Robot for polishing inner wall of pipeline

Abstract

The invention discloses a robot for polishing the inner wall of a pipeline. The robot comprises a robot body, a flexible semi-automatic mechanism adaptation mechanism and a polishing mechanism, the flexible semi-automatic mechanism adaptation mechanism and the polishing mechanism are arranged on the robot body, the robot body comprises a shell side plate, a shell front plate, a shell rear plate, a driving roller, a driving motor and a stepping motor used for driving the driving roller, the flexible semi-automatic mechanism adaptation mechanism comprises a flexible connecting rod mechanism, a driven roller, a telescopic hydraulic rod, a positioning spring, a lead screw and a triangular connecting piece, the polishing mechanism comprises a polishing disc, telescopic rods and an arc-shaped polishing piece, the polishing disc is connected with the driving motor through a rotating rod, the telescopic rods and the arc-shaped polishing piece are fixedly arranged on the output surface of the polishing disc, the number of the telescopic rods is three, the telescopic rods are arranged in an equilateral triangle shape, and the telescopic ends, connected with the arc-shaped polishing piece, of the telescopic rods outwards extend out of the polishing disc. The robot has the advantages of being compact in structure, stable in movement, flexible in posture adjustment, high in integration level, good in movement guidance and high in curved surface adaptability, and meets relevant polishing standards.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a robot for polishing the inner wall of a pipeline. Background technique [0002] Facing national ocean exploration, deep well scientific research, pipeline anticorrosion and rust removal process is an important part of ensuring the structural integrity of long-distance pipelines. At present, steel pipelines are mainly used to transport oil, gas, water and other media. The long-term erosion and corrosion of the fluid in the pipeline will cause impurities in the pipeline. For some pipelines that have strict requirements on the quality of the fluid in the pipeline, it is necessary to derust the pipeline. During the period from processing to use, most of the pipes are directly exposed outdoors due to their large diameter and long length. After a long period of storage, corrosion will occur in the pipes. Due to the large difference between the on-site anti-corrosion and derusting ope...

AI Technical Summary

Problems solved by technology

During the period from processing to use, most of the pipes are directly exposed outdoors due to their large diameters and long lengths. After long-term storage, corrosion will occur in the pipes.

Due to the large difference between the on-site anti-corrosion and rust removal operation environment and the anti-corrosion production factory environment, on-site rust removal has become a weak link in pipeline anti-corrosion

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