CN210614129U - Pipeline inner wall spraying robot of self-adaptation pipe diameter - Google Patents
Pipeline inner wall spraying robot of self-adaptation pipe diameter Download PDFInfo
- Publication number
- CN210614129U CN210614129U CN201921478134.9U CN201921478134U CN210614129U CN 210614129 U CN210614129 U CN 210614129U CN 201921478134 U CN201921478134 U CN 201921478134U CN 210614129 U CN210614129 U CN 210614129U
- Authority
- CN
- China
- Prior art keywords
- pipeline
- frame body
- main frame
- robot
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a pipeline spraying robot technical field, more specifically relates to a pipeline inner wall spraying robot of self-adaptation pipe diameter. The robot specifically comprises a main frame body, a movement mechanism and a spraying mechanism, wherein the main frame body is used as a fixed base and is integrally of a frame structure; the movement mechanism is fixed on the outer side surface of the main frame body and drives the robot to move along the radial direction or the axial direction of the pipeline; the spraying mechanism is arranged on the main frame body and moves along with the main frame body; the movement mechanism comprises a diameter changing device and a driving wheel assembly, wherein the diameter changing device is arranged on the outer side surface of the main frame body and is used for adjusting the extending distance of the driving wheel assembly; the driving wheel assembly is arranged on the outer side surface of the main frame body through the reducing device, and the robot is driven to run. The utility model discloses the pipeline of adaptable different pipe diameters is followed the steady walking of pipe inner wall, and the spraying is even, and strong adaptability, spraying efficiency are higher relatively, simple structure can be applied to all kinds of pipeline spraying operations.
Description
Technical Field
The utility model relates to a pipeline spraying robot technical field, more specifically relates to a pipeline inner wall spraying robot of self-adaptation pipe diameter.
Background
The pipeline is used as an important marine resource transportation tool and plays an important role in the national economy core industries of natural gas, nuclear industry, petroleum and the like. In order to enhance the corrosion resistance of the pipeline, scientific research workers research and develop substances of coatings and corrosion inhibitors to coat the surface of the material so as to reduce the corrosion phenomenon of the pipeline, in the spraying application, manual and simple spray heads are often used for spraying, in the long-distance pipeline spraying, the manual spraying is difficult, and the spraying time is long, so that the research and development significance of the pipeline inner wall spraying robot is great. At present, some robots for solving pipeline spraying exist in the market, but the robots also have some defects, such as unstable walking, adaptability to a single pipe diameter, uneven coating spraying, difficulty in cleaning pipelines during secondary spraying and the like.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an overcome above-mentioned prior art the defect, provide a pipeline inner wall spraying robot of self-adaptation pipe diameter, the pipeline of adaptable different pipe diameters is followed the steady walking of pipeline inner wall, and the spraying is even, and can carry out the pipeline and clean.
In order to solve the technical problem, the utility model discloses a technical scheme is:
a spraying robot for the inner wall of a pipeline with a self-adaptive pipe diameter comprises a main frame body, a movement mechanism and a spraying mechanism, wherein the main frame body is used as a fixed base and is of a frame structure as a whole; the movement mechanism is fixed on the outer side surface of the main frame body and drives the robot to move along the radial direction or the axial direction of the pipeline; the spraying mechanism is arranged on the main frame body and moves along with the main frame body; the movement mechanism comprises a diameter changing device and a driving wheel assembly, wherein the diameter changing device is arranged on the outer side surface of the main frame body and is used for adjusting the extending distance of the driving wheel assembly; the driving wheel assembly is arranged on the outer side surface of the main frame body through the reducing device, and the robot is driven to run.
The spraying robot has obvious symmetry and stably supports and walks. The reducing device is used for changing the extending distance of the driving wheel assembly, so that the walking diameter of the robot is adjusted, and the robot is suitable for pipelines with different pipe diameters. The robot performs spraying operation while walking on the inner wall of the pipeline, and radial and axial movement enables the spraying mechanism to perform spraying as completely as possible.
Preferably, the main frame body includes trunk line, connecting strut and two at least support rings, the support ring parallel alignment sets up, and the trunk line runs through each support ring centre of a circle to it is fixed with each support ring connection through connecting strut. Each component of the main frame body is a hollow part, so that the whole weight of the robot is reduced, and the robot is convenient to walk.
Preferably, the diameter changing device comprises a moving seat, a supporting seat, a V-shaped cross supporting rod, a lead screw, a fixing frame and a first motor, wherein the lead screw is parallel to the main pipeline and is movably fixed on the outer diameter of the supporting ring; the first motor is positioned at one end of the screw rod, the output end of the first motor is connected with the screw rod, and the first motor is fixed on the support ring through the fixing frame; one end of the V-shaped cross brace rod is fixed on the support ring through the support seat, the other end of the V-shaped cross brace rod is fixed on the screw rod through the movable seat, and the V-shaped cross brace rod is rotatably connected with the support seat and the movable seat; the movable seat is in threaded connection with the lead screw and slides along with the rotation of the lead screw, the unfolding included angle of the V-shaped crossed support rods is adjusted, the extending distance of the driving wheel assembly is changed, and the adaptability is improved.
The V-shaped cross brace rod is a conventional cross brace rod at present and is formed by hinging two rod bodies, and the brace rods at two ends are movably unfolded to change the size of a V-shaped included angle. The two ends of the V-shaped cross brace rod are respectively fixed on the supporting seat and the movable seat. The first motor is started, the output shaft of the first motor drives the screw rod to rotate, and the movable base is in threaded connection with the screw rod, so that the movable base slides along with the rotation of the screw rod, the V-shaped included angle of the V-shaped cross supporting rod is changed, and the extension distance of the driving wheel assembly is changed. In addition, the rotating direction of the screw rod is controlled, so that the V-shaped included angle of the V-shaped cross supporting rod can be increased or decreased, the included angle is increased, namely, the pipe diameter adaptive to the driving wheel assembly is decreased, and the included angle is decreased, namely, the pipe diameter adaptive to the driving wheel assembly is increased.
Preferably, the driving wheel assembly comprises a wheel body, a wheel seat, a second motor and a third motor, the wheel body, the second motor and the third motor are all fixed on the wheel seat, the second motor is used for driving the wheel body to rotate, and the third motor is used for driving the wheel seat to rotate; the wheel seat is connected to the included angle end of the V-shaped cross brace rod through the output end of the third motor, and the whole driving wheel assembly moves along with the cross brace rod; the wheel body is also provided with a pressure sensor for detecting the pressure of the wheel body.
The pressure sensor is arranged at the joint of the wheel seat and the V-shaped cross supporting rod, detects pressure in real time and prevents the wheel body from being damaged by overlarge pressure. In addition, the second motor drives the wheel body to rotate, the third motor drives the wheel seat to rotate, and the two motors are matched to drive the robot to perform radial or axial linear motion along the inner wall of the pipeline.
Preferably, the spraying mechanism comprises a plurality of spray guns, and the spray guns are parallel to the plane of the support ring and are uniformly arranged on the main pipeline in a radial shape; the spray gun is connected with a material conveying pipe, and the material conveying pipe is fixed on the main pipeline; and a laser thickness measuring sensor for detecting the thickness of the coating is also arranged on the outer side of the support ring. The number of the spray guns is three or more, and main pipelines are uniformly arranged in a radial mode so as to facilitate uniform spraying. In addition, the spray gun is provided with a switch electromagnetic valve.
Preferably, the foremost end of the advancing direction of the main frame body is provided with an ultrasonic distance sensor for detecting the advancing distance, and the ultrasonic distance sensor is fixedly arranged on the main pipeline. The ultrasonic distance sensor is arranged at the end part of the main pipeline and is positioned at the foremost end of the advancing direction of the robot.
Preferably, the main frame further comprises a cleaning mechanism arranged at one end of the main frame body in the advancing direction, the cleaning mechanism comprises a rotary table, a cleaning disc, an electric push rod and a driving device for driving the rotary table to rotate, and the driving device is fixed at the end part of the main pipeline and is rotationally connected with the center of the rotary table; the sweeping coils are uniformly distributed around the periphery of the turntable and are movably connected to the turntable through an electric push rod; the fixed end of the electric push rod is connected to the center of the turntable, and the movable end of the electric push rod is connected to the cleaning disc and used for controlling the cleaning range of the cleaning disc in a radial telescopic mode; the cleaning disc is provided with bristles for cleaning. Wherein, drive arrangement is servo motor, and the drive carousel is rotatory to realize cleaning the rotation of dish and clean. In order to adapt to the cleaning work with different pipe diameters, the telescopic length of the cleaning disc can be adjusted through an electric push rod, and the electric push rod is an existing conventional electric push rod.
Preferably, the cleaning mechanism further comprises a dust suction device arranged adjacent to the cleaning disc, the dust suction device comprises a plurality of dust suction ports, and the dust suction ports are uniformly distributed around the circumference of the main pipeline; the dust collection opening is communicated with a dust collection pipeline, and the dust collection pipeline is fixed on the main pipeline. The dust suction device is a dust collector and is fixed on the main pipeline for dust suction operation.
Preferably, the main frame body is a cylindrical frame or a regular polygonal frame. The main frame body can be a triangular frame, a rectangular frame or other regular polygonal frames, and is generally and optimally selected to be a cylindrical frame.
Preferably, the material conveying pipe and the dust suction pipe are both hidden in the main pipe; the support ring is of a hollow structure, and a power supply for providing energy is arranged in the support ring. The power supply mainly adopts a storage battery to supply power for each mechanism.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a pipeline inner wall spraying robot of self-adaptation pipe diameter can accomplish the pipeline inner wall and clean and spraying work, realizes extending or contracting in the pipeline through the reducing device, adapts to the pipeline of different pipe diameters, has overcome through the problem that pipeline pipe diameter is single, the accent footpath is difficult. Moreover, the utility model discloses satisfy the requirement of pipeline robot motion in the pipeline, it is even to do benefit to the coating spraying, strong adaptability, spraying efficiency are higher relatively, simple structure can be applied to all kinds of pipeline spraying operations.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic diagram of the overall structure of the present invention.
Fig. 3 is a rear side view of the forward direction of the present invention.
Fig. 4 is a schematic structural view of the main frame body.
Fig. 5 is a schematic structural view of the movement mechanism.
Fig. 6 is a schematic structural diagram of the diameter changing device.
Fig. 7 is a schematic structural view of the drive wheel assembly.
Fig. 8 is a schematic structural view of the cleaning mechanism.
FIG. 9 is a schematic view showing the structure of the spray mechanism and the cleaning mechanism.
The device comprises a main frame 1, a motion mechanism 2, a spraying mechanism 3, a diameter changing device 4, a driving wheel assembly 5, a laser thickness measuring sensor 6, an ultrasonic distance sensor 7, a cleaning mechanism 8, a main pipeline 11, a connecting support rod 12, a support ring 13, a spray gun 31, a movable seat 41, a support seat 42, a 43V-shaped cross support rod 44, a lead screw 45, a fixed frame 46, a first motor 51, a wheel body 51, a wheel seat 52, a second motor 53, a third motor 54, a rotary disc 81, a cleaning disc 82, an electric push rod 83, a driving device 84, bristles 85 and a dust suction opening 86.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", "long", "short", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limiting the present patent, and those skilled in the art will understand the specific meaning of the terms according to their specific circumstances.
The technical solution of the present invention is further described in detail by the following specific embodiments in combination with the accompanying drawings:
example 1
As shown in fig. 1-2, the present embodiment provides a pipeline inner wall spraying robot with adaptive pipe diameter, including main frame body 1, movement mechanism 2 and spraying mechanism 3, main frame body 1 is as a fixed base, and it is whole that main frame body 1 is a cylindrical frame structure, specifically, main frame body 1 includes main pipeline 11, connecting strut 12 and three support rings 13, and each support ring 13 is parallel to align to set up, and the mutual interval equals, and main pipeline 11 runs through the centre of a circle of each support ring 13 to be connected fixedly with each support ring 13 through connecting strut 12. Each component of the main frame body 1 is a hollow part so as to reduce the whole weight of the robot and facilitate walking, as shown in fig. 4.
As shown in fig. 5, the moving mechanism 2 includes a diameter changing device 4 and a driving wheel assembly 5, the diameter changing device 4 is disposed on the outer side surface of the main frame body 1 and is used for adjusting the extension distance of the driving wheel assembly 5, and the driving wheel assembly 5 is mounted on the outer side surface of the main frame body 1 through the diameter changing device 4 to drive the robot to move along the radial direction or the axial direction of the pipeline. In this embodiment, three sets of motion mechanisms 2 are disposed between each two support rings 13, and included angles of the three sets of motion mechanisms 2 are 120 ° in pairs, and are centrosymmetric, as shown in fig. 3.
Specifically, as shown in fig. 6, the diameter changing device 4 includes a moving seat 41, a supporting seat 42, a V-shaped cross brace 43, a screw 44, a fixing frame 45 and a first motor 46, wherein the screw 44 is parallel to the main pipe 11 and is movably fixed to the outer diameter of the supporting ring 13, meanwhile, the first motor 46 is located at one end of the screw 44, the output end of the first motor is connected to the screw 44, the first motor 46 is fixed to the supporting ring 13 through the fixing frame 45, the other end of the screw 44 is connected to the other supporting ring 13 through a nut, and generally, the screw 44 is a ball screw 44.
One end of the V-shaped cross brace 43 is fixed to the support ring 13 through the support seat 42, the other end is fixed to the screw 44 through the moving seat 41, and the V-shaped cross brace 43 is rotatably connected to both the support seat 42 and the moving seat 41. The movable base 41 is in threaded connection with the lead screw 44 and slides along with the rotation of the lead screw 44, the unfolding included angle of the V-shaped cross supporting rod 43 is adjusted, and the extending distance of the driving wheel assembly 5 is changed. The V-shaped cross brace rod 43 is a conventional cross brace rod at present and is formed by hinging two rod bodies, and the brace rods at two ends are movably unfolded to change the size of a V-shaped included angle. The two end stays of the V-shaped cross stay 43 are fixed to the support base 42 and the movable base 41, respectively. The first motor 46 is started, the output shaft thereof drives the screw 44 to rotate, and because the moving seat 41 is in threaded connection with the screw 44, the moving seat 41 slides along with the rotation of the screw 44, so that the V-shaped included angle of the V-shaped cross brace 43 is changed, and the extension distance of the driving wheel assembly 5 is changed. In addition, the rotation direction of the screw 44 is controlled, so that the V-shaped included angle of the V-shaped cross brace 43 can be increased or decreased, the included angle is increased, namely the pipe diameter adapted to the driving wheel assembly 5 is decreased, and the included angle is decreased, namely the pipe diameter adapted to the driving wheel assembly 5 is increased.
For better cooperation, in the embodiment, the same lead screw 44 is used for the adjacent diameter-changing devices 4 in the same direction, that is, the moving seat 41 and the lead screw 44 realize synchronous movement, so that synchronous diameter changing is ensured.
In addition, the driving wheel assembly 5 comprises a wheel body 51, a wheel seat 52, a second motor 53 and a third motor 54, the wheel body 51, the second motor 53 and the third motor 54 are all fixed on the wheel seat 52, the second motor 53 is used for driving the wheel body 51 to rotate, the third motor 54 is used for driving the wheel seat 52 to rotate, and the two types of matching can drive the robot to perform radial or axial linear motion along the inner wall of the pipeline. For example, when the robot moves linearly along the axial direction of the pipeline, the moving direction of the wheel body 51 is consistent with the direction of the screw 44. When the robot needs to move along the radial direction of the pipeline, each wheel seat 52 rotates 90 degrees at the same time, and the moving direction of the wheel body 51 is perpendicular to the direction of the screw rod 44. In this embodiment, the wheel body 51 is a roller, as shown in fig. 7.
Meanwhile, the wheel seat 52 is connected to the angle end of the V-shaped cross brace 43 through the output end of the third motor 54, and the whole driving wheel assembly 5 moves along with the cross brace. The wheel body 51 is further provided with a pressure sensor for detecting the pressure of the wheel body 51, and the pressure sensor is mounted at the connection position of the wheel seat 52 and the V-shaped cross supporting rod 43 to detect the pressure in real time, so as to prevent the wheel body 51 from being damaged by the excessive pressure.
Further, as shown in fig. 1, the spray mechanism 3 is provided to the main frame 1 and moves along with the main frame 1. The spraying mechanism 3 comprises three spray guns 31, the spray guns 31 are parallel to the plane of the support ring 13 and are uniformly arranged on the main pipeline 11 in a radial shape, and the spray guns 31 are also provided with switch electromagnetic valves. Furthermore, the spray gun 31 is connected with a feed pipe, which is hidden and fixed in the main pipe 11. In addition, the outer side of the support ring 13 is also provided with a laser thickness measuring sensor 6, and the laser thickness measuring sensor 6 is used for detecting the thickness of the coating and the spraying continuity.
Further, the present embodiment further includes a cleaning mechanism 8 disposed at one end of the main frame 1 in the forward direction, the cleaning mechanism 8 includes a rotating plate 81, a cleaning plate 82, an electric push rod 83, and a driving device 84 for driving the rotating plate 81 to rotate, and the driving device 84 is fixed at the end of the main pipe 11 and is rotatably connected to the center of the rotating plate 81. The driving device 84 is a servo motor, and drives the turntable 81 to rotate, so as to realize the rotating cleaning of the cleaning disc 82, as shown in fig. 8.
In addition, the cleaning discs 82 are uniformly distributed around the periphery of the rotating disc 81 and movably connected to the rotating disc 81 through electric push rods 83, specifically, the fixed ends of the electric push rods 83 are connected to the center of the rotating disc 81, the movable ends of the electric push rods are connected to the cleaning discs 82 and used for controlling the cleaning range of the cleaning discs 82 in a radially telescopic manner, and the cleaning discs 82 are provided with bristles 85 for cleaning. In order to adapt to the cleaning work with different pipe diameters, the telescopic length of the cleaning disc 82 can be adjusted through an electric push rod 83, and the electric push rod 83 is an existing conventional electric push rod 83.
Further, as shown in fig. 9, the sweeping mechanism 8 further includes a dust suction device adjacent to the sweeping tray 82, the dust suction device is a dust collector, the dust suction device includes three dust suction ports 86, the dust suction ports 86 are uniformly distributed around the circumference of the main pipe 11, the dust suction ports 86 are communicated with a dust suction pipe, and the dust suction pipe is hidden and fixed on the main pipe 11.
Furthermore, the foremost end of the main frame body 1 in the advancing direction is provided with an ultrasonic distance sensor 7 for detecting the advancing distance, and the ultrasonic distance sensor 7 is fixed on the main pipeline 11 and is positioned at the front end of the cleaning device.
Further, a power supply for providing energy is arranged in the support ring 13, and the power supply mainly adopts a storage battery to provide power supply for each mechanism.
As shown in figures 1-3, when in use, the power supply is firstly ensured to be connected with each mechanism, and smooth driving is ensured. Then, the robot is placed into the pipeline to be sprayed, the robot is started, the diameter-changing device 4 is adjusted, the driving wheel assembly 5 of the robot is partially adaptive to the diameter of the inner wall of the pipeline, each wheel body 51 is supported on the inner wall of the pipeline, the pressure sensor is checked, and the most appropriate extending distance is adjusted. Then, the cleaning device at the front end of the robot in the advancing direction is started, and the moving mechanism 2 and the spraying mechanism 3 are started simultaneously, so that the robot moves linearly along the axial direction of the pipeline, and cleaning and spraying are completed simultaneously. In addition, when the robot needs to perform rotary motion along the radial direction of the pipeline, the wheel seats 52 are adjusted to simultaneously rotate 90 degrees, so that the moving direction of the wheel body 51 is perpendicular to the direction of the screw 44, and the robot can perform rotary motion along the inner wall of the pipeline.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a pipeline inner wall spraying robot of self-adaptation pipe diameter which characterized in that: the spraying device comprises a main frame body (1), a movement mechanism (2) and a spraying mechanism (3), wherein the main frame body (1) is used as a fixed base and is of a frame structure as a whole; the movement mechanism (2) is fixed on the outer side surface of the main frame body (1) and drives the robot to move along the radial direction or the axial direction of the pipeline; the spraying mechanism (3) is arranged on the main frame body (1) and moves along with the main frame body (1); the movement mechanism (2) comprises a diameter changing device (4) and a driving wheel assembly (5), wherein the diameter changing device (4) is arranged on the outer side surface of the main frame body (1) and is used for adjusting the extending distance of the driving wheel assembly (5); the driving wheel assembly (5) is installed on the outer side surface of the main frame body (1) through the diameter changing device (4) and drives the robot to run.
2. The inner wall spraying robot of the pipeline with the self-adaptive pipe diameter according to claim 1, characterized in that: the main frame body (1) comprises a main pipeline (11), a connecting branch rod (12) and at least two support rings (13), the support rings (13) are arranged in parallel in an aligning mode, the main pipeline (11) penetrates through the circle center of each support ring (13), and the main pipeline is fixedly connected with each support ring (13) through the connecting branch rod (12).
3. The inner wall spraying robot of the pipeline with the self-adaptive pipe diameter according to claim 2, characterized in that: the diameter changing device (4) comprises a moving seat (41), a supporting seat (42), a V-shaped cross supporting rod (43), a lead screw (44), a fixing frame (45) and a first motor (46), wherein the lead screw (44) is parallel to the main pipeline (11) and is movably fixed on the outer diameter of the supporting ring (13); the first motor (46) is positioned at one end of the screw rod (44), the output end of the first motor is connected with the screw rod (44), and the first motor (46) is fixed on the support ring (13) through a fixing frame (45); one end of the V-shaped cross supporting rod (43) is fixed on the supporting ring (13) through a supporting seat (42), the other end of the V-shaped cross supporting rod is fixed on a screw rod (44) through a moving seat (41), and the V-shaped cross supporting rod (43) is rotationally connected with the supporting seat (42) and the moving seat (41); the movable base (41) is in threaded connection with the lead screw (44), slides along with the rotation of the lead screw (44), adjusts the unfolding included angle of the V-shaped cross supporting rod (43), and changes the extending distance of the driving wheel assembly (5).
4. The inner wall spraying robot of the pipeline with the self-adaptive pipe diameter according to claim 3, characterized in that: the driving wheel assembly (5) comprises a wheel body (51), a wheel seat (52), a second motor (53) and a third motor (54), the wheel body (51), the second motor (53) and the third motor (54) are all fixed on the wheel seat (52), the second motor (53) is used for driving the wheel body (51) to rotate, and the third motor (54) is used for driving the wheel seat (52) to rotate; the wheel seat (52) is connected to the included angle end of the V-shaped cross brace rod (43) through the output end of the third motor (54), and the whole driving wheel assembly (5) moves along with the cross brace rod; the wheel body (51) is also provided with a pressure sensor for detecting the pressure of the wheel body (51).
5. The inner wall spraying robot of the pipeline with the self-adaptive pipe diameter according to claim 4, characterized in that: the spraying mechanism (3) comprises a plurality of spray guns (31), and the spray guns (31) are parallel to the plane where the support ring (13) is located and are uniformly arranged on the main pipeline (11) in a radial shape; the spray gun (31) is connected with a material conveying pipe, and the material conveying pipe is fixed on the main pipeline (11); and a laser thickness measuring sensor (6) for detecting the thickness of the coating is also arranged on the outer side of the support ring (13).
6. The inner wall spraying robot of the pipeline with the self-adaptive pipe diameter according to claim 5, characterized in that: the ultrasonic distance sensor is characterized in that the foremost end of the advancing direction of the main frame body (1) is provided with an ultrasonic distance sensor (7) used for detecting the advancing distance, and the ultrasonic distance sensor (7) is fixedly arranged on the main pipeline (11).
7. The inner wall spraying robot of the pipeline with the self-adaptive pipe diameter according to claim 6, characterized in that: the cleaning device is characterized by further comprising a cleaning mechanism (8) arranged at one end of the main frame body (1) in the advancing direction, wherein the cleaning mechanism (8) comprises a rotary disc (81), a cleaning disc (82), an electric push rod (83) and a driving device (84) used for driving the rotary disc (81) to rotate, and the driving device (84) is fixed at the end part of the main pipeline (11) and is in center rotating connection with the rotary disc (81); the cleaning discs (82) are uniformly distributed around the periphery of the circumference of the rotating disc (81) and are movably connected to the rotating disc (81) through electric push rods (83); the fixed end of the electric push rod (83) is connected to the center of the rotating disc (81), and the movable end of the electric push rod is connected to the cleaning disc (82) and used for controlling the cleaning range of the cleaning disc (82) in a radial telescopic mode; the cleaning disc (82) is provided with bristles (85) for cleaning.
8. The inner wall spraying robot of the pipeline with the self-adaptive pipe diameter according to claim 7, characterized in that: the cleaning mechanism (8) further comprises a dust suction device arranged adjacent to the cleaning disc (82), the dust suction device comprises a plurality of dust suction ports (86), and the dust suction ports (86) are uniformly distributed around the circumference of the main pipeline (11); the dust suction opening (86) is communicated with a dust suction pipeline which is fixed on the main pipeline (11).
9. The pipe diameter self-adaptive inner wall spraying robot as claimed in claim 1 or 2, wherein: the main frame body (1) is a cylindrical frame or a regular polygonal frame.
10. The inner wall spraying robot of the pipeline with the self-adaptive pipe diameter according to claim 8, characterized in that: the material conveying pipe and the dust suction pipe are both hidden in the main pipe (11); the support ring (13) is of a hollow structure, and a power supply for providing energy is arranged in the support ring (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921478134.9U CN210614129U (en) | 2019-09-05 | 2019-09-05 | Pipeline inner wall spraying robot of self-adaptation pipe diameter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921478134.9U CN210614129U (en) | 2019-09-05 | 2019-09-05 | Pipeline inner wall spraying robot of self-adaptation pipe diameter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210614129U true CN210614129U (en) | 2020-05-26 |
Family
ID=70747799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921478134.9U Active CN210614129U (en) | 2019-09-05 | 2019-09-05 | Pipeline inner wall spraying robot of self-adaptation pipe diameter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210614129U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110449304A (en) * | 2019-09-05 | 2019-11-15 | 广东海洋大学 | A kind of pipe inner-wall spraying robot of adaptive caliber |
| CN111589811A (en) * | 2020-05-29 | 2020-08-28 | 广州优讯环保科技有限公司 | Petroleum pipeline cleaning device |
| CN111701761A (en) * | 2020-06-11 | 2020-09-25 | 王淼 | Pipeline inner wall spraying device |
| CN112893346A (en) * | 2021-01-15 | 2021-06-04 | 西南石油大学 | In-pipe composite visual automatic descaling device and descaling method |
| CN114182192A (en) * | 2021-12-21 | 2022-03-15 | 中国人民解放军陆军装甲兵学院 | High-speed electric arc machining device with self-moving function for inner wall of pipeline |
| CN114962851A (en) * | 2022-06-15 | 2022-08-30 | 哈尔滨理工大学 | Be used for non-excavation ultraviolet pipeline to restore telescoping device of crawling |
-
2019
- 2019-09-05 CN CN201921478134.9U patent/CN210614129U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110449304A (en) * | 2019-09-05 | 2019-11-15 | 广东海洋大学 | A kind of pipe inner-wall spraying robot of adaptive caliber |
| CN111589811A (en) * | 2020-05-29 | 2020-08-28 | 广州优讯环保科技有限公司 | Petroleum pipeline cleaning device |
| CN111701761A (en) * | 2020-06-11 | 2020-09-25 | 王淼 | Pipeline inner wall spraying device |
| CN112893346A (en) * | 2021-01-15 | 2021-06-04 | 西南石油大学 | In-pipe composite visual automatic descaling device and descaling method |
| CN114182192A (en) * | 2021-12-21 | 2022-03-15 | 中国人民解放军陆军装甲兵学院 | High-speed electric arc machining device with self-moving function for inner wall of pipeline |
| CN114182192B (en) * | 2021-12-21 | 2023-10-13 | 中国人民解放军陆军装甲兵学院 | High-speed arc machining device with self-moving function for inner wall of pipeline |
| CN114962851A (en) * | 2022-06-15 | 2022-08-30 | 哈尔滨理工大学 | Be used for non-excavation ultraviolet pipeline to restore telescoping device of crawling |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210614129U (en) | Pipeline inner wall spraying robot of self-adaptation pipe diameter | |
| CN110449304A (en) | A kind of pipe inner-wall spraying robot of adaptive caliber | |
| CN112846630A (en) | Novel welding robot | |
| CN209423926U (en) | A kind of pipe inner-wall spraying robot | |
| CN104907207A (en) | Spraying device of horizontal-type crankshaft main journal | |
| CN207205717U (en) | A kind of steel pipe rapid welding equipment | |
| CN111570164A (en) | Automatic pipeline coating complete equipment and using method thereof | |
| CN205824484U (en) | A kind of photographic head installing mechanism of circular pipe measuring robots | |
| CN115155908B (en) | Steel structure surface spraying device and method | |
| CN111111968A (en) | Building steel pipe painting device | |
| CN108311457B (en) | Spraying and cleaning equipment for optical lenses | |
| CN112827706A (en) | Spraying manipulator and using method | |
| CN112387495A (en) | Outer wall spraying equipment for processing large-diameter arc-shaped pipe | |
| CN102225520A (en) | Elbow trimming device and trimming method | |
| CN117697796B (en) | Bridge cable appearance and inside comprehensive detection robot | |
| CN110842664A (en) | Inner wall grinding device is used in pipe fitting production | |
| CN114054248A (en) | Pipeline inside and outside coating equipment | |
| CN207929455U (en) | A kind of pipeline spray equipment | |
| CN117000471A (en) | Pipe fitting paint brushing tool and brushing method thereof | |
| CN219560084U (en) | Plastic-spraying machining workpiece fixing structure | |
| CN114054304B (en) | Adhesive spraying device and spraying method | |
| CN110665717A (en) | Brake disc spraying equipment | |
| CN216707092U (en) | Hub polishing machine | |
| CN115302185A (en) | Welding robot is with tubulose work piece welding alignment tipping arrangement | |
| CN110355028B (en) | Duplex position frock of spraying paint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |