CN119282996B - An obstacle crossing mechanism for corrosion-resistant repair equipment - Google Patents
An obstacle crossing mechanism for corrosion-resistant repair equipmentInfo
- Publication number
- CN119282996B CN119282996B CN202411313362.6A CN202411313362A CN119282996B CN 119282996 B CN119282996 B CN 119282996B CN 202411313362 A CN202411313362 A CN 202411313362A CN 119282996 B CN119282996 B CN 119282996B
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- Prior art keywords
- frame
- chassis
- corrosion
- connecting rod
- chassis supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
本发明涉及长输油气管道施工技术领域，特别涉及一种防腐补口设备用障碍跨越机构。本发明的防腐补口设备用障碍跨越机构包括机架、连杆驱动机构、两个底盘支架、两组主动轮和两组从动轮，两个所述底盘支架分别铰接在所述机架的两端下部，所述连杆驱动机构装于所述机架，并与两个所述底盘支架的上端连接，用于驱使两个所述底盘支架同步摆转，两组所述主动轮分别装于两个所述底盘支架相互远离的一端下部，两组所述从动轮分别装于两个所述底盘支架相互靠近的一端下部。优点：结构设计简单、合理，能够通过并跨越管道表面障碍，使现有装备摆脱吊装作业的现状，提高施工效率，降低作业成本，降低安全风险，降低工人劳动强度。
This invention relates to the field of long-distance oil and gas pipeline construction technology, and particularly to an obstacle-crossing mechanism for corrosion-resistant joint repair equipment. The obstacle-crossing mechanism for corrosion-resistant joint repair equipment of this invention includes a frame, a linkage drive mechanism, two chassis supports, two sets of driving wheels, and two sets of driven wheels. The two chassis supports are respectively hinged to the lower parts of both ends of the frame. The linkage drive mechanism is mounted on the frame and connected to the upper ends of the two chassis supports, for driving the two chassis supports to rotate synchronously. The two sets of driving wheels are respectively mounted on the lower parts of the two chassis supports at opposite ends, and the two sets of driven wheels are respectively mounted on the lower parts of the two chassis supports at adjacent ends. Advantages: The structure is simple and reasonable, enabling it to pass through and cross obstacles on the pipeline surface, freeing existing equipment from hoisting operations, improving construction efficiency, reducing operating costs, reducing safety risks, and reducing the labor intensity of workers.
Description
Technical Field
The invention relates to the technical field of long oil and gas pipeline construction, in particular to an obstacle crossing mechanism for anti-corrosion joint coating equipment.
Background
When the long oil and gas pipeline leaves the factory, 3PE is generally adopted for integral corrosion prevention, and meanwhile, a 100-250 mm exposure is reserved at the pipe orifice, so that the pipeline can be assembled and welded conveniently. When the anti-corrosion repair is carried out, rust removal is firstly carried out to remove rust and other attachments on the surface of the pipe orifice, and then the procedures of pipe orifice preheating, epoxy primer spraying, heating and curing, heat shrinkage belt installation, hot melting shrinkage and the like are carried out.
At present, each process needs to be installed with a separate device for operation when carrying out the anti-corrosion joint coating, so each time a process is completed when carrying out the anti-corrosion joint coating, the equipment for replacing the next process needs to be continuously operated at the pipe orifice, and the problem that the cleaned pipe orifice can not be polluted any more is considered, so the existing device is installed and removed in a hoisting mode, the efficiency is low, the engineering construction efficiency is influenced, the labor intensity of workers is high, and the potential safety risk is caused. Some anti-corrosion joint coating devices develop a mechanism for axially walking along a pipeline, but are passive walking mechanisms, mainly manually pushed, and some are in a motor-driven walking mode, but when the anti-corrosion joint coating operation is carried out, the devices are not allowed to be damaged by external force and polluted and contacted by other objects after the pipe orifice is processed, so that the devices are required to span the pipe orifice after construction by a hoisting method. The construction scene of the pipeline construction site is complex, the frequent hoisting equipment can cause potential safety risks, more equipment can be occupied, the construction cost is high, and meanwhile, the construction efficiency of the engineering can be restricted.
Based on this, there is a need to develop an obstacle crossing mechanism for an anti-corrosion joint coating device to overcome the above technical problems.
Disclosure of Invention
The invention aims to solve the technical problem of providing an obstacle crossing mechanism for anti-corrosion joint coating equipment, which effectively overcomes the defects of the prior art.
The technical scheme for solving the technical problems is as follows:
The utility model provides an anticorrosive joint coating is obstacle crossing mechanism for equipment, includes frame, connecting rod actuating mechanism, two chassis supports, two sets of action wheels and two sets of follow driving wheel, and two above-mentioned chassis supports articulate respectively in the both ends lower part of frame, and above-mentioned connecting rod actuating mechanism is adorned in above-mentioned frame to be connected with the upper end of two above-mentioned chassis supports for order about two above-mentioned chassis supports to swing in step, two sets of above-mentioned action wheels are adorned respectively in the one end lower part that two above-mentioned chassis supports kept away from each other, and two sets of above-mentioned follow driving wheel are adorned respectively in the one end lower part that two above-mentioned chassis supports are close to each other.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the frame comprises two lateral plates which are transversely and vertically arranged, the two lateral plates are distributed at intervals in parallel, a plurality of connecting beams are vertically connected between the two lateral plates, and a notch is formed in the lower portion of the middle area of the two lateral plates.
Further, the chassis support comprises a chassis frame, a connecting column and a rotating shaft, wherein the rotating shaft is horizontally arranged in the middle area above the chassis frame, two ends of the rotating shaft are respectively connected and fixed with the chassis frame through a diagonal brace, two ends of the rotating shaft are respectively and rotatably connected with the lower parts of corresponding ends of the frames, the connecting column is vertically fixed in the middle of the upper end of the chassis frame, and the connecting rod driving mechanism is respectively connected with the upper ends of the connecting columns of the two chassis supports.
Further, two driving wheels are arranged in each group, driving wheel frames corresponding to the two driving wheels one by one are respectively arranged on two sides of the lower end of the chassis support, and the driving wheels are rotatably assembled in the corresponding driving wheel frames.
Further, the driving wheel is a hub motor.
Further, each group of driven wheels is provided with two driven wheel frames which are respectively arranged at two sides of the lower end of the chassis bracket and are in one-to-one correspondence with the two driven wheels, and the driven wheels are rotatably assembled in the corresponding driven wheel frames.
Further, both sides of the connecting column are respectively connected and fixed with the chassis frame through diagonal braces.
Further, the connecting rod driving mechanism comprises a connecting rod and a translation driving mechanism, wherein the connecting rod transversely penetrates through two ends of the frame and is in sliding connection with the frame, a through groove which extends vertically is formed in the upper end of the connecting column, strip-shaped holes are formed in the side walls of two sides of the through groove along the vertical direction, two lug plates which respectively extend into the through grooves of the two connecting columns are arranged at two ends of the connecting rod, limiting pins which extend into the strip-shaped holes of the two sides are horizontally arranged on the lug plates in a penetrating manner, and the translation driving mechanism is connected with the connecting rod and is used for driving the connecting rod to move along the length direction.
Furthermore, guide sleeves are arranged at two ends of the inside of the frame, and two ends of the connecting rod respectively penetrate through the two guide sleeves and are in sliding fit with the guide sleeves.
Further, a rack is fixed to the middle of the link along the longitudinal direction thereof, the translational driving mechanism includes a motor, a gear, and a rack, the rack is mounted to the middle of the link and extends along the longitudinal direction of the link, the motor is mounted to the frame, and the gear is mounted to a shaft of the motor and is engaged with the rack.
The invention has the advantages of simple and reasonable structural design, can get rid of the current situation of hoisting operation by crossing the surface obstacle of the pipeline, improves the construction efficiency, reduces the operation cost, reduces the safety risk and reduces the labor intensity of workers.
Drawings
FIG. 1 is a schematic view of a barrier crossing mechanism for an anti-corrosive joint coating device according to the present invention;
FIG. 2 is a schematic structural view of the assembly of a connecting rod and two sets of chassis brackets in the barrier crossing mechanism for the anti-corrosion joint coating device;
FIG. 3 is a schematic view of the barrier crossing mechanism for the anti-corrosion joint coating device of the present invention before the barrier crossing mechanism crosses the barrier on the surface of the pipeline;
FIG. 4 is a schematic view of the position and the posture of the obstacle crossing mechanism for the anti-corrosion joint coating device when the obstacle crossing mechanism crosses the obstacle on the surface of the pipeline;
FIG. 5 is a second schematic view of the barrier crossing mechanism for the anti-corrosive joint coating device according to the present invention in a position and orientation when the barrier crossing mechanism crosses the barrier on the surface of the pipe;
FIG. 6 is a third schematic view of the barrier crossing mechanism for the anti-corrosive joint coating device according to the present invention in a position and orientation when the barrier crossing mechanism crosses the barrier on the surface of the pipe;
Fig. 7 is a schematic view of a barrier crossing mechanism for an anti-corrosion joint coating device according to the fourth aspect of the present invention when a barrier is crossed on a surface of a pipe.
In the drawings, the list of components represented by the various numbers is as follows:
1. A frame; 2, a chassis bracket, 3, a driving wheel, 4, a driven wheel, 11, a guide sleeve, 21, a chassis frame, 22, a connecting column, 23, a rotating shaft, 51 and a connecting rod.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
As shown in fig. 1, the barrier crossing mechanism for the anti-corrosion joint coating device of the embodiment comprises a frame 1, a connecting rod driving mechanism, two chassis supports 2, two groups of driving wheels 3 and two groups of driven wheels 4, wherein the two chassis supports 2 are respectively hinged at the lower parts of two ends of the frame 1, the connecting rod driving mechanism is arranged on the frame 1 and connected with the upper ends of the two chassis supports 2 and is used for driving the two chassis supports 2 to swing synchronously, the two groups of driving wheels 3 are respectively arranged at the lower parts of one ends of the two chassis supports 2, which are far away from each other, and the two groups of driven wheels 4 are respectively arranged at the lower parts of one ends of the two chassis supports 2, which are close to each other.
When the barrier crossing mechanism for the anti-corrosion joint coating equipment of the embodiment is used, the barrier crossing mechanism is arranged on the upper part of the surface of an oil gas pipeline, different modules are carried by the rack 1, automatic operations such as automatic rust removal, pipe orifice heating, primer spraying, thermal contraction belt installation and the like are realized, equipment self-walking along the pipeline is realized through the automatic barrier crossing mechanism, and the problem of repeated hoisting is avoided. The specific moving process is as follows:
When an obstacle (indicated by D in the figure) is met, the two chassis supports 2 are driven to synchronously overturn through the connecting rod driving mechanism, so that the driving wheel 3 of one chassis support 2 (defined as an A# chassis support) close to the obstacle is lifted upwards to hang, the driven wheel 4 falls on the surface of the pipeline, the driving wheel 3 of the other chassis support 2 (defined as a B# chassis support) falls on the surface of the pipeline, the driven wheel 4 lifts up to continue walking, the driving wheel 3 of the A# chassis support passes over the obstacle until the driven wheel 4 of the A# chassis support is close to the obstacle (indicated by D in the figure), then the two chassis supports 2 are driven to synchronously reversely overturn through the connecting rod driving mechanism, so that the driving wheel 3 of the A# chassis support falls on the surface of the pipeline, the driven wheel 4 lifts up to hang, the driving wheel 3 of the B# chassis support is lifted to hang, the driven wheel 4 falls on the surface of the pipeline, the driven wheel 4 can ride over the obstacle, the walking is continued until the B# chassis support is close to the obstacle (indicated by figure 5), the step is repeated, the driving wheel 2 is driven to reversely overturn again, the two chassis supports 2 are driven to synchronously overturn, and the driving wheel 3 of the chassis support is driven to synchronously overturn, and the two chassis supports 2 are driven to synchronously overturn, and the chassis 4 are driven to fall on the surface of the pipeline (indicated by the connecting rod driving wheel 4), the driving wheel 3 of the A# chassis bracket falls on the surface of a pipeline, the driven wheel 4 is lifted, synchronous, the driving wheel 3 of the B# chassis bracket is lifted, the driven wheel 4 falls on the surface of the pipeline, and the B# chassis bracket can span an obstacle (shown in figure 7) after the walking is continued. The structure design of the mechanism is simple and reasonable on the whole, and the existing equipment can get rid of the current situation of hoisting operation by crossing the surface obstacle of the pipeline, so that the construction efficiency is improved, the operation cost is reduced, the safety risk is reduced, and the labor intensity of workers is reduced.
It should be emphasized that the barrier in the drawings of the present embodiment is typically exemplified by a pipe orifice which is assembled, exposed and is being subjected to corrosion protection and repair, but is not limited to this type, and may include a small-sized spanable barrier which may be placed on the upper portion of a pipeline during construction of the pipeline, such as an electric wire or an oil pipe.
Wherein the arrows in figures 3-7 each refer to the direction of movement of the mechanism over the surface of the pipe.
In this embodiment, the frame 1 includes two lateral plates disposed vertically and horizontally, the two lateral plates are disposed at intervals in parallel, and a plurality of connecting beams are vertically connected between the two lateral plates, and a notch is disposed at a lower portion of a middle area of the two lateral plates. The frame 1 has simple and reasonable structural design and is convenient to carry and install. The module that generally carries is installed in breach department.
As a preferred embodiment, the chassis frame 2 includes a chassis frame 21, a connection post 22, and a rotation shaft 23, the rotation shaft 23 is horizontally disposed in an upper middle region of the chassis frame 21, both ends of the rotation shaft 23 are respectively connected and fixed to the chassis frame 21 through a diagonal brace, both ends of the rotation shaft 23 are respectively rotatably connected to lower portions of corresponding ends of the frame 1, the connection post 22 is vertically fixed to an upper middle portion of the chassis frame 21, and the link driving mechanism is respectively connected to upper ends of the connection posts 22 of the two chassis frames 2.
In the above embodiment, the chassis support 2 has a simple structural design, adopts a hollowed frame structure, and is rotatably connected with the frame 1 through the rotating shaft 23, so that the chassis support 2 is ensured to have better overturning performance.
As a preferred embodiment, two driving wheels 3 are provided in each group, two driving wheel frames corresponding to the two driving wheels 3 one by one are respectively provided at two sides of the lower end of the chassis support 2, and the driving wheels 3 are rotatably assembled in the corresponding driving wheel frames.
In the above embodiment, two action wheels 3 of every group are in splayed shape distribution, contact with the both sides surface on oil gas pipeline upper portion respectively, walk smoothly along oil gas pipeline, and action wheel 3 can be autonomous drive along oil gas pipeline walk, and follow action wheel 3 along the pipeline surface walk from driving wheel 4, and the design is simpler, reasonable, and the walking is more smooth and easy.
In this embodiment, the driving wheel 3 adopts an in-wheel motor with an adaptive model in the prior art.
In this embodiment, two driven wheels 4 are provided in each group, two driven wheel frames corresponding to the two driven wheels 4 one by one are respectively provided at two sides of the lower end of the chassis support 2, and the driven wheels 4 are rotatably assembled in the corresponding driven wheel frames. Each group of two driven wheels 4 are also distributed in an internal splayed shape and respectively contact with the surfaces of two sides of the upper part of the oil gas pipeline, so that the driven wheels smoothly walk along the oil gas pipeline.
In this embodiment, the two sides of the connecting post 22 are respectively connected and fixed with the chassis frame 21 through diagonal braces, and the connection between the structures is relatively stable.
As a preferred embodiment, as shown in fig. 1 and 2, the link driving mechanism includes a link 51 and a translational driving mechanism, the link 51 is transversely penetrated through both ends of the frame 1 and slidably connected to the frame 1, a vertically extending through slot is provided in an upper end of the connecting post 22, bar holes (denoted by c in the figure) are vertically opened on both side walls of the through slot, lugs (denoted by e in the figure) respectively inserted into the through slots of the two connecting posts 22 are provided at both ends of the link 51, and a limit pin (denoted by d in the figure) inserted into the bar holes at both sides is horizontally provided on the lugs, and the translational driving mechanism is connected to the link 51 for driving the link 51 to move in a length direction.
In the above embodiment, the link 51, the frame 1, and the two chassis supports 2 form a parallelogram four-bar linkage mechanism, so when the link 51 moves horizontally along the length direction, the two chassis supports 2 can be driven to turn synchronously and in the same direction, thereby realizing the operation of effectively crossing the obstacle by the two chassis supports 2. Meanwhile, two ends of the connecting rod 51 extend into the through groove and are matched with the strip-shaped holes through limiting pins on the lug plates, the lug plates (namely two ends of the connecting rod 51) are allowed to move up and down relative to the connecting columns 22 through the design, when the connecting rod 51 translates, the chassis support 2 can be effectively driven to overturn, in addition, in the overturning process, the design enables the upper end connecting columns 22 of the chassis support 2 to have a good movable space relative to the end parts of the connecting rod 51, position interference with the connecting rod 51 when the chassis support 2 overturns is avoided, and the chassis support 2 can be ensured to overturn effectively along with the translation of the connecting rod 51.
In this embodiment, guide sleeves 11 are provided at both ends of the interior of the frame 1, and both ends of the connecting rod 51 respectively penetrate through the two guide sleeves 11 and slidably fit with the guide sleeves 11. Ensuring that the link 51 can move in the correct direction relative to the frame 1.
In this embodiment, a rack is fixed to the middle part of the link 51 along the length direction thereof, and the translational driving mechanism includes a motor, a gear, and a rack, the rack is mounted to the middle part of the link 51 and extends along the length direction of the link 51, the motor is mounted to the frame 1, and the gear is mounted to a shaft of the motor and is engaged with the rack. In the running process, the motor drives the gear to rotate, so that the rack can linearly move relative to the gear, and the connecting rod 51 is driven to reciprocate along the length direction of the motor, so that the synchronous and same-direction overturning and crossing of the two chassis supports 2 are realized.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interaction relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411313362.6A CN119282996B (en) | 2024-09-20 | 2024-09-20 | An obstacle crossing mechanism for corrosion-resistant repair equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411313362.6A CN119282996B (en) | 2024-09-20 | 2024-09-20 | An obstacle crossing mechanism for corrosion-resistant repair equipment |
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| CN119282996A CN119282996A (en) | 2025-01-10 |
| CN119282996B true CN119282996B (en) | 2025-11-18 |
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| CN202411313362.6A Active CN119282996B (en) | 2024-09-20 | 2024-09-20 | An obstacle crossing mechanism for corrosion-resistant repair equipment |
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| KR101259494B1 (en) * | 2012-11-09 | 2013-05-06 | 주식회사 엔티리서치 | Travelling robot moving along outer surface of pipe and control method thereof |
| CN204340554U (en) * | 2014-12-19 | 2015-05-20 | 贾克 | Barrier-exceeding vehicle drive axle walking beam |
| CN206446624U (en) * | 2017-01-06 | 2017-08-29 | 中铁十七局集团第三工程有限公司 | A kind of tool car for being capable of leaping over obstacles |
| KR101952343B1 (en) * | 2017-07-18 | 2019-02-26 | 배동권 | Driving apparatus type articulation of over obstacle |
| US11691470B2 (en) * | 2020-04-01 | 2023-07-04 | Cartken Inc. | System and method for an autonomous robot drivetrain with an actuated bogie |
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| CN115588933B (en) * | 2022-11-03 | 2024-09-24 | 中国南方电网有限责任公司超高压输电公司昆明局 | Obstacle surmounting device and maintenance vehicle |
| CN221659306U (en) * | 2023-09-08 | 2024-09-06 | 湖北华财人工智能科技有限公司 | Robot with movement detection function |
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| CN104590420A (en) * | 2014-12-19 | 2015-05-06 | 贾克 | Obstacle crossing hinging vehicle eight-wheel drive system |
| CN112873245A (en) * | 2021-03-25 | 2021-06-01 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
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| CN119282996A (en) | 2025-01-10 |
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