CN203329901U

CN203329901U - Pipeline spray painting robot

Info

Publication number: CN203329901U
Application number: CN2013204148013U
Authority: CN
Inventors: 崔兆丰
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-07-12
Filing date: 2013-07-12
Publication date: 2013-12-11
Anticipated expiration: 2023-07-12

Abstract

The utility model discloses a pipeline spray painting robot, and belongs to the field of spray painting robots. The robot comprises a connecting mechanism, a walking supporting mechanism, a spray painting mechanism, a curing mechanism and a video acquisition mechanism. The connecting mechanism is externally arranged, the walking supporting mechanism is used for enabling the robot to automatically walk in a pipeline, the spray painting mechanism is used for spray painting, the curing mechanism is used for conducting rapid curing operation, and the video acquisition mechanism is used for acquiring and recording video information. The connecting mechanism is sequentially connected with the walking supporting mechanism, the spray painting mechanism, the curing mechanism and the video acquisition mechanism. According to the spray painting robot, a motor and a speed reducer drive an ultraviolet light curing lamp to slowly rotate to achieve the purpose of conducting spray painting and rapid solidification at the same time; the walking mechanism is provided with a speed reducing motor, a frequency conversion speed adjuster is utilized to control the walking speed of the spray painting robot, and then the purpose of controlling the spray painting thickness according to different spray painting requirements of the pipeline is achieved. The pipeline spray painting robot is simple, easy to operate and suitable for conducting spray painting on the inner wall of the large pipeline.

Description

A kind of pipeline spraying robot

Technical field

The utility model belongs to the spray robot field, is specifically related to a kind ofly for pipeline spraying, has quick-setting robot device concurrently simultaneously.

Background technology

Pipeline engineering all plays a very important role in the national economy core industries such as oil, natural gas, nuclear industry, plumbing, pipeline transportation.The buried pipeline of outdoor operation, after nearly about 30 years of operation, the inner and outer walls of pipeline overcoat is aging or even heavy corrosion all.In order to guarantee the normal transport of pipeline, this just requires the technical staff to repaired-anticorrosion with painting of inner and outer walls of pipeline coating.

Existing import spraying equipment is not suitable for the various pipelines of China and carries out automatic spraying, can only manually-operated, and efficiency is very low.In order to realize automatic spraying, improve existing production efficiency, must be equipped with special-purpose automatic spraying robot system to existing spraying equipment (formed by main frame, feeder sleeve, pistol, adopt artificial armed operation) design.

Chinese patent application CN200920218502.6 discloses a kind of in-service crude oil pipeline spray coating device, and the crude oil pipeline outer surface that this device is only applicable to the exposure after excavation carries out surperficial repair.

Chinese patent application CN96239917.5 discloses spray corrosionproof coating apparatus for underground pipelines, and the mechanism that it is characterized in that whitewashing comprises atwirl spray head and the troweling device of rotation at a slow speed, thereby can complete spraying and troweling strikes off simultaneously, and can control coating thickness.Chinese patent application CN200910089261.4 discloses a kind of inner-wall spraying robot system and inner wall spraying method, it is characterized in that by robot is carried out to relating to of many redundant degree of freedom, has realized the long and narrow inner-walls of duct of abnormity is carried out to spraying operation.This device design is comparatively complicated, operates also simple not.In addition, its scope of application only limits to the spraying operation of inner-walls of duct part, and for the integral spray job requirements of the large-scale pipeline in being similar to vapour, oil field, still inadequate.Chinese patent application CN200710127436.7 discloses the inner-wall spraying that a kind of inner-face painting robot only limits to box parts, does not relate to the spraying of circular pipe inwall.

In addition, the follow-up curing of coatings that above-mentioned disclosed patent application does not all relate to after Control During Paint Spraying by Robot is processed.The tradition curing is long hardening time, and may relate to the problem such as solvent contamination, visible and be not suitable for curing after the pipeline spraying.

Summary of the invention

The utility model, for the deficiencies in the prior art, provides a kind of pipeline automatic coating that is specifically designed to, and realizes quick-setting spray robot device simultaneously.

In order to solve above technical problem, the utility model is achieved by the following technical programs.

A kind of pipeline spraying robot provided by the utility model, it comprises the bindiny mechanism that connects peripheral hardware, for the walking supporting mechanism of robot autonomous in pipe, for the spray body of spraying, for the curing mechanism of rapid curing operation and for the video acquisition mechanism of acquisition and recording video information, described bindiny mechanism is connected with walk supporting mechanism, spray body, curing mechanism and video acquisition mechanism successively; Described bindiny mechanism comprises cable, material pipe and material storing room, and the material pipe directly is connected with material storing room, and the mozzle skin of cable in along the material storing room outer ring around to the supporting mechanism of walking also carries over the mozzle skin and run through whole robot body; Described walking supporting mechanism comprises walking mechanism, mozzle and adjusting handle, and adjusting handle is positioned at walking supporting mechanism two ends, and mozzle is positioned at the vertical middle part of robot, laterally runs through whole robot until spray body; Described spray body comprises spray gun and the first dimmable flex arm, and the first dimmable flex arm one end connects mozzle, the other end connects spray gun; The second dimmable flex arm that described curing mechanism comprises UV cure lamp, low speed rotation bearing and connects them; Described video acquisition mechanism comprises infrared camera, and it is positioned at the low order end of whole robot.

The more existing technology of the utility model is compared, and a kind of robot for the large-scale pipeline inner-wall spraying is provided; Described robot has autonomous mechanism simultaneously, can control coating layer thickness by controlling the speed of travel, realizes the spraying operation of the different demands of omnidistance inner-walls of duct; In addition, described ultraviolet light polymerization mechanism can realize spraying limit, limit rapid curing, greatly reduces the labour intensity of artificial utilization tradition curing solidified coating, simple to operation.

The accompanying drawing explanation

The base main body structural representation that Fig. 1 is a kind of pipeline spraying robot of the utility model.

The enlarged drawing that Fig. 2 is A position in Fig. 1.

The working condition schematic diagram that Fig. 3 is a kind of pipeline spraying robot of the utility model.

In figure: 1, cable; 2, material pipe; 3, material storing room; 4, walking mechanism; 4-1, roller; 4-2, reducing motor; 4-3, trailing arm; 4-4, one-level damping spring; 4-5, rigid bearing; 4-6, secondary damping spring; 5, mozzle; 6, adjusting handle; 7, spray gun; 8-1, the first dimmable flex arm; 8-2, the second dimmable flex arm; 9, UV cure lamp; 10, low speed rotation bearing; 11, infrared camera.

The specific embodiment

Below in conjunction with accompanying drawing, the utility model is described further.

As shown in Figure 1, the utility model pipeline spraying robot device is followed successively by bindiny mechanism's (comprising cable 1, material pipe 2, material storing room 3), walking supporting mechanism (comprising walking mechanism 4, mozzle 5, adjusting handle 6), spray body (comprising spray gun 7, the first dimmable flex arm 8-1), curing mechanism (comprising the second dimmable flex arm 8-2, UV cure lamp 9, low speed rotation bearing 10), video acquisition mechanism (comprising infrared camera 11) from left to right.Wherein: material pipe 2 directly is connected with material storing room 3, cable 1 along material storing room 3 outer rings around to the supporting mechanism of walking in mozzle 5 skins carry over mozzle 5 skins and run through whole robot body; Walking mechanism 4 structures refer to Fig. 2 explanation, and adjusting handle 6 is positioned at walking supporting mechanism end positions, and in order to regulate each feet Zhang Du, mozzle 5 is positioned at the vertical middle part of robot, laterally runs through whole robot until spray body; The first dimmable flex arm 8-1 mono-end connects robot body's mozzle 5, and the other end connects spray gun 7; The second dimmable flex arm 8-2 mono-end connects low speed rotation bearing 10, and the other end connects UV cure lamp 9; Infrared camera 11 is positioned at whole robot device's low order end.

The enlarged drawing that Fig. 2 is A position in Fig. 1 (mechanism 4 of walking), as shown in the figure, described walking mechanism 4 is by roller 4-1, reducing motor 4-2, trailing arm 4-3, one-level damping spring 4-4, rigid bearing 4-5 and secondary damping spring 4-6 form, reducing motor 4-2 mono-end connects roller 4-1 to control its rotating speed, the other end connects trailing arm 4-3, between each trailing arm 4-3, by rigid bearing 4-5, be connected, the scope of activities of each trailing arm 4-3 is controlled by one-level damping spring 4-4 and secondary damping spring 4-6, but and then realize in the vertical elastics wing, play the purpose of damping.

Below in conjunction with specific embodiment, the utility model is further described, but the utility model is not limited to following embodiment.

First measuring channel internal diameter before spraying, according to internal diameter, regulate the first dimmable flex arm 8-1 is connected with spray gun 7 apart from inner-walls of duct apart from 250mm ~ 350mm, be sprayed on vertical direction with assurance and realize 360 degree all standings; Regulate adjusting handle 6 by rotation again and control each feet of spray robot Zhang Du, to adapt to internal diameter of the pipeline, guarantee that robot integral body is in the pipeline center position simultaneously.After completing above-mentioned preparation, described spray robot can be advanced and treats operation pipeline top, guarantee that robot is in pipe under the freedom of action prerequisite, can open air compressor machine by control system shown in Fig. 3, drive airless sprayer (the airless sprayer type adopted is pneumatic airless sprayer) herein and make the rear logical charge tube 2 of batching vaporization enter material storing room 3, to be sprayed; Robot is at the inner-walls of duct stabilized walking, and control system is opened spray gun, and feed liquid arrives each spray gun 7 via mozzle 5, is sprayed; Walking mechanism 4 is furnished with special the two poles of the earth damping elastic mechanism, when entering pipeline, one-level damping spring 4-4 device is mainly in order to adapt to the circular pipe internal face, secondary damping spring 4-6 device mainly, in order to tackle the inner-walls of duct roughness pavement of encountering in the robot ambulation process, is guaranteed the smooth walking of robot; Be furnished with simultaneously reducing motor 4-2 by frequency control with the control speed of travel at 3.5m/min ~ 6m/min, realize that according to pipeline different sprayings require to control the purposes of required coating thickness; Spraying simultaneously, described low speed rotation bearing 10 makes it slow rotation by the drive of motor and decelerator on the one hand, thereby drive UV cure lamp 9 slow rotation of four direction, shine uniformly the coating that has been sprayed onto inner-walls of duct, realize quick-setting purpose; The infrared camera 11 that described video acquisition mechanism comprises is on the other hand followed robot and is connected to the omnidistance supervision of the video acquisition display shown in peripheral hardware Fig. 3 by cable 1, in order to the spraying situation of spray robot in the record pipe, until spraying finishes.

Claims

1. a pipeline spraying robot, it is characterized in that, it comprises the bindiny mechanism that connects peripheral hardware, for the walking supporting mechanism of robot autonomous in pipe, for the spray body of spraying, for the curing mechanism of rapid curing operation and for the video acquisition mechanism of acquisition and recording video information, described bindiny mechanism is connected with walk supporting mechanism, spray body, curing mechanism and video acquisition mechanism successively;

Described bindiny mechanism comprises cable (1), material pipe (2) and material storing room (3), material pipe (2) directly is connected with material storing room (3), cable (1) along material storing room (3) outer ring around to the supporting mechanism of walking in mozzle (5) skin carry over mozzle (5) skin and run through whole robot body;

Described walking supporting mechanism comprises walking mechanism (4), mozzle (5) and adjusting handle (6), adjusting handle (6) is positioned at walking supporting mechanism two ends, and mozzle (5) is positioned at the vertical middle part of robot, laterally runs through whole robot until spray body;

Described spray body comprises spray gun (7) and the first dimmable flex arm (8-1), and the first dimmable flex arm (8-1) end connects mozzle (5), the other end connects spray gun (7);

The second dimmable flex arm (8-2) that described curing mechanism comprises UV cure lamp (9), low speed rotation bearing (10) and connects them;

Described video acquisition mechanism comprises infrared camera (11), and it is positioned at the low order end of whole robot.