CN212578189U - Automatic crawling and polishing robot for outer wall of circular pipe - Google Patents
Automatic crawling and polishing robot for outer wall of circular pipe Download PDFInfo
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- CN212578189U CN212578189U CN202022018952.XU CN202022018952U CN212578189U CN 212578189 U CN212578189 U CN 212578189U CN 202022018952 U CN202022018952 U CN 202022018952U CN 212578189 U CN212578189 U CN 212578189U
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Abstract
An automatic crawling polishing robot for the outer wall of a circular pipe belongs to the technical field of descaling of circular pipes, and comprises a shell, a main driving module, an internal module, a polishing module and a crawling module, wherein the shell comprises a left shell, a middle shell and a right shell which are sequentially arranged from left to right, and a pipeline to be polished penetrates through the shell along the axis direction; the outer terminal surface of left side casing is gone up installation main drive module, spring pretension wheelset and is supported the wheelset, the outer terminal surface of right side casing is gone up installation module of crawling and is supported the wheelset, inside module installation is in left side casing and middle part casing, the module of polishing is installed in the right side casing. This device application scope is wide, and the dismouting work of polishing of polisher just can be accomplished to one-man operation to be provided with detection device on the outer terminal surface of casing, realize the detection of wall thickness, crackle and the corruption condition when polishing the pipeline, a tractor serves several purposes.
Description
Technical Field
The utility model belongs to the technical field of the scale removal of pipe, a blowout pipeline scale removal technical field is related to, concretely relates to automatic robot of polishing of crawling of pipe outer wall.
Background
The blowout pipeline is a typical round pipe (usually, mounting flanges are fixed at two ends of the round pipe), and the blowout pipeline plays a crucial role as a part of a well control device of the oil drilling. As the blowout pipeline is subjected to the effects of fluid scouring, electrochemical corrosion, chemical corrosion and the like of fluid media in the pipeline, the blowout pipeline gradually has the defects of pipe wall thinning, corrosion, cracks and the like, and once leakage failure occurs, serious safety accidents are caused. Therefore, nondestructive testing is required to be performed on the return blowout pipeline periodically to ensure the quality and the operation safety of the pipeline.
At present, a commonly used method for detecting a blowout straight pipeline is a magnetic flux leakage detection technology, but before detection, the whole of attachments such as cement, paint, rust and the like of the blowout pipeline needs to be polished so as to ensure the detection correctness. And the open-flow straight pipeline is piled on a material rack after returning to the field, and is firstly polished and then subjected to defect detection by a magnetic flux leakage detection instrument. The polishing space of the blowout straight pipe line is limited, polishing can be carried out only on the material rack, large-scale movement cannot be realized, and only a simple and light polishing mode can be adopted.
At present, the polishing equipment for the excircle of the blowout pipeline is generally polished by a manual handheld polishing machine, for example, a polishing machine with a simple structure is used for manual polishing. A sander generally includes a sanding wheel, a sanding sheet mounted to the sanding wheel, and a motor for driving the sanding sheet in rotation. Under the high-speed rotation of throwing aureola, contact through work piece and the rotatory piece of polishing, with corrosion and paint clean up on the pipeline excircle, this kind of manual sand light mode safety risk of doing is high, and the workman operates and is not very easily leads to hand and throwing aureola contact, causes personnel's injury. The traditional polishing mode is low in efficiency and serious in pollution, the manual polishing workload is large, the labor intensity is high, a large amount of dust and serious noise can be generated in the polishing process, and the health of workers is influenced. Moreover, the sanding quality is poor, and the acting force angle between the hand-held sanding machine and the pipe column of a worker is difficult to grasp, so that the sanding quality is influenced, and the passing performance of the detection equipment is influenced.
In addition, the two ends of the existing open-flow pipeline are connected through flanges, the existing polishing device generally polishes in a pipeline body rotating mode, and although the polishing device can well remove attachments of the pipeline, the pipeline body rotates without protection, and mechanical damage is easily caused. Therefore, the grinding device is only suitable for places where the outer wall of the pipeline does not need to be contacted by people.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model provides an automatic crawling and polishing robot for the outer wall of a round pipe.
The design concept of the utility model is that: one end of a shell in the polishing device is fixed on the pipe wall through an equal-angle supporting wheel set and a spring pre-tightening wheel set, so that the internal module is prevented from jumping in the circumferential direction in the rotating process; the other end is fixed on the pipe wall through the equal-angle supporting wheel set and the crawling module. The casing is provided with a main driving module, and the main driving module is meshed with the gear of the internal module to realize the rotation of the internal module. The internal module is provided with two sliding rails and rotates along a sliding rail guide wheel arranged on the inner wall of the shell. Four groups of gear sets are arranged at equal angles on the inner module, the gear sets rotate around the pipeline along with the rotation of the inner module in the radial direction, and the gear sets drive the self-rotation under the action of a gear ring in the shell. The four polishing modules are installed at equal angles, and are driven to rotate by the internal module gear set and revolve along the radial direction of the pipeline along with the rotation of the internal module, so that the pipeline is radially and fully covered and polished. The driving wheel power of the crawling module is driven by the brushless motor to control the axial walking direction and the polishing beat of the polishing device in the polishing process. The grinding device shell and the internal module are composed of two equally-divided parts, the shell and the internal module are connected through two semicircles through a bolt, the internal module drives the grinding module to rotate along the radial direction of the outer wall of the pipeline, and the shell keeps moving back and forth under the driving of the crawling module.
The utility model discloses a following technical scheme realizes.
The utility model provides an automatic polishing robot that crawls of pipe outer wall, it includes casing, main drive module, inside module, the module of polishing and the module of crawling, wherein: the shell comprises a left shell, a middle shell and a right shell which are sequentially arranged from left to right, the left shell, the middle shell and the right shell are respectively arranged into semi-cylindrical shells which are oppositely buckled, inner cavities of the left shell, the middle shell and the right shell are communicated, and a pipeline to be polished penetrates through the shell along the axis direction; the main driving module, the spring pre-tightening wheel set and the plurality of supporting wheel sets are arranged on the outer end face of the left shell along the circumferential direction, and the supporting wheel sets and the spring pre-tightening wheel sets are arranged at equal angles; the crawling module and the plurality of supporting wheel sets are arranged on the outer end face of the right side shell along the circumferential direction, and the supporting wheel sets and the crawling module are arranged at the same angle; the polishing module is arranged on the end face of one side of the inner module, which is close to the right side shell, and is positioned in the right side shell; the crawling module drives the polishing device to do linear motion along the outer wall of the pipeline, the main driving module drives an internal base arranged in the internal module to do rotary motion along the circumferential direction of the pipeline through gear transmission, and the internal module drives polishing pieces arranged on the polishing module to do rotary motion along the radial direction of the pipeline through gear transmission;
the motor rotor of the main driving module penetrates through the outer end face of the left shell and extends into the left shell, and a main driving gear is mounted on the motor rotor of the main driving module; the inner wall of middle part casing installs the ring gear, lie in ring gear both sides terminal surface position department along the circumferencial direction a plurality of slide rail leading wheels of equipartition respectively on the inner wall of middle part casing, the face of cylinder of left side casing and the face of cylinder of right side casing are provided with rotatory pin shaft subassembly, the left side casing, the half cylinder shape casing of mutual lock hinges in rotatory pin shaft subassembly position department on middle part casing and the right side casing, the seam position department of the outer terminal surface of left side casing and right side casing installs the locking components, the left side casing, the casing of both sides half cylinder shape passes through locking components fixed connection in middle part casing and the right side casing.
Furthermore, the internal module comprises a main transmission external gear ring, a transmission gear, a sliding rail, an internal base and a small bevel gear, the internal base is provided with two semi-cylindrical bases which are oppositely buckled, the main transmission external gear ring and the sliding rail are both provided with semi-arcs which are oppositely buckled, the main transmission external gear ring is installed on the end surface of one side, close to the left shell, of the internal base, the main transmission external gear ring is meshed with the main driving gear, a groove is formed in the peripheral wall of the internal base, the sliding rail is arranged on the outer circular surface of the side plate on the two sides of the groove, and the sliding rail is matched with the sliding rail; the transmission gears are arranged on the transmission gear shaft, a plurality of transmission gears are uniformly distributed in the groove along the circumferential direction, the transmission gears are meshed with the inner gear ring, and a small bevel gear is arranged at one end, close to the polishing module, of the transmission gear shaft; a plurality of dismounting pin shafts are arranged between the inner base and the left side shell, and the dismounting pin shafts are detachably inserted into the side plates on two sides of the groove on the peripheral wall of the left side shell and the inner base from outside to inside in sequence.
Furthermore, the polishing module comprises a sliding shaft, a polishing base, a polishing module bearing, a large bevel gear, a first shaft sleeve, an end cover, a polishing pre-tightening spring, a polishing piece mounting block, a polishing piece fixing ring and a polishing piece, wherein the polishing bases are uniformly distributed on the end face of one side, close to the right side shell, of the inner base along the circumferential direction;
the polishing piece mounting block and the polishing piece fixing ring are sequentially mounted on a sliding shaft which is arranged on one side, close to the pipeline, of the outside of the polishing base from outside to inside, a polishing pre-tightening spring is mounted on the sliding shaft between the polishing piece mounting block and the end cover, the polishing piece is mounted on the sliding shaft between the polishing piece mounting block and the polishing piece fixing ring, and the outer end face of the polishing piece is in contact with the outer side wall of the pipeline.
Further, the crawling module comprises a driving wheel motor, a motor support piece, a first crawling module bearing, a second crawling module bearing, a driving wheel, a second shaft sleeve, a bearing retainer ring and a driving wheel support seat, the driving wheel support seat is installed on the outer end face of the right side shell, the driving wheel motor is horizontally and forwardly installed on the driving wheel support seat, the motor support piece is arranged between the side faces, opposite to the driving wheel motor and the driving wheel support seat, the second shaft sleeve is installed on a motor rotor of the driving wheel motor, the driving wheel is installed outside the second shaft sleeve and located between side plates on two sides of the driving wheel support seat, the outer circular face of the driving wheel is in contact with the outer side wall of the pipeline, a first crawling module bearing and a second crawling module bearing are arranged on the second shaft sleeve at the contact positions of the motor rotor of the driving wheel motor and the side plates on the driving wheel, the driving wheel motor drives the driving wheel to rotate, and the crawling module drives the grinding device to move along the axis direction of the pipeline.
Furthermore, the supporting wheel set comprises a supporting wheel, a supporting wheel pin and a supporting wheel support, the supporting wheel is correspondingly installed on the supporting wheel support through the supporting wheel pin, and the outer circular surface of the supporting wheel is in contact with the outer side wall of the pipeline.
Furthermore, the spring pre-tightening wheel set comprises a pre-tightening wheel, a pre-tightening wheel pin, a pre-tightening wheel set bracket, a pre-tightening spring, a locking nut and a pre-tightening wheel pin shaft, wherein side plates on two sides of the pre-tightening wheel set bracket are fixedly arranged on the outer end face of the left shell, a bottom plate of the pre-tightening wheel set bracket is arranged between the side plates on two sides of the pre-tightening wheel set bracket, the opening direction of the pre-tightening wheel set bracket points to one side of the pipeline, the pre-tightening bracket is arranged in an opening of the pre-tightening wheel set bracket, the pre-tightening wheel pin shaft penetrates through the bottom plate of the pre-tightening wheel set bracket and is fixedly connected with the pre-tightening bracket, the locking nut is arranged on the pre-tightening wheel pin shaft outside the pre-tightening wheel set bracket, the pre-tightening spring is arranged on the pre-tightening wheel pin shaft between, a waist-shaped hole is formed in the position, corresponding to the position of the pre-tightening wheel pin, of the side plates on the two sides of the pre-tightening wheel set support, and the pipeline pressing pre-tightening wheel drives the pre-tightening wheel pin to slide in the waist-shaped hole along the axis direction of the pre-tightening wheel pin.
Furthermore, the supporting wheel and the pre-tightening wheel are both V-shaped wheels.
Furthermore, the outer end face of the right side shell and the side wall contact position of the pipeline are provided with dustproof sealing rings, the inner wall of the inner base and the side wall contact position of the pipeline are provided with dustproof sealing rings, steps for dust prevention are arranged on the side walls of the two sides, close to the sliding rail of the right side shell, of the inner base, and annular dustproof grooves are formed in positions, corresponding to the steps, on the inner walls of the middle shell and the right side shell.
Furthermore, a sensor is installed on the outer end face of the left side shell, a sensing pin matched with the sensor is installed on the end face of one side, close to the left side shell, of the main transmission outer gear ring, and when the sensing pin and the sensor are collinear, the dismounting pin shaft can be inserted into the side plates on two sides of the groove in the peripheral wall of the left side shell and the peripheral wall of the inner base from outside to inside, so that the semi-cylindrical base is fixedly connected with the corresponding semi-cylindrical shell.
Further, a handle is arranged on the cylindrical surface crossing the left side shell and the cylindrical surface of the right side shell, a discharge pipe used for cleaning and removing scale in the right side shell is arranged on the cylindrical surface of the right side shell, and a detection device used for detecting the pipe wall thickness, cracks and corrosion conditions of the pipeline is arranged on the outer end face of the right side shell.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the grinding device is wide in application range, can enable the grinding device to automatically creep and move along the pipe wall, and avoids mechanical damage caused by rotation of the pipeline. The grinding device is short in structural length and suitable for grinding in places with limited space. The grinding device is designed into a two-semicircle butt joint installation form, is fixedly locked through a lock catch, and is suitable for straight pipe lines with flanges at two ends.
2. This grinding device design is simple, and the field usage simple operation. The upper polishing part and the lower polishing part of the polishing device are opened and closed to form fixed disassembly and assembly points, the upper polishing part and the lower polishing part are integrally in place through the bolt, the lock catch connection mode is convenient to disassemble, and the easily damaged grinding wheel is convenient to disassemble. The whole polishing work such as installation, dismantlement of polisher just can be accomplished to one-man operation, avoids consuming a large amount of manpower resources.
3. The polishing device of the device can realize full radial and axial full-coverage polishing and high polishing efficiency. The polishing module rotates automatically and rotates along the pipeline in the radial direction by 360 degrees along with the rotation of the inner module, and the radial and axial full-coverage polishing is realized. The control system of the polishing device is controlled by the remote control handle, the moving crawling speed can be adjusted according to the actual polishing effect, and the polishing efficiency is improved.
4. The polishing device of the device is full-automatic polishing. Grinding device polishes for the full automatization at the in-process of polishing, avoids the effect of polishing of artificial influence of polishing, has guaranteed check out test set's trafficability characteristic, has improved the rate of accuracy that detects.
5. The device is provided with the detection device on the outer end face of the shell, the detection of the thickness of the pipe wall, the cracks and the corrosion condition is realized while the pipeline is polished, and the device is multipurpose.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the structure of FIG. 1 in an obliquely upward direction;
FIG. 3 is a schematic view of the expanded three-dimensional structure of the present invention;
FIG. 4 is a schematic view of the three-dimensional structure of the utility model in use;
FIG. 5 is a schematic left-side perspective view of FIG. 4;
FIG. 6 is a schematic perspective view of a semi-cylindrical housing;
FIG. 7 is a schematic front view of the structure of FIG. 6;
FIG. 8 is a schematic view of an assembly structure of an inner module and a corresponding semi-cylindrical housing;
FIG. 9 is a schematic view of an assembly structure of an inner module and a polishing module;
FIG. 10 is a cross-sectional structural schematic view in longitudinal section of FIG. 9;
FIG. 11 is a front cross-sectional structural view of FIG. 9;
FIG. 12 is a front cross-sectional structural view of a sanding module;
FIG. 13 is a front cross-sectional view of a three-dimensional structure of a crawling module;
FIG. 14 is a perspective view of a support wheel assembly;
fig. 15 is a schematic perspective view of a spring pre-tightening wheel set.
Detailed Description
The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention. Unless otherwise specified, the examples follow conventional experimental conditions. In addition, various modifications and improvements to the materials and amounts used in these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and are within the scope of the invention as claimed.
The automatic crawling polishing robot for the outer wall of the circular tube, which is shown in the figures 1 to 7, comprises a shell 1, a main driving module 2, an internal module 3, a polishing module 4 and a crawling module 5, wherein: the shell 1 comprises a left shell 1-7, a middle shell 1-6 and a right shell 1-1 which are sequentially arranged from left to right, the left shell 1-7, the middle shell 1-6 and the right shell 1-1 are respectively arranged into semi-cylindrical shells which are oppositely buckled, inner cavities of the left shell 1-7, the middle shell 1-6 and the right shell 1-1 are communicated, and a pipeline 9 to be polished penetrates through the shell 1 along the axis direction; the main driving module 2, the spring pre-tightening wheel set 7 and the plurality of supporting wheel sets 6 are arranged on the outer end faces of the left side shells 1-7 along the circumferential direction, and the supporting wheel sets 6 and the spring pre-tightening wheel sets 7 are arranged at equal angles; the crawling module 5 and the plurality of supporting wheel sets 6 are arranged on the outer end face of the right side shell 1-1 along the circumferential direction, and the supporting wheel sets 6 and the crawling module 5 are arranged at equal angles; the inner module 3 is arranged in the left shell 1-7 and the middle shell 1-6, and the polishing module 4 is arranged on the end face of the inner module 3 close to one side of the right shell 1-1 and is positioned in the right shell 1-1; the crawling module 5 drives the polishing device to do linear motion along the outer wall of the pipeline 9, the main driving module 2 drives the internal bases 3-5 arranged in the internal module 3 to do rotary motion along the circumferential direction of the pipeline 9 through gear transmission, and the internal module 3 drives the polishing pieces 4-10 arranged on the polishing module 4 to do rotary motion along the radial direction of the pipeline 9 through gear transmission;
the motor rotor of the main driving module 2 penetrates through the outer end face of the left shell 1-7 and extends into the left shell 1-7, a main driving gear 1-2 is installed on the motor rotor of the main driving module 2, an inner gear ring 1-3 is installed on the inner wall of the middle shell 1-6, a plurality of slide rail guide wheels 1-4 are respectively and uniformly distributed on the inner wall of the middle shell 1-6 along the circumferential direction at the end face positions of two sides of the inner gear ring 1-3, a cylindrical surface of the left shell 1-7 and a cylindrical surface of the right shell 1-1 are provided with rotating pin shaft assemblies 1-5, semi-cylindrical shells buckled with each other on the left shell 1-7, the middle shell 1-6 and the right shell 1-1 are hinged at the positions of the rotating pin shaft assemblies 1-5, and locking buckle assemblies 8 are installed at the seam crossing positions of the outer end faces of the left shell 1-7, the left shell 1-7, the middle shell 1-6 and the right shell 1-1 are fixedly connected through a locking component 8.
For convenience of processing and assembling, the shell is composed of three parts, wherein a left shell 1-7 is a mounting side of the main driving module, and the driving gear provides rotating force for the internal module; the middle shell 1-6 provides support for the rotation of the internal module, and the slide rail guide wheel provides stable running space for the track of the internal module to ensure that the internal module does not jump; the right side shell 1-1 provides a closed polishing space for the polishing module, and dust is prevented from leaking in the polishing process.
As shown in fig. 8 to 11, the inner module 3 includes a main transmission outer ring gear 3-2, a transmission gear 3-3, a slide rail 3-4, an inner base 3-5 and a bevel pinion 3-6, the inner base 3-5 is provided with two semi-cylindrical bases which are oppositely buckled, the main transmission outer gear ring 3-2 and the slide rail 3-4 are both provided with semi-arcs which are oppositely buckled, the main transmission outer gear ring 3-2 is arranged on the end surface of one side of the inner base 3-5, which is close to the left shell 1-7, the main transmission outer gear ring 3-2 is meshed with the main driving gear 1-2, the peripheral wall of the inner base 3-5 is provided with a groove, the slide rail 3-4 is arranged on the outer circular surface of the side plate at the two sides of the groove, and the slide rail 3-4 is matched with the slide rail guide wheel 1-4; a transmission gear 3-3 is arranged on a transmission gear shaft, a plurality of transmission gears 3-3 are uniformly distributed in the groove along the circumferential direction, the transmission gears 3-3 are meshed with the inner gear rings 1-3, and a small bevel gear 3-6 is arranged at one end, close to the polishing module 4, of the transmission gear shaft; a plurality of dismounting pin shafts 3-1 are arranged between the inner base 3-5 and the left side shell 1-7, and the dismounting pin shafts 3-1 are detachably inserted on the side plates at two sides of the groove on the peripheral wall of the left side shell 1-7 and the inner base 3-5 from outside to inside in sequence.
The four polishing modules 4 are arranged on the inner base 3-5 at equal angles, the main transmission outer gear ring 3-2 drives the inner module to rotate under the action of the driving motor, and the slide rail 3-4 and a slide rail guide wheel arranged on the inner wall of the shell form a closed running space to ensure that the inner module does not move in the rotating process. The inner base 3-5 is composed of two semicircles, which form two parts of the polishing device with the two semicircles of the shell respectively through a detachable pin shaft 3-1. The four transmission gears 3-3 are arranged on the inner base 3-5 at equal angles, radially rotate around the pipeline 9 along with the main transmission outer gear ring 3-2 and are meshed with the inner gear ring arranged on the inner wall of the shell, and rotation is achieved. The transmission gear 3-3 drives the bevel pinion 3-6 to drive the grinding module 4 to rotate.
The polishing module 4 shown in fig. 12 comprises a sliding shaft 4-1, a polishing base 4-2, a polishing module bearing 4-3, a large bevel gear 4-4, a first shaft sleeve 4-5, an end cover 4-6, a polishing pre-tightening spring 4-7, a polishing sheet mounting block 4-8, a polishing sheet fixing ring 4-9 and a polishing sheet 4-10, wherein a plurality of polishing bases 4-2 are uniformly distributed on the end surface of one side of the inner base 3-5 close to the right side shell 1-1 along the circumferential direction, the end cover 4-6 is correspondingly mounted on the end surface of one side of the polishing base 4-2 close to the pipeline 9, the sliding shaft 4-1 penetrates through the polishing base 4-2 along the radial direction of the pipeline 9, and two ends of the sliding shaft 4-1 extend to the outside of the polishing base 4-2 respectively, a sliding shaft 4-1 in the polishing base 4-2 is provided with a first shaft sleeve 4-5, a large bevel gear 4-4 is arranged on the first shaft sleeve 4-5, the large bevel gear 4-4 is meshed with a small bevel gear 3-6, one end of the first shaft sleeve 4-5 is arranged on the polishing base 4-2 through a polishing module bearing 4-3, and the other end of the first shaft sleeve 4-5 is arranged on an end cover 4-6 through the polishing module bearing 4-3;
the polishing sheet mounting block 4-8 and the polishing sheet fixing ring 4-9 are sequentially mounted on a sliding shaft 4-1 on one side, close to the pipeline 9, of the outer portion of the polishing base 4-2 from outside to inside, a polishing pre-tightening spring 4-7 is mounted on the sliding shaft 4-1 between the polishing sheet mounting block 4-8 and the end cover 4-6, the polishing sheet 4-10 is mounted on the sliding shaft 4-1 between the polishing sheet mounting block 4-8 and the polishing sheet fixing ring 4-9, and the outer end face of the polishing sheet 4-10 is in contact with the outer side wall of the pipeline 9.
The large bevel gear 4-4 is driven by the small bevel gear 3-6 to drive the first shaft sleeve 4-5, the sliding shaft 4-1, the polishing sheet mounting block 4-8, the polishing sheet 4-10 and the polishing sheet fixing ring 4-9 to rotate around the bearing 4-3 of the polishing module. The grinding pre-tightening springs 4-7 ensure that the grinding discs 4-10 are always in close contact with the outer wall of the pipeline 9 in the grinding process.
As shown in fig. 13, the crawling module 5 comprises a driving wheel motor 5-1, a motor support 5-2, a first crawling module bearing 5-3, a second crawling module bearing 5-7, a driving wheel 5-4, a second shaft sleeve 5-5, a bearing retainer 5-6 and a driving wheel support seat 5-8, wherein the driving wheel support seat 5-8 is installed on the outer end face of the right side shell 1-1, the driving wheel motor 5-1 is horizontally and forwards installed on the driving wheel support seat 5-8, the motor support 5-2 is arranged between the side faces of the driving wheel motor 5-1 opposite to the driving wheel support seat 5-8, the second shaft sleeve 5-5 is installed on the motor rotor of the driving wheel motor 5-1, the driving wheel 5-4 is installed outside the second shaft sleeve 5-5 and is located between the side plates on both sides of the driving wheel support, the outer circular surface of the driving wheel 5-4 is contacted with the outer side wall of the pipeline 9, a first crawling module bearing 5-3 and a second crawling module bearing 5-7 are arranged at the contact positions of a motor rotor of the driving wheel motor 5-1 and side plates at two sides of the driving wheel supporting seat 5-8, a bearing retainer ring 5-6 is arranged on a second shaft sleeve 5-5 at the inner side end face positions of the first crawling module bearing 5-3 and the second crawling module bearing 5-7, the driving wheel motor 5-1 drives the driving wheel 5-4 to rotate, and the crawling module 5 drives the grinding device to move along the axis direction of the pipeline 9.
The supporting wheel set 6 shown in fig. 14 comprises a supporting wheel 6-1, a supporting wheel pin 6-2 and a supporting wheel bracket 6-3, the supporting wheel 6-1 is correspondingly installed on the supporting wheel bracket 6-3 through the supporting wheel pin 6-2, and the outer circular surface of the supporting wheel 6-1 is in contact with the outer side wall of the pipeline 9.
The spring pre-tightening wheel set 7 shown in fig. 15 comprises a pre-tightening wheel 7-1, a pre-tightening wheel pin 7-2, a pre-tightening wheel set bracket 7-3, a pre-tightening bracket 7-4, a pre-tightening spring 7-5, a lock nut 7-6 and a pre-tightening wheel pin shaft 7-7, wherein side plates at two sides of the pre-tightening wheel set bracket 7-3 are fixedly arranged on the outer end surface of the left shell 1-7, a bottom plate of the pre-tightening wheel set bracket 7-3 is arranged between the side plates at two sides of the pre-tightening wheel set bracket 7-3, the opening direction of the pre-tightening wheel set bracket 7-3 points to one side of a pipeline 9, the pre-tightening bracket 7-4 is arranged in an opening of the pre-tightening wheel set bracket 7-3, and the pre-tightening wheel pin shaft 7-, the locking nut 7-6 is installed on a pre-tightening wheel pin shaft 7-7 outside the pre-tightening wheel set support 7-3, the pre-tightening spring 7-5 is installed on the pre-tightening wheel pin shaft 7-7 between the pre-tightening support 7-4 and a bottom plate of the pre-tightening wheel set support 7-3, the pre-tightening wheel pin 7-2 penetrates through side plates on two sides of the pre-tightening support 7-4 and side plates on two sides of the pre-tightening wheel set support 7-3, the pre-tightening wheel 7-1 is installed between the side plates on two sides of the pre-tightening support 7-4 through the pre-tightening wheel pin 7-2, a waist-shaped hole is formed in the position, corresponding to the pre-tightening wheel pin 7-2, of the side plates on two sides of the pre-tightening wheel set support 7-3, and the pre-tightening wheel pin 7-2 is driven to slide in the waist-.
As shown in fig. 14 and 15, the supporting wheel 6-1 and the pre-tightening wheel 7-1 are both V-shaped wheels, which can prevent the grinding device from rotating when running along the axial direction of the pipeline.
Furthermore, a dustproof sealing ring is arranged at the contact position of the outer end face of the right side shell 1-1 and the side wall of the pipeline 9, a dustproof sealing ring is arranged at the contact position of the inner wall of the inner base 3-5 and the side wall of the pipeline 9, steps for dust prevention are arranged on the side walls of the two sides of the inner base 3-5, which are close to the sliding rail 3-4 of the right side shell 1-1, and annular dustproof grooves are arranged at the positions, corresponding to the steps, on the inner walls of the middle shell 1-6 and the right side shell 1-1.
Further, a sensor is mounted on the outer end face of the left side shell 1-7, an induction pin matched with the sensor is mounted on the end face of the main transmission outer gear ring 3-2 close to one side of the left side shell 1-7, and when the induction pin and the sensor are collinear, the dismounting pin shaft 3-1 can be inserted into the side plates on two sides of the groove in the peripheral wall of the left side shell 1-7 and the inner base 3-5 from outside to inside, so that the semi-cylindrical base is fixedly connected with the corresponding semi-cylindrical shell.
Further, a handle is arranged across the cylindrical surface of the left shell 1-7 and the cylindrical surface of the right shell 1-1, a discharge pipe for cleaning the right shell 1-1 for removing scale is arranged on the cylindrical surface of the right shell 1-1, and a detection device 10 for detecting the pipe wall thickness, cracks and corrosion conditions of the pipeline 9 is arranged on the outer end surface of the right shell 1-1.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (10)
1. The utility model provides an automatic machine people of polishing of crawling of pipe outer wall, it includes casing (1), main drive module (2), inside module (3), the module of polishing (4) and the module of crawling (5), its characterized in that: the shell (1) comprises a left shell (1-7), a middle shell (1-6) and a right shell (1-1) which are sequentially arranged from left to right, the left shell (1-7), the middle shell (1-6) and the right shell (1-1) are respectively arranged into semi-cylindrical shells which are oppositely buckled, inner cavities of the left shell (1-7), the middle shell (1-6) and the right shell (1-1) are communicated, and a pipeline (9) to be polished penetrates through the shell (1) along the axis direction; the main driving module (2), the spring pre-tightening wheel set (7) and the plurality of supporting wheel sets (6) are arranged on the outer end face of the left shell (1-7) along the circumferential direction, and the supporting wheel sets (6) and the spring pre-tightening wheel sets (7) are arranged at equal angles; the crawling module (5) and the plurality of supporting wheel sets (6) are installed on the outer end face of the right side shell (1-1) along the circumferential direction, and the supporting wheel sets (6) and the crawling module (5) are arranged at equal angles; the inner module (3) is arranged in the left shell (1-7) and the middle shell (1-6), and the polishing module (4) is arranged on the end face of one side of the inner module (3) close to the right shell (1-1) and is positioned in the right shell (1-1); the crawling module (5) drives the grinding device to do linear motion along the outer wall of the pipeline (9), the main driving module (2) drives an inner base (3-5) arranged in the inner module (3) to do rotary motion along the circumferential direction of the pipeline (9) through gear transmission, and the inner module (3) drives grinding sheets (4-10) arranged on the grinding module (4) to do rotary motion along the radial direction of the pipeline (9) through gear transmission;
the motor rotor of the main driving module (2) penetrates through the outer end face of the left shell (1-7) and extends into the left shell (1-7), and a main driving gear (1-2) is mounted on the motor rotor of the main driving module (2); an inner gear ring (1-3) is installed on the inner wall of a middle shell (1-6), a plurality of slide rail guide wheels (1-4) are uniformly distributed on the inner wall of the middle shell (1-6) at the end surfaces of the two sides of the inner gear ring (1-3) along the circumferential direction, a rotary pin shaft assembly (1-5) is arranged on the cylindrical surface of a left shell (1-7) and the cylindrical surface of a right shell (1-1), semi-cylindrical shells buckled with each other on the left shell (1-7), the middle shell (1-6) and the right shell (1-1) are hinged to the rotary pin shaft assembly (1-5), a locking component (8) is installed at the junction position of the outer end surfaces of the left shell (1-7) and the right shell (1-1), and the left shell (1-7), The middle shell (1-6) and the right shell (1-1) are fixedly connected through a locking component (8).
2. The automatic crawling and polishing robot for the outer wall of the round pipe as claimed in claim 1, wherein: the internal module (3) comprises a main transmission outer gear ring (3-2), a transmission gear (3-3), a sliding rail (3-4), an internal base (3-5) and a small bevel gear (3-6), the internal base (3-5) is provided with two semi-cylindrical bases which are oppositely buckled, the main transmission outer gear ring (3-2) and the sliding rail (3-4) are both provided with semi-arcs which are oppositely buckled, the main transmission outer gear ring (3-2) is arranged on the end surface of one side of the internal base (3-5) close to the left shell (1-7), the main transmission outer gear ring (3-2) is meshed with the main driving gear (1-2), a groove is arranged on the peripheral wall of the internal base (3-5), and the sliding rail (3-4) is arranged on the outer circular surface of the side plate at the two sides of the groove, the slide rail (3-4) is matched with the slide rail guide wheel (1-4); the transmission gear (3-3) is arranged on a transmission gear shaft, a plurality of transmission gears (3-3) are uniformly distributed in the groove along the circumferential direction, the transmission gears (3-3) are meshed with the inner gear rings (1-3), and a small bevel gear (3-6) is arranged at one end, close to the polishing module (4), of the transmission gear shaft; a plurality of dismounting pin shafts (3-1) are arranged between the inner base (3-5) and the left shell (1-7), and the dismounting pin shafts (3-1) are detachably inserted on the side plates at two sides of the groove on the peripheral wall of the left shell (1-7) and the inner base (3-5) from outside to inside in sequence.
3. The automatic crawling and polishing robot for the outer wall of the round pipe as claimed in claim 1 or 2, wherein: the polishing module (4) comprises a sliding shaft (4-1), polishing bases (4-2), polishing module bearings (4-3), a large bevel gear (4-4), a first shaft sleeve (4-5), end covers (4-6), polishing pre-tightening springs (4-7), polishing sheet mounting blocks (4-8), polishing sheet fixing rings (4-9) and polishing sheets (4-10), a plurality of polishing bases (4-2) are uniformly distributed on the end face of one side, close to the right side shell (1-1), of the inner base (3-5) along the circumferential direction, the end covers (4-6) are correspondingly mounted on the end face of one side, close to the pipeline (9), of the polishing base (4-2), the sliding shaft (4-1) penetrates through the polishing bases (4-2) along the radial direction of the pipeline (9), two ends of a sliding shaft (4-1) respectively extend to the outside of a polishing base (4-2), a first shaft sleeve (4-5) is installed on the sliding shaft (4-1) inside the polishing base (4-2), a large bevel gear (4-4) is installed on the first shaft sleeve (4-5), the large bevel gear (4-4) is meshed with a small bevel gear (3-6), one end of the first shaft sleeve (4-5) is installed on the polishing base (4-2) through a polishing module bearing (4-3), and the other end of the first shaft sleeve (4-5) is installed on an end cover (4-6) through the polishing module bearing (4-3);
the polishing sheet mounting block (4-8) and the polishing sheet fixing ring (4-9) are sequentially mounted on a sliding shaft (4-1) on one side, close to the pipeline (9), of the outer portion of the polishing base (4-2) from outside to inside, a polishing pre-tightening spring (4-7) is mounted on the sliding shaft (4-1) between the polishing sheet mounting block (4-8) and the end cover (4-6), the polishing sheet (4-10) is mounted on the sliding shaft (4-1) between the polishing sheet mounting block (4-8) and the polishing sheet fixing ring (4-9), and the outer end face of the polishing sheet (4-10) is in contact with the outer side wall of the pipeline (9).
4. The automatic crawling and polishing robot for the outer wall of the round pipe as claimed in claim 1, wherein: the crawling module (5) comprises a driving wheel motor (5-1), a motor support piece (5-2), a first crawling module bearing (5-3), a second crawling module bearing (5-7), a driving wheel (5-4), a second shaft sleeve (5-5), a bearing retainer ring (5-6) and a driving wheel support seat (5-8), the driving wheel support seat (5-8) is installed on the outer end face of the right side shell (1-1), the driving wheel motor (5-1) is horizontally and forwards installed on the driving wheel support seat (5-8), the motor support piece (5-2) is arranged between the side faces, opposite to the driving wheel motor (5-1) and the driving wheel support seat (5-8), of the driving wheel motor (5-1), and the second shaft sleeve (5-5) is installed on a motor rotor of the driving wheel motor (5-1, the driving wheel (5-4) is arranged outside the second shaft sleeve (5-5) and positioned between the side plates at the two sides of the driving wheel supporting seat (5-8), the outer circular surface of the driving wheel (5-4) is contacted with the outer side wall of the pipeline (9), a first crawling module bearing (5-3), a second crawling module bearing (5-7) and a first crawling module bearing (5-3) are arranged at the contact positions of the motor rotor of the driving wheel motor (5-1) and the side plates at the two sides of the driving wheel supporting seat (5-8), bearing retainer rings (5-6) are arranged on a second shaft sleeve (5-5) at the end face of the inner side of a second crawling module bearing (5-7), a driving wheel motor (5-1) drives a driving wheel (5-4) to rotate, and a crawling module (5) drives a grinding device to move along the axial direction of a pipeline (9).
5. The automatic crawling and polishing robot for the outer wall of the round pipe as claimed in claim 1, wherein: the supporting wheel set (6) comprises supporting wheels (6-1), supporting wheel pins (6-2) and supporting wheel supports (6-3), the supporting wheels (6-1) are correspondingly installed on the supporting wheel supports (6-3) through the supporting wheel pins (6-2), and the outer circular surface of each supporting wheel (6-1) is in contact with the outer side wall of the pipeline (9).
6. The automatic crawling and polishing robot for the outer wall of the round pipe as claimed in claim 1, wherein: the spring pre-tightening wheel set (7) comprises a pre-tightening wheel (7-1), a pre-tightening wheel pin (7-2), a pre-tightening wheel set support (7-3), a pre-tightening support (7-4), a pre-tightening spring (7-5), a locking nut (7-6) and a pre-tightening wheel pin (7-7), side plates on two sides of the pre-tightening wheel set support (7-3) are fixedly arranged on the outer end face of a left shell (1-7), a bottom plate of the pre-tightening wheel set support (7-3) is arranged between the side plates on two sides of the pre-tightening wheel set support (7-3), the opening direction of the pre-tightening wheel set support (7-3) points to one side of a pipeline (9), the pre-tightening support (7-4) is arranged in an opening of the pre-tightening wheel set (7-3), and the pre-tightening wheel pin (7-7) penetrates through the bottom plate of, a locking nut (7-6) is arranged on a pre-tightening wheel pin shaft (7-7) outside a pre-tightening wheel set support (7-3), a pre-tightening spring (7-5) is arranged on the pre-tightening wheel pin shaft (7-7) between the pre-tightening support (7-4) and a bottom plate of the pre-tightening wheel set support (7-3), a pre-tightening wheel pin (7-2) penetrates through side plates on two sides of the pre-tightening support (7-4) and side plates on two sides of the pre-tightening wheel set support (7-3), a pre-tightening wheel (7-1) is arranged between the side plates on two sides of the pre-tightening support (7-4) through a pre-tightening wheel pin (7-2), a waist-shaped hole is formed in the position, corresponding to the pre-tightening wheel pin (7-2), a pipeline (9) compresses the pre-tightening wheel (7-1) to drive the pre-tightening wheel pin (7-2) to be in the waist-shaped hole along the pre-tightening wheel (7) 7) Is slid in the axial direction of the shaft.
7. The automatic crawling and polishing robot for the outer wall of the round pipe as claimed in claim 5 or 6, wherein: the supporting wheel (6-1) and the pre-tightening wheel (7-1) are both V-shaped wheels.
8. The automatic crawling and polishing robot for the outer wall of the round pipe as claimed in claim 2, wherein: the dustproof pipeline is characterized in that a dustproof sealing ring is arranged at the contact position of the outer end face of the right side shell (1-1) and the side wall of the pipeline (9), a dustproof sealing ring is arranged at the contact position of the inner wall of the inner base (3-5) and the side wall of the pipeline (9), steps for dust prevention are arranged on the side walls of the two sides of the inner base (3-5) close to the sliding rail (3-4) of the right side shell (1-1), and annular dustproof grooves are arranged at the positions, corresponding to the steps, on the inner walls of the middle shell (1-6) and the right side shell (1-1).
9. The automatic crawling and polishing robot for the outer wall of the round pipe as claimed in claim 2, wherein: and a sensor is arranged on the outer end face of the left shell (1-7), and an induction pin matched with the sensor is arranged on the end face of one side, close to the left shell (1-7), of the main transmission outer gear ring (3-2).
10. The automatic crawling and polishing robot for the outer wall of the round pipe as claimed in claim 1, wherein: a handle is arranged on the cylindrical surface crossing the left shell (1-7) and the cylindrical surface of the right shell (1-1), a discharging pipe for cleaning and descaling the right shell (1-1) is arranged on the cylindrical surface of the right shell (1-1), and a detection device (10) for detecting the pipe wall thickness, cracks and corrosion conditions of the pipeline (9) is arranged on the outer end surface of the right shell (1-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022018952.XU CN212578189U (en) | 2020-09-15 | 2020-09-15 | Automatic crawling and polishing robot for outer wall of circular pipe |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022018952.XU CN212578189U (en) | 2020-09-15 | 2020-09-15 | Automatic crawling and polishing robot for outer wall of circular pipe |
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| CN212578189U true CN212578189U (en) | 2021-02-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910020A (en) * | 2021-10-19 | 2022-01-11 | 中南大学 | Intelligent pipeline polishing device and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910020A (en) * | 2021-10-19 | 2022-01-11 | 中南大学 | Intelligent pipeline polishing device and control method thereof |
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Effective date of registration: 20211210 Address after: 215000 building 3, No. 10, Jindu Road, Southeast street, Changshu, Suzhou, Jiangsu Patentee after: Suzhou shenzhizhu Technology Service Co.,Ltd. Address before: Room 409, building 10, 988 Xinxing 2nd Road, Pinghu Economic and Technological Development Zone, Jiaxing City, Zhejiang Province, 314200 Patentee before: JIAXING GAOWEI INTELLIGENT CONTROL CO.,LTD. |