CN107378098B - Pipeline inner flanging excision robot - Google Patents
Pipeline inner flanging excision robot Download PDFInfo
- Publication number
- CN107378098B CN107378098B CN201710838686.5A CN201710838686A CN107378098B CN 107378098 B CN107378098 B CN 107378098B CN 201710838686 A CN201710838686 A CN 201710838686A CN 107378098 B CN107378098 B CN 107378098B
- Authority
- CN
- China
- Prior art keywords
- cutting
- pipeline
- bracket
- motor
- cutter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005520 cutting process Methods 0.000 claims abstract description 75
- 238000003466 welding Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005485 electric heating Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D21/00—Machines or devices for shearing or cutting tubes
- B23D21/14—Machines or devices for shearing or cutting tubes cutting inside the tube
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sawing (AREA)
Abstract
The invention discloses a pipeline inner flanging excision robot, which comprises a movable cutting device arranged in a pipeline, a running device for driving the cutting device to move, and a control device arranged outside the pipeline and used for controlling the running device to move, wherein the cutting device is arranged on the inner side of the pipeline; the cutting device comprises a rotatable support and a revolution motor for driving the support to rotate, the revolution motor comprises a fixing part and a rotating part rotating relative to the fixing part, the rotating part is fixedly connected with the support, the fixing part is fixedly connected with the running gear, and the cutting device further comprises a cutting machine arranged on the support. The invention is convenient to operate and control, and the excision robot can freely move in the pipe and cut in a rotating way.
Description
[ field of technology ]
The invention relates to an auxiliary tool for pipeline processing, in particular to a pipeline inner flanging excision robot.
[ background Art ]
The PE pipe is a common pipe in engineering, the PE pipe joint is directly connected by electric heating melting, but the joint is provided with an internal and external flanging, the height of the flanging is about 1-2 cm, the width of the flanging is 1-3 cm, the external flanging is easy to cut, and the internal flanging is difficult to cut. The pipe diameter of the pipeline joint is reduced by 20-40 mm because the height of the inward flange is about 1-2 cm. The pipe joint length adopted in the water supply engineering or the drainage engineering is 6m, 9m or 12m, which means that a flanging is arranged on each section of pipe joint, so that the water flow resistance is increased, impurities are easy to accumulate, and the joint flanging is regarded as a class II defect in drainage detection.
The existing inner flanging cutting machine consists of a movable cutting device in a pipe and an external control handle, and the movable cutting device and the external control handle are connected through magnetic coupling and positioning. The in-tube movable cutting equipment consists of a bracket, a cutter and a magnet base; the support can be adjusted to adapt to pipelines with different pipe diameters, and universal wheels or balls are arranged at the contact part of the support and the inner wall of the pipe and can move or rotate back and forth in the pipe; the cutter consists of a motor and a cutter head, and the front cone and the rear cone of the cutter head are convenient for cutting and polishing after cutting; the cutter head blade is inclined to a certain extent, so that cutting scraps fall into the other side; the cutter and the counterweight magnet suction seat are oppositely arranged on the bracket, and the counterweight magnet is equivalent to the cutter in weight, so that the rotary movement of the cutting equipment in the pipe is facilitated; the external control handle mainly comprises a handle base, a remote control transmitter, a coupling positioning electromagnet and a tool bit position indication rod, wherein the remote control transmitter is used for remotely controlling a motor switch in the pipe, and the coupling positioning electromagnet is electrified to generate strong magnetism after the switch is closed and is adsorbed corresponding to the magnetic base in the pipe; the tool bit position indication rod is convenient for visually understanding the position of the tool bit in the pipe.
When the welding tool is used, a pipeline to be welded is put on the frame, the cutting machine is placed in the pipeline of the interface to be welded, the cable moves from the inside of the pipe section to be welded to the next weld neck, the cutting machine is started after the welding is finished, the external control handle drives the internal machine to rotate to cut the inner flanging, the cutting is finished and then the cutting tool is pulled out from the next interface, and the process is repeated during the welding again.
The disadvantages of the prior art are summarized below:
1. the machine cannot move back and forth in the pipeline by itself;
2. when the resection is carried out, the external control handle is required to drive the rotation;
3. the cutting operation is required to be fused with the welding operation, and the cutting operation and the welding operation cannot be parallel, so that the construction efficiency is reduced;
4. the cutting speed is low and the efficiency is low.
The present invention has been made in view of the above problems.
[ invention ]
Aiming at the defects of the prior art, the invention provides a pipeline inner flanging excision robot which is convenient to operate and control, can freely move in a pipe, can cut in a rotating way, and is rapid in cutting and high in efficiency.
In order to solve the technical problems, the invention provides the following technical scheme: the pipeline inner flanging excision robot is characterized by comprising a movable cutting device arranged in a pipeline, a traveling device for driving the cutting device to move and a control device arranged outside the pipeline and used for controlling the traveling device to move; the cutting device comprises a rotatable support and a revolution motor for driving the support to rotate, the revolution motor comprises a fixing part and a rotating part rotating relative to the fixing part, the rotating part is fixedly connected with the support, the fixing part is fixedly connected with the running gear, and the cutting device further comprises a cutting machine arranged on the support.
The pipeline inner flanging excision robot is characterized in that the support comprises a support fixing cylinder, a spring seat is arranged on the support fixing cylinder, a telescopic cutting machine support frame is arranged in the spring seat, and a spring is arranged between the spring seat and the cutting machine support frame.
The pipeline inner flanging excision robot is characterized in that the revolution motor is positioned at the center of the rotated bracket.
The pipeline in-flanging excision robot is characterized in that the cutter comprises a cutter head and a rotation motor for driving the cutter head to rotate, and the rotation motor is arranged in the cutter support frame.
The pipeline inner flanging excision robot is characterized in that the running gear is connected with the fixing part through the connecting rod.
The robot for cutting the inner flanging of the pipeline is characterized in that a universal wheel is arranged on one side of the autorotation motor, which is contacted with the pipeline.
The pipeline in-flanging excision robot is characterized in that the cutting end of the cutter head is conical, and the other end of the cutter head is cylindrical.
The pipeline in-flanging excision robot is characterized in that the number of the cutter supporting frames is at least three.
The robot for cutting the inner flanging of the pipeline is characterized in that cameras are respectively arranged at the front end of the walking device and the center of the cutting device.
The pipeline inner flanging excision robot is characterized in that the control device is connected with the running gear through a cable.
Compared with the prior art, the pipeline inner flanging excision robot has the following beneficial effects:
1. the invention is convenient to operate and control, and the excision robot can freely move in the pipe and rotationally cut;
2. the cutting robot disclosed by the invention is fast and labor-saving in cutting through electric cutting, and has high efficiency;
3. the invention can be used for cutting the inner flanging of the buried pipeline.
[ description of the drawings ]
The invention is described in further detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a construction drawing of the present invention;
FIG. 2 is a top view of the cutting device of the present invention;
description of the drawings: 1. a cutting device; 11. a bracket; 111. a bracket fixing cylinder; 112. a cutter support; 113. a spring seat; 12. a cutting machine; 121. a cutter head; 122. a self-rotation motor; 13. a revolution motor; 131. a fixing part; 132. a rotating part; 2. a walking device; 3. a control device; 4. a spring; 5. a connecting rod; 6. a universal wheel; 7. a camera; 8. a pipeline.
[ detailed description ] of the invention
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1 and 2, the pipeline in-flanging excision robot comprises a movable cutting device 1 and a running device 2 which drive the cutting device 1 to move, which are arranged in a pipeline 8, and also comprises a control device 3 which is arranged outside the pipeline 8 and used for controlling the running device 2 to move; the cutting device 1 comprises a rotatable bracket 11 and a revolution motor 13 for driving the bracket 11 to rotate, the revolution motor 13 comprises a fixed part 131 and a rotating part 132 which rotates relative to the fixed part 131, the rotating part 132 is fixedly connected with the bracket 11, the fixed part 131 is fixedly connected with the running gear 2, and the cutting device 1 further comprises a cutting machine 12 arranged on the bracket 11.
Compared with the existing cutting device, the external control handle and the magnetic device for controlling the movement of the cutting machine are omitted, the cutting robot can automatically move back and forth in the pipeline, the structure is simple, the control is simple and convenient, the cutting condition in the pipeline can be checked at any time through the external control device, the walking and cutting of the cutting robot are controlled, the operation is flexible, and time and labor are saved.
In the embodiment, the walking device 2 consists of two groups of walking wheels and a hydraulic rod arranged between the two groups of walking wheels, the hydraulic rod pushes the walking wheels against the inner wall of the pipeline when walking, so that the limiting equipment can only move forwards and backwards in the pipeline and can not rotate left and right, and the accuracy and stability of cutting the inner flanging of the pipeline by the cutting device are further ensured; of course, the running gear 2 may have other structures, and is not particularly limited herein.
In this embodiment, the rotation motor 122 and the camera acquire power and transmission signals through multiple brushes, when the revolution motor adopts a common motor or a forward and reverse rotation speed reduction motor, the power and signals can be transmitted through a cable in the fixed shaft, and when the operation is performed, the revolution motor 13 drives the bracket 11 to rotate around the central shaft through the shaft, and the bracket can roll relative to the motor housing; when the fixed shaft motor is adopted, the revolution motor 13 also obtains power and transmission signals through multiple paths of electric brushes, the camera 7 can supply power and transmit signals through cables in the shaft, and when the fixed shaft motor is operated, a motor shaft of the revolution motor 13 is communicated and fixed front and back, and the rotor and the support tube rotate around the shaft. When the revolution motor is set to rotate forward and backward by a certain angle, multiple paths of brushes can be omitted; when the common motor is adopted, the shaft rotates to drive the fixed cylinder to rotate around the motor shell, and the electric power and signals of the revolution motor do not pass through the electric brush. The revolution motor may also adopt other types of motors to provide revolution power, and is not particularly limited herein.
As shown in fig. 1 and 2, in this embodiment, the bracket 11 includes a bracket fixing cylinder 111, a spring seat 113 is disposed on the bracket fixing cylinder 111, a telescopic cutter support 112 is disposed in the spring seat 113, a spring 4 is disposed between the spring seat 113 and the cutter support 112, and the spring can provide a reset for the cutter support after the cutter support is compressed; the height of the cutter supporting frame 112 can be adjusted to adapt to pipelines with different pipe diameters after the cutter supporting frame 112 stretches out and draws back, the application is wide, the stretching mode of the cutter supporting frame 112 can be performed in a hydraulic mode, and the cutter supporting frame can stretch out and draw back in a remote control mode, and the cutter supporting frame is not particularly limited.
As shown in fig. 1 and 2, in the present embodiment, the revolution motor 13 is located at the center of the stand 11, so as to ensure the rotation of the stand around the axis thereof, and ensure the stability of the cutting device.
As shown in fig. 1 and 2, in this embodiment, the cutter 12 includes a cutter head 121 and a rotation motor 122 for driving the cutter head 121 to rotate, where the rotation motor 122 is disposed in the cutter supporting frame 112, and further fixes the cutter, so as to ensure accuracy and stability during cutting; the cutter head 121 is provided at the front end of the rotation motor 122; in the present embodiment, the rotation motor 122 may be a direct current motor or an alternating current motor, and is not particularly limited herein.
As shown in fig. 1 and 2, in the present embodiment, the running gear 2 and the fixing portion 131 are connected by a connecting rod 5. In this embodiment, the connecting rod 5 may be a mechanical arm; during operation, the fixing part is limited to rotate through the connecting rod 5, and the rotating part of the revolution motor drives the bracket 11 to rotate; the revolution motor and the running gear are separated and placed in the center of the bracket in an optimal arrangement mode, or the revolution motor and the running gear can be co-located, and the shaft drives the bracket 11, so that the method is not particularly limited.
As shown in fig. 1 and 2, in the present embodiment, a side of the rotation motor 122 contacting the pipe 8 is provided with a universal wheel 6. Ensuring that the cutting device moves or rotates smoothly within the pipe and limiting the position of the cutter head 121, although the universal wheel may be replaced by a ball, not specifically limited herein.
As shown in fig. 1 and 2, in the present embodiment, the cutting end of the cutter head 121 is tapered, and the other end of the cutter head 121 is cylindrical. The cutting and polishing after cutting are convenient; the blades on the cutter head 121 are inclined so that cutting chips fall to the other side. The cutter head 121 can rotate along with the rotation motor 122, the edge is cut and turned when the cutter head 121 rotates, and the rotation motor 122 and the cutter head 121 can integrally move or rotate along with the bracket 11 in the pipeline 8; other flanges are cut off when the whole body moves and rotates.
As shown in fig. 1 and 2, in the present embodiment, the number of the cutter holders 112 is at least three; when the number of the cutter supporting frames 112 is three, each cutter supporting frame 112 is uniformly arranged at 120 °, which is an optimal arrangement mode, the cutters are arranged at the end parts of the cutter supporting frames 112, the cutting efficiency is improved, the number of the cutter supporting frames is not particularly limited here, the stability of the cutting device in the pipeline is ensured, and the number of the cutters and the arrangement mode of the cutter supporting frames are not particularly limited here.
As shown in fig. 1 and fig. 2, in this embodiment, cameras 7 are respectively disposed at the front end of the running device 2 and the center of the cutting device 1, and the situation in the pipe can be checked by an external control device, so as to control the running and cutting of the robot, where the cameras 7 are connected with the external control device by cables, so as to ensure the clarity and stability of signals, and of course, the cameras may be disposed at other positions, so long as the internal operation situation of the pipeline is convenient to be checked, and the positions of the cameras are not particularly limited herein.
As shown in fig. 1 and 2, in this embodiment, the control device 3 is connected to the walking device 2 through a cable, and the signal stability can be ensured through the cable connection, and the battery may be carried, and the internal device may be remotely operated, so the manner is not specifically limited herein.
Claims (6)
1. The pipeline inner flanging excision robot is characterized by comprising a movable cutting device (1) arranged in a pipeline (8), a traveling device (2) for driving the cutting device (1) to move, and a control device (3) arranged outside the pipeline (8) and used for controlling the traveling device (2) to move; the cutting device (1) comprises a rotatable bracket (11) and a revolution motor (13) for driving the bracket (11) to rotate, the revolution motor (13) comprises a fixing part (131) and a rotating part (132) which rotates relative to the fixing part (131), the rotating part (132) is fixedly connected with the bracket (11), the fixing part (131) is fixedly connected with the travelling device (2), and the cutting device (1) further comprises a cutting machine (12) arranged on the bracket (11);
the bracket (11) comprises a bracket fixing cylinder (111), a spring seat (113) is arranged on the bracket fixing cylinder (111), a telescopic cutter supporting frame (112) is arranged in the spring seat (113), and a spring (4) is arranged between the spring seat (113) and the cutter supporting frame (112);
the cutting machine (12) comprises a cutter head (121) and a self-rotating motor (122) for driving the cutter head (121) to rotate, and the self-rotating motor (122) is arranged in the cutting machine support frame (112);
the cutting end of the cutter head (121) is conical, and the other end of the cutter head (121) is cylindrical;
the walking device (2) is connected with the fixing part (131) through a connecting rod (5).
2. A pipe inside-flanging removal robot according to claim 1, characterized in that the revolution motor (13) is located in a central position of the bracket (11).
3. The in-pipe flanging removal robot according to claim 1, wherein a side of the rotation motor (122) contacting the pipe (8) is provided with a universal wheel (6).
4. A pipeline in-turn edge removal robot as claimed in claim 1, wherein the number of cutter support frames (112) is at least three.
5. The pipeline in-turn edge cutting robot according to claim 1, wherein cameras (7) are respectively arranged at the front end of the walking device (2) and the center of the cutting device (1).
6. A pipe in-turn cutting robot according to claim 1, characterized in that the control device (3) is connected to the running gear (2) by means of a cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710838686.5A CN107378098B (en) | 2017-09-18 | 2017-09-18 | Pipeline inner flanging excision robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710838686.5A CN107378098B (en) | 2017-09-18 | 2017-09-18 | Pipeline inner flanging excision robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107378098A CN107378098A (en) | 2017-11-24 |
| CN107378098B true CN107378098B (en) | 2024-01-05 |
Family
ID=60350519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710838686.5A Active CN107378098B (en) | 2017-09-18 | 2017-09-18 | Pipeline inner flanging excision robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107378098B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108637374B (en) * | 2018-06-20 | 2024-02-27 | 中铁工程装备集团有限公司 | Old pipe joint rotary cutting device |
| CN109252496B (en) * | 2018-11-20 | 2024-05-10 | 国家电网有限公司 | Ice breaking device for energy storage power station |
| CN113441820B (en) * | 2020-03-26 | 2023-03-03 | 乌鲁木齐金风天翼风电有限公司 | Cylindrical body cutting device and cutting method |
| CN113858309A (en) * | 2021-09-15 | 2021-12-31 | 通号建设集团有限公司 | Pipeline inner flanging leveling device and pipeline inner flanging leveling method |
| CN116689863B (en) * | 2023-06-04 | 2024-03-01 | 河北宏源特钢管业集团有限公司 | Metal bent pipe machining device and machining process |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105290058A (en) * | 2015-11-24 | 2016-02-03 | 冯林 | Robot platform used for cutting obstacles in pipeline |
| CN106270738A (en) * | 2016-08-31 | 2017-01-04 | 张玉华 | A kind of intelligent pipeline cutting robot |
| CN106956031A (en) * | 2017-03-14 | 2017-07-18 | 覃小倩 | A kind of pipe cutter and its cutting method |
| CN207154867U (en) * | 2017-09-18 | 2018-03-30 | 郭坤 | A kind of pipeline in-flanges cuts off machine |
-
2017
- 2017-09-18 CN CN201710838686.5A patent/CN107378098B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105290058A (en) * | 2015-11-24 | 2016-02-03 | 冯林 | Robot platform used for cutting obstacles in pipeline |
| CN106270738A (en) * | 2016-08-31 | 2017-01-04 | 张玉华 | A kind of intelligent pipeline cutting robot |
| CN106956031A (en) * | 2017-03-14 | 2017-07-18 | 覃小倩 | A kind of pipe cutter and its cutting method |
| CN207154867U (en) * | 2017-09-18 | 2018-03-30 | 郭坤 | A kind of pipeline in-flanges cuts off machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107378098A (en) | 2017-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107378098B (en) | Pipeline inner flanging excision robot | |
| US11590624B2 (en) | Internal grinding device for pipes and weld joints | |
| CN106270738A (en) | A kind of intelligent pipeline cutting robot | |
| CN109382776A (en) | One kind is to more diameter tubing centering and clamping apparatus | |
| CN108136550A (en) | The pipe of welding module with rotatable connection is creeped welder；With the method for such pipe crawling device welded pipe | |
| CN204413358U (en) | Welding machine group is protected in the Special Automatic three-dimensional profiling two of welding ball valve | |
| CN103316872A (en) | Robot for cleaning round pipelines | |
| CN112676281A (en) | Driving type bidirectional cleaning device for inner wall of pipeline | |
| CN109958183A (en) | A kind of pipeline icebreaking device | |
| CN107379075B (en) | Inner flanging cutting machine | |
| CN203817011U (en) | Cleaning device for high-pressure kettle for crystal growth | |
| CN207154867U (en) | A kind of pipeline in-flanges cuts off machine | |
| CN115625164A (en) | Obstacle clearing robot and operation method thereof | |
| CN105090679A (en) | Variable-diameter pipeline inspection robot | |
| CN207156284U (en) | A kind of in-flanges device for excising | |
| CN112503301B (en) | Nondestructive inspection positioning device and inspection equipment for return bend | |
| CN106078442B (en) | A kind of pipe is interior to be ground cutter device | |
| CN202219358U (en) | Weld beading processing machine with serpentine visual pipeline | |
| CN212216501U (en) | Pipeline cleaning device | |
| CN209925867U (en) | All-terrain traveling mechanism of pipeline repairing device | |
| CN204221236U (en) | Drive the cross slide seat device of welding gun motion | |
| CN209831142U (en) | Robot system for grinding and derusting in small-caliber pipe | |
| CN104406456A (en) | Bore and launching tube cleaning robot | |
| CN206066155U (en) | Grinding cutter sweep in a kind of pipe | |
| CN204286212U (en) | Bore and transmitting tube sweeping robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201125 Address after: Card 01, 1 / F, 2, building C (second half), No. 5, changmingshui Changyi Road, Wugui mountain, Zhongshan City, Guangdong Province Applicant after: Zhongshan Zhihe Environmental Technology Co.,Ltd. Address before: 765 Sunwen East Road, East District, Zhongshan City, Guangdong Province 528400 Applicant before: Guo Kun |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |