CN110026593B - Pipeline welding seam milling robot - Google Patents
Pipeline welding seam milling robot Download PDFInfo
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- CN110026593B CN110026593B CN201910439651.3A CN201910439651A CN110026593B CN 110026593 B CN110026593 B CN 110026593B CN 201910439651 A CN201910439651 A CN 201910439651A CN 110026593 B CN110026593 B CN 110026593B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/12—Trimming or finishing edges, e.g. deburring welded corners
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
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Abstract
The invention discloses a pipeline welding seam milling robot which comprises a frame, walking devices, a power assembly, a milling assembly and a clutch assembly, wherein the walking devices are arranged on the frame in a centrosymmetric mode and used for being supported on the inner wall of a pipeline in the circumferential direction and driving the frame to move in the axial direction; the milling robot can axially walk along the inner wall of the pipeline, the milling assembly can simultaneously switch the direction along the circumferential direction of the pipeline, the all-dimensional butt welding seam inside the pipeline can be milled, the milling efficiency is high, the milling quality is good, the operation is convenient, and the labor cost is saved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a pipeline welding seam milling robot.
Background
With the continuous development of the long-distance pipeline industry in China, the demand of oil and gas pipelines is greatly increased, the longitudinal submerged arc welded steel pipe is the most common, and the longitudinal double-sided submerged arc welded steel pipe has more defects of inner welding seams during prewelding due to factors such as welding parameters, groove blunt edge joint, plate edge deformation of a steel plate and the like in prewelding; the welding seam cleaning device needs to be used for cleaning welding seams to prepare for the next final welding, at present, except for manual cleaning, all the welding seam cleaning devices built in China manually push a walking trolley and carry a three-degree-of-freedom platform to perform manual welding seam cleaning, and the structure is high in labor cost and low in cleaning efficiency, and cannot meet the increasing requirements of the modern society.
Aiming at the problems, the pipeline welding seam milling robot is provided, can be matched with long pipelines with different diameters, and can axially walk along the inner wall of the pipeline to perform milling operation on the inner wall of the pipeline, so that the cleaning efficiency is high, and the labor cost is low;
disclosure of Invention
In view of the above, the invention provides a pipeline weld joint milling robot, which can match long pipelines with different diameters, and axially walk along the inner wall of the pipeline to perform milling operation on the inner wall of the pipeline, and has high cleaning efficiency and low labor cost;
the pipeline welding seam milling robot comprises a frame, walking devices which are arranged on the frame in a centrosymmetric mode and used for being supported on the inner wall of a pipeline in the circumferential direction and driving the frame to walk in the axial direction, a power assembly arranged on the frame, a milling assembly arranged on the frame and a clutch assembly arranged on the frame and used for distributing the power output direction of the power assembly, wherein the power assembly can independently drive the walking devices to stretch and retract through the clutch assembly so as to change the outer circle radius formed by the walking devices together, and can also independently drive the milling assembly to rotate so as to enable the milling assembly to change the direction along the circumferential direction of the pipeline.
Further, the power assembly comprises a connecting rod I, a connecting rod II, a movable plate and a driving device I, wherein the two parallel connecting rods I are connected to the traveling device, two ends of the connecting rod I are respectively connected to the frame and the traveling device in a rotating fit mode, two ends of the connecting rod II are respectively connected to the traveling device and the movable plate in a rotating fit mode, the movable plate can be installed on the frame in a left-right sliding mode and driven to slide by the driving device I, and the movable plate drives the connecting rod I and the traveling device to swing through the connecting rod II when sliding, so that the outer circle radius formed by the traveling devices together is changed.
Further, the power assembly further comprises a screw, the movable plate is in threaded transmission fit with the screw, the driving device I is a double-shaft motor, the clutch assembly comprises two clutch devices which are respectively arranged at two output ends of the double-shaft motor, each clutch device comprises a ratchet wheel in transmission fit with an output shaft of the motor, a pawl in fit with the ratchet wheel and a bearing used for mounting the pawl, the bearing is rotatably mounted on the frame in a fit manner, the pawl is mounted on an outer ring of the bearing, the outer rings of the bearings corresponding to the two clutch devices are in transmission fit with the screw and the milling assembly respectively, and the ratchet locking directions of the two clutch devices are opposite.
Further, the milling assembly comprises a mounting frame, a milling device arranged on the mounting frame, and a driving assembly for driving the milling device to move relative to the mounting frame so that the milling device is close to or far away from the inner wall of the pipeline.
Furthermore, the driving assembly comprises a plurality of groups of multi-link assemblies, each group of multi-link assemblies comprises a connecting rod III, a connecting rod IV, a driving device II and a bottom plate, the connecting rod III can swing up and down to be matched on the mounting frame in a rotating mode, two ends of the connecting rod IV are matched on the connecting rod III and the bottom plate in a transmission mode respectively, the driving device II is fixed on the mounting frame and is driven to be matched with the swing rod to drive the swing rod to swing, and the milling device is installed on the bottom plate.
Further, the bearing outer ring is in transmission fit with the mounting frame through a planetary reduction gear, and the planetary reduction gear is installed on the frame.
Further, the frame includes two risers that the axial set up, two the riser passes through the crossbeam and links as an organic whole, two sets of connecting rods I rotate respectively and cooperate on two risers.
Furthermore, the vertical plates and the movable plate are triangular, three groups of walking devices are arranged, and a connecting rod I and a connecting rod II which correspond to each group of walking devices are respectively connected to the three edges of the movable plate in a transmission fit mode.
Further, a camera is mounted on the frame.
Further, the mounting bracket is rectangular frame structure, running gear, power component and clutch module all are provided with two sets ofly and the symmetry sets up in the left and right sides of mounting bracket.
The invention has the beneficial effects that:
the milling robot can realize the axial walking along the inner wall of the pipeline, the milling assembly can simultaneously convert the direction along the circumferential direction of the pipeline, the milling operation of all-directional butt welding seams in the pipeline can be realized, the milling efficiency is high, the milling quality is good, the operation is convenient, the labor cost is saved, the telescopic adjustment of the walking device and the driving of the conversion of the direction of the milling assembly can be simultaneously realized through one set of power assembly, the structure of the robot is simplified, the configuration quantity of the power device is reduced, the production cost of the robot is reduced, the pipeline with different pipe diameters can be adapted through the telescopic adjustment of the walking device, the application range is wide, the milling operation can be carried out on the long-distance pipelines with various pipe diameters, the walking devices which are symmetrically arranged in the center can be stably supported on the inner wall of the pipeline, the robot walks stably, and the pressure of the walking device pressed on the inner wall of the pipeline can be, the friction force between the walking device and the inner wall of the pipeline is increased, and the dynamic property is strong;
the axial sliding displacement of the moving plate is converted into the radial displacement change of the walking devices, all parts can be arranged in the axial direction of the robot, the volume of the robot in the radial direction is reduced, the application range of the robot is enlarged, the structure forms reliable support for the walking devices through a double-crank structure and a connecting rod II, and the moving plate can synchronously drive a multi-connecting-rod structure corresponding to each walking device, so that the overall consistency of each walking device is improved, and the adjustment precision of the walking devices is improved;
the invention utilizes the bearing to combine with the ratchet wheel and the pawl to form a clutch structure, can realize the on-off of power, has fewer parts, compact structure and low cost, and improves the integral consistency of each part of the robot;
drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of a clutch assembly;
FIG. 3 is a partial perspective view of the present invention;
FIG. 4 is a schematic plan view of the present invention;
FIG. 5 is a side view of the structure of FIG. 4;
Detailed Description
FIG. 1 is a schematic perspective view of the present invention; FIG. 2 is a schematic view of a clutch assembly; FIG. 3 is a partial perspective view of the present invention; FIG. 4 is a schematic plan view of the present invention; FIG. 5 is a side view of the structure of FIG. 4;
in this embodiment, the left-right direction is the axial direction of the robot after the robot is matched with the pipeline; the axial direction of the robot is consistent with the axial direction of the pipeline after the robot is matched with the pipeline, and the radial direction of the robot is consistent with the radial direction of the pipeline after the robot is matched with the pipeline;
the embodiment provides a pipeline welding seam milling robot which comprises a frame, walking devices, a power assembly, a milling assembly and a clutch assembly, wherein the walking devices are arranged on the frame in a centrosymmetric mode and used for being supported on the inner wall of a pipeline in the circumferential direction and driving the frame to walk in the axial direction;
the walking devices are arranged in a central symmetry manner, the central axis takes the pipeline axis as a reference, the two axes are superposed after the robot is matched with the pipeline, after each walking device stretches, the diameter of an outer circle formed by the walking devices changes and can be adapted to pipelines with different pipe diameters, the walking devices are always circumferentially attached to the inner part of the pipeline, the walking devices can be arranged in multiple groups in the radial direction, each group comprises a plurality of walking devices which are arranged in a central symmetry manner, the number of the specific walking devices and the number of the walking devices in each group can be adjusted according to the use working condition, and details are omitted; the power assembly can change a power transmission path through the clutch assembly for driving different components, wherein the power assembly can be a motor or a fuel engine and other devices, the clutch device can be a dual-output-shaft gearbox, the power transmission path is changed by switching output shafts, and the power transmission path can also be changed by switching a gear ring or a planet carrier as a power output end through a planetary reducer structure, which is not specifically described; the walking device can be driven by an electric wheel structure and a storage battery in a matching way, and can also be driven by a crawler belt structure and the storage battery in a matching way, in the embodiment, a crawler belt structure 16 is preferably selected, the crawler belt structure can adapt to a complex road condition structure, the passing performance is good, the attachment capacity is strong, the crawler belt is driven by a chain wheel, the chain wheel is in transmission matching with a motor, the motor provides kinetic energy through the storage battery, the specific structure and the driving form of the crawler belt are the prior art, and details are not repeated; the milling robot can realize the axial walking along the inner wall of the pipeline, the milling assembly can simultaneously convert the direction along the circumferential direction of the pipeline, the all-dimensional milling operation of the butt weld in the pipeline can be realized, the milling efficiency is high, the milling quality is good, the operation is convenient, the labor cost is saved, the telescopic adjustment of the walking device and the direction conversion driving of the milling assembly can be simultaneously realized through one set of power assembly, the structure of the robot is simplified, the configuration quantity of the power device is reduced, the production cost of the robot is reduced, the walking device can adapt to pipelines with different pipe diameters through the telescopic adjustment of the walking device, the application range is wide, the milling operation can be carried out on the pipelines with various pipe diameters in a long distance, the walking devices which are symmetrically arranged in the center can be stably supported on the inner wall of the pipeline, the robot walks stably, and the pressure of the walking device pressed on the inner wall of the pipeline can be, the friction force between the walking device and the inner wall of the pipeline is increased, and the dynamic property is strong;
in the embodiment, the power assembly comprises a connecting rod I1, a connecting rod II 2, a moving plate 3 and a driving device I, wherein the traveling device is connected with two groups of parallel connecting rods I, two ends of the connecting rod I are respectively connected to the frame and the traveling device in a rotating fit mode, two ends of the connecting rod II are respectively connected to the traveling device and the moving plate in a rotating fit mode, the moving plate can be installed on the frame in a left-right sliding mode and driven to slide by the driving device I, and when the moving plate slides, the connecting rod II drives the connecting rod I1 and the traveling device to swing so as to change the diameter of an outer circle formed by the; in order to facilitate the installation of the connecting rods, a shell is arranged on the side part of the crawler structure, wherein the connecting rods I1 and II 2 are connected to the shell of the crawler structure in a rotating fit manner, as shown in the figure, two groups of connecting rods I are arranged along the length direction of the crawler, each group of connecting rods I comprises two connecting rods I which are respectively connected to the shells on two sides of the width direction of the crawler, the two groups of connecting rods I, the walking device and the frame form a double-crank structure, the two groups of connecting rods I and the walking device form a whole, the connecting rods II, the moving plate and the frame form a crank-slider structure, the moving plate serves as a slider and a driving part, the two groups of connecting rods I and the walking device serve as a crank and a driven part, the driving device I drives the moving plate to slide and drives the double, the structure converts the axial sliding displacement of the moving plate into radial displacement change of a crawler structure, can arrange all parts in the axial direction of the robot, reduces the volume of the robot in the radial direction, increases the application range of the robot, forms reliable support for the walking devices through a double-crank structure and a connecting rod II, can synchronously drive a multi-connecting-rod structure corresponding to each walking device through the moving plate, improves the integral consistency of each walking device, and improves the adjustment precision of the walking devices;
in this embodiment, the power assembly further includes a screw rod 4, the moving plate is in threaded transmission fit with the screw rod, the driving device i is a double-shaft motor 5, the clutch assembly includes two clutch devices respectively arranged at two output ends of the double-shaft motor, the clutch devices include a ratchet 6 in transmission fit with an output shaft of the motor, a pawl 7 in transmission fit with the ratchet and a bearing 8 for mounting the pawl, the bearing is rotatably mounted on the frame, the pawl is mounted on an outer ring of the bearing, outer rings of the bearings corresponding to the two clutch devices are respectively in transmission fit with the screw rod and the milling assembly, and ratchet locking directions of the two clutch devices are opposite; the movable plate is driven to slide linearly by the rotation of the screw, the screw has a self-locking function and can be effectively locked, the stability of each walking device is improved, the constant diameter of an outer circle formed by the walking devices together can be effectively ensured, the walking reliability and stability of the robot are improved, the double-shaft motor is fixed on the frame, and as shown in a figure 2, when the double-shaft motor rotates reversely, a bearing positioned on the side of the screw transmits torque, a ratchet pawl on the side is locked, the ratchet wheel drives the pawl to rotate, the pawl drives an outer ring of the bearing to rotate, the screw is driven by the outer ring of the bearing to rotate, a ratchet pawl structure on the other side is not locked, and the ratchet wheel is; when the double-shaft motor rotates forwards, the power of the double-shaft motor is transmitted out of the pawl on the other side to drive the milling assembly to rotate, and the ratchet wheel on the side of the screw rod is in an idle running state; the bearing is installed in the bearing sleeve 17, the bearing sleeve is fixed on the frame, the bearing outer ring is in running fit with the bearing sleeve, the bearing outer ring can be arranged to be a widened structure, the inner side of the bearing outer ring can be partially arranged to be an internal spline structure, the end part of the screw can be arranged to be an external spline structure, and the bearing outer ring is in transmission fit with the screw through spline fit, although other structural forms can be selected for the transmission fit mode of the bearing outer ring and the screw, which is not described in detail; a plurality of pawls can be connected to the outer ring of the bearing in the circumferential direction, and the pawls can provide elastic force for pressing the pawls on the ratchet wheel by matching with a spring, which is not described in detail; the structure is a clutch structure by combining a bearing with a ratchet wheel and a pawl, so that the power can be switched on and off, the number of parts is small, the structure is compact, the cost is low, and the integral consistency of all parts of the robot is improved;
in this embodiment, the milling assembly includes a mounting frame 9, a milling device mounted on the mounting frame, and a driving assembly for driving the milling device to move relative to the mounting frame so as to make the milling device approach or separate from the inner wall of the pipeline; the cutting and milling assembly comprises a milling cutter 18 and a servo motor 19 for driving the milling cutter to rotate, the driving assembly can adopt the structural forms of a hydraulic cylinder, a pneumatic cylinder or a linear motor and the like, and the driving assembly can drive the cutting and milling device to be close to or far away from the inner wall of the pipeline, so that the cutting and milling operation is facilitated;
in this embodiment, the driving assembly includes a plurality of groups of multi-link assemblies, each group of multi-link assemblies includes a link iii 10, a link IV11, a driving device ii and a bottom plate 12, the link iii 10 can swing up and down and is rotationally fitted on the mounting frame, two ends of the link IV11 are respectively in transmission fit on the link iii 10 and the bottom plate 12, the driving device ii is fixed on the mounting frame and is in driving fit with the swing rod for driving the swing rod to swing, and the milling device is mounted on the bottom plate; as shown in fig. 3, the mounting frame 9 is a rectangular frame structure, three sets of multi-link assemblies are arranged at the top of the inner side of the mounting frame, the driving device ii is a motor, the driving device ii 20 is fixedly connected to the top of the inner side of the mounting frame, the three driving devices ii are in a regular triangle arrangement structure, the bottoms of the three connecting rods IV11 are connected to the bottom plate in a rotating fit manner, the three driving devices ii synchronously drive the connecting rods iii 10 to enable the bottom plate to approach or be far away from the inner wall, wherein the servo motor 19 is fixedly arranged on the bottom plate, the structure is convenient to realize long-distance arrangement through a connecting rod structure, can be adapted to a pipeline structure with larger pipe diameter, and the multi-group multi-connecting-rod structure improves the moving stability of the bottom plate, the stability of the milling device is improved, the milling quality can be ensured, the number of groups of the multi-connecting-rod assemblies can be correspondingly adjusted according to corresponding use conditions and other factors, and details are not repeated;
in this embodiment, the bearing outer ring is engaged with the mounting frame 9 through a planetary reduction gear, and the planetary reduction gear is mounted on the frame; the planet carrier of the planetary speed reducer is fixedly connected to the frame, the gear ring of the planetary speed reducer is connected to the side of the mounting frame 9 in a transmission fit manner, the power of the double-shaft motor 5 is input from the planet gear of the planetary speed reducer and output from the gear ring to drive the mounting frame 9 to rotate, the structure realizes the effects of speed reduction and torque increase through the planetary speed reducer, certainly, the power input end and the power output end of the planetary speed reducer can be respectively the planet gear and the planet carrier, the gear ring is fixedly connected to the frame at the moment, any two components of the planet gear, the planet carrier and the gear ring can be selected as the power input end and the power output end of the planetary speed reducer, and the other component is fixed to the frame; the power of the double-shaft motor can be reduced through the arrangement of the planetary speed reducer, the volume and the weight of the double-shaft motor are reduced, the axial arrangement of the double-shaft motor is facilitated, the space requirement of the assembly of each part of the robot is reduced, and the assembly difficulty is reduced;
in the embodiment, the frame comprises two vertical plates 13 which are axially arranged, the two vertical plates are connected into a whole through a cross beam 14, and the two groups of connecting rods I are respectively in rotating fit with the two vertical plates; the bearing sleeve 17 and the double-shaft motor are fixedly connected to the outer vertical plate, an output shaft of the double-shaft motor, the bearing sleeve, a screw rod and a bearing are coaxially arranged, a planet carrier of the planetary speed reducer is fixedly connected to the inner vertical plate, and in order to improve the stability of the robot, the cross beam penetrates through the movable plate 3 to form guide for the sliding of the sliding plate;
in this embodiment, the vertical plate 13 and the moving plate 3 are triangular, three groups of walking devices are provided, and the connecting rods i 1 and ii 2 corresponding to each group of walking devices are respectively connected to three edges of the moving plate in a transmission fit manner; the structure ensures that the weight of the robot is uniformly distributed in the circumferential direction, and improves the running stability of the robot;
in this embodiment, the frame is provided with a camera 15; the camera can be used for facilitating the remote search of the welding line to be milled by a worker, facilitating the remote operation of the robot, and can be used for rapidly milling the corresponding welding line, thereby improving the working efficiency of the robot.
In this embodiment, the mounting frame 9 is a rectangular frame structure, and the walking device, the power assembly and the clutch assembly are all provided with two groups and symmetrically arranged on the left side and the right side of the mounting frame; the structure improves the supporting performance and the power performance of the robot, and the two groups of walking devices are supported on the two sides of the mounting frame, so that the stability during milling is improved, and the milling quality can be improved;
finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (8)
1. The utility model provides a pipeline welding seam mills robot which characterized in that: the power assembly can independently drive the walking device to stretch out and draw back through the clutch assembly so as to change the outer circle radius formed by the walking devices together, and can also independently drive the milling assembly to rotate so as to change the direction along the circumferential direction of the pipeline;
the power assembly comprises a connecting rod I, a connecting rod II, a movable plate and a driving device I, wherein two groups of parallel connecting rods I are connected to the traveling device, two ends of each connecting rod I are respectively connected to the frame and the traveling device in a rotating fit mode, two ends of each connecting rod II are respectively connected to the traveling device and the movable plate in a rotating fit mode, the movable plate can be installed on the frame in a left-right sliding mode and driven to slide by the driving device I, and when the movable plate slides, the connecting rods II drive the connecting rods I and the traveling devices to swing so as to change the outer circle radius formed by the traveling devices;
the power assembly further comprises a screw rod, the movable plate is in threaded transmission fit with the screw rod, the driving device I is a double-shaft motor, the clutch assembly comprises two clutch devices which are respectively arranged at two output ends of the double-shaft motor, each clutch device comprises a ratchet wheel in transmission fit with a motor output shaft, a pawl in transmission fit with the ratchet wheel and a bearing used for installing the pawl, the bearing is installed on the frame in a rotating fit mode, the pawl is installed on a bearing outer ring, the bearing outer rings corresponding to the two clutch devices are in transmission fit with the screw rod and the milling assembly respectively, and the ratchet wheel locking directions of the two clutch devices are opposite.
2. The pipe weld milling robot of claim 1, wherein: the cutting and milling assembly comprises a mounting frame, a cutting and milling device arranged on the mounting frame and a driving assembly for driving the cutting and milling device to move relative to the mounting frame so that the cutting and milling device is close to or far away from the inner wall of the pipeline.
3. The pipe weld milling robot of claim 2, wherein: the driving assembly comprises a plurality of groups of multi-link assemblies, each group of multi-link assemblies comprises a connecting rod III, a connecting rod IV, a driving device II and a bottom plate, the connecting rod III can swing up and down and is in rotating fit with the mounting frame, two ends of the connecting rod IV are in transmission fit with the connecting rod III and the bottom plate respectively, the driving device II is fixed on the mounting frame and is in driving fit with the swing rod to drive the swing rod to swing, and the milling device is installed on the bottom plate.
4. The pipe weld milling robot of claim 3, wherein: the bearing outer ring is in transmission fit with the mounting frame through a planetary reduction gear, and the planetary reduction gear is mounted on the frame.
5. The pipe weld milling robot of claim 4, wherein: the frame includes two risers that the axial set up, two the riser passes through the crossbeam and links as an organic whole, two sets of connecting rods I rotate respectively and cooperate on two risers.
6. The pipe weld milling robot of claim 5, wherein: the vertical plate and the movable plate are triangular, three groups of walking devices are arranged, connecting rods I corresponding to the walking devices in each group are connected to the three edges of the vertical plate in a rotating fit mode respectively, and connecting rods II corresponding to the walking devices in each group are connected to the three edges of the movable plate in a rotating fit mode respectively.
7. The pipe weld milling robot of claim 1, wherein: and the frame is provided with a camera.
8. The pipe weld milling robot according to any one of claims 1 to 7, wherein: the mounting bracket is the rectangular frame structure, running gear, power component and clutch module all are provided with two sets ofly and symmetry set up in the left and right sides of mounting bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910439651.3A CN110026593B (en) | 2019-05-24 | 2019-05-24 | Pipeline welding seam milling robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910439651.3A CN110026593B (en) | 2019-05-24 | 2019-05-24 | Pipeline welding seam milling robot |
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| CN110026593A CN110026593A (en) | 2019-07-19 |
| CN110026593B true CN110026593B (en) | 2020-07-10 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105834586B (en) * | 2016-05-05 | 2017-12-19 | 湖北三江航天红阳机电有限公司 | A kind of pipeline inner laser is with welding robot |
| CN206869568U (en) * | 2016-09-12 | 2018-01-12 | 吉林大学 | A kind of screw type pipeline inwall polishing for adapting to different tube diameters and polishing robot |
| CN106513390B (en) * | 2016-12-20 | 2022-06-07 | 鞍钢栗田(鞍山)水处理有限公司 | Pipeline cleaning method and remote control rotary cleaning type pipeline cleaning robot used in same |
| CN108161950A (en) * | 2018-01-31 | 2018-06-15 | 金陵科技学院 | A kind of pipe detection repair robot |
| CN108302282A (en) * | 2018-03-08 | 2018-07-20 | 武汉轻工大学 | A kind of travelling device in pipe and pipeline cleaning robot |
| CN108772389A (en) * | 2018-05-10 | 2018-11-09 | 湖北文理学院 | A kind of pipeline cleaning machine people |
| CN108480333B (en) * | 2018-05-15 | 2023-08-01 | 浙江工业大学 | Pipeline variable-diameter cleaning robot |
| CN109366053B (en) * | 2018-12-18 | 2020-04-28 | 南通理工学院 | Automatic welding robot for stud and stud on inner wall of pipeline |
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