Traveling wheel synchronous winding and unwinding mechanism and pipeline aligning device

Abstract

The utility model provides a walking wheel synchronous winding and unwinding mechanism and a pipeline aligning device. The walking wheel synchronous winding and unwinding mechanism comprises a base body, a driving mechanism and a driving mechanism, the driving unit is arranged at the central position of the base body; the multiple walking wheel assemblies are distributed in the center of the base body in the circumferential direction in an array mode. The transmission assembly comprises multiple sets of rigid transmission elements of the same structure, the multiple sets of rigid transmission elements are evenly distributed in a radial shape with the driving unit as the center, and each set of rigid transmission element is provided with a walking wheel assembly corresponding to the rigid transmission element. The linear output end of the driving unit is connected with one ends of all the rigid transmission elements at the same time, and the ends, away from the driving unit, of all the rigid transmission elements are connected with the corresponding walking wheel assemblies respectively. And the linear motion of the driving unit is synchronously converted into the radial retraction motion of all the walking wheel assemblies through the transmission assembly. According to the structure, the structure is highly simplified, the cost is remarkably reduced, the synchronism and action consistency of the multiple walking wheels are improved, deflection clamping stagnation is eliminated, and the positioning precision and reliability are improved.

Description

Technical Field

[0001] This application relates to the field of automatic pipe alignment technology, specifically to a walking wheel synchronous retraction and extension mechanism and a pipe alignment device. Background Technology

[0002] In the field of oil and gas pipeline alignment equipment, the reliable deployment and retraction of the wheels is crucial for achieving equipment positioning, clamping, and movement. Currently, mainstream wheel deployment and retraction control technologies generally employ a design where each wheel is driven individually by a separate hydraulic cylinder. However, this approach has the following significant drawbacks:

[0003] Complex structure and high cost: Each walking wheel needs to be equipped with an independent hydraulic cylinder and its matching control valve group, pipeline and sensor, resulting in a complex overall system structure, a large number of parts, and a significant increase in manufacturing and maintenance costs.

[0004] Poor synchronicity and low reliability: When multiple hydraulic cylinders perform retraction and extension actions, it is difficult to achieve precise synchronous movement due to the response delay, leakage differences, and control precision limitations of the hydraulic system itself. This lack of synchronicity directly leads to deviations in the deployment position of the traveling wheels: the traveling wheels cannot reach the predetermined radial position simultaneously, causing incorrect equipment posture. It also leads to differences in action timing: some wheels deploy or retract first, resulting in uneven force on the equipment. Positional deviations and timing differences can easily cause overall equipment tilting during equipment positioning or movement, or even jamming on the inner wall of pipes or supporting structures, seriously affecting work efficiency and equipment safety. Utility Model Content

[0005] In view of the above-mentioned defects or deficiencies in the prior art, this application aims to provide a walking wheel synchronous retraction and extension mechanism and a pipe alignment device, which simplifies the structure while improving the synchronicity of the retraction and extension of each walking wheel;

[0006] Firstly, this application proposes a mechanism for the synchronized deployment and retraction of traveling wheels, comprising:

[0007] Base body;

[0008] The driving unit is located at the center of the base body;

[0009] Multiple wheel assemblies are arranged in a circumferential array at the center of the base body;

[0010] The transmission assembly includes multiple sets of rigid transmission elements with the same structure. The multiple sets of rigid transmission elements are radially distributed around the drive unit. Each set of rigid transmission elements has a corresponding walking wheel assembly.

[0011] The linear output end of the drive unit is simultaneously connected to one end of all the rigid transmission elements, and the ends of all the rigid transmission elements away from the drive unit are respectively connected to the corresponding walking wheel assemblies; the linear motion of the drive unit is synchronously converted into the radial retraction and extension motion of all the walking wheel assemblies through the transmission assembly.

[0012] According to the technical solution provided in the embodiments of this application, the walking wheel assembly includes:

[0013] A support frame, the support frame including a support arm and a wheel frame integrally formed with the support arm;

[0014] A wheel axle, which is rotatably mounted on the wheel frame;

[0015] The walking wheel body is fixedly installed on the wheel axle.

[0016] According to the technical solution provided in the embodiments of this application, the driving unit is a hydraulic cylinder.

[0017] According to the technical solution provided in the embodiments of this application, the rigid transmission element is a connecting rod; each connecting rod has a first end and a second end, the first end is hinged to the piston rod end of the hydraulic cylinder, and the second end is hinged to the support arm of the corresponding walking wheel assembly.

[0018] According to the technical solution provided in the embodiments of this application, the end of the support arm of the walking wheel assembly that is away from the second end is hinged to the base body.

[0019] According to the technical solution provided in the embodiments of this application, the base body has a plurality of mounting seats arranged in an array around the circumference, and the end of the support arm of each walking wheel assembly away from the second end is hinged to the corresponding mounting seat.

[0020] According to the technical solution provided in the embodiments of this application, there are three walking wheel assemblies and three sets of rigid transmission elements, which are evenly distributed radially at 120°.

[0021] According to the technical solution provided in the embodiments of this application, a guide structure is provided at the center of the base body, and the linear output end of the drive unit passes through the guide structure to constrain its motion trajectory to a straight line.

[0022] According to the technical solution provided in the embodiments of this application, the mounting base is provided with a bearing or pivot structure to achieve low-friction rotation of the end of the support arm.

[0023] Secondly, this application proposes a pipe alignment device, including the walking wheel synchronous retraction and extension mechanism as described above.

[0024] In summary, this application proposes a synchronous retraction and deployment mechanism for traveling wheels and a pipe alignment device. The synchronous retraction and deployment mechanism for traveling wheels includes: a base body; a drive unit located at the center of the base body; multiple traveling wheel assemblies arranged in a circumferential array at the center of the base body; and a transmission assembly including multiple sets of rigid transmission elements with identical structures, the multiple sets of rigid transmission elements being radially distributed around the drive unit, each set of rigid transmission elements having a corresponding traveling wheel assembly; wherein, the linear output end of the drive unit is simultaneously connected to one end of all rigid transmission elements, and the ends of all rigid transmission elements furthest from the drive unit are respectively connected to the corresponding traveling wheel assemblies; the linear motion of the drive unit is synchronously converted into the radial retraction and deployment motion of all traveling wheel assemblies through the transmission assembly.

[0025] Compared with the prior art, the beneficial effects of this application are as follows:

[0026] I. Simplified Structure and Significantly Reduced Costs: Replacing multiple independent hydraulic cylinders with a single central drive unit (such as a single hydraulic cylinder) greatly reduces the number of hydraulic actuators, control valves, pipelines, and sensors, resulting in a more compact and concise overall design. This reduction in the number of components directly leads to a substantial decrease in manufacturing, installation, and subsequent maintenance costs.

[0027] II. Enhancing the Synchronization and Motion Consistency of Multiple Walking Wheels: The single linear output end of the drive unit simultaneously drives all transmission components through rigid transmission elements (such as linkages). Multiple sets of identical rigid transmission elements are radially distributed around the drive unit, forming a purely mechanical forced synchronous transmission chain. This design ensures that any minute linear displacement of the drive unit is converted into radial extension and retraction motion of all walking wheel components through the rigid transmission elements without delay and proportionally and synchronously. This fundamentally eliminates the synchronization problem caused by response differences among multiple independent actuators (such as hydraulic cylinders).

[0028] III. Eliminating Skew and Jamming, Improving Positioning Accuracy and Reliability: Because the extension and retraction movements of all traveling wheel components are strictly synchronized and have consistent strokes, it ensures that the radial position of each traveling wheel relative to the base center is exactly the same in both the extended and retracted states. This effectively avoids overall equipment skew caused by traveling wheel position deviations or differences in movement timing. When positioning or moving within the pipeline, the wheels experience uniform force, greatly reducing the risk of equipment jamming and improving operational smoothness and equipment reliability.

[0029] IV. Simplified Control Logic and Rapid Response: Synchronous retraction and extension of all wheels can be achieved by controlling only one drive unit (e.g., supplying / returning oil to a hydraulic cylinder), greatly simplifying the control logic and system complexity. Rigid transmission provides rapid response, eliminating hydraulic system coordination delays, resulting in more direct and faster action.

[0030] V. Uniform force distribution and stable mechanism: The radially distributed rigid transmission structure ensures that the driving force is evenly transmitted from the center to each walking wheel assembly, resulting in balanced force distribution and smooth operation. Attached Figure Description

[0031] Figure 1 A schematic diagram of the structure of the synchronous retraction and extension mechanism for the walking wheels (retracted state) provided in the embodiments of this application;

[0032] Figure 2 Provided for the embodiments of this application Figure 1 A schematic diagram of the side view structure;

[0033] Figure 3 A schematic diagram of the structure of the synchronous retraction and extension mechanism of the walking wheel (released state) provided in the embodiment of this application;

[0034] Figure 4 Provided for the embodiments of this application Figure 3 A side view structural diagram.

[0035] The text labels in the image represent:

[0036] 1. Drive unit; 11. Piston rod; 111. Disc structure; 12. Cylinder block; 2. Connecting rod; 21. First end; 22. Second end; 3. Wheel assembly; 31. Support frame; 311. Wheel frame; 312. Support arm; 32. Wheel body; 33. Axle; 4. Mounting seat; 5. Base body. Detailed Implementation

[0037] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0038] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0039] Example 1

[0040] As mentioned in the background section, in view of the problems in the prior art, this application proposes a synchronous retraction and extension mechanism for walking wheels, such as... Figure 1-4 As shown, it includes:

[0041] Base body 5;

[0042] Drive unit 1, the drive unit 1 is located at the center of the base body 5;

[0043] Furthermore, the drive unit 1 is a hydraulic cylinder.

[0044] Specifically, the hydraulic cylinder has a built-in magnetostrictive displacement sensor. Oil entering the rodless chamber pushes the piston rod 11 to extend, while oil entering the rod chamber retracts it. The hydraulic station controls the direction of the oil circuit through an electromagnetic directional valve, and a synchronous motor ensures that the inlet and outlet oil flow is equal, compensating for manufacturing errors.

[0045] Multiple walking wheel assemblies 3 are arranged in a circumferential array at the center of the base body 5;

[0046] The transmission assembly includes multiple sets of rigid transmission elements with the same structure. The multiple sets of rigid transmission elements are radially distributed around the drive unit 1. Each set of rigid transmission elements has a corresponding walking wheel assembly 3.

[0047] Furthermore, there are three walking wheel assemblies 3 and three sets of rigid transmission elements, which are evenly distributed radially at 120°.

[0048] Specifically, the three sets of traveling wheels are arranged in an equilateral triangle, with the central angle of adjacent components strictly 120°. This three-point plane determination principle ensures automatic centering of the traveling wheels within the pipe, resulting in uniform distribution of contact force. This achieves stability: the overturning moment of the triangular support approaches zero. Applicability: Suitable for pipe diameters from DN600 to DN1200 (adjustable by changing the length of connecting rod 2).

[0049] The linear output end of the drive unit 1 is simultaneously connected to one end of all the rigid transmission elements, and the ends of all the rigid transmission elements away from the drive unit 1 are respectively connected to the corresponding walking wheel assembly 3; the linear motion of the drive unit 1 is synchronously converted into the radial retraction and extension motion of all the walking wheel assemblies 3 through the transmission assembly.

[0050] Specifically, the base body 5 is a circular structure welded from steel plates (linear motion in this text refers to linear motion along the axial direction of the base body 5, and radial movement in radial expansion and contraction refers to the radial direction of the base body 5). The base body 5 has a through hole at its center for installing the mounting structure described later, bearing the weight of the entire machine and serving as the installation reference. The drive unit 1 is a single-rod double-acting hydraulic cylinder located at the geometric center of the base, with the piston rod 11 plated with hard chrome for corrosion protection. The traveling wheel assembly 3 consists of three evenly distributed groups (120° intervals), each group containing polyurethane-coated wheels that directly contact the inner wall of the pipe. The transmission assembly consists of three sets of connecting rods 2, arranged radially around the hydraulic cylinder.

[0051] The working principle is described below: The hydraulic cylinder piston rod 11 extends (e.g.) Figure 3-4(As shown) → Push the first end 21 of the three sets of connecting rods 2 to move forward synchronously → The second end 22 of the connecting rod 2 pulls the support arm 312 of the walking wheel assembly 3 → The walking wheel assembly 3 unfolds radially outward along the base body 5 (it moves in the opposite direction when it retracts, and after retraction, it is like...) Figure 1-2 (As shown). Because the length / angle of link 2 is exactly the same and the force points are coplanar, it ensures that the displacement of all traveling wheels is absolutely consistent. Based on the planar mechanism degree of freedom formula F=3n-2PL-PH (n=number of moving parts, PL=lower pair, PH=higher pair), in this mechanism: piston rod 11 (1 moving part) + 3 link 2 (3 moving parts) + 3 support arm 312 (3 moving parts), the hinge points are all rotary pairs (a total of 9 lower pairs), and F=1 is calculated. It is proved that only a single degree of freedom input is needed to accurately control all traveling wheels. Based on this structure, the following can be achieved: Synchronization accuracy: The mechanical forced synchronization principle (kinematic determinism) eliminates the control error of multiple actuators and reduces the radial position deviation of traveling wheels. Reliability: No electrical control coordination link, resistant to hydraulic oil contamination and electromagnetic interference. Structural efficiency: A single drive source replaces multiple hydraulic cylinders, reducing sealing points by 80% and significantly reducing the risk of leakage.

[0052] In a preferred embodiment, the walking wheel assembly 3 includes:

[0053] The support frame 31 includes a support arm 312 and a wheel frame 311 integrally formed with the support arm 312;

[0054] Axle 33 is rotatably mounted on the wheel frame 311;

[0055] The walking wheel body 32 is fixedly installed on the wheel axle 33.

[0056] Specifically, the support frame 31 is integrally cast steel, the support arm 312 has a trapezoidal cross-section for bending resistance, and the wheel frame 311 is U-shaped, covering the wheel axle 33. The wheel axle 33 is secured at both ends with double nuts, providing a clearance fit with the wheel frame 311. The traveling wheel body 32 is a polyurethane hub, press-fitted onto the wheel axle 33. When the support arm 312 is pushed by the connecting rod 2, it rotates around the hinge point of the base body 5, driving the wheel frame 311 and the traveling wheel body 32 to move radially. The integral structure prevents bolt connections from loosening, ensuring continuous force transmission.

[0057] In a preferred embodiment, the rigid transmission element is a connecting rod 2; each connecting rod 2 has a first end 21 and a second end 22, the first end 21 is hinged to the end of the piston rod 11 of the hydraulic cylinder, and the second end 22 is hinged to the support arm 312 of the corresponding walking wheel assembly 3.

[0058] Specifically, self-lubricating spherical bearings are provided at both ends of connecting rod 2, with a radial clearance of 0.1mm. The first end 21 is connected by a spherical bearing to an clevis on the disc structure 111 of piston rod 11, and the second end 22 is connected by a spherical bearing to an ear seat of support arm 312. Working principle: The linear motion of piston rod 11 is converted into angular displacement of connecting rod 2 through the spherical bearing, driving support arm 312 to rotate around the base hinge point. The spherical bearings compensate for assembly errors.

[0059] This implementation achieves low friction: the friction coefficient of the spherical bearing is reduced, and the transmission efficiency is improved. It also provides anti-eccentric load protection: the bearing adaptively adjusts to prevent connecting rod 2 from jamming. Kinematic model verification: Let the displacement of piston rod 11 be ΔL, then the radial displacement of the traveling wheel is ΔR = ΔL × cotθ (θ is the initial angle of connecting rod 2). When θ = 45°, ΔR and ΔL have a 1:1 linear relationship.

[0060] In a preferred embodiment, the end of the support arm 312 of the walking wheel assembly 3 that is away from the second end 22 is hinged to the base body 5.

[0061] Furthermore, the base body 5 has a plurality of mounting seats 4 arranged in an array around the circumference, and the end of the support arm 312 of each walking wheel assembly 3 that is away from the second end 22 is hinged to the corresponding mounting seat 4.

[0062] Specifically, mounting base 4 is welded to the base body 5 in three groups, including reinforcing ribs, with a hinge point position tolerance of ±0.1mm. Mounting base 4 has an embedded copper-based bushing to reduce pin fit tolerance. Support arm 312 has a pin hole at its end, connecting to mounting base 4 on the base body 5 via a pin, with the pin surface nitrided. Support arm 312 rotates around the pin, its motion trajectory being an arc, which is converted into linear radial motion of the traveling wheel. Mounting base 4 serves as a fixed rotation fulcrum, bearing the radial load of the traveling wheel body 32, and distributing the stress to the base body 5 through the ribs.

[0063] In a preferred embodiment, a mounting structure is provided at the center of the base body 5, the cylinder body 12 of the hydraulic cylinder is mounted on the mounting structure, the piston rod 11 of the hydraulic cylinder extends away from the base body 5, and the first end 21 is hinged to the end of the piston rod 11 near the cylinder body 12.

[0064] Optionally, the mounting structure is a bearing seat at the center of the base body 5, the hydraulic cylinder is installed in the bearing seat, the end of the piston rod 11 near the cylinder body 12 has a disc structure 111, the diameter of the disc structure 111 is larger than the diameter of the end of the piston rod 11 away from the cylinder body 12, and the edge of the disc structure 111 is used to hinge the first end 21 of each set of connecting rods 2.

[0065] In a preferred embodiment, the mounting base 4 is provided with a bearing or pivot structure to achieve low-friction rotation of the end of the support arm 312.

[0066] Specifically, the bearing or pivot structure can convert sliding friction into rolling friction when the support arm 312 rotates, thereby reducing frictional torque.

[0067] Example 2

[0068] Based on Example 1, this example proposes a pipe alignment device, including a synchronous retraction and extension mechanism for the traveling wheels as described in Example 1.

[0069] Specifically, the pipe alignment device includes the aforementioned synchronous retraction and extension mechanism of the traveling wheels, a hydraulic station, a central control system, and an alignment module (laser range sensor × 3). The working process is as follows: the traveling wheels unfold and press against the inner wall of the pipe, the equipment is precisely positioned, the alignment module detects the misalignment of the bevel, the alignment mechanism is adjusted, and the traveling wheels are retracted and removed after welding is completed.

[0070] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A mechanism for synchronously extending and retracting walking wheels, characterized in that, include: Base body (5); A driving unit (1) is located at the center of the base body (5); Multiple walking wheel assemblies (3) are arranged in a circumferential array at the center of the base body (5); The transmission assembly includes multiple sets of rigid transmission elements with the same structure. The multiple sets of rigid transmission elements are radially distributed around the drive unit (1). Each set of rigid transmission elements has a corresponding walking wheel assembly (3). The linear output end of the drive unit (1) is simultaneously connected to one end of all the rigid transmission elements, and the ends of all the rigid transmission elements away from the drive unit (1) are respectively connected to the corresponding walking wheel assembly (3); the linear motion of the drive unit (1) is synchronously converted into the radial retraction and extension motion of all the walking wheel assemblies (3) through the transmission assembly.

2. The synchronous retraction and extension mechanism for the traveling wheels according to claim 1, characterized in that: The walking wheel assembly (3) includes: The support frame (31) includes a support arm (312) and a wheel frame (311) integrally formed with the support arm (312). A wheel axle (33) is rotatably mounted on the wheel frame (311); The walking wheel body (32) is fixedly installed on the wheel axle (33).

3. The synchronous retraction and extension mechanism for the traveling wheels according to claim 1, characterized in that: The drive unit (1) is a hydraulic cylinder.

4. The synchronous retraction and extension mechanism for the traveling wheels according to claim 3, characterized in that: The rigid transmission element is a connecting rod (2); each connecting rod (2) has a first end (21) and a second end (22), the first end (21) is hinged to the end of the piston rod (11) of the hydraulic cylinder, and the second end (22) is hinged to the support arm (312) of the corresponding walking wheel assembly (3).

5. The synchronous retraction and extension mechanism for the traveling wheels according to claim 4, characterized in that: The end of the support arm (312) of the walking wheel assembly (3) away from the second end (22) is hinged to the base body (5).

6. The synchronous retraction and extension mechanism for the traveling wheels according to claim 4, characterized in that: The base body (5) has multiple mounting seats (4) arranged in an array around the circumference, and the end of the support arm (312) of each walking wheel assembly (3) away from the second end (22) is hinged to the corresponding mounting seat (4).

7. The synchronous retraction and extension mechanism for the traveling wheels according to claim 1, characterized in that: The walking wheel assembly (3) consists of three parts, and the rigid transmission element consists of three groups, which are evenly distributed radially at 120°.

8. The synchronous retraction and extension mechanism for the traveling wheels according to claim 4, characterized in that: The base body (5) has an installation structure at its center. The cylinder body (12) of the hydraulic cylinder is installed on the installation structure. The piston rod (11) of the hydraulic cylinder extends away from the base body (5). The first end (21) is hinged to the end of the piston rod (11) near the cylinder body (12).

9. The synchronous retraction and extension mechanism for the traveling wheels according to claim 6, characterized in that: The mounting base (4) is provided with a bearing or pivot structure to achieve low-friction rotation at the end of the support arm (312).

10. A pipe alignment tool, characterized in that: Includes the synchronous retraction and extension mechanism for the walking wheels as described in any one of claims 1-9.

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