Pipe fitting climbing, welding seam detecting, spraying and cutting device

Abstract

The invention provides a pipe fitting climbing, welding seam detecting, spraying and cutting device. The climbing device comprises a frame structure, a translation mechanism and a holding mechanism. The frame structure comprises a lead screw, and the lead screw comprises a first section and a second section which are opposite in thread direction. The first sliding seat is in threaded connection with the first subsection, and the second sliding seat is in threaded connection with the second subsection. The holding mechanism comprises a first mechanical claw arranged at the bottom of the first sliding seat and a second mechanical claw arranged at the bottom of the second sliding seat. In the rotating process of the lead screw, the first mechanical claw and the second mechanical claw are alternately opened and closed, and climbing on the pipe fitting is completed. And through the arrangement of the translation mechanism and the lead screw, the movement of the device in the axial direction of the pipe fitting can be accurately controlled. Through the synergistic effect of the translation mechanism and the enclasping mechanism, the robot can be accurately controlled to automatically climb in the axial direction of a pipe fitting, and the robot can accurately move to a preset position according to specific requirements to conduct welding seam detection or spraying or cutting or other operation.

Description

Technical Field

[0001] The present application relates to the technical field of ship pipe processing, and in particular to a pipe climbing, weld detection, spraying and cutting device. Background Art

[0002] In shipbuilding, pipe fittings are characterized by diverse types and low standardization. After the installation of ship pipe fittings, further inspection is required, and further repairs and other operations are performed based on the inspection results. However, due to the complex structure of pipe fittings on ships, the surrounding space of complex pipe fitting structures is often relatively small. Therefore, when inspecting or performing subsequent processing on pipe fittings, they will be affected by space limitations. In addition, the shapes and sizes of pipe fittings vary. When the length of the pipe fittings is long, the tooling needs to be moved frequently when processing or inspecting the pipe fittings, which results in a large workload. In addition, the operation of the bending part of the pipe fittings is more difficult, time-consuming and labor-intensive, and the operating efficiency and quality cannot be guaranteed.

[0003] In summary, it is necessary to provide an improved technical solution to address the above-mentioned deficiencies in the prior art. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a pipe climbing, weld detection, spraying and cutting device, which can accurately move to a predetermined position of a pipe according to specific needs, and perform operations such as weld detection, spraying or cutting on the pipe.

[0005] In a first aspect, a pipe climbing device is provided, comprising:

[0006] A frame structure, wherein a screw rod is arranged in the frame structure, and both ends of the screw rod are rotatably connected to the frame structure; the screw rod comprises a first segment and a second segment, and the thread directions of the first segment and the second segment are opposite;

[0007] The translation mechanism comprises a first sliding seat and a second sliding seat, wherein the first sliding seat is threadedly connected to the first segment, and the second sliding seat is threadedly connected to the second segment, and the screw rod drives the first sliding seat or the second sliding seat to move after rotating;

[0008] The clamping mechanism includes a first mechanical claw arranged at the bottom of the first sliding seat and a second mechanical claw arranged at the bottom of the second sliding seat; the first mechanical claw or the second mechanical claw is used to limit the first sliding seat or the second sliding seat after clamping the pipe; during the rotation of the screw rod, the first mechanical claw and the second mechanical claw are used to alternately open and close to complete climbing on the pipe.

[0009] In an practicable manner, a rotating mechanism is disposed at the bottom of the first sliding seat or the second sliding seat, and the clamping mechanism is disposed at the bottom of the rotating mechanism;

[0010] The rotating mechanism includes a driving roller and an arc seat, wherein the driving roller is rotatably connected to the bottom of the first sliding seat or the second sliding seat, and the arc seat is used to cover the circumference of the pipe fitting, and the outer side surface of the driving roller is tangent to and meshingly connected with the outer side surface of the arc seat; after the driving roller rotates, it drives the arc seat to rotate around the circumference of the pipe fitting.

[0011] In one practicable manner, a first motor is disposed on the frame structure, one end of the screw rod is drivingly connected to the output shaft of the first motor, and the other end of the screw rod is rotatably connected to the frame structure via a bearing fixing seat, and the first motor is used to drive the screw rod to rotate.

[0012] In an practicable manner, an optical axis is disposed in the frame structure, and both ends of the optical axis are fixedly connected to the frame and are disposed parallel to the lead screw.

[0013] In an practicable manner, the rotating mechanism includes a second motor, which is transmission-connected to the driving roller and is used to control the rotation of the driving roller.

[0014] In an operative manner, the first sliding seat or the second sliding seat is a rectangular frame with upper and lower openings, the rectangular frame includes four side walls, and two side walls arranged in the axial direction of the screw rod extend downward and are configured as connecting plates;

[0015] The second motor is arranged on the outer side of the connecting plate, the driving roller is rotatably connected to the inner sides of the two connecting plates, a driving gear and two driven gears are arranged on the outer sides of the connecting plates, the rotating shaft of the driving gear is fixedly connected to the output shaft of the second motor; the two driven gears are respectively arranged on both sides of the driving gear and meshed with the driving gear; the rotating shaft of the driven gear extends into the connecting plate and is fixedly connected to the rotating shaft of the driving roller.

[0016] In one feasible manner, a supporting roller is arranged below the two driven gears, and both ends of the supporting roller are rotatably connected to the connecting plate. The supporting roller is tangent to the inner arc surface of the arc seat and is used to support the arc seat and assist the arc seat in rotating.

[0017] In one practicable manner, a first gear ring is disposed on the outer side of the driving roller, and a second gear ring is disposed on the outer side of the arc seat. After the first gear ring and the second gear ring are meshed and connected, the driving roller controls the arc seat to rotate.

[0018] In an practicable manner, the frame structure includes four strip plates, which are connected end to end in sequence to form a frame structure;

[0019] The two strip-shaped plates arranged along the axial direction of the lead screw are in a folded rod structure; both the lead screw and the optical axis are in a folded rod structure, and the bending parts of the folded rod structures are all connected by hinges.

[0020] In an implementable manner, pulley groups are arranged on the inner sides of the first mechanical claw or the second mechanical claw. The pulley groups are used to assist the rotation mechanism to rotate circumferentially around the pipe fitting, and at the same time, when the first mechanical claw or the second mechanical claw is in a tightened state, restrict the first mechanical claw or the second mechanical claw from having an axial displacement.

[0021] According to a second aspect of the present application, there is also provided a pipe fitting weld detection device, including the pipe fitting climbing device provided in the first aspect, and a detection mechanism is arranged at each of the two free ends of the arc-shaped seat; each detection mechanism includes a radiation source and an imaging detector. The radiation source is used to emit detection signals, and the imaging detector is used to receive the radiation signals after passing through the weld, and convert them into electrical signals and output them.

[0022] According to a third aspect of the present application, there is also provided a pipe fitting spraying device, including the pipe fitting climbing device provided in the first aspect, and a spraying mechanism is arranged at each end of the arc-shaped seat; the spraying mechanism is used to spray the pipe fitting. A nozzle is arranged at each of the two free ends of the arc-shaped seat.

[0023] According to a fourth aspect of the present application, there is also provided a pipe fitting cutting device, including the pipe fitting climbing device provided in the first aspect, and a cutting mechanism is arranged at each end of the arc-shaped seat; the cutting mechanism is used to cut the pipe fitting.

[0024] Compared with the prior art, the beneficial effects of the present application are:

[0025] In the technical solution of the present application, through the setting of the translation mechanism and the lead screw, the linear displacement adjustment can be converted into the circumferential displacement adjustment, improving the adjustment accuracy and precisely controlling the movement of the present application in the axial direction of the pipe fitting. Through the synergistic effect of the translation mechanism and the clamping mechanism, the present application can be precisely controlled to automatically climb in the axial direction of the pipe fitting, and can be precisely moved to a predetermined position according to specific requirements to meet various needs. Through the setting of the rotation mechanism, the arc-shaped seat can be rotated around the circumference of the pipe fitting to meet the rotation requirements. Therefore, the climbing device provided by the present application can meet the use requirements of pipe fittings with different shapes and different pipe diameters, and can complete full-coverage precise movement without manual assistance. Combined with the detection mechanism, the welds at any position in the axial direction of the pipe fitting can be detected, and elbows can also be detected, improving the detection efficiency and the accuracy of the detection results. Through the setting of the spraying mechanism, spraying can be performed at any position in the axial direction of the pipe fitting, and elbows can also be sprayed. Through the setting of the cutting mechanism, cutting can be performed at any position in the axial direction of the pipe fitting, and elbows can also be cut. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 FIG. is a schematic three-dimensional structure diagram of the pipe fitting climbing device according to an embodiment of the present invention.

[0027] Figure 2 FIG. is a schematic structure diagram of the translation mechanism in the pipe fitting climbing device according to an embodiment of the present invention.

[0028] Figure 3 FIG. is a schematic structure diagram of the first sliding seat in the pipe fitting climbing device according to an embodiment of the present invention.

[0029] Figure 4 FIG. is a schematic structure diagram of one of the rotation mechanisms in the pipe fitting climbing device according to an embodiment of the present invention.

[0030] Figure 5 FIG. is a schematic structure diagram of another rotation mechanism in the pipe fitting climbing device according to an embodiment of the present invention.

[0031] Figure 6 FIG. is a plan view of the rotation mechanism in the pipe fitting climbing device according to an embodiment of the present invention.

[0032] Among them, the descriptions of the reference numerals are as follows:

[0033] 1. Frame structure; 11. First strip plate; 12. Second strip plate; 13. Connector; 14. Movable hinge; 2. Translation mechanism; 21. First motor; 211. First segment; 212. Second segment; 22. Universal connector; 23. Optical axis; 231. Bearing fixing seat; 3. First sliding seat; 31. Side wall; 32. Driving gear; 321. Driving roller; 322. Second motor; 323. Driven gear; 33. Supporting roller; 4. Rotating mechanism; 41. Arc seat; 42. Clamping mechanism; 43. Detection mechanism; 431. Imaging detector; 432. Radiation source. Detailed implementation manners

[0034] The following further elaborates in detail on the specific implementation manners of the present invention with reference to the accompanying drawings. These implementation manners are only used to illustrate the present invention and are not intended to limit the present invention.

[0035] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0036] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In addition, in the description of the present invention, unless otherwise stated, the meaning of "plural" is two or more.

[0038] According to the first aspect of the present application, referring to Figures 1 to 6 , first, a pipe fitting climbing device is provided, including:

[0039] A frame structure 1, a lead screw is arranged inside the frame structure 1, and both ends of the lead screw are rotatably connected to the frame structure 1; the lead screw includes a first segment 211 and a second segment 212, and the thread directions of the first segment 211 and the second segment 212 are opposite;

[0040] The translation mechanism 2 includes a first sliding seat 3 and a second sliding seat. The first sliding seat 3 is threadedly connected to the first segment 211, and the second sliding seat is threadedly connected to the second segment 212. After the lead screw rotates, it drives the first sliding seat 3 or the second sliding seat to move. The translation mechanism 2 uses a lead screw structure to realize the movement of the first sliding seat 3 or the second sliding seat. By converting the linear displacement adjustment of the first sliding seat 3 or the second sliding seat into the circumferential displacement adjustment of the lead screw, the adjustment accuracy can be improved, and the movement of the present application in the axial direction of the pipe fitting can be accurately controlled.

[0041] It should be noted that both the first sliding seat 3 and the second sliding seat are arranged within the frame structure 1. The frame structure 1 restricts the first sliding seat 3 and the second sliding seat, so that the first sliding seat 3 and the second sliding seat can only have linear displacement and avoid rotating around the lead screw.

[0042] The clamping mechanism 42 includes a first mechanical claw arranged at the bottom of the first sliding seat 3 and a second mechanical claw arranged at the bottom of the second sliding seat. After the first mechanical claw or the second mechanical claw clamps the pipe fitting, it limits the first sliding seat 3 or the second sliding seat. Through the setting of the mechanical claw, the requirements of pipe fittings with different pipe diameters can be met. As Figure 6 shown, r represents the minimum applicable pipe diameter, and R is the maximum applicable pipe diameter. During the rotation of the lead screw, the first mechanical claw and the second mechanical claw are used to alternately open and close to complete climbing on the pipe fitting.

[0043] It should be noted that the first mechanical claw or the second mechanical claw mentioned in the present application are both prior arts, and the specific connection structure and control principle for realizing opening and closing are not within the protection scope of the present application.

[0044] Define Figure 1 the left side direction as the front, and define Figure 1 the right side direction as the rear. Since the thread directions of the first segment 211 and the second segment 212 are opposite, after the lead screw rotates in the positive direction, when the first sliding seat 3 moves backward relative to the frame structure 1, the second sliding seat moves forward relative to the frame structure 1. After the lead screw rotates in the reverse direction, when the first sliding seat 3 moves forward relative to the frame structure 1, the second sliding seat moves backward relative to the frame structure 1.

[0045] When the present application is in use, when the first mechanical claw clamps the outside of the pipe fitting, the position of the first sliding seat 3 is fixed. The rotation of the lead screw makes the frame structure 1 move forward relative to the first sliding seat 3. Therefore, the entire frame structure 1 moves forward, and the rotation of the lead screw also drives the second sliding seat to move forward on the second segment 212.

[0046] The first mechanical claw is controlled to open, the second mechanical claw is controlled to hold the pipe, the second sliding seat is fixed, and the screw is controlled to rotate in the opposite direction to move the frame structure 1 forward relative to the second sliding seat. Therefore, the frame structure 1 moves forward as a whole, and the screw rotates to drive the first sliding seat 3 to move forward on the first segment 211. Repeating the above control content can realize the automatic climbing along the axial direction of the pipe.

[0047] The present application can convert linear displacement adjustment into circumferential displacement adjustment through the setting of the translation mechanism 2 and the screw rod, thereby improving the adjustment accuracy and accurately controlling the movement of the present application in the axial direction of the pipe. Through the synergistic effect of the translation mechanism 2 and the clamping mechanism 42, the present application can be accurately controlled to automatically climb in the axial direction of the pipe, and can be accurately moved to a predetermined position according to specific needs to meet a variety of needs. Through the setting of the mechanical claw, the use requirements of different pipe diameters can be met.

[0048] In an practicable manner, a rotating mechanism 4 is disposed at the bottom of the first sliding seat 3 or the second sliding seat, and the clamping mechanism 42 is disposed at the bottom of the rotating mechanism 4 .

[0049] like Figures 3 to 6 As shown, the rotating mechanism 4 includes a driving roller 321 and an arc seat 41. The driving roller 321 is rotatably connected to the bottom of the first sliding seat 3 or the second sliding seat, and the rotating shaft of the driving roller 321 is arranged along the axial direction of the screw. The arc seat 41 is used to cover the circumference of the pipe fitting, and the outer side surface of the driving roller 321 is tangent to and meshed with the outer side surface of the arc seat 41; after the driving roller 321 rotates, the arc seat 41 is driven to rotate around the circumference of the pipe fitting. By setting the arc seat 41 sleeve, the present application is connected to the outer surface of the pipe fitting, and by rotating the driving roller 321, the arc seat 41 is driven to rotate around the circumference of the pipe fitting, which can meet the rotation requirements.

[0050] In an practicable manner, a first motor 21 is provided on the frame structure 1, one end of the screw rod is drivingly connected to the output shaft of the first motor 21, and the other end of the screw rod is rotationally connected to the frame structure 1 through a bearing fixing seat 231, and the first motor 21 is used to drive the screw rod to rotate. By controlling the speed and rotation direction of the motor, the displacement of the translation mechanism 2 is precisely controlled.

[0051] In an implementable manner, a light axis 23 is arranged inside the frame structure 1. Both ends of the light axis 23 are fixedly connected to the frame and are arranged in parallel with the lead screw. The first sliding seat 3 is inserted onto both the lead screw and the light axis 23 at the same time, and the second sliding seat is inserted onto both the lead screw and the light axis 23 at the same time. Through the arrangement of the light axis 23, the first sliding seat 3 or the second sliding seat can be guided, and the stability of the movement of the sliding seat can be improved.

[0052] In an implementable manner, the light axis 23 and the lead screw are arranged on the same plane. Through the guidance of the light axis 23, the sliding seat only undergoes linear movement to ensure the stability of the sliding seat during the movement process.

[0053] In an implementable manner, the rotating mechanism 4 includes a second motor 322. The second motor 322 is in transmission connection with the driving roller 321 and is used to control the rotation of the driving roller 321, so that the arc-shaped seat 41 can be rotated around the outer wall of the pipe fitting to a predetermined angle.

[0054] In an implementable manner, the first sliding seat 3 or the second sliding seat is a rectangular frame with upper and lower openings. The rectangular frame includes four side walls 31. Two side walls 31 arranged in the axial direction of the lead screw extend downward and are configured as connecting plates.

[0055] As Figures 3 to 5 shown, the second motor 322 is arranged outside the connecting plate. The driving roller 321 is rotatably connected to the inner sides of the two connecting plates. A driving gear 32 and two driven gears 323 are arranged outside the connecting plate. The rotating shaft of the driving gear 32 is fixedly connected to the output shaft of the second motor 322. The two driven gears 323 are respectively arranged on both sides of the driving gear 32 and are in meshing connection with the driving gear 32. The rotating shafts of the driven gears 323 extend into the connecting plate and are fixedly connected to the rotating shaft of the driving roller 321.

[0056] When the second motor 322 drives the driving gear 32 to rotate clockwise, the driven gears 323 rotate counterclockwise, driving the driving roller 321 to rotate counterclockwise, thereby controlling the arc-shaped seat 41 to rotate clockwise.

[0057] In an implementable manner, a support roller 33 is arranged below the two driven gears 323. Both ends of the support roller 33 are rotatably connected to the connecting plate. The support roller 33 is tangent to the inner arc surface of the arc-shaped seat 41 and is used to support the arc-shaped seat 41 and assist the arc-shaped seat 41 to rotate. Through the arrangement of the support roller 33, the stability of the arc-shaped seat 41 during the rotation process is ensured.

[0058] In an operative manner, a first toothed ring is disposed on the outer side of the driving roller 321 , and a second toothed ring is disposed on the outer side of the arc seat 41 . After the first toothed ring and the second toothed ring are meshed and connected, the driving roller 321 controls the arc seat 41 to rotate.

[0059] It should be noted that the first gear ring or the second gear is coaxially arranged in two circles to improve the stability of the rotating mechanism 4 during the transmission process.

[0060] In one practicable manner, if Figure 1 and Figure 2 As shown, the frame structure 1 includes two first strip plates 11 and two second strip plates 12, which are arranged alternately and connected end to end to form the frame structure 1. A connector 13 is provided at the connection between the first strip plate 11 and the second strip plate 12, and the connection between the first strip plate 11 and the second strip plate 12 is fixed by the connector 13.

[0061] In an operative manner, the first strip plate 11 is arranged along the axial direction of the screw rod, the first strip plate 11, the screw rod and the optical axis 23 are all folded rod structures, and the bending parts of the folded rod structures are all connected by hinges.

[0062] Specifically, Figure 2 As shown, the middle part of the first strip plate 11 is hinged by a movable hinge 14, the middle part of the screw rod is hinged to the first segment 211 and the second segment 212 by a universal connector 22, and the middle part of the optical axis 23 is also hinged by the universal connector 22. By setting the folding rod structure, the frame structure 1 can be adjusted to be freely bent from the middle, so that the application can climb to the bending part of the pipe fitting to adapt to pipe fittings with different bending angles, thereby improving the scope of use of the application.

[0063] In one feasible manner, a pulley group is provided on the inner side of the first mechanical claw or the second mechanical claw, which contacts the key outer wall through the pulley group, so as to assist the rotating mechanism 4 to rotate around the pipe more smoothly and avoid damage to the outer surface of the pipe; at the same time, when the first mechanical claw or the second mechanical claw is in a clamping state, the axial displacement of the first mechanical claw or the second mechanical claw is limited.

[0064] According to the second aspect of the present application, a pipe weld detection device is also provided. Figure 6As shown, it includes the pipe fitting climbing device provided by the first aspect, and a detection mechanism 43 is provided at each of the two free ends of the arc-shaped seat 41; each detection mechanism 43 includes a radiation source 432 and an imaging detector 431. The radiation source 432 is used to emit detection signals, and the imaging detector 431 is used to receive the radiation signals after passing through the weld, convert them into electrical signals and output. Through the setting of the two detection mechanisms 43, it is possible to complete one circle of detection by only rotating half a circle, which can improve the detection efficiency; it is also possible to rotate one circle for detection to obtain two detection results and improve the accuracy of the detection results. Through the setting of the pipe fitting climbing device, it is possible to detect any position in the axial direction of the pipe fitting, and it is also possible to detect bent pipes. Through the setting of the rotating mechanism 4 and the detection mechanism 43, it is possible to perform rotational detection on the circumference of the weld, perform orderly scanning detection on the weld, and improve the detection efficiency and the accuracy of the detection results. Through the digital ray detection technology of the present application, the detection image is clear and the accuracy is high, and it can effectively detect tiny defects.

[0065] According to the third aspect of the present application, a pipe fitting spraying device is further provided, which includes the pipe fitting climbing device provided by the first aspect, and a spraying mechanism is provided at each end of the arc-shaped seat 41; the spraying mechanism is used to spray the pipe fitting. Nozzles are provided at the two free ends of the arc-shaped seat 41. Through the setting of the two nozzles, it is possible to complete one circle of spraying by only rotating half a circle, which can improve the spraying efficiency; it is also possible to rotate one circle for spraying to improve the uniformity of spraying. Through the setting of the pipe fitting climbing device, it is possible to spray any position in the axial direction of the pipe fitting, and it is also possible to spray bent pipes.

[0066] According to the fourth aspect of the present application, a pipe fitting cutting device is further provided, which includes the pipe fitting climbing device provided by the first aspect, and a cutting mechanism is provided at each end of the arc-shaped seat 41; the cutting mechanism is used to cut the pipe fitting. Blades are provided at the two free ends of the arc-shaped seat 41. Through the setting of the two blades, it is possible to complete one circle of cutting by only rotating half a circle, which can improve the cutting efficiency; it is also possible to rotate one circle for cutting to ensure the integrity of the cutting. Through the setting of the pipe fitting climbing device, it is possible to cut any position in the axial direction of the pipe fitting, and it is also possible to cut bent pipes.

[0067] In summary, the present application provides a device for climbing on pipe fittings, weld inspection, spraying, and cutting. Through the setting of the translation mechanism 2 and the lead screw, the linear displacement adjustment can be converted into circumferential displacement adjustment, improving the adjustment accuracy and precisely controlling the movement of the present application in the axial direction of the pipe fitting. Through the synergistic effect of the translation mechanism 2 and the clamping mechanism 42, the automatic climbing of the present application in the axial direction of the pipe fitting can be precisely controlled, and it can be accurately moved to a predetermined position according to specific requirements to meet various needs. Through the setting of the rotating mechanism 4, the arc-shaped seat 41 can be rotated around the circumference of the pipe fitting to meet the rotation requirement. Therefore, the climbing device provided by the present application can meet the use requirements of pipe fittings with different shapes and different pipe diameters, and can complete full-coverage precise movement without manual assistance. Combined with the inspection mechanism 43, the welds at any position in the axial direction of the pipe fitting can be inspected, and bent pipes can also be inspected, improving the inspection efficiency and the accuracy of the inspection results. Through the setting of the spraying mechanism, spraying can be performed at any position in the axial direction of the pipe fitting, and bent pipes can also be sprayed. Through the setting of the cutting mechanism, cutting can be performed at any position in the axial direction of the pipe fitting, and bent pipes can also be cut.

[0068] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and substitutions can be made, and these improvements and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A pipe fitting climbing device, characterized in that, include: A frame structure, wherein a screw rod is arranged in the frame structure, and both ends of the screw rod are rotatably connected to the frame structure; the screw rod comprises a first segment and a second segment, and the thread directions of the first segment and the second segment are opposite; The translation mechanism comprises a first sliding seat and a second sliding seat, wherein the first sliding seat is threadedly connected to the first segment, and the second sliding seat is threadedly connected to the second segment, and the screw rod drives the first sliding seat or the second sliding seat to move after rotating; The clamping mechanism includes a first mechanical claw arranged at the bottom of the first sliding seat and a second mechanical claw arranged at the bottom of the second sliding seat; the first mechanical claw or the second mechanical claw is used to limit the first sliding seat or the second sliding seat after clamping the pipe; during the rotation of the screw rod, the first mechanical claw and the second mechanical claw are used to alternately open and close to complete climbing on the pipe.

2. The pipe fitting climbing device according to claim 1, wherein A rotating mechanism is disposed at the bottom of the first sliding seat or the second sliding seat, and the clamping mechanism is disposed at the bottom of the rotating mechanism; The rotating mechanism includes a driving roller and an arc seat, wherein the driving roller is rotatably connected to the bottom of the first sliding seat or the second sliding seat, and the arc seat is used to cover the circumference of the pipe fitting, and the outer side surface of the driving roller is tangent to and meshingly connected with the outer side surface of the arc seat; after the driving roller rotates, it drives the arc seat to rotate around the circumference of the pipe fitting.

3. The pipe fitting climbing device according to claim 2, characterized in that, A first motor is arranged on the frame structure, one end of the screw rod is drivingly connected to the output shaft of the first motor, and the other end of the screw rod is rotationally connected to the frame structure through a bearing fixing seat, and the first motor is used to drive the screw rod to rotate.

4. The pipe fitting climbing device according to claim 3, wherein, An optical axis is arranged in the frame structure, and two ends of the optical axis are fixedly connected to the frame and arranged parallel to the lead screw.

5. The pipe fitting climbing device according to claim 2, wherein, The rotating mechanism comprises a second motor, which is transmission-connected to the driving roller and is used to control the rotation of the driving roller.

6. The pipe fitting climbing device according to claim 5, characterized in that, The first sliding seat or the second sliding seat is a rectangular frame with openings at the top and bottom, and the rectangular frame includes four side walls, and two side walls arranged in the axial direction of the screw rod extend downward and are configured as connecting plates; The second motor is arranged on the outer side of the connecting plate, the driving roller is rotatably connected to the inner sides of the two connecting plates, a driving gear and two driven gears are arranged on the outer sides of the connecting plates, the rotating shaft of the driving gear is fixedly connected to the output shaft of the second motor; the two driven gears are respectively arranged on both sides of the driving gear and meshed with the driving gear; the rotating shaft of the driven gear extends into the connecting plate and is fixedly connected to the rotating shaft of the driving roller.

7. The pipe fitting climbing device according to claim 6, characterized in that, A supporting roller is arranged below the two driven gears, and both ends of the supporting roller are rotatably connected to the connecting plate. The supporting roller is tangent to the inner arc surface of the arc seat and is used to support the arc seat and assist the arc seat in rotating.

8. The pipe fitting climbing device according to claim 6, wherein, A first gear ring is disposed on the outer side of the driving roller, and a second gear ring is disposed on the outer side of the arc seat. After the first gear ring and the second gear ring are meshed and connected, the driving roller controls the arc seat to rotate.

9. The pipe fitting climbing device according to claim 4, wherein, The frame structure includes four strip plates connected in sequence end to end; two strip plates arranged along the axial direction of the lead screw are in a folded rod structure; both the lead screw and the optical axis are in a folded rod structure, and the bending parts of the folded rod structures are all connected by hinges.

10. The pipe fitting climbing device according to claim 2, wherein, Pulley groups are arranged on the inner sides of the first mechanical claw or the second mechanical claw, and the pulley groups are used to assist the rotation mechanism to rotate circumferentially around the pipe fitting, and at the same time, when the first mechanical claw or the second mechanical claw is in a clamped state, restrict the first mechanical claw or the second mechanical claw from having an axial displacement.

11. A pipe fitting weld detection device, characterized in that, It includes the pipe fitting climbing device according to any one of claims 2-10; and a detection mechanism is arranged at each end of the arc-shaped seat; Each detection mechanism includes a radiation source and an imaging detector. The radiation source is used to emit detection signals, and the imaging detector is used to receive the radiation signals after passing through the weld, convert them into electrical signals and output them.

12. A pipe fitting spraying device, characterized in that, It includes the pipe fitting climbing device according to any one of claims 2-10; and a spraying mechanism is arranged at each end of the arc-shaped seat; the spraying mechanism is used to spray the pipe fitting.

13. A pipe fitting cutting device, characterized in that, It includes the pipe fitting climbing device according to any one of claims 2-10; and a cutting mechanism is arranged at each end of the arc-shaped seat; the cutting mechanism is used to cut the pipe fitting.

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