CN215908660U - Pipeline robot - Google Patents

Abstract

The present invention relates to a pipeline robot, comprising: one end of the through shaft is fixed with the power assembly, and a spraying gun head or a laser assembly is detachably arranged on the through shaft and/or the power assembly; the visual recognition module is arranged on the power assembly and used for acquiring image information of the pipe wall of the pipeline and recognizing the image; the main control unit is respectively and electrically connected with the visual recognition module and the power assembly, and is electrically connected with the spraying equipment or the laser assembly; and the human-computer interaction module is respectively and electrically connected with the visual recognition module and the main control unit. The beneficial effects are that: carrying a spraying gun head or a laser assembly according to actual requirements, and then correspondingly externally connecting a coating supply device and a laser input device, so that the automatic anticorrosion spraying work inside the pipeline or the automatic cleaning work inside the pipeline can be finished; the equipment can realize remote real-time monitoring of the operation process; the intelligent directional cleaning or spraying of the inner wall of the pipeline is realized by combining a visual technology, the efficiency is high, and electricity and energy are saved; can be applied to pipeline crawling with the diameter of 80-400 mm.

Description

Pipeline robot

Technical Field

The utility model relates to the field of pipeline equipment maintenance, in particular to a pipeline robot.

Background

The maintenance, cleaning and protection treatment of the interior of a pipe with a small pipe diameter (80-400mm) and high added value (a conveying pipeline and a special-purpose pipeline) is an industrial problem, the pipeline has high requirements on the state of inner wall substances, for example, the last-time conveying substances need to be cleaned when the conveying substances are replaced, and if stubborn impurities generated in the conveying process bring risks to the operation of the whole system, the cleaning and protection operation needs to be carried out on the interior of the pipe at regular intervals.

The cleaning mode of the traditional pipeline inner wall is mainly a physical cleaning mode such as sand blasting and polishing, and for a pipeline with a high added value, the large-surface cleaning operation can also cause irreversible damage to the base material primer of the pipeline inner wall while cleaning, especially under the condition of small pipe diameter (80-400mm), the specific damage degree and specific position inside the pipe can not be judged by observing the specific conditions inside the pipe, the polishing operation can only be fully covered, the whole service life of the pipeline is reduced, and the cleaning operation needs to be completed offline for a long time.

The traditional physical cleaning mode of laser cleaning and sand blasting polishing has certain advantages in the environment, can complete the cleaning operation of the inner wall of the pipe under the condition of less or no loss of base materials, but has a plurality of problems, and the most important is as follows:

cleaning direction:

1. the lens group of the laser assembly (4) is large, and the laser assembly cannot be placed in a pipeline to realize cleaning operation under the operation in a small pipe diameter (80-400 mm);

2. the laser cleaning needs to control the focus point to the surface to complete the cleaning operation, and the annular surface cannot ensure that each position is on the focus point, so that the cleaning efficiency is reduced;

3. a large amount of smoke is generated in the laser cleaning process, and laser is shielded in the closed pipe, so that the cleaning efficiency is reduced;

4. the traditional laser cleaning cannot distinguish damaged surfaces independently, and can clean the damaged surfaces and undamaged surfaces simultaneously, so that the service life of the pipeline is shortened.

The protection direction is as follows:

the traditional pipeline internal protection mode is a physical attachment mode such as spraying, and under the condition of small pipe diameter (80-400mm), the existing mode adopts a mode of a hose and a spraying nozzle to be manually or equipment inserted into the pipeline, and the specific cleaning part in the pipeline cannot be identified and judged, so that the whole spraying coverage can be realized, and a great amount of waste of spraying coating can be caused.

The operation direction is as follows:

1. in the traditional equipment cleaning operation, manual operation and identification of a corresponding cleaning position are required, the cleaning condition in a pipe cannot be effectively observed manually under a small pipe diameter, only the damaged position can be observed by taking the equipment out, the equipment is taken out after the equipment is put into the cleaning mode, the cleaning condition is observed and adjusted, and then the equipment is put into the cleaning mode;

2. cleaning equipment XYR linkage problem.

SUMMERY OF THE UTILITY MODEL

The technical problem to be solved by the present invention is to provide a pipeline robot to overcome the above-mentioned deficiencies in the prior art.

The technical scheme for solving the technical problems is as follows: a pipeline robot, comprising:

one end of the through shaft is fixed with the power assembly, and a spraying gun head or a laser assembly is detachably arranged on the through shaft and/or the power assembly;

the visual recognition module is arranged on the power assembly and used for acquiring image information of the pipe wall of the pipeline and recognizing the image;

the main control unit is respectively and electrically connected with the visual identification module and the power assembly;

and the human-computer interaction module is respectively and electrically connected with the visual recognition module and the main control unit.

The utility model has the beneficial effects that:

1) carrying a spraying gun head or a laser assembly according to actual requirements, if carrying the spraying gun head, corresponding to external paint supply equipment, and if carrying the laser assembly, corresponding to external laser input equipment, so that the automatic anticorrosion spraying work inside the pipeline or the automatic cleaning work inside the pipeline can be finished;

2) the equipment can realize remote real-time monitoring of the operation process;

3) the intelligent directional cleaning or spraying of the inner wall of the pipeline is realized by combining a visual technology, the efficiency is high, and electricity and energy are saved;

4) can be applied to pipeline crawling with the diameter of 80-400 mm;

5) through the man-machine interaction module, a user can conveniently know the identification result of the visual identification module and can conveniently perform data interaction with the main control unit.

On the basis of the technical scheme, the utility model can be further improved as follows.

Further, the power assembly includes:

the shaft lever is hollow and is concentrically connected with the through shaft;

the engine base is fixedly sleeved on the shaft lever;

the spring seat is matched and concentric with the shaft lever through a bushing;

the spring is arranged at one end of the spring seat, which is far away from the base, and two ends of the spring are respectively fixed with the spring seat and the shaft lever;

one end of each main connecting rod is rotatably connected with the base, and the other end of each main connecting rod is connected with the driving wheel through a driving mechanism;

and one end of each auxiliary connecting rod is rotatably connected with the spring seat, the other end of each auxiliary connecting rod is rotatably provided with a driven wheel, and the middle parts of the auxiliary connecting rods are correspondingly rotatably connected with the middle parts of the main connecting rods.

Adopt above-mentioned further beneficial effect to do: the spring holder can be followed the axostylus axostyle and slided from beginning to end, if there is the spring to compress in the slip process, then the spring provides reaction force to the spring holder, this axial force makes the main connecting rod, contained angle between the auxiliary connecting rod changes, make install in the terminal action wheel from the driving wheel of auxiliary connecting rod and install in the terminal action wheel of main connecting rod possess radial external force, this radial external force acts on the pipeline inner wall and provides frictional force for crawling, simultaneously can make the robot can be applied to the pipeline of multiple different internal diameters through this spring in, adopt single spring control, external tension is the same, the axle center of having guaranteed equipment at the pipeline in-process of crawling is stable, avoid appearing the card dead condition.

Further, the drive mechanism includes:

the motor base is fixed at the end part of the main connecting rod;

the motor is arranged on the motor base and is electrically connected with the main control unit;

the bearing assembly is arranged on the motor base;

the power shaft is fixed with an inner ring of a bearing in the bearing assembly, and two ends of the power shaft are respectively fixed with a driving wheel;

the driving bevel gear is fixed on an output shaft of the motor;

and the driven helical gear is fixed on the power shaft and meshed with the driving helical gear.

Adopt above-mentioned further beneficial effect to do: the independent control of the driving unit is realized by combining the transmission of the bevel gear, the equipment faults do not influence each other, and the accessories are easy to replace.

Further, the laser assembly includes:

the rotating galvanometer component is detachably arranged at the end part of the through shaft;

the laser head is arranged at one end of the shaft lever, which is far away from the through shaft, and is connected with the laser through an optical fiber;

and the focusing assembly is arranged on the through shaft and used for focusing laser emitted from the laser head to the rotary galvanometer assembly.

Adopt above-mentioned further beneficial effect to do: 360-degree annular cleaning in the pipeline can be realized; the introduction of the focusing assembly can meet the cleaning requirements of different diameters.

Further, the laser assembly further includes:

and the multifunctional component is arranged at one end of the shaft lever, which deviates from the through shaft, and is used for clamping the laser head.

Adopt above-mentioned further beneficial effect to do: when changing different laser heads according to the washing demand, make things convenient for the clamping.

Further, the rotating galvanometer assembly includes:

the first brushless motor is detachably and concentrically arranged at the end part of the through shaft and is electrically connected with the main control unit;

and the light inlet of the two-dimensional galvanometer is concentrically connected with the middle hole of the first brushless motor.

Adopt above-mentioned further beneficial effect to do: laser beams can penetrate through a middle hole of the first brushless motor and then irradiate into the two-dimensional vibration mirror through a light inlet of the two-dimensional vibration mirror, the laser beams can be accurately irradiated on a position, needing to be cleaned, of the inner wall of the pipeline through rotation of the first brushless motor, and in addition, the high-frequency rotation of the two-dimensional vibration mirror forms planar laser output.

Further, the pipeline robot further includes:

the fan smoke exhaust assembly is arranged on the through shaft.

Adopt above-mentioned further beneficial effect to do: the follow-up automatic smoke and dust discharging is realized, and the reduction of the cleaning efficiency is avoided.

Further, fan smoke evacuation subassembly includes:

the second brushless motor is detachably and concentrically arranged at the end part of the through shaft, and the first brushless motor is concentrically connected with the second brushless motor and is electrically connected with the main control unit;

the fan blade support is fixed with the second brushless motor;

the fan blades are uniformly distributed and fixed on the fan blade support.

Adopt above-mentioned further beneficial effect to do: can be coaxially arranged with the rotary galvanometer component, and does not influence the work of the rotary galvanometer component.

Further, the focusing assembly includes:

the spiral guide groove seat is concentrically matched with the outer side of the through shaft;

the lens seat is arranged in the through shaft and is coaxially and slidably matched with the through shaft;

the first lens is arranged on the lens seat;

the second lens is arranged in the through shaft and is positioned between the first lens and the rotary galvanometer component;

the handle sleeve is arranged outside the spiral guide groove seat;

one end of the sliding pin is fixed with the lens seat, and the other end of the sliding pin penetrates through the strip hole on the through shaft and is clamped in the spiral guide groove seat.

Adopt above-mentioned further beneficial effect to do: simple structure and convenient focusing.

Furthermore, a plurality of injection holes are annularly distributed on the spraying gun head;

the spraying gun head is arranged at one end of the through shaft, which is far away from the power assembly; the spraying gun head is communicated with the through shaft, a valve electrically connected with the main control unit is arranged in the through shaft, and one end of the through shaft, which is far away from the power assembly, is communicated with a spraying machine through a spraying pipe; the spraying machine is communicated with the feeding container through a feeding pipe; the spraying machine is communicated with an air source through an air pipe.

Adopt above-mentioned further beneficial effect to do: and the spraying operation of 360 degrees is stably realized.

Drawings

FIG. 1 is a circuit diagram of the pipe robot of the present invention for laser cleaning work;

FIG. 2 is a circuit diagram of the pipeline robot for spraying work according to the present invention;

FIG. 3 is a structural view of the pipe robot of the present invention used for laser cleaning work;

FIG. 4 is a structural view of the pipe robot according to the present invention for a painting work;

FIG. 5 is a diagram of the application of the pipeline robot of the present invention to the painting work;

FIG. 6 is a block diagram of the power assembly of the present invention;

FIG. 7 is a block diagram of the drive mechanism of the present invention;

FIG. 8 is a block diagram of a focusing assembly according to the present invention;

FIG. 9 is a block diagram of a rotating galvanometer assembly of the present invention;

FIG. 10 is a block diagram of a fan smoke evacuation assembly according to the present invention;

fig. 11 is a block diagram of a visual recognition module according to the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1. a through shaft, 110, a bar hole, 2, a power assembly, 210, a shaft lever, 220, a base, 230, a spring seat, 240, a spring, 250, a main connecting rod, 260, a driving mechanism, 261, a motor seat, 262, a motor, 263, a bearing assembly, 264, a power shaft, 265, a driving bevel gear, 266, a driven bevel gear, 270, a driving wheel, 280, a secondary connecting rod, 290, a driven wheel, 3, a spraying gun head, 4, a laser assembly, 410, a rotary galvanometer assembly, 411, a first brushless motor, 412, a two-dimensional galvanometer, 420, a multifunctional assembly, 430, a focusing assembly, 431, a spiral guide groove seat, 432, a lens seat, 433, a handle sleeve, 434, a sliding pin, 435, a first lens, 436, a second lens, 440, a laser head, 5, a vision recognition module, 510, a high-definition camera, 520, an image recognition contrast module, 6, a main control unit, 7, a human-computer interaction module, 8, a laser, 9. fan smoke exhaust assembly 910, second brushless motor 920, fan blade support 930, fan blade 10, valve 11, spraying pipe 12, spraying machine 13, feeding pipe 14, feeding container 15, air pipe 16 and air source.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the utility model.

Example 1

As shown in fig. 1 and 3, a pipeline robot includes: the device comprises a through shaft 1, a power assembly 2, a laser assembly 4, a visual recognition module 5, a main control unit 6 and a man-machine interaction module 7;

one end of the through shaft 1 is fixed with the power assembly 2, and the laser assembly 4 is detachably arranged on the through shaft 1 and/or the power assembly 2;

the visual recognition module 5 is arranged on the power assembly 2, and the visual recognition module 5 is used for collecting image information of the pipe wall of the pipeline and carrying out image recognition analysis so as to judge whether an abnormal part exists or not;

the signal output end of the vision recognition module 5 is electrically connected with the signal input end of the main control unit 6, the signal input end of the power assembly 2 is electrically connected with the signal output end of the main control unit 6, the signal output end of the vision recognition module 5 is electrically connected with the signal input end of the human-computer interaction module 7, the human-computer interaction module 7 is in two-way communication with the main control unit 6, and the robot is used for pipeline laser cleaning.

Example 2

As shown in fig. 6 and 7, the present embodiment is further optimized based on embodiment 1, and specifically includes the following steps:

the power module 2 includes: the shaft lever 210, the base 220, the spring seat 230, the spring 240, the main link 250, the auxiliary link 280, the driving mechanism 260, the driving wheel 270, and the driven wheel 290;

the shaft lever 210 is hollow, and the shaft lever 210 is concentrically connected with the through shaft 1;

the base 220 is fixedly sleeved on the shaft lever 210;

the spring seat 230 is fitted concentrically with the shaft 210 through a bushing;

the spring 240 is arranged at one end of the spring seat 230, which faces away from the base 220, and two ends of the spring 240 are respectively fixed with the spring seat 230 and the shaft 210;

one end of the main connecting rod 250 is rotatably connected with the base 220, the other end of the main connecting rod 250 is connected with the driving wheel 270 through a driving mechanism 260, and the driving mechanism 260 is used for driving the driving wheel 270 to rotate;

one end of the auxiliary link 280 is rotatably connected with the spring seat 230, the other end of the auxiliary link 280 is rotatably provided with a driven wheel 290, and the middle part of the auxiliary link 280 is rotatably connected with the middle part of the main link 250;

the signal input end of the driving mechanism 260 is electrically connected with the signal output end of the main control unit 6.

Typically, the number of secondary links 280 associated with each primary link 250 is two; the number of the main links 250 is at least three, and all the main links 250 are equally angularly distributed around the shaft 210, while the number of the sub links 280 is twice the number of the main links 250.

Spring seat 230 can be followed axostylus axostyle 210 and slided from beginning to end, if there is spring 240 to compress in the slip process, then spring 240 provides reaction force to spring seat 230, this axial force makes main connecting rod 250, the contained angle between the auxiliary connecting rod 280 changes, make install in the terminal follow driving wheel 290 of auxiliary connecting rod 280 and install in the terminal action wheel 270 of main connecting rod 250 possess radial external force, this radial external force acts on and crawls for the robot on the pipeline inner wall and provides frictional force, can make the robot can be applied to the pipeline of multiple different internal diameters simultaneously through this spring 240, adopt single spring 240 control, can ensure the stability of the inside process of crawling of pipeline of robot, avoid appearing the card dead condition.

Example 3

As shown in fig. 7, this embodiment is further optimized based on embodiment 2, and the specific details thereof are as follows:

the drive mechanism 260 includes: a motor seat 261, a motor 262, a bearing assembly 263, a power shaft 264, a driving bevel gear 265 and a driven bevel gear 266;

the motor base 261 is fixed to the end of the main link 250;

the motor 262 is arranged on the motor base 261, and a signal input end of the motor 262 is electrically connected with a signal output end of the main control unit 6;

the bearing assembly 263 is arranged on the motor seat 261;

the power shaft 264 is fixed with the inner ring of the bearing in the bearing assembly 263, and two driving wheels 270 are respectively fixed at two ends of the power shaft 264;

the driving bevel gear 265 is fixed on the output shaft of the motor 262;

the driven helical gear 266 is fixed to the power shaft 264, and the driven helical gear 266 meshes with the driving helical gear 265.

When the motor 262 is started, the power shaft 264 is driven to rotate by the driving bevel gear 265 and the driven bevel gear 266, and after the power shaft 264 rotates, the driving gear 270 is driven to rotate, so that the walking in the pipeline is realized;

of course, in the actual design process, it is not excluded to use a sprocket drive, a pulley drive, or the like instead of the driving helical gear 265 and the driven helical gear 266.

Example 4

As shown in fig. 1, fig. 3, and fig. 9, this embodiment is further optimized based on embodiment 1, 2, or 3, and specifically includes the following steps:

the laser module 4 includes: a rotary galvanometer assembly 410, a focusing assembly 430 and a laser head 440;

wherein, the rotating galvanometer component 410 is detachably arranged at the end part of the through shaft 1;

the laser head 440 is arranged at one end of the shaft rod 210, which is far away from the through shaft 1, and the laser head 440 is connected with the laser 8 through an optical fiber;

the focusing assembly 430 is arranged on the through shaft 1, and the focusing assembly 430 is used for focusing laser emitted from the laser head 440 to the rotary galvanometer assembly 410;

the laser 8 emits laser to the laser head 440 through an optical fiber, the laser emitted from the laser head 440 is emitted to the focusing assembly 430, is focused by the focusing assembly 430 and then emitted to the rotating galvanometer assembly 410, and finally is emitted to the pipe wall of the pipeline through the rotating galvanometer assembly 410, so that laser cleaning is realized.

Example 5

As shown in fig. 3, this embodiment is further optimized based on embodiment 4, and the specific details thereof are as follows:

the laser assembly 4 further comprises: the multi-function component 420 is provided with,

the multifunctional component 420 is arranged at one end of the shaft lever 210, which is far away from the through shaft 1, and is used for clamping the laser head 440;

the multi-function assembly 420 is similar to a tool to facilitate the clamping of different sized laser heads 440.

Example 6

As shown in fig. 3 and fig. 9, this embodiment is further optimized based on embodiment 4, and specifically includes the following steps:

the rotating galvanometer assembly 410 includes: a first brushless motor 411 and a two-dimensional galvanometer 412;

the first brushless motor 411 is concentrically arranged at the end part of the through shaft 1, the concentric arrangement refers to that a middle hole of the first brushless motor 411 is concentric with an inner hole of the through shaft 1, and the first brushless motor 411 is electrically connected with the main control unit 6;

the light inlet of the two-dimensional galvanometer 412 is concentrically connected with the middle hole of the first brushless motor 411;

laser beams can penetrate through a middle hole of the first brushless motor 411 and then irradiate into the two-dimensional vibration mirror 412 through a light inlet of the two-dimensional vibration mirror 412, the beams can be accurately irradiated on an abnormal part of the inner wall of the pipeline through rotation of the first brushless motor 411, in addition, planar laser output is formed through high-frequency rotation of the two-dimensional vibration mirror 412, the first brushless motor 411 rotates, and therefore the cleaning of the inner wall of the pipeline is completed by combining front-back movement of the power assembly 2.

Example 7

As shown in fig. 3 and 10, the present embodiment is further optimized based on embodiment 6, and specifically includes the following steps:

the pipeline robot further includes: a fan smoke exhaust assembly 9;

the fan smoke exhaust assembly 9 is arranged on the through shaft 1.

Example 8

As shown in fig. 10, this embodiment is further optimized based on embodiment 7, and it specifically includes the following steps:

the fan smoke evacuation assembly 9 includes: a second brushless motor 910, a fan blade support 920 and a plurality of fan blades 930;

the second brushless motor 910 is concentrically arranged at the end of the through shaft 1, and the first brushless motor 411 is concentrically connected with the second brushless motor 910, the concentric arrangement means that a middle hole of the second brushless motor 910 is concentric with an inner hole of the through shaft 1, and a middle hole of the second brushless motor 910 is concentric with a middle hole of the first brushless motor 411, so that the second brushless motor 910 does not influence laser beams to the two-dimensional galvanometer 412 when in work;

the fan blade support 920 is fixed with the second brushless motor 910;

the plurality of fan blades 930 are uniformly distributed and fixed on the fan blade support 920, the number of the fan blades 930 arranged on the fan blade support 920 can be two, three, four and the like, four are shown in the figure, and the fan blades 930 can be fixed on the fan blade support 920 through screw pins;

the second brushless motor 910 rotates to drive the blade support 920 to rotate, so that the blades 930 rotate around the center to form axial wind, and the axial air flow blows the laser-cleaned dust out of the pipeline.

Example 9

As shown in fig. 8, this embodiment is further optimized based on any one of embodiments 4 to 8, and specifically includes the following steps:

the focusing assembly 430 includes: a spiral guide groove seat 431, a lens seat 432, a handle sleeve 433, a sliding pin 434, a first lens 435 and a second lens 436;

the spiral guide groove seat 431 is concentrically matched with the outer side of the through shaft 1;

the lens seat 432 is arranged in the through shaft 1, and the lens seat 432 is coaxially matched with the through shaft 1 in a sliding manner;

the first lens 435 is mounted on the lens holder 432;

the second lens 436 is mounted in the through shaft 1, and the second lens 436 is located between the first lens 435 and the rotating galvanometer assembly 410;

the handle sleeve 433 is arranged outside the spiral guide groove seat 431;

one end of the sliding pin 434 is fixed with the lens seat 432, the other end of the sliding pin 434 passes through the strip hole 110 on the through shaft 1 and is clamped in the spiral guide groove seat 431, and the length direction of the strip hole 110 is the same as the laser beam;

manually rotating the handle sleeve 433, enabling the spiral guide groove seat 431 to rotate together with the handle sleeve, enabling the sliding pin 434 to slide up and down along the spiral guide groove, enabling the lens seat 432 to move back and forth under the driving of the sliding pin 434, and achieving back and forth movement focusing of the first lens 435 through the method;

in practice, it is not excluded to use automatic focusing, and in this case, the spiral guide groove seat 431 and the handle sleeve 433 may be replaced by a linear moving mechanism, which may be an electric push rod or the like.

Example 10

As shown in fig. 2, 4 and 5, a pipeline robot includes: the spraying gun comprises a through shaft 1, a power assembly 2, a spraying gun head 3, a visual recognition module 5, a main control unit 6 and a man-machine interaction module 7;

the power assembly 2 is fixed at one end of the through shaft 1, and the through shaft 1 is provided with a spraying gun head 3;

the visual recognition module 5 is arranged on the power assembly 2, and the visual recognition module 5 is used for collecting image information of the pipe wall of the pipeline and carrying out image recognition analysis so as to judge the part to be sprayed on the pipe wall;

the signal output end of the vision recognition module 5 is electrically connected with the signal input end of the main control unit 6, the signal input end of the power assembly 2 is electrically connected with the signal output end of the main control unit 6, the signal output end of the vision recognition module 5 is electrically connected with the signal input end of the human-computer interaction module 7, the human-computer interaction module 7 is in two-way communication with the main control unit 6, and then the robot is used for pipeline spraying work.

Example 11

As shown in fig. 2, fig. 4, and fig. 5, this embodiment is further optimized based on embodiment 2, 3, or 10, and specifically includes the following steps:

a plurality of spray holes are annularly distributed on the spray gun head 3 so as to realize 360-degree spray operation;

the spraying gun head 3 is arranged at one end of the through shaft 1 departing from the power component 2,

the spraying gun head 3 is communicated with the through shaft 1, a valve 10 electrically connected with the main control unit 6 is arranged in the through shaft 1, and one end of the through shaft 1, which is far away from the power assembly 2, is communicated with a spraying machine 12 through a spraying pipe 11;

the coating machine 12 is communicated with a feed container 14 through a feed pipe 13;

the spraying machine 12 is communicated with an air source 16 through an air pipe 15;

the applicator 12 feeds the coating material through the spray tube 11 to the valve 10, and the valve 10 is opened to feed the coating material to the spray gun head 3.

Example 12

As shown in fig. 1, fig. 2, and fig. 11, this embodiment is further optimized based on any one of embodiments 1 to 11, and specifically includes the following steps:

the visual recognition module 5 includes: a high-definition camera 510 and an image recognition comparison module 520;

the multiple groups of high-definition cameras 510 are distributed on the power assembly 2 in a surrounding mode, and the high-definition cameras 510 are used for collecting image information of the inner pipe wall of the pipeline and achieving identification of abnormal conditions of the pipe wall in 360 degrees;

the signal input end of the image identification and comparison module 520 is electrically connected with the signal output end of the high-definition camera 510 so as to acquire image information and perform image comparison and analysis;

the signal output end of the image identification and comparison module 520 is electrically connected with the signal input end of the main control unit 6;

the high definition camera 510 selects a camera with an automatic light supplement function.

Shine at the pipeline inner wall by the light filling light source in the pipeline, high definition digtal camera 610 catches the inside picture of pipeline, according to the clean face, corrosion and greasy dirt face etc. are to the reflection difference of light, through the analysis of image identification contrast module 620, calculate the relative coordinate of the relative original point of mechanism's coordinate of crawling of abnormal part, abnormal part is like corrosion or greasy dirt face, the system sends the coordinate instruction for main control unit 6, wherein main control unit 6 contains motor drive control, brushless motor control, the mirror that shakes opens and stops control, laser light source turn-off control, main control unit 6 sends the instruction, power component 2 orders about whole robot to crawl, and carry out corresponding work.

In addition, the whole robot can also comprise a human-computer interaction module 7, wherein the human-computer interaction module 7 is connected with the main control unit 6 and carries out bidirectional interaction;

the signal output end of the image recognition and comparison module 520 is electrically connected with the signal input end of the human-computer interaction module 7 so as to display the acquired image information.

When in work:

manually placing the robot at the inlet of the pipeline, and enabling each driving wheel 270 and each driven wheel 290 of the power assembly 2 to be in contact with the inner wall of the pipeline, wherein the spring 240 in the power assembly 2 provides pressure of the driving wheels 270 and the driven wheels 290 on the inner wall of the pipeline, so that the robot does not slip;

the main control unit 6 sends a command to start the motor 262, so that the robot crawls forwards;

the visual recognition module 5 collects image information of the inner pipe wall of the pipeline in real time in the forward crawling process of the robot, and performs image recognition analysis to obtain abnormal parts;

the main control unit 6 sends a command to start the first brushless motor 411, and the first brushless motor 411 rotates by a certain angle to align the two-dimensional galvanometer 412 to an abnormal part;

the main control unit 6 sends an instruction to start a laser head arranged at the tail end of the robot, and laser beams sent by the laser head are focused by a focus of the focusing assembly 430 and then irradiate the two-dimensional galvanometer 412 and finally irradiate the inner wall of the pipeline;

meanwhile, the two-dimensional galvanometer 412 is vibrated at high frequency to convert the light beam into a two-dimensional light beam for outputting, so that the laser beam realizes annular cleaning in the pipeline, and intelligent directional cleaning of the two-dimensional laser is realized by combining with image recognition of the visual recognition module 5;

meanwhile, the rotation of the second brushless motor 910 drives the fan blade 930 to rotate to form a forward air flow, so as to blow the smoke formed by laser cleaning forward out of the pipeline, thereby preventing the randomly scattered smoke from blocking the laser light path and avoiding the deposition of dust inside the equipment and the pipeline.

When the spraying operation inside the pipeline is carried out, the laser component 4 is replaced by the spraying gun head 3, the original through shaft 1 matched with the laser component 4 is replaced by the through shaft 1 with the valve 10, and then the spraying pipe 11, the spraying machine 12, the feeding pipe 13, the feeding container 14, the air pipe 15 and the air source 16 are correspondingly assembled.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. A pipeline robot, comprising:

one end of the through shaft (1) is fixed with the power component (2), and a spraying gun head (3) or a laser component (4) is detachably arranged on the through shaft and/or the power component (2);

the visual recognition module (5) is arranged on the power assembly (2) and used for acquiring image information of the pipe wall of the pipeline and recognizing the image;

the main control unit (6) is respectively and electrically connected with the visual identification module (5) and the power assembly (2);

and the human-computer interaction module (7) is respectively and electrically connected with the visual recognition module (5) and the main control unit (6).

2. The pipeline robot as claimed in claim 1, wherein the power assembly (2) comprises:

the shaft lever (210) is hollow and is concentrically connected with the through shaft (1);

the base (220) is fixedly sleeved on the shaft lever (210);

a spring seat (230) fitted concentrically with the shaft (210) through a bushing;

the spring (240) is arranged at one end of the spring seat (230) departing from the base (220), and two ends of the spring (240) are respectively fixed with the spring seat (230) and the shaft rod (210);

one end of each main connecting rod (250) is rotatably connected with the base (220), and the other end of each main connecting rod is connected with the driving wheel (270) through a driving mechanism (260);

and one end of each auxiliary connecting rod (280) is rotatably connected with the spring seat (230), the other end of each auxiliary connecting rod is rotatably provided with a driven wheel (290), and the middle part of each auxiliary connecting rod is correspondingly rotatably connected with the middle part of each main connecting rod (250).

3. The pipeline robot as recited in claim 2, wherein the driving mechanism (260) comprises:

a motor base (261) fixed to the end of the main link (250);

the motor (262) is arranged on the motor base (261) and is electrically connected with the main control unit (6);

the bearing assembly (263) is arranged on the motor base (261);

the power shaft (264) is fixed with an inner ring of a bearing in the bearing assembly (263), and two ends of the power shaft are respectively fixed with the driving wheel (270);

a driving bevel gear (265) fixed to an output shaft of the motor (262);

and a driven helical gear (266) fixed to the power shaft (264) and engaged with the driving helical gear (265).

4. A pipeline robot as claimed in claim 2 or 3, characterized in that said laser assembly (4) comprises: the rotating galvanometer component (410) is detachably arranged at the end part of the through shaft (1);

the laser head (440) is arranged at one end of the shaft lever (210) deviating from the through shaft (1) and is connected with the laser (8) through an optical fiber;

and the focusing assembly (430) is arranged on the through shaft (1) and is used for focusing the laser emitted to the rotary galvanometer assembly (410) from the laser head (440).

5. The pipeline robot according to claim 4, characterized in that the laser assembly (4) further comprises:

the multifunctional component (420) is arranged at one end, deviating from the through shaft (1), of the shaft lever (210) and used for clamping the laser head (440).

6. The pipeline robot as recited in claim 4, wherein the rotating galvanometer assembly (410) comprises:

the first brushless motor (411) is detachably and concentrically arranged at the end part of the through shaft (1) and is electrically connected with the main control unit (6);

and the light inlet of the two-dimensional galvanometer (412) is concentrically connected with the middle hole of the first brushless motor (411).

7. The pipeline robot of claim 6, further comprising:

and the fan smoke exhaust assembly (9) is arranged on the through shaft (1).

8. The pipe robot of claim 7, wherein the fan smoke evacuation assembly (9) comprises:

the second brushless motor (910) is detachably and concentrically arranged at the end part of the through shaft (1), and the first brushless motor (411) is concentrically connected with the second brushless motor (910) and is electrically connected with the main control unit (6);

a fan blade support (920) fixed to the second brushless motor (910);

a plurality of fan blades (930) which are uniformly distributed and fixed on the fan blade support (920).

9. The pipeline robot as recited in claim 4, wherein the focusing assembly (430) comprises:

the spiral guide groove seat (431) is concentrically matched with the outer side of the through shaft (1);

the lens seat (432) is arranged in the through shaft (1) and is coaxially matched with the through shaft (1) in a sliding manner;

a first lens (435) mounted on the lens holder (432);

a second lens (436) mounted in the through shaft (1) and located between the first lens (435) and the rotating galvanometer assembly (410);

a handle sleeve (433) arranged outside the spiral guide groove seat (431);

one end of the sliding pin (434) is fixed with the lens seat (432), and the other end of the sliding pin passes through the strip hole (110) on the through shaft (1) and is clamped in the spiral guide groove seat (431).

10. The pipeline robot as claimed in claim 1, 2 or 3, wherein the spraying gun head (3) is provided with a plurality of spraying holes distributed annularly;

the spraying gun head (3) is arranged at one end of the through shaft (1) deviating from the power assembly (2); the spraying gun head (3) is communicated with the through shaft (1), a valve (10) electrically connected with the main control unit (6) is arranged in the through shaft (1), and one end of the through shaft (1) departing from the power assembly (2) is communicated with a spraying machine (12) through a spraying pipe (11); the coating machine (12) is communicated with a feeding container (14) through a feeding pipe (13); the spraying machine (12) is communicated with an air source (16) through an air pipe (15).

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