Vertically suspended non-fixed narrow pipe inner wall climbing and positioning device

Abstract

The present invention provides a device for climbing and positioning the inner wall of a vertically suspended non-fixed narrow and long pipeline, comprising: an omnidirectional AGV trolley; a multi-stage lifting and swinging frame composite mechanism: comprising a laid-down state and an upright state, capable of switching between the laid-down state and the upright state, and driving the multi-stage pipeline internal moving and positioning composite mechanism to lift and lower in the upright state; a multi-stage pipeline internal moving and positioning composite mechanism: comprising a pipeline internal support module, a pipeline internal lifting module and a pipeline internal processing module connected in sequence, the pipeline internal support module drives the pipeline internal lifting module to move axially along the pipeline, the pipeline internal lifting module drives the pipeline internal processing module to rotate and index, and the pipeline internal processing module drives the workbench to move axially along the pipeline. The problem that the traditional method cannot enter a vertically suspended non-fixed and long pipeline at a certain height from the ground is solved, and the problem that climbing and positioning cannot be performed in such pipelines is also solved.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear power plant pipeline maintenance, and in particular to a vertically suspended non-fixed narrow and long pipeline inner wall climbing and positioning device. Background Art

[0002] Nuclear power plants are an important part of my country's power generation industry. The development of nuclear power industry is of great value to my country's energy construction and nuclear industry development. Nuclear power industry is crucial to protecting national energy security, protecting the ecological environment, optimizing the power supply structure, and promoting the sustainable development of my country's power generation industry. In order to ensure the safe, efficient and reliable continuous operation of nuclear power plants, it is necessary to regularly inspect and repair key components. Among them, the nuclear reactor pressure vessel is a closed container that houses the nuclear reactor and withstands its huge operating pressure. It is an important part of nuclear power generation. In order to ensure the safe use of the nuclear reactor pressure vessel, it is necessary to regularly inspect, replace and install the thermal insulation sleeve on the control rod drive mechanism (hereinafter referred to as CRDM) tube seat.

[0003] At present, many countries use semi-automatic and manual intervention methods to carry out "removal and replacement of thermal insulation sleeves". On the one hand, the work efficiency is low and the long shutdown of nuclear power plants will bring excessive economic losses. On the other hand, the strong radiation environment will cause fatal harm to the human body.

[0004] The nuclear reaction pressure vessel mainly includes: CRDM pipe seat, insulation sleeve and pressure vessel wall. Figure 1 Among them, the CRDM pipe seat is fixedly connected to the wall of the pressure vessel, and the thermal insulation sleeve is installed in the CRDM pipe seat. Compared with the CRDM pipe seat that is not fixed, there are radial and axial gaps between the two. The thermal insulation sleeve can move along the axial direction. The thermal insulation sleeve is a special-shaped pipe with large ends and a straight and slender middle.

[0005] Therefore, the removal work can only be done from the inside of the reaction vessel, entering the insulation sleeve pipe from the bottom up, and removing the insulation sleeve in a destructive way. The insulation sleeve is usually suspended vertically and at a certain height from the ground. How to quickly move the platform used to install the processing equipment and accurately position it to the specified position in the sleeve to be processed is very critical for subsequent processing.

[0006] The existing Chinese patent application document with publication number CN212273422U discloses a support device for pipeline detection equipment and pipeline detection equipment, belonging to the technical field of pipeline corrosion detection. The support device includes: a fixed base for connecting to the pipeline detection equipment; a sensor mounting seat; a rigid support main arm, the rigid support main arm has a first end and a second end opposite to each other, the first end is connected to the sensor mounting seat, and the second end is hinged to the fixed base; a first reset mechanism, located on the fixed base and connected to the second end, the first reset mechanism is configured to provide a force to the rigid support main arm to keep the rigid support main arm and the fixed base at a set angle.

[0007] The pipeline detection equipment in the prior art has a slow moving speed and inaccurate positioning, and is difficult to move reliably in a vertical, slender pipeline, so there is room for improvement. Summary of the invention

[0008] In view of the defects in the prior art, the purpose of the present invention is to provide a vertically suspended non-fixed narrow and long pipe inner wall climbing and positioning device.

[0009] According to the present invention, a vertically suspended non-fixed narrow pipe inner wall climbing and positioning device is provided, comprising: an omnidirectional AGV trolley: provided with a positioning device; a multi-stage lifting and swinging frame composite mechanism: installed on the omnidirectional AGV trolley, comprising a laid-down state and an upright state, capable of switching between the laid-down state and the upright state, and driving the multi-stage in-pipe mobile positioning composite mechanism to lift and lower in the upright state; a multi-stage in-pipe mobile positioning composite mechanism: installed on the multi-stage lifting and swinging frame composite mechanism, comprising an in-pipe support module, an in-pipe lifting module and an in-pipe processing module connected in sequence, the in-pipe support module drives the in-pipe lifting module to move axially along the pipeline, the in-pipe lifting module drives the in-pipe processing module to rotate and index, the in-pipe processing module comprises a workbench, and the in-pipe processing module drives the workbench to move axially along the pipeline.

[0010] Preferably, the multi-stage lifting and swinging frame composite mechanism includes a multi-stage lifting and swinging frame first-stage unit, one end of the multi-stage lifting and swinging frame first-stage unit is hingedly connected to the top of the omnidirectional AGV trolley, and the other end of the multi-stage lifting and swinging frame first-stage unit is a free end; a multi-stage lifting and swinging frame supporting electric push rod is also connected between the top of the omnidirectional AGV trolley and the multi-stage lifting and swinging frame first-stage unit, one end of the multi-stage lifting and swinging frame supporting electric push rod is hingedly connected to the top of the omnidirectional AGV trolley, and the other end of the multi-stage lifting and swinging frame supporting electric push rod is hingedly connected to the middle part of the multi-stage lifting and swinging frame first-stage unit.

[0011] Preferably, the multi-stage lifting and swinging frame composite mechanism also includes a multi-stage lifting and swinging frame secondary unit, one end of the multi-stage lifting and swinging frame secondary unit is hingedly connected to the side of the free end of the multi-stage lifting and swinging frame primary unit away from the omnidirectional AGV trolley; a multi-stage lifting and swinging frame electric push rod for lifting the multi-stage lifting and swinging frame secondary unit is connected between the multi-stage lifting and swinging frame primary unit and the multi-stage lifting and swinging frame secondary unit.

[0012] Preferably, the multi-stage lifting and swinging frame composite mechanism also includes a multi-stage lifting and swinging frame workbench, and the multi-stage lifting and swinging frame workbench is the installation base of the multi-stage in-pipe moving and positioning composite mechanism; the multi-stage lifting and swinging frame secondary unit is installed with a multi-stage lifting and swinging frame ball screw pair and a workbench lifting motor, and the workbench lifting motor is transmission connected with the multi-stage lifting and swinging frame ball screw pair; the multi-stage lifting and swinging frame workbench is transmission connected with the multi-stage lifting and swinging frame ball screw pair, and when the multi-stage lifting and swinging frame composite mechanism is in an upright state, the workbench lifting motor and the multi-stage lifting and swinging frame ball screw pair cooperate to drive the lifting movement of the multi-stage lifting and swinging frame workbench.

[0013] Preferably, an XY hollow linear motor platform is provided on the multi-stage lifting and swinging frame workbench, and the working plane of the XY hollow linear motor platform can move in two directions perpendicular to each other.

[0014] It comprises a first fine-tuning platform and a second fine-tuning platform. The second fine-tuning platform is slidably connected to the first fine-tuning platform, and the movement direction of the first fine-tuning platform and the movement direction of the second fine-tuning platform are perpendicular to each other.

[0015] Preferably, the multi-stage in-pipe moving and positioning composite mechanism also includes a lifting electric push rod and a water receiving tray, the water receiving tray is installed on the XY hollow linear motor platform, the in-pipe support module and the lifting electric push rod are both installed on the water receiving tray, and the lifting electric push rod is transmission-connected to the in-pipe support module.

[0016] Preferably, the in-pipe support module includes a composite top support mechanism and a linear transmission composite motor, the composite top support mechanism is relatively fixed to the inner wall of the pipeline, the linear transmission composite motor is arranged in the composite top support mechanism, and the linear transmission composite motor drives the in-pipe lifting module to move axially along the pipeline.

[0017] Preferably, the in-pipe lifting module includes a supporting lifting platform, a supporting lifting platform protective cover and a servo motor spindle. The supporting lifting platform protective cover is coaxially connected to the composite top support mechanism. The supporting lifting platform is slidably connected to the supporting lifting platform protective cover, and the supporting lifting platform is connected to the output shaft of the linear transmission composite motor. The servo motor spindle is installed on the supporting lifting platform, and the servo motor spindle drives the rotation and indexing movement of the in-pipe processing module.

[0018] Preferably, the processing module in the pipeline includes a processing module protective cover, a processing module track, a processing module slide and a driving assembly, the processing module track is fastened to the processing module protective cover, and the processing module protective cover is drivingly connected to the servo motor spindle; the workbench is installed on the processing module slide, the side of the processing module slide away from the workbench is slidably connected to the processing module track, and the driving assembly drives the processing module slide to slide along the processing module track.

[0019] Preferably, the driving assembly includes a radial feed motor, a radial moving rack and a radial moving gear. The radial feed motor is arranged in a processing module protective cover. The output shaft of the radial feed motor rotates through the processing module track. The radial moving gear is coaxially connected to the output shaft of the radial feed motor. The radial moving rack is fastened to the processing module slide. The length direction of the radial moving rack is parallel to the length direction of the processing module track, and the radial moving rack is meshed with the radial moving gear.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention realizes basic positioning through an omnidirectional AGV trolley, delivers a multi-stage in-pipe mobile positioning composite mechanism to a target position of the pipeline without contact through a multi-stage lifting and swinging frame composite mechanism, delivers an in-pipe processing module to a designated position through an in-pipe lifting module, and realizes rotation and feeding of a workbench in the in-pipe processing module, which helps to solve the problem that traditional methods cannot enter a vertically suspended, non-fixed and slender pipeline that is at a certain height from the ground, and also helps to solve the problem that climbing and positioning cannot be performed in such pipelines.

[0022] 2. The present invention realizes the rapid movement and precise positioning of the entire equipment through the omnidirectional AGV trolley movement and the industrial camera module, and designs a multi-level lifting and swinging frame composite mechanism to enable the device to enter the pipeline with a certain height above the ground without contact, and at the same time drive the multi-level in-pipe moving and positioning composite mechanism to climb and position in the pipeline.

[0023] 3. The present invention realizes the axial and radial feeding motion and circumferential rotation motion of the workbench through a multi-stage in-pipe moving and positioning composite mechanism, thus meeting the requirements of subsequent operations for platform motion.

[0024] 4. The present invention achieves relative fixation of the equipment and the pipeline through a composite top support mechanism by supporting the module inside the pipeline, thereby solving the problem of the influence of pipeline shaking on positioning and processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0026] Figure 1 The present invention mainly embodies a schematic diagram of a special working environment suitable for the device in the background technology;

[0027] Figure 2 This is a schematic diagram of the overall structure of the device mainly embodied in the present invention;

[0028] Figure 3 This is an exploded schematic diagram of the overall structure of the multi-stage pipeline internal moving positioning composite mechanism mainly embodied in the present invention;

[0029] Figure 4 It is a partial schematic diagram of the multi-level lifting and swinging frame workbench area mainly embodied in the present invention.

[0030] As shown in the figure:

[0031]

[0032] DETAILED DESCRIPTION

[0033] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0034] like Figure 2 As shown, a vertically suspended non-fixed narrow pipe inner wall climbing and positioning device provided by the present invention includes an omnidirectional AGV trolley 1, a multi-stage lifting and swinging frame composite mechanism, and a multi-stage in-pipe moving and positioning composite mechanism. The omnidirectional AGV trolley 1 is the basis for carrying other modules and realizing overall movement, and a positioning device is provided on the omnidirectional AGV trolley 1. The multi-stage lifting and swinging frame composite mechanism is installed on the omnidirectional AGV trolley 1. The multi-stage lifting and swinging frame composite mechanism includes a lying state and an upright state. The multi-stage lifting and swinging frame composite mechanism can switch between the lying state and the upright state, and the multi-stage lifting and swinging frame composite mechanism can drive the multi-stage in-pipe moving and positioning composite mechanism to lift and lower when in the upright state.

[0035] The multi-stage in-pipe moving and positioning composite mechanism is installed on the multi-stage lifting and swinging frame composite mechanism, and the multi-stage in-pipe moving and positioning composite mechanism includes an in-pipe supporting module 10, an in-pipe lifting module 12, and an in-pipe processing module 13 connected in sequence. The in-pipe supporting module 10 drives the in-pipe lifting module 12 to move along the axial direction of the pipeline, and the in-pipe lifting module 12 drives the in-pipe processing module 13 to rotate and index. The in-pipe processing module 13 includes a workbench 30, and the in-pipe processing module 13 drives the workbench 30 to move along the pipeline path.

[0036] Basic positioning is achieved through the omnidirectional AGV trolley 1, the multi-level pipeline mobile positioning composite mechanism is sent to the pipeline target position without contact through the multi-level lifting and swinging frame composite mechanism, the pipeline processing module 13 is sent to the specified position through the pipeline lifting module 12, and the rotation and feeding of the workbench 30 are achieved in the pipeline processing module 13, which solves the problem that the traditional method cannot enter the vertically suspended and non-fixed slender pipeline at a certain height from the ground, and at the same time solves the problem that climbing and positioning cannot be performed in such pipelines.

[0037] like Figure 2 As shown, the multi-stage lifting and swinging frame composite mechanism includes a multi-stage lifting and swinging frame primary unit 16, a multi-stage lifting and swinging frame secondary unit 14 and a multi-stage lifting and swinging frame workbench 7. Both the multi-stage lifting and swinging frame primary unit 16 and the multi-stage lifting and swinging frame secondary unit 14 are rectangular frames, and the multi-stage lifting and swinging frame workbench 7 is a right-angled frame. The multi-stage lifting and swinging frame secondary unit 14 is installed on the multi-stage lifting and swinging frame primary unit 16, and the multi-stage lifting and swinging frame workbench 7 is installed on the multi-stage lifting and swinging frame secondary unit 14, and the multi-stage lifting and swinging frame workbench 7 is the installation base of the multi-stage pipeline internal mobile positioning composite mechanism.

[0038] One end of the multi-stage lifting and swinging frame first-stage unit 16 is hingedly connected to the top of the omnidirectional AGV vehicle 1. Specifically, a pair of mounting frames 2 are fixedly installed at the hinged connection between the top of the omnidirectional AGV vehicle 1 and the multi-stage lifting and swinging frame first-stage unit 16. The multi-stage lifting and swinging frame first-stage unit 16 is hingedly connected to the two mounting frames 2 respectively through a hinge axis, and the other end of the multi-stage lifting and swinging frame first-stage unit 16 is a free end.

[0039] A multi-stage lifting frame supporting electric push rod 5 is also connected between the top of the omnidirectional AGV trolley 1 and the multi-stage lifting frame primary unit 16, one end of the multi-stage lifting frame supporting electric push rod 5 is hingedly connected to the middle position of the top of the omnidirectional AGV trolley 1, and the other end of the multi-stage lifting frame supporting electric push rod 5 is hingedly connected to the middle of the multi-stage lifting frame primary unit 16, and a group of multi-stage lifting frame supporting electric push rods 5 are symmetrically arranged on both sides of the hinge axis of the multi-stage lifting frame primary unit 16. The two multi-stage lifting frame supporting electric push rods 5 can realize the switching of the multi-stage lifting frame composite mechanism between the laid-down state and the upright state.

[0040] One end of the multi-stage lifting frame secondary unit 14 is hingedly connected to the side of the free end of the multi-stage lifting frame primary unit 16 away from the omnidirectional AGV trolley 1. A multi-stage lifting frame electric push rod 11 for lifting the multi-stage lifting frame secondary unit 14 is connected between the multi-stage lifting frame primary unit 16 and the multi-stage lifting frame secondary unit 14, so that the multi-stage lifting frame secondary unit 14 is lifted relative to the multi-stage lifting frame primary unit 16.

[0041] A multi-stage lifting swing frame ball screw pair 15 and a workbench lifting motor 3 are installed on the multi-stage lifting swing frame secondary unit 14. The multi-stage lifting swing frame ball screw pair 15 is rotatably installed in the middle of the multi-stage lifting swing frame secondary unit 14. The length direction of the multi-stage lifting swing frame ball screw pair 15 is parallel to the length direction of the multi-stage lifting swing frame secondary unit 14. The workbench lifting motor 3 is fixedly installed at the free end of the length of the multi-stage lifting swing frame secondary unit 14, and the workbench lifting motor 3 is transmission-connected with the multi-stage lifting swing frame ball screw pair 15 to realize driving the rotational movement of the screw in the multi-stage lifting swing frame ball screw pair 15.

[0042] The multi-stage lifting and swinging frame workbench 7 is connected to the multi-stage lifting and swinging frame ball screw pair 15 in transmission. When the multi-stage lifting and swinging frame composite mechanism is in an upright state, the workbench lifting motor 3 and the multi-stage lifting and swinging frame ball screw pair 15 cooperate to drive the multi-stage lifting and swinging frame workbench 7 to move up and down.

[0043] An XY hollow linear motor platform 8 is installed on the outer side of the multi-stage lifting and swinging frame workbench 7 perpendicular to the multi-stage lifting and swinging frame ball screw pair 15, and the working plane of the XY hollow linear motor platform can be fine-tuned in two directions perpendicular to each other. The fixed platform is firmly installed on the multi-stage lifting and swinging frame workbench 7. The multi-stage in-pipe moving and positioning composite mechanism is installed as a whole on the XY hollow linear motor platform 8. When the multi-stage in-pipe moving and positioning composite mechanism needs to enter the pipeline, it is sent into the pipeline to be operated through the multi-stage lifting and swinging frame composite mechanism.

[0044] Furthermore, the positioning device is an industrial camera module 4, which is installed on the outer side of the multi-stage lifting and swinging frame workbench 7 parallel to the multi-stage lifting and swinging frame ball screw pair 15.

[0045] like Figure 3 and Figure 4 As shown, the multi-stage in-pipe moving and positioning composite mechanism includes a coaxially arranged lifting electric push rod 6, a water receiving tray 9, an in-pipe support module 10, an in-pipe lifting module 12, and an in-pipe processing module 13. Among them, the in-pipe support module 10, the in-pipe lifting module 12, and the in-pipe processing module 13 are coaxially connected in sequence, and the end of the in-pipe support module 10 away from the in-pipe lifting module 12 is coaxially connected to the lifting electric push rod 6.

[0046] The lifting electric push rod 6 is installed on the water receiving tray 9, and the water receiving tray 9 is installed on the side of the XY hollow linear motor platform 8 away from the multi-stage lifting and swinging frame workbench 7. The lifting electric push rod 6 is located on the side of the multi-stage lifting and swinging frame workbench 7 away from the XY hollow linear motor platform 8. The output shaft of the lifting electric push rod 6 passes through the multi-stage lifting and swinging frame workbench 7 and the XY hollow linear motor platform 8 in sequence and is coaxially connected to the water receiving tray 9, so that the lifting electric push rod 6 and the water receiving tray 9 can move together in the motion plane of the XY hollow linear motor platform 8 to achieve fine-tuning of the position, and no interference occurs within the limit.

[0047] The pipe inner support module 10, the pipe inner lifting module 12 and the pipe inner processing module 13 are all located on the side of the water receiving tray 9 away from the lifting electric push rod 6. The water receiving tray 9 is used to collect the processing working fluid, and at the same time plays a supporting role in the pipe and prevents the pipe or other fragments from falling and damaging the equipment. The output shaft of the lifting electric push rod 6 is connected to the pipe inner support module 10 in transmission to realize the lifting movement of the pipe inner support module 10.

[0048] Specifically, the pipe inner support module 10 includes a composite support mechanism 18 and a linear transmission composite motor 17, and the composite support mechanism 18 is relatively fixed to the inner wall of the pipe. Specifically, the composite support mechanism 18 is cylindrical, and a convex strip that can be relatively fixedly connected to the inner wall of the pipe is telescopically arranged on the outer wall of the composite support mechanism 18. The linear transmission composite motor 17 is installed in the composite support mechanism 18, which can avoid the influence of the working fluid on the linear transmission composite motor 17, and the linear transmission composite motor 17 drives the pipe inner lifting module 12 to move along the axial direction of the pipeline.

[0049] The pipeline lifting module 12 includes a supporting lifting platform 20, a supporting lifting platform protective cover 21 and a servo motor main shaft 22. The supporting lifting platform protective cover 21 is cylindrical and coaxially connected to the composite top support mechanism 18. The supporting lifting platform 20 is slidably connected to the supporting lifting platform protective cover 21. A plurality of supporting columns are fixedly connected to the supporting lifting platform 20. A plurality of elongated holes are coaxially integrally formed on the inner wall of the supporting lifting platform protective cover 21. The supporting columns correspond to the elongated holes one by one, and the supporting columns are coaxially slidably penetrated in the elongated holes to play a directional role, which can ensure that the supporting lifting platform 20 does not tip over or deflect during the lifting movement.

[0050] The supporting lifting platform 20 is connected to the output shaft of the linear transmission compound motor 17 through the first coupling 19, the servo motor spindle 22 is installed on the supporting lifting platform 20 and is protected by the supporting lifting platform protection cover 21, and the servo motor spindle 22 is connected to the pipeline processing module 13 through the second coupling 23, thereby driving the pipeline processing module 13 to rotate and index.

[0051] The in-pipe processing module 13 also includes a processing module protective cover 25, a processing module track 26, a processing module slide 27 and a driving assembly. The processing module protective cover 25 is cylindrical, the processing module track 26 is disc-shaped, the processing module track 26 is fastened to the end of the processing module protective cover 25 away from the in-pipe lifting module 12, and the end of the processing module protective cover 25 close to the in-pipe lifting module 12 is transmission connected to the servo motor spindle 22 through the second coupling 23, so that the processing module protective cover 25 can drive the entire in-pipe processing module 13 to rotate.

[0052] The workbench 30 is installed on the processing module slide 27. The side of the processing module slide 27 away from the workbench 30 is slidably connected to the side of the processing module track 26 away from the processing module protective cover 25. The driving component drives the processing module slide 27 to slide along the processing module track 26.

[0053] The driving assembly includes a radial feed motor 24, a radial moving rack 28 and a radial moving gear 29. The radial feed motor 24 is installed in the processing module protection cover 25, so as to ensure the safety and reliability of the radial feed motor 24. The output shaft of the radial feed motor 24 rotates coaxially through the processing module track 26, the radial moving gear 29 is coaxially connected to the output shaft of the radial feed motor 24, the radial moving rack 28 is tightly connected to the processing module slide 27, the length direction of the radial moving rack 28 is parallel to the length direction of the processing module track 26, and the radial moving rack 28 is meshed with the radial moving gear 29. The radial feed motor 24 drives the radial moving gear 29 to rotate, so that the processing module slide 27 is driven to feed along the fixed slide rail direction on the processing module track 26 under the joint action of the radial moving gear 29 and the radial moving rack 28, so as to realize the radial feeding of the workbench 30.

[0054] How it works

[0055] like Figure 2 , Figure 3 as well as Figure 4 As shown, in the non-working state, the equipment as a whole is in a state of minimum space occupancy, that is, the multi-stage lifting and swinging frame composite mechanism is in a laid-down state and all stages are retracted, and the lifting module 12 and the lifting electric push rod 6 in the pipeline are also in a retracted state to avoid collision or interference when moving in the nuclear reaction pressure vessel.

[0056] First, the whole device is positioned to the right below the pipeline to be entered under the movement of the omnidirectional AGV trolley 1, and the device is centered and adjusted in position through the industrial camera module 4. When the movement is in place, the multi-stage lifting and swinging frame supporting electric push rod 5 extends, and the multi-stage lifting and swinging frame composite mechanism as a whole reaches an upright state under the push of the multi-stage lifting and swinging frame supporting electric push rod 5, and then the multi-stage lifting and swinging frame secondary unit 14 is lifted relative to the multi-stage lifting and swinging frame primary unit 16 under the action of the multi-stage lifting and swinging frame electric push rod 11; at the same time, the XY hollow linear motor platform 8 and the multi-stage pipeline in-pipe moving and positioning composite mechanism installed thereon are lifted and reach a suitable height position under the action of the workbench lifting motor 3 and the multi-stage lifting and swinging frame ball screw pair 15, and the position of the multi-stage pipeline in-pipe moving and positioning composite mechanism is fine-tuned through the XY hollow linear motor platform 8 to enter the pipeline. When the multi-stage pipeline internal moving positioning composite mechanism enters the pipeline and reaches the designated position, the composite supporting mechanism 18 is supported on the inner wall of the pipeline, so that the pipeline internal support module 10, the pipeline internal lifting module 12 and the pipeline internal processing module 13 are fixed relative to the pipeline inner wall, ensuring that no relative movement occurs during operation, and ensuring the reliability of positioning. The supporting and lifting platform 20 realizes movement along the pipeline axis under the action of the linear transmission composite motor 17, and sends the pipeline internal processing module 13 to the processing position. When the workbench 30 reaches the processing position, it can realize indexing or rotational movement driven by the servo motor spindle 22, and radial feeding driven by the radial feed motor 24, so as to realize cutting, repairing, measuring and other tasks. At the same time, the water tray 9 can collect working fluid, debris, etc. during the processing process.

[0057] It is worth noting that the linear transmission compound motor 17 can convert the rotational motion into non-rotational linear motion, that is, the motor shaft does not rotate in the working state, but only has linear motion in the axial direction.

[0058] It is worth noting that when the multi-stage pipeline internal movable positioning composite mechanism moves in the pipeline, the composite supporting mechanism 18 is in a non-working state and does not interfere with the lifting movement in the pipeline. When it is necessary to fix it relative to the pipeline, the protrusion can be extended to achieve fixation.

[0059] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0060] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A vertically suspended non-fixed narrow pipe inner wall climbing and positioning device, characterized in that: include: Omnidirectional AGV (1): equipped with a positioning device; A multi-stage lifting and swinging composite mechanism: installed on the omnidirectional AGV trolley (1), including a laid-down state and an upright state, capable of switching between the laid-down state and the upright state, and driving the lifting movement of the multi-stage in-pipe moving and positioning composite mechanism in the upright state; A multi-stage in-pipe moving and positioning composite mechanism: installed on a multi-stage lifting and swinging frame composite mechanism, comprising an in-pipe supporting module (10), an in-pipe lifting module (12) and an in-pipe processing module (13) connected in sequence, wherein the in-pipe supporting module (10) drives the in-pipe lifting module (12) to move along the axial direction of the pipeline, and the in-pipe lifting module (12) drives the in-pipe processing module (13) to rotate and index, and the in-pipe processing module (13) comprises a workbench (30), and the in-pipe processing module (13) drives the workbench (30) to move along the axial direction of the pipeline; the multi-stage lifting and swinging frame composite mechanism comprises a multi-stage lifting and swinging frame primary unit (16), one end of which is hingedly connected to the top of the omnidirectional AGV trolley (1), and the other end of which is a free end; A multi-stage lifting and swinging frame supporting electric push rod (5) is also connected between the top of the omnidirectional AGV trolley (1) and the multi-stage lifting and swinging frame first-stage unit (16), one end of the multi-stage lifting and swinging frame supporting electric push rod (5) is hingedly connected to the top of the omnidirectional AGV trolley (1), and the other end of the multi-stage lifting and swinging frame supporting electric push rod (5) is hingedly connected to the middle of the multi-stage lifting and swinging frame first-stage unit (16); The multi-stage lifting and swinging frame composite mechanism also includes a multi-stage lifting and swinging frame secondary unit (14), one end of the multi-stage lifting and swinging frame secondary unit (14) is hingedly connected to a side of the free end of the multi-stage lifting and swinging frame primary unit (16) facing away from the omnidirectional AGV trolley (1); A multi-stage lifting and swinging frame electric push rod (11) for lifting the multi-stage lifting and swinging frame secondary unit (14) is connected between the multi-stage lifting and swinging frame primary unit (16) and the multi-stage lifting and swinging frame secondary unit (14); the multi-stage lifting and swinging frame composite mechanism also includes a multi-stage lifting and swinging frame workbench (7), and the multi-stage lifting and swinging frame workbench (7) is the installation base of the multi-stage pipeline internal moving and positioning composite mechanism; The multi-stage lifting swing frame secondary unit (14) is equipped with a multi-stage lifting swing frame ball screw pair (15) and a workbench lifting motor (3), and the workbench lifting motor (3) is drivingly connected to the multi-stage lifting swing frame ball screw pair (15); The multi-stage lifting and swinging frame workbench (7) is in driving connection with the multi-stage lifting and swinging frame ball screw pair (15); when the multi-stage lifting and swinging frame composite mechanism is in an upright state, the workbench lifting motor (3) and the multi-stage lifting and swinging frame ball screw pair (15) cooperate to drive the multi-stage lifting and swinging frame workbench (7) to move up and down; The pipeline inner support module (10) comprises a composite support mechanism (18) and a linear transmission composite motor (17), wherein the composite support mechanism (18) is relatively fixed to the inner wall of the pipeline, the linear transmission composite motor (17) is arranged in the composite support mechanism (18), and the linear transmission composite motor (17) drives the pipeline inner lifting module (12) to move along the pipeline axial direction; The pipeline in-lifting module (12) comprises a supporting lifting platform (20), a supporting lifting platform protection cover (21) and a servo motor spindle (22); the supporting lifting platform protection cover (21) is coaxially connected to the composite top support mechanism (18); the supporting lifting platform (20) is slidably connected to the supporting lifting platform protection cover (21), and the supporting lifting platform (20) is connected to the output shaft of the linear transmission composite motor (17); the servo motor spindle (22) is installed on the supporting lifting platform (20), and the servo motor spindle (22) drives the rotation and indexing movement of the pipeline in-processing module (13); The pipeline processing module (13) further comprises a processing module protection cover (25), a processing module track (26), a processing module slide (27) and a driving assembly, wherein the processing module track (26) is tightly connected to the processing module protection cover (25), and the processing module protection cover (25) is drivingly connected to the servo motor main shaft (22); The workbench (30) is mounted on a processing module slide (27); a side of the processing module slide (27) facing away from the workbench (30) is slidably connected to a processing module track (26); and the driving component drives the processing module slide (27) to slide along the processing module track (26); The positioning device is an industrial camera module, which is installed on the outer side of the multi-stage lifting and swinging frame workbench parallel to the ball screw pair of the multi-stage lifting and swinging frame.

2. The vertically suspended non-fixed narrow pipe inner wall climbing and positioning device according to claim 1, characterized in that: An XY hollow linear motor platform (8) is arranged on the multi-stage lifting and swinging frame workbench (7), and the working plane of the XY hollow linear motor platform (8) can move in two directions perpendicular to each other.

3. The vertically suspended non-fixed narrow pipe inner wall climbing and positioning device according to claim 2, characterized in that: The multi-stage in-pipe moving and positioning composite mechanism also includes a lifting electric push rod (6) and a water receiving tray (9), wherein the water receiving tray (9) is mounted on an XY hollow linear motor platform (8), and the in-pipe support module (10) and the lifting electric push rod (6) are both mounted on the water receiving tray (9), and the lifting electric push rod (6) is transmission-connected to the in-pipe support module (10).

4. The vertically suspended non-fixed narrow pipe inner wall climbing and positioning device according to claim 1, characterized in that: The driving assembly comprises a radial feed motor (24), a radial moving rack (28) and a radial moving gear (29); the radial feed motor (24) is arranged in a processing module protective cover (25); the output shaft of the radial feed motor (24) rotates and passes through the processing module track (26); the radial moving gear (29) is coaxially connected to the output shaft of the radial feed motor (24); the radial moving rack (28) is tightly connected to the processing module slide (27); the length direction of the radial moving rack (28) is parallel to the length direction of the processing module track (26), and the radial moving rack (28) is meshed with the radial moving gear (29).

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