CN217728764U - Mechanical arm end effector for online pressure leak stoppage - Google Patents
Mechanical arm end effector for online pressure leak stoppage Download PDFInfo
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- CN217728764U CN217728764U CN202221292359.7U CN202221292359U CN217728764U CN 217728764 U CN217728764 U CN 217728764U CN 202221292359 U CN202221292359 U CN 202221292359U CN 217728764 U CN217728764 U CN 217728764U
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Abstract
The utility model relates to an online area presses arm end effector of leaking stoppage, include: the clamping module, the twisting module and the hydraulic rotating device are arranged on the frame; the hydraulic slewing device is used for controlling the clamping module to reach the target leakage point, the clamping module is used for clamping and fixing a pipeline where the target leakage point is located, and the twisting module is used for twisting and leaking stoppage of the target leakage point. The hydraulic slewing device comprises a lower flange plate, a connecting rod and a connecting rod base; the lower flange plate is connected with the connecting rod base through a connecting rod; the clamping module comprises a driving part, a telescopic rod, a first clamping jaw and a second clamping jaw; the driving part is fixed on the lower flange plate and is connected with the first clamping jaw through a telescopic rod; the second clamping jaw is arranged on the connecting rod base and corresponds to the first clamping jaw to form a fixing groove; the twisting module comprises a twisting hole and a twisting hole screw; the twist punching holes are respectively positioned on the convex blocks of the first clamping jaw and the second clamping jaw, and the twist punching hole screws are positioned between the twist punching holes. The leakage stopping efficiency of the pipeline can be improved, and the operation is simple and convenient.
Description
Technical Field
The utility model relates to a robot field especially relates to an arm end effector of leaking stoppage is pressed in online area.
Background
At present, in the production process of enterprises, common leakage mainly occurs at leakage defect positions such as sand holes and small holes on pipelines, containers and valve bodies. Once a leak occurs, it is usually necessary to make and install clamps to stop the leak, and for the leak caused by the sand holes and the small holes, the machining of the clamps is time-consuming compared with other leak stopping methods.
Along with the continuous development of industrial automation, leakage defects are usually blocked manually for pipeline and container leakage in the production process of enterprises, the efficiency is low, and leakage objects with high temperature, high pressure, corrosiveness and peculiar smell can cause certain potential safety hazards and body damage to leakage blocking operators. Therefore, it is a trend to use a robot instead of manual leaking stoppage, and the robot must have a corresponding end effector to perform the leaking stoppage operation.
The method and tools related to the pressure leakage blocking technology are numerous, the change of the actual situation on site and the selection of the leakage characteristic on the execution scheme are greatly influenced, when manual leakage blocking is adopted in the traditional method, site operation workers need to have abundant operation experience and enough on-site strain capacity, otherwise, serious casualties or equipment damage and other situations can be possibly caused by improper operation. The robot for leaking stoppage under pressure aims to replace or assist operators to perform the operation of leaking stoppage under pressure, so that the safety of personnel can be ensured, and the repair quality and the repair efficiency of leaking stoppage under pressure are improved by means of the robot technology.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an online area presses arm end effector of leaking stoppage, can improve the efficiency of pipeline leak stoppage, it is easy and simple to handle.
In order to achieve the above purpose, the utility model provides a following scheme:
the utility model provides an online area presses arm end effector of leaking stoppage, include: the clamping module, the twisting module and the hydraulic rotating device are arranged on the frame; the hydraulic slewing device is used for controlling the clamping module to reach the position of a target leakage point, the clamping module is used for clamping and fixing a pipeline where the target leakage point is located, and the twisting module is used for twisting and plugging the target leakage point on the pipeline;
the hydraulic slewing device comprises a lower flange plate, a connecting rod and a connecting rod base; the lower flange plate is connected with the connecting rod base through the connecting rod;
the clamping module comprises a driving part, a telescopic rod, a first clamping jaw and a second clamping jaw; the driving part is fixed on a lower flange plate of the hydraulic slewing device and is connected with the first clamping jaw through the telescopic rod; the second clamping jaw is arranged on the connecting rod base and corresponds to the first clamping jaw to form a fixing groove;
the twisting module comprises a twisting hole and a twisting hole screw; the twist punching holes are respectively positioned on the convex blocks of the first clamping jaw and the second clamping jaw, and the twist punching hole screw is positioned between the twist punching holes.
Optionally, the hydraulic slewing device further comprises: the hydraulic cylinder, the control valve, the small planetary gear, the large planetary gear, the upper flange plate and the rotary bearing;
the control valve is arranged on the hydraulic cylinder, the hydraulic cylinder is fixed on the upper flange plate, the small planetary gear is connected with the hydraulic cylinder, the large planetary gear is positioned on the lower flange plate, and the rotary bearing is arranged in the center of the large planetary gear.
Optionally, the hydraulic swing device further includes a protective casing disposed between the upper flange and the lower flange.
Optionally, the first jaw and the second jaw are both semi-circular.
Optionally, the first jaw and the second jaw are secured by screws.
Optionally, the drive component is an air cylinder or a hydraulic oil cylinder.
Optionally, the diameter of the pipeline clamped by the clamping module ranges from 100mm to 400mm.
Optionally, the robotic arm end effector further comprises:
and the mechanical arm connecting module is used for connecting a mechanical arm.
Optionally, the mechanical arm connection module comprises a main disc and an auxiliary disc;
one side of the main disc is provided with a connecting hole connected with the tail end of the mechanical arm, and the other side of the main disc is provided with a multi-path pneumatic interface and a multi-path electric interface which are matched with the auxiliary disc;
and the auxiliary disc is fixedly connected with one side of the upper flange plate.
According to the utility model provides a concrete embodiment, the utility model discloses a following technological effect:
the utility model provides an online area presses arm end effector of leaking stoppage, include: the clamping module, the twisting module and the hydraulic rotating device are arranged on the frame; the hydraulic slewing device is used for controlling the clamping module to reach the position of a target leakage point, the clamping module is used for clamping and fixing a pipeline where the target leakage point is located, and the twisting module is used for twisting and plugging the target leakage point on the pipeline; the hydraulic slewing device comprises a lower flange plate, a connecting rod and a connecting rod base; the lower flange plate is connected with the connecting rod base through the connecting rod; the clamping module comprises a driving part, a telescopic rod, a first clamping jaw and a second clamping jaw; the driving part is fixed on a lower flange disc of the hydraulic slewing device and is connected with the first clamping jaw through the telescopic rod; the second clamping jaw is arranged on the connecting rod base and corresponds to the first clamping jaw to form a fixing groove; the twisting module comprises a twisting hole and a twisting hole screw; the twist punching holes are respectively positioned on the convex blocks of the first clamping jaw and the second clamping jaw, and the twist punching hole screw is positioned between the twist punching holes. The utility model discloses can improve the efficiency of pipeline leak-stopping, it is easy and simple to handle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is an overall structure diagram of the mechanical arm end effector for online pressure leak stoppage of the utility model;
fig. 2 is a schematic diagram of a three-dimensional structural model of the hydraulic slewing device of the present invention;
fig. 3 is a schematic front structural view of the mechanical arm end effector for online pressure leak stoppage of the present invention;
fig. 4 is a schematic view of the overlooking structure of the mechanical arm end effector for online pressure leak stoppage of the present invention.
Description of the symbols:
the clamping jaw type clamping device comprises a driving part-1, a telescopic rod-2, a first clamping jaw-3, a second clamping jaw-4, a threaded hole on the side of the first clamping jaw-5, a threaded hole on the side of the second clamping jaw-6, a twist-punched hole-7, a lower flange-8, a connecting rod-9, a connecting rod base-10, a hydraulic cylinder-11, a control valve-12, a pinion-13, a pinion-14, an upper flange-15, a slewing bearing-16, a protective shell-17, a main disk-18 and an auxiliary disk-19.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model aims at providing an online area presses arm end effector of leaking stoppage, can improve the efficiency of pipeline leak stoppage, it is easy and simple to handle.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the following detailed description.
The pressurized plugging is also called pressurized sealing and online sealing, and the English called online leak sealing refers to a technology for repairing pipeline leakage in a special equipment pressurized working state in order not to influence production in industrial industries with continuous production requirements, such as the power industry, the petrochemical industry and the like.
As shown in fig. 1-4, the utility model provides an online area presses arm end effector of leaking stoppage is provided, can be used to pipeline or container online area to press to twist with fingers to beat the leaking stoppage, include: the clamping module, the twisting module and the hydraulic rotating device are arranged on the frame; the hydraulic slewing device is used for controlling the clamping module to reach the position of a target leakage point, the clamping module is used for clamping and fixing a pipeline where the target leakage point is located, and the twisting module is used for twisting and leaking stoppage of the target leakage point on the pipeline.
As shown in fig. 1 and 2, the hydraulic swing device includes a lower flange 8, a connecting rod 9 and a connecting rod base 10; the lower flange plate 8 is connected with the connecting rod base 10 through the connecting rod 9.
The clamping module comprises a driving part 1, a telescopic rod 2, a first clamping jaw 3 and a second clamping jaw 4; the driving part 1 is fixed on a lower flange 8 of the hydraulic slewing device and is connected with the first clamping jaw 3 through the telescopic rod 2; the second clamping jaw 4 is arranged on the connecting rod base 10 and corresponds to the first clamping jaw 3 to form a fixing groove. The clamping module clamps a pipeline, the initial positions of the first clamping jaw 3 and the second clamping jaw 4 are parallel to the pipeline to be clamped, the first clamping jaw 3 moves upwards through contraction of the driving part 1, the driving part 1 moves upwards to a proper position to stop contracting, after the second clamping jaw 4 is tightly attached to the pipe wall of the leaked pipeline, the driving part 1 pushes the telescopic rod 2 downwards, and under the pushing action of the telescopic rod 2, the first clamping jaw 3 can be tightly attached to the pipe wall.
The twisting module comprises a twisting perforation 7 and a twisting perforation screw; the twist punching holes 7 are respectively positioned on the convex blocks of the first clamping jaw 3 and the second clamping jaw 4, and the twist punching hole screws are positioned between the twist punching holes 7. The twist punching hole screw penetrates through the twist punching hole 7 and is used for nailing a screw at a target leakage point on leakage equipment to block the target leakage point.
Further, the hydraulic swing device further includes: hydraulic cylinder 11, control valve 12, small planetary gear 13, large planetary gear 14, upper flange 15 and slewing bearing 16.
The control valve 12 is arranged on the hydraulic cylinder 11, the hydraulic cylinder 11 is fixed on the upper flange 15, the minor planet gear 13 is connected with the hydraulic cylinder 11, the major planet gear 14 is positioned on the lower flange 8, and the rotary bearing 16 is arranged at the central position of the major planet gear 14. The clamping module starts a hydraulic slewing device before clamping, a hydraulic cylinder 11 is started through a control valve 12, the hydraulic cylinder 11 drives a small planetary gear 13 to rotate, so that a large planetary gear 14 is driven to rotate, a slewing bearing 16 rotates along with the hydraulic slewing device, so that the clamping module fixedly connected with the hydraulic slewing device is driven, the hydraulic slewing device is controlled to rotate to a target leakage point position through the control valve 12, and meanwhile, the clamping module reaches the target leakage point position to be clamped.
Preferably, the hydraulic slewing device further comprises a protective shell 17 arranged between the upper flange plate 15 and the lower flange plate 8 and used for protecting the big planetary gear and the small planetary gear.
Preferably, in the embodiment of the present invention, the first clamping jaw 3 and the second clamping jaw 4 are both semicircular, and the first clamping jaw 3 and the second clamping jaw 4 are fixed by screws. Specifically, be equipped with first clamping jaw side screw hole 5 on the first clamping jaw 3, be equipped with second clamping jaw side screw hole 6 on the second clamping jaw 4, through with the screw nail go into first clamping jaw side screw hole 5 with second clamping jaw side screw hole 6, it is right to realize first clamping jaw 31 with the fixing of second clamping jaw 4.
Further, press from both sides the first clamping jaw 3 of lower extreme department that the drive unit 1 who gets the module connects telescopic link 2 through the screw connection, second clamping jaw 4 sets up in connecting rod base 10 upper end, constitutes "o" type groove, and this "o" type groove plays and gets the pipeline from the centering action to pressing from both sides, can be used to press from both sides the equipment of getting the pipe diameter and not uniform in size. When the telescopic rod 2 in the driving part 1 is contracted, the first clamping jaw and the twisting module can be driven to finish clamping action.
The diameter range of the pipeline clamped by the clamping module is 100-400 mm. In the above range, the clamping module can fasten the leakage pipelines with different pipe diameters, so that the pipelines and the clamping module are in contact with each other, and the leakage pipelines with different pipe diameters are clamped.
Further, the driving member 1 may be an air cylinder or a hydraulic oil cylinder, or may be another driving member, which is not limited herein.
Further, the end effector of the robot arm further comprises: and the mechanical arm connecting module is used for connecting the mechanical arm.
Specifically, the robot arm connection module includes a main tray 18 and a sub tray 19.
One side of the main disc 18 is provided with a connecting hole connected with the tail end of the mechanical arm, and the other side of the main disc 18 is provided with a multi-path pneumatic interface and a multi-path electric interface which are matched with the auxiliary disc 19.
The auxiliary plate 19 is fixedly connected with one side of the upper flange plate 15.
The utility model discloses a theory of operation does: when the pipeline leaks, the end effector is adjusted to a proper position through the mechanical arm, then the clamping module is moved to a leakage point through the hydraulic slewing device, the driving part enables the telescopic rod to contract, the first clamping jaw ascends, after the second clamping jaw is tightly attached to the pipe wall, the driving part enables the telescopic rod to extend, the first clamping jaw descends until an o-shaped groove can perfectly clamp the leaking pipeline, at the moment, the specific position of the target leakage point is further observed, after the observation is finished, the twisting and punching holes are adjusted to be above the target leakage point, then the leaking pipeline is fixed through screws at the threaded holes on the side of the first clamping jaw and the threaded holes on the side of the geothermal clamping jaw, the end effector is adjusted to rotate through the end of the mechanical arm, the leaking pipeline is moved to a designated position, and then the twisting and punching screws are loosened to twist and punch the pipeline for plugging until the twisting and plugging are finished.
The technical effects of the utility model:
1) The utility model is used for clamping straight pipe section and tee pipe section, plugging up the leakage point, effectively preventing the leakage point from splashing, can allow the constructor to approach the operation; after the leakage pipeline is clamped, screws are screwed in the leakage points to block the leakage points, and then the screws are screwed out to perform glue pouring operation to block the leakage.
2) The utility model discloses it is not high to press from both sides the rotation precision requirement of getting the module, only need with the pipeline outer wall hug closely can, simultaneously, only need a drive control telescopic link reciprocate and get the pipeline with this clamp, equipment is simple, convenient operation.
3) The utility model discloses can replace the manual work to engage in some heavy, consuming time, have dangerous work to improve the production efficiency of enterprise.
4) The utility model discloses can press from both sides and get and fasten the leakage pipeline of different pipe diameter sizes, structural design is novel, convenient operation, and is with low costs, can be applicable to not unidimensional leakage pipeline's the stifled hourglass of beating with fingers, and the facilitate promotion is used.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principle and the implementation of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.
Claims (9)
1. The utility model provides an online area presses arm end effector of leaking stoppage which characterized in that includes: the clamping module, the twisting module and the hydraulic rotating device are arranged on the frame; the hydraulic slewing device is used for controlling the clamping module to reach the position of a target leakage point, the clamping module is used for clamping and fixing a pipeline where the target leakage point is located, and the twisting module is used for twisting and plugging the target leakage point on the pipeline;
the hydraulic slewing device comprises a lower flange plate, a connecting rod and a connecting rod base; the lower flange plate is connected with the connecting rod base through the connecting rod;
the clamping module comprises a driving part, a telescopic rod, a first clamping jaw and a second clamping jaw; the driving part is fixed on a lower flange disc of the hydraulic slewing device and is connected with the first clamping jaw through the telescopic rod; the second clamping jaw is arranged on the connecting rod base and corresponds to the first clamping jaw to form a fixing groove;
the twisting module comprises a twisting hole and a twisting hole screw; the twisting and punching holes are respectively positioned on the convex blocks of the first clamping jaw and the second clamping jaw, and the twisting and punching screw is positioned between the twisting and punching holes.
2. The end effector of a robotic arm for on-line pressure containment according to claim 1, wherein said hydraulic slewing device further comprises: the hydraulic cylinder, the control valve, the small planetary gear, the large planetary gear, the upper flange plate and the rotary bearing;
the control valve is arranged on the hydraulic cylinder, the hydraulic cylinder is fixed on the upper flange plate, the small planetary gear is connected with the hydraulic cylinder, the large planetary gear is positioned on the lower flange plate, and the rotary bearing is arranged in the center of the large planetary gear.
3. The end effector of the mechanical arm for online pressure leak stoppage according to claim 2, wherein the hydraulic slewing device further comprises a protective shell disposed between the upper flange plate and the lower flange plate.
4. The end effector of a robotic arm for on-line belt pressure leak stoppage as recited in claim 1, wherein said first jaw and said second jaw are each semi-circular in shape.
5. The end effector of the robotic arm for online pressure containment according to claim 1, wherein the first jaw and the second jaw are secured by screws.
6. The end effector of the mechanical arm for online pressure leak stoppage according to claim 1, wherein the driving part is a cylinder or a hydraulic cylinder.
7. The end effector of the mechanical arm for online pressure leakage stoppage according to claim 1, wherein the diameter of the pipeline clamped by the clamping module ranges from 100mm to 400mm.
8. The end effector of an online pressure containment robot of claim 2, further comprising:
and the mechanical arm connecting module is used for connecting a mechanical arm.
9. The end effector of the mechanical arm for online pressure leakage stoppage according to claim 8, wherein the mechanical arm connecting module comprises a main disc and an auxiliary disc;
one side of the main disc is provided with a connecting hole connected with the tail end of the mechanical arm, and the other side of the main disc is provided with a multi-path pneumatic interface and a multi-path electric interface which are matched with the auxiliary disc;
and the auxiliary disc is fixedly connected with one side of the upper flange disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221292359.7U CN217728764U (en) | 2022-05-26 | 2022-05-26 | Mechanical arm end effector for online pressure leak stoppage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221292359.7U CN217728764U (en) | 2022-05-26 | 2022-05-26 | Mechanical arm end effector for online pressure leak stoppage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217728764U true CN217728764U (en) | 2022-11-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221292359.7U Active CN217728764U (en) | 2022-05-26 | 2022-05-26 | Mechanical arm end effector for online pressure leak stoppage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217728764U (en) |
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2022
- 2022-05-26 CN CN202221292359.7U patent/CN217728764U/en active Active
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