Pipe climbing walking mechanism for pipeline inner wall anti-corrosion surface treatment tool

Abstract

The utility model discloses a pipe climbing walking mechanism for a pipeline inner wall anti-corrosion surface treatment tool. The pipe climbing walking mechanism comprises a center shaft, a connecting assembly and a plurality of walking assemblies distributed in the circumferential direction of the center shaft. According to the pipe climbing walking mechanism, the supporting driving device is used for driving the connecting base to move, so that the supporting rod, the first pull rod, the second pull rod and the positioning piece are driven to move along with the connecting base, fixed pressure is formed between the driven wheel and the driving wheel and the inner wall of a pipeline, and friction force between the pipe climbing walking mechanism and the pipe wall is generated; sufficient pressure and friction force can be guaranteed by controlling the output pressure of the supporting driving device, when the pipe diameter of the pipeline slightly changes, the supporting driving device can be compressed, the distance between the center shaft and the inner wall of the pipeline changes, and the function that the pipe climbing walking mechanism adapts to the pipe diameter change is achieved. The pipe climbing walking mechanism is simple in structure, light in weight and capable of keeping the pipeline inner wall anti-corrosion surface treatment tool in the center relative to a pipeline.

Description

Technical Field

[0001] This utility model relates to the field of anti-corrosion construction in nuclear power plants, and in particular to a pipe climbing and walking mechanism for a tooling for anti-corrosion surface treatment of the inner wall of pipelines. Background Technology

[0002] Cooling water transport process pipelines draw water from pools, concrete culverts, etc., and typically use a pre-embedded section of flanged steel pipe as the interface with the process pipeline. This section of pipe often uses internal coatings or rubber linings for corrosion protection. As the service life increases, these internal corrosion protection measures gradually age and degrade, losing their anti-corrosion function and requiring re-corrosion treatment. For small-scale pipeline anti-corrosion surface treatment, power tool grinding is more convenient than processes such as sandblasting or ultra-high pressure water jetting. The conventional practice is to manually grind with a handheld grinder. This method can only be used for pipelines of a certain length. When the pipeline length increases further, accessibility remains impossible, and continuous manual operation is required, resulting in significant physical exertion, a poor working environment, and jeopardizing worker safety. Currently, there is a lack of a suitable walking mechanism for tooling suitable for anti-corrosion surface treatment of large pipelines. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a pipe climbing and walking mechanism for a tooling for anti-corrosion surface treatment of the inner wall of a pipe.

[0004] The technical solution adopted by this utility model to solve its technical problem is: to construct a pipe climbing and walking mechanism for a tooling for anti-corrosion surface treatment of the inner wall of a pipe, which includes a central shaft, a connecting component and a plurality of walking components distributed along the circumferential direction of the central shaft.

[0005] The connecting assembly includes a base, a connecting seat, and a top seat. The base and the top seat are separately and fixedly connected to both ends of the central shaft. The connecting seat is sleeved on the outside of the central shaft and movably connected to the central shaft.

[0006] Each of the aforementioned walking components includes a first tie rod, a second tie rod, a support rod, a positioning element, a support drive device, a crawling drive device, a drive wheel, and a driven wheel;

[0007] The two ends of the first pull rod are respectively hinged to the top of the top seat and the top of the positioning member. The two ends of the second pull rod are respectively hinged to the bottom of the base and the bottom of the positioning member. The two ends of the support rod are respectively hinged to the connecting seat and the first pull rod. The support drive device is mounted on the base, and the output end of the support drive device is connected to the connecting seat. The drive wheel and the driven wheel are respectively located at the two ends of the positioning member. The crawling drive device is mounted on the positioning member and is used to drive the drive wheel to move.

[0008] In some embodiments, the number of the walking components is three, and the three walking components are evenly distributed along the circumferential direction of the central axis.

[0009] In some embodiments, the positioning element includes two parallel connecting rods.

[0010] In some embodiments, the crawling drive includes a stepper motor, the output of which is connected to the drive wheel.

[0011] In some embodiments, the driving wheel and the driven wheel have the same diameter, and the diameter of both the driving wheel and the driven wheel is 30mm to 120mm.

[0012] In some embodiments, both the drive wheel and the driven wheel are provided with patterned portions.

[0013] In some embodiments, the drive wheel is located at the end of the positioning member closer to the support rod, and the driven wheel is located at the end of the positioning member away from the support rod.

[0014] In some embodiments, the support drive device is a pneumatic actuator, a hydraulic actuator, or an electric actuator.

[0015] In some embodiments, both the base and the top are welded to the central shaft.

[0016] In some embodiments, the connector includes two mating moving rings.

[0017] The present invention offers the following advantages: The pipe-climbing mechanism utilizes a support drive device to drive the connecting seat, thereby moving the support rod, first tie rod, second tie rod, and positioning component. This causes the driven wheel and drive wheel to contact the inner wall of the pipe, creating a fixed pressure between them and generating friction between the pipe-climbing mechanism and the pipe wall. Sufficient pressure and friction can be ensured by controlling the output pressure of the support drive device. When the pipe diameter changes slightly, the support drive device is compressed, causing a change in the distance between the central axis and the inner wall of the pipe, thus enabling the pipe-climbing mechanism to adapt to changes in pipe diameter. Furthermore, the control system of the pipe-climbing mechanism can control the crawling drive device to drive the drive wheel, allowing the entire mechanism to move along the axial direction of the pipe. This pipe-climbing walking mechanism has a simple structure and is lightweight. It can keep the tooling used for anti-corrosion surface treatment of the inner wall of the pipe centered relative to the pipe. With the support drive device's stroke range and the size of the support rod, first tie rod, and second tie rod being changed simultaneously, it can crawl within the pipe from 300mm to 900mm. After setting the feed speed and distance, it can automatically move back and forth on the inner wall of the pipe at the set speed. Attached Figure Description

[0018] To more clearly illustrate the technical solution of this utility model, the present utility model will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of this utility model and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:

[0019] Figure 1 This is a schematic diagram of the overall structure of a tooling for anti-corrosion surface treatment of the inner wall of a pipe, according to some embodiments of this utility model.

[0020] Figure 2 This is a schematic diagram of the overall structure of the pipe climbing and walking mechanism of the tooling for anti-corrosion surface treatment of the inner wall of the pipe in some embodiments of this utility model.

[0021] Figure 3 This is a partial structural schematic diagram of the pipe-climbing walking mechanism of the tooling used for anti-corrosion surface treatment of the inner wall of a pipe in some embodiments of this utility model. Detailed Implementation

[0022] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or component referred to must have a specific orientation; therefore, they should not be construed as limitations on this utility model.

[0023] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0024] Please see Figures 1 to 3 This invention relates to a pipe-climbing mechanism for a pipe inner wall anti-corrosion surface treatment tool, as described in some embodiments of the present invention. The mechanism includes a central shaft 1, a connecting assembly 2, and multiple walking components 3 distributed along the circumference of the central shaft 1. The connecting assembly 2 includes a base 21, a connecting seat 22, and a top seat 23. The base 21 and top seat 23 are separately and fixedly connected to both ends of the central shaft 1. The connecting seat 22 is sleeved on the outside of the central shaft 1 and movably connected to it. Each walking component 3 includes a first pull rod 31, a second pull rod 32, a support rod 33, a positioning member 34, a support drive device 35, a crawling drive device 36, a drive wheel 37, and a driven wheel 38. The two ends of the first pull rod 31 are respectively hinged to the top of the top seat 23 and the top of the positioning member 34. The two ends of the second pull rod 32 are respectively hinged to the bottom of the base 21 and the bottom of the positioning member 34. The two ends of the support rod 33 are respectively hinged to the connecting seat 22 and the first pull rod 31. The support drive device 35 is mounted on the base 21, and the output end of the support drive device 35 is connected to the connecting seat 22. The drive wheel 37 and the driven wheel 38 are respectively located at the two ends of the positioning member 34. The crawling drive device 36 is mounted on the positioning member 34 and is used to drive the drive wheel 37 to move.

[0025] Understandably, cooling water transport process pipelines draw water from pools, concrete culverts, etc., and typically use a pre-embedded section of flanged steel pipe as the interface with the process pipeline. This section of pipe often uses coatings or rubber linings for internal corrosion protection. As the service life increases, these internal corrosion protection measures gradually age and degrade, losing their anti-corrosion function and requiring re-corrosion treatment. Replacing pre-embedded pipes is technically difficult and costly. On-site surface treatment of the original pipe's inner wall to remove the original anti-corrosion layer and reapply a new one is more cost-effective. However, surface treatment of the original pipe's inner wall is the most difficult part of on-site corrosion protection and a significant factor affecting the quality of corrosion protection. To achieve on-site surface treatment of the pipe's inner wall, the conventional method is manual grinding with a handheld grinder. For pipes with smaller diameters, extended grinders or extension poles are used to lengthen ordinary grinders. This method has poor operational flexibility, requires continuous manual operation, is physically demanding, has a poor working environment, and poses a safety risk to workers.

[0026] In this embodiment, the pipe-climbing mechanism is specifically applied to the anti-corrosion surface treatment fixture for the inner wall of large-diameter pipes, with pipe specifications ranging from DN300 to DN900. It utilizes a support drive device 35 to drive the connecting seat 22, thereby causing the support rod 33, first tie rod 31, second tie rod 32, and positioning element 34 to move accordingly. This allows the driven wheel 38 and drive wheel 37 to fit against the inner wall of the pipe, creating a fixed pressure between them and generating friction between the pipe-climbing mechanism and the pipe wall. Sufficient pressure and friction can be ensured by controlling the output pressure of the support drive device 35. When the pipe diameter changes slightly, the support drive device 35 is compressed, causing a change in the distance between the central axis 1 and the inner wall of the pipe, thus enabling the pipe-climbing mechanism to adapt to changes in pipe diameter. Furthermore, the control system of this pipe-climbing mechanism can control the crawling drive device 36 to drive the drive wheel 37, allowing the entire pipe-climbing mechanism to move along the axial direction of the pipe. This pipe-climbing walking mechanism has a simple structure and is lightweight. It can keep the tooling used for anti-corrosion surface treatment of the inner wall of the pipe centered relative to the pipe. With the support drive device 35's stroke range and the size coordination of the support rod 33, the first tie rod 31, and the second tie rod 32, it can crawl in the pipe from 300mm to 900mm. After setting the feed speed and distance, it can automatically move back and forth on the inner wall of the pipe at the set speed.

[0027] In this embodiment, there are three walking components 3, which are evenly distributed along the circumference of the central axis 1. The three walking components 3 are distributed at an angle of 120°, and the design of three walking components 3 achieves an adaptive centering function. In other embodiments, the number of walking components 3 can be adjusted according to the actual situation.

[0028] The first pull rod 31 and the second pull rod 32 can be arranged parallel to each other, and both have the same length. The first pull rod 31 and the second pull rod 32 always remain parallel, thereby ensuring that the positioning component 34 is always parallel to the central axis 1. The first pull rod 31 and the second pull rod 32 can also be connected to the positioning component 34 via bearings. In some other embodiments, the first pull rod 31 may be less than 10 mm shorter than the second pull rod 32 to compensate for assembly gaps.

[0029] In this embodiment, both the base 21 and the top seat 23 are welded to the central shaft 1. In some other embodiments, the base 21 and the top seat 23 may also be connected to the central shaft 1 by bolts.

[0030] Furthermore, the drive wheel 37 and the driven wheel 38 have the same diameter, both ranging from 30mm to 120mm. Both the drive wheel 37 and the driven wheel 38 are provided with textured sections to increase the friction between them and the inner wall of the pipe. Preferably, the drive wheel 37 and the driven wheel 38 are made of polyurethane, which has many advantages, including excellent mechanical properties, wear resistance, chemical resistance, and a wide range of applications. Polyurethane material has high wear resistance, low rolling resistance, and good shock absorption performance, effectively reducing noise and vibration, and ensuring that the pipe-climbing mechanism moves stably on the inner wall of the pipe.

[0031] The crawling drive device 36 includes a stepper motor, the output of which is connected to a drive wheel 37. Three drive wheels 37 are connected to three stepper motors, which receive the same control signal and move synchronously. In this embodiment, the drive wheel 37 is located at the end of the positioning member 34 near the support rod 33, and the driven wheel 38 is located at the end of the positioning member 34 away from the support rod 33. The stepper motor is a type of electric motor that converts electrical pulse signals into corresponding angular or linear displacements. For each input pulse signal, the rotor of the stepper motor rotates by an angle or moves forward one step. The output angular or linear displacement is proportional to the number of input pulses, and the rotational speed is proportional to the pulse frequency. The stepper motor operates based on electromagnetic principles, converting electrical energy into mechanical energy. Its basic structure includes a stator and a rotor, generating electromagnetic torque through the principle of electromagnetism to achieve rotational or linear motion. It enables precise positioning and speed regulation, ensuring that the pipe-climbing mechanism can move stably on the inner wall of the pipe.

[0032] Additionally, the positioning component 34 includes two parallel connecting rods 341. The first pull rod 31, the second pull rod 32, the drive wheel 37, and the driven wheel 38 are all installed between the two connecting rods 341, with the drive wheel 37 and the driven wheel 38 located at opposite ends of the connecting rods 341. The support drive device 35 is a pneumatic actuator, a hydraulic actuator, or an electric actuator. In this embodiment, the support drive device 35 is preferably a pneumatic actuator, with three pneumatic actuators evenly distributed along the central axis 1.

[0033] Preferably, the central shaft 1, base 21, connecting seat 22, top seat 23, first pull rod 31, second pull rod 32, and connecting rod 341 are all made of stainless steel. Stainless steel has good corrosion resistance and can resist the erosion of chemicals such as oxidation, acid, and alkali. It has high strength and can be used to manufacture various structures and parts. It also has good plasticity and weldability, making it easy to process and deform, and can manufacture products of various shapes and sizes.

[0034] The connecting seat 22 includes two mating rotating ring components. When installation is required, the two rotating ring components can be connected by fasteners and then fitted onto the outside of the central shaft 1. The connecting seat 22 moves axially along the central shaft 1 during the movement of the support drive device 35. The top seat 23 can be used to connect with the tooling body of the pipe inner wall anti-corrosion surface treatment fixture. The central part of the central shaft 1 is a hollow tube, and the tooling body of the pipe inner wall anti-corrosion surface treatment fixture can be the rotating mechanism of the pipe inner wall anti-corrosion surface treatment fixture.

[0035] It is understood that the above embodiments only illustrate preferred embodiments of the present utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present utility model patent. It should be noted that for those skilled in the art, the above technical features can be freely combined, and several modifications and improvements can be made without departing from the concept of the present utility model, all of which fall within the protection scope of the present utility model. Therefore, all equivalent transformations and modifications made within the scope of the claims of the present utility model should fall within the coverage of the claims of the present utility model.

Claims

1. A pipe-climbing walking mechanism for a tooling used for anti-corrosion surface treatment of the inner wall of a pipeline, characterized in that, It includes a central axis (1), a connecting component (2), and a plurality of walking components (3) distributed along the circumferential direction of the central axis (1); The connecting assembly (2) includes a base (21), a connecting seat (22), and a top seat (23). The base (21) and the top seat (23) are separately and fixedly connected to both ends of the central shaft (1). The connecting seat (22) is sleeved on the outside of the central shaft (1) and movably connected to the central shaft (1). Each of the walking components (3) includes a first pull rod (31), a second pull rod (32), a support rod (33), a positioning element (34), a support drive device (35), a crawling drive device (36), a drive wheel (37), and a driven wheel (38); The two ends of the first pull rod (31) are respectively hinged to the top of the top seat (23) and the top of the positioning member (34). The two ends of the second pull rod (32) are respectively hinged to the bottom of the base (21) and the bottom of the positioning member (34). The two ends of the support rod (33) are respectively hinged to the connecting seat (22) and the first pull rod (31). The support drive device (35) is installed on the base (21), and the output end of the support drive device (35) is connected to the connecting seat (22). The drive wheel (37) and the driven wheel (38) are respectively separated at both ends of the positioning member (34). The crawling drive device (36) is installed on the positioning member (34) and is used to drive the drive wheel (37) to move.

2. The pipe-climbing walking mechanism for the pipe inner wall anti-corrosion surface treatment fixture according to claim 1, characterized in that, The number of the walking components (3) is three, and the three walking components (3) are evenly distributed along the circumferential direction of the central axis (1).

3. The pipe-climbing walking mechanism for the pipe inner wall anti-corrosion surface treatment fixture according to claim 1, characterized in that, The positioning element (34) includes two parallel connecting rods (341).

4. The pipe-climbing mechanism for the pipe inner wall anti-corrosion surface treatment fixture according to claim 1, characterized in that, The crawling drive device (36) includes a stepper motor, the output end of which is connected to the drive wheel (37).

5. The pipe-climbing walking mechanism for the pipe inner wall anti-corrosion surface treatment fixture according to claim 1, characterized in that, The diameter of the drive wheel (37) and the driven wheel (38) is the same, and the diameter of both the drive wheel (37) and the driven wheel (38) is 30mm to 120mm.

6. The pipe-climbing walking mechanism for the pipe inner wall anti-corrosion surface treatment fixture according to claim 1, characterized in that, Both the drive wheel (37) and the driven wheel (38) are provided with patterned portions.

7. The pipe-climbing walking mechanism for the pipe inner wall anti-corrosion surface treatment fixture according to claim 1, characterized in that, The drive wheel (37) is located at the end of the positioning member (34) near the support rod (33), and the driven wheel (38) is located at the end of the positioning member (34) away from the support rod (33).

8. The pipe-climbing walking mechanism for the pipe inner wall anti-corrosion surface treatment fixture according to claim 1, characterized in that, The support drive device (35) is a pneumatic drive, a hydraulic drive, or an electric drive.

9. The pipe-climbing mechanism for the pipe inner wall anti-corrosion surface treatment fixture according to claim 1, characterized in that, The base (21) and the top seat (23) are both welded to the central shaft (1).

10. The pipe-climbing walking mechanism for the pipe inner wall anti-corrosion surface treatment fixture according to claim 1, characterized in that, The connecting seat (22) includes two mating moving rings.

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