CN212221654U

CN212221654U - Gyroscope grabbing equipment

Info

Publication number: CN212221654U
Application number: CN202020681002.2U
Authority: CN
Inventors: 李振海; 王晓萌; 屈社民; 伍得志; 戴超超; 吕明
Original assignee: Shanghai Xin Di Marine Engineering Technology Co ltd
Current assignee: Shanghai Xin Di Marine Engineering Technology Co ltd
Priority date: 2020-04-28
Filing date: 2020-04-28
Publication date: 2020-12-25
Anticipated expiration: 2030-04-28

Abstract

The utility model discloses a gyroscope snatchs equipment relates to pipeline detection equipment technical field, including wearing to establish the organism that the cooperation of sliding used with the pipeline, be provided with grabbing device on the organism, grabbing device snatchs the cooperation with the support arm of gyroscope and uses, and the organism is connected with its motion drive arrangement who moves along the pipeline of drive. The motion driving device drives the machine body to move to a position close to the trapped gyroscope along the pipeline, then drives the machine body to further approach the gyroscope until the grabbing device successfully grabs the support arm of the gyroscope, and then drives the machine body to move reversely until the gyroscope is successfully separated. The motion driving device is matched with the grabbing device, the purpose of capturing and grabbing the gyroscope trapped in the pipeline is achieved, and the gyroscope grabbing device has better practicability and use convenience.

Description

Gyroscope grabbing equipment

Technical Field

The utility model belongs to the technical field of pipeline detection equipment technique and specifically relates to a gyroscope snatchs equipment is related to.

Background

With the application of trenchless technology, the underground pipeline detection technology enters a rapid development stage, and the inertial gyroscope is greatly applied due to the characteristics of high instrument precision and strong anti-interference capability.

As shown in fig. 7, the gyroscope 1 on the market today is generally the redctabm series product of belgium and is most widely used in underground pipeline exploration under the model ABM-90. Generally speaking, when the gyroscope 1 is used for detection operation in a smooth pipeline, the condition that the gyroscope cannot slide out cannot occur, however, due to the fact that construction is not standard, the pipeline may have the phenomena of sleeving and pipe connecting, and the wheel set on the support arm 11 of the gyroscope is blocked and cannot slide out.

As shown in fig. 8, a 200MPP power protection sleeve 2 is taken as an example for description, generally, the connection mode of the power protection sleeve 2 is hot-melt connection, but sometimes, because workers or construction units are out of specification in operation, the power protection sleeve is connected into a power well in a nesting mode after unearthed, and the pipeline is uneven, so that the wheel set of the gyroscope is clamped and cannot slide out.

The gyroscope instrument is expensive and cannot leak the pipe position in an excavating mode, so that one set of gyroscope grabbing equipment is urgently needed, and the clamped gyroscope can slide out of the pipeline.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art exists, the utility model aims to provide a gyroscope snatchs equipment cooperatees with grabbing device through the motion drive arrangement, realizes snatching the purpose of stranded gyroscope in the pipeline.

The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme: the utility model provides a gyroscope snatchs equipment, wears to establish the organism that the cooperation of sliding was used including with the pipeline, be provided with grabbing device on the organism, grabbing device snatchs the cooperation with the support arm of gyroscope and uses, just the organism is connected with its motion drive arrangement along the pipeline motion of drive.

By adopting the technical scheme, the motion driving device drives the machine body to move to the position close to the trapped gyroscope along the pipeline, then drives the machine body to further approach the gyroscope until the grabbing device successfully grabs the support arm of the gyroscope, and then drives the machine body to move reversely until the gyroscope is successfully separated. The motion driving device is matched with the grabbing device, the purpose of capturing and grabbing the gyroscope trapped in the pipeline is achieved, and the gyroscope grabbing device has better practicability and use convenience.

The present invention may be further configured in a preferred embodiment as: the grabbing device comprises a grabbing frame installed on the machine body, a grabbing opening is formed in the grabbing frame, a pulling piece and an elastic piece used for driving the pulling piece to rotate are installed on the grabbing frame in a rotating mode, and a limiting piece used for limiting the pulling piece to rotate and sealing the grabbing opening is further arranged on the grabbing frame.

By adopting the technical scheme, in the process that the machine body moves towards the gyroscope and grabs the gyroscope, the support arm of the gyroscope overcomes the elastic acting force of the elastic piece to jack the pulling piece, and the support arm of the gyroscope can penetrate into the grabbing opening; when the support arm of the gyroscope goes deep into the grabbing opening and is separated from the pulling piece, the pulling piece resets under the action of the elastic piece and is abutted against the limiting piece to close the grabbing opening again, at the moment, the machine body reversely moves under the traction and pulling actions of the movement driving device, and the pulling piece is clamped with the support arm of the gyroscope. The support arm of the gyroscope is contracted and folded under the action of traction and pulling force and is separated from the inner wall of the pipeline, so that the purpose of rescuing the gyroscope trapped in the pipeline is achieved.

The present invention may be further configured in a preferred embodiment as: the gyroscope is characterized in that a sliding driving device used for driving the grabbing device to be close to or far away from the gyroscope is arranged on the machine body, and the sliding driving device comprises a first power part which is in meshing driving fit with the grabbing frame gear.

By adopting the technical scheme, after the movement driving device drives the machine body to move to the position close to the trapped gyroscope, the slip driving device is used for driving the grabbing frame to be close to or far away from the gyroscope, and then grabbing actions and trapping-removal traction actions are completed. A two-stage grabbing mode and a escaping and separating mode are adopted, so that the gyroscope is favorably buffered and protected, and the components of the gyroscope are prevented from being damaged suddenly and rapidly; the normal movement speed of the gyroscope grabbing equipment in a pipeline cannot be influenced, and meanwhile, the movement driving device does not need to be subjected to variable speed adjustment design.

The present invention may be further configured in a preferred embodiment as: the gyroscope is characterized in that a top plate is arranged on the machine body, the grabbing device grabs the support arm of the gyroscope, and the support arm is folded and contracted to abut against the top plate.

Through adopting above-mentioned technical scheme, when the support arm shrink of gyroscope was folded and with roof looks butt, accomplish promptly and snatch the action, simultaneously, the roof still can realize the purpose of the support arm of firm centre gripping gyroscope with the cooperation of pulling the piece.

The present invention may be further configured in a preferred embodiment as: the gripping device is provided with an electric clamping jaw.

Through adopting above-mentioned technical scheme, can also adopt the support arm cooperation of electronic clamping jaw and gyroscope to realize snatching the action, electronic clamping jaw has better stability and the action flexibility of snatching, but, electronic clamping jaw's purchasing cost is higher.

The present invention may be further configured in a preferred embodiment as: the cable penetrating device is characterized in that the machine body is matched with the line body pipeline in a rotating mode, a cable penetrating plate is arranged on the machine body in a rotating mode, a rotary driving device used for driving the machine body to rotate is arranged on the cable penetrating plate, the rotary driving device comprises a second power part which is fixedly arranged on the cable penetrating plate, and the second power part is in meshing driving fit with a machine body gear.

Through adopting above-mentioned technical scheme, second power spare and organism gear engagement drive cooperation, then the organism can be rotary motion in the line body pipeline under the drive effect of second power spare. After the machine body moves to a position close to the trapped gyroscope under the driving action of the movement driving device, the grabbing posture of the grabbing device is adjusted through the rotation driving device, so that the grabbing device is aligned with the support arm of the gyroscope, and the purpose of improving the grabbing action accuracy is achieved.

The present invention may be further configured in a preferred embodiment as: the movement driving device is a glass fiber reinforced plastic cable penetrating device, and the glass fiber reinforced plastic cable penetrating device is connected with the machine body through a glass steel cable.

Through adopting above-mentioned technical scheme, adopt glass steel to wear the drive scheme of cable ware drive organism motion in the line body pipeline, simple structure, easy to carry out, and the operation is convenient.

The present invention may be further configured in a preferred embodiment as: the machine body is provided with a cable penetrating plate, electric power and communication cables penetrate through the center of the cable penetrating plate, and the glass steel cable is eccentrically connected to the cable penetrating plate.

Through adopting above-mentioned technical scheme, glass steel cable is eccentric wears to establish to avoid glass steel cable and electric power, communication cable to take place winding phenomenon, have better safety in utilization.

The present invention may be further configured in a preferred embodiment as: the motion driving device comprises a roller which is rotatably arranged on the machine body, and the roller is connected with a third power part which drives the roller to rotate.

Through adopting above-mentioned technical scheme, adopt third power spare and gyro wheel cooperation drive organism drive scheme of motion in the line body pipeline, have better self-driveability, but manufacturing cost and processing degree of difficulty can increase.

The present invention may be further configured in a preferred embodiment as: the machine body is provided with a camera device and a lighting device, a controller in signal connection with the camera device and the lighting device is arranged outside the machine body, and the controller is used for controlling the movement of the grabbing device and the movement driving device.

By adopting the technical scheme, the camera device, the illuminating device and the controller are matched to realize the purpose of adjusting and controlling the sliding driving device, the rotating driving device, the motion driving device or the electric clamping jaw to move, namely, the automatic adjustment driving function is realized.

To sum up, the utility model discloses a following at least one useful technological effect:

1. the motion driving device and the grabbing device of the gyroscope grabbing equipment are matched, so that the purpose of capturing and grabbing the gyroscope trapped in the pipeline is achieved, and the gyroscope grabbing device has better practicability and use convenience;

2. a user can select a proper motion driving device or a proper grabbing device according to actual requirements, and the device has good adaptability;

3. the user accessible controller observes the gyroscope and snatchs the state of marcing of equipment in the line body pipeline to in time adjust the gyroscope and snatch equipment and the butt joint gesture of snatching of gyroscope, snatch accuracy and degree of automation that equipment snatched in order to improve the gyroscope.

Drawings

FIG. 1 is a schematic diagram of the general structure of a gyroscope grasping apparatus;

FIG. 2 is a schematic view of a gripping device and a slide driving device; (ii) a

FIG. 3 is a schematic view of a connection structure for showing the gripping device and the sliding driving device inside the body;

FIG. 4 is a schematic view of the structure of the rotary drive apparatus;

FIG. 5 is a schematic view showing the overall structure of a motion driving apparatus adopting a self-driving structure;

FIG. 6 is a schematic diagram of the controller;

FIG. 7 is a schematic diagram of the general structure of a gyroscope;

fig. 8 is a schematic structural diagram of a casing pipe and connecting pipe phenomenon.

In the figure, 1, a gyroscope; 11. a support arm; 2. a power protection sleeve; 3. a body; 31. a top plate; 32. a cable penetrating plate; 33. an illumination device; 34. a camera device; 4. a gripping device; 41. grabbing the frame; 42. grabbing an opening; 43. a pulling member; 44. a limiting member; 45. an elastic member; 5. a motion drive device; 51. a glass fiber reinforced plastic cable penetrating device; 6. a slip drive device; 61. a first power member; 7. a rotation driving device; 71. a second power member; 8. a roller; 81. a third power member; 9. a controller; 91. a display panel.

Detailed Description

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

Referring to fig. 1, for the utility model discloses a gyroscope grabbing equipment, including organism 3, organism 3 sets up to the cylindric structure of the pipe diameter looks adaptation of barrel diameter and line body pipeline, and installs the grabbing device 4 that is used for grabbing gyroscope 1 on organism 3 to and be used for driving organism 3 along the line body pipeline slip motion's motion drive arrangement 5. When the motion driving device 5 drives the machine body 3 to slide along the pipeline to move to a position close to the trapped gyroscope 1, the machine body 3 stops moving, the grabbing device 4 finishes the action of grabbing the gyroscope 1, and then the gyroscope 1 is separated from the trapped position under the reverse driving action of the motion driving device 5.

As shown in fig. 1 and 2, the grabbing device 4 includes a grabbing frame 41 installed in the machine body 3, the grabbing frame 41 is configured to be an approximately square frame structure, the grabbing frame 41 is connected to a sliding driving device 6 located in the machine body 3, the grabbing frame 41 can slide and extend out or slide and retract into the machine body 3 under the driving action of the sliding driving device 6, and grabbing actions with the support arm of the gyroscope 1 are completed. As shown in fig. 2, a grabbing opening 42 is formed at one end of the grabbing frame 41 facing the outer side of the machine body 3, a pulling member 43 and a limiting member 44 are rotatably mounted at the position of the grabbing opening 42 of the grabbing frame 41, and both the pulling member 43 and the limiting member 44 are provided as rod structures, but other structures such as plate structures may be adopted instead; the limiting member 44 is fixedly installed at one side of the grabbing frame 41, one end of the pulling member 43 is rotatably connected with the other side of the grabbing frame 41 through a rotating shaft, an elastic member 45 for driving the pulling member 43 to rotate is installed on the grabbing frame 41, a torsion spring can be used as the elastic member 45, and the other end of the pulling member 43 rotates under the action of the elastic driving force of the elastic member 45 and is clamped at the limiting member 44. When the machine body 3 moves to a position close to the trapped gyroscope 1 (the gyroscope 1 is shown in fig. 7) under the driving of the motion driving device 5, the motion driving device 5 stops running, then the grabbing frame 41 extends out of the machine body 3 under the driving action of the sliding driving device 6, the support arm of the gyroscope 1 abuts against the pulling piece 43 and drives the pulling piece 43 to rotate until the support arm of the gyroscope 1 extends into the grabbing opening 42, meanwhile, the pulling piece 43 is separated from the support arm of the gyroscope 1 and resets, and is clamped with the limiting piece 44 again, so that the support arm of the gyroscope 1 and the grabbing frame 41 are clamped in a crossed manner, and the grabbing action of the grabbing frame 41 and the support arm of the gyroscope 1 is further realized.

As shown in fig. 2, in addition to the above-mentioned grabbing device 4 composed of the grabbing frame 41, the pulling member 43, the limiting member 44 and the elastic member 45, an electric jaw composed of standard members may be used to realize the grabbing action of the gyroscope 1, the electric jaw has the advantage of accurate grabbing, and the above-mentioned mechanical grabbing structure has the advantages of low cost and easy implementation.

Referring to fig. 2 and 3, the sliding driving device 6 includes a first power member 61 fixed in the machine body 3, and a transmission structure connected between the first power member 61 and the grabbing frame 41 in a transmission manner, a motor can be used as the first power member 61, the transmission structure can be realized by a meshing transmission structure with a gear and a rack, the rack is slidably installed in the machine body 3 and is connected and fixed with one inward side of the grabbing frame 41, the gear rotates under the driving of the motor and is meshed with the driving rack to move, and the purpose of driving the grabbing frame 41 to move along a straight line is achieved.

With reference to fig. 1 and 3, a multi-stage driving mode is formed by matching the sliding driving device 6 and the movement driving device 5, and after the movement driving device 5 drives the body 3 to move to a position close to the gyroscope 1, the sliding driving device 6 drives the grabbing frame 41 to move, so that the gyroscope 1 can be protected in a buffering manner, and the purpose of fast moving can be achieved. In order to improve the stability of the grabbing action, a top plate 31 is fixed at one end of the machine body 3 close to the trapped gyroscope 1, and after the grabbing device 4 finishes the grabbing action, the support arm of the gyroscope 1 is folded and contracted to abut against the top plate 31, that is, the top plate 31 and the pulling piece 43 are matched to clamp and grab the support arm of the gyroscope 1.

As shown in fig. 1 and 4, a cable penetrating plate 32 is coaxially and rotatably mounted on one end of the body 3 away from the gyroscope 1 (the gyroscope 1 can be shown in fig. 7) through a bearing, and in order to realize accurate butt joint of the gripping device 4 and the support arm of the gyroscope 1, a rotation driving device 7 for driving the body 3 to rotate in the pipeline is mounted in the body 3. The rotation driving device 7 comprises a second power part 71 which is fixedly arranged on the cable penetrating plate 32, a motor can be used as the second power part 71, an output shaft of the motor is arranged in parallel with the axis of the machine body 3, and a transmission structure is connected between the output shaft of the motor and the machine body 3; the transmission structure comprises a small-diameter gear coaxially mounted on an output shaft of the motor and a large-diameter gear coaxially and fixedly mounted inside the machine body 3, wherein external teeth of the small-diameter gear are meshed with internal teeth of the large-diameter gear for driving, the output shaft of the motor drives the small-diameter gear to rotate, and the small-diameter gear is meshed with the large-diameter gear for driving the machine body 3 to rotate.

The user can use the glass fiber reinforced plastic cable penetrating device 51 as the motion driving device 5, and can also use a self-driving structure as the motion driving device 5. In the former, the glass fiber reinforced plastic cable penetrating device 51 is located outside the hoistway, and the glass fiber reinforced plastic cable penetrates through the eccentric position of the cable penetrating plate 32 and is connected with the machine body 3, and by utilizing the rigidity and toughness of the glass fiber reinforced plastic cable, a user rotates the glass fiber reinforced plastic cable penetrating device 51 to withdraw or release the glass fiber reinforced plastic cable, so that the purpose of driving the machine body 3 to advance or retreat is achieved. As shown in fig. 5, in the latter, the motion driving device 5 includes a roller 8 rotatably mounted on the machine body 3, the roller 8 is rotatably embedded on the machine body 3, that is, a portion of the roller 8 extends out of the machine body 3 and is in rolling fit with the linear pipeline, and another portion extends into the machine body 3 and is in driving connection with a third power component 81 fixedly mounted inside the machine body 3, a motor can also be used as the third power component 81, an output shaft of the motor is in driving connection with a rotating shaft of the roller 8 to drive the roller 8 to rotate, and a rotation axis direction of the roller 8 is parallel to an axis extending direction of the linear pipeline, so that the roller 8 is in rolling fit with the linear pipeline and drives the machine body 3 to rotate integrally.

As shown in fig. 3, an image pickup device 34 and an illumination device 33 are mounted on the front side of the top plate 31 of the machine body 3, and as shown in fig. 6, a controller 9 in signal connection with the image pickup device 34 and the illumination device 33 is provided outside the machine body 3, and the controller 9 is in signal connection with the power members. When using gyroscope 1 to snatch equipment, controller 9 is located well and line body pipeline outside, and user's accessible display panel on controller 9 observes gyroscope 1 and snatchs the state of marcing and the butt joint of equipment and snatchs the state to the user adjusts the state of snatching of the speed of marcing of organism 3 and grabbing device 4, and grabbing device 4's butt joint state is including flexible velocity of motion and rotation angle. The controller 9 is connected with the camera device 34, the lighting device 33, the sliding driving device 6 and the rotating driving device 7 by electric power and communication cables, in order to avoid the glass steel cable from being wound with the electric power and communication cables, the electric power and communication cables penetrate through the center of the cable penetrating plate 32, and the glass steel cable penetrates through the cable penetrating plate 32 eccentrically and is connected with the machine body 3.

The utility model is further explained by combining the specific actions as follows:

a user sends the machine body 3 into a line body pipeline from a well through the glass fiber reinforced plastic cable penetrating device 51, under the assistance of the lighting device 33 and the camera device 34, the advancing speed of the machine body 3 is controlled through the controller 9 until the machine body moves to be close to the trapped gyroscope 1, the machine body 3 is stopped to be sent into the machine body 3, then the rotary driving device 7 is started, the machine body 3 is driven to rotate until the gripping device 4 is opposite to the support arm of the gyroscope 1, then the sliding driving device 6 is started, the gripping device 4 is driven to move towards the direction close to the gyroscope 1 until the gripping device finishes the gripping action with the support arm of the gyroscope 1, and finally the gripping device 4 is driven to move reversely through the sliding driving device 6 until the folded support arm of the gyroscope 1 is folded and separated from the inner wall of the line body pipeline, so that the purpose of escaping the gyroscope 1 is achieved.

The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims

1. The utility model provides a gyroscope grabbing equipment which characterized in that: the pipeline gripping device is characterized by comprising a machine body (3) which is arranged in a penetrating and sliding mode and used in a matched mode with a pipeline, a gripping device (4) is arranged on the machine body (3), the gripping device (4) is used in a gripping mode with a support arm of a gyroscope (1), and the machine body (3) is connected with a motion driving device (5) for driving the machine body to move along the pipeline.

2. The gyroscope grasping apparatus according to claim 1, characterized in that: the grabbing device (4) comprises a grabbing frame (41) installed on the machine body (3), a grabbing opening (42) is formed in the grabbing frame (41), a pulling piece (43) is installed on the grabbing frame (41) in a rotating mode, the pulling piece (43) is used for driving an elastic piece (45) rotating, and a limiting piece (44) used for limiting the pulling piece (43) to rotate and closing the grabbing opening (42) is further arranged on the grabbing frame (41).

3. The gyroscope grasping apparatus according to claim 2, characterized in that: the gyroscope is characterized in that a sliding driving device (6) used for driving the grabbing device (4) to be close to or far away from the gyroscope (1) is arranged on the machine body (3), the sliding driving device (6) comprises a first power part (61), and the first power part (61) is in gear engagement driving fit with the grabbing frame (41).

4. The gyroscope grasping apparatus according to claim 3, characterized in that: the gyroscope is characterized in that a top plate (31) is arranged on the machine body (3), the grabbing device (4) grabs the support arm of the gyroscope (1), and the support arm is folded and contracted to abut against the top plate (31).

5. The gyroscope grasping apparatus according to claim 1, characterized in that: the gripping device (4) is an electric clamping jaw.

6. The gyroscope grasping apparatus according to claim 1, characterized in that: the cable penetrating device is characterized in that the machine body (3) is matched with the line body pipeline in a rotating mode, a cable penetrating plate (32) is arranged on the machine body (3) in a rotating mode, a rotary driving device (7) used for driving the machine body (3) to rotate is arranged on the cable penetrating plate (32), the rotary driving device (7) comprises a second power part (71) which is fixedly arranged on the cable penetrating plate (32), and the second power part (71) is in gear engagement driving fit with the machine body (3).

7. The gyroscope grasping apparatus according to claim 1, characterized in that: the movement driving device (5) is a glass fiber reinforced plastic cable penetrating device (51), and the glass fiber reinforced plastic cable penetrating device (51) and the machine body (3) are connected with a glass steel cable.

8. The gyroscope grasping apparatus according to claim 7, wherein: the cable penetrating plate (32) is arranged on the machine body (3), electric power and communication cables penetrate through the center of the cable penetrating plate (32), and the glass steel cable is eccentrically connected to the cable penetrating plate (32).

9. The gyroscope grasping apparatus according to claim 1, characterized in that: the motion driving device (5) comprises a roller (8) rotatably arranged on the machine body (3), and the roller (8) is connected with a third power part (81) for driving the roller to rotate.

10. The gyroscope grasping apparatus according to claim 1, 2, 3, 5, 6, 7, or 9, characterized by: the machine body (3) is provided with a camera device (34) and a lighting device (33), a controller (9) in signal connection with the camera device (34) and the lighting device (33) is arranged outside the machine body (3), and the controller (9) is used for controlling the movement of the grabbing device (4) and the movement driving device (5).