Self-adaptive pipe climbing mechanism for pipeline inner wall anti-corrosion surface treatment tool

Abstract

The utility model discloses a self-adaptive pipe climbing mechanism for a pipeline inner wall anti-corrosion surface treatment tool, which comprises a central shaft and a plurality of climbing support components distributed along the circumferential direction of the central shaft, each crawling supporting assembly comprises a first pull rod, a second pull rod, a positioning piece, a driving wheel, a driven wheel, a crawling driving device, a supporting driving device and a reset device. According to the self-adaptive pipe climbing mechanism, the supporting driving device is used for driving the positioning piece to move, so that the driven wheel and the driving wheel are attached to the inner wall of the pipeline, and the function that the self-adaptive pipe climbing mechanism adapts to pipe diameter changes is achieved. Meanwhile, the self-adaptive pipe climbing mechanism can automatically contract under the action of the reset device, the driving wheels can be driven to move through the climbing driving device, the self-adaptive pipe climbing mechanism is simple in structure and light in weight, the pipeline inner wall anti-corrosion surface treatment tool can be kept in the center relative to a pipeline, and the service life of the tool is prolonged. The device can automatically move back and forth on the inner wall of the pipeline according to a set speed.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of nuclear power plant anticorrosion construction, especially to a self-adaptive pipe climbing mechanism for pipeline inner wall anticorrosion surface treatment frock. BACKGROUND

[0002] In the nuclear power plant cooling water delivery pipeline, coating, rubber lining and other measures are often used as internal anticorrosion measures. With the extension of service life, the internal anticorrosion measures will gradually age and degrade, losing the anticorrosion function, and need to be treated again. The current conventional method is to manually hold a grinder to polish. For small-diameter pipes, a lengthened grinder or a lengthened rod is used to lengthen the ordinary grinder for polishing. This method is not efficient, can only polish a certain length of pipe, requires continuous manual operation, consumes a lot of physical strength, has a poor working environment, and cannot guarantee the safety of the operator. There is currently a lack of a walking frock mechanism suitable for use in the nuclear power plant cooling water delivery pipeline. SUMMARY

[0003] The technical problem to be solved by the utility model is to provide a self-adaptive pipe climbing mechanism for pipeline inner wall anticorrosion surface treatment frock.

[0004] The utility model adopts the technical scheme that a self-adaptive pipe climbing mechanism for pipeline inner wall anticorrosion surface treatment frock is constructed, which comprises a central shaft and a plurality of crawling support assemblies distributed in the circumferential direction of the central shaft.

[0005] Each crawling support assembly comprises a first pull rod, a second pull rod, a positioning member, a driving wheel, a driven wheel, a crawling driving device, a support driving device, and a reset device.

[0006] The first pull rod and the second pull rod are arranged in parallel, and both are hinged to the central shaft. The end of the first pull rod away from the central shaft is hinged to the positioning member, and the end of the second pull rod away from the central shaft is hinged to the positioning member.

[0007] The driving wheel and the driven wheel are arranged separately at both ends of the positioning member. The crawling driving device is installed on the positioning member and is used to drive the driving wheel to move.

[0008] The support driving device is installed on the central shaft and is used to drive the positioning member to move, so that the driven wheel and the driving wheel are in close contact with the inner wall of the pipe.

[0009] The two ends of the reset device are connected to the central shaft and the first pull rod, respectively, to provide an elastic force that can automatically contract for the positioning member.

[0010] In some embodiments, the number of the crawling support assemblies is three, and the three crawling support assemblies are evenly distributed along the circumferential direction of the central shaft.

[0011] In some embodiments, the positioning member comprises two parallel connecting rods and a connecting piece connected to the two connecting rods, and a guide groove is formed in the connecting piece.

[0012] In some embodiments, the support driving device comprises a support driver mounted on the central shaft, a support member connected to the output end of the support driver, and a pulley connected to one end of the support member, and the pulley is arranged corresponding to the guide groove.

[0013] In some embodiments, the diameter of the driving wheel and the driven wheel is consistent, and the diameter of the driving wheel and the driven wheel is 25mm to 80mm.

[0014] In some embodiments, the driving wheel and the driven wheel are provided with a pattern part.

[0015] In some embodiments, the reset device comprises a reset mounting seat mounted on the central shaft and an elastic member, and the two ends of the elastic member are connected to the reset mounting seat and the first pull rod, respectively.

[0016] In some embodiments, the crawling driving device comprises a stepping motor and a speed reducer, and the output end of the stepping motor is connected to the driving wheel.

[0017] In some embodiments, the reset device, the first pull rod, the support driving device, and the second pull rod are sequentially arranged along the axial direction of the central shaft.

[0018] In some embodiments, the self-adaptive pipe crawling mechanism further comprises a connecting body connected to the end of the central shaft and used for connecting with the tool body of the anticorrosion surface treatment tool in the pipe wall.

[0019] The self-adaptive pipe climbing mechanism has the following beneficial effects: the self-adaptive pipe climbing mechanism is specifically applied to the anticorrosion surface treatment tool for the inner wall of a small-diameter pipeline, the supporting driving device is used to drive the positioning member to move, so that the driven wheel and the driving wheel are attached to the inner wall of the pipeline, a fixed pressure is formed between the driven wheel and the driving wheel and the inner wall of the pipeline, the friction between the self-adaptive pipe climbing mechanism and the pipe wall is generated, the output pressure of the supporting driving device can be controlled to ensure sufficient pressure and friction, when the pipe diameter changes slightly, the supporting driving device is compressed, the distance between the central shaft and the inner wall of the pipeline changes, and the function of the self-adaptive pipe climbing mechanism adapting to the change of the pipe diameter is realized. Meanwhile, in the case of power loss in the extreme working condition, the output pressure of the supporting driving device can be closed, and the self-adaptive pipe climbing mechanism can be automatically retracted under the action of the reset device, so that the self-adaptive pipe climbing mechanism is manually pulled out of the pipeline for maintenance. In addition, the control system of the self-adaptive pipe climbing mechanism can control the crawling driving device to drive the driving wheel to move, so that the self-adaptive pipe climbing mechanism can move in the axial direction of the pipeline. The self-adaptive pipe climbing mechanism has simple structure and light weight, can keep the anticorrosion surface treatment tool for the inner wall of the pipeline in the center relative to the pipeline, and can realize the crawling in the pipeline with a diameter of 150mm to 300mm under the cooperation of the stroke range of the supporting driving device and the size of the supporting member. The feed speed and distance are set, and the self-adaptive pipe climbing mechanism can move back and forth on the inner wall of the pipeline at the set speed. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical scheme of the present application, the present application will be further described below in conjunction with the drawings and embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0021] Figure 1 is a schematic diagram of the overall structure of a self-adaptive pipe climbing mechanism for a pipeline inner wall anticorrosion surface treatment tool in some embodiments of the present application;

[0022] Figure 2 is a schematic diagram of the internal structure of a self-adaptive pipe climbing mechanism for a pipeline inner wall anticorrosion surface treatment tool in some embodiments of the present application;

[0023] Figure 3 is a schematic diagram of the internal structure of a self-adaptive pipe climbing mechanism for a pipeline inner wall anticorrosion surface treatment tool in some embodiments of the present application;

[0024] Figure 4 is a schematic diagram of the structure of a supporting driver and a positioning member in some embodiments of the present application;

[0025] Figure 5It is a whole structure schematic view of a pipeline inner wall anticorrosion surface treatment tool in some embodiments of the utility model. DETAILED DESCRIPTION

[0026] In order to have a clearer understanding of the technical features, objects and effects of the utility model, the specific implementation manners of the utility model will be described in detail with reference to the drawings. In the following description, it should be understood that the directions or position relations indicated by "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and the like are based on the directions or position relations shown in the drawings, the specific directions are constructed and operated, and are only for the convenience of describing the technical scheme, and do not indicate that the indicated device or element must have a specific direction, so it cannot be understood as a limitation on the utility model.

[0027] It should be further pointed out that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing", "setting" and the like should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium, or can be the communication or interaction relationship between two elements. When an element is referred to as "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or one or more intermediate elements can exist. The terms "first", "second", "third" and the like are only for the convenience of describing the technical scheme, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features, therefore, the features with "first", "second", "third" and the like can explicitly or implicitly include one or more features. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0028] Please refer to Figures 1 to 5The utility model provides a kind of self-adapting pipe climbing mechanism for pipeline inner wall anticorrosion surface treatment frock in some embodiments of the utility model, it includes central shaft 1 and the multiple crawling support components 2 distributed along the circumferential direction of central shaft 1.It is each crawling support component 2 including first pull rod 21, second pull rod 22, positioning member 23, driving wheel 24, driven wheel 25, crawling drive device 26, support drive device 27 and reset device 28, first pull rod 21 is arranged in parallel with second pull rod 22, and first pull rod 21 and second pull rod 22 are hinged to central shaft 1, the end of first pull rod 21 away from central shaft 1 is hinged to positioning member 23, the end of second pull rod 22 away from central shaft 1 is hinged to positioning member 23, driving wheel 24 and driven wheel 25 are separately provided at the two ends of positioning member 23, crawling drive device 26 is installed on positioning member 23 and is used to drive driving wheel 24 to move, support drive device 27 is installed on central shaft 1 and is used to drive positioning member 23 to move, so that driven wheel 25 and driving wheel 24 are attached to pipeline inner wall, the two ends of reset device 28 are connected to central shaft 1 and first pull rod 21 respectively, to provide an elastic force that can be automatically retracted for positioning member 23.

[0029] It can be understood that the cooling water delivery process pipeline takes a section of steel pipe with flange as the interface with the process pipeline from water pool, concrete culvert and the like, and the section of pipeline usually uses coating and rubber lining inside as anticorrosion measures. With the extension of service life, the internal anticorrosion measures will gradually age and degrade to lose the anticorrosion function, and need to be treated again. The replacement of the embedded pipeline has great technical difficulty and high cost. It is more cost-effective to remove the original anticorrosion layer on the inner wall of the original pipeline and re-apply the anticorrosion layer. Surface treatment of the inner wall of the original pipeline is the most difficult part of on-site anticorrosion treatment and an important factor affecting the anticorrosion quality, especially for small-diameter pipelines, personnel cannot enter the pipeline for surface treatment. To realize the surface treatment of the inner wall of the pipeline on site, the conventional method is to manually hold a grinder for grinding. For small-diameter pipelines, a lengthened grinder or a lengthened rod is used to lengthen the ordinary grinder for grinding. The flexibility of operation is poor, manual operation is required, physical consumption is huge, the working environment is poor, and the safety of workers cannot be guaranteed.

[0030] In the embodiment, the adaptive pipe climbing mechanism is applied to a small-diameter pipe inner wall anticorrosion surface treatment tool. The positioning member 23 is driven by the support driving device 27 to move, so that the driven wheel 25 and the driving wheel 24 are attached to the pipe inner wall, and a fixed pressure is formed between the driven wheel 25 and the driving wheel 24 and the pipe inner wall, so that a friction force between the adaptive pipe climbing mechanism and the pipe wall is generated. The output pressure of the support driving device 27 is controlled to ensure sufficient pressure and friction force. When the pipe diameter changes slightly, the support driving device 27 is compressed, the distance between the center shaft 1 and the pipe inner wall changes, and the adaptive pipe climbing mechanism can adapt to the change of the pipe diameter. In the case of power loss in the extreme working condition, the output pressure of the support driving device 27 can be closed, and the adaptive pipe climbing mechanism can be automatically retracted under the action of the reset device 28, so that the adaptive pipe climbing mechanism can be manually pulled out of the pipe for maintenance. The control system of the adaptive pipe climbing mechanism can control the crawling driving device 26 to drive the driving wheel 24 to move, so that the adaptive pipe climbing mechanism can move in the axial direction of the pipe. The adaptive pipe climbing mechanism has simple structure and light weight, and can keep the pipe inner wall anticorrosion surface treatment tool centered relative to the pipe. Within the stroke range of the support driving device 27 and the size of the support member 272, the adaptive pipe climbing mechanism can climb in the pipe with a diameter of 150mm to 300mm. By setting the feed speed and distance, the adaptive pipe climbing mechanism can move automatically on the pipe inner wall at the set speed.

[0031] As shown in Figure 1 The center shaft 1 has a hollow tube structure, which can make the adaptive pipe climbing mechanism more portable. The tool body of the pipe inner wall anticorrosion surface treatment tool can be a rotating mechanism of the pipe inner wall anticorrosion surface treatment tool. In the embodiment, the center shaft 1 is provided with a plurality of connection points for connecting with other components. The reset device 28, the first pull rod 21, the support driving device 27 and the second pull rod 22 are sequentially arranged in the axial direction of the center shaft 1. More specifically, the lower end of the center shaft 1 is provided with a first connection point for hinging with the second pull rod 22, the middle part of the center shaft 1 is provided with a second connection point for hinging with the first pull rod 21, the upper part of the center shaft 1 is provided with a third connection point for connecting with the reset device 28, and the support driving device 27 is arranged between the first connection point and the second connection point.

[0032] In addition, the first pull rod 21 and the second pull rod 22 have the same length, and the first pull rod 21 and the second pull rod 22 always maintain a parallel state, so that the positioning member 23 always maintains a parallel state with the center shaft 1.

[0033] In the embodiment, the number of the crawling support assemblies 2 is three, and the three crawling support assemblies 2 are evenly distributed along the circumferential direction of the central shaft 1. The three crawling support assemblies 2 are distributed at an angle of 120°, and the self-adaptive centering function is realized through the design of the three crawling support assemblies 2. In other embodiments, the number of the crawling support assemblies 2 can be adjusted according to actual conditions.

[0034] As shown in Figures 2 to 4 The positioning member 23 includes two parallel connection rods 231 and a connecting member 232 connected to the two connection rods 231, and a guide groove 2321 is formed in the connecting member 232. The support driving device 27 includes a support driver 271 mounted on the central shaft 1, a support member 272 connected to the output end of the support driver 271, and a pulley 273 connected to one end of the support member 272, which is correspondingly arranged with the guide groove 2321. The guide groove 2321 is specifically arranged at the middle position of the connecting member 232, and is arranged along the length direction of the connecting member 232. The width of the guide groove 2321 matches the width of the pulley 273, and the support member 272 can be threadedly connected to the output end of the support driver 271. More specifically, the support member 272, the driving wheel 24, and the driven wheel 25 are all mounted between the two connection rods 231, and the driving wheel 24 and the driven wheel 25 are separately arranged at the two ends of the connection rod 231. The support driver 271 is preferably a pneumatic cylinder, and in other embodiments, the support driver 271 can be a hydraulic driver or an electric driver, which can be selected according to actual conditions. The three pneumatic cylinders are evenly distributed along the central shaft 1.

[0035] Preferably, the driven wheel 25 and the driving wheel 24 are made of polyurethane material, which has many advantages, including excellent mechanical properties, wear resistance, chemical resistance, and wide application fields. Polyurethane material has high wear resistance, low rolling resistance, and good damping performance, which can effectively reduce noise and vibration, and ensure that the self-adaptive pipe climbing mechanism moves stably on the inner wall of the pipe.

[0036] Preferably, the central shaft 1, the first pull rod 21, the second pull rod 22, the connection rod 231, and the connecting member 232 are all made of stainless steel material, which has good corrosion resistance, can resist the corrosion of oxidizing, acid, alkali and other chemical substances, has high strength, can be used to manufacture various structures and components, has good plasticity and weldability, is easy to process and deform, and can be manufactured into products of various shapes and sizes.

[0037] In the embodiment, the driven wheel 25 is located on the side close to the connecting body 3, the driving wheel 24 is located on the side away from the connecting body 3, and the crawling driving device 26 is also located on the side away from the connecting body 3, so as to avoid the interference between the crawling driving device 26 and the tool body of the anticorrosion surface treatment tool of the pipeline. In addition, the pulley 273 is arranged in correspondence with the guide groove 2321, when the support driver 271 moves, the pulley 273 abuts on the guide groove 2321, and there is a relative displacement between the end of the support 272 and the connecting rod 231, and the friction is reduced by arranging the pulley 273.

[0038] Further, the diameters of the driving wheel 24 and the driven wheel 25 are consistent, and the diameters of the driving wheel 24 and the driven wheel 25 are 25mm to 80mm. The driving wheel 24 and the driven wheel 25 are both provided with pattern parts, so as to increase the friction between the driving wheel 24 and the driven wheel 25 and the inner wall of the pipeline.

[0039] The reset device 28 comprises a reset mounting seat 281 mounted on the central shaft 1 and an elastic member 282, and the two ends of the elastic member 282 are connected to the reset mounting seat 281 and the first pull rod 21 respectively. When the support driver 271 loses the output pressure, the elastic force provided by the elastic member 282 can realize the automatic contraction of the positioning member 23. The elastic member 282 is preferably a spring, and the spring can be a tension spring. The tension spring is a spiral spring bearing axial tension, and is generally made of circular cross-section material. When no load is borne, the turns of the tension spring are generally tight without gap.

[0040] The crawling driving device 26 comprises a stepping motor 261 and a speed reducer 262, and the output end of the stepping motor 261 is connected to the driving wheel 24. The three driving wheels 24 are connected to three stepping motors 261 respectively, the three stepping motors 261 receive the same control signal and move synchronously. The stepping motor 261 is a motor that converts an electric pulse signal into a corresponding angular displacement or linear displacement. Every input of a pulse signal, the rotor of the stepping motor 261 rotates an angle or moves forward by one step, and the output angular displacement or linear displacement is proportional to the input pulse number, and the rotation speed is proportional to the pulse frequency. The working principle of the stepping motor 261 is based on electromagnetism, and works by converting electric energy into mechanical energy. The basic structure comprises a stator and a rotor, and the electromagnetic torque is generated through the principle of electromagnet, so as to realize the rotary or linear motion, and the precise positioning and speed regulation are realized, so as to ensure that the self-adaptive pipe climbing mechanism can stably move on the inner wall of the pipeline.

[0041] It can be understood that the above embodiments only express the preferred embodiments of the utility model, the description is more specific and detailed, but it can not be understood as the limitation of the utility model patent scope; it should be pointed out that for ordinary skilled person in the art, the above technical features can be freely combined without departing from the concept of the utility model, and a number of modifications and improvements can be made, which belong to the protection scope of the utility model; therefore, any equivalent transformation and modification within the scope of the utility model patent claim should belong to the scope of the utility model patent claim.

Claims

1. A self-adapting pipe climbing mechanism for a pipe inner wall anticorrosion surface treatment tool, characterized in that, The application relates to a pipeline climbing support assembly. Each of the pipeline climbing support assemblies (2) comprises a first pull rod (21), a second pull rod (22), a positioning member (23), a driving wheel (24), a driven wheel (25), a pipeline climbing driving device (26), a support driving device (27) and a reset device (28). The first pull rod (21) and the second pull rod (22) are arranged in parallel and are both hinged to the central shaft (1), one end of the first pull rod (21) away from the central shaft (1) is hinged to the positioning member (23), and one end of the second pull rod (22) away from the central shaft (1) is hinged to the positioning member (23). The driving wheel (24) and the driven wheel (25) are arranged at two ends of the positioning member (23) respectively, the pipeline climbing driving device (26) is installed on the positioning member (23) and is used for driving the driving wheel (24) to move. The support driving device (27) is installed on the central shaft (1) and is used for driving the positioning member (23) to move, so that the driven wheel (25) and the driving wheel (24) are attached to the inner wall of the pipeline. The reset device (28) is connected to the central shaft (1) and the first pull rod (21) respectively, and provides an elastic force for the positioning member (23).

2. The self-adapting pipe climbing mechanism for the anticorrosive surface treatment tool of the inner wall of a pipeline according to claim 1, characterized in that, The number of the pipeline climbing support assemblies (2) is three, and the three pipeline climbing support assemblies (2) are evenly distributed along the circumferential direction of the central shaft (1).

3. The self-adapting pipe climbing mechanism for the anticorrosive surface treatment tool of the inner wall of a pipe according to claim 1, characterized in that, The positioning member (23) comprises two connecting rods (231) arranged in parallel and a connecting member (232) connected to the two connecting rods (231), and a guide groove (2321) is formed in the connecting member (232).

4. The self-adapting pipe climbing mechanism for the anticorrosive surface treatment tool of the inner wall of a pipe according to claim 3, characterized in that, The support driving device (27) comprises a support driver (271) installed on the central shaft (1), a support member (272) connected to the output end of the support driver (271) and a pulley (273) connected to one end of the support member (272), and the pulley (273) is arranged correspondingly to the guide groove (2321).

5. The self adaptive pipe crawling mechanism for in-wall anticorrosion surface treatment of pipelines according to claim 1, characterized in that, The diameters of the driving wheel (24) and the driven wheel (25) are consistent, and the diameters of the driving wheel (24) and the driven wheel (25) are 25mm to 80mm.

6. The self adaptive pipe crawling mechanism for in-wall anticorrosion surface treatment of pipelines according to claim 5, characterized in that, The driving wheel (24) and the driven wheel (25) are both provided with pattern parts.

7. The self adaptive pipe crawling mechanism for in-wall anticorrosion surface treatment of pipelines according to claim 1, characterized in that, The reset device (28) comprises a reset mounting base (281) installed on the central shaft (1) and an elastic member (282), and two ends of the elastic member (282) are connected to the reset mounting base (281) and the first pull rod (21) respectively.

8. The self adaptive pipe crawling mechanism for in-wall anticorrosion surface treatment of pipelines according to claim 1, characterized in that, The pipeline climbing driving device (26) comprises a stepping motor (261) and a speed reducer (262), and the output end of the stepping motor (261) is connected to the driving wheel (24).

9. The self adaptive pipe crawling mechanism for in-wall anticorrosion surface treatment of pipelines according to claim 1, characterized in that, The reset device (28), the first pull rod (21), the support driving device (27) and the second pull rod (22) are sequentially arranged along the axial direction of the center shaft (1).

10. The self adaptive pipe crawling mechanism for in-wall anticorrosion surface treatment of pipelines according to claim 1, characterized in that, The adaptive pipe climbing mechanism further comprises a connecting body (3) connected to the end of the center shaft (1) and used for connecting with a tool body of the anticorrosion surface treatment tool of the inner wall of the pipe.

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