CN108223966B

CN108223966B - Full-automatic operation device suitable for small-sized pipeline

Info

Publication number: CN108223966B
Application number: CN201711247624.3A
Authority: CN
Inventors: 徐子力; 王英权; 张怀玉; 王彦博; 朱文超
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2017-12-01
Filing date: 2017-12-01
Publication date: 2021-01-12
Anticipated expiration: 2037-12-01
Also published as: CN108223966A

Abstract

The invention relates to a full-automatic operation device suitable for a small pipeline, which comprises a positioning module, a working module, a cross universal hinge, a ball spline, a steel wire flexible shaft, an external motor and a guide rod power device. One end of the ball spline is externally arranged, the other end of the ball spline is fixedly connected with the positioning module, and a rack is embedded in the ball spline. After 2-3 cross universal hinges are connected in series, one end of each cross universal hinge is connected with the positioning module, and the other end of each cross universal hinge is connected with the working module. The positioning module and the working module are the same in structure of the moving leg, the supporting mode adopts umbrella type active support, the tail end of the umbrella type active support is embedded with a rubber ball, and when the moving leg is tightly supported, the rubber ball is tightly contacted with the pipe wall, so that the purposes of positioning and centering are achieved. The operation module can carry different operation devices, such as a grinder, a camera and the like, and the power required by the operation devices is transmitted through a steel wire flexible shaft driven by an external motor. The invention has the characteristics of compact structure, small volume, capability of smoothly passing through the bent part of the small pipeline, capability of performing 360-degree rotary motion and the like.

Description

Full-automatic operation device suitable for small-sized pipeline

Technical Field

The invention belongs to the technical field of pipeline robots, and relates to a full-automatic operation device suitable for small pipelines.

Background

In engineering, the interiors of a large number of small pipelines need to be subjected to treatment work such as nondestructive inspection, internal detection, sand blasting and rust removal, grinding wheel rust removal, chemical rust removal and the like, but the situation is often met in the processing and construction sites of the small pipelines, because the inner diameter of the pipeline is actually too small, usually less than 100mm, no pipeline mechanical device with proper size can enter the pipeline, and the working efficiency is seriously influenced. Through the research to current pipeline robot technique, current pipeline inner wall robot or detecting device are mostly super large-scale cantilever type structure, and this kind of structural style is huge and manufacturing cost is very high, can not handle the less pipeline of internal diameter basically. In addition, some movable pipeline inner wall robots adapt to pipelines with different inner diameters in a manner of adopting a telescopic supporting mechanism and the like, and can not pass through a small pipeline when encountering a bent pipeline part, so that the application range is limited. Therefore, in order to improve the usability of the pipeline robot in the small pipeline, the development and development of the small pipeline robot which can freely walk in the small pipeline system and can complete different operations have become a hotspot and difficulty problem in the pipeline robot development and application field.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a full-automatic operation device suitable for a small pipeline, which is a pipeline operation device capable of operating in the small pipeline, adapting to different pipe diameters, moving in the pipeline, realizing clamping and positioning and automatically centering. The device has the characteristics of compact structure, small volume and capability of realizing operation in a continuously bent small pipeline.

In order to achieve the purpose, the invention adopts the following technical scheme:

a full-automatic operation device suitable for small pipelines comprises a clamping cover, a positioning module, a cross universal hinge, a working module, a ball spline and a ball spline power device; the utility model discloses a pipeline, including the card lid, ball spline, locating module, universal hinge of cross, work module, ball spline power device, the card lid is connected at the pipeline mouth, the axle one end of ball spline is passed through the card lid and is connected with locating module, cross universal hinge, work module establish ties in proper order, ball spline power device loops through locating module, the universal hinge transmission of cross for work module through the ball spline power of providing, meets pipeline flexion timesharing when work module, and the universal hinge of cross makes it pass through pipeline flexion smoothly, and simultaneously, the universal hinge of cross makes the torsional moment drive work module that the transmission was come do 360.

The positioning module and the working module are the same in moving and supporting structure and comprise moving legs, the moving legs are actively supported, one ends of the moving legs are hinged and fixed, the other ends of the moving legs are connected with rubber balls, the rubber balls are in contact with the pipe wall, the middle parts of the moving legs are hinged with a connecting rod, the other ends of the connecting rod are hinged on sliding blocks, and the sliding blocks are matched with screw rods; the movable legs are uniformly arranged along the circumferential direction of the positioning module by 120 degrees, the three movable legs are in a group, the movable legs are arranged in two groups, and the six movable legs in the two groups are supported and adjusted by adopting the same screw rod.

The cross universal hinges are formed by connecting a plurality of universal hinges in series, one end of each universal hinge is connected with the positioning module, and the other end of each universal hinge is connected with the working module.

The structure of ball spline power device includes: the device comprises a rack, a first lead screw, a first motor, a second motor, a first gear carrier, a rack, a first gear, a second guide bar, a second lead screw, a second gear, a third gear, a second gear carrier, a ball spline, a steel wire flexible shaft and a first guide bar; the clamping cover is fixedly connected to the opening of the pipeline, one end of a shaft of the ball spline is connected with the positioning module through the clamping cover, and the other end of the shaft is driven by the rack fixedly connected in the ball spline shaft; the outer ring of the ball spline is fixedly connected with the third gear, and the spline shaft of the ball spline is embedded with the rack; under the working state, the third gear is meshed with the second gear in the second gear carrier, the rack is meshed with the first gear in the first gear carrier, the first motor on the rack drives the first lead screw to drive the first gear carrier to advance and retreat along the guide bar, and therefore the first gear in the first gear carrier is meshed with or separated from the rack embedded in the spline shaft of the ball spline; the second motor on the rack drives the second lead screw to drive the second gear frame to ascend and descend along the guide rod II, so that the second gear in the second gear frame is meshed with or separated from the third gear.

Compared with the prior art, the invention has the following obvious and prominent substantive characteristics and remarkable progress:

the power source of the invention is completely arranged externally, the steel wire flexible shaft is adopted to provide power for the mechanism in the pipeline, the structure is compact, and the volume is small. The positioning module and the operation module are connected in series by adopting the cross universal hinge, so that the robot can smoothly pass through the bent part of the small pipeline. The ball spline power device is arranged on the clamping cover, so that the functions of rotation, feeding and withdrawing of the robot are realized. The steel wire flexible shaft enables the positioning module and the working module in the pipeline to be free from additional motors, and the phenomenon of overstaffed structure is prevented.

Drawings

Fig. 1 is an overall structure diagram of a fully automatic working device adapted to a small pipe according to the present invention.

Fig. 2 is a schematic structural diagram of a positioning module of a fully automatic operation device for a small pipeline according to the present invention, and the operation module is the same.

Fig. 3 is a schematic view of a tightening mechanism of a movable leg of a positioning module of a fully automatic small pipeline working device, and the working module is the same as the tightening mechanism.

Reference number designations in the drawings: 1. the device comprises a clamping cover, 2 parts of a rack, 3 parts of a positioning module, 4 parts of a moving leg, 5 parts of a cross universal hinge, 6 parts of a working module, 7 parts of a grinding wheel, 8 parts of a first lead screw, 9 parts of a first motor, 10 parts of a second gear rack, 11 parts of a rack, 12 parts of a first gear, 13 parts of a second guide rod, 14 parts of a second lead screw, 15 parts of a second gear, 16 parts of a third gear, 17 parts of a first gear rack, 18 parts of a ball spline, 19 parts of a steel wire flexible shaft, 20 parts of a first guide rod, 21 parts of a pipe wall, 22 parts of a moving and supporting mechanism, 23 parts of a sliding block and 24.

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in figure 1, the full-automatic operation device suitable for the small-sized pipeline comprises a clamping cover 1, a positioning module 3, a cross universal hinge 5, an operation module 6, a ball spline 18 and a ball spline power device; the utility model discloses a pipeline, including fixing device, clamping cover 1, locating module 3, cross universal hinge 5, work module 6, ball spline power device, cross universal hinge 5, and when work module 6 met pipeline flexion timesharing, cross universal hinge 5 made it pass through pipeline flexion smoothly, simultaneously, cross universal hinge 5 made the torsional moment drive work module 6 that the transmission was come do 360 slewing motion, the axle one end of ball spline 18 was connected with locating module 3 through clamping cover 1, locating module 3, cross universal hinge 5, and work module 6 establishes ties in proper order, the power that ball spline power device provided loops through ball spline 18 loops through locating module 3, cross universal hinge 5 and transmits for work module 6, and when work module 6 met pipeline flexion. Various specific operation devices can be additionally arranged below the working module 6 to meet different operation requirements, and the grinding wheel 7 is arranged below the working module 6.

As shown in fig. 2 and 3, the moving and supporting structure 22 of the positioning module 3 and the working module 6 is the same, and includes a moving leg 4, the moving leg 4 is an active support, one end of the moving leg 4 is hinged and fixed, the other end of the moving leg is connected with a rubber ball, the rubber ball is in contact with the pipe wall 21, a connecting rod is hinged in the middle of the moving leg 4, the other end of the connecting rod is hinged on a sliding block 23, and the sliding block 23 is matched with a screw rod 24; the moving legs 4 are uniformly arranged along the circumferential direction of the positioning module 3 by 120 degrees, three moving legs are in a group, two groups are arranged, and six moving legs 4 in two groups are supported and adjusted by the same screw rod 24.

The cross universal hinges 5 are formed by connecting a plurality of universal hinges in series, one end of each universal hinge is connected with the positioning module 3, and the other end of each universal hinge is connected with the working module 6.

The structure of ball spline power device includes: the device comprises a rack 2, a first lead screw 8, a first motor 9, a second motor, a first gear frame 17, a rack 11, a first gear 12, a second guide bar 13, a second lead screw 14, a second gear 15, a third gear 16, a second gear frame 10, a ball spline 18, a flexible steel wire shaft 19 and a first guide rod 20; the clamping cover 1 is fixedly connected to a pipeline port, one end of a shaft of the ball spline 18 is connected with the positioning module 3 through the clamping cover 1, and the other end of the shaft is driven by the rack 2 fixedly connected in the shaft of the ball spline 18; the outer ring of the ball spline 18 is fixedly connected with the third gear 16, and the spline shaft of the ball spline 18 is embedded with the rack 2; under the working condition, the third gear 16 is meshed with the second gear 15 in the second gear carrier 10, the rack 2 is meshed with the first gear 12 in the first gear carrier 17, the first motor 9 on the frame 11 drives the first lead screw 8 to drive the first gear carrier 17 to move forwards and backwards along the guide rod 20, and therefore the first gear 12 in the first gear carrier 17 is meshed with or separated from the rack 2 embedded in the spline shaft of the ball spline 18; the second motor on the frame 11 drives the second lead screw 14 to drive the second gear rack 10 to ascend and descend along the second guide rod 13, so that the second gear 15 in the second gear rack 10 is engaged with or disengaged from the third gear 16.

The working process of the device of the invention is as follows:

after the operation device enters a pipeline, the clamping sleeve 1 is fixedly connected to the opening of the pipeline, and the effect of fixing and positioning the ball spline power device is achieved. At this time, the first motor 9 on the frame 11 drives the first lead screw 8 to drive the first carrier 17 to advance along the first guide bar 20, so that the first gear 12 in the first carrier 17 is engaged with the rack 2 embedded in the spline shaft of the ball spline 18. A motor (not shown) in the first gear rack 17 drives the second gear 12 in the first gear rack 17 to rotate, so that the rack 2 meshed with the first gear rack is driven to move forward and backward, the positioning module 3 is driven to move forward and backward, and the forward and backward functions of the working module 6 are completed. The second motor on the frame 11 drives the second lead screw 14 to drive the second gear carrier 10 to descend along the second guide rod 13, so that the second gear 15 in the second gear carrier 10 is meshed with the third gear 16 fixedly connected with the outer ring of the ball spline 18. A motor (not shown) in the second gear rack 10 drives the second gear 15 in the second gear rack 10 to rotate, so as to rotate the third gear 16 engaged with the second gear, thereby driving the positioning module 3 to perform 360-degree rotational motion, and further driving the cross universal hinge 5 connected with the positioning module 3 to perform 360-degree rotational motion, thereby achieving the purpose of enabling the working module 6 to complete 360-degree operation.

Claims

1. A full-automatic operation device suitable for small pipelines is characterized by comprising a clamping cover (1), a positioning module (3), a cross universal hinge (5), a working module (6), a ball spline (18) and a ball spline power device; the pipeline opening clamping device is characterized in that the clamping cover (1) is connected to a pipeline opening, one end of a shaft of the ball spline (18) is connected with the positioning module (3) through the clamping cover (1), the positioning module (3), the cross universal hinge (5) and the working module (6) are sequentially connected in series, the ball spline power device transmits the provided power to the working module (6) through the positioning module (3) and the cross universal hinge (5) in sequence through the ball spline (18), when the working module (6) meets the pipeline bending part, the cross universal hinge (5) enables the working module to smoothly pass through the pipeline bending part, and meanwhile, the cross universal hinge (5) enables the transmitted torsional moment to drive the working module (6) to do 360-degree rotary motion;

the structure of the ball spline power device comprises: the gear rack comprises a rack (2), a first lead screw (8), a first motor (9), a second motor, a first gear frame (10), a rack (11), a second gear (12), a guide bar (13), a second lead screw (14), a first gear (15), a third gear (16), a second gear frame (17), a ball spline (18) and a guide bar (20); the clamping cover (1) is fixedly connected to a pipeline port, one end of a shaft of the ball spline (18) is connected with the positioning module (3) through the clamping cover (1), and the other end of the shaft is driven by the rack (2) fixedly connected in the shaft of the ball spline (18); the outer ring of the ball spline (18) is fixedly connected with the third gear (16), and the spline shaft of the ball spline (18) is embedded into the rack (2); under the working state, the first gear (15) is meshed with the third gear (16) in the first gear rack (10), the rack (2) is meshed with the second gear (12) in the second gear rack (17), the first motor (9) on the rack (11) drives the first lead screw (8) to drive the second gear rack (17) to move forwards and backwards along the guide rod (20), and therefore the second gear (12) in the second gear rack (17) is meshed with or separated from the rack (2) embedded in the spline shaft of the ball spline (18); the second motor on the rack (11) drives the second lead screw (14) to drive the first gear rack (10) to ascend and descend along the guide bar (13), so that the first gear (15) in the first gear rack (10) is meshed with or separated from the third gear (16).

2. The full-automatic operation device for the small-sized pipelines is characterized in that the positioning module (3) and the operation module (6) move and support structures (22) are the same and comprise moving legs (4), the moving legs (4) are active supports, one ends of the moving legs are hinged and fixed, the other ends of the moving legs are connected with rubber balls, the rubber balls are in contact with the pipe wall (21), a connecting rod is hinged in the middle of each moving leg (4), the other ends of the connecting rods are hinged on sliding blocks (23), and the sliding blocks (23) are matched with screw rods (24); the movable legs (4) are uniformly arranged along the circumferential direction of the positioning module (3) by 120 degrees, the three movable legs are in one group and are arranged in two groups, and the six movable legs (4) in the two groups are supported and adjusted by the same screw rod (24).

3. The full-automatic operation device suitable for the small-sized pipeline according to claim 1, wherein the cross universal hinges (5) are formed by connecting a plurality of universal hinges in series, one end of each universal hinge is connected with the positioning module (3), and the other end of each universal hinge is connected with the working module (6).