CN213809485U - Artificial intelligence pipeline robot - Google Patents
Artificial intelligence pipeline robot Download PDFInfo
- Publication number
- CN213809485U CN213809485U CN202021831958.2U CN202021831958U CN213809485U CN 213809485 U CN213809485 U CN 213809485U CN 202021831958 U CN202021831958 U CN 202021831958U CN 213809485 U CN213809485 U CN 213809485U
- Authority
- CN
- China
- Prior art keywords
- motor
- spraying
- coating
- remote control
- pipeline robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000013473 artificial intelligence Methods 0.000 title claims description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 97
- 239000011248 coating agent Substances 0.000 claims abstract description 58
- 238000000576 coating method Methods 0.000 claims abstract description 58
- 238000005507 spraying Methods 0.000 claims abstract description 57
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims abstract description 25
- 238000010892 electric spark Methods 0.000 claims abstract description 20
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 17
- 239000010959 steel Substances 0.000 claims abstract description 17
- 239000003638 chemical reducing agent Substances 0.000 claims description 21
- 229910052744 lithium Inorganic materials 0.000 claims description 7
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 239000003795 chemical substances by application Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 229910001220 stainless steel Inorganic materials 0.000 claims description 6
- 239000010935 stainless steel Substances 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 abstract description 20
- 238000000034 method Methods 0.000 abstract description 6
- 239000007788 liquid Substances 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 3
- 238000004891 communication Methods 0.000 abstract 1
- 230000000007 visual effect Effects 0.000 abstract 1
- 239000003973 paint Substances 0.000 description 9
- 238000004140 cleaning Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 229910052792 caesium Inorganic materials 0.000 description 2
- TVFDJXOCXUVLDH-UHFFFAOYSA-N caesium atom Chemical compound [Cs] TVFDJXOCXUVLDH-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000004593 Epoxy Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000000571 coke Substances 0.000 description 1
- 238000005536 corrosion prevention Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000009417 prefabrication Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000010626 work up procedure Methods 0.000 description 1
Images
Landscapes
- Pipe Accessories (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses an artificial intelligent pipeline robot, which comprises a driving mechanism, a walking mechanism, a rust removing mechanism, a spraying mechanism, an electric spark leakage detecting mechanism, a coating side thickness mechanism and a control system, which are connected into a whole by a pin seat and a pin shaft; the rear part is provided with a driving wheel driven by a walking motor, and three pairs of driven wheels are arranged in the middle and the front part; the rust removing part drives a brush disc to rotate by a motor, and a steel brush head is arranged on the brush disc to remove rust in a rotating way. And detecting a leakage point by using electric sparks, and measuring the spraying thickness by using a thickness gauge. The spraying motor drives the rotary cup to rotate at a high speed, and liquid coating is thrown and sprayed to the weld zone area; can automatically enter and exit within the pipe with the diameter of 219 plus 377mm and the depth of 1 kilometer; the whole process of welding opening positioning, derusting, spraying, leakage detecting and thickness measuring is finished by using wireless remote control and visual video images; the automatic joint repairing machine has high automation degree and work efficiency and good joint repairing quality, provides an independent mechanical, electrical and communication integrated innovation device for domestic pipeline construction, and has popularization and application values.
Description
Technical Field
The utility model relates to rust cleaning spraying leak hunting thickness measuring device of steel pipe undercoating especially relates to an artificial intelligence pipeline robot.
Background
The steel pipe needing internal corrosion prevention is firstly sprayed with an insulating anticorrosive layer inside each steel pipe in a prefabrication factory, and only a small section of the steel pipe is left at two ends and is not sprayed. And after the pipeline is welded on a construction site, an insulating anticorrosive layer is sprayed on the circumferential weld zone inside the pipeline. In the past, a hole opening and joint repairing method is adopted, so that the working efficiency is low, the quality is poor, and the cost is high. Since the seventies, some pipeline robots have appeared abroad, particularly in the united states and the strong countries of japan, and even certain patent technologies have been obtained. For example, in 1972, a commercial resin company in the united states developed an epoxy powder internal coating joint coating robot, which was positioned by placing trace isotope cesium near the weld of the top end of the outer wall of a pipeline, and when the joint coating robot automatically moved to the position in the pipeline, the robot stopped advancing by receiving a signal from a cesium radiation source. This positioning method is only applicable to cases where the craters are free of an outer coating. For another example, us 4092950 uses a finger-type sensor in the tube to find the weld crater and stops the patching robot at the weld crater by a relatively complicated brake device to complete the patching operation. The spraying mechanism is 6 tubular nozzles, and the nozzles are sprayed to the preheated welded junction area by centrifugal force. After spraying a welding opening, welding a pipe, and spraying the welding opening. Therefore, the repairing vehicle can only be used for welding and repairing the opening at the same time, and the welding and repairing work efficiency is not high because the welding and repairing are waited for each other. For example, an automatic inner joint coating robot developed by japan steel and pipeline companies can perform rust removal and joint coating work up to 500 m inside a pipeline having a diameter of 354 to 609 mm. It is mainly composed of three parts of working trolley, driving trolley and external control disk. Firstly, the working trolley with the steel wire brush is sent into a pipeline by the driving trolley, welding slag, coke coating and the like near a welding opening are brushed off, and then the driving trolley drives the vacuum dust collection device to enter the pipeline for cleaning. And finally, replacing the impeller sprayer with the working trolley, and entering the pipeline again to finish the spraying joint coating operation. The above operation programs are all completed by an external control panel through cable remote control. Although the robot can go deep into the pipeline for repairing the opening at a far position, the robot needs to go in and out of the pipeline for many times in the operation process, so that the working efficiency is influenced, and the robot needs to drag a long cable to be remotely controlled outside the pipeline, so that the robot is very inconvenient. In addition, U.S. patents 3967584, 4340010, etc., all have the above-mentioned disadvantages and shortcomings in common.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model aims to provide an artificial intelligent pipeline robot which has the advantages of rapid and accurate positioning, good derusting and spraying quality, and capability of monitoring whether a leakage point exists after spraying and measuring the spraying thickness at any time; and wireless remote control and real-time transmission of monitoring data can be realized, and the functions are more complete.
In order to achieve the above object, the utility model provides a following technical scheme:
an artificial intelligent pipeline robot comprises a driving mechanism, a walking mechanism, a rust removing mechanism, a spraying mechanism, an electric spark leakage detecting mechanism, a coating side thickness mechanism and a control system, wherein the pipeline robot is formed by combining and connecting three sections of machine bodies, the three sections of machine bodies are respectively integrated, and the three sections of machine bodies are connected by pin shafts and pin bases; the driving mechanism comprises a driving box shell, a walking motor reducer, a gear box and a driving shaft; the walking motor and the walking motor reducer 7 are integrated and are arranged on the front half part of the underframe through a gear box; the travelling mechanism comprises a driving wheel and a driven wheel assembly; the driven wheel assembly comprises a driven wheel, a driven shaft, a bearing seat and a bearing; the driven wheels are arranged at two ends of the driven shaft, and the driven shaft is arranged in the bearing seat through the bearing; the bearing seat is provided with a sliding guide, and the sliding guide is matched with a sliding plate fixed on the supporting plate to adjust the height of the driven wheel; the rust removing mechanism comprises a brush disc, a steel brush head, a forward and reverse rotating device, a rust removing motor and a rust removing motor reducer;
the spraying mechanism comprises a coating motor, a coating bin, a coating pipe, a speed reducer, a sealing device, a high-speed shaft, a spraying motor and a rotary cup; the coating bin is welded on the supporting plate and the bottom beam, and a coating motor and a speed reducer are arranged on the side surface of the coating bin; the high shaft and the rotating cup are fixed on the supporting plate through the positioning seat; a high-speed spraying motor is arranged in the positioning seat, and a high-speed shaft is connected with the spraying motor through a flexible coupling; an electric control valve is arranged at one end of the coating pipe entering the rotary cup;
the electric spark leakage detection mechanism comprises an electric spark leakage detector, a mounting seat and an alarm; the coating side thickness mechanism comprises a thickness gauge and a thickness gauge fixing seat; the control system is used for controlling the driving mechanism, the travelling mechanism, the derusting mechanism, the spraying mechanism, the electric spark leakage detecting mechanism and the side thickness mechanism to perform corresponding operations; the electric spark leakage detecting mechanism and the derusting mechanism form a machine body, a lithium battery pack is arranged in the middle of the machine body, and the lithium battery pack provides electric power for the pipeline robot; the coating side thickness mechanism is fixed at the front end of the spraying mechanism, and the coating side thickness mechanism and the spraying mechanism are a machine body.
Furthermore, a relay group is arranged below the derusting motor and the derusting motor reducer and used for controlling the derusting motor.
Furthermore, the number of the brush discs is two, and the rigid brush head is detachably connected with the brush discs.
Further, the spraying mechanism is provided with two spraying bins which are used for containing the main materials and the curing agent respectively, so that the main materials and the curing agent are mixed in a rotating cup at the end part during working, and the spraying mechanism is convenient to clean.
Further, the control system comprises an onboard control mechanism and an external remote control device; the control box of the airborne control mechanism is arranged at the rear half part of the driving shell; the airborne control mechanism consists of a programmable controller, an encoder, a servo motor driver, a control relay, a direct current relay, a wireless remote control receiving device, a camera, a limit switch, a power module and an antenna; the programmable controller is a control center, the input end of the programmable controller is connected with the wireless remote control receiving device, the encoder, the power supply module and the limit switch, the output end of the programmable controller is respectively connected with the control relay and the servo motor driver, and the servo motor driver is connected with the walking motor; the camera is connected with the wireless remote control receiving device;
the external remote control device consists of a wireless remote control transmitting device, a display, a power supply module, an antenna, a remote control handle and a plurality of keys; the input end of the wireless remote control sending device is connected with the remote control handle, the plurality of keys and the power supply module, and the output end of the wireless remote control sending device is connected with the display.
Further, the outer layers of the driving wheel and the driven wheel are wrapped by rubber layers.
Furthermore, the driving mechanism is of a rectangular shell structure and is formed by connecting a stainless steel plate and a supporting steel plate through stainless steel screws.
Further, the driven wheels are three pairs and are respectively arranged at the middle part and the front part of the equipment.
The beneficial effects of the utility model are embodied in:
the utility model provides an artificial intelligence pipeline robot, its structural layout is reasonable compact, the electric control function is more perfect and reliable, can accomplish the rust cleaning of the crater between diameter 219mm-377mm, spraying, leak hunting and thickness measurement operation in the pipeline; the automatic working efficiency is high, the labor intensity is low, the operation is simple and convenient, the operation is stable, and the safety and the reliability are realized; other auxiliary equipment is not needed, so that the construction cost can be reduced, and a large amount of time can be saved; the device runs without rails and has a micro-motion steering function, so that the device is beneficial to passing through a pipeline with not too large bending degree; the traveling wheel is externally coated with a rubber layer, so that noise pollution is eliminated, and a certain buffering effect is achieved; the special connecting shaft adjusting function can ensure that the machine can adjust different lengths in different pipelines; in a limited space in a pipeline, the machine can be put in place in one step, rust removal, spraying, leakage detection and thickness measurement are accurate, and the machine is multifunctional; the alternating current power supply is adopted to supply power to the walking motor, thereby being beneficial to the forward and backward micro-motion adjustment and saving electric energy.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:
fig. 1 is the utility model discloses intelligent pipeline robot's rust cleaning and leak hunting mechanism overall structure sketch map.
Figure 2 is the utility model discloses intelligent pipeline robot's spraying and thickness measuring mechanism overall structure schematic diagram.
Fig. 3 is an enlarged cross-sectional view of the sprayed part of fig. 2.
Fig. 4 is a circuit composition and connection relation block diagram of the control mechanism of the intelligent pipeline robot.
In the figure: 1-driving shell, 2-antenna, 3-control box, 4-driven wheel, 5-lithium battery pack, 6-walking motor (M1), 7-walking reducer, 8-gear box, 9-driving wheel, 10-camera, 11-pin seat, 12-pin shaft, 13-electric spark leakage detector, 14, mounting seat, 15-derusting motor (M2), 16-derusting motor reducer, 17-positive and negative rotation device, 18-brush disk, 19-steel brush head, 20-thickness gauge, 21-thickness gauge fixing seat, 22-sliding guide, 23-sliding plate, 24-bearing seat, 25-bearing, 26-driven shaft, 27-spraying motor (M3), 28-positioning seat, 29-coating pipe, 30-rotary cup, 31-paint motor (M4), 32-sealing device, 33-coupling, 34-paint bin, 35-rotor, 36-stator.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
An artificial intelligence pipeline robot of embodiment 1, as shown with reference to fig. 1-3, includes a driving mechanism, a traveling mechanism, a rust removing mechanism, a spraying mechanism, an electric spark leakage detecting mechanism, a coating side thickness mechanism and a control system, the pipeline robot is formed by combining and connecting three sections of machine bodies, the three sections of machine bodies are respectively integrated, and the three sections of machine bodies are connected by a pin shaft and a pin seat; the driving mechanism comprises a driving box shell 1, a walking motor 6, a walking motor reducer 7, a gear box 8 and a driving shaft; the driving mechanism is of a rectangular shell structure and is formed by connecting a stainless steel plate and a supporting steel plate through stainless steel screws. The walking motor 6 and the walking motor reducer 7 are integrated and are arranged on the front half part of the underframe through a gear box 8; the travelling mechanism comprises a driving wheel 9 and a driven wheel component; the driven wheel assembly comprises a driven wheel 4, a driven shaft 26, a bearing seat 24 and a bearing 25; the driven wheels 4 are arranged at two ends of the driven shaft 26, and the driven shaft 26 is arranged in the bearing seat 24 through the bearing 25; the bearing seat 24 is provided with a sliding guide 22, and the sliding guide 22 is matched with a sliding plate 23 fixed on a supporting plate to adjust the height of the driven wheel 4; the rust removing mechanism comprises a brush disc 18, a steel brush head 19, a forward and reverse rotation device 17, a rust removing motor 15 and a rust removing motor reducer 16; the number of the brush discs 18 is two, and the rigid brush head 19 is detachably connected with the brush discs 18. And a relay group is arranged below the derusting motor 15 and the derusting motor reducer 16 and used for controlling the derusting motor.
The spraying mechanism comprises a coating motor 31, a coating bin 34, a coating pipe 29, a speed reducer, a sealing device 32, a high-speed shaft, a spraying motor 27 and a rotary cup 30; the coating bin 34 is welded on the supporting plate and the bottom beam, and the coating motor 31 and the speed reducer are arranged on the side surface; the high shaft and the rotating cup 30 are fixed on the supporting plate through the positioning seat 28; a high-speed spraying motor 27 is arranged in the positioning seat 28, and a high-speed shaft is connected with the spraying motor 27 through a flexible coupling; an electric control valve is arranged at one end of the coating pipe 29 entering the rotary cup 30; the two coating bins 34 are used for respectively containing the main material and the curing agent, and the main material and the curing agent are mixed in a rotating cup at the end part during working, so that the cleaning is convenient.
The electric spark leakage detection mechanism comprises an electric spark leakage detector 13, a mounting seat 14 and an alarm; the coating side thickness mechanism comprises a thickness gauge 20 and a thickness gauge fixing seat 21; the control system is used for controlling the driving mechanism, the travelling mechanism, the derusting mechanism, the spraying mechanism, the electric spark leakage detecting mechanism and the side thickness mechanism to perform corresponding operations; the electric spark leakage detecting mechanism and the derusting mechanism form a machine body, a lithium battery pack 5 is arranged in the middle of the machine body, and the lithium battery pack 5 provides electric power for the pipeline robot; the coating side thickness mechanism is fixed at the front end of the spraying mechanism, and the coating side thickness mechanism and the spraying mechanism are a machine body.
In this embodiment, the control system comprises an onboard control mechanism and an off-pipe remote control device; the control box of the airborne control mechanism is arranged at the rear half part of the driving shell 1; the airborne control mechanism consists of a programmable controller, an encoder, a servo motor driver, a control relay, a direct current relay, a wireless remote control receiving device, a camera 10, a limit switch, a power module and an antenna 2; the programmable controller is a control center, the input end of the programmable controller is connected with the wireless remote control receiving device, the encoder, the power supply module and the limit switch, the output end of the programmable controller is respectively connected with the control relay and the servo motor driver, and the servo motor driver is connected with the walking motor 6; the camera 10 is connected with a wireless remote control receiving device;
the external remote control device consists of a wireless remote control transmitting device, a display, a power supply module, an antenna, a remote control handle and a plurality of keys; the input end of the wireless remote control sending device is connected with the remote control handle, the plurality of keys and the power supply module, and the output end of the wireless remote control sending device is connected with the display.
As shown in fig. 1 and 2, the intelligent pipeline robot is connected by a pin 11 and a pin base 12. As shown in fig. 2, the driven wheel assembly is composed of a driven wheel 4, a driven shaft 26, a bearing seat 24 and a bearing 25. The driven wheels 4 are mounted on both ends of a driven shaft 26, and the driven shaft 26 is mounted in a bearing housing 24 through bearings 25. The bearing seat 24 is provided with a sliding guide 22 which is matched with a sliding plate 23 fixed on the supporting plate to adjust the height of the driven wheel 4 so as to adapt to different pipe diameters. Wherein the programmable controller PLC adopts Mitsubishi FX 1S-64 MT type; the servo motor driver is of TSIA03AA type. In the embodiment, the outer layers of the driving wheel 9 and the driven wheel 4 are wrapped by rubber layers, wherein the number of the driven wheels 4 is three, and the three driven wheels are respectively arranged in the middle and the front of the equipment.
And (3) derusting operation specification: the artificial intelligent pipeline robot automatically moves to the welding opening of the pipeline, and the steel brush head 19 of the artificial intelligent pipeline robot is aligned with the welding opening area. As shown in figure 1, a derusting motor 15 and a derusting reducer 16 drive a forward and reverse rotation device 17 and a brush holder 18 to rotate, and a steel brush head 19 is pressed on a pipe wall by centrifugal force to rotate for derusting. Because the brush disc 18 rotates positively and negatively, the rust removing effect is better, which is an innovation. The derusting effect is shot and recorded by the camera 10, the video image is wirelessly transmitted to the remote controller sending device outside the pipe by the onboard wireless remote controller receiving device, and the derusting effect is observed by the display in real time, so that the requirement can be met.
Description of the spraying operation: when the rust removal of hundreds of welded junctions of a section of pipeline (about 1 kilometer) is finished, the robot automatically moves from the head end to the tail end of the pipeline. And then reverses itself so that the bell cup 30 reaches the end first weld zone area. As shown in fig. 2, the paint pump motor 31 (M4) drives the paint pump to pump the liquid paint in the paint bin 34 into the paint pipe 29. The spray motor 27 (M3) rotates at high speed to rotate the bell cup 30 at high speed, generating sufficient centrifugal force. The liquid coating in the coating pipe 29 enters the rotary cup 30, and is thrown and sprayed to the derusted weld joint area under the action of centrifugal force, so that the joint repairing operation is completed. And then retreating to the next welding opening for spraying until reaching the head end of the pipeline. The operation sequence saves time and improves work efficiency, and the coating which is just sprayed is not rolled by the walking wheels, so that the coating is intact and the joint coating quality is ensured.
And (3) description of electric spark leakage detection operation: after the spraying operation is finished, the inner anticorrosive paint is completely hardened, the artificial intelligent pipeline robot automatically moves to the welding port of the pipeline, and the electric spark leak detector 13 of the artificial intelligent pipeline robot is aligned to the welding port area. If the coating leakage point appears, the alarm can be started, and the result can also be recorded according to the position of the leakage point by the receiver outside the wireless transmission pipe, so that the spraying operation is convenient to perform again, and finally the requirement is met.
Description of thickness measurement: after the spraying operation is finished, the artificial intelligent pipeline robot automatically reaches the welding opening of the pipeline after the inner anticorrosive paint is completely hardened, and the thickness gauge 20 of the artificial intelligent pipeline robot is aligned to the area of the sprayed welding opening. And the external remote control is started, the measurement result is wirelessly transmitted to a receiving device outside the pipe, and the design thickness requirement is compared with the measurement result, so that whether the thickness is qualified or not is automatically judged.
The artificial intelligent pipeline robot operation process: the artificial intelligence pipeline robot is arranged at the head end of the pipeline. And closing the power switch to supply power to the servo motor driver and each power module. After the servo motor driver is electrified, if no forward and backward signals exist, the walking motor (M1) is braked (in a braking state). The 'forward' key of the remote control device is pressed, and the walking motor (M1) walks forwards. And the camera 10 is used for observing and positioning, finding the first welding opening and pressing a stop key to stop the artificial intelligent pipeline robot. Then, a 'derusting' key is pressed, and a derusting motor (M2) works. The brush disc 18 can be changed in forward and reverse directions. At the moment, the PLC controls a servo motor driver to enable a walking motor (M1) to slightly rotate in a forward and reverse direction, so that the joint coating machine moves forwards and backwards in the welding area range and moves in a reciprocating stepping mode to meet the requirement of complete derusting, and the PLC is an innovative point. After the rust removal, a 'forward' key is pressed, and the walking motor (M1) drives the artificial intelligent pipeline robot to the next weld junction. And repeating the steps until all welded junctions of one section of pipeline are derusted, and then starting spraying operation. Each weld crater is found through the camera 10, the stop key is pressed firstly, then the spraying key is pressed, the spraying motor (M3) and the coating motor (M4) work simultaneously, and the liquid coating is thrown and sprayed to the area of the pipeline weld crater. The spraying motor (M3) rotates at a low speed first and then at a high speed. Under the control of a Programmable Logic Controller (PLC), a walking motor (M1) slightly rotates forwards and backwards to enable the robot to move forwards and backwards in a reciprocating stepping mode. After the complete spraying of the area of one welding opening, a 'retreat' key is pressed, and the robot automatically moves to the next welding opening. And repeating the steps until all the welded junctions of one section of pipeline are completely sprayed. The artificial intelligence pipeline robot returns to the head end of the pipeline, and finally presses the 'reverse' key of the coating motor (M4) to return the residual coating in the coating pipe 35 to the coating bin.
The other operation flow is as follows: the tail of the artificial intelligence pipeline robot enters the pipeline, the operation is carried out in a reverse mode, and when the rust removal is finished, the artificial intelligence pipeline robot slightly moves to enable the rotary cup 30 to reach the weld, and the spraying operation is carried out immediately. By analogy, in a section of pipeline, the processes of rust removal and spraying are sequentially and unidirectionally carried out, and the joint coating operation is completed at one time.
The above embodiments are provided only for the purpose of illustration, and not for the purpose of limitation, and those skilled in the art can make various changes or modifications without departing from the spirit and scope of the present invention. Those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention.
Claims (8)
1. An artificial intelligent pipeline robot comprises a driving mechanism, a walking mechanism, a rust removing mechanism, a spraying mechanism, an electric spark leakage detecting mechanism, a coating side thickness mechanism and a control system, and is characterized in that the pipeline robot is formed by combining and connecting three sections of machine bodies, wherein the three sections of machine bodies are respectively integrated, and the three sections of machine bodies are connected by a pin shaft and a pin seat; the driving mechanism comprises a driving shell (1), a walking motor (6), a walking motor reducer (7), a gear box (8) and a driving shaft; the walking motor (6) and the walking motor reducer (7) are integrated and are arranged on the front half part of the underframe through a gear box (8); the travelling mechanism comprises a driving wheel (9) and a driven wheel assembly; the driven wheel assembly comprises a driven wheel (4), a driven shaft (26), a bearing seat (24) and a bearing (25); the driven wheels (4) are arranged at two ends of the driven shaft (26), and the driven shaft (26) is arranged in the bearing seat (24) through the bearing (25); the bearing seat (24) is provided with a sliding guide (22), the sliding guide (22) is matched with a sliding plate (23) fixed on the supporting plate, and the height of the driven wheel (4) is adjusted; the rust removing mechanism comprises a brush disc (18), a steel brush head (19), a forward and reverse rotating device (17), a rust removing motor (15) and a rust removing motor reducer (16);
the spraying mechanism comprises a coating motor (31), a coating bin (34), a coating pipe (29), a speed reducer, a sealing device (32), a high-speed shaft, a spraying motor (27) and a rotary cup (30); the coating bin (34) is welded on the supporting plate and the bottom beam, and a coating motor (31) and a speed reducer are arranged on the side surface of the coating bin; the high-speed shaft and the rotating cup (30) are fixed on the supporting plate through a positioning seat (28); a high-speed spraying motor (27) is arranged in the positioning seat (28), and a high-speed shaft is connected with the spraying motor (27) through a flexible coupling; an electric control valve is arranged at one end of the coating pipe (29) entering the rotary cup (30);
the electric spark leakage detection mechanism comprises an electric spark leakage detector (13), a mounting seat (14) and an alarm; the coating side thickness mechanism comprises a thickness gauge (20) and a thickness gauge fixing seat (21); the control system is used for controlling the driving mechanism, the travelling mechanism, the derusting mechanism, the spraying mechanism, the electric spark leakage detecting mechanism and the side thickness mechanism to perform corresponding operations; the electric spark leakage detecting mechanism and the derusting mechanism form a machine body, a lithium battery pack (5) is arranged in the middle of the machine body, and the lithium battery pack (5) provides electric power for the pipeline robot; the coating side thickness mechanism is fixed at the front end of the spraying mechanism, and the coating side thickness mechanism and the spraying mechanism are a machine body.
2. The artificial intelligence pipeline robot of claim 1, wherein a relay group is arranged below the derusting motor (15) and the derusting motor reducer (16) to control the derusting motor.
3. The artificial intelligence pipeline robot of claim 1, wherein the number of the brush discs (18) is two, and the steel brush head (19) is detachably connected with the brush discs (18).
4. The artificial intelligence pipeline robot of claim 1, wherein the spraying mechanism is provided with two spraying bins (34) for respectively containing the main material and the curing agent, and when the robot works, the main material and the curing agent are mixed in a rotating cup at the end part, so that the robot is convenient to clean.
5. An artificial intelligence pipeline robot as claimed in claim 1, wherein the control system includes an onboard control mechanism and an external remote control device; the control box of the airborne control mechanism is arranged at the rear half part of the driving shell (1); the airborne control mechanism comprises a programmable controller, an encoder, a servo motor driver, a control relay, a direct current relay, a wireless remote control receiving device, a camera (10), a limit switch, a power module and an antenna (2); the programmable controller is a control center, the input end of the programmable controller is connected with the wireless remote control receiving device, the encoder, the power supply module and the limit switch, the output end of the programmable controller is respectively connected with the control relay and the servo motor driver, and the servo motor driver is connected with the walking motor (6); the camera (10) is connected with the wireless remote control receiving device;
the external remote control device consists of a wireless remote control transmitting device, a display, a power supply module, an antenna, a remote control handle and a plurality of keys; the input end of the wireless remote control sending device is connected with the remote control handle, the plurality of keys and the power supply module, and the output end of the wireless remote control sending device is connected with the display.
6. An artificial intelligence pipeline robot as claimed in claim 1, wherein the outer layers of the driving wheel (9) and the driven wheel (4) are wrapped with rubber layers.
7. The artificial intelligence pipeline robot of claim 1, wherein the driving mechanism is a rectangular housing structure formed by connecting a stainless steel plate and a support steel plate by stainless steel screws.
8. An artificial intelligence pipeline robot as claimed in claim 6, wherein the driven wheels (4) are in three pairs, respectively mounted in the middle and front of the apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021831958.2U CN213809485U (en) | 2020-08-28 | 2020-08-28 | Artificial intelligence pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021831958.2U CN213809485U (en) | 2020-08-28 | 2020-08-28 | Artificial intelligence pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213809485U true CN213809485U (en) | 2021-07-27 |
Family
ID=76951681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021831958.2U Active CN213809485U (en) | 2020-08-28 | 2020-08-28 | Artificial intelligence pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213809485U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652720A (en) * | 2023-07-28 | 2023-08-29 | 天津天地龙管业股份有限公司 | Drag reduction grinding device in heat preservation pipeline with self-adaptation function |
-
2020
- 2020-08-28 CN CN202021831958.2U patent/CN213809485U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652720A (en) * | 2023-07-28 | 2023-08-29 | 天津天地龙管业股份有限公司 | Drag reduction grinding device in heat preservation pipeline with self-adaptation function |
| CN116652720B (en) * | 2023-07-28 | 2023-09-29 | 天津天地龙管业股份有限公司 | Drag reduction grinding device in heat preservation pipeline with self-adaptation function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101537403B (en) | Automatic joint coating machine for corrosion proof coating in pipeline | |
| CN111013882B (en) | Automatic truss type spraying system for ship body segmentation | |
| CN213809485U (en) | Artificial intelligence pipeline robot | |
| CN209423926U (en) | A kind of pipe inner-wall spraying robot | |
| CN206854736U (en) | Pipe cutting machine people | |
| CN109158239A (en) | A kind of pipe inner-wall spraying robot | |
| CN105922273A (en) | Robot for maintaining steel structural body | |
| CN113732500A (en) | Laser rust removal and welding robot applied to petroleum pipeline | |
| CN201423335Y (en) | Pipeline internal coating automatic junction repairing machine | |
| CN212256105U (en) | A intelligent vehicle is patrolled and examined to circuit for transformer substation | |
| CN1021506C (en) | Repairing machine for steel pipe inner coating welded point | |
| CN112782284B (en) | Ultrasonic detection auxiliary device for narrow space | |
| CN110185885A (en) | A kind of pipeline polishing mobile robot | |
| CN204302798U (en) | A kind of interactive automatic guided vehicle | |
| CN216583130U (en) | Automatic cleaning device for freight train carriage | |
| CN206208294U (en) | A kind of pipe detection device | |
| CN210174822U (en) | Insulator cleaning system | |
| CN209734936U (en) | Support omnidirectional movement's automatic line machine people that spouts | |
| CN112476118A (en) | Self-propelled four-axis pipeline inner weld joint and surface grinding system | |
| CN211775499U (en) | Automatic operation device for high-rise building outer wall | |
| JPH06206048A (en) | Automatic coating of inner surface of steel pipe on spot and automatic inspection thereof | |
| CN219902176U (en) | Small-size cutting robot | |
| CN219975808U (en) | Pipeline filling and repairing robot | |
| CN212759314U (en) | DN80 intelligent anti-corrosion joint coating machine in pipeline | |
| CN216811051U (en) | Full-automatic lofting and line sprinkling device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231101 Address after: Room 202, Building 14, Sansen Science and Technology Park, No. 45 Dongliu Road, Development Zone, Dongying City, Shandong Province, 257091 Patentee after: Shandong Bole Intelligent Technology Co.,Ltd. Address before: 257014 Room 502, unit 2, building 9, East Third District, Minghu community, Lixia District, Jinan City, Shandong Province Patentee before: Li Feng Patentee before: Yang Tao Patentee before: Wang Jianfeng Patentee before: Sun Rui |
|
| TR01 | Transfer of patent right |