Automatic deviation rectifying mechanism and method and anti-corrosion joint coating equipment

Abstract

The invention provides an automatic deviation rectifying mechanism and method and anti-corrosion joint coating equipment, the automatic deviation rectifying mechanism comprises a pair of chassis, a connecting rod, two pairs of driving wheels and two pairs of driven wheels, the pair of chassis is installed at the two ends of the connecting rod in a one-to-one correspondence mode, the two pairs of driving wheels are rotatably installed at the bottoms of the pair of chassis in a one-to-one correspondence mode, and the two pairs of driven wheels are rotatably installed at the two ends of the connecting rod in a one-to-one correspondence mode. And the two pairs of driven wheels are rotationally mounted at the bottoms of the pair of chassis in a one-to-one correspondence manner. And the connecting rod can carry different devices to realize self-walking on the pipeline. According to the device, the deflection pose can be monitored in real time in the process that the device actively walks along the pipeline, the deviation of the device is automatically corrected through active control, and full-automatic pipeline self-walking of the device is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline anti-corrosion patching, and in particular to an automatic deviation correction mechanism, method and anti-corrosion patching equipment. Background Art

[0002] Long-distance oil and gas pipelines are typically protected from corrosion by 3PE throughout the factory, with a 100-250mm exposed surface area left at the pipe ends to facilitate welding and installation. After the pipes are welded together on-site, the next step is anti-corrosion patching. This involves first removing rust and other debris from the pipe ends, followed by preheating, spraying epoxy primer, heat curing, installing heat shrink tape, and heat-melting shrinking.

[0003] Currently, each step in anti-corrosion patching requires separate equipment. Consequently, completing each patching operation requires multiple equipment changes at the pipe opening. The standard length for long-distance oil and gas pipelines is generally 12 meters, though some projects have innovatively used 18-meter extensions. Therefore, when moving the equipment to the next pipe opening, the intermediate 12-18 meters requires crane hoisting and maneuvering, requiring assistance from workers. This is labor-intensive and poses potential safety risks to personnel and equipment. Some equipment has been developed to move along the pipeline axis, but these are passive, automatic correction mechanisms primarily driven by manual propulsion. Some use motor-driven movement, but due to the smooth surface of the pipeline and the difficulty of maintaining the equipment's center of gravity on the pipeline axis, the equipment often deflects during movement. The heavy weight of the equipment and its associated components makes manual correction difficult, resulting in the need for extensive manual labor or engineering machinery to maintain the equipment's position and prevent it from falling onto the pipeline. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automatic deviation correction mechanism, method and anti-corrosion patching equipment in response to the deficiencies of the existing technology.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: an automatic correction mechanism includes: a pair of chassis, a connecting rod, two pairs of driving wheels and two pairs of driven wheels, the pair of chassis are installed one-to-one at both ends of the connecting rod, the two pairs of driving wheels are rotatably installed one-to-one at the bottom of the pair of chassis, and the two pairs of driven wheels are rotatably installed one-to-one at the bottom of the pair of chassis.

[0006] The beneficial effect of the technical solution of the present invention is that the connecting rod can be equipped with different devices to achieve self-propelled movement on the pipeline. It can realize real-time monitoring of the deflection posture of the equipment during its active movement along the pipeline, and automatically correct the equipment through active control, realizing fully automated pipeline self-propelled movement.

[0007] Furthermore, the connecting rod is connected to the frame.

[0008] The beneficial effect of adopting the above further technical solution is that the frame can be equipped with different devices to achieve self-propelled movement on the pipeline.

[0009] Furthermore, an angle sensor is provided on the frame or the connecting rod, the angle sensor is connected to a central processing unit, and the frame and the chassis are both frame structures.

[0010] The beneficial effect of adopting the above-mentioned further technical solution is that posture detection can be measured by angle sensors, etc. The angle sensor monitors the deflection angle of the equipment in real time. When it exceeds a threshold, the data is fed back to the central processing unit, which processes the data and issues control instructions.

[0011] Furthermore, the driving wheel is a Mecanum wheel.

[0012] The beneficial effect of adopting the above-mentioned further technical solution is that the Mecanum wheel can move in all directions and can make translations in any direction and rotate at the same time in a plane.

[0013] Furthermore, a pair of driving wheels are symmetrically arranged at the bottom of each chassis.

[0014] The beneficial effects of adopting the above further technical solution are: it is easy to adapt to the pipeline and easy to walk on the pipeline.

[0015] Furthermore, the driving wheel is connected to a hub motor, and the hub motor is connected to a controller.

[0016] The beneficial effect of adopting the above-mentioned further technical solution is that the driving wheels are all equipped with hub motors for independent drive. In actual use, the posture correction of the equipment can be achieved through the independent control or combined control of the hub motors according to the deflection state of the equipment.

[0017] In addition, the present invention also provides an anti-corrosion patching device, including an automatic correction mechanism as described in any one of the above.

[0018] The beneficial effect of the technical solution of the present invention is that the connecting rod can be equipped with different devices to achieve self-propelled movement on the pipeline. It can realize real-time monitoring of the deflection posture of the equipment during its active movement along the pipeline, and automatically correct the equipment through active control, realizing fully automated pipeline self-propelled movement.

[0019] In addition, the present invention also provides an automatic correction method, which is based on an automatic correction mechanism described in any one of the above items. The automatic correction method includes: S1, obtaining a preset deflection angle, and monitoring the real-time deflection angle of the automatic correction mechanism through an angle sensor; S2, judging whether the real-time deflection angle of the automatic correction mechanism is greater than the preset deflection angle; S3, when the real-time deflection angle of the automatic correction mechanism is greater than the preset deflection angle, controlling the two pairs of driving wheels to perform differential driving.

[0020] The beneficial effect of the technical solution of the present invention is that the connecting rod can be equipped with different devices to achieve self-propelled movement on the pipeline. It can realize real-time monitoring of the deflection posture of the equipment during its active movement along the pipeline, and automatically correct the equipment through active control, realizing fully automated pipeline self-propelled movement.

[0021] Furthermore, step S3 includes: S31, when the real-time deflection angle of the automatic correcting mechanism is greater than the preset deflection angle, analyzing the deflection direction of the automatic correcting mechanism; S32, controlling the driving wheel located on one side of the deflection direction to increase the rotation speed, controlling the two pairs of driving wheels to perform differential drive, and returning to step S1.

[0022] The beneficial effect of adopting the above-mentioned further technical solution is that when the equipment deflects clockwise, the central processing unit controls the controller to increase the speed of the driving wheel on the deflected side. The equipment is corrected by the wheel speed difference and the friction angle of the Mecanum wheel.

[0023] Furthermore, step S2 includes: S4, when the real-time deflection angle of the automatic correcting mechanism is less than or equal to the preset deflection angle, controlling the two pairs of driving wheels to drive at the same speed to keep the automatic correcting mechanism in stable motion, and returning to step S1.

[0024] The beneficial effect of adopting the above-mentioned further technical solution is that it can realize real-time monitoring of the deflection posture of the equipment while it is actively moving along the pipeline, and automatically correct the equipment through active control, thereby realizing fully automated pipeline self-movement of the equipment.

[0025] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic structural diagram of an automatic deviation-correcting mechanism provided in an embodiment of the present invention.

[0027] Figure 2 A schematic structural diagram of a driving wheel provided in an embodiment of the present invention.

[0028] Figure 3A diagram illustrating the use status of the automatic deviation-correcting mechanism provided in an embodiment of the present invention.

[0029] Figure 4 This is one of the schematic flow charts of the automatic deviation correction method provided in an embodiment of the present invention.

[0030] Figure 5 The second schematic flow chart of the automatic deviation correction method provided in an embodiment of the present invention.

[0031] Explanation of the accompanying figures: 10, frame; 20, chassis; 30, connecting rod; 40, driven wheel; 50, driving wheel. DETAILED DESCRIPTION

[0032] The principles and features of the present invention are described below with reference to the accompanying drawings. The embodiments given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0033] like Figures 1 to 3 As shown, an embodiment of the present invention provides an automatic correction mechanism, including: a pair of chassis 20, a connecting rod 30, two pairs of driving wheels 50 and two pairs of driven wheels 40, the pair of chassis 20 is installed one-to-one at both ends of the connecting rod 30, the two pairs of driving wheels 50 are rotatably installed one-to-one at the bottom of the pair of chassis 20, and the two pairs of driven wheels 40 are rotatably installed one-to-one at the bottom of the pair of chassis 20.

[0034] The beneficial effect of the technical solution of the present invention is that the connecting rod can be equipped with different devices to achieve self-propelled movement on the pipeline. It can realize real-time monitoring of the deflection posture of the equipment during its active movement along the pipeline, and automatically correct the equipment through active control, realizing fully automated pipeline self-propelled movement.

[0035] The driven wheel may be located on the inner side of the bottom of the chassis, and the driving wheel may be located on the outer side of the bottom of the chassis.

[0036] Figure 3 The straight arrow in the figure indicates the movement direction of the automatic correcting mechanism along the pipeline, and the arc arrow indicates the deflection direction of the automatic correcting mechanism.

[0037] To address the problem of easy deflection and falling when walking along pipelines, the present invention provides an automatic correction mechanism, method, and anti-corrosion patching equipment, which can achieve real-time monitoring of the deflection posture of the equipment during its active movement along the pipeline, and automatically correct the equipment through active control, thus realizing fully automated pipeline self-movement of the equipment.

[0038] like Figures 1 to 3 As shown, further, the connecting rod 30 is connected to the frame 10.

[0039] The beneficial effect of adopting the above further technical solution is that the frame can be equipped with different devices to achieve self-propelled movement on the pipeline.

[0040] like Figures 1 to 3 As shown, further, an angle sensor is provided on the frame 10 or the connecting rod 30, and the angle sensor is connected to a central processing unit. The frame 10 and the chassis 20 are both frame structures.

[0041] The beneficial effect of adopting the above-mentioned further technical solution is that posture detection can be measured by angle sensors, etc. The angle sensor monitors the deflection angle of the equipment in real time. When it exceeds a threshold, the data is fed back to the central processing unit, which processes the data and issues control instructions.

[0042] like Figures 1 to 3 As shown, further, the driving wheel 50 is a Mecanum wheel.

[0043] The beneficial effect of adopting the above-mentioned further technical solution is that the Mecanum wheel can move in all directions and can make translations in any direction and rotate at the same time in a plane.

[0044] like Figures 1 to 3 As shown, further, a pair of driving wheels 50 are symmetrically arranged at the bottom of each chassis 20.

[0045] The beneficial effects of adopting the above further technical solution are: it is easy to adapt to the pipeline and easy to walk on the pipeline.

[0046] like Figures 1 to 3 As shown, further, the driving wheel 50 is connected to a hub motor, and the hub motor is connected to a controller.

[0047] The beneficial effect of adopting the above-mentioned further technical solution is that the driving wheels are all equipped with hub motors for independent drive. In actual use, the posture correction of the equipment can be achieved through the independent control or combined control of the hub motors according to the deflection state of the equipment.

[0048] The controller is connected to the central processing unit.

[0049] like Figures 1 to 3 As shown, the present invention provides an automatic correction mechanism, which can be used for anti-corrosion patching equipment. The automatic correction mechanism includes a frame 10, a chassis 20, a connecting rod 30, an inner driven wheel (driven wheel 40), and an outer driving wheel (driving wheel 50). The frame 10 is the main supporting component, and chassis 20 are respectively provided on both sides. Each chassis 20 is provided with an inner driven wheel and an outer driving wheel.

[0050] The automatic deviation-correcting mechanism is a universal module that can be equipped with different devices to achieve self-propelled movement on the pipeline.

[0051] The outer driving wheel 50 is as follows Figure 2 As shown, it can be a Mecanum wheel, with a pair of driving wheels installed at symmetrical angles.

[0052] There are four driving wheels 50, each equipped with a hub motor for independent driving. In actual use, the posture correction of the equipment can be achieved through the independent control or combined control of the hub motor according to the deflection state of the equipment.

[0053] Posture detection can be measured using angle sensors, etc. The angle sensor monitors the deflection angle of the equipment in real time. When the threshold is exceeded, an alarm is triggered and the data is fed back to the central processing unit, which processes the data and issues control instructions.

[0054] like Figure 3 As shown, in addition, the present invention also provides an anti-corrosion patching device, including an automatic correction mechanism as described in any one of the above.

[0055] The beneficial effect of the technical solution of the present invention is that the connecting rod can be equipped with different devices to achieve self-propelled movement on the pipeline. It can realize real-time monitoring of the deflection posture of the equipment during its active movement along the pipeline, and automatically correct the equipment through active control, realizing fully automated pipeline self-propelled movement.

[0056] like Figure 4 As shown, in addition, the present invention also provides an automatic correction method, which is an automatic correction mechanism based on any one of the above-mentioned items. The automatic correction method includes: S1, obtaining a preset deflection angle, and monitoring the real-time deflection angle of the automatic correction mechanism through an angle sensor; S2, judging whether the real-time deflection angle of the automatic correction mechanism is greater than the preset deflection angle; S3, when the real-time deflection angle of the automatic correction mechanism is greater than the preset deflection angle, controlling the two pairs of driving wheels to perform differential driving.

[0057] The beneficial effect of the technical solution of the present invention is that the connecting rod can be equipped with different devices to achieve self-propelled movement on the pipeline. It can realize real-time monitoring of the deflection posture of the equipment during its active movement along the pipeline, and automatically correct the equipment through active control, realizing fully automated pipeline self-propelled movement.

[0058] The advantages of the automatic deviation correction method provided by the embodiment of the present invention are:

[0059] 1. Achieve active deviation correction for anti-corrosion patching equipment as it moves along the pipeline. An angle sensor is used to identify posture deflection in real time. When the deflection angle exceeds a threshold, the speed of the driving wheel is controlled to achieve differential speed between the driving wheels (driving wheels) on both sides of the pipeline to correct the posture deflection.

[0060] 2. Low construction costs, low labor intensity, and a high degree of automation. The automatic deviation-correcting mechanism can be equipped with different modules. During oil and gas pipeline construction, the equipment can be moved to the next pipe opening without the need for hoisting, achieving self-propelled movement along the pipeline. This reduces construction costs, reduces labor intensity, improves inherent safety, and increases construction efficiency.

[0061] Furthermore, step S3 includes: S31, when the real-time deflection angle of the automatic correcting mechanism is greater than the preset deflection angle, analyzing the deflection direction of the automatic correcting mechanism; S32, controlling the driving wheel located on one side of the deflection direction to increase the rotation speed, controlling the two pairs of driving wheels to perform differential drive, and returning to step S1.

[0062] The beneficial effect of adopting the above-mentioned further technical solution is that when the equipment deflects clockwise, the central processing unit controls the controller to increase the speed of the driving wheel on the deflected side. The equipment is corrected by the wheel speed difference and the friction angle of the Mecanum wheel.

[0063] Furthermore, step S2 includes: S4, when the real-time deflection angle of the automatic correcting mechanism is less than or equal to the preset deflection angle, controlling the two pairs of driving wheels to drive at the same speed to keep the automatic correcting mechanism in stable motion, and returning to step S1.

[0064] The beneficial effect of adopting the above-mentioned further technical solution is that it can realize real-time monitoring of the deflection posture of the equipment while it is actively moving along the pipeline, and automatically correct the equipment through active control, thereby realizing fully automated pipeline self-movement of the equipment.

[0065] like Figure 3 As shown, when the equipment (which can be an anti-corrosion patching device) deflects clockwise, the central processing unit controls the active Mecanum wheel (driving wheel 50) on the deflected side to increase its speed. The equipment is corrected by the wheel speed difference and the friction angle of the Mecanum wheel (driving wheel 50).

[0066] like Figure 5 The figure shows the automatic deviation correction control method: 1. Posture monitoring; 2. Determine whether it is an allowed angle; 3. If not, provide data feedback; 4. The central processing unit analyzes and issues control instructions; 5. The controller receives the control instructions from the central processing unit and controls the hub motors on the driving wheels; 6. The hub motors on the driving wheels perform differential drive according to the control instructions of the controller, and then return to step 1. Step 2 is followed by: 7. If yes, drive at the same speed; 8. Stabilize the motion, and then return to step 1.

[0067] The equipment performs real-time posture monitoring, such as through angle sensors, and when it detects that the deflection angle exceeds the rated value, it is fed back to the central processing unit, and the speed of the motor (hub motor) is increased through the controller. The equipment posture is corrected through the differential drive of the driving wheels 50 on the left and right sides.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic deviation correction mechanism, characterized in that: include: A pair of chassis, connecting rods, two pairs of driving wheels and two pairs of driven wheels, the pair of chassis are installed one-to-one at both ends of the connecting rod, the two pairs of driving wheels are rotatably installed one-to-one at the bottom of the pair of chassis, and the two pairs of driven wheels are rotatably installed one-to-one at the bottom of the pair of chassis.

2. The automatic deviation-correcting mechanism according to claim 1, characterized in that: The connecting rod is connected with the frame.

3. The automatic deviation-correcting mechanism according to claim 2, characterized in that: An angle sensor is arranged on the frame or the connecting rod, and the angle sensor is connected to a central processing unit. Both the frame and the chassis are frame structures.

4. The automatic deviation-correcting mechanism according to claim 1, characterized in that: The driving wheel is a Mecanum wheel.

5. The automatic deviation-correcting mechanism according to claim 1, characterized in that: A pair of driving wheels at the bottom of each chassis is symmetrically arranged.

6. The automatic deviation-correcting mechanism according to claim 1, characterized in that: The driving wheel is connected to a hub motor, and the hub motor is connected to a controller. 7.An anti-corrosion patching device, characterized in that: It comprises an automatic deviation-correcting mechanism as described in any one of claims 1 to 6 above.

8. An automatic deviation correction method, characterized in that: Based on an automatic deviation correction mechanism according to any one of claims 1 to 6 above, the automatic deviation correction method comprises: S1, obtaining a preset deflection angle, and monitoring the real-time deflection angle of the automatic correction mechanism through an angle sensor; S2, determining whether the real-time deflection angle of the automatic deviation correction mechanism is greater than a preset deflection angle; S3. When the real-time deflection angle of the automatic deviation-correcting mechanism is greater than the preset deflection angle, the two pairs of driving wheels are controlled to perform differential driving.

9. An automatic deviation correction method according to claim 8, characterized in that: Step S3 includes: S31, when the real-time deflection angle of the automatic correcting mechanism is greater than the preset deflection angle, analyzing the deflection direction of the automatic correcting mechanism; S32, controlling the driving wheel located on one side of the deflection direction to increase the rotation speed, controlling the two pairs of driving wheels to perform differential driving, and returning to step S1.

10. The automatic deviation correction method according to claim 8, characterized in that: The process after step S2 includes: S4, when the real-time deflection angle of the automatic deviation-correcting mechanism is less than or equal to the preset deflection angle, controlling the two pairs of driving wheels to drive at the same speed to keep the automatic deviation-correcting mechanism in stable motion, and returning to step S1.

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