A pig on-line cold spray repair device

Abstract

The utility model relates to cold spraying technical field, concretely is a kind of pig on-line cold spraying repair device, the utility model includes fixed machine tool and cold spraying discharge assembly, cold spraying discharge assembly is installed on manipulator and is controlled to move by manipulator, pig body is clamped and fixed on fixed machine tool, the utility model is by clamping and fixing pig body on fixed machine tool, by the discharge end of cold spraying discharge assembly controlled by manipulator inserts into the positioning hole of positioning ball middle part and passes through positioning hole, by manipulator control cold spraying discharge assembly moves, the movement of cold spraying discharge assembly will drive moving frame to move simultaneously, laser three-dimensional profilograph body can continuously scan the cold spraying position of pig body, can determine the coordinate position data of the pig body of cold spraying defect, after first spraying to pig body is finished, can be according to the coordinate position data obtained above and carry out on-line repair, it is convenient to use.

Description

Technical Field

[0001] This utility model relates to the field of cold spraying technology, specifically to an online cold spraying repair device for a pipeline pig. Background Technology

[0002] Pipeline pigs are specialized tools propelled by gas, liquid, or pipeline transport media for cleaning pipelines. They generally fall into six major categories: rubber pig balls, cup pigs, straight pigs, wax scraper pigs, foam pigs, and buckling detectors. The main body of most types of pipeline pigs is made of iron. To improve the overall corrosion resistance of the pigs, the main body is coated with a paint spray. The coating process for pipeline pigs is mostly carried out using cold spraying technology.

[0003] When processing pigs using cold spraying technology, uneven mixing of the powder gas and heating gas can lead to poor cold spraying results. Subsequently, workers need to inspect the cold spraying locations of the pigs and then re-cold spray the defective areas, which is a rather cumbersome process. To address this, we propose an online cold spraying repair device for pigs. Utility Model Content

[0004] The purpose of this invention is to provide an online cold spray repair device for pigging equipment to solve the problems mentioned in the background art.

[0005] The objective of this utility model can be achieved through the following technical solutions: A pipeline pig online cold spray repair device includes: a fixed machine tool and a cold spray discharge assembly. The cold spray discharge assembly is mounted on a robotic arm and moved under the control of the robotic arm. A pipeline pig body is clamped and fixed on the fixed machine tool. A back plate is fixedly installed at the rear of the fixed machine tool. A movable frame that can move up, down, left, and right along the surface of the back plate is installed on one side of the back plate. A laser three-dimensional profilometer body is fixedly installed on the top lower surface of the movable frame. The laser three-dimensional profilometer body is positioned directly above the axis of the pipeline pig body. A positioning ball is provided inside the bottom end of the movable frame. A positioning hole is opened in the middle of the positioning ball. The discharge direction of the cold spray discharge assembly corresponds to the setting of the pipeline pig body.

[0006] Preferably, a roller groove is formed inside the bottom end of the movable frame, and the positioning ball is rolled and installed inside the roller groove.

[0007] Preferably, a first limiting rod is symmetrically fixedly installed on one side of the back plate, and a horizontal moving plate is slidably installed between the two first limiting rods. A first limiting hole is opened at the end of the horizontal moving plate corresponding to the position of the first limiting rod. The first limiting hole is slidably connected to the first limiting rod, and the moving frame is installed on one side of the horizontal moving plate.

[0008] Preferably, a second limiting rod is symmetrically fixedly installed on one side of the horizontal moving plate, and the top end of the moving frame is slidably installed between the two first limiting rods. A second limiting hole is opened at the two corners of the top of the moving frame corresponding to the position of the second limiting rod, and the second limiting hole is slidably connected to the second limiting rod.

[0009] Preferably, a hydraulic rod is fixedly installed at the middle of one top end of the movable frame. The hydraulic rod passes through the horizontal movable plate, and a pressing plate is fixedly installed at the movable end of the hydraulic rod. One side of the pressing plate is in pressing contact with the surface of the back plate.

[0010] Preferably, a set-back spring is fixedly installed in a ring array on the inner side of the bottom end of the movable frame, corresponding to the outer side of the roller groove. The end of the set-back spring away from the movable frame is fixedly connected to the outer wall of the positioning ball, and several set-back springs are distributed in a ring array on the outer wall of the positioning ball with the ends away from the movable frame.

[0011] The beneficial effects of this utility model are: 1. This utility model clamps and fixes the pig body on a fixed machine tool. The discharge end of the cold spraying discharge component is inserted into and passes through the positioning hole in the middle of the positioning ball by a robot arm. The movement of the cold spraying discharge component is controlled by the robot arm. During the cold spraying process, the movement of the cold spraying discharge component will synchronously drive the movement of the moving frame. The laser three-dimensional profilometer body can continuously scan the cold spraying position of the pig body and determine the coordinate position data of the pig body with cold spraying defects. After the first spraying of the pig body is completed, online repair can be performed according to the coordinate position data obtained above. It is convenient to use. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the partial explosion structure of this utility model; Figure 3 This is a partial structural schematic diagram of the present invention; Figure 4 yes Figure 3 Enlarged view of point A in the middle.

[0013] The following are the reference numerals in the attached diagram: 1. Fixed machine tool; 2. Cold spray coating discharge assembly; 3. Pig body; 4. Back plate; 5. Moving frame; 6. Laser 3D profilometer body; 7. Positioning ball; 8. Positioning hole; 9. Groove; 10. First limiting rod; 11. Horizontal moving plate; 12. First limiting hole; 13. Second limiting rod; 14. Second limiting hole; 15. Hydraulic rod; 16. Extrusion plate; 17. Return spring. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0015] like Figures 1-4 As shown, an online cold spray repair device for a pipeline pig includes: a fixed machine tool 1 and a cold spray discharge assembly 2. The cold spray discharge assembly 2 is mounted on a robotic arm and moved under the control of the robotic arm. A pipeline pig body 3 is clamped and fixed on the fixed machine tool 1. A back plate 4 is fixedly installed at the rear of the fixed machine tool 1. A movable frame 5 that can move up, down, left, and right along the surface of the back plate 4 is installed on one side of the back plate 4. A laser three-dimensional profilometer body 6 is fixedly installed on the top lower surface of the movable frame 5. The laser three-dimensional profilometer body 6 is positioned directly above the axis of the pipeline pig body 3. A positioning ball 7 is provided inside the bottom end of the movable frame 5. A positioning hole 8 is opened in the middle of the positioning ball 7. The discharge direction of the cold spray discharge assembly 2 corresponds to the setting of the pipeline pig body 3.

[0016] In practice, the pig body 3 is clamped and fixed on the fixed machine tool 1, and the pig body 3 can be rotated by the fixed machine tool 1. The discharge end of the cold spraying discharge component 2 is inserted into the positioning hole 8 in the middle of the positioning ball 7 and passes through the positioning hole 8 by the robot arm. The cold spraying discharge component 2 is moved by the robot arm. During the movement of the cold spraying discharge component 2, the outer side of the entire pig body 3 can be continuously cold sprayed. At the same time, the movement of the cold spraying discharge component 2 will drive the moving frame 5 to move synchronously. The laser three-dimensional profilometer body 6 can continuously scan the cold spraying position of the pig body 3. After the first spraying of the pig body 3 is completed, online repair can be performed according to the coordinate position data obtained above.

[0017] As a technical optimization solution of this utility model, such as Figures 1-4 As shown, a roller groove 9 is provided inside the bottom end of the movable frame 5, and the positioning ball 7 is rolled and installed inside the roller groove 9.

[0018] In practice, the groove 9 is used to continuously support the positioning ball 7. When the discharge angle of the cold spraying material discharge assembly 2 changes, the positioning ball 7 will roll inside the groove 9, which can ensure that the moving frame 5 moves synchronously with the cold spraying material discharge assembly 2 at all times.

[0019] As a technical optimization solution of this utility model, such as Figures 1-4 As shown, a first limiting rod 10 is symmetrically fixedly installed on one side of the back plate 4, and a horizontal moving plate 11 is slidably installed between the two first limiting rods 10. A first limiting hole 12 is opened at the end of the horizontal moving plate 11 corresponding to the position of the first limiting rod 10. The first limiting hole 12 is slidably connected to the first limiting rod 10. The moving frame 5 is installed on one side of the horizontal moving plate 11.

[0020] In practice, the moving frame 5 moves in response to the movement of the cold spraying material output component 2, and the horizontal moving plate 11 connected to the moving frame 5 moves horizontally along the trajectory of the two first limit rods 10, so as to realize the synchronous movement of the laser three-dimensional profiler body 6 installed on the moving frame 5.

[0021] As a technical optimization solution of this utility model, such as Figures 1-4 As shown, a second limiting rod 13 is symmetrically fixedly installed on one side of the horizontal moving plate 11. The top end of the moving frame 5 is slidably installed between the two first limiting rods 10. A second limiting hole 14 is opened at the two corners of the top of the moving frame 5 corresponding to the position of the second limiting rod 13. The second limiting hole 14 is slidably connected to the second limiting rod 13.

[0022] In practice, when the discharge height of the cold spraying material output component 2 changes, the moving frame 5 will rise and fall along the trajectory of the two second limit rods 13 to achieve synchronous rising and falling of the laser three-dimensional profiler body 6.

[0023] As a technical optimization solution of this utility model, such as Figures 1-4 As shown, a hydraulic rod 15 is fixedly installed at the middle of one top end of the movable frame 5. The hydraulic rod 15 passes through the horizontal movable plate 11. A pressing plate 16 is fixedly installed at the movable end of the hydraulic rod 15. One side of the pressing plate 16 is in pressing contact with the surface of the back plate 4.

[0024] In practice, after the cold spraying of the pig body 3 is completed, the discharge end of the cold spraying discharge assembly 2 can be moved to the initial zero position by the control of the robot arm. Then, the extrusion plate 16 is moved by the control of the hydraulic rod 15. The extrusion plate 16 will squeeze and rub against the back plate 4. The position of the moving frame 5 relative to the back plate 4 can be fixed, so that the discharge end of the cold spraying discharge assembly 2 can be inserted into the positioning hole 8 in the middle of the positioning ball 7 next time.

[0025] As a technical optimization solution of this utility model, such as Figures 1-4 As shown, a set of return springs 17 are fixedly installed in a ring array on the inner side of the bottom end of the movable frame 5, corresponding to the outer side of the roller groove 9. The end of the set of return springs 17 away from the movable frame 5 is fixedly connected to the outer wall of the positioning ball 7. Several sets of return springs 17 are distributed in a ring array on the outer wall of the positioning ball 7 with the ends away from the movable frame 5.

[0026] In practice, when the positioning ball 7 is controlled to roll inside the groove 9, several return springs 17 will be stretched or compressed to different degrees. After the cold spraying operation is completed, the discharge end of the cold spraying discharge assembly 2 is controlled to slide out of the positioning hole 8 in the middle of the positioning ball 7. The positioning ball 7 can be controlled to roll and reset inside the groove 9 by the pull of several return springs 17 at different positions.

[0027] In use, the pig body 3 is clamped and fixed on the fixed machine tool 1, and the pig body 3 can be rotated by the fixed machine tool 1. The discharge end of the cold spraying discharge assembly 2 is inserted into and passes through the positioning hole 8 in the middle of the positioning ball 7 by the robot arm. The cold spraying discharge assembly 2 is moved by the robot arm. During the movement of the cold spraying discharge assembly 2, continuous cold spraying operation can be performed on the outside of the entire pig body 3. During the cold spraying process, the movement of the cold spraying discharge assembly 2 will synchronously drive the moving frame 5 to move forward. As the machine moves, the laser 3D profilometer 6 continuously scans the cold spraying position of the pig body 3, obtaining 3D morphological data of the cold spraying position. This data reflects the shape, undulation and other features of the surface of the pig body 3. Based on the rotational angular velocity of the pig body 3 controlled by the fixed machine tool 1 and the preset grayscale processing algorithm and classification algorithm, the coordinate position data of the incomplete pig body 3 is determined. After the first spraying of the pig body 3 is completed, online repair can be performed based on the coordinate position data obtained above. During the movement of the cold spraying material discharge assembly 2, the moving frame 5 moves in response to the movement of the cold spraying material discharge assembly 2. The horizontal moving plate 11 connected to the moving frame 5 will move horizontally along the trajectory of the two first limit rods 10, so that the laser three-dimensional profiler body 6 installed on the moving frame 5 can move synchronously and scan the cold spraying position of the entire pig body 3. When the discharge height of the cold spraying material discharge assembly 2 changes, the moving frame 5 will rise and fall along the trajectory of the two second limit rods 13, so as to realize the synchronous rise and fall of the laser three-dimensional profiler body 6. When the discharge angle of the cold spraying material discharge assembly 2 changes, the positioning ball 7 will roll inside the roller groove 9 to ensure that the moving frame 5 moves synchronously with the cold spraying material discharge assembly 2 at all times, so as to realize the continuous scanning of the pig body 3 by the laser three-dimensional profiler body 6.

[0028] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. An online cold spray repair device for pipeline pigs, comprising: A fixed machine tool (1) and a cold spraying discharge assembly (2) are provided. The cold spraying discharge assembly (2) is mounted on a robot arm and moved under the control of the robot arm. A pig body (3) is clamped and fixed on the fixed machine tool (1). The fixed machine tool (1) is characterized in that a back plate (4) is fixedly installed at the rear of the fixed machine tool (1). A moving frame (5) that can move up, down, left and right along the surface of the back plate (4) is installed on one side of the back plate (4). A laser three-dimensional profiler body (6) is fixedly installed on the top lower surface of the moving frame (5). The laser three-dimensional profiler body (6) is set above the axis of the pig body (3). A positioning ball (7) is set inside the bottom end of the moving frame (5). A positioning hole (8) is opened in the middle of the positioning ball (7). The discharge direction of the cold spraying discharge assembly (2) corresponds to the setting of the pig body (3).

2. The online cold spray repair device for a pipeline pig according to claim 1, characterized in that, The bottom end of the movable frame (5) is provided with a roller groove (9), and the positioning ball (7) is rolled inside the roller groove (9).

3. The online cold spray repair device for a pipeline pig according to claim 2, characterized in that, A first limiting rod (10) is symmetrically fixedly installed on one side of the back plate (4). A horizontal moving plate (11) is slidably installed between the two first limiting rods (10). A first limiting hole (12) is opened at the end of the horizontal moving plate (11) corresponding to the position of the first limiting rod (10). The first limiting hole (12) is slidably connected to the first limiting rod (10). The moving frame (5) is installed on one side of the horizontal moving plate (11).

4. The online cold spray repair device for a pipeline pig according to claim 3, characterized in that, A second limiting rod (13) is symmetrically fixedly installed on one side of the horizontal moving plate (11). The top end of the moving frame (5) is slidably installed between the two first limiting rods (10). A second limiting hole (14) is opened at the two corners of the top of the moving frame (5) corresponding to the position of the second limiting rod (13). The second limiting hole (14) is slidably connected to the second limiting rod (13).

5. The online cold spray repair device for a pipeline pig according to claim 4, characterized in that, A hydraulic rod (15) is fixedly installed at the middle of one top end of the movable frame (5). The hydraulic rod (15) passes through the horizontal movable plate (11). A pressing plate (16) is fixedly installed at the moving end of the hydraulic rod (15). One side of the pressing plate (16) is in pressing contact with the surface of the back plate (4).

6. The online cold spray repair device for a pipeline pig according to claim 5, characterized in that, The bottom inner side of the movable frame (5) is fixedly installed with a return spring (17) in a ring array corresponding to the outer side of the roller groove (9). The end of the return spring (17) away from the movable frame (5) is fixedly connected to the outer wall of the positioning ball (7). Several return springs (17) are distributed in a ring array on the outer wall of the positioning ball (7) with the ends away from the movable frame (5) in a ring array.

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