CN216143383U - Flexible shaft suitable for robot for pipeline inner wall anticorrosion operation - Google Patents

Abstract

The utility model discloses a flexible shaft suitable for an anti-corrosion operation robot for the inner wall of a pipeline, which comprises a crawling device and an operation device, wherein the flexible shaft is used for connecting the crawling device and the operation device, the flexible shaft comprises an elastic part and a seat body arranged at the end part of the elastic part, and the seat body is fixedly connected to the crawling device or the operation device. According to the flexible shaft suitable for the robot for the anticorrosion operation of the inner wall of the pipeline, the flexible shaft consisting of the elastic part and the base body is arranged, so that the robot for the anticorrosion operation can pull the operation device to move to perform corresponding anticorrosion operation on the pipeline under the condition of bent pipes (various bends of 90 degrees, 45 degrees and the like).

Description

Flexible shaft suitable for robot for pipeline inner wall anticorrosion operation

Technical Field

The utility model belongs to the technical field of anti-corrosion robots, and particularly relates to a flexible shaft in an automatic rust removal, slag discharge and spraying repair integrated robot suitable for the inner wall of a pipeline.

Background

With the rapid development of the electric power and petrochemical industry and the increase of service life of related equipment, the corrosion prevention maintenance of the inner wall of the pipeline becomes an urgent problem to be solved, the existing corrosion prevention maintenance method of the inner wall of the pipeline mainly comprises manual rust removal and manual brush coating, the rust removal and coating efficiency is low, the labor intensity is high, and the local preferential failure of the repaired coating is usually caused by incomplete cleaning of surface impurities and uneven coating, so that the overall service life of the coating is reduced, and the frequent maintenance is required; in addition, the operation in the pipeline has the safe and high risks of suffocation, hurting people by power tools, sucking a large amount of organic solvents and the like, and brings a serious challenge to the safety production of enterprises.

With the progress of science and technology, the anti-corrosion operation robot becomes a research hotspot at home and abroad in recent years, and can effectively replace the traditional manual operation mode to realize dangerous operation. The robot is first studied in japan as a representative abroad, and then the robot is successively developed in the united states, germany, and the like for practical use.

An anti-corrosion operation robot is an important application in the fields of electric power, petrifaction and ship anti-corrosion, and replaces people to finish high-risk work such as rust removal, cleaning, coating and the like through the flexibility and adaptability of the robot.

At present, many universities and companies at home and abroad invest a lot of manpower and material resources to develop rust removal and spraying robots, a plurality of anticorrosion robots for storage tanks are relatively used, the design of the robots is based on the application of large equipment or open equipment, the design research aiming at the rust removal cleaning robot with strong sealing performance and in a small equipment range is relatively less, and therefore a small and light pipeline anticorrosion operation robot is urgently needed to be designed. In the prior art, no good solution exists for the pipe bending operation, and the application range of rigid connection under the pipe bending condition is limited.

SUMMERY OF THE UTILITY MODEL

In view of the above, in order to overcome the defects in the prior art and achieve the above object, the present invention provides a flexible shaft structure for a robot for anticorrosion operation of an inner wall of a pipeline, which is used in an anticorrosion robot and can be applied to anticorrosion operation of a bent pipeline.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a flexible axle suitable for anticorrosive operation robot of pipeline inner wall, anticorrosive operation robot of pipeline inner wall includes crawl device and operation device, the flexible axle is used for connecting crawl device and operation device, the flexible axle includes the elastic component and sets up the pedestal of elastic component tip, pedestal fixed connection is in on crawl device or the operation device. Through setting up the flexible axle that comprises elastic component and pedestal for the operational environment that anticorrosive robot can be arranged in the return bend.

According to some preferred implementation aspects of the utility model, the elastic member is a spring, and the inner wall of the cavity is provided with a thread matched with the spring, and the thread is matched with the end of the spring for connecting the spring and the seat body. Preferably, the pitch of the spring is 0 (no gap is formed between two adjacent turns of the spring), i.e., the spring has no compression margin and only has a tension margin.

According to some preferred implementation aspects of the utility model, the flexible shaft comprises a limiting rope for limiting the axial deformation of the elastic member, and two ends of the limiting rope are respectively connected with the two seat bodies. The limiting rope is preferably a strong steel wire rope and is used for limiting the stretching of the elastic part. The function of the flexible shaft is realized through the mutual limitation and the matching between the elastic piece and the limiting rope.

Due to the adoption of the technical scheme, compared with the prior art, the utility model has the beneficial effects that: according to the flexible shaft suitable for the robot for the anticorrosion operation of the inner wall of the pipeline, the flexible shaft consisting of the elastic part and the base body is arranged, so that the robot for the anticorrosion operation can pull the operation device to move to perform corresponding anticorrosion operation on the pipeline under the condition of bent pipes (various bends of 90 degrees, 45 degrees and the like).

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a perspective view of the crawling device and a flexible shaft after being connected in the preferred embodiment of the present invention;

FIG. 2 is a perspective view of the hidden barrel of FIG. 1;

FIG. 3 is a schematic partial cross-sectional view of a crawler in a preferred embodiment of the present invention;

FIG. 4 is an enlarged view of section I of FIG. 3;

FIG. 5 is a perspective view of the connecting rod assembly and central shaft in accordance with the preferred embodiment of the present invention;

FIG. 6 is a front view of the connecting rod assembly and central shaft in accordance with the preferred embodiment of the present invention;

FIG. 7 is a cross-sectional view of a guide member in a preferred embodiment of the present invention;

FIG. 8 is a perspective view of the moving mechanism in the preferred embodiment of the present invention;

FIG. 9 is a perspective view of the preferred embodiment of the present invention with one of the side plates hidden by the moving mechanism;

FIG. 10 is a schematic view, partly in section, of a displacement mechanism according to a preferred embodiment of the utility model;

FIG. 11 is a front view of the flexible shaft in the preferred embodiment of the present invention;

FIG. 12 is a cross-sectional view taken along line A-A of FIG. 11;

FIG. 13 is a perspective view of the flexible shaft in the preferred embodiment of the present invention;

FIG. 14 is a perspective view of a rust removing module in a preferred embodiment of the present invention;

FIG. 15 is a front view of the crawling apparatus, the flexible shaft and the rust removing module after being connected in the preferred embodiment of the present invention;

FIG. 16 is a front view of the crawling device, the flexible shaft and the slag discharging module after being connected in the preferred embodiment of the present invention;

FIG. 17 is a perspective view of the preferred embodiment of the present invention after the crawler, flexible shaft and paint module are connected;

FIG. 18 is a perspective view of a support leg in accordance with a preferred embodiment of the present invention;

FIG. 19 is an exploded view of the support leg in the preferred embodiment of the present invention;

FIG. 20 is a schematic view of the operation of the corrosion prevention robot in a straight pipe in the preferred embodiment of the present invention;

FIG. 21 is a schematic view of the operation of the corrosion protection robot in the elbow pipe in the preferred embodiment of the utility model;

in the attached drawing, a crawling device-1, a flexible shaft-2, an elastic member-21, a seat body-22, a cavity-23, a limiting rope-24, a moving mechanism-3, a side plate-31, a driving wheel-32, a rotating wheel-33, a rotating belt-34, a transition wheel-35, a driving motor-36, a rocker-37, a transition rod-38, a control box-4, a connecting rod assembly-5, a first rod piece-51, a second rod piece-52, a third rod piece-53, a fixed ring-54, a cylinder body-61, a first end cover-62, a second end cover-63, a central shaft-71, a driver-72, a guide piece-8, a bearing seat-81, a top cover-82, a sealing ring-83, a sliding bearing-84 and a first supporting seat-91, the device comprises a second supporting seat-92, a bottom cover-93, a moving cavity-931, a bearing-94, a driving part-10, a limiting sleeve-11, a first limiting ring-111, a second limiting ring-112, a derusting module-12, a first machine frame-121, a high-pressure water jet derusting spray gun-122, a slag discharging module-13, a second machine frame-131, a high-pressure water jet slag discharging spray gun-132, a spray painting module-14, a third machine frame-141, a high-pressure airless spray gun-142, supporting legs-15, a fixing plate-151, an adjusting plate-152, a wheel set-153, a buffering component-154, a clamping ring-155, a top block-156, a buffering component-157, a carrying trolley-16 and an operating device-17.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not a whole embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-21, the robot for corrosion protection of inner wall of pipeline in this embodiment mainly includes three parts: the crawling device comprises a crawling device 1, an operation device 17 and a flexible shaft 2 for connecting the crawling device 1 and the operation device 17. The flexible shaft 2 mainly plays a connecting role, the crawling device 1 is used for driving the operation device 17 to move in the pipeline, and the operation device 17 is provided with a rust removal module 12, a slag discharge module 13 and a paint spraying module 14 according to different functions. The following details the various components:

crawling device

The crawling device 1 comprises a cylinder 61, a first end cover 62 and a second end cover 63 which are respectively arranged at two ends of the cylinder 61, a moving mechanism 3 for driving the anti-corrosion robot to move on the inner wall of the pipeline, an adjusting mechanism for adjusting the distance between the moving mechanism 3 and the inner wall of the pipeline, and a control box 4 for controlling each part. The moving mechanism 3 is arranged on the outer wall of the cylinder 61, and the adjusting mechanism is arranged in the cylinder 61.

1. Adjusting mechanism

The adjusting mechanism comprises a connecting rod assembly 5 connected with the moving mechanism 3 and a driving assembly for driving the connecting rod assembly 5 to move.

The driving assembly includes a central shaft 71 and a driver 72 for driving the central shaft 71 to move along an axial direction thereof, and the driver 72 in this embodiment is an air cylinder. The adjusting mechanism and the moving mechanism 3 are respectively located inside and outside the cylinder 61, and the driver 72 drives the central shaft 71 to move along the axial direction thereof, so as to drive the connecting rod assembly 5 to move, thereby realizing the adjustment of the distance between the moving mechanism 3 and the cylinder 61 (the distance between the moving mechanism 3 and the inner wall of the pipeline).

As shown in fig. 2 to 6, the link assembly 5 includes a first rod 51 fixed to the central shaft 71, a third rod 53 penetrating the cylinder 61 and connected to the moving mechanism 3, and a second rod 52 disposed between the first rod 51 and the third rod 53, the three rods being rotatably connected to each other, and the moving direction of the third rod 53 being perpendicular to the wall thickness direction of the cylinder 61. The first rod 51 and the third rod 53 are disposed in parallel, and the bottom of the third rod 53 is higher than the top of the first rod 51, i.e. the second rod 52 is disposed obliquely. The three rods of the connecting-rod assembly 5 are arranged on the same radial plane of the central shaft 71 and perform a linkage function on the radial plane: the driver 72 drives the central shaft 71 to move along the axial direction thereof, so as to drive the connecting rod assembly 5 to move, and finally, the third rod 53 is stretched, so that the distance between the moving mechanism 3 and the cylinder wall is adjusted.

In this embodiment, three sets of moving mechanisms 3 are arranged on the outer wall of the cylinder 61, and are uniformly distributed on the outer wall of the cylinder 61 at intervals, and the included angle between adjacent moving mechanisms 3 along the outer wall of the cylinder 61 is 120 °. The central shaft 71 is sleeved with a fixing ring 54, and three groups of connecting rod assemblies 5 are correspondingly arranged on the fixing ring 54 and are uniformly distributed on the circumferential direction of the fixing ring 54 at intervals so as to realize stable operation. By arranging the fixing ring 54 on the central shaft 71 and fixing the connecting rod assemblies 5 on the fixing ring 54, the synchronous movement of the plurality of groups of connecting rod assemblies 5 is realized, and further the synchronous extension or retraction of the three groups of moving mechanisms is realized.

The first supporting seat 91 and the second supporting seat 92 are respectively disposed at two ends of the cylinder 61 corresponding to the central shaft 71, the fixing ring 54 is disposed between the first supporting seat 91 and the second supporting seat 92, and the driving member 10 (spring) is disposed between the fixing ring 54 and the second supporting seat 92. The two supporting seats are respectively sleeved at the end part of the central shaft 71 and limit the movement of the front end and the rear end of the central shaft 71, so that the stability of the movement of the central shaft 71 is ensured. The driving member 10 in this embodiment is preferably a spring for providing a pre-load force, i.e. to make the third rod 53 have a tendency to protrude outwards, so that the moving mechanism 3 always abuts against the inner wall of the pipe when the crawling device 1 moves in the pipe.

The end of the second support seat 92 away from the driver 10 in this embodiment is provided with a bottom cover 93, and the bottom cover 93 has a moving cavity 931 for moving the end of the central shaft 71. In this embodiment, sliding bearings 94 are disposed between the central shaft 71 and the first and second supporting seats 91 and 92. The first supporting seat 91 is fixedly connected with the first end cap 62, the second supporting seat 92 and the bottom cap 93 are fixedly connected with the second end cap 63, and the supporting seats are fixedly connected through the end caps, so as to fix the central shaft 71 and the moving direction thereof.

The central shaft 71 is provided with a limiting sleeve 11, the fixing ring 54 is sleeved on the limiting sleeve 11, and one end of the limiting sleeve 11, which is far away from the second supporting seat 92, is provided with a first limiting ring 111. The limiting sleeve 11 is fixedly sleeved on the central shaft 71, the central shaft 71 moves to drive the limiting sleeve 11 to move, and further drive the fixing ring 54 and the connecting rod assembly 5 on the fixing ring 54 to move, so that the third rod piece 53 is stretched. One side of the fixing ring 54 close to the driving member 10 is provided with a second limiting ring 112, and the fixing ring 54 is located between the first limiting ring 111 and the second limiting ring 112; one end of the driving member 10 acts on the second limit ring 112, and the other end of the driving member 10 acts on the second supporting seat 92. The fixing ring 54 between the two stop rings is fixed by the first stop ring 111 and the second stop ring 112. In this embodiment, the outer wall of the limiting sleeve 11 is provided with threads, the fixing ring 54 is first in threaded connection with the limiting sleeve 11, and then the second limiting ring 112 is screwed on the limiting sleeve 11, so that the second limiting ring 112 functions like a nut. On the other hand, the driver 10 is preferably a spring, and the second stopper ring 112 functions as a spring seat and stops the movement of the spring.

The driving assembly drives the connecting rod assembly 5 to realize an adjusting function, so that the distance between the moving mechanism 3 and the inner wall of the pipeline is adjusted, and the moving mechanism 3 is separated from or attached to the inner wall of the pipeline. When moving mechanism 3 and pipeline inner wall separation, anticorrosive robot can break away from with the pipeline, conveniently places or takes out anticorrosive robot, and when moving mechanism 3 hugged closely with the pipeline inner wall, moving mechanism 3 can drive crawl device 1 and realize removing or climbing in the pipeline.

As shown in fig. 1-3 and 7, the cylinder 61 has a guide hole corresponding to the third rod 53 and the moving mechanism 3, a guide 8 is disposed in the guide hole, and the third rod 53 penetrates through the guide 8 and is connected to the moving mechanism 3. In this embodiment, the guide member 8 includes a bearing seat 81 disposed in the guide hole, a self-lubricating bearing (sliding bearing 84) disposed in the bearing seat 81, a top cover 82 disposed on the bearing seat 81, and a sealing ring 83 disposed on the top cover 82, the bearing seat 81 is fixed on the cylinder 61, the sliding bearing 84 is sleeved on the periphery of the third rod member 53, and the third rod member 53 is driven by the first rod member 51 and the second rod member 52 to extend and retract in the sliding bearing 84.

The control box 4 controls the rotation of the driving motor 36 in the moving mechanism 3 and the forward and backward movement of the cylinder in the adjusting mechanism. The connecting rod assembly 5 controls the moving mechanism 3 to be separated from and close to the inner wall of the pipeline, so that the robot can walk in pipelines with different inner diameters, and the center of the robot is consistent with the center of the pipeline. The forward movement of the cylinder can ensure that the driving wheel 32 is tightly attached to the inner wall of the pipeline, ensure normal walking and ensure that the crawling device can be attached to the wall surfaces of pipelines with different inner diameters so as to ensure normal movement and operation of the crawling device; the cylinder retreats to ensure that the walking wheels are disengaged from the inner wall of the pipeline, so that the anti-corrosion robot is convenient to take out.

2. Moving mechanism

As shown in fig. 1-3 and fig. 8-9, the moving mechanism 3 includes two side plates 31 disposed opposite to each other, a driving wheel 32 disposed between the two side plates 31, and a power assembly for driving the driving wheel 32 to rotate, the two side plates 31 are disposed on an outer wall of the cylinder 61, and the driving wheel 32 and the power assembly are fixed on the side plates 31.

The power assembly in this embodiment includes a rotating wheel 33, a rotating belt 34, a transition wheel 35, and a driving motor 36 (servo motor) for driving the transition wheel 35 to rotate, the rotating wheel 33 is fixedly connected with the driving wheel 32, and the rotating belt 34 is sleeved on the rotating wheel 33 and the transition wheel 35 for realizing the synchronous rotation of the rotating wheel 33 and the transition wheel 35. The transition wheel 35 is arranged on an output shaft of the driving motor 36, the driving motor 36 is started to drive the transition wheel 35 to rotate, the rotating belt 34 is driven to rotate, the rotating wheel 33 and the driving wheel 32 are driven to rotate synchronously, and therefore accurate movement of the position of the crawling device 1 in the pipeline is achieved.

The rotating wheel 33, the rotating belt 34 and the transition wheel 35 in the embodiment are located on the same side of the side plate 31, the rotating wheel 33 and the driving wheel 32 are respectively located on two sides of the side plate 31, the rotating wheel 33 and the driving motor 36 are respectively located on two sides of the driving wheel 32, and an output shaft of the driving motor 36 penetrates through the two side plates 31 and then is connected with the transition wheel 35, so that space is saved, and the structure is more compact. In this embodiment, in order to increase the friction between the driving wheel 32 and the inner wall of the pipeline, the outer periphery of the driving wheel 32 is wrapped with a rubber material, and a groove similar to a gear structure is formed in the rubber material, the groove is arc-shaped and is uniformly distributed on the outer periphery of the driving wheel 32, and each groove extends along the axial direction of the driving wheel 32.

In this embodiment, the driving wheel 32 includes a first driving wheel and a second driving wheel disposed at two ends above the side plate 31, the rotating wheel 33 includes a first rotating wheel and a second rotating wheel disposed correspondingly, the rotating belt 34 includes a first rotating belt and a second rotating belt disposed correspondingly, the transition wheel 35 includes a first transition wheel and a second transition wheel disposed correspondingly, only one driving motor 36 is provided, and the two transition wheels 35 are coaxially disposed on the output shaft of the driving motor 36, so that the other driving wheel 32 is synchronously rotated without deviation.

In order to cooperate with the connecting rod assembly 5 to adjust the distance between the moving mechanism 3 and the cylinder 61, a rocker 37 is disposed between the bottom of the side plate 31 and the outer wall of the cylinder 61 in this embodiment, and two ends of the rocker 37 are rotatably connected to the side plate 31 and the outer wall of the cylinder 61 respectively. Two rocking bars 37 are respectively provided at both ends of the bottom of the side plate 31, so that the moving mechanism 3 can be adjusted by the link assembly 5 to be stably operated. Meanwhile, in the embodiment, the top end of the third rod 53 is provided with the transition rod 38, and two ends of the transition rod 38 are respectively and rotatably connected to the top end of the third rod 53 and the side plate 31. Through setting up transition pole 38 for when moving mechanism 3 adjusts, rotate under the drive of third member 53 and transition pole 38 and the drive of rocker 37 and realize the distance between moving mechanism 3 and the section of thick bamboo wall and adjust, avoided the swing direction of rocker 37 and the different conflicts that bring of the flexible direction of third member 53.

As shown in fig. 1-2, the anticorrosive robot of the present embodiment further has a detachable carrying cart 16 under it for easy carrying.

Second, flexible axle

As shown in fig. 1-2, 11-13, 15-17 and 20-21, the flexible shaft 2 in this embodiment includes an elastic member 21, a limiting rope 24 and a seat body 22 disposed at an end of the elastic member 21, and the seat body 22 is fixedly connected to the crawler 1 or the working device 17 for connection. The elastic member 21 functions to ensure that the device operates normally at a curve, and the limiting rope 24 is used to limit the amount of tensile deformation of the elastic member 21.

A cavity 23 is formed in the seat body 22, and the end part of the elastic element 21 is accommodated in the cavity 23. By arranging the flexible shaft 2 consisting of the elastic part 21 and the base body 22, the anti-corrosion robot can be used in the working environment of a bent pipe. The elastic member 21 is preferably a spring, and the inner wall of the cavity 23 is provided with a thread matching with the spring, and the thread is matched with the end of the spring for connecting the spring and the seat body 22.

The pitch of the spring in this embodiment is 0, i.e., there is no gap between two adjacent turns on the spring, and the spring has no compression margin but only a tension margin. The limiting rope 24 is used for limiting the axial deformation of the elastic element 21, and two ends of the limiting rope 24 are respectively connected with the two seat bodies 22. The limiting rope 24 is preferably a strong wire rope for limiting the stretching of the elastic member 21. Through mutual restriction and cooperation between elastic component 21 and restriction rope 24, realize the function of flexible axle 2, guarantee the operation of anticorrosive robot in the return bend.

As shown in fig. 20-21, the flexible shaft 2 in the embodiment can realize that the crawling device 1 can pull the working device 17 to move so as to perform corresponding anticorrosion work on the pipeline under the condition of bending pipes (various bends such as 90 degrees, 45 degrees and the like).

Third, operation device

1. Rust removal module 12

As shown in fig. 14 to 15, the rust removing module 12 in the present embodiment includes a first frame 121, support legs 15 provided on the first frame 121, and a high-pressure water jet rust removing lance 122 provided on a side of the first frame 121 remote from the crawler 1. The supporting legs 15 are regularly distributed on the periphery of the first frame 121, and the supporting legs 15 in the embodiment are provided with two groups, wherein each group comprises 4 supporting legs 15 which are uniformly distributed on the same circumference of the first frame 121 at intervals.

The high-pressure water jet rust removal spray gun 122 in the embodiment comprises four symmetrically arranged nozzles, and the spraying directions of the nozzles are perpendicular to the pipe wall (the radial direction of the pipeline). In other embodiments, 2 or more nozzles may be symmetrically disposed, preferably an even number.

As shown in fig. 18 to 19, the support leg 15 in this embodiment includes a fixing plate 151, an adjusting plate 152, and a wheel set 153 in this order, one end of the fixing plate 151 is connected to the outer periphery of the frame, the other end of the fixing plate 151 is connected to the adjusting plate 152, and a buffer assembly 154 is disposed between the wheel set 153 and the adjusting plate 152. Waist round holes are correspondingly formed in the fixing plate 151 and the adjusting plate 152, so that the formed whole length can be adjusted, namely the length of the supporting legs 15 can be adjusted to adapt to different diameters of pipelines. In this embodiment, the fixing plate 151 and the adjusting plate 152 are fixed by screws, the fixing plate 151 has four fixing holes, different fixing holes correspond to different inner diameters of the pipelines, and the four fixing holes correspond to four inner diameters of the pipelines respectively. Through supporting leg 15 of such structure, guarantee that the nozzle is unanimous with the distance of pipeline inner wall at rotatory in-process, the rust cleaning effect is better.

The buffer component 154 is used for providing pre-tightening force for the wheel set 153 to cling to the inner wall of the pipeline. The buffering assembly 154 in this embodiment includes a snap ring 155 disposed at an end of the adjusting plate 152 near the wheel set 153, a top block 156 disposed at an end of the wheel set 153 near the adjusting plate 152, and a buffering member 157 disposed between the snap ring 155 and the top block 156, wherein the buffering member 157 is accommodated in the snap ring 155. The clamping ring 155 is provided with a waist circular hole extending along the length direction of the supporting leg, a bolt is arranged in the waist circular hole, and the buffering and pre-tightening in the operation process are realized through the matching of the buffering piece 157 (spring) and the waist circular hole.

2. Slag discharge module 13

As shown in fig. 16, the slag discharging module 13 in the present embodiment includes a second frame 131, support legs 15 provided on the second frame 131, and a high-pressure water jet slag discharging lance 132 provided on a side of the second frame 131 remote from the crawler 1. The supporting legs 15 are regularly distributed on the periphery of the second frame 131, and the supporting legs 15 in the embodiment are provided with two groups, wherein each group comprises 4 supporting legs 15 which are uniformly distributed on the same circumference of the second frame 131 at intervals.

The high-pressure water jet deslagging spray gun 132 in the embodiment comprises three symmetrically arranged nozzles, the nozzles and the pipe wall are obliquely arranged, and the spraying ports of the nozzles face the crawling device, so that when the crawling device drives the deslagging module 13 to retreat, the high-pressure water jet gun 132 plays a role in cleaning residues in the pipeline. In other embodiments, more evenly distributed nozzles may be provided.

The support legs 15 in the slag discharge module 13 can be preferably the structure of the support legs 15 in the derusting module 12, and the description is omitted. The water pressure corresponding to the derusting spray gun and the slag discharging spray gun is 1500-2000 Kg.

3. Paint spraying module 14

As shown in fig. 17, the painting module 14 in this embodiment includes a third frame 141, support legs 15 provided on the third frame 141, and an airless high pressure airless spray gun 142 provided on a side of the third frame 141 remote from the crawler 1. The supporting legs 15 are regularly distributed on the periphery of the third frame 141, and the supporting legs 15 in the embodiment are provided with two groups, wherein each group comprises 3 supporting legs 15 which are uniformly distributed on the same circumference of the third frame 141 at intervals.

The high-pressure airless spray gun 142 uses a servo motor to drive a nozzle to rotationally spray paint. The conventional paint spraying module 14 adopts an air motor as rotating power, the servo motor is adopted for control in the embodiment, the paint spraying effect is different when the nozzle works upwards, downwards and laterally, and the thickness of the paint film can be better controlled by adopting variable-speed rotation in the whole circumferential rotation period.

The support leg 15 in the paint spraying module 14 can be preferably the support leg 15 structure in the rust removing module 12, and the description is omitted. Above-mentioned supporting leg 15's structure can guarantee that the airless nozzle of spraying paint keeps unanimous with the pipeline inner wall distance at rotatory in-process, makes the degree of consistency that sprays paint controllable, and the degree of consistency is better.

The working process of the anti-corrosion robot in the embodiment is briefly described as follows by taking a derusting process as an example:

as shown in fig. 20 to 21, the robot for preventing corrosion in this embodiment operates in a working direction toward the crawler 1, i.e., travels backward.

First, the anticorrosive robot is transported to a pipe port to be worked by the carrier cart 16, the driver 72 (air cylinder) is started to push the center shaft 71 to move toward the second end cap 63, and the driver 10 (spring) is compressed. The limiting sleeve 11, the fixing ring 54 and the first rod 51 in the connecting rod assembly 5 move towards the second end cover 63, the included angle between the second rod 52 and the central shaft 71 becomes smaller, the third rod 53 is dragged to retract inwards, and the distance between the moving mechanism 3 and the cylinder wall is reduced under the cooperation of the transition rod 38 and the rocker 37. At this time, the robot is placed in the pipeline.

Then, the cylinder is released, under the restoring force of the driving element 10 (spring), the fixing ring 54 of the limiting sleeve 11 and the first rod element 51 are pushed to move towards the first end cover 62, the included angle between the second rod element 52 and the central shaft 71 is increased, the third rod element 53 is pushed to extend outwards, under the matching of the transition rod 38 and the rocker 37, the distance between the moving mechanism 3 and the cylinder wall is increased, the distance between the moving mechanism 3 and the pipe wall is gradually reduced and finally the moving mechanism is tightly attached to the inner wall of the pipeline, expansion is realized, the central shaft 71 is consistent with the central line of the pipeline, and the crawling device 1 can drive the operating device 17 to move along the pipeline under the driving of the moving mechanism 3. At this point, the power assembly in the moving mechanism 3 is activated, pushing the crawler 1 with the working device 17 forward along the pipeline. The working device 17 at this time is moved only and does not perform work. And because the pitch of the spring in the flexible axle 2 is 0 (there is not the clearance between the two adjacent circles on the spring), there is not compression allowance, the crawl device 1 can promote the operation device 17 to move forward, even also very convenient when passing through the return bend.

When the operation device 17 moves to the end of the pipeline needing anti-corrosion operation, the moving mechanism 3 in the crawling device 1 is started to drive the crawling device 1 to move backwards (retreat), and meanwhile, the operation device 17 (the rust removal module 12) is started to operate to remove rust on the inner wall of the pipeline. When rust removal is carried out, the spray gun continuously rotates, and high-pressure water is sprayed out through the symmetrically arranged nozzles to remove rust on the inner wall of the pipeline. And because the strong steel wire rope in the flexible shaft 2 limits the stretching deformation of the spring, the crawling device 1 can also conveniently move the operation device 17 backwards when passing through the bent pipe.

When the crawling device 1 drives the working device 17 (the derusting module 12) to retreat to the pipeline opening, the derusting operation is finished. The above-described operation of reducing the distance between the moving mechanism 3 and the cylindrical wall, i.e., the moving mechanism 3 approaching the cylindrical wall, is repeated, and the moving mechanism 3 is separated from the inner wall of the pipe. And taking the crawling device 1 and the operating device 17 out of the pipeline, replacing the operating modules, repeating the operating process, sequentially realizing the operations of derusting, deslagging and paint spraying, and finishing the anti-corrosion operation of the pipeline.

In the prior art, a conventional pipeline is generally derusted and painted by using a hoister, and a derusting and painting module is pulled by a steel wire rope to complete derusting and painting, so that the work of bending the pipeline is difficult to complete. The anti-corrosion robot can work in a bent pipeline and can also work in an upward (45 degrees) climbing manner through the arrangement of the flexible shaft and the adjusting mechanism.

The anti-corrosion robot can realize cleaning, derusting, slag discharging, paint spraying repair and the like of the inner wall of the pipeline, and has the advantages of long working period, large workload, severe working environment, high economic investment and the like compared with the traditional manual polishing or sand blasting process. The anti-corrosion robot has a compact and reliable structure and stable movement; the pipeline automatic crawling device can realize automatic crawling of pipelines aiming at different application fields, effectively solve the problem of difficult operation in a narrow space, and effectively reduce the damage of dust and noise to personnel in the operation in a closed space; the driving capability and the bearing capacity are good.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims (6)

1. The utility model provides a flexible axle suitable for anticorrosive operation robot of pipeline inner wall, anticorrosive operation robot of pipeline inner wall includes crawl device and operation device, its characterized in that, the flexible axle is used for connecting crawl device and operation device, the flexible axle includes the elastic component and sets up the pedestal of elastic component tip, pedestal fixed connection is in on crawl device or the operation device.

2. The flexible shaft of claim 1, wherein a cavity is formed in the seat body, and an end of the elastic member is received in the cavity.

3. The flexible shaft of claim 2, wherein the elastic member is a spring, and a thread matching the spring is provided on an inner wall of the cavity and is engaged with an end of the spring for connecting the spring and the seat.

4. The flexible shaft of claim 3, wherein the spring has a pitch of 0.

5. The flexible shaft according to claim 2, wherein the flexible shaft comprises a limiting rope for limiting the axial deformation of the elastic member, two ends of the limiting rope are respectively connected with the two seat bodies, and the extending direction of the limiting rope is the same as the extending direction of the elastic member.

6. The flexible shaft of claim 5, wherein the restraining rope is a steel wire rope.

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