CN209423926U - A kind of pipe inner-wall spraying robot - Google Patents
A kind of pipe inner-wall spraying robot Download PDFInfo
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- CN209423926U CN209423926U CN201821603076.3U CN201821603076U CN209423926U CN 209423926 U CN209423926 U CN 209423926U CN 201821603076 U CN201821603076 U CN 201821603076U CN 209423926 U CN209423926 U CN 209423926U
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Abstract
The utility model relates to robotic technology fields, more particularly, to a kind of pipe inner-wall spraying robot, including sequentially connected conveying mechanism, cleaning agency, main body mechanism and spraying mechanism；The main body mechanism includes the driving transmission component of main pipeline, running gear, the control cleaning agency and spraying mechanism rotation；The spraying mechanism includes with the spraying pipeline of main pipeline rotation connection, set on the spray equipment of the spraying pipeline；The cleaning agency includes and what the main pipeline was rotatablely connected cleans pipeline, the clearing apparatus on the outside of the cleaning pipeline；The conveying mechanism includes conveyance conduit, painting expects pipe and the range sensor with the cleaning pipeline rotation connection.Pipe inner-wall spraying robot provided by the utility model can be automatically performed pipe inner-wall spraying operation, and spraying length is unrestricted, and production cost is low, high degree of automation, be suitble to produce in enormous quantities.
Description
Technical field
The utility model relates to robotic technology fields, more particularly, to a kind of pipe inner-wall spraying robot.
Background technique
Important transportation tool of the pipeline as exploitation marine resources, is widely used in the offshore installations such as ocean platform, ships and light boats
In.Early stage seawater pipeline mostly uses the materials such as carbon steel, cast iron, but material sea water corrosion resistant is poor, and service life is short.In recent years
Come, the alloy materials such as corronil, titanium alloy are widely used in seawater pipeline, but the pipeline manufacturing cost of alloy material compared with
It is high.Based on this, it is existing that vast researcher researches and develops coating, the coating substance of corrosion inhibiter reduces corrosive pipeline on the surface of the material
As, but inner wall of the pipe coating is more difficult, and production efficiency is low.Therefore, the research and development of pipe inner-wall spraying robot are significant.
The prior art mainly adopts Cartesian form, pipeline spraying length is restricted, long no more than specific
Degree, otherwise can not carry out spraying operation.Therefore, the prior art is unable to satisfy the demand to spraying duct length adaptation, compels to be essential
Design a kind of pipe inner-wall spraying robot for being able to solve the above problem.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of pipe inner-wall spraying robot, energy
It is automatically performed pipe inner-wall spraying operation, spraying length is unrestricted, and versatile, production cost is low, high degree of automation,
It is suitble to produce in enormous quantities.
In order to solve the above technical problems, the technical solution adopted in the utility model is:
A kind of pipe inner-wall spraying robot is provided, including sequentially connected conveying mechanism, cleaning agency, main body mechanism and
Spraying mechanism；The main body mechanism includes that main pipeline, running gear, the control cleaning agency and the spraying mechanism rotate
Driving transmission component；The spraying mechanism includes with the spraying pipeline of main pipeline rotation connection, set on the spraying
The spray equipment of pipeline；The cleaning agency includes with the cleaning pipeline of main pipeline rotation connection, set on the cleaning
Clearing apparatus on the outside of pipeline；The conveying mechanism include with it is described cleaning pipeline rotation connection conveyance conduit, apply expects pipe and
Range sensor.
Pipe inner-wall spraying robot provided by the utility model, equipped with the conveying mechanism for interconnecting and being rotatablely connected,
Cleaning agency, main body mechanism and spraying mechanism.Pipe inner-wall spraying robot is walked by running gear on main body mechanism,
Spraying mechanism and cleaning agency rotation are driven by the driving transmission component on main body mechanism, to reach spraying when traveling, no
It is limited by spraying length, longer pipe road can be sprayed.
Preferably, the driving transmission component includes and main pipeline final drive worm axis disposed in parallel, driving
The driving motor of the final drive worm axis rotation, the cleaning pipeline edge are axially arranged with cleaning helical gear, the spraying pipeline
Along being axially arranged with spraying helical gear, the final drive worm axis be equipped with respectively with clean helical gear and spraying helical gear engages
Helical gear.
Preferably, the running gear includes mobile holder and the mobile holder below the main pipeline
The traveling wheel of rotation connection and control control the hoofing part component of the traveling wheel movement.
Further, the hoofing part component include, with main pipeline walking worm shaft disposed in parallel, drive
Movable motor, the parallel main pipeline of the walking worm shaft are radially set to the walking axle on the mobile holder.
Preferably, the spray equipment include with can relative to it is described spraying pipeline rotation spraying rod, be set to the spraying
The spray gun and thickness measurement sensor of bar, the spray gun are connected with the painting expects pipe.The setting of spray equipment rotation can be according to pipe
The different spray angles for changing spray gun of diameter, it is versatile；Thickness measurement sensor is for detecting coating thickness and spraying continuity.
Preferably, the clean disk is radially equipped with hairbrush.Inner wall can adhere to reptile after pipeline places a period of time
Or dust, clean disk can clean it.
Further, the clean disk includes close to the first clean disk of the conveyance conduit and close to first connection
The bristle of second clean disk of plate, the bristle of first clean disk second clean disk is short.
Further, the cleaning agency further include dust exhaust apparatus below the main pipeline and with the dust suction
Sweep-up pipe device connection and be located on the inside of main pipeline.
Preferably, the pipe inner-wall spraying robot further includes the control box for integrally controlling.
Further, the control box includes battery and buzzer.
Compared with prior art, the utility model has the beneficial effects that
Pipe inner-wall spraying robot provided by the utility model be equipped with communicate with one another and be rotatablely connected conveying mechanism, clearly
Sweep mechanism, main body mechanism and spraying mechanism.Pipe inner-wall spraying robot is walked by running gear on main body mechanism, is led to
Cross driving transmission component on main body mechanism and drive spraying mechanism and cleaning agency rotation, to reach spraying when traveling, not by
The limitation for spraying length, can spray longer pipe road.Spraying mechanism can change the spray angles of spray guns according to the difference of caliber,
It is versatile.Inner wall can adhere to reptile or dust after pipeline places a period of time, and clean disk can clean it, dust suction
Device can be absorbed into outside pipeline the dust of cleaning.The utility model is versatile, and production cost is low, high degree of automation, fits
It closes and produces in enormous quantities.
Detailed description of the invention
Fig. 1 is the structural schematic diagram one of pipe inner-wall spraying robot.
Fig. 2 is the structural schematic diagram two of pipe inner-wall spraying robot.
Fig. 3 is the rearview of pipe inner-wall spraying robot.
Fig. 4 is the main view of pipe inner-wall spraying robot.
Specific embodiment
The utility model is further described With reference to embodiment.Wherein, being given for example only property of attached drawing
Illustrate, expression is only schematic diagram, rather than pictorial diagram, should not be understood as the limitation to this patent；In order to which this reality is better described
With novel embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To ability
For field technique personnel, the omitting of some known structures and their instructions in the attached drawings are understandable.
The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；It is practical at this
In novel description, it is to be understood that if the orientation or positional relationship for having the instructions such as term " on ", "lower", "left", "right" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore retouch in attached drawing
The term for stating positional relationship only for illustration, should not be understood as the limitation to this patent, for the common skill of this field
For art personnel, the concrete meaning of above-mentioned term can be understood as the case may be.
Embodiment 1
It is as shown in Figures 1 to 4 pipe inner-wall spraying robot provided by the utility model, as shown in Figure 1 to Figure 2, pipe
Road inner-wall spraying robot, including sequentially connected conveying mechanism 1, cleaning agency 2, main body mechanism 3 and spraying mechanism 4；Main body
Mechanism 3 includes main pipeline 31, the first connecting plate 32 for being respectively arranged on 31 both ends of main pipeline and the second connecting plate 33, for controlling
Make the driving transmission component 35 that the running gear 34, control cleaning agency 2 and spraying mechanism 4 of walking move；Spraying mechanism 4 is set to
For main pipeline 31 close to one end of the second connecting plate 33, spraying mechanism 4 includes the spraying pipeline being rotatablely connected with main pipeline 31
41, set on spraying spray equipment 42 of the pipeline 41 far from 31 one end of main pipeline；It is close that cleaning agency 2 is set to main pipeline 31
One end of first connecting plate 32, cleaning agency 2 include the cleaning pipeline 21 being rotatablely connected with main pipeline 31, are set to cleaning pipeline
The clearing apparatus in 21 outsides；Conveying mechanism 1 includes and cleans the conveyance conduit 11 of the rotation connection of pipeline 21, is set in conveyance conduit
The painting expects pipe 12 of side, the range sensor 13 set on 21 outside of cleaning pipeline, preferably, range sensor is ultrasound
Wave range sensor.Pipe inner-wall spraying robot provided by the utility model is carried out by running gear 34 on main body mechanism 3
Walking drives spraying mechanism 4 and cleaning agency 2 to rotate, to reach traveling by the driving transmission component 35 on main body mechanism 3
When spray, not by spraying length limited, longer pipe road can be sprayed.
Wherein, driving transmission component 35 is socketed on the first connecting plate 32 and the second connecting plate including driving motor 351, rotation
33 and with the final drive worm axis 353 disposed in parallel of main pipeline 31, be set to 351 output shaft of driving motor on and and main transmission
The main transmission turbine 352 of 353 worm screw portion of worm shaft engagement, 351 output shaft of driving motor connect worm gear drive axis by shaft coupling,
Main transmission turbine 352 is set on worm gear drive axis, and one end that final drive worm axis 353 protrudes the first connecting plate 32 is equipped with first tiltedly
Gear 354, protrusion the second connecting plate 33 one end be equipped with the second helical gear 355, clean pipeline 21 along be axially arranged with first tiltedly
The cleaning helical gear 44 that gear 354 engages, spraying pipeline 41 is along being axially arranged with the spraying helical gear engaged with the second helical gear 355
43.Preferably, driving motor 351 is decelerating motor, is set to 31 top of main pipeline, is driven by driving motor 351
Worm and gear movement makes to clean helical gear 44 and spray helical gear 43 to rotate, cleans pipeline 21 and spraying pipeline 41 to drive
Rotation.
Wherein, running gear 34 includes the hoofing part group of the walking mechanism and control walking mechanism set on main pipeline 31
Part.Walking mechanism is divided into front wheels and rear wheels, mobile holder 341 and mobile holder 341 including being set to 31 lower section of main pipeline
The traveling wheel 342 of rotation connection.Hoofing part component includes being socketed set on the movable motor 343 of 31 top of main pipeline, rotation
In the first connecting plate 32 and the second connecting plate 33 and with the walking worm shaft 344 disposed in parallel of main pipeline 31, be set to walking electricity
Walking transmission turbine 345, the parallel bodies pipeline 31 engaged on 343 output shaft of machine and with walking 344 worm screw portion of worm shaft is radial
It walking transmission shaft 346 on mobile holder 341 and is nibbled on walking transmission shaft 346 with walking 344 worm screw portion of worm shaft
The walking turbine 347 of conjunction.Preferably, the motor that movable motor 343 selects revolution small, to guarantee spraying uniformly, no leakage
Spray.343 output shaft of movable motor connects worm gear drive axis by shaft coupling, and walking transmission turbine 345 is set to worm gear drive axis
On, walking transmission shaft 346 can drive away wheel 342 to rotate.Worm and gear movement is driven by movable motor 343, front-wheel rear-wheel
Walking transmission shaft rotates simultaneously, achievees the purpose that traveling.
Wherein, conveyance conduit 11 and the junction for cleaning pipeline 21 clean pipe equipped with that can entangle the sleeve for cleaning pipeline 21
In the socket of road 21 and sleeve, axial restraint biserial deep groove ball bearing 111.The other end of biserial deep groove ball bearing 111 passes through shaft end
112 axial restraint of retaining ring, shaft end ring are fixed in conveyance conduit 11 by screw 113.
Wherein, spray equipment 42 includes the spraying rod 421 being rotatablely connected with spraying pipeline 41, the control rotation of spraying rod 421
Spraying motor 422, the spray gun 423 set on spraying rod 421 and the thickness measurement sensor 424 set on spraying rod 421, spray gun 423 with
Expects pipe 12 is applied to be connected.Spraying 41 end of pipeline is equipped with the groove that is disposed radially, one end of spraying rod 421 be set in groove with
Pipeline 41 is sprayed to be rotatablely connected.The other end of spraying rod 41 is fixed to be equipped with spray gun 423, and thickness measurement sensor 424 is installed on spray gun 423
Back side.Spray gun 423 is equipped with solenoid valve, for controlling the working condition of spray gun.Preferably, spraying motor 422 is band
There is the asynchronous motor of encoder, can be used for controlling the rotational angle of connecting rod.Preferably, thickness measurement sensor 424 are
Laser caliper sensors can be used for detecting coating thickness and spraying continuity.
Wherein, clearing apparatus includes clean disk, and clean disk is radially equipped with hairbrush.Clean disk includes close to conveyance conduit 11
The first clean disk 22 and close to the first connecting plate 32 the second clean disk 23, the bristle of the first clean disk 22 is compared with the second clean disk
23 bristle is short.Preferably, the undercoat bristle matter of the first clean disk 22 is harder, is mainly clearly bonded in inner wall of the pipe
The bristle matter that becomes mildewed of substance, the second clean disk 23 is softer, is mainly used for understanding the dust of inner wall of the pipe.
Wherein, cleaning agency 2 further includes being set to the dust exhaust apparatus 24 of 31 lower section of main pipeline and connecting with dust exhaust apparatus 24
And it is located at the sweep-up pipe 25 of 31 inside of main pipeline.Sweep-up pipe 25 passes through main pipeline 31, cleaning pipeline 21 and conveyance conduit 11
Hollow space, and in the other parts of 11 external connection dust exhaust apparatus of conveyance conduit.Dust exhaust apparatus 24 passes through sweep-up pipe 25
On the outside of dust discharging tube road.
Wherein, pipe inner-wall spraying robot further includes the control box 5 for integrally controlling.It controls and is equipped with electric power storage in box 5
Pond can be used for powering to dust exhaust apparatus 24, sensor and all kinds of motors.Preferably, it is equipped with buzzer in control box, when
Control system when the error occurs, can song alarm.
Pipe inner-wall spraying machine man-hour provided by the utility model first opens the master control switch of control box 5, walking
Motor 343 rotates forward, and after spray robot is forwarded to designated position, range sensor 13 issues signal, and movable motor 343 inverts,
Retreat traveling；At this point, driving motor 351 obtains electric rotation, main transmission turbine 352 drives final drive worm axis 353 to rotate, in turn
First helical gear 354, the second helical gear 355 respectively with clean helical gear 44, spraying 43 engagement rotation of helical gear.Clean pipeline 21
It rotates and drives the first clean disk 22 and the second clean disk 23 to rotate, clean inner wall of the pipe, dust exhaust apparatus 24 absorbs waste simultaneously
Outside transport to pipeline；Meanwhile 423 solenoid valve of spray gun must electrically connect, spray gun 423 starts spraying operation, and spraying pipeline 41 rotates band
Dynamic spray equipment 42 rotates, and when thickness measurement sensor 424 detects that coating thickness is uneven, can issue signal, spraying motor 422
Obtain electric, adjustment spray angle.
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (10)
1. a kind of pipe inner-wall spraying robot, which is characterized in that including sequentially connected conveying mechanism (1), cleaning agency
(2), main body mechanism (3) and spraying mechanism (4)；The main body mechanism (3) includes main pipeline (31), running gear (34), control
Make the driving transmission component (35) of the cleaning agency (2) and the spraying mechanism (4) rotation；The spraying mechanism (4) includes
With the spraying pipeline (41) of the main pipeline (31) rotation connection, set on the spray equipment (42) of spraying pipeline (41)；
The cleaning agency (2) includes with the cleaning pipeline (21) of the main pipeline (31) rotation connection, set on the cleaning pipeline
(21) clearing apparatus on the outside of；The conveying mechanism (1) includes the conveyance conduit with cleaning pipeline (21) rotation connection
(11), expects pipe (12) and range sensor (13) are applied.
2. pipe inner-wall spraying robot according to claim 1, which is characterized in that driving transmission component (35) packet
It includes and is rotated with the main pipeline (31) final drive worm axis (353) disposed in parallel, the driving final drive worm axis (353)
Driving motor (351), the cleaning pipeline (21) cleans helical gear (44) along being axially arranged with, and the spraying pipeline (41) is along axis
To spraying helical gear (43) is equipped with, the final drive worm axis (353) is equipped with oblique with cleaning helical gear (44) and spraying respectively
The helical gear of gear (43) engagement.
3. pipe inner-wall spraying robot according to claim 1, which is characterized in that the running gear (34) includes setting
Mobile holder (341) below the main pipeline (31), the traveling wheel with the mobile holder (341) rotation connection
(342) and the hoofing part component of control traveling wheel movement.
4. pipe inner-wall spraying robot according to claim 3, which is characterized in that the hoofing part component includes,
With the walking of the main pipeline (31) walking worm shaft (344) disposed in parallel, driving walking worm shaft (344) rotation
Motor (343), the parallel main pipeline (31) are radially set to the walking axle on the mobile holder (341).
5. pipe inner-wall spraying robot according to claim 1, which is characterized in that the spray equipment (42) include with
Can relative to it is described spraying pipeline (41) rotation spraying rod (421), be set to the spraying rod (421) spray gun (423) and thickness measuring
Sensor (424), the spray gun (423) are connected with the painting expects pipe (12).
6. pipe inner-wall spraying robot according to claim 1, which is characterized in that the clearing apparatus includes cleaning
Disk, the clean disk are radially equipped with hairbrush, and the main body mechanism (3) further includes being respectively arranged on the main pipeline (31) both ends
The first connecting plate (32) and the second connecting plate (33).
7. pipe inner-wall spraying robot according to claim 6, which is characterized in that the clean disk includes close to described
The second clean disk (23) of the first clean disk (22) of conveyance conduit (11) and close first connecting plate (32), described first
The bristle of the bristle of clean disk (22) second clean disk (23) is short.
8. according to claim 1, pipe inner-wall spraying robot described in any one of 6 or 7, which is characterized in that the cleaning
Mechanism (2) further include dust exhaust apparatus (24) below the main pipeline (31) and connect with the dust exhaust apparatus (24) and
Sweep-up pipe (25) on the inside of main pipeline (31).
9. pipe inner-wall spraying robot according to claim 1, which is characterized in that the pipe inner-wall spraying robot
It further include the control box (5) for integrally controlling.
10. pipe inner-wall spraying robot according to claim 9, which is characterized in that the control box (5) includes storing
Battery and buzzer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821603076.3U CN209423926U (en) | 2018-09-29 | 2018-09-29 | A kind of pipe inner-wall spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821603076.3U CN209423926U (en) | 2018-09-29 | 2018-09-29 | A kind of pipe inner-wall spraying robot |
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| Publication Number | Publication Date |
|---|---|
| CN209423926U true CN209423926U (en) | 2019-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821603076.3U Active CN209423926U (en) | 2018-09-29 | 2018-09-29 | A kind of pipe inner-wall spraying robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109158239A (en) * | 2018-09-29 | 2019-01-08 | 广东海洋大学 | A kind of pipe inner-wall spraying robot |
| CN111701761A (en) * | 2020-06-11 | 2020-09-25 | 王淼 | Pipeline inner wall spraying device |
| CN112044646A (en) * | 2020-09-01 | 2020-12-08 | 长沙理工大学 | Preparation device and process of graphene heat transfer enhanced epoxy resin composite tube |
| CN114370254A (en) * | 2022-01-18 | 2022-04-19 | 翁峰 | Oil field well drilling pull throughs |
| CN117798003A (en) * | 2024-03-01 | 2024-04-02 | 安徽机电职业技术学院 | Spraying robot for surface treatment of welding piece |
-
2018
- 2018-09-29 CN CN201821603076.3U patent/CN209423926U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109158239A (en) * | 2018-09-29 | 2019-01-08 | 广东海洋大学 | A kind of pipe inner-wall spraying robot |
| CN111701761A (en) * | 2020-06-11 | 2020-09-25 | 王淼 | Pipeline inner wall spraying device |
| CN112044646A (en) * | 2020-09-01 | 2020-12-08 | 长沙理工大学 | Preparation device and process of graphene heat transfer enhanced epoxy resin composite tube |
| CN114370254A (en) * | 2022-01-18 | 2022-04-19 | 翁峰 | Oil field well drilling pull throughs |
| CN114370254B (en) * | 2022-01-18 | 2023-12-19 | 常州重山智能装备有限公司 | Oilfield drilling dredging device |
| CN117798003A (en) * | 2024-03-01 | 2024-04-02 | 安徽机电职业技术学院 | Spraying robot for surface treatment of welding piece |
| CN117798003B (en) * | 2024-03-01 | 2024-05-03 | 安徽机电职业技术学院 | Spraying robot for surface treatment of welding piece |
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