CN110449304A - A kind of pipe inner-wall spraying robot of adaptive caliber - Google Patents
A kind of pipe inner-wall spraying robot of adaptive caliber Download PDFInfo
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- CN110449304A CN110449304A CN201910837953.6A CN201910837953A CN110449304A CN 110449304 A CN110449304 A CN 110449304A CN 201910837953 A CN201910837953 A CN 201910837953A CN 110449304 A CN110449304 A CN 110449304A
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- main frame
- robot
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- 238000005507 spraying Methods 0.000 title claims abstract description 47
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 230000000712 assembly Effects 0.000 claims abstract description 29
- 238000000429 assembly Methods 0.000 claims abstract description 29
- 239000007921 spray Substances 0.000 claims abstract description 21
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 4
- 238000004140 cleaning Methods 0.000 claims description 23
- 239000000428 dust Substances 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 239000003973 paint Substances 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims 1
- 238000010408 sweeping Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 241001640558 Cotoneaster horizontalis Species 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- -1 nuclear industry Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
- B05B13/0627—Arrangements of nozzles or spray heads specially adapted for treating the inside of hollow bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to pipeline spraying robot technical fields, more particularly, to a kind of pipe inner-wall spraying robot of adaptive caliber.The robot specifically includes main frame body, movement mechanism and spraying mechanism, and the main frame body is as fixed pedestal, generally frame structure；The movement mechanism is fixed on the lateral surface of main frame body, and Robot pipeline is driven axially or radially to move；The spraying mechanism is set to main frame body, moves with main frame body；The movement mechanism includes diameter changing device and drive wheel assemblies, and diameter changing device is set to body frame outside, for adjusting the extension distance of drive wheel assemblies；The drive wheel assemblies are installed on body frame outside, driving robot traveling by diameter changing device.The present invention is suitable for the pipeline of different tube diameters, steadily walks along inner wall of the pipe, and spraying is uniformly, adaptable, spray efficiency is relatively high, structure simply can be applied to various pipes spraying operation.
Description
Technical field
The present invention relates to pipeline spraying robot technical fields, more particularly, in a kind of pipeline of adaptive caliber
Wall spray robot.
Background technique
Pipeline as important marine resources means of transport, natural gas, nuclear industry, petroleum, etc. national economy core row
It all plays an important role in industry.In order to enhance the corrosion resistance of pipeline, researchers research and develop coating, the substance of corrosion inhibiter applies
The less corrosive pipeline phenomenon of material surface is overlayed on, in paint application, is usually sprayed using artificial and simple spray head, In
In long-distance pipe spraying, hand spray is difficult, and spray time is longer, therefore, the research and development meaning of pipe inner-wall spraying robot
It is great.Currently, there is the robot of some solution pipeline sprayings in the market, but such robot still has several drawbacks, example
It such as walks unstable, can only adapt to single caliber, coating spraying is uneven, and when secondary spraying is difficult to the problems such as cleaning pipeline.
Summary of the invention
The present invention is to overcome defect described in the above-mentioned prior art, provides a kind of pipe inner-wall spraying machine of adaptive caliber
Device people is suitable for the pipeline of different tube diameters, steadily walks along inner wall of the pipe, and spraying uniformly, and can carry out pipe-line purging.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of pipe inner-wall spraying robot of adaptive caliber, the pipe inner-wall spraying robot of adaptive caliber, packet
Main frame body, movement mechanism and spraying mechanism are included, the main frame body is as fixed pedestal, generally frame structure；The movement
Mechanism is fixed on the lateral surface of main frame body, and Robot pipeline is driven axially or radially to move；The spraying mechanism is set to body frame
Body is moved with main frame body；The movement mechanism includes diameter changing device and drive wheel assemblies, and diameter changing device is set on the outside of main frame body
Face, for adjusting the extension distance of drive wheel assemblies；The drive wheel assemblies are installed on body frame outside by diameter changing device,
Drive robot traveling.
Wherein, this spray robot has apparent symmetry, gentle support walking.Diameter changing device is for changing driving wheel
The extension distance of component adapts to the pipeline of different tube diameters so as to adjust the walking diameter of robot.Robot is in inner wall of the pipe row
While walking to move, spraying operation is carried out, radial and axial movement promotes spraying mechanism to spray as far as possible completely.
Preferably, the main frame body includes that main pipeline, connection strut and at least two support rings, the support ring are right in parallel
Neat setting, main pipeline runs through each support ring center, and is connected and fixed by connection strut with each support ring.Each component of main frame body is equal
Facilitate walking for hollow object to mitigate robot overall weight.
Preferably, the diameter changing device includes Mobile base, support base, V-type intersection strut, lead screw, fixed frame and the first electricity
Machine, the lead screw is parallel to main pipeline, and support ring outer diameter is fixed in activity；The first motor is located at lead screw one end, defeated
Outlet connects with lead screw, and the first motor is fixed on support ring by fixed frame；The V-type intersects strut one end and passes through support
Seat is fixed on support ring, and the other end is fixed on lead screw by Mobile base, and V-type intersects strut and support base, the Mobile base company of rotation
It connects；The Mobile base is connect with threads of lead screw, is rotated and is slided with lead screw, is adjusted the expansion angle that V-type intersects strut, is changed
Become drive wheel assemblies extension distance, improves adaptability.
It is intersection strut conventional at present that V-type, which intersects strut, and the You Lianggen body of rod hingedly forms, both ends strut activity expansion,
Change v-angle size.The both ends strut that V-type intersects strut is individually fixed in support base and Mobile base.First motor starting,
Output shaft drives lead screw rotation, and since Mobile base is connect with threads of lead screw, Mobile base is slided with lead screw rotation, thus
The v-angle for making V-type intersect strut changes, and changes drive wheel assemblies extension distance.In addition, the direction of rotation of control lead screw, it can
The v-angle for making V-type intersect strut becomes larger or becomes smaller, and angle increase is that the caliber that drive wheel assemblies adapt to becomes smaller, and angle reduces
The caliber that i.e. drive wheel assemblies adapt to becomes larger.
Preferably, the drive wheel assemblies include wheel body, wheel seat, the second motor and third motor, the wheel body, the second electricity
Machine, third motor are both secured to wheel seat, and the second motor is for driving wheeling thereof, and third motor is for driving wheel seat to rotate；Institute
It states wheel seat and the angled end that V-type intersects strut is connected to by the output end of third motor, drive wheel assemblies are whole with intersection strut
Activity；The wheel body is additionally provided with the pressure sensor for detecting wheel body pressure.
Wherein, pressure sensor is installed on the junction that wheel seat intersects strut with V-type, and real-time detection pressure prevents wheel body
By the excessive damage of pressure.In addition, the second motor driven wheel body rotates, third motor then drives wheel seat to rotate, and the cooperation of two motors can
Robot inner wall of the pipe is driven axially or radially to be moved along a straight line.
Preferably, the spraying mechanism includes several spray guns, and the spray gun is parallel to plane where support ring, and in radiation
Shape is uniformly arranged on main pipeline；The spray gun is connected with conveying pipeline, and conveying pipeline is fixed on main pipeline；It is also set on the outside of the support ring
There are the laser caliper sensors for detecting paint thickness.The quantity of spray gun is three or more, radial to be uniformly arranged supervisor
Road, so as to even application.In addition, spray gun is equipped with switch electromagnetic valve.
Preferably, the front end of the main frame body direction of advance is equipped with the ultrasonic distance for detecting travel distance and senses
Device, ultrasonic distance sensor are fixed in main pipeline.Ultrasonic distance sensor is set to the end of main pipeline, is located at robot and advances
The front end in direction.
It preferably, further include cleaning agency set on main frame body direction of advance one end, the cleaning agency includes turntable, clear
Sweep disk, electric pushrod and the driving device for driving turntable to rotate, the driving device and be fixed on main pipeline end, and with turn
Disk center's rotation connection；The clean disk is uniformly distributed around turntable periphery, and is movably connected on turntable by electric pushrod；
The fixing end of the electric pushrod is connected to center of turntable, and movable end is connected to clean disk, controls clean disk for radial expansion
Cleaning range；The clean disk is equipped with the bristle for cleaning.Wherein, driving device is servo motor, driving turntable rotation,
To realize that the rotation of clean disk cleans.In order to adapt to the cleaning works of different tube diameters, the collapsing length of clean disk can pass through electricity
Dynamic push rod is adjusted, and electric pushrod is existing conventional electric pushrod.
Preferably, the cleaning agency further includes the dust exhaust apparatus adjacent to clean disk setting, and the dust exhaust apparatus includes
Several suction inlets, each suction inlet are distributed around main pipeline even circumferential；The suction inlet is communicated with dust sucting pipeline, and dust sucting pipeline is fixed
In main pipeline.Dust exhaust apparatus is vacuum cleaner, is fixed on main pipeline, carries out cleaning operation.
Preferably, the main frame body is cylindrical frame or regular polygon frame.Main frame body can be triangular framing, square
Shape frame or other regular polygon frames, general optimal selection are cylindrical frame.
Preferably, the conveying pipeline, dust sucting pipeline are hidden in main pipeline；The support ring is hollow structure, support
It is equipped in ring for providing the power supply of energy.Power supply mainly uses battery, provides power supply for each mechanism.
Compared with prior art, the beneficial effects of the present invention are: the invention discloses in a kind of pipeline of adaptive caliber
Wall spray robot, achievable inner wall of the pipe cleans and spray coating operations, realizes stretching, extension in the duct by diameter changing device or shrinks,
The pipeline for adapting to different tube diameters, overcomes problem single by pipe diameter, that path transfer is difficult.Moreover, present invention accomplishes pipes
The requirement that pipeline robot moves in pipeline is conducive to coating spraying uniformly, adaptable, spray efficiency is relatively high, structure is simple
It singly can be applied to various pipes spraying operation.
Detailed description of the invention
Fig. 1 is overall structure diagram one of the invention.
Fig. 2 is overall structure diagram two of the invention.
Fig. 3 is the lateral side view of direction of advance of the invention.
Fig. 4 is the structural schematic diagram of main frame body.
Fig. 5 is the structural schematic diagram of movement mechanism.
Fig. 6 is the structural schematic diagram of diameter changing device.
Fig. 7 is the structural schematic diagram of drive wheel assemblies.
Fig. 8 is the structural schematic diagram of cleaning agency.
Fig. 9 is the structural schematic diagram of spraying mechanism, cleaning agency.
Wherein, 1 main frame body, 2 movement mechanisms, 3 spraying mechanisms, 4 diameter changing devices, 5 drive wheel assemblies, 6 thickness measurements with laser sensing
Device, 7 ultrasonic distance sensors, 8 cleaning agencies, 11 main pipelines, 12 connection struts, 13 support rings, 31 spray guns, 41 Mobile bases,
42 support bases, 43 V-types intersection strut, 44 lead screws, 45 fixed frames, 46 first motors, 51 wheel bodys, 52 wheel seats, 53 second motors,
54 third motors, 81 turntables, 82 clean disks, 83 electric pushrods, 84 driving devices, 85 bristles, 86 suction inlets.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, should not be understood as the limitation to this patent.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention
In stating, it is to be understood that if the orientation or positional relationship for having the instructions such as term " on ", "lower", "left", "right" " length " " short " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore describes position in attached drawing
The term for setting relationship only for illustration, should not be understood as the limitation to this patent, for the ordinary skill people of this field
For member, the concrete meaning of above-mentioned term can be understood as the case may be.
Below by specific embodiment, and in conjunction with attached drawing, technical scheme of the present invention is further described:
Embodiment 1
As shown in Figs. 1-2, the pipe inner-wall spraying robot of adaptive caliber is present embodiments provided, including main frame body 1,
Movement mechanism 2 and spraying mechanism 3, main frame body 1 are used as fixed pedestal, and generally main frame body 1 is cylindrical frame structure, specifically
Ground, main frame body 1 include main pipeline 11, connection strut 12 and three support rings 13, and each 13 parallel alignment of support ring is arranged, each other
Every equal, main pipeline 11 runs through each 13 center of circle of support ring, and is connected and fixed by connecting strut 12 with each support ring 13.Main frame body
1 each component is hollow object, to mitigate robot overall weight, facilitates walking, as shown in figure 4,.
Wherein, as shown in figure 5, movement mechanism 2 includes diameter changing device 4 and drive wheel assemblies 5, diameter changing device 4 is set to body frame
1 lateral surface of body, for adjusting the extension distance of drive wheel assemblies 5, drive wheel assemblies 5 are then installed on body frame by diameter changing device 4
1 lateral surface of body, drives Robot pipeline axially or radially to move.In the present embodiment, three are equipped between support ring 13 two-by-two
Group movement mechanism 2, and angle is 120 ° to three groups of movement mechanisms 2 two-by-two, is centrosymmetric, as shown in Figure 3.
Specifically, as shown in fig. 6, diameter changing device 4 include Mobile base 41, support base 42, V-type intersect strut 43, lead screw 44,
Fixed frame 45 and first motor 46, lead screw 44 is parallel to main pipeline 11, and 13 outer diameter of support ring is fixed in activity, meanwhile, first
Motor 46 is located at 44 one end of lead screw, and output end connects with lead screw 44, and first motor 46 is fixed on support ring by fixed frame 45
13, and the other end of lead screw 44 is connected in the support ring 13 of another side by nut, generally, lead screw 44 uses ball-screw
44。
Wherein, support ring 13 is fixed on by support base 42 in V-type intersection 43 one end of strut, and the other end is solid by Mobile base 41
Due to lead screw 44, V-type is intersected strut 43 and is rotatablely connected with support base 42, Mobile base 41.Mobile base 41 and 44 screw thread of lead screw connect
Connect, with lead screw 44 rotate and slided, adjust V-type intersect strut 43 expansion angle, change drive wheel assemblies 5 stretching, extension away from
From.It is intersection strut conventional at present that V-type, which intersects strut 43, and the You Lianggen body of rod hingedly forms, and strut activity expansion in both ends changes
V-angle size.The both ends strut that V-type intersects strut 43 is individually fixed in support base 42 and Mobile base 41.First motor 46 opens
Dynamic, output shaft drives lead screw 44 to rotate, and since Mobile base 41 is threadedly coupled with lead screw 44, Mobile base 41 is with 44 turns of lead screw
It is dynamic to slide, so that the v-angle for making V-type intersect strut 43 changes, change 5 extension distance of drive wheel assemblies.In addition, control
The direction of rotation of lead screw 44, the v-angle that V-type can be made to intersect strut 43 become larger or become smaller, and angle increase is that drive wheel assemblies 5 are suitable
The caliber answered becomes smaller, and it is that the caliber that drive wheel assemblies 5 adapt to becomes larger that angle, which reduces,.
In order to preferably be used cooperatively, diameter changing device 4 adjacent in same direction is using same silk in the present embodiment
Thick stick 44, i.e. Mobile base 41 realize synchronizing moving with same lead screw 44, it is ensured that synchronous diameter.
In addition, drive wheel assemblies 5 include wheel body 51, wheel seat 52, the second motor 53 and third motor 54, wheel body 51, second
Motor 53, third motor 54 are both secured to wheel seat 52, and the second motor 53 is for driving wheel body 51 to rotate, and third motor 54 is for driving
Driving wheel seat 52 rotates, and two kinds of cooperations can drive Robot inner wall of the pipe axially or radially to be moved along a straight line.For example, robot
When along pipeline axial linear movement, 51 direction of motion of wheel body is consistent with 44 direction of lead screw.When robot needs radially to transport along pipeline
When dynamic, each 90 ° of rotation simultaneously of wheel seat 52,51 direction of motion of wheel body and 44 direction of lead screw are vertical out.Wheel body 51 is adopted in the present embodiment
With idler wheel, as shown in Figure 7.
Meanwhile wheel seat 52 is connected to the angled end that V-type intersects strut 43, driving wheel group by the output end of third motor 54
Part 5 is whole movable with strut is intersected.Wheel body 51 is additionally provided with the pressure sensor for detecting 51 pressure of wheel body, pressure sensor peace
Intersect the junction of strut 43 with V-type loaded on wheel seat 52, real-time detection pressure prevents wheel body 51 by the excessive damage of pressure.
Further, it as shown in Figure 1, spraying mechanism 3 is set to main frame body 1, is moved with main frame body 1.Spraying mechanism 3 includes three
Branch spray gun 31, spray gun 31 are parallel to 13 place plane of support ring, and it is radial be uniformly arranged on main pipeline 11, spray gun 31 is also set
There is switch electromagnetic valve.Moreover, spray gun 31 is connected with conveying pipeline, conveying pipeline, which is hidden in, to be fixed in main pipeline 11.In addition, support ring
13 outsides are additionally provided with laser caliper sensors 6, and laser caliper sensors 6 are for detecting paint thickness and spraying continuity.
Further, the present embodiment further includes the cleaning agency 8 set on 1 direction of advance one end of main frame body, and cleaning agency 8 wraps
Turntable 81, clean disk 82, electric pushrod 83 and the driving device 84 for driving turntable 81 to rotate, driving device 84 is included to be fixed on
11 end of main pipeline, and connect with 81 center rotating of turntable.Wherein, driving device 84 is servo motor, and driving turntable 81 rotates,
To realize that the rotation of clean disk 82 cleans, as shown in Figure 8.
In addition, clean disk 82 is uniformly distributed around 81 periphery of turntable, and turntable is movably connected on by electric pushrod 83
81, specifically, the fixing end of electric pushrod 83 is connected to 81 center of turntable, and movable end is connected to clean disk 82, stretches for radial
The cleaning range of contracting control clean disk 82, clean disk 82 are equipped with the bristle 85 for cleaning.In order to adapt to the cleaning of different tube diameters
Work, the collapsing length of clean disk 82 can be adjusted by electric pushrod 83, and electric pushrod 83, which is that existing routine is electronic, to be pushed away
Bar 83.
Further, as shown in figure 9, cleaning agency 8 further includes the dust exhaust apparatus being arranged adjacent to clean disk 82, dust suction dress
It sets as vacuum cleaner, dust exhaust apparatus includes three suction inlets 86, and each suction inlet 86 is distributed around 11 even circumferential of main pipeline, suction inlet
86 are communicated with dust sucting pipeline, and dust sucting pipeline, which is hidden, is fixed on main pipeline 11.
Further, the front end of 1 direction of advance of main frame body is equipped with the ultrasonic distance for detecting travel distance and senses
Device 7, ultrasonic distance sensor 7 are fixed in main pipeline 11, are located at clearing apparatus front end.
Further, it is equipped in support ring 13 for providing the power supply of energy, power supply mainly uses battery, is each mechanism
Power supply is provided.
As shown in Figure 1-3, when in use, first guaranteeing that power supply connects each mechanism, it is ensured that can smoothly drive.Then, by machine
People is put into pipeline to be sprayed, starts robot, adjusts diameter changing device 4, adapts to 5 part of drive wheel assemblies of robot
Inner wall of the pipe diameter, each wheel body 51 is supported in inner wall of the pipe, while checking pressure sensor, adjust it is most suitable stretching, extension away from
From.Then, starting is located at the clearing apparatus of robot direction of advance front end, while starting movement mechanism 2 and spraying mechanism 3, makes
Robot pipeline axial linear movement, is completed at the same time cleaning and spraying.In addition, when robot needs are radially revolved along pipeline
When transhipment is dynamic, adjusts each wheel seat 52 while being rotated by 90 °, keep 51 direction of motion of wheel body vertical with 44 direction of lead screw, machine can be made
People is along inner wall of the pipe rotary motion.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (10)
1. a kind of pipe inner-wall spraying robot of adaptive caliber, it is characterised in that: including main frame body (1), movement mechanism (2)
With spraying mechanism (3), the main frame body (1) is used as fixed pedestal, generally frame structure；The movement mechanism (2) is fixed
Lateral surface in main frame body (1) drives Robot pipeline axially or radially to move；The spraying mechanism (3) is set to main frame body
(1), it is moved with main frame body (1)；The movement mechanism (2) includes diameter changing device (4) and drive wheel assemblies (5), diameter changing device (4)
Set on main frame body (1) lateral surface, for adjusting the extension distance of drive wheel assemblies (5)；The drive wheel assemblies (5) pass through variable diameter
Device (4) is installed on main frame body (1) lateral surface, driving robot traveling.
2. a kind of pipe inner-wall spraying robot of adaptive caliber according to claim 1, it is characterised in that: the master
Frame body (1) includes main pipeline (11), connection strut (12) and at least two support rings (13), support ring (13) parallel alignment
Setting, main pipeline (11) runs through each support ring (13) center of circle, and is connected and fixed by connecting strut (12) with each support ring (13).
3. a kind of pipe inner-wall spraying robot of adaptive caliber according to claim 2, it is characterised in that: the change
Diameter device (4) includes Mobile base (41), support base (42), V-type intersection strut (43), lead screw (44), fixed frame (45) and first
Motor (46), the lead screw (44) are parallel to main pipeline (11), and support ring (13) outer diameter is fixed in activity；The first motor
(46) it is located at lead screw (44) one end, output end connects with lead screw (44), and the first motor (46) is solid by fixed frame (45)
Due to support ring (13)；The V-type is intersected strut (43) one end and is fixed on support ring (13) by support base (42), and the other end is logical
It crosses Mobile base (41) to be fixed on lead screw (44), V-type is intersected strut (43) and is rotatablely connected with support base (42), Mobile base (41)；
The Mobile base (41) is threadedly coupled with lead screw (44), rotates and is slided with lead screw (44), adjusts V-type and intersects strut (43)
Expansion angle, change drive wheel assemblies (5) extension distance.
4. a kind of pipe inner-wall spraying robot of adaptive caliber according to claim 3, it is characterised in that: the drive
Drive wheel assemblies (5) include wheel body (51), wheel seat (52), the second motor (53) and third motor (54), the wheel body (51), second
Motor (53), third motor (54) are both secured to wheel seat (52), and the second motor (53) is for driving wheel body (51) to rotate, third electricity
Machine (54) is for driving wheel seat (52) to rotate；The wheel seat (52) is connected to V-type by the output end of third motor (54) and intersects
The angled end of strut (43), drive wheel assemblies (5) are whole movable with strut is intersected；The wheel body (51) is additionally provided with for detection wheel
The pressure sensor of body (51) pressure.
5. a kind of pipe inner-wall spraying robot of adaptive caliber according to claim 4, it is characterised in that: the spray
Applying mechanism (3) includes several spray guns (31), and the spray gun (31) is parallel to plane where support ring (13), and radial uniform
It is set to main pipeline (11)；The spray gun (31) is connected with conveying pipeline, and conveying pipeline is fixed on main pipeline (11)；The support ring
(13) outside is additionally provided with the laser caliper sensors (6) for detecting paint thickness.
6. a kind of pipe inner-wall spraying robot of adaptive caliber according to claim 5, it is characterised in that: the master
The front end of frame body (1) direction of advance is equipped with the ultrasonic distance sensor (7) for detecting travel distance, and ultrasonic distance passes
Sensor (7) is fixed in main pipeline (11).
7. a kind of pipe inner-wall spraying robot of adaptive caliber according to claim 6, it is characterised in that: further include
Cleaning agency (8) set on main frame body (1) direction of advance one end, the cleaning agency (8) include turntable (81), clean disk
(82), electric pushrod (83) and the driving device (84) for driving turntable (81) to rotate, the driving device (84) are fixed on
Main pipeline (11) end, and connect with turntable (81) center rotating；The clean disk (82) is uniform around turntable (81) periphery
Distribution, and turntable (81) are movably connected on by electric pushrod (83)；The fixing end of the electric pushrod (83) is connected to turntable
(81) center, movable end are connected to clean disk (82), the cleaning range for radial expansion control clean disk (82)；The cleaning
Disk (82) is equipped with the bristle (85) for cleaning.
8. a kind of pipe inner-wall spraying robot of adaptive caliber according to claim 7, it is characterised in that: described clear
Sweeping mechanism (8) further includes the dust exhaust apparatus adjacent to clean disk (82) setting, and the dust exhaust apparatus includes several suction inlets (86),
Each suction inlet (86) is distributed around main pipeline (11) even circumferential；The suction inlet (86) is communicated with dust sucting pipeline, and dust sucting pipeline is solid
Due to main pipeline (11).
9. a kind of pipe inner-wall spraying robot of adaptive caliber according to claim 1 or 2, it is characterised in that: institute
Stating main frame body (1) is cylindrical frame or regular polygon frame.
10. a kind of pipe inner-wall spraying robot of adaptive caliber according to claim 8, it is characterised in that: described
Conveying pipeline, dust sucting pipeline are hidden in main pipeline (11)；The support ring (13) is hollow structure, is equipped in support ring (13)
For providing the power supply of energy.
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| CN201910837953.6A CN110449304A (en) | 2019-09-05 | 2019-09-05 | A kind of pipe inner-wall spraying robot of adaptive caliber |
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| CN201910837953.6A CN110449304A (en) | 2019-09-05 | 2019-09-05 | A kind of pipe inner-wall spraying robot of adaptive caliber |
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| CN110449304A true CN110449304A (en) | 2019-11-15 |
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| CN201910837953.6A Pending CN110449304A (en) | 2019-09-05 | 2019-09-05 | A kind of pipe inner-wall spraying robot of adaptive caliber |
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