Automatic walking adjusting mechanism of automatic inner spraying machine for large round pipes

Abstract

The utility model relates to an automatic walking adjusting mechanism for an automatic inner spraying machine of a large round pipe, which comprises a spraying trolley, a main upright lifting mechanism arranged on the spraying trolley, a rotating mechanism arranged on the main upright lifting mechanism, nozzles arranged at two ends of the rotating mechanism, and spraying equipment connected with the nozzles. The spraying vehicle comprises a bearing platform, a front walking part, a rear walking part and a detection mechanism; the front walking part and the rear walking part are arranged below the bearing platform, the front walking part comprises a steering motor, a front wheel and a connecting rod mechanism, and the steering motor is connected with a controller; the detection mechanism comprises a tilt angle sensor and an acceleration sensor, and the output ends of the tilt angle sensor and the acceleration sensor are connected with the input end of the controller. The detection mechanism detects the levelness of the bearing platform, the detection mechanism is connected with the controller, the controller controls the steering motor of the front walking part to work, the front wheels steer to enable the bearing platform to be in the horizontal state again, and a hardware basis is provided for automatic deviation correction of the spraying vehicle.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying equipment, in particular to an automatic walking adjustment mechanism for a large-scale circular tube automatic internal spraying machine. Background Art

[0002] Some circular pipes need to be sprayed on the inner wall after production to achieve corrosion resistance and wear resistance. Since the inner surface of the pipe is curved and the space is large and the distance is long, manual spraying is difficult, the spraying quality is poor, and the work efficiency is low. In order to solve the above problems, a spraying vehicle that can travel in the circular pipe is designed. A rotating spray gun is set on the spraying vehicle. When the spraying vehicle moves forward, the spray gun rotates to spray the inner wall of the pipe body. Combined with the control program, automatic spraying inside the circular pipe is realized.

[0003] The existing spraying vehicle is prone to deviation from the trajectory when traveling in the round tube, causing the spraying vehicle to tilt, and then the spray gun to shake and tilt, resulting in poor spraying effect.

[0004] Therefore, it is urgent to correct the walking trajectory of the spraying vehicle to ensure the stability of the spray gun and the quality of spraying. Summary of the invention

[0005] In order to solve the problem that the existing spraying vehicle tilts when traveling, the utility model proposes an automatic adjustment mechanism for traveling of a large-scale circular tube automatic internal spraying machine, which includes a bearing platform, a front traveling part, a rear traveling part and a detection mechanism. The detection mechanism detects the horizontality of the bearing platform. The detection mechanism is connected to a controller. The controller controls the steering motor of the front traveling part to work and the front wheel to steer so that the bearing platform is in a horizontal state, thereby providing a hardware basis for the automatic deviation correction of the spraying vehicle.

[0006] In order to achieve the above-mentioned purpose, the utility model discloses a large-scale circular tube automatic internal spraying machine walking automatic adjustment mechanism, including a spraying vehicle, the spraying vehicle is provided with a main column lifting mechanism, the main column lifting mechanism is provided with a rotating mechanism, nozzles are provided at both ends of the rotating mechanism, and the nozzles are connected with a spraying device. The spraying vehicle includes a bearing platform, a front walking part, a rear walking part and a detection mechanism;

[0007] The front walking part and the rear walking part are arranged below the carrying platform, the front walking part comprises a steering motor, a front wheel and a connecting rod mechanism, and the steering motor is connected to a controller;

[0008] The detection mechanism comprises an inclination sensor and an acceleration sensor, and the output ends of the inclination sensor and the acceleration sensor are connected to the input end of the controller.

[0009] The inclination sensor detects the horizontality of the load-bearing platform in real time. The inclination sensor is connected to the controller. The controller controls the steering motor to work according to the horizontality of the load-bearing platform. The steering motor drives the connecting rod mechanism to deflect the front wheel to ensure that the spraying vehicle remains straight in the horizontal direction.

[0010] Furthermore, the controller includes a PLC main module and a communication module, the communication module of the controller is connected to a steering driver and a travel driver, the steering driver is electrically connected to a steering motor, and the steering motor is connected to a power supply through the steering driver to form a loop;

[0011] The controller communicates with the inclination sensor and the acceleration sensor through the serial port.

[0012] The controller adopts PLC control system with simple hardware circuit structure and stable and reliable operation.

[0013] Furthermore, there are two front wheels, and both front wheels are provided with a connecting seat, the front wheels are rotatably connected to the connecting seat, and the connecting seat is a concave square plate;

[0014] The connecting rod mechanism includes a steering rod, a connecting rod and a limit rod, the steering rod is hinged to the connecting rod, both ends of the connecting rod are respectively fixed to the connecting seat, a limit rod is arranged on the upper end of the connecting seat, the limit rod is a long strip structure, the limit rod is fixed to the bearing platform, and circular through holes are opened at both ends of the limit rod, and bearings are arranged in the circular through holes;

[0015] A rotating shaft is fixedly arranged on the upper end of the connecting seat, and the rotating shaft is rotatably connected to the bearing.

[0016] Restricted by the steering rod, connecting rod and limit rod, when the steering motor is working, the two front wheels are adjusted synchronously to realize the direction adjustment of the spraying vehicle.

[0017] Furthermore, the steering motor is provided with a first reducer, the output shaft of the steering motor is fixed to the first reducer, the output end of the first reducer is provided with a connecting plate, and the connecting plate is fixed to a side of the steering rod away from the connecting rod.

[0018] Set up a speed reducer to ensure smooth steering action.

[0019] Furthermore, the rear walking part includes a walking motor, a rear wheel and a connecting shaft, the output shaft of the walking motor is connected to a second reducer, and the second reducer is connected to the rear wheel through a driving mechanism;

[0020] The driving mechanism comprises a first pulley, a second pulley, a third pulley, a first belt and a second belt, the first pulley is fixed to the annular surface of the connecting shaft, and the first pulley is connected to the output end of the second reducer through the first belt transmission;

[0021] A second pulley is provided at both ends of the connecting shaft, and the second pulley is connected to the third pulley through a second belt transmission;

[0022] The third pulley is fixed to the rear wheel.

[0023] The rear traveling part provides power for the spraying vehicle.

[0024] Furthermore, a vertical bearing seat is arranged on the connecting shaft, and the vertical bearing seat is an inverted N-shaped structure, the middle part of the vertical bearing seat is connected to the connecting shaft through a bearing, and the plane of the vertical bearing seat is fixed to the bearing platform.

[0025] Furthermore, the travel driver is electrically connected to the travel motor, and the travel motor is connected to a power source via the travel driver to form a loop.

[0026] Through the above technical solution, the beneficial effects of the utility model are:

[0027] The utility model realizes automatic deviation correction of the spraying vehicle. A large-scale circular tube automatic internal spraying machine travel automatic adjustment mechanism is provided, which is provided with a bearing platform, a front travel part, a rear travel part and a detection mechanism. The detection mechanism includes an inclination sensor and an acceleration sensor. The inclination sensor detects the horizontality of the bearing platform in real time, and the inclination sensor transmits the detection value to the controller; the acceleration sensor detects the speed of change of the horizontality of the bearing platform in real time, and the acceleration sensor transmits the detection value to the controller. The front travel part is used for steering the spraying vehicle, and the front travel part is arranged under the bearing platform, and the front travel part includes a steering motor, a front wheel and a connecting rod mechanism. When the spraying vehicle moves along the pipeline, if the pipeline wall is curved and deviates, the controller controls the steering motor position deflection amount and deflection speed according to the detection values ​​of the inclination sensor and the acceleration sensor, and the steering motor drives the connecting rod mechanism to deflect the front wheel, thereby realizing deviation correction. The rear travel part drives the spraying vehicle to travel, so that the spraying vehicle always travels in a straight line, ensuring the stability of spraying and the quality of spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is one of the structural schematic diagrams of the automatic walking adjustment mechanism of a large-scale circular tube automatic internal spraying machine of the utility model;

[0029] Figure 2 This is the second structural diagram of the automatic walking adjustment mechanism of a large-scale circular tube automatic internal spraying machine of the utility model;

[0030] Figure 3 This is the third structural diagram of the automatic walking adjustment mechanism of a large-scale round tube automatic internal spraying machine of the utility model;

[0031] Figure 4 The utility model discloses a control principle diagram of an automatic travel adjustment mechanism for a large-scale automatic internal spraying machine for round tubes.

[0032] Figure numbers: 4 is a bearing platform, 5 is a steering motor, 6 is a front wheel, 7 is a controller, 8 is an inclination sensor, 9 is a connecting seat, 10 is a steering rod, 11 is a connecting rod, 12 is a limit rod, 13 is a rotating shaft, 14 is a first reducer, 15 is a travel drive, 16 is a travel motor, 17 is a rear wheel, 18 is a connecting shaft, 19 is a second reducer, 20 is a first pulley, 21 is a second pulley, 22 is a third pulley, 23 is a first belt, 24 is a second belt, 25 is a vertical bearing seat, 26 is an acceleration sensor, and 27 is a steering drive. DETAILED DESCRIPTION

[0033] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments:

[0034] Example 1

[0035] like Figures 1 to 4 As shown, it includes a spraying vehicle, the spraying vehicle is provided with a main column lifting mechanism, the main column lifting mechanism is provided with a rotating mechanism, nozzles are provided at both ends of the rotating mechanism, and the nozzles are connected to a spraying device, characterized in that the spraying vehicle includes a carrying platform 4, a front walking part, a rear walking part and a detection mechanism;

[0036] The front walking part and the rear walking part are arranged below the carrying platform 4, the front walking part comprises a steering motor 5, a front wheel 6 and a connecting rod mechanism, and the steering motor 5 is connected to a controller 7;

[0037] The detection mechanism includes an inclination sensor 8 and an acceleration sensor 26 , and output ends of the inclination sensor 8 and the acceleration sensor 26 are connected to input ends of the controller 7 .

[0038] Preferably, the controller 7 includes a PLC main module and a communication module, the communication module 7 of the controller is connected to a steering driver 27 and a travel driver 15, the steering driver 27 is electrically connected to the steering motor 5, and the steering motor 5 is connected to a power supply through the steering driver 27 to form a loop;

[0039] The controller 7 communicates with the inclination sensor 8 and the acceleration sensor 26 via a serial port.

[0040] In this embodiment, the inclination sensor 8 uses the QG65-KD-090H module, and the acceleration sensor 26 uses the HDA436T-C2 / C3.

[0041] Preferably, the number of the front wheels 6 is two, and the two front wheels 6 are both provided with a connecting seat 9, the front wheels 6 are rotatably connected to the connecting seat 9, and the connecting seat 9 is a concave square plate;

[0042] The connecting rod mechanism includes a steering rod 10, a connecting rod 11 and a limiting rod 12. The steering rod 10 is hinged to the connecting rod 11. Both ends of the connecting rod 11 are respectively fixed to the connecting seat 9. The upper end of the connecting seat 9 is provided with a limiting rod 12. The limiting rod 12 is a long strip structure. The limiting rod 12 is fixed to the bearing platform 4. Circular through holes are opened at both ends of the limiting rod 12, and bearings are arranged in the circular through holes.

[0043] A rotating shaft 13 is fixedly provided on the upper end of the connecting seat 9, and the rotating shaft 13 is rotatably connected to the bearing.

[0044] Preferably, the steering motor 5 is provided with a first reducer 14 , the output shaft of the steering motor 5 is fixed to the first reducer 14 , the output end of the first reducer 14 is provided with a connecting plate, and the connecting plate is fixed to a side of the steering rod 10 away from the connecting rod 11 .

[0045] Preferably, the rear walking part includes a walking motor 16, a rear wheel 17 and a connecting shaft 18, the output shaft of the walking motor 16 is connected to a second reducer 19, and the second reducer 19 is connected to the rear wheel 17 through a driving mechanism;

[0046] The driving mechanism includes a first pulley 20, a second pulley 21, a third pulley 22, a first belt 23 and a second belt 24. The first pulley 20 is fixed to the annular surface of the connecting shaft 18, and the first pulley 20 is connected to the output end of the second reducer 19 through the first belt 23.

[0047] The second pulleys 21 are arranged at both ends of the connecting shaft 18, and the second pulley 21 is connected to the third pulley 22 through a second belt 24;

[0048] The third pulley 22 is fixed to the rear wheel 17 .

[0049] Preferably, a vertical bearing seat 25 is provided on the connecting shaft 18 , and the vertical bearing seat 25 is an inverted N-shaped structure. The middle part of the vertical bearing seat 25 is connected to the connecting shaft 18 through a bearing, and the plane of the vertical bearing seat 25 is fixed to the bearing platform 4 .

[0050] Preferably, the travel driver 15 is electrically connected to the travel motor 16 , and the travel motor 16 is connected to a power source through the travel driver 15 to form a loop.

[0051] During operation, the inclination sensor 8 and the acceleration sensor 26 send the horizontal parameters of the carrying platform 4 to the controller 7 in real time. When the carrying platform 4 tilts, it means that the spraying vehicle is deflected. If the spraying vehicle deviates to the left, the controller 7 controls the steering motor 5 to rotate clockwise at a specified speed. The steering motor 5 drives the steering rod 10 to deflect through the first reducer 14 and the connecting plate. Then the connecting rod 11 deviates to the right. Under the action of the limit rod 12, the connecting seat 9 turns right through the rotating shaft 13 and the bearing. Both front wheels 6 turn right to correct the deviation of the spraying vehicle. During the deviation correction process, the inclination sensor 8 and the acceleration sensor 26 send the horizontal parameters of the carrying platform 4 to the controller 7 in real time until the carrying platform 4 is horizontal.

[0052] If the spraying vehicle deviates to the right, the controller 7 controls the steering motor 5 to rotate counterclockwise at a specified speed, and the steering motor 5 drives the steering rod 10 to deflect through the first reducer 14 and the connecting plate, and then the connecting rod 11 deviates to the left, and under the action of the limit rod 12, the connecting seat 9 turns left through the rotating shaft 13 and the bearing, and the two front wheels 6 turn left to correct the deviation of the spraying vehicle. During the deviation correction process, the inclination sensor 8 and the acceleration sensor 26 send the horizontal parameters of the carrying platform 4 to the controller 7 in real time until the carrying platform 4 is horizontal.

[0053] At the same time, the controller 7 energizes the travel motor 16 through the travel driver 15, and the travel motor 16 drives the first belt 23 to rotate through the second reducer 19. The first belt 23 drives the connecting shaft 18 to rotate through the first pulley 20, and the second pulleys 21 at both ends of the connecting shaft 18 are driven. The second pulley 21 drives the third pulley 22 through the second belt 24 respectively, and the third pulley 22 drives the rear wheel 17 to rotate, and the spraying vehicle moves forward.

[0054] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made based on the structures, features and principles described in the patent scope of the present invention should be included in the patent application scope of the present invention.

Claims

1. A large-scale circular tube automatic internal spraying machine walking automatic adjustment mechanism, comprising a spraying vehicle, the spraying vehicle is provided with a main column lifting mechanism, the main column lifting mechanism is provided with a rotating mechanism, nozzles are provided at both ends of the rotating mechanism, and the nozzles are connected to the spraying equipment, characterized in that: The spraying vehicle comprises a carrying platform (4), a front walking part, a rear walking part and a detection mechanism; The front walking part and the rear walking part are arranged below the carrying platform (4); the front walking part comprises a steering motor (5), a front wheel (6) and a connecting rod mechanism; the steering motor (5) is connected to a controller (7); The detection mechanism comprises an inclination sensor (8) and an acceleration sensor (26), and the output ends of the inclination sensor (8) and the acceleration sensor (26) are connected to the input end of the controller (7).

2. According to claim 1, the automatic travel adjustment mechanism of a large-scale round tube automatic internal spraying machine is characterized in that: The controller (7) comprises a PLC main module and a communication module, the communication module of the controller (7) is connected to a steering driver (27) and a travel driver (15), the steering driver (27) is electrically connected to a steering motor (5), and the steering motor (5) is connected to a power supply via the steering driver (27) to form a loop; The controller (7) communicates with the inclination sensor (8) and the acceleration sensor (26) via a serial port.

3. The automatic travel adjustment mechanism of a large-scale round tube automatic internal spraying machine according to claim 1 is characterized in that: There are two front wheels (6), each of which is provided with a connecting seat (9), the front wheels (6) are rotatably connected to the connecting seat (9), and the connecting seat (9) is a concave square plate; The connecting rod mechanism comprises a steering rod (10), a connecting rod (11) and a limiting rod (12); the steering rod (10) is hinged to the connecting rod (11); both ends of the connecting rod (11) are respectively fixed to a connecting seat (9); a limiting rod (12) is arranged at the upper end of the connecting seat (9); the limiting rod (12) is a long strip structure; the limiting rod (12) is fixed to the bearing platform (4); circular through holes are provided at both ends of the limiting rod (12); bearings are arranged in the circular through holes; A rotating shaft (13) is fixedly disposed on the upper end of the connecting seat (9), and the rotating shaft (13) is rotatably connected to the bearing.

4. The automatic travel adjustment mechanism of a large-scale round tube automatic internal spraying machine according to claim 3 is characterized in that: The steering motor (5) is provided with a first reducer (14), the output shaft of the steering motor (5) is fixed to the first reducer (14), the output end of the first reducer (14) is provided with a connecting plate, and the connecting plate is fixed to a side of the steering rod (10) away from the connecting rod (11).

5. The automatic travel adjustment mechanism of a large-scale round tube automatic internal spraying machine according to claim 2 is characterized in that: The rear walking part comprises a walking motor (16), a rear wheel (17) and a connecting shaft (18); the output shaft of the walking motor (16) is connected to a second reducer (19); and the second reducer (19) is connected to the rear wheel (17) via a driving mechanism; The driving mechanism comprises a first pulley (20), a second pulley (21), a third pulley (22), a first belt (23) and a second belt (24); the first pulley (20) is fixed to the annular surface of the connecting shaft (18); the first pulley (20) is connected to the output end of the second reducer (19) through the first belt (23); Second pulleys (21) are provided at both ends of the connecting shaft (18), and the second pulley (21) is connected to the third pulley (22) through a second belt (24); The third pulley (22) is fixed to the rear wheel (17).

6. The automatic travel adjustment mechanism of a large-scale round tube automatic internal spraying machine according to claim 5 is characterized in that: A vertical bearing seat (25) is arranged on the connecting shaft (18). The vertical bearing seat (25) is an inverted N-shaped structure. The middle part of the vertical bearing seat (25) is connected to the connecting shaft (18) via a bearing, and the plane of the vertical bearing seat (25) is fixed to the bearing platform (4).

7. The automatic travel adjustment mechanism of a large-scale round tube automatic internal spraying machine according to claim 5 is characterized in that: The travel driver (15) is electrically connected to the travel motor (16), and the travel motor (16) is connected to a power source via the travel driver (15) to form a loop.

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