Concave pipeline inner wall electromagnetic chuck, mechanical support system and control method thereof

Abstract

The application discloses a concave pipeline inner wall electromagnetic chuck, a mechanical support system and a control method thereof, and comprises a base, wherein a ring-shaped electromagnet is installed at the bottom of the base, a sliding rod is installed on the upper side of the center hole corresponding to the ring-shaped electromagnet through a first sliding hole, the lower end of the sliding rod can pass through the center hole downward, and a conical annular surface is arranged at the upper end of the sliding rod; a sliding block is installed on the outer side of the upper end of the sliding rod through a horizontal sliding groove, a plurality of horizontal sliding grooves are arranged radially with the sliding rod as the center, one end of the sliding block is in sliding abutment with the conical annular surface through a horizontal spring, an electromagnetic adsorption rod mechanism is slidably installed on the outer side corresponding to each sliding block through a second sliding hole, and a locking structure capable of being locked with each other is arranged between the other end of the sliding block and the electromagnetic adsorption rod mechanism. The electromagnetic adsorption rod mechanism is dispersedly arranged, and is combined with the ring-shaped electromagnet, so that the stability of the electromagnetic chuck in the working condition of the large-diameter variable-diameter section of the waterway steel pipe can be improved.

Description

Technical Field

[0001] This invention relates to the field of water conservancy engineering maintenance equipment technology, specifically to an electromagnetic chuck for the inner wall of a concave pipe, a mechanical support system, and a control method thereof. Background Technology

[0002] The high head pressure and fast flow velocity near the spiral casing of the hydroelectric power station's diversion channel cause severe erosion and corrosion of the inner wall of the steel pipe, requiring regular inspection, welding repair, and anti-corrosion maintenance. Because the diversion channel steel pipe has a large-diameter, variable-diameter circular cross-section (e.g., the maximum diameter of a diversion channel steel pipe in one power station reaches 14 meters), aerial work platforms must be reliably supported and positioned inside the circular pipe before maintenance work can be carried out. To facilitate the fixing and movement of the aerial work platforms, their outriggers are attracted by electromagnets. However, because the inner wall of the diversion channel steel pipe is concave, the circular electromagnets only contact the inner wall with their edges. When the aerial work platforms are attracted to the side or top of the diversion channel steel pipe, stability is poor, posing a significant safety hazard. Therefore, there is an urgent need for an electromagnetic chuck suitable for the large-diameter, variable-diameter cross-section of the diversion channel steel pipe. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an electromagnetic chuck for the inner wall of a concave pipe, which improves the stability of the electromagnetic chuck in the application of large-diameter variable-diameter steel pipes in water diversion channels by means of a dispersed electromagnetic adsorption rod mechanism combined with an annular electromagnet.

[0004] Another technical problem to be solved by the present invention is to provide a mechanical support system that employs an electromagnetic chuck on the inner wall of a concave pipe.

[0005] The third technical problem to be solved by the present invention is to provide a control method for a mechanical support system.

[0006] To achieve the above-mentioned technical features, the objective of this invention is as follows: In a first aspect, the present invention proposes an electromagnetic chuck for the inner wall of a concave pipe, including a base, an annular electromagnet installed at the bottom of the base, and a slide rod installed on the upper side of the center hole of the corresponding annular electromagnet through a first sliding hole. The lower end of the slide rod can pass downward through the center hole, and a conical annular surface is provided at the upper end of the slide rod. The base has a sliding block installed on the outer side of the upper end of the slide rod via a transverse sliding groove. Multiple transverse sliding grooves are arranged radially around the slide rod. One end of the sliding block slides against the conical ring surface via a transverse spring. An electromagnetic adsorption rod mechanism is slidably installed on the outer side of each corresponding sliding block through a second sliding hole on the base. A locking structure that can cooperate and lock with the other end of the sliding block is provided between the electromagnetic adsorption rod mechanism. With both the lower ends of the slide bar and the electromagnetic adsorption rod mechanism extended, the extension length of the electromagnetic adsorption rod mechanism is longer than that of the slide bar. When the slide bar moves upward, it pushes the sliding block to move towards the electromagnetic adsorption rod mechanism, thereby limiting the position of the electromagnetic adsorption rod mechanism through the locking structure.

[0007] The slide bar has a flange located at a distance below the conical annular surface, and the flange slides within the first sliding hole.

[0008] A first spring is installed at the upper end of the slide rod, and the upper end of the first spring abuts against the top cover, which is fixedly mounted on the base.

[0009] A guide rod is fixed to the lower side of the top cover. The end of the guide rod passes downward through the first spring and then into the guide hole at the center of the upper end of the slide rod.

[0010] A second spring is installed at the upper end of the electromagnetic adsorption rod mechanism, and the upper end of the second spring abuts against the top cover.

[0011] The electromagnetic adsorption rod mechanism includes a floating rod and a movable electromagnet, with the movable electromagnet mounted on the bottom of the floating rod via connecting bolts.

[0012] The locking structure includes a toothed groove structure disposed on the outer wall of the floating rod and arranged along the axial direction of the floating rod, and a convex tooth structure disposed at the other end of the sliding block. When the convex tooth structure is engaged at any height position of the toothed groove structure, the floating rod is limited.

[0013] The side of the sliding block that abuts against the conical annular surface is an arc-shaped surface, and the side of the sliding block facing the locking structure is provided with a longitudinal groove. A boss is provided in the transverse sliding groove. The boss slides upward through the slot, and a transverse spring is installed between the slot and the boss.

[0014] The base has a sealing plate screwed onto the top of the transverse slide groove to limit the sliding block within the transverse slide groove.

[0015] A guide groove is provided inside the second sliding hole, and a guide pin is fixed to the outer wall of the floating rod, with the guide pin located inside the guide groove.

[0016] A mechanical support system includes a support leg, the support leg including a cross arm and a telescopic arm installed at the end of the cross arm, the telescopic arm having an angle with the cross arm, and the end of the telescopic arm being equipped with the electromagnetic chuck of the concave pipe inner wall.

[0017] The end of the telescopic arm is hinged to the electromagnetic chuck on the inner wall of the concave pipe via a hinge structure.

[0018] At least one adjusting hinge is fixedly installed on the electromagnetic chuck on the inner wall of the concave pipe, and at least one fixed hinge is installed on the fixed end of the telescopic arm. A telescopic connecting rod is pivotally connected between the fixed hinge and the adjusting hinge; the telescopic connecting rod includes an electric push rod or an electric cylinder.

[0019] The base is equipped with a swing adjustment sensing unit, which includes a first distance sensor and a second distance sensor located on both sides of the swing direction of the base.

[0020] It also includes a controller, which is electrically connected to the first ranging sensor, the second ranging sensor, the telescopic link, the annular electromagnet, and the electromagnetic adsorption rod mechanism.

[0021] A control method for a mechanical support system, employing the aforementioned mechanical support system, includes the following steps: S1. After the mechanical support system enters the pipe, the support legs are deployed, and the electromagnetic chuck on the concave inner wall of the pipe is brought close to the inner wall of the pipe. S2. The distance between the device and the inner wall of the pipe is detected by the first and second ranging sensors. S3. The telescopic linkage controls the swing of the electromagnetic chuck on the inner wall of the concave pipe, so that the distance values ​​detected by the first distance sensor and the second distance sensor are close. S4. The telescopic arm extends, causing the electromagnetic chuck on the inner wall of the concave pipe to abut against the inner wall of the pipe. After that, the telescopic connecting rod is de-energized and in a free state. During the process of the electromagnetic chuck abutting against the inner wall of the concave pipe, the lower end of the electromagnetic adsorption rod mechanism first abuts against the inner wall of the pipe. Each electromagnetic adsorption rod mechanism adaptively retracts according to the concave surface inside the pipe until the sliding rod abuts against the inner wall of the pipe. At this time, the sliding rod gradually moves upward, and the conical ring surface at the top of the sliding rod pushes the sliding block in the transverse sliding groove outward. When the sliding block contacts the inner wall of the pipe at the edge of the annular electromagnet, the sliding block limits the electromagnetic adsorption rod mechanism axially through the locking structure. S5. Control the power supply of the annular electromagnet and the electromagnetic adsorption rod mechanism so that the electromagnetic chuck on the inner wall of the concave pipe is adsorbed onto the inner wall of the pipe.

[0022] Compared with the prior art, the beneficial effects of the present invention include: 1. In this invention, because the extension length of the electromagnetic adsorption rod mechanism is longer than that of the sliding rod, during use, the bottom of the electromagnetic adsorption rod mechanism contacts the inner wall of the pipe first, thus adaptively matching the curvature of the pipe's inner wall. Because the diameter of the electromagnet at the bottom of the electromagnetic adsorption rod mechanism is small, it can better fit the inner wall of the pipe, and the large number of these mechanisms results in a large coverage area and better stability. The annular electromagnet not only acts as an adsorption element but also drives and limits the sliding rod, thereby improving the stability of the electromagnetic chuck in the application of large-diameter variable-diameter steel pipes in water diversion channels.

[0023] 2. A guide rod is fixedly connected to the lower side of the top cover of the present invention. The end of the guide rod passes downward through the first spring and then into the guide hole at the center of the upper end of the slide rod. The guide rod has two functions: first, to limit the first spring and prevent it from disengaging; second, to guide the slide rod so that it can slide and extend flexibly axially.

[0024] 3. The sliding block of the present invention has a longitudinal groove on the side facing the locking structure, and a boss in the transverse groove. The boss slides upward through the groove, thereby improving the guiding accuracy of the sliding block and facilitating the installation of the transverse spring between the groove and the boss to realize the elastic extension and retraction of the sliding block.

[0025] 4. To facilitate the electromagnetic chuck's adaptation to different angles, the end of the telescopic arm is hinged to the electromagnetic chuck on the concave inner wall of the pipe via a hinge structure. An adjusting hinge seat is fixedly installed on the top cover, and a fixed hinge seat is installed on the fixed end of the telescopic arm. A telescopic connecting rod is pivotally hinged between the fixed hinge seat and the adjusting hinge seat. By extending and retracting the telescopic connecting rod, the electromagnetic chuck is driven to adjust its angle, thereby adapting to the curvature inside the pipe.

[0026] 5. The base of the present invention is equipped with a swing adjustment sensing unit. By detecting the swing adjustment sensing unit, the swing angle of the electromagnetic chuck can be automatically adjusted so that the central axis of the electromagnetic chuck is perpendicular to the tangent of the inner wall of the pipe. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional structural diagram of the electromagnetic chuck on the inner wall of the concave pipe in this invention.

[0029] Figure 2 This is a schematic diagram of the main structure of the electromagnetic chuck on the inner wall of the concave pipe in this invention.

[0030] Figure 3 This is a schematic cross-sectional view of the electromagnetic chuck on the inner wall of the concave pipe in this invention.

[0031] Figure 4 This is a cross-sectional structural diagram of the electromagnetic chuck on the inner wall of the concave pipe in this invention from another perspective.

[0032] Figure 5 This is a schematic cross-sectional view of the electromagnetic chuck adsorption state of the inner wall of the concave pipe in this invention.

[0033] Figure 6 This is a three-dimensional structural diagram of the sliding block in the electromagnetic chuck on the inner wall of the concave pipe of the present invention.

[0034] Figure 7 This is a three-dimensional structural diagram of the electromagnetic adsorption rod mechanism in the electromagnetic chuck on the inner wall of the concave pipe of the present invention.

[0035] Figure 8 This is a schematic diagram of the mechanical support system in this invention.

[0036] Figure 9 This is a diagram showing the usage state of the mechanical support system in this invention.

[0037] In the picture: Pipeline 1; Base 10, first sliding hole 11, second sliding hole 12, transverse sliding groove 13, guide groove 14, closing plate 15, boss 16; 20 ring electromagnet, 21 center hole, 22 fixing screw; Slide rod 30, flange 31, conical annular surface 32, first spring 33, guide rod 34, guide hole 35; Electromagnetic adsorption rod mechanism 40, floating rod 41, movable electromagnet 42, countersunk bolt hole 43, connecting bolt 44, second spring 45, guide pin 46 Sliding block 50, arc surface 51, transverse spring 52, slot 53; Top cover 60, adjusting hinge 61, countersunk hole 62; Hinged structure 70; Locking structure 80, tooth groove structure 81, convex tooth structure 82; Telescopic linkage 90; Support leg 100, cross arm 110, telescopic arm 120, telescopic end 121, fixed hinge seat 122, swing adjustment sensing unit 130, first distance sensor 131, second distance sensor 132. Detailed Implementation

[0038] To more clearly illustrate the purpose, technical solution, and beneficial effects of this application, a further detailed description of this application is provided below in conjunction with illustrations and specific embodiments. It should be specifically noted that the specific embodiments described below are only for illustrating the technical content of this application and do not constitute a limitation on the scope of protection of this application.

[0039] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0040] In the description of this invention, unless otherwise explicitly specified and limited, the term "connection" or similar designation indicating a connection between components should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection via an intermediate medium; it can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] Example 1: like Figures 1-7 As shown, an electromagnetic chuck for the inner wall of a concave pipe includes a base 10. An annular electromagnet 20 is installed at the bottom of the base 10. A slide rod 30 is installed on the base 10 through a first sliding hole 11 on the upper side of the center hole 21 of the corresponding annular electromagnet 20. The lower end of the slide rod 30 can pass downward through the center hole 21. A conical annular surface 32 is provided at the upper end of the slide rod 30.

[0042] The base 10 has a sliding block 50 installed on the outer side of the upper end of the slide rod 30 via a transverse sliding groove 13. Multiple transverse sliding grooves 13 are evenly distributed in a radial ring around the slide rod 30. One end of the sliding block 50 slides against the conical ring surface 32 via a transverse spring 52.

[0043] An electromagnetic adsorption rod mechanism 40 is slidably mounted on the outer side of each corresponding sliding block 50 through a second sliding hole 12. A locking structure 80 that can cooperate and lock between the other end of the sliding block 50 and the electromagnetic adsorption rod mechanism 40 is provided.

[0044] With both the lower ends of the slide bar 30 and the electromagnetic adsorption rod mechanism 40 extended, the extension length of the electromagnetic adsorption rod mechanism 40 is longer than the extension length of the slide bar 30.

[0045] When the slide bar 30 moves upward, it pushes the sliding block 50 to move towards the electromagnetic adsorption rod mechanism 40, thereby limiting the position of the electromagnetic adsorption rod mechanism 40 through the locking structure 80. Figure 5 As shown. The present invention improves the stability of the electromagnetic chuck in the application of large-diameter variable-diameter cross-section steel pipes in water diversion channels by using a dispersed electromagnetic adsorption rod mechanism 40 combined with an annular electromagnet 20.

[0046] In this embodiment, the base 10 is a circular metal body. An embedding hole is provided at the center of the bottom of the base 10, and the annular electromagnet 20 is embedded and fixed in the embedding hole by a fixing screw 22. A first sliding hole 11 is provided on the upper side of the center hole 21 corresponding to the annular electromagnet 20. The slide rod 30 is slidably mounted in the first sliding hole 11, and the lower end of the slide rod 30 can pass downward through the center hole 21. A tapered annular surface 32, smaller at the top and larger at the bottom, is provided at the upper end of the slide rod 30. A flange 31 is provided on the slide rod 30 at a distance below the tapered annular surface 32. The flange 31 slides within the first sliding hole 11, thus limiting the slide rod 30 within the first sliding hole 11 and preventing it from falling out. The tapered annular surface 32 is used to slide and engage with the sliding block 50 to push the sliding block 50 outward. One end of the sliding block 50 slides against the conical ring surface 32 via a transverse spring 52. When the conical ring surface 32 moves upward and pushes the sliding block 50, the transverse spring 52 is compressed. When the slide rod 30 moves downward, the sliding block 50 moves to one side of the slide rod 30 under the action of the transverse spring 52, thereby releasing the lock between the sliding block 50 and the electromagnetic adsorption rod mechanism 40.

[0047] In use, because the extension length of the electromagnetic adsorption rod mechanism 40 is longer than that of the slide rod 30, the bottom of the electromagnetic adsorption rod mechanism 40 contacts the inner wall of the pipe 1 first, thus adaptively matching the curvature according to the inner wall of the pipe 1. Since the diameter of the electromagnet at the bottom of the electromagnetic adsorption rod mechanism 40 is small, for example, about 50mm, it can better fit against the inner wall of the pipe 1. Furthermore, the large number of these electromagnets results in a large coverage area and better stability. The annular electromagnet 20 not only acts as an adsorption element but also drives and limits the slide rod 30, thereby improving the stability of the electromagnetic chuck in the application of large-diameter variable-diameter steel pipes in water diversion channels.

[0048] In order for the slide bar 30 to extend stably to release the locking structure 80 after the base 10 leaves the inner wall of the pipe 1, see [link to relevant documentation]. Figure 3 , 4A first spring 33 is installed at the upper end of the slide rod 30. The upper end of the first spring 33 abuts against the top cover 60, which is fixed to the base 10 by bolts. There is a cavity between the top cover 60 and the middle of the base 10. When the electromagnetic chuck is attracted to the inner wall of the pipe 1, the slide rod 30 moves upward and the first spring 33 is compressed. When the base 10 leaves the inner wall of the pipe 1, the slide rod 30 is pushed downward by the elastic force of the first spring 33.

[0049] Furthermore, a guide rod 34 is fixedly connected to the lower side of the top cover 60. The end of the guide rod 34 passes downward through the first spring 33 and then into the guide hole 35 at the center of the upper end of the slide rod 30. The guide rod 34 has two functions: first, to limit the first spring 33 and prevent it from dislodging; second, to guide the slide rod 30 so that it can slide and extend flexibly axially.

[0050] Similarly, a second spring 45 is installed at the upper end of the electromagnetic adsorption rod mechanism 40, and the upper end of the second spring 45 abuts against the top cover 60. When the electromagnetic adsorption rod mechanism 40 moves upward, the second spring 45 is compressed. After the base 10 leaves the inner wall of the pipe 1, the electromagnetic adsorption rod mechanism 40 can be stably extended under the action of the second spring 45.

[0051] It should be noted that the elastic force of the first spring 33 and the second spring 45 should not be too large, so as not to affect the adsorption force.

[0052] In this embodiment, see Figure 1 The electromagnetic adsorption rod mechanism 40 includes a floating rod 41 and a movable electromagnet 42, which is mounted on the bottom of the floating rod 41 by a connecting bolt 44.

[0053] Specifically, the top of the floating rod 41 is provided with a countersunk bolt hole 43, and the connecting bolt 44 is located in the countersunk bolt hole 43. The threaded end of the connecting bolt 44 passes through the countersunk bolt hole 43 and is connected and fixed to the movable electromagnet 42. Furthermore, in order to limit the second spring 45, both ends of the second spring 45 are provided with countersunk holes 62 on the top cover 60 and the floating rod 41, and the second spring 45 extends into the countersunk holes 62 on the upper and lower sides respectively.

[0054] The floating rod 41 can be a polygonal column structure or a cylindrical structure. To prevent the floating rod 41 from falling off, see [reference needed]. Figure 3 The second sliding hole 12 is provided with a guide groove 14, see also Figure 7 A guide pin 46 is fixed to the outer wall of the floating rod 41. The guide pin 46 is located in the guide groove 14. This serves two purposes: first, it prevents the floating rod 41 from falling off through the cooperation between the guide pin 46 and the guide groove 14; second, it prevents the floating rod 41 from rotating when it is a cylinder.

[0055] See Figure 6, 7 In this embodiment, the locking structure 80 includes a toothed groove structure 81 disposed on the outer wall of the floating rod 41 and disposed along the axial direction of the floating rod 41, and a protruding tooth structure 82 disposed at the other end of the sliding block 50. When the protruding tooth structure 82 is engaged at any height position of the toothed groove structure 81, the floating rod 41 is limited.

[0056] See Figure 6 The side of the sliding block 50 that abuts against the conical annular surface 32 is an arc-shaped surface 51, which allows for better sliding cooperation with the conical annular surface 32.

[0057] Further, see Figure 6 The sliding block 50 has a longitudinal slot 53 on the side facing the locking structure 80, see [reference]. Figure 5 A boss 16 is provided in the transverse slide groove 13. The boss 16 slides upward through the slot 53, thereby improving the guiding accuracy of the sliding block 50 and facilitating the installation of the transverse spring 52 between the slot 53 and the boss 16 to achieve elastic extension and contraction of the sliding block 50. A closing plate 15 for limiting the sliding block 50 within the transverse slide groove 13 is screwed onto the top of the base 10, thereby achieving a stable elastic sliding structure for the sliding block 50.

[0058] Example 2: See Figure 8 , 9 This embodiment proposes a mechanical support system, including a support leg 100. The support leg 100 includes a horizontal arm 110 and a telescopic arm 120 installed at the end of the horizontal arm 110. The telescopic arm 120 and the horizontal arm 110 have an included angle. The end of the telescopic arm 120 is equipped with a concave pipe inner wall electromagnetic chuck as in Embodiment 1.

[0059] In this embodiment, the horizontal arm 110 is a rigid support structure, and the telescopic arm 120 can be a hydraulic cylinder or an electric cylinder. The angle between the telescopic arm 120 and the horizontal arm 110 can be set as needed. In this embodiment, the telescopic arm 120 and the horizontal arm 110 have an angle of 90°.

[0060] To facilitate the electromagnetic chuck to adapt to different angles, the end of the telescopic arm 120 is hinged to the electromagnetic chuck on the inner wall of the concave pipe via the hinge structure 70.

[0061] In this embodiment, the hinge structure 70 can be a ball joint hinge structure or a pivot hinge structure.

[0062] When the hinge structure 70 is a pivot hinge structure, a double-ear seat is fixed on the top of the top cover 60, and the telescopic end 121 of the telescopic arm 120 is hinged to the double-ear seat via a pivot. Figure 3An adjusting hinge seat 61 is fixedly installed on the top cover 60, and then combined with... Figure 8 A fixed hinge seat 122 is installed on the fixed end of the telescopic arm 120. A telescopic connecting rod 90 is pivotally hinged between the fixed hinge seat 122 and the adjusting hinge seat 61. The telescopic connecting rod 90 includes an electric push rod or an electric cylinder. By extending and retracting the telescopic connecting rod 90, the electromagnetic chuck is driven to swing around the hinge pivot, thereby adapting to the internal curvature of the pipe 1.

[0063] When the hinge structure 70 is a ball joint structure, a ball joint seat is fixedly installed on the top of the top cover 60, and the ball joint seat is fixedly installed on the telescopic end 121 of the telescopic arm 120, so that the electromagnetic chuck can rotate at multiple angles. In this case, multiple adjusting hinge seats 61 need to be fixedly installed on the top cover 60, and then combined with… Figure 8 Multiple fixed hinge seats 122 are installed on the fixed end of the telescopic arm 120. A telescopic connecting rod 90 is pivotally hinged between the fixed hinge seats 122 and the adjusting hinge seat 61. By extending and retracting the telescopic connecting rod 90 at different positions, the electromagnetic chuck can swing and adjust its angle around the rotation center of the ball joint seat at multiple angles.

[0064] Further, see Figure 8 A swing adjustment sensing unit 130 is installed on the base 10. The swing adjustment sensing unit 130 includes a first distance sensor 131 and a second distance sensor 132 located on both sides of the swing direction of the base 10. The swing angle of the electromagnetic chuck can be easily adjusted by the detection of the first distance sensor 131 and the second distance sensor 132.

[0065] The mechanical support system in this embodiment also includes a controller, which is electrically connected to the first ranging sensor 131, the second ranging sensor 132, the telescopic link 90, the annular electromagnet 20, and the electromagnetic adsorption rod mechanism 40. The controller controls the operation of each electrical component along a preset process.

[0066] Example 3: An embodiment proposes a control method for a mechanical support system, employing a mechanical support system as described in Embodiment 2. The control method includes the following steps: S1. After the mechanical support system enters the pipe 1, the support leg 100 is deployed, and the electromagnetic chuck on the concave inner wall of the pipe is brought close to the inner wall of the pipe 1. At this time, the distance between the electromagnetic chuck and the inner wall of the pipe 1 should allow the electromagnetic chuck to swing and adjust its structure.

[0067] S2. The distance between the pipe 1 and the inner wall is detected by the first distance sensor 131 and the second distance sensor 132. S3. The telescopic linkage 90 controls the electromagnetic chuck on the inner wall of the concave pipe to swing, so that the distance values ​​detected by the first distance sensor 131 and the second distance sensor 132 are close. That is, the distance values ​​detected by the first distance sensor 131 and the second distance sensor 132 are as similar as possible.

[0068] S4. The telescopic arm 120 extends, causing the electromagnetic chuck on the concave pipe wall to abut against the inner wall of pipe 1. Afterwards, the telescopic connecting rod 90 is de-energized and in a free state, allowing the electromagnetic chuck to adaptively perform a fine-tuning of its angle.

[0069] During the process of the electromagnetic chuck abutting against the inner wall of pipe 1 on the concave pipe, see Figure 3 First, the lower end of the electromagnetic adsorption rod mechanism 40 abuts against the inner wall of the pipe 1. Each electromagnetic adsorption rod mechanism 40 retracts adaptively according to the concave surface inside the pipe 1 until the sliding rod 30 abuts against the inner wall of the pipe 1. At this time, the sliding rod 30 gradually moves upward, and the conical annular surface 32 at the top of the sliding rod 30 pushes the sliding block 50 in the transverse sliding groove 13 outward. When it contacts the inner wall of the pipe 1 at the edge of the annular electromagnet 20, the sliding block 50 axially limits the electromagnetic adsorption rod mechanism 40 through the locking structure 80. Figure 5 As shown.

[0070] S5. Control the power supply of the annular electromagnet 20 and the electromagnetic adsorption rod mechanism 40 so that the electromagnetic chuck on the inner wall of the concave pipe is stably adsorbed on the inner wall of the pipe 1.

[0071] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An electromagnetic chuck for the inner wall of a concave pipe, characterized in that: Includes a base (10), a ring electromagnet (20) is installed at the bottom of the base (10), and a slide rod (30) is installed on the upper side of the center hole (21) of the corresponding ring electromagnet (20) through a first slide hole (11). The lower end of the slide rod (30) can pass through the center hole (21) downwards, and a conical ring surface (32) is provided at the upper end of the slide rod (30). The base (10) has a sliding block (50) installed on the outer side of the upper end of the slide rod (30) via a transverse slide groove (13). Multiple transverse slide grooves (13) are arranged radially around the slide rod (30). One end of the sliding block (50) slides against the conical ring surface (32) via a transverse spring (52). The base (10) has an electromagnetic adsorption rod mechanism (40) slidably installed on the outside of each corresponding sliding block (50) through a second sliding hole (12). The other end of the sliding block (50) and the electromagnetic adsorption rod mechanism (40) are provided with a locking structure (80) that can cooperate and lock each other. With both the lower ends of the slide bar (30) and the electromagnetic adsorption rod mechanism (40) extended, the extension length of the electromagnetic adsorption rod mechanism (40) is longer than the extension length of the slide bar (30).

2. The electromagnetic chuck for the inner wall of a concave pipe according to claim 1, characterized in that: The slide bar (30) has a flange (31) located a distance below the conical annular surface (32), and the flange (31) slides within the first sliding hole (11).

3. The electromagnetic chuck for the inner wall of a concave pipe according to claim 1, characterized in that: The upper end of the slide bar (30) is equipped with a first spring (33), the upper end of the first spring (33) abuts against the top cover (60), and the top cover (60) is fixed on the base (10).

4. The electromagnetic chuck for the inner wall of a concave pipe according to claim 3, characterized in that: A guide rod (34) is fixedly connected to the lower side of the top cover (60). The end of the guide rod (34) passes downward through the first spring (33) and then enters the guide hole (35) at the center of the upper end of the slide rod (30).

5. The electromagnetic chuck for the inner wall of a concave pipe according to claim 3, characterized in that: The upper end of the electromagnetic adsorption rod mechanism (40) is equipped with a second spring (45), and the upper end of the second spring (45) abuts against the top cover (60).

6. An electromagnetic chuck for the inner wall of a concave pipe according to claim 1 or 5, characterized in that: The electromagnetic adsorption rod mechanism (40) includes a floating rod (41) and a movable electromagnet (42), which is mounted on the bottom of the floating rod (41) by a connecting bolt (44).

7. The electromagnetic chuck for the inner wall of a concave pipe according to claim 6, characterized in that: The locking structure (80) includes a toothed groove structure (81) disposed on the outer wall of the floating rod (41) and disposed along the axial direction of the floating rod (41), and a toothed structure (82) disposed at the other end of the sliding block (50). When the toothed structure (82) is engaged at any height position of the toothed groove structure (81), the floating rod (41) is limited.

8. The electromagnetic chuck for the inner wall of a concave pipe according to claim 1, characterized in that: The side of the sliding block (50) that abuts against the conical annular surface (32) is an arc-shaped surface (51), and the side of the sliding block (50) facing the locking structure (80) is provided with a longitudinal slot (53). A boss (16) is provided in the transverse slide groove (13). The boss (16) slides upward through the slot (53). A transverse spring (52) is installed between the slot (53) and the boss (16).

9. An electromagnetic chuck for the inner wall of a concave pipe according to claim 8, characterized in that: The base (10) has a sealing plate (15) screwed on top of the transverse slide (13) to limit the sliding block (50) within the transverse slide (13).

10. An electromagnetic chuck for the inner wall of a concave pipe according to claim 6, characterized in that: The second sliding hole (12) is provided with a guide groove (14), and the outer wall of the floating rod (41) is fixed with a guide pin (46), which is located in the guide groove (14).

11. A mechanical support system, comprising a support leg (100), characterized in that: The support leg (100) includes a horizontal arm (110) and a telescopic arm (120) installed at the end of the horizontal arm (110). The telescopic arm (120) has an angle with the horizontal arm (110), and the end of the telescopic arm (120) is equipped with an electromagnetic chuck for the inner wall of the concave pipe as described in any one of claims 1 to 10.

12. A mechanical support system according to claim 11, characterized in that: The telescopic arm (120) is hinged at the end of the hinge structure (70) to the electromagnetic chuck on the inner wall of the concave pipe.

13. A mechanical support system according to claim 12, characterized in that: At least one adjusting hinge (61) is fixedly installed on the electromagnetic chuck on the inner wall of the concave pipe, and at least one fixed hinge (122) is installed on the fixed end of the telescopic arm (120). A telescopic connecting rod (90) is pivotally hinged between the fixed hinge (122) and the adjusting hinge (61); the telescopic connecting rod (90) includes an electric push rod or an electric cylinder.

14. A mechanical support system according to claim 13, characterized in that: The base (10) is equipped with a swing adjustment sensing unit (130), which includes a first distance sensor (131) and a second distance sensor (132) located on both sides of the swing direction of the base (10).

15. A mechanical support system according to claim 14, characterized in that: It also includes a controller, which is electrically connected to the first ranging sensor (131), the second ranging sensor (132), the telescopic link (90), the annular electromagnet (20), and the electromagnetic adsorption rod mechanism (40).

16. A control method for a mechanical support system, characterized in that: The mechanical support system described in claim 15 is used, and the control method includes the following steps: S1. When the mechanical support system enters the pipe (1), the support leg (100) is deployed and the electromagnetic chuck on the inner wall of the concave pipe is brought close to the inner wall of the pipe (1). S2. The distance between the first distance sensor (131) and the inner wall of the pipe (1) is detected by the first distance sensor (131) and the second distance sensor (132); S3. The telescopic link (90) controls the electromagnetic chuck on the inner wall of the concave pipe to swing, so that the distance values ​​detected by the first distance sensor (131) and the second distance sensor (132) are close; S4. The telescopic arm (120) extends, causing the electromagnetic chuck on the inner wall of the concave pipe to abut against the inner wall of the pipe (1). After that, the telescopic connecting rod (90) is de-energized and in a free state. During the process of the electromagnetic chuck abutting against the inner wall of the concave pipe (1), the lower end of the electromagnetic adsorption rod mechanism (40) first abuts against the inner wall of the pipe (1), and each electromagnetic adsorption rod mechanism (40) adaptively retracts according to the concave surface inside the pipe (1) until the slide rod (30) abuts against the inner wall of the pipe (1); at this time, the slide rod (30) gradually moves upward, and the conical ring surface (32) at the top of the slide rod (30) pushes the sliding block (50) in the transverse sliding groove (13) outward. When the inner wall of the pipe (1) at the edge of the annular electromagnet (20) contacts, the sliding block (50) limits the electromagnetic adsorption rod mechanism (40) axially through the locking structure (80); S5. Control the power supply of the annular electromagnet (20) and the electromagnetic adsorption rod mechanism (40) so that the electromagnetic chuck on the inner wall of the concave pipe is adsorbed onto the inner wall of the pipe (1).

Images