeline operation in-process, realize the tensioning of pipeline robot in the pipeline and the walking function, and the device can also fold and conveniently pass in and out the pipeline when the pipeline robot tensioning finishes, solves the above-mentioned technical problem that prior art exists.
The technical scheme of the utility model is that:
a pipeline robot tensioning and walking device comprises a tensioning motor, a tensioning disc, tensioning disc earrings, a tensioning coupling, tensioning large arm earrings, tensioning large arms, tensioning small arms, walking wheels, walking wheel supports, a walking motor, a screw sleeve, screw sleeve earrings and tensioning screws; the tensioning motor and the tensioning coupling are respectively positioned in the centers of two sides of the tensioning disc and are both arranged perpendicular to the tensioning disc; an output shaft of the tensioning motor penetrates through the tensioning disc and is connected with a tensioning lead screw through a tensioning coupling, and the tensioning lead screw is connected with a lead screw sleeve in a threaded matching manner; a plurality of tensioning disc earrings are arranged around the tensioning screw rod, one ends of a plurality of tensioning large arms are respectively hinged with the plurality of tensioning disc earrings, walking wheel supports are arranged at the other ends of the plurality of tensioning large arms, a plurality of walking wheels are arranged on the plurality of walking wheel supports, and each walking wheel is connected with one walking motor in a matching manner; the large tensioning arm is provided with a large tensioning arm ear ring, the lead screw sleeve is provided with a lead screw sleeve ear ring, two ends of each small tensioning arm are respectively hinged with the large tensioning arm ear ring and the lead screw sleeve ear ring, each large tensioning arm is matched with one small tensioning arm, the tensioning motor drives the tensioning lead screw and the lead screw sleeve to move relatively, and the small tensioning arms drive the large tensioning arms to stretch outwards or retract inwards.
After the tensioning large arm is opened, the distance between a travelling wheel on the travelling wheel support and the circle center of the tensioning disc is matched with the inner diameter radius of a drying pipeline needing to be cleaned.
After the large tensioning arm is completely opened, the large tensioning arm is parallel to the tensioning disc, and the distance between the walking wheel on the walking wheel support and the circle center of the tensioning disc is the maximum inner diameter radius capable of cleaning a drying pipeline.
The tensioning disc earrings, the tensioning large arm, the tensioning small arm, the tensioning large arm earrings and the lead screw sleeve earrings are all three in number and uniformly distributed on the circumference of the tensioning disc to form three sets of stretching and retracting mechanisms which are completely the same in structure and are composed of the tensioning large arm, the tensioning small arm and the walking wheel support.
The tensioning large arm and the travelling wheel supports are arranged vertically, each travelling wheel support is provided with two travelling wheels, and the two travelling wheels are respectively positioned at two ends of the travelling wheel support; a wheel shaft of each travelling wheel is provided with a travelling motor; the big arm of tensioning is parallel with the tensioning disc after opening completely, and two walking wheels on the walking wheel support all contact with the dry pipe inner wall that will clear up the wall built-up this moment.
The walking wheels are provided with walking wheel rubber sleeves, so that impact can be effectively absorbed.
Because the inner diameter of the drying pipeline on the production line on the plate is fixed, the length of the tensioning large arm matched with the inner diameter of the drying pipeline is selected, so that after the tensioning large arm is completely unfolded, the distance between the travelling wheel on the travelling wheel support and the circle center of the tensioning disc is equal to the inner diameter radius of the drying pipeline.
Two walking wheels are arranged on the walking wheel bracket connected with the tensioning large arm in parallel, and a certain distance is reserved between the two walking wheels, so that the whole device can keep balance after the tensioning and walking mechanism is tensioned.
The utility model has the advantages that: the utility model provides a pipeline robot tensioning and running gear solves pipeline robot when getting into major diameter pipeline operation, frequently dismantles and gets into the problem of inspection mouth difficulty, can realize pipeline robot tensioning and walking, and straining device is collapsible can pass in and out pipeline inspection mouth smoothly after relaxing, and this device can be in pipeline robot wide application.
Drawings
FIG. 1 is a schematic structural diagram of an application state of an embodiment of the present invention;
fig. 2 is a schematic structural view of the present invention in a folded state;
FIG. 3 is a schematic structural view of a cutting mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a combined tool holder according to an embodiment of the present invention;
fig. 5 is a schematic structural view of the open state of the embodiment of the present invention;
FIG. 6 is a schematic view of a tool holder according to an embodiment of the present invention;
FIG. 7 is a schematic view of the use of the combined tool holder according to the embodiment of the present invention;
in the figure: the utility model discloses 1, connecting rod 2, cutting mechanism 3, combination knife rest 4, drying duct 5, protruding welding seam 6, spring hole 7, front slider 8, blade recess 9, blade mounting hole 10, back slider 11; the tensioning device comprises a tensioning motor 2.1, a tensioning disc 2.2, a tensioning disc earring 2.3, a tensioning coupling 2.4, a tensioning large arm earring 2.5, a tensioning large arm 2.6, a tensioning small arm 2.7, a travelling wheel 2.8, a travelling wheel rubber sleeve 2.9, a travelling wheel support 2.10, a travelling motor 2.11, a screw rod sleeve 2.12, a screw rod sleeve earring 2.13 and a tensioning screw rod 2.14; the cutting machine comprises a cutting motor 3.1, a fixed disc 3.2, a cutting coupler 3.3, a cutting turntable 3.4, a telescopic motor 3.5, a cutting large arm 3.6, a cutting small arm 3.7 and a telescopic lead screw 3.8; connecting plate 4.1, spring 4.2, combination slide 4.3, knife rest holder 4.4, knife rest 4.5, blade 4.6.
Detailed Description
The present invention will be further explained by embodiments with reference to the accompanying drawings.
A pipeline robot tensioning and walking device comprises a tensioning motor 2.1, a tensioning disc 2.2, a tensioning disc ear ring 2.3, a tensioning coupling 2.4, a tensioning large arm ear ring 2.5, a tensioning large arm 2.6, a tensioning small arm 2.7, a walking wheel 2.8, a walking wheel support 2.10, a walking motor 2.11, a lead screw sleeve 2.12, a lead screw sleeve ear ring 2.13 and a tensioning lead screw 2.14; the tensioning motor 2.1 and the tensioning coupler 2.4 are respectively positioned in the centers of two sides of the tensioning disc 2.2 and are both arranged perpendicular to the tensioning disc 2.2; an output shaft of the tensioning motor 2.1 penetrates through the tensioning disc 2.2 and is connected with a tensioning lead screw 2.14 through a tensioning coupling 2.4, and the tensioning lead screw 2.14 is connected with a lead screw sleeve 2.12 in a threaded matching manner; a plurality of tensioning disc earrings 2.3 are arranged around the tensioning screw 2.14, one ends of a plurality of tensioning large arms 2.6 are respectively hinged with the plurality of tensioning disc earrings 2.3, walking wheel supports 2.10 are arranged at the other ends of the plurality of tensioning large arms 2.6, a plurality of walking wheels 2.8 are arranged on the plurality of walking wheel supports 2.10, and each walking wheel 2.8 is connected with a walking motor 2.11 in a matching way; the tensioning large arm 2.6 is provided with a tensioning large arm ear ring 2.5, the screw sleeve 2.12 is provided with a screw sleeve ear ring 2.13, two ends of the tensioning small arm 2.7 are respectively hinged with the tensioning large arm ear ring 2.5 and the screw sleeve ear ring 2.13, each tensioning large arm 2.6 is matched with one tensioning small arm 2.7, the tensioning motor 2.1 drives the tensioning screw 2.14 and the screw sleeve 2.12 to move relatively, and the tensioning small arm 2.7 drives the tensioning large arm 2.6 to open outwards or retract inwards.
After the tensioning large arm 2.6 is opened, the distance between the circle centers of the walking wheels 2.8 on the walking wheel support 2.10 and the tensioning disc 2.2 is the same as the inner diameter radius of a drying pipeline needing to clean a wall.
The tensioning large arm 2.6 can be completely opened, the tensioning large arm 2.6 is parallel to the tensioning disc 2.2 after the tensioning large arm is completely opened, and the distance between the circle centers of the walking wheels 2.8 on the walking wheel support 2.10 and the tensioning disc 2.2 is the maximum inner diameter radius capable of cleaning a drying pipeline.
The tensioning disc earrings 2.3, the tensioning large arm 2.6, the tensioning small arm 2.7, the tensioning large arm earrings 2.5 and the screw sleeve earrings 2.13 are all three in number and are uniformly distributed on the circumference of the tensioning disc 2.2, so that three tensioning telescopic mechanisms which are composed of the tensioning large arm 2.6, the tensioning small arm 2.7 and the travelling wheel support 2.10 and have the same structure are formed.
The tensioning large arm 2.6 and the walking wheel support 2.10 are arranged vertically, two walking wheels 2.8 are arranged on each walking wheel support 2.10, and the two walking wheels 2.8 are respectively positioned at two ends of the walking wheel support 2.10; a walking motor 2.11 is arranged on a wheel shaft of each walking wheel 2.8; the big tensioning arm 2.6 is parallel to the tensioning disc 2.2 after being completely opened, and at the moment, two walking wheels 2.8 on the walking wheel bracket 2.10 are in contact with the inner wall of a drying pipeline to be cleaned.
And a traveling wheel rubber sleeve 2.9 is arranged on the traveling wheel 2.8.
The utility model discloses a as an organic whole through 2 fixed connection of a plurality of connecting rods between tensioning disc 2.2 and the fixed disk 3.2 of cutting mechanism 3, tensioning disc 2.2's quotation and fixed disk 3.2's quotation parallel arrangement.
The cutting mechanism 3 comprises a cutting motor 3.1, a fixed disc 3.2, a cutting coupler 3.3, a cutting turntable 3.4, a telescopic motor 3.5, a cutting large arm 3.6, a cutting small arm 3.7 and a telescopic lead screw 3.8; the cutting motor 3.1 and the cutting rotary table 3.4 are respectively positioned at two sides of the fixed disc 3.2, the central axes of the cutting motor 3.1 and the cutting rotary table 3.4 are both arranged perpendicular to the fixed disc 3.2 and positioned at the circle center of the fixed disc 3.2, and the disc surface of the fixed disc 3.2 is parallel to the disc surface of the cutting rotary table 3.4; an output shaft of the cutting motor 3.1 penetrates through the fixed disc 3.2 and is connected with a central shaft of the cutting turntable 3.4 through the cutting coupler 3.3; a plurality of cutting large arms 3.6 parallel to the surface of the cutting turntable 3.4 are arranged on the cutting turntable 3.4, one end of each cutting large arm 3.6 is provided with a telescopic motor 3.5, the other end of each cutting large arm 3.6 is provided with a cutting small arm 3.6, the cutting large arms 3.6 and the cutting small arms 3.6 are connected through telescopic lead screws 3.8, the telescopic motors 3.5 are connected with the telescopic lead screws 3.8, and the telescopic motors 3.5 drive the telescopic lead screws 3.8 to drive the cutting small arms 3.7 to extend outwards or retract inwards;
the end part of the cutting small arm 3.7 of the cutting mechanism 3 is provided with a combined tool rest mechanism 4; the combined tool rest mechanism 4 comprises a connecting plate 4.1, a spring 4.2, a combined slideway 4.3, a tool rest retainer 4.4, a tool rest 4.5 and a blade 4.6; the connecting plate 4.1 is fixed at the end part of the cutting small arm 3.7, and the connecting plate 4.1 is arranged perpendicular to the cutting small arm 3.7; the bottom of the tool rest retainer 4.4 is fixedly connected with the connecting plate 4.1, a plurality of combined slideways 4.3 are arranged on the tool rest retainer 4.4, and the combined slideways 4.3 are parallel to each other and are all vertical to the connecting plate 4.1; a spring 4.2 is arranged in the combined slide 4.3, a plurality of knife rests 4.5 are arranged at the tops of the knife rest retainers 4.4, and blades 4.6 are arranged on the knife rests 4.5; a knife rest 4.5 is matched with a combined slide 4.3, the knife rest 4.5 slides in the combined slide 4.3, and a spring 4.2 in the combined slide 4.3 is propped against the knife rest 4.5.
The number of the connecting rods 2 is three, and the three connecting rods 2 are uniformly distributed on the tensioning disc 2.2 and the fixed disc 3.2.
The number of the telescopic motors 3.5, the cutting large arm 3.6, the cutting small arm 3.7, the telescopic lead screw 3.8 and the combined tool rest mechanisms 4 is three, and the telescopic motors, the cutting large arm 3.6, the cutting small arm 3.7, the telescopic motors 3.5, the telescopic lead screw 3.8 and the combined tool rest mechanisms 4 are uniformly distributed on the circumference of the cutting turntable 3.4 to form three sets of cutting telescopic mechanisms which are completely the same in structure and consist of the cutting large arm 3.6, the cutting small arm 3.7, the telescopic motors 3.5, the telescopic lead screw.
The telescopic motor 3.5 in the cutting mechanism 3 is required to be powered on only when the cutting motor 3.1 stops working and the cutting small arm 3.7 needs to be telescopic, and the power is immediately cut off after the telescopic action of the cutting small arm 3.7 is finished.
The contact part of the head of the blade 4.6 in the combined blade carrier mechanism 4 and the inner wall of the drying pipeline is in a circular arc shape.
The number of the blades 4.6, the knife rest 4.5, the spring 4.2 and the combined slide way 4.3 in the combined knife rest mechanism 4 is four, and the four blades 4.6 are arranged into a straight line which is parallel to the axis of the drying pipeline; the circle centers of the tensioning disc 2.2, the cutting rotary disc 3.4 and the fixed disc 3.2 are on the same axis and are parallel to the axis of the drying pipeline.
The control requirement of the utility model is the known and public prior art, and can adopt the common switch control and the PLC control. It is also known and common prior art to stop the telescoping motor immediately by sensing the spring beginning to compress and self-lock, for example by means of sensors, travel switches, etc.
With reference to fig. 1-7, the automatic cleaning method according to the embodiment of the present invention includes the following steps:
before use, the tensioning and walking mechanism 1 is in a folded state, and the cutting mechanism 3 is in a contracted state; the cutting mechanism 3 is separated from the tensioning and walking mechanism 1, and the cutting mechanism 3 is separated from the combined tool rest 4;
after the tensioning and walking mechanism 1 enters the drying pipeline, firstly, the tensioning and walking mechanism 1 is electrified, the tensioning motor 2.1 rotates, the screw rod sleeve 2.12 moves upwards, the plurality of large tensioning arms 2.6 are synchronously unfolded, and the walking wheels 2.8 are pressed against the inner wall of the drying pipeline to realize the tensioning function;
after the tensioning and walking mechanism 1 is tensioned, the cutting mechanism 3 and the tensioning and walking mechanism 1 are assembled together through the connecting rod 2; a fixed disc 3.2 in the cutting mechanism 3 is connected with a tensioning disc 2.2 of the tensioning and walking mechanism 1 through a plurality of connecting rods 2; after the cutting mechanism 3 is fixed on the tensioning disc 2.2, the combined tool rest 4 is installed on the cutting small arm 3.7, the power supply of the telescopic motor 3.5 is switched on to enable the telescopic motor 3.5 to rotate the cutting small arm 3.7, the plurality of cutting small arms 3.7 are synchronously unfolded outwards, and when the blade 4.6 on the combined tool rest 4 contacts the inner wall of the drying pipeline and the spring 4.2 begins to be compressed, the telescopic motor 3.5 stops rotating and is self-locked; at the moment, the telescopic motor 3.5 can be powered off;
finally, the cutting motor 3.1 and the walking motor 2.11 are electrified, the cutting turntable 3.4 starts to rotate, the blade 4.6 rotates, and the wall built-up on the inner wall of the drying pipeline is cleaned; meanwhile, the traveling motor 3.11 drives the traveling wheel 2.8 to move forward, constant-speed feeding is provided, and automatic cleaning of the wall built-up on the inner wall of the whole drying pipeline is completed.
Because the inner diameter of the drying pipeline on the plate production line is fixed, the length of the tensioning large arm 2.6 matched with the inner diameter of the drying pipeline 5 is selected, so that after the tensioning large arm 2.6 is completely unfolded, the distance from the travelling wheel 2.8 on the travelling wheel support 2.10 to the circle center of the tensioning disc 2.2 is equal to the inner diameter radius of the drying pipeline 5.
A tensioning motor 2.1 in the tensioning and walking mechanism 1 is vertically arranged on a tensioning disc 2.2, a tensioning lead screw 2.14 synchronously rotates along with the tensioning motor 2.1 through a tensioning coupler 2.4, and the lead screw sleeve 2.12 moves up and down by changing the rotation direction of the tensioning lead screw 2.14; three tensioning disc earrings 2.3 are arranged on the tensioning disc 2.2, the tensioning large arm 2.6 is hinged to the tensioning disc 2.2 through the tensioning disc earrings 2.3, the tensioning large arm 2.6 and the screw sleeve 2.12 are respectively provided with the earrings, one end of the tensioning small arm 2.7 is connected with the tensioning large arm 2.6, the other end of the tensioning small arm is connected with the screw sleeve 2.12, and the two connections are hinged. The walking wheel 2.8 is provided with a walking wheel rubber sleeve 2.9, the walking wheel 2.8 is connected to a walking wheel bracket 2.10, and the walking wheel bracket 2.10 and the tensioning large arm 2.6 are fixedly connected. When the tensioning motor 2.1 rotates clockwise, the tensioning screw 2.14 also rotates clockwise, at the same time, the screw sleeve 2.12 moves upwards, the tensioning small arm 2.7 gradually changes from the vertical direction to the horizontal direction and pushes the tensioning large arm 2.6 to extend outwards. When the screw housing 2.12 moves to the uppermost end, the large tensioning arm 2.6 is in a fully opened state and the large tensioning arm 2.6 is perpendicular to the tensioning screw 2.14, and the tensioning and travelling mechanism is in a tensioned state. Two walking wheels 2.8 are arranged on a walking wheel bracket 2.10 connected with the tensioning large arm 2.6 in parallel, and a certain distance is reserved between the two walking wheels 2.8, so that the whole device can keep balance after the tensioning and walking mechanism is tensioned. Meanwhile, a walking wheel rubber sleeve 2.9 is arranged on the walking wheel 2.8, so that impact can be effectively absorbed, the central shaft of the walking wheel 2.8 is connected with a walking motor 2.11, and the walking motor 2.11 provides walking source power. In the cutting mechanism 3, a cutting motor 3.1 is fixed on a fixed disc 3.2, the fixed disc 3.2 is fixed with a tensioning disc 2.2 of a tensioning and walking mechanism through a connecting rod 2, a cutting coupler 3.3 is connected with the cutting motor 3.1 and a cutting turntable 3.4, and the cutting turntable 3.4 can synchronously rotate along with the cutting motor 3.1. The cutting turntable 3.4 is provided with a cutting large arm 3.6, the cutting small arm 3.7 is arranged in the cutting large arm 3.6, and the end part is provided with a telescopic motor 3.5. The telescopic motor 3.5 drives the telescopic lead screw 3.8 to rotate so as to lead the cutting small arm 3.7 to do telescopic motion. The blade 4.6 in the combined blade carrier mechanism 4 is arranged on the blade carrier 4.5, the blade carrier 4.5 is arranged in the combined slideway 4.3 of the blade carrier retainer 4.4, and the blade carrier 4.5 can slide up and down in the combined slideway 4.3. A spring 4.2 is mounted in a compound slide 4.3 to interact with the blade holder 4.5, compressing the spring 4.2 when the blade holder 4.5 slides downwards. When clearing up dry pipeline inner wall, four blades 4.6 clear up simultaneously, when meetting protruding welding seam, because the hardness of the protruding welding seam of metal is far greater than the hardness of inner wall attachment, so blade 4.6 can drive knife rest 4.5 compression spring 4.2, realizes the evading action of blade 4.6 to protruding welding seam. Because the four blades 4.6 and the tool rest 4.5 are independent from each other, when one blade 4.6 avoids the convex welding seam, the other three blades 4.6 still normally operate, the first blade 4.6 can restore to the original position under the action of the spring after passing through the welding seam, and the other blades 4.6 can sequentially complete the avoiding action of the convex welding seam.
Reference is made to figures 4, 6 and 7.
The bottom of the tool rest 4.5 is provided with a spring hole 7, and the spring 4.2 is propped in the spring hole 7; the front of the knife rest 4.5 is provided with a convex front slide block 8, the back is provided with a convex back slide block 11, the width of the knife rest 4.5 is larger than the width of the combined slide way 4.3, the widths of the front slide block 8 and the back slide block 11 are smaller than the width of the combined slide way 4.3, the knife rest 4.5 is arranged in the combined slide way 4.3, the front slide block 8 and the back slide block 11 both protrude out of the combined slide way 4.3, and the sliding of the knife rest 4.5 in the combined slide way 4.3 is positioned.
The top of the knife rest 4.5 is provided with a step-shaped blade groove 9, the blade groove 9 is provided with a blade mounting hole 10, the blade 4.6 is arranged in the blade groove 9 of the knife rest 4.5, and the blade 4.6 and the knife rest 4.5 are fixed together through a bolt and the blade mounting hole 10.
When 5 inner walls of dry pipeline of clearance, four blades clear up simultaneously, when meetting protruding welding 6, because the hardness of the protruding welding seam of metal is far greater than the hardness of inner wall attachment, so the blade can drive knife rest compression spring, realizes the evading action of blade to protruding welding seam 6. Because the four blades and the tool rest are mutually independent, when one blade avoids the convex welding seam 6, the other three blades still work normally, the first blade can restore to the original position under the action of the spring after passing through the welding seam, and the other blades can sequentially complete the avoiding action of the convex welding seam.
Claims (6)
1. The utility model provides a pipeline robot tensioning and running gear which characterized in that: the tensioning device comprises a tensioning motor (2.1), a tensioning disc (2.2), a tensioning disc ear ring (2.3), a tensioning coupling (2.4), a tensioning large arm ear ring (2.5), a tensioning large arm (2.6), a tensioning small arm (2.7), a travelling wheel (2.8), a travelling wheel support (2.10), a travelling motor (2.11), a screw sleeve (2.12), a screw sleeve ear ring (2.13) and a tensioning screw (2.14); the tensioning motor (2.1) and the tensioning coupler (2.4) are respectively positioned in the centers of two sides of the tensioning disc (2.2) and are both vertically arranged with the tensioning disc (2.2); an output shaft of the tensioning motor (2.1) penetrates through the tensioning disc (2.2) and is connected with a tensioning lead screw (2.14) through a tensioning coupling (2.4), and the tensioning lead screw (2.14) is connected with a lead screw sleeve (2.12) in a threaded matching manner; a plurality of tensioning disc earrings (2.3) are arranged around the tensioning screw (2.14), one ends of a plurality of tensioning large arms (2.6) are respectively hinged with the tensioning disc earrings (2.3), walking wheel supports (2.10) are arranged at the other ends of the tensioning large arms (2.6), a plurality of walking wheels (2.8) are arranged on the walking wheel supports (2.10), and each walking wheel (2.8) is connected with a walking motor (2.11) in a matching manner; be equipped with big arm of tensioning earrings (2.5) on big arm of tensioning (2.6), be equipped with lead screw cover earrings (2.13) on lead screw cover (2.12), the both ends of tensioning forearm (2.7) are articulated with big arm of tensioning earrings (2.5) and lead screw cover earrings (2.13) respectively, tensioning forearm (2.7) are matchd one in every big arm of tensioning (2.6), relative motion produces between tensioning motor (2.1) drive tensioning lead screw (2.14) and lead screw cover (2.12), big arm of tensioning (2.6) of tensioning (2.7) drive are outwards opened or are inwards withdrawed.
2. The pipeline robot tensioning and walking device of claim 1, wherein: after the tensioning large arm (2.6) is opened, the distance between a travelling wheel (2.8) on the travelling wheel support (2.10) and the circle center of the tensioning disc (2.2) is matched with the inner diameter radius of a drying pipeline needing to clean a wall.
3. The pipeline robot tensioning and walking device of claim 1 or 2, wherein: after the large tensioning arm (2.6) is completely opened, the large tensioning arm (2.6) is parallel to the tensioning disc (2.2), and the distance between a travelling wheel (2.8) on the travelling wheel support (2.10) and the circle center of the tensioning disc (2.2) is the maximum inner diameter radius capable of cleaning a drying pipeline.
4. The pipeline robot tensioning and walking device of claim 1 or 2, wherein: the number of the tensioning disc earrings (2.3), the tensioning large arm (2.6), the tensioning small arm (2.7), the tensioning large arm earrings (2.5) and the screw sleeve earrings (2.13) is three, and the tensioning disc earrings are uniformly distributed on the circumference of the tensioning disc (2.2) to form three sets of tensioning telescopic mechanisms which are completely the same in structure and are composed of the tensioning large arm (2.6), the tensioning small arm (2.7) and the walking wheel support (2.10).
5. The pipeline robot tensioning and walking device of claim 1 or 2, wherein: the tensioning large arm (2.6) and the walking wheel support (2.10) are arranged vertically, two walking wheels (2.8) are arranged on each walking wheel support (2.10), and the two walking wheels (2.8) are respectively positioned at two ends of each walking wheel support (2.10); a walking motor (2.11) is arranged on the wheel shaft of each walking wheel (2.8).
6. The pipeline robot tensioning and walking device of claim 1 or 2, wherein: and a walking wheel rubber sleeve (2.9) is arranged on the walking wheel (2.8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921615498.7U CN210770996U (en) | 2019-09-26 | 2019-09-26 | Pipeline robot tensioning and running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921615498.7U CN210770996U (en) | 2019-09-26 | 2019-09-26 | Pipeline robot tensioning and running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210770996U true CN210770996U (en) | 2020-06-16 |
Family
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115301648A (en) * | 2022-06-16 | 2022-11-08 | 广州市畅通管道工程有限公司 | Use stable pipe blockage cutting robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115301648A (en) * | 2022-06-16 | 2022-11-08 | 广州市畅通管道工程有限公司 | Use stable pipe blockage cutting robot |
| CN115301648B (en) * | 2022-06-16 | 2023-09-05 | 广州市畅通管道工程有限公司 | Use stable pipeline plug cutting robot |
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