Pipeline electric arc spraying robot

Abstract

The invention provides a pipeline electric arc spraying robot. The pipeline electric arc spraying robot comprises a machine shell, a walking supporting mechanism, a spraying assembly, a reducing mechanism and a driving mechanism. The spraying assembly is arranged at the rear end of the machine shell and used for forming a metal coating on the inner wall of the pipeline through electric arc spraying. The walking supporting mechanism comprises three sets of walking supporting assemblies which are evenly distributed on the periphery of the machine shell at 120-degree intervals. The diameter changing mechanism comprises three sets of self-adaptive diameter changing assemblies which correspond to the three sets of walking supporting assemblies one to one and are evenly arranged, each set of self-adaptive diameter changing assembly is connected with the corresponding set of walking supporting assembly, and the driving mechanism is installed in the machine shell and connected with the diameter changing mechanism. The reducing mechanism can be controlled by the driving mechanism to drive the three sets of walking supporting assemblies to move in the radial direction relative to the machine shell so as to adapt to the change of the pipe diameter of the pipeline, and each set of self-adaptive reducing assembly comprises a first reducing assembly and a second reducing assembly. Through coordination and cooperation of an active mode and a passive mode of the reducing mechanism, good pipeline self-adaptive capacity is achieved.

Description

Technical Field

[0001] The present application belongs to the technical field of arc spraying equipment, and specifically relates to a pipeline arc spraying robot. Background Art

[0002] With the rapid development of industrial technology, the demand for pipeline transportation media in the fields of petroleum, chemical industry, electricity and urban infrastructure is increasing. In order to cope with the problems of wear, corrosion and even damage of the inner wall of the pipeline during long-term operation, the repair and protection technology of the inner wall of the pipeline has developed rapidly in recent years. Among them, arc spraying technology has gradually become one of the mainstream technologies for the repair and protection of the inner wall of the pipeline due to its advantages such as high spraying efficiency, good adhesion performance and wide application range, and it has shown a good development trend in automated operation.

[0003] In the prior art, the pipeline arc spraying device usually achieves the fit to the inner wall of the pipeline by means of a mechanical support structure that is radially expanded inside the pipeline to maintain the stability of the device during the spraying process. Such support structures usually adopt a fixed mechanical size adjustment method, and radial expansion or contraction is achieved through a mechanical drive device, so that the spraying device can adapt to different pipeline inner diameters.

[0004] However, the existing fixed mechanical size adjustment method generally has the problem of a narrow pipe diameter adaptation range, and it is difficult to effectively deal with local size changes or deformations of the inner diameter of the pipe. When the inner wall diameter of the pipe deviates or changes slightly, this support structure that lacks effective pipe diameter adaptive adjustment capabilities cannot stably fit the pipe wall, resulting in unstable device operation during the spraying operation, uneven coating thickness, and even local spraying failure, which seriously affects the repair and protection of the inner wall of the pipe. Therefore, how to improve the pipe diameter adaptability of the spraying device to achieve adaptive adjustment of different pipe diameters has become a key technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The present application provides a pipeline arc spraying robot to solve the problem that the existing spraying device has poor pipe diameter adaptability and difficulty in achieving good pipe diameter adaptive adjustment when facing changes in the inner diameter of the pipeline or local dimensional deviations, thereby causing a decrease in spraying quality.

[0006] The present application is implemented as follows: a pipeline arc spraying robot includes a housing, a walking support mechanism, a spraying assembly, a diameter-changing mechanism, and a driving mechanism; The spraying assembly is arranged at the rear end of the casing, and is used to form a metal coating on the inner wall of the pipeline by arc spraying; the walking support mechanism includes three groups of walking support assemblies, which are evenly distributed at 120° intervals on the circumference of the casing, and are used to respectively roll in contact with the inner wall of the pipeline to realize the overall movement of the robot; the diameter-changing mechanism includes three groups of adaptive diameter-changing assemblies that are evenly arranged in a one-to-one correspondence with the three groups of walking support assemblies, each group of the adaptive diameter-changing assemblies is respectively connected to a corresponding group of walking support assemblies, the driving mechanism is installed in the casing and connected to the diameter-changing mechanism, and the diameter-changing mechanism can drive the three groups of walking support assemblies to produce radial movement relative to the casing under the control of the driving mechanism to adapt to the change in the diameter of the pipeline, and each group of the adaptive diameter-changing assemblies includes a first diameter-changing assembly for actively changing the diameter to actively control the walking support assembly and a second diameter-changing assembly for passively changing the diameter to adapt to the walking support assembly to perform passive buffering adjustment during its movement in the pipeline.

[0007] In an optional implementation, the three groups of the adaptive variable diameter components are connected to a driving mechanism, and the three groups of the adaptive variable diameter components synchronously drive the three groups of walking support components under the control of the driving mechanism; The first diameter-changing component adopts a screw slider linkage mechanism to drive the walking support component to produce radial movement relative to the casing in the form of rod-type retraction and extension. The three first diameter-changing components of the diameter-changing mechanism are connected to the driving mechanism to realize synchronous control of the three groups of walking support components. Each second diameter-changing component is connected between the corresponding walking support component and the casing in an articulated manner. The second diameter-changing component is equipped with a shock-absorbing unit to realize passive buffering adjustment.

[0008] In an optional embodiment, the first diameter-changing assembly includes a lead screw, a slider and a connecting rod; the lead screw is rotatably installed in the housing in an arrangement parallel to the axial direction of the housing, the slider is arranged on the lead screw in a threaded manner and can move along the axial direction of the lead screw when the lead screw rotates; one end of the connecting rod is hingedly connected to the slider, and the other end of the connecting rod is hingedly connected to the corresponding walking support assembly, and the slider can convert the linear motion of the slider into the radial telescopic motion of the walking support assembly relative to the housing when the slider moves axially on the lead screw; The three lead screws of the diameter reducing mechanism are evenly arranged at intervals of 120° along the circumferential direction inside the housing, and the three lead screws are commonly connected to a driving mechanism, which is arranged at the middle and rear position inside the housing. The driving mechanism drives the three lead screws to rotate synchronously through a gear set or a synchronous linkage structure to achieve synchronous adjustment of the three groups of first diameter reducing components; The second diameter-changing assembly includes two shock absorbers arranged in parallel. The two shock absorbers are arranged as shock absorbing units between the walking support assembly and the casing to form a parallelogram hinge structure for buffering radial impact when the pipe diameter fluctuates.

[0009] In an optional embodiment, the walking support assembly includes a support frame, two hub motor mounting frames, two hub motors, a pressure sensor and a universal wheel; The support frame is symmetrically provided with two hub motor mounting frames at both ends of a side surface facing away from the casing, the hub motor mounting frames are fixedly connected to the support frame, the two hub motors are respectively mounted on the two hub motor mounting frames and are used to contact the inner wall of the pipeline for self-rotation, the support frame is also provided with a pressure sensor in the middle of a side surface facing away from the casing, the pressure sensor is arranged between the two hub motor mounting frames, the pressure sensor is connected with a universal wheel, and is used to monitor the contact pressure between the walking support assembly and the inner wall of the pipeline in real time during the contact between the universal wheel and the inner wall of the pipeline, the pressure sensor can feed back the detected pressure data to the control system in real time, and the control system can control the driving mechanism according to the received pressure data to realize the radial movement adjustment of the walking support assembly driven by the variable diameter mechanism, the support frame is hinged with two parallel arranged shock absorbers at both ends of a side surface close to the casing, and the support frame is also hinged with a connecting rod at the middle position of one side of the articulated shock absorber, and the connecting rod is staggered with a shock absorber in front.

[0010] In an optional embodiment, the driving mechanism includes a driving motor I, a center gear and three transmission gears. The driving motor I is fixedly mounted on a mounting frame inside the frame. The output shaft of the driving motor I faces forward and is coaxially arranged with the axis of the frame. The output shaft of the driving motor I is connected to the center gear to drive the center gear to rotate. The three transmission gears are evenly arranged around the periphery of the center gear at intervals of 120° and are respectively meshed with the center gear. The middle parts of the three transmission gears are respectively connected to gear transmission shafts. The three gear transmission shafts are rotatably mounted on the mounting frame and are respectively connected to three lead screws through couplings to achieve synchronous rotation of the three lead screws.

[0011] In an optional embodiment, the casing is a regular hexagonal prism structure, the casing includes a front end plate, a rear end plate, a frame and an outer side plate, the front and rear ends of the frame are respectively connected to the front end plate and the rear end plate, the outer side plate is arranged on the outer periphery of the side of the frame, the front end plate, the rear end plate, the frame and the outer side plate are connected as a whole to form a casing with a regular hexagonal prism structure, and the rear end plate is provided with an outlet for guiding the spray wire and the power cable to pass through; A mounting frame is arranged at the middle and rear part of the casing, the mounting frame is connected to the frame, the mounting frame is a frame of a regular hexagonal prism structure, a front fixing plate, a motor mounting plate and a rear fixing plate are arranged on the mounting frame from front to back in sequence, three fixed end seats I which are respectively rotatably connected to the rear ends of three lead screws are evenly arranged on the front side surface of the front fixing plate, the lead screw is connected to the gear transmission shaft through a coupling after passing through the fixed end seat I and the front fixing plate, a driving motor I is fixedly installed at the middle part of the motor mounting plate, a bearing I connected to the output shaft of the driving motor I is arranged in the middle part of the front fixing plate, bearings II which are respectively connected to the three gear transmission shafts are also evenly arranged on the motor mounting plate, the rear fixing plate is connected to the front side of the rear end plate and is connected to the frame at the same time, a spraying assembly is installed on the rear fixing plate; a front fixing plate is also arranged at the front part of the casing, the front fixing plate is connected to the rear side of the front end plate and is connected to the frame at the same time, three fixed end seats II which are respectively rotatably connected to the front ends of the three lead screws are evenly arranged on the rear side surface of the front fixing plate.

[0012] In an optional embodiment, the spray assembly includes a spray gun and a spray pipe, the spray gun is installed on the inner side of the rear end of the housing, the spray gun is connected to the spray pipe located outside the rear end of the housing, the spray gun is provided with a wire feeding wheel and an air cap, the wire feeding wheel is arranged on both sides of the spray gun and conveys the spray wire to the spray gun, the air cap is located at the center of the spray gun and keeps coaxial with the coaxial spray pipe, and is used to guide the molten spray wire to form a high-speed airflow; The spray pipe is arranged at the rear end of the casing in a rotatable connection manner, and a driving motor II for driving the spray pipe to rotate is fixedly installed inside the rear end of the casing. A main gear is arranged on the outer side of the rear end of the driving motor II, and a sub-gear is fixedly installed on the spray pipe, and the main gear is meshed with the sub-gear.

[0013] In an optional embodiment, a monitoring and lighting device is provided above the front end of the housing, and the monitoring and lighting device includes a camera and an LED lighting lamp for real-time monitoring of the spraying operation area and providing auxiliary lighting.

[0014] In an optional embodiment, a cleaning mechanism is further included, which is installed at the outer front end of the casing to clean the inner wall surface of the pipeline.

[0015] In an optional embodiment, a dust suction mechanism is further included, which is located behind the cleaning mechanism and arranged at the rear bottom of the casing, and is used to suck impurities and dust cleaned by the cleaning mechanism.

[0016] Compared with the prior art, this application has the following beneficial effects: 1. The present application provides a pipeline arc spraying robot, which structurally includes a casing, a walking support mechanism, a spraying assembly, a diameter-changing mechanism and a driving mechanism. The diameter-changing mechanism is composed of three groups of adaptive diameter-changing assemblies, which are evenly distributed at 120° along the circumference of the casing, and each group of adaptive diameter-changing assemblies includes a first diameter-changing assembly and a second diameter-changing assembly. As an active control structure, the first diameter-changing assembly can adjust the radial position of the walking support assembly under the drive of the driving mechanism; the second diameter-changing assembly has a passive buffering function, which can automatically generate radial compensation according to the local geometric changes of the inner wall of the pipeline, absorb impact and adapt to deformation. The pipeline arc spraying robot of the present application coordinates the active and passive modes of the diameter-changing mechanism, so that the structure has significant differences from the traditional solution in the function realization path, and has better pipeline adaptability than the prior art.

[0017] 2. During the operation of this application, after the robot enters the pipeline, the driving mechanism synchronously drives the three first diameter-changing components to radially expand the three groups of walking support components, thereby achieving close contact with the inner wall of the pipeline. When the robot moves to an area where the inner diameter changes suddenly or is locally uneven, the second diameter-changing component passively changes diameter to adapt to the movement of the walking support component in the pipeline, thereby achieving passive buffering adjustment, thereby alleviating the radial impact caused by external interference and playing a role of flexible response. This can effectively reduce the structural interference caused by uneven pipe wall thickness or local contraction, which is conducive to maintaining the stable posture of the robot in the pipeline.

[0018] 3. The variable diameter mechanism composed of three sets of adaptive variable diameter components in this application has strong pipe diameter adaptability and dynamic response capabilities, and can quickly adjust to pipeline environments with different diameters or local mutations within a certain range. On this basis, the coating operation performed by the spraying component is more consistent and stable, reducing the change in spraying thickness caused by poor fitting or support fluctuations, thereby improving the uniformity and adhesion quality of the metal coating, thereby enhancing the corrosion resistance and service life of the inner wall of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of the overall structure of a pipeline arc spraying robot provided in one embodiment of the present application; Figure 2 A front view of a pipeline arc spraying robot provided in one embodiment of the present application; Figure 3 A schematic diagram of a pipeline arc spraying robot after removing the outer panel of a casing provided by an embodiment of the present application; Figure 4 A schematic diagram of the connection between the drive mechanism and the lead screw of the first diameter reducing assembly provided in one embodiment of the present application; Figure 5 A schematic diagram of the installation of a driving mechanism provided in one embodiment of the present application; Figure 6 A schematic diagram of the structure of a walking support assembly provided in one embodiment of the present application; Figure 7 This is one of the structural schematic diagrams of the spray assembly provided in one embodiment of the present application; Figure 8 The second structural schematic diagram of the spraying assembly provided in one embodiment of the present application; Fig. 9 A schematic structural diagram of a pipeline arc spraying robot provided in yet another embodiment of the present application.

[0021] Description of reference numerals: 100: housing; 101: front end plate; 102: rear end plate; 1021: outlet; 103: frame; 104: outer side plate; 110: mounting frame; 111: front fixing plate; 1111: fixed end seat Ⅰ; 1112: bearing Ⅰ; 112: motor mounting plate; 1121: bearing Ⅱ; 113: rear fixing plate; 120: front fixing plate; 121: fixed end seat Ⅱ; 200: walking support assembly; 210: support frame; 220: hub motor mounting frame; 230: hub motor; 240: pressure sensor; 250: universal wheel; 300: adaptive variable diameter assembly; 310: first Reducer assembly; 311: lead screw; 312: slider; 313: connecting rod; 320: second reducer assembly; 321: shock absorber; 400: driving mechanism; 410: driving motor I; 420: central gear; 430: transmission gear; 431: gear transmission shaft; 500: spray assembly; 510: spray gun; 511: wire feeding wheel; 512: air cap; 520: driving motor II; 530: spray pipe; 531: sub-gear; 540: main gear; 600: cleaning mechanism; 700: dust suction mechanism; 800: monitoring and lighting device; 810: camera; 820: LED lighting. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application is clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work also fall within the scope of protection of the present application.

[0023] See also Figure 1-Figure 9 The present application provides a pipeline arc spraying robot, which can be used for pipeline inner wall spraying operations. Specifically, it is a pipeline arc spraying robot with an adaptive variable diameter function and a stable walking support structure, which can be used for anti-corrosion repair and wear-resistant coating construction operations on the inner wall of large metal pipelines in metallurgy, petrochemical, thermal power and other industries. Figure 1-Figure 9 As shown, the pipeline arc spraying robot of this embodiment includes a housing 100 , a walking support mechanism, a spraying assembly 500 , a diameter-changing mechanism and a driving mechanism 400 .

[0024] like Figure 1 and Figure 2 As shown, the spraying assembly 500 is arranged at the rear end of the housing 100, and is used to form a metal coating on the inner wall of the pipeline by arc spraying; the walking support mechanism includes three groups of walking support assemblies 200, and the three groups of walking support assemblies 200 are evenly distributed at 120° intervals on the circumference of the housing 100, and are used to respectively roll with the inner wall of the pipeline to realize the overall movement of the robot; the diameter-changing mechanism includes three groups of adaptive diameter-changing assemblies 300 that are evenly arranged in a one-to-one correspondence with the three groups of walking support assemblies 200, and each group of adaptive diameter-changing assemblies 300 is respectively connected to a corresponding group of walking support assemblies. The supporting components 200 are connected, and the driving mechanism 400 is installed in the casing 100 and connected to the reducing mechanism. The reducing mechanism can drive the three groups of walking support components 200 to produce radial movement relative to the casing 100 under the control of the driving mechanism 400 to adapt to the change of the pipeline diameter. Each group of adaptive reducing components 300 includes a first reducing component 310 for actively reducing the diameter to actively control the walking support component 200 and a second reducing component 320 for passively reducing the diameter to adapt to the walking support component 200 to perform passive buffering adjustment during its movement in the pipeline.

[0025] The pipeline arc spraying robot provided in this embodiment structurally includes a housing 100, a walking support mechanism, a spraying assembly 500, a diameter reducing mechanism and a driving mechanism 400. The diameter reducing mechanism is composed of three groups of adaptive diameter reducing assemblies 300, which are evenly distributed at 120° along the circumference of the housing 100, and each group of adaptive diameter reducing assemblies 300 includes a first diameter reducing assembly 310 and a second diameter reducing assembly 320. The first diameter reducing assembly 310 is an active control structure, which can adjust the radial position of the walking support assembly 200 under the drive of the driving mechanism 400; the second diameter reducing assembly 320 has a passive buffering function, which can automatically generate radial compensation according to the local geometric changes of the inner wall of the pipeline, absorb impact and adapt to deformation. The pipeline arc spraying robot of this embodiment coordinates the active and passive modes of the diameter reducing mechanism, so that the structure has significant differences from the traditional solution in the function realization path, and has better pipeline adaptive ability compared with the prior art.

[0026] During operation, after the robot enters the pipeline, the driving mechanism 400 synchronously drives the three first diameter-changing components 310 to radially expand the three groups of walking support components 200, thereby achieving close contact with the inner wall of the pipeline. When the robot moves to an area where the inner diameter changes suddenly or is locally uneven, the second diameter-changing component 320 passively changes its diameter to adapt to the walking support component 200 moving in the pipeline, thereby achieving passive buffering adjustment. When used specifically, the second diameter-changing component 320 can be deformed by shock absorption or elastic structure to alleviate the radial impact caused by external interference, playing a role of flexible response, which can effectively reduce the structural interference caused by uneven pipe wall thickness or local contraction, which is conducive to maintaining the stable posture of the robot in the pipeline.

[0027] Through the above-mentioned structural setting, the variable diameter mechanism composed of three sets of adaptive variable diameter components 300 in this embodiment has strong pipe diameter adaptability and dynamic response ability, and can make rapid adjustments to pipeline environments with different diameters or local mutations within a certain range. On this basis, the coating operation performed by the spraying component 500 is also more consistent and stable, reducing the change in spraying thickness caused by poor fitting or support fluctuations, thereby improving the uniformity and adhesion quality of the metal coating, thereby enhancing the anti-corrosion performance and service life of the inner wall of the pipeline.

[0028] In addition, the spraying robot in this embodiment is provided with three groups of walking support assemblies 200, and these three groups of walking support assemblies 200 are evenly arranged at 120° intervals along the outer periphery of the casing 100. This three-point distribution method brings better support balance in structure, so that the robot can operate stably after entering the pipeline. During the forward propulsion of the robot, the three groups of walking support assemblies 200 always maintain contact with the inner wall of the pipeline, forming a triangular support relationship, which helps to suppress the occurrence of lateral deflection, lateral sliding or local overturning. This uniformly arranged structural foundation provides support for the stable operation of the spraying assembly 500, and also helps to improve the uniform coverage effect of the coating and the overall film quality.

[0029] During use, the variable diameter mechanism combines the actively controlled first variable diameter component 310 with the second variable diameter component 320 with a buffering function, wherein the first variable diameter component 310, driven by the driving mechanism 400, can appropriately adjust the radial position of the walking support component 200 for different pipe diameters. In this way, even if there is a large span difference in pipe diameter, the robot can actively respond and make structural adjustments. At the same time, the second variable diameter component 320 is arranged between the walking support component 200 and the housing 100 and has passive buffering capabilities. When the robot moves to a local protrusion or pipe wall deformation area, the second variable diameter component 320 can absorb the impact force caused by local interference and reduce the amplitude of the structural impact. The combination of this active and passive mechanism enhances the robot's adaptability to complex pipeline environments and reduces the stability problems caused by radial impacts.

[0030] Moreover, in this embodiment, the driving mechanism 400 is arranged inside the housing 100, and is responsible for driving the coordinated action of the variable diameter mechanism. By integrating the radial adjustment process of the three first variable diameter components 310 into one driving structure, the complexity of the transmission method can be reduced, and the asynchronous error that may be caused by the independent driving of multiple points can be reduced. Under this centralized arrangement, the robot can respond to radial changes more quickly during operation, thereby improving the coordination and continuity of the overall action. In addition, the position changes of the three groups of walking support components 200 adjusted synchronously help to maintain the stability of the relative position between the spraying component 500 and the inner wall of the pipeline, so that the metal coating is sprayed more evenly, improving the construction efficiency and film quality.

[0031] In some embodiments, Figure 3 As shown, the three groups of adaptive variable diameter components 300 are connected to a driving mechanism 400 , and the three groups of adaptive variable diameter components 300 synchronously drive the three groups of walking support components 200 under the control of the driving mechanism 400 .

[0032] The first reducing component 310 adopts a lead screw slider linkage mechanism to drive the walking support component 200 in the form of rod-type retraction and extension to produce radial movement relative to the casing 100. The three first reducing components 310 of the reducing mechanism are connected to the driving mechanism 400 to achieve synchronous control of the three groups of walking support components 200. Each second reducing component 320 is connected between the corresponding walking support component 200 and the casing 100 in an articulated manner. The second reducing component 320 is equipped with a shock absorbing unit to achieve passive buffering adjustment.

[0033] In this embodiment, the three adaptive variable diameter components 300 are uniformly connected to a driving mechanism 400, and the three groups of walking support components 200 are driven to perform radial adjustment synchronously through centralized control. This structural configuration helps each walking support component 200 to maintain synchronization and consistency during the action process, avoiding control deviations caused by multiple driving sources. When the driving mechanism 400 is started, it can simultaneously drive the three first variable diameter components 310 to retract and release radially, so that each support point can be coordinated to approach or move away from the pipe wall, thereby enhancing the overall structural balance of the robot. The application of this synchronous drive mechanism can reduce the probability of problems such as tilting and shaking during the operation of the robot, which helps to maintain the stability of the spraying operation.

[0034] At the same time, the first variable diameter assembly 310 of the present embodiment adopts a rod-type retractable structure linked by a lead screw and a slider, which is simple in structure and moves smoothly. The rotational motion of the lead screw can be transmitted to the slider through a threaded pair to realize the linear movement of the slider along the axial direction; the slider then converts the linear displacement into the radial adjustment action of the walking support assembly 200 through a connecting rod. This structure can improve the response sensitivity while maintaining the transmission accuracy, and has a strong active adaptability to changes in the inner diameter of the pipeline. The precise adjustment of the walking support assembly 200 in the radial direction is conducive to maintaining its fit with the inner wall of the pipeline, reducing the uneven spraying phenomenon caused by insufficient support, thereby improving the overall uniformity and coverage quality of the spray layer.

[0035] In addition, the second variable diameter assembly 320 is connected between the corresponding walking support assembly 200 and the housing 100 by an articulated connection, and is equipped with a shock absorbing unit, so that a flexible buffer zone is formed in the structure. When the robot encounters a local protrusion or an irregularly sized area during its operation along the inner wall of the pipeline, the second variable diameter assembly 320 can automatically absorb the radial impact caused by the sudden change. Through the buffering effect, it can effectively reduce the hard collision between the walking support assembly 200 and the pipe wall, and reduce the impact strength of the mechanical load transmitted to the main structure. This passive adjustment mechanism enhances the structural adaptability of the robot under complex working conditions, reduces the spraying deviation caused by vibration or impact, and is conducive to maintaining the continuity and consistency of the spraying operation.

[0036] In some embodiments, Figure 3-Figure 5As shown, the first reducing assembly 310 includes a lead screw 311, a slider 312 and a connecting rod 313; the lead screw 311 is rotatably installed in the housing 100 in an arrangement manner parallel to the axial direction of the housing 100, and the slider 312 is arranged on the lead screw 311 in a threaded manner and can move along the axial direction of the lead screw 311 when the lead screw 311 rotates; one end of the connecting rod 313 is hingedly connected to the slider 312, and the other end of the connecting rod 313 is hingedly connected to the corresponding walking support assembly 200, and the slider 312 can convert the linear motion of the slider 312 into the radial telescopic motion of the walking support assembly 200 relative to the housing 100 when the slider 312 moves axially on the lead screw 311.

[0037] The three lead screws 311 of the reducing mechanism are evenly arranged at intervals of 120° along the circumferential direction inside the housing 100. The three lead screws 311 are commonly connected to a driving mechanism 400, which is arranged at the middle and rear position inside the housing 100. The driving mechanism 400 drives the three lead screws 311 to rotate synchronously through a gear set or a synchronous linkage structure to achieve synchronous adjustment of the three groups of first reducing assemblies 310.

[0038] like Figure 3 and Figure 6 As shown, the second variable diameter assembly 320 includes two shock absorbers 321 arranged in parallel. The two shock absorbers 321 are provided as shock absorbing units between the walking support assembly 200 and the housing 100 to form a parallelogram hinge structure for buffering radial impact when the pipe diameter fluctuates.

[0039] In this embodiment, the structure of the first variable diameter assembly 310 is composed of a lead screw 311, a slider 312 and a connecting rod 313. The lead screw 311 is arranged parallel to the axis of the housing 100, installed inside the housing, and connected to the driving mechanism 400, and can be rotated under the driving action. The slider 312 is installed on the lead screw 311 in a threaded manner and can move axially when the lead screw 311 rotates. One end of the connecting rod 313 is hinged to the slider 312, and the other end is hinged to the walking support assembly 200, so that the axial linear motion of the slider 312 is effectively converted into the radial telescopic motion of the walking support assembly 200. This transmission path is concise and clear, and the action process is direct, which is conducive to improving the response accuracy of the variable diameter adjustment, while simplifying the mechanical structure and helping to reduce the risk of motion failure.

[0040] At the same time, the three lead screws 311 are evenly distributed at intervals of 120° along the circumferential direction inside the housing 100, and are all connected to the same driving mechanism 400 located in the middle and rear part of the housing 100. The driving mechanism 400 drives the three lead screws 311 to rotate synchronously through an internal gear set or a synchronous linkage structure, thereby driving the corresponding walking support assembly 200 to perform radial adjustment at the same time, which helps to reduce the timing difference of each walking support assembly 200 during movement, and reduce problems such as device tilt or unstable support caused by asynchronous response. The robot's movement in the pipeline is thus more stable, and the spraying action is easier to maintain consistency, which improves the uniformity of coating thickness and operation reliability as a whole.

[0041] In addition, the second variable diameter assembly 320 uses two parallel shock absorbers 321, and together with the housing 100 and the walking support assembly 200, forms a parallelogram hinged connection relationship. This layout can cause the shock absorber 321 to produce elastic deformation when the robot encounters a sudden change in local pipe diameter, thereby effectively buffering the radial impact force. The second variable diameter assembly 320 is provided with two parallel shock absorbers 321 and together with the housing 100 and the walking support assembly 200, forms a parallelogram hinged connection relationship. The introduction of this passive variable diameter method can not only reduce the force impact of the walking support assembly 200, the housing 100 and the internal components, but also suppress the path deviation caused by vibration during the spraying process, thereby improving the robot's operating stability under complex working conditions, and enhancing its adaptability to variable pipe diameter environments and safety of use.

[0042] In some embodiments, Figure 6 As shown, the walking support assembly 200 includes a support frame 210 , two hub motor mounting frames 220 , two hub motors 230 , a pressure sensor 240 and a universal wheel 250 .

[0043] like Figure 2 and Figure 6As shown, the support frame 210 is symmetrically provided with two hub motor mounting frames 220 at both ends of the side surface facing away from the casing 100, the hub motor mounting frames 220 are fixedly connected to the support frame 210, and the two hub motors 230 are respectively mounted on the two hub motor mounting frames 220 and are used to contact with the inner wall of the pipeline for self-rotation. The support frame 210 is also provided with a pressure sensor 240 in the middle of the side surface facing away from the casing 100, and the pressure sensor 240 is arranged between the two hub motor mounting frames 220. The pressure sensor 240 is connected to a universal wheel 250 for contacting the inner wall of the pipeline during the process of the universal wheel 250 contacting the inner wall of the pipeline. The contact pressure between the walking support assembly 200 and the inner wall of the pipe is monitored in real time. The pressure sensor 240 can feed back the detected pressure data to the control system in real time. The control system can control the driving mechanism 400 according to the received pressure data to realize the radial movement adjustment of the walking support assembly 200 driven by the variable diameter mechanism. The support frame 210 is hinged to two parallel shock absorbers 321 at both ends of the surface of one side close to the casing 100, and the support frame 210 is also hinged to the connecting rod 313 at the middle position of one side of the hinged shock absorber 321. The connecting rod 313 and a shock absorber 321 in front are arranged in an alternating manner.

[0044] In this embodiment, the walking support assembly 200 includes two wheel hub motors 230, which are respectively mounted on symmetrically arranged wheel hub motor mounting frames 220. This symmetrical structure enables the robot to achieve balanced contact on both sides of the inner wall of the pipeline, facilitating the formation of a stable support relationship. When the two wheel hub motors 230 of the walking support assembly 200 are driven simultaneously, the robot can smoothly move forward or backward along the axial direction of the pipeline, and its walking process is relatively stable, and the deviation and tilting phenomena are effectively suppressed, which helps to improve the movement balance and the overall quality of the spraying process.

[0045] A pressure sensor 240 is provided in the middle of the support frame 210, which is located between the two hub motor mounting frames 220 and connected to the universal wheel 250. When the universal wheel 250 rolls against the inner wall of the pipe, the pressure sensor 240 can monitor the contact pressure between the walking support assembly 200 and the pipe wall in real time. When the pipe diameter changes or irregular fluctuations occur, the pressure sensor 240 can feed back the detected pressure data to the control system, so that the drive mechanism 400 can appropriately adjust the position of the support assembly. This structural arrangement helps to improve the robot's response speed and adaptability in a variable pipe diameter environment and enhance the intelligent response effect of the operation.

[0046] The support frame 210 is hingedly connected to two shock absorbers 321 on one side close to the housing 100. The two shock absorbers 321 are arranged in parallel, and a hinged connecting rod 313 is provided in the middle, and the connecting rod 313 is staggered with one of the front shock absorbers 321. This combination constitutes a flexible buffer structure. When the robot encounters local bulges or radial disturbances in the pipeline during operation, the shock absorber 321 can absorb the impact force and effectively disperse it to the support frame 210. The connecting rod 313 plays a role of constraint and guidance in the staggered structure, making the response of the walking support assembly 200 softer and the path more stable. On the whole, this structural design helps to reduce the vibration intensity of the device, reduce the impact load, and then protect the stable operation of the internal components, improve the reliability of the robot's long-term work and the consistency of the spraying operation.

[0047] In the pipeline arc spraying robot of this embodiment, when in use, the pressure sensor 240 is used to collect the contact pressure information between the universal wheel 250 and the inner wall of the pipeline in real time, and transmit the collected pressure data to the control system. As a pipeline arc spraying robot, a control system is usually configured to control the robot. In this embodiment, the control system is used to receive and process the real-time detection signal from the pressure sensor 240, and the control system processes and judges the received pressure data. When it is detected that the contact pressure between the walking support assembly 200 and the pipeline wall exceeds the set threshold, or an abnormal change occurs, the control system will output the corresponding control signal in time. The control system transmits the control signal to the driving mechanism 400 to control the operation of the driving mechanism 400, so as to adjust the rotation of the lead screw 311 through the first diameter reducing assembly 310, so as to realize the radial position adjustment of the three groups of walking support assemblies 200. With this sensing and feedback control mechanism, the robot can automatically adjust the support structure according to the real-time change of the inner diameter of the pipeline, improve the fitting stability and reduce the operation risk caused by interference or offset.

[0048] It should be noted that the control system is used as an auxiliary module in this embodiment to coordinate the sensing and driving process. Its structure and algorithm can be flexibly configured according to the specific application environment, and does not constitute the innovation focus of this technical solution. The core of this application is the structural design and collaborative working mode between the walking support assembly 200, the reducer and the drive mechanism 400. The setting of the control system provides good operation support for the robot of this application, but it is not the innovation core of the technical solution. As a conventional supporting unit for execution logic and signal processing, the control system adopts mature industrial control technology in this field, and its specific hardware selection and control logic are not the innovation focus of this application. Therefore, the electrical principles, program algorithms or control processes of the control system are not described in detail in this specification. For those skilled in the art, after reading this specification, they can reasonably select and apply the control module based on the disclosed structural combination.

[0049] In some embodiments, Figure 5 As shown, the driving mechanism 400 includes a driving motor I 410, a central gear 420 and three transmission gears 430. Figure 3 and Figure 5 As shown, the drive motor I 410 is fixedly mounted on the mounting frame 110 inside the housing 100, the output shaft of the drive motor I 410 is forward and coaxially arranged with the axis of the housing 100, the output shaft of the drive motor I 410 is connected to the center gear 420 to drive the center gear 420 to rotate, three transmission gears 430 are evenly arranged around the periphery of the center gear 420 at intervals of 120° and are respectively meshed with the center gear 420, the middle parts of the three transmission gears 430 are respectively connected with gear transmission shafts 431, the three gear transmission shafts 431 are rotatably mounted on the mounting frame 110 and are respectively connected to the three lead screws 311 through couplings to achieve synchronous rotation of the three lead screws 311.

[0050] In this embodiment, the drive motor I 410 is mounted on the mounting frame 110 in a coaxial manner with the axis of the housing 100, so that its output direction is consistent with the movement direction of the robot as a whole. Through this coaxial layout, the power transmission path is effectively simplified, and the rotational power can directly act on the central gear 420 without turning or changing direction. This structure helps to reduce the loss and error in the energy transmission process, improve the transmission efficiency, and reduce the number of intermediate connecting parts, further simplifying the overall structure, and improving the stability and operational reliability of the system.

[0051] The central gear 420 and the three transmission gears 430 are symmetrically arranged at intervals of 120° and evenly surround the central gear 420. This distribution method achieves balanced force in the structure. When the driving motor I 410 drives the central gear 420 to rotate, the three transmission gears 430 can obtain power synchronously to form a stable output state. Since this symmetrical arrangement can better suppress eccentric load and unbalanced torque, the transmission process is more stable, reducing vibration and impact caused by asynchronous transmission, which helps to improve the synchronization and coordination of the radial support mechanism.

[0052] In addition, the three transmission gears 430 are connected to the lead screw 311 through the gear transmission shaft 431, and a coupling is provided at the connection position. The addition of the coupling introduces a certain flexibility into the transmission structure, so that even if there is a slight installation error between the transmission shaft and the lead screw 311, it will not affect the transmission efficiency. This structure can alleviate the fatigue problem caused by stress concentration, thereby reducing wear and improving the stability and service life of the whole machine. The synchronous rotation of the three lead screws 311 is also easier to achieve, so that the walking support assembly can respond sensitively and maintain coordinated movement during the radial change of the pipeline, thereby helping to improve the continuity of the spraying operation and the uniformity of the spraying quality.

[0053] In some embodiments, Figure 1-Figure 3 As shown, the housing 100 is a regular hexagonal prism structure, and the housing 100 includes a front end plate 101, a rear end plate 102, a frame 103 and an outer side plate 104. The front and rear ends of the frame 103 are connected to the front end plate 101 and the rear end plate 102, respectively. Figure 2 As shown, the outer plate 104 is arranged on the outer periphery of the side of the frame 103, and the front plate 101, the rear plate 102, the frame 103 and the outer plate 104 are connected as a whole to form a housing 100 with a regular hexagonal prism structure, as shown in FIG. Figure 3 As shown, the rear end plate 102 is provided with an outlet 1021 for guiding the spray wire and the power cable to pass through.

[0054] See also Figure 3-Figure 5 A mounting frame 110 is provided at the middle and rear of the housing 100. The mounting frame 110 is connected to the frame 103. The mounting frame 110 is a frame of a regular hexagonal prism structure. Figure 4 and Figure 5 As shown, the mounting frame 110 is provided with a front fixing plate 111, a motor mounting plate 112 and a rear fixing plate 113 from front to back in sequence, and three fixed end seats Ⅰ1111 respectively rotatably connected to the rear ends of three lead screws 311 are evenly arranged on the front side surface of the front fixing plate 111, and the lead screw 311 passes through the fixed end seat Ⅰ1111 and the front fixing plate 111 and is connected to the gear transmission shaft 431 through a coupling, and a driving motor Ⅰ410 is fixedly installed in the middle position of the motor mounting plate 112, and a bearing Ⅰ111 connected to the output shaft of the driving motor Ⅰ410 is arranged in the middle of the front fixing plate 111. 2. The motor mounting plate 112 is also evenly provided with bearings II 1121 for connecting with the three gear transmission shafts 431 respectively. The rear fixing plate 113 is connected to the front side of the rear end plate 102 and is also connected to the frame 103. The spraying assembly 500 is installed on the rear fixing plate 113. A front fixing plate 120 is also provided at the front of the interior of the housing 100. The front fixing plate 120 is connected to the rear side of the front end plate 101 and is also connected to the frame 103. Three fixed end seats II 121 are evenly provided on the rear side surface of the front fixing plate 120 and are respectively connected to the front ends of the three lead screws 311 for rotation.

[0055] In this embodiment, the housing 100 adopts a regular hexagonal prism structure, which is composed of a front end plate 101, a rear end plate 102, a frame 103 and an outer side plate 104, and the whole constitutes a rigid and compact frame. The regular hexagonal prism shape of the housing 100 has good symmetry, which can more efficiently adapt to the spatial distribution in the pipeline and improve the stability of the structure. When the robot runs along the inside of the pipeline, the uniform force effect brought by the regular hexagonal prism structure helps to reduce the deviation and shaking during operation, so that it maintains better posture stability during the spraying operation, thereby improving the operation reliability of the robot in complex environments.

[0056] At the same time, a mounting frame 110 is provided inside the housing 100, and is tightly combined with the frame 103 through a structural connection. The mounting frame also adopts a regular hexagonal prism frame structure to enhance the overall support capacity. On the mounting frame 110, a front fixing plate 111, a motor mounting plate 112 and a rear fixing plate 113 are provided in sequence from front to back, constructing a modular layout with clear partitions and compact arrangement. Among them, the front fixing plate 111 is close to the front end of the mounting frame 110. Its main function is to provide structural rotation support for the front ends of the three lead screws 311, and a fixed end seat Ⅰ1111 and a bearing Ⅰ1112 are provided to facilitate the lead screw 311 to achieve stable axial rotation during the driving process. Since the bearing Ⅰ1112 is a key supporting element on the front fixing plate 111, its setting position is directly opposite to the output shaft direction of the drive motor Ⅰ410, and is directly connected and matched with the output shaft of the drive motor Ⅰ410. Structurally, the function of bearing Ⅰ1112 is to provide stable radial support for the output shaft of drive motor Ⅰ410, so that the output shaft can maintain a coaxial rotation state during high-speed operation, and prevent mechanical interference or efficiency loss caused by deflection or slight bending. On the other hand, bearing 1112 guides the rotation of the output shaft of drive motor Ⅰ410 to the central gear 420, and plays the role of the intermediate hub of the transmission path. Through the rigid support and rotation guidance of bearing Ⅰ1112, the output shaft of drive motor Ⅰ410 rotates more smoothly, which helps to reduce the jitter and impact in torque transmission, and further improve the response speed and long-term operation reliability of the entire drive system. Therefore, it is necessary to install bearing Ⅰ1112 on the front fixing plate 111. The motor mounting plate 112 is located between the front fixing plate 111 and the rear fixing plate 113, and is mainly used to install the drive motor Ⅰ410. At the same time, three bearings Ⅱ1121 are provided to provide support for the stable rotation of the gear transmission shaft 441, so that the power is smoothly transmitted from the drive motor Ⅰ410 to the three lead screws 311. The rear fixing plate 113 is located at the end of the mounting frame 110, and together with the frame 103 and the rear plate 102, forms a stable rear structural foundation, and is also used to install the spray assembly 500 and provide an installation support platform. The front fixing plate 111, the motor mounting plate 112 and the rear fixing plate 113 of the mounting frame 110 are distributed front and back and have complementary functions, which not only realizes the structural separation and functional division of the internal components, but also improves the operating stability of each component, reduces structural interference and vibration, and helps the robot to operate reliably for a long time.

[0057] In order to facilitate the arrangement of cables during the spraying process, an outlet 1021 is provided on the rear end plate 102 for leading out the spray wire and power cables, avoiding obstacles caused by cable entanglement and improving operational flexibility. In addition, the front fixed plate 111 and the motor mounting plate 112 are respectively provided with a fixed end seat Ⅰ1111, a bearing Ⅰ1112 and a bearing Ⅱ1121 to support the gear transmission shaft 431 and the lead screw 311. These bearings and supporting components can provide stable support during high-speed rotation and reduce the degree of deflection and vibration during operation. The structure provides strong support for the stability of the transmission system, thereby improving the accuracy and response efficiency of radial adjustment, and further enhancing the uniformity of the spraying process and the overall operation effect.

[0058] In some embodiments, Figure 3 , Figure 7 and Figure 8 As shown, the spray assembly 500 includes a spray gun 510 and a spray tube 530. The spray gun 510 is installed on the inner side of the rear end of the housing 100. The spray gun 510 is connected to the spray tube 530 located outside the rear end of the housing 100. The spray gun 510 is provided with a wire feeding wheel 511 and an air cap 512. The wire feeding wheels 511 are provided on both sides of the spray gun 510 and transport the spray wire to the spray gun 510. The air cap 512 is located at the center of the spray gun 510 and remains coaxial with the coaxial spray tube 530, so as to guide the molten spray wire to form a high-speed airflow.

[0059] The spray assembly 500 used in this embodiment includes a spray gun 510 and a spray tube 530, wherein the spray gun 510 is arranged at an internal position at the rear end of the housing 100, and the spray tube 530 is connected to the spray gun 510 and is located outside the housing 100. This embodiment uses this combination of built-in and exposed layout to enable the spray gun 510 to obtain better structural protection inside the housing 100, thereby reducing the risk of the robot being hit by external forces during movement. The external form of the spray tube 530 also makes the spraying operation more flexible and convenient, thereby improving the applicability and operational reliability of the robot under different working conditions.

[0060] In practical applications, such as Figure 7 and Figure 8As shown, the spray pipe 530 is arranged at the rear end of the housing 100 in a rotatable connection manner, and a driving motor II 520 for driving the spray pipe 530 to rotate is fixedly installed inside the rear end of the housing 100. The rear fixed plate 113 provides a mounting structure for the driving motor II 520. The output shaft of the driving motor II 520 is connected to a main gear 540 located outside the rear end of the housing 100. A sub-gear 531 is fixedly installed on the spray pipe 530, and the main gear 540 is meshed with the sub-gear 531. When the driving motor II 520 is running, the output shaft of the driving motor II 520 drives the main gear 540 to rotate, and drives the sub-gear 531 and the spray pipe 530 installed by the sub-gear 531 to rotate together, so as to better perform arc spraying through the spray pipe 530. In one embodiment, one end of the spray pipe 530 is fixedly connected to the spray gun 510, and the two are coaxially arranged to form an integrated structure. When the drive motor II 520 is running, the output shaft of the drive motor II 520 drives the main gear 540 mounted thereon to rotate, and the main gear 540 engages with the sub-gear 531 on the spray tube 530, thereby driving the spray tube 530 and its fixedly connected spray gun 510 to rotate synchronously. This structure allows the spray gun 510 to rotate around the central axis of the pipeline during the spraying process, which helps to form an annular or spiral metal spraying path, improve the coverage and uniformity of the spray coating on the inner wall of the pipeline, and is suitable for scenes with high requirements for coating consistency. In another embodiment, the spray gun 510 remains fixed relative to the housing 100, and the spray tube 530 is connected to the spray gun 510 through a universal joint or other flexible connection structure. At this time, the drive motor II 520 still drives the main gear 540 to rotate, and drives the spray tube 530 to rotate through the sub-gear 531, so as to realize the spraying operation of the spray tube 530 under the rotating condition.

[0061] In the structure of the spray gun 510, a wire feeding wheel 511 and an air cap 512 are provided. The wire feeding wheels 511 are located on both sides of the spray gun 510, and continuously deliver the spray wire to the inside of the spray gun 510 by clamping. This symmetrical clamping structure helps to keep the spray wire in a stable forward state, reduces the probability of problems such as slipping and jumping, and further helps to improve the stability of the spray wire entering the arc melting area, so that the metal wire can be more fully melted and continuously supplied during the arc heating process, and improves the consistency and uniformity of the spraying operation.

[0062] The air cap 512 is located in the central area of ​​the spray gun 510 and is coaxially arranged with the spray pipe 530. This coaxial structure can better guide the molten spray wire to mix with the compressed gas to form a spray airflow with good directionality and high flow rate. With this centralized airflow structure, the spray material can be more evenly attached to the inner wall surface of the pipe, thereby helping to reduce problems such as inconsistent spray layer thickness or insufficient adhesion caused by airflow dispersion or unstable pressure, and further improving the overall quality and operating efficiency of the spraying process.

[0063] It should be noted that the main innovation of the pipeline arc spraying robot of the embodiment of the present application lies in the setting of the walking support mechanism, the diameter reducing mechanism and the driving mechanism 400 and the coordinated use thereof. For the use of the spraying assembly 500, those skilled in the art can select various types of arc spraying devices or other spraying equipment suitable for metal coating construction according to different working conditions. For example, the spraying assembly 500 can adopt an arc spraying gun with a wire feeding wheel and an air cap structure, or can select a plasma spraying device, a thermal spraying gun or other known spraying execution components as needed. In specific applications, as long as the selected spraying assembly 500 is compatible with the robot structure and has stable wire feeding, heating and spraying functions, the technical effect of the present application can be achieved. Therefore, the specific structure and type of the spraying assembly 500 do not constitute the core innovative content of the present application, and this specification will no longer make too many restrictions and explanations on this.

[0064] In some embodiments, Figure 1 and Figure 2 As shown, a monitoring and lighting device 800 is disposed above the front end of the housing 100. The monitoring and lighting device 800 includes a camera 810 and an LED lighting lamp 820, which are used to monitor the spraying operation area in real time and provide auxiliary lighting.

[0065] In this embodiment, a monitoring and lighting device 800 is arranged above the front end of the housing 100, and the monitoring and lighting device 800 includes a camera 810 and an LED lighting lamp 820. This position arrangement enables the camera 810 to have a good forward observation angle, and can obtain image information inside the pipe in front of the robot in real time; the LED lighting lamp 820 is arranged adjacent to the camera 810, providing a stable light source support for the shooting area, and enhancing the brightness and clarity of the image. This combination of vision and lighting configuration helps to improve the robot's perception ability in complex or low-light environments, and provides a reliable visual basis for subsequent operations.

[0066] During the operation of the robot, the camera 810 and the LED lighting 820 work together to provide continuous lighting in a dim or even completely dark pipeline environment, and obtain high-definition images to facilitate observation of whether there is corrosion, damage or obstacles on the inner wall of the pipeline. The stable light source provided by the lighting device enables the camera 810 to capture real-time images with rich details and clear contrast, so as to promptly detect abnormal areas during operation, reduce the probability of missed spraying or repeated spraying due to unclear vision, and indirectly improve spraying efficiency and construction quality.

[0067] The monitoring and lighting device 800 is directly installed above the front end of the housing 100. The overall structure is compact and the layout is reasonable, avoiding structural interference caused by excessive wiring or additional bracket settings. The stable connection between the monitoring and lighting device 800 and the housing enables it to maintain a consistent movement trajectory during the operation of the robot, and is not prone to shaking or offset, which helps to ensure the continuous stability of the image output. At the same time, the integrated structure reduces the maintenance frequency and the probability of failure of the device due to vibration, which improves the continuity of the robot's operation while enhancing the overall safety of the spraying process.

[0068] In practical applications, an integrated structural design can also be adopted to integrate the camera and LED lighting into the same housing, which can simplify installation and wiring, reduce the size of the device, and help further improve the compactness and integration of the robot structure. Whether a split or integrated structure is adopted, as long as the image acquisition and lighting functions can be achieved, it can be regarded as an alternative implementation of the present application.

[0069] In some embodiments, Fig. 9 As shown, the pipeline arc spraying robot of the present application further includes a cleaning mechanism 600, which is installed at the outer front end of the housing 100 to clean the inner wall surface of the pipeline.

[0070] In this embodiment, a cleaning mechanism 600 is provided at the outer front end of the housing 100, and the structure is located at the front end of the robot's travel direction. When the robot is running inside the pipeline, the cleaning mechanism 600 first contacts the inner wall of the pipeline, and can promptly remove dust, rust residue and loose debris attached to the wall surface, so that the area to be sprayed remains relatively clean. Pre-treatment cleaning helps to reduce the interference of impurities on the subsequent spraying process, thereby improving the firmness of the bonding between the coating and the metal substrate, which has a positive effect on improving the quality of the sprayed layer.

[0071] The cleaning mechanism 600 is installed at the front end of the housing 100 and can keep pace with the whole machine when the robot moves. Since the cleaning mechanism is located at the front end, a natural spatial separation is formed between the operation process and the spraying process, reducing the possibility of functional interference. Each advance can achieve timely cleaning of the front area, which helps to improve the coordination efficiency between cleaning and spraying, making the overall construction process smoother, improving the operation rhythm, and improving construction efficiency accordingly.

[0072] In some embodiments, Fig. 9 As shown, the pipeline arc spraying robot of the present application further includes a dust suction mechanism 700, which is located behind the cleaning mechanism 600 and is arranged at the rear bottom of the housing 100, and is used to suck impurities and dust cleaned by the cleaning mechanism 600.

[0073] In this embodiment, a dust suction mechanism 700 is provided at the rear bottom of the housing 100, which is located behind the cleaning mechanism 600. This arrangement of front sweeping and back suction enables the dust suction mechanism 700 to immediately suction the impurities and dust that fall after the cleaning mechanism 600 operates. When the robot moves in the pipeline, the debris cleaned by the cleaning mechanism 600 will settle to the lower area of ​​the pipeline. The dust suction mechanism 700 is located at the rear bottom of the housing 100, and can intervene in time to reduce the residual impurities in the pipeline, which helps to maintain the clean state of the working surface before spraying.

[0074] The dust collecting mechanism 700 is compactly installed at the rear bottom of the housing 100. Its lower installation position is close to the bottom of the pipe, which is suitable for collecting naturally settled dust particles. Under the action of gravity, most of the cleaned impurities will accumulate under the robot. The location of the dust collecting mechanism 700 can shorten the dust collection path, improve the suction efficiency, and reduce the risk of secondary pollution caused by dust accumulation in the pipe.

[0075] By using the dust collection mechanism 700 and the cleaning mechanism 600 together, a combined layout that is closely connected front and back can be formed, so that the two functional modules of cleaning and dust collection are continuous in space and synchronized in time, forming a coherent integrated operation process. This collaborative operation mode reduces the risk of contamination of the spraying area by cleaning residues, and helps to improve the cleanliness of the working environment inside the pipeline. Completing the dust collection process immediately after cleaning not only optimizes the construction rhythm, but also indirectly enhances the bonding effect between the spray layer and the pipe wall, which has a positive effect on improving the spraying quality and extending the coating life.

[0076] The method for using the pipeline arc spraying robot provided in the embodiment of the present application is as follows: Before using the pipeline arc spraying robot described in this embodiment to perform operations, the robot can be introduced from one end of the pipeline to the working area to be sprayed according to the construction requirements, and the connection between the power cable and the spray wire is completed at the same time. After the robot is powered on, the driving mechanism 400 starts to operate, and the corresponding gear transmission shaft 431 is driven to rotate synchronously through the central gear 420 and the three transmission gears 430, thereby driving the three lead screws 311 to produce synchronous rotation. The slider 312 moves axially under the drive of the lead screw 311, and drives the three groups of walking support assemblies 200 to expand radially through the connecting rod 313, so that it contacts the inner wall of the pipeline to form a support structure. During the positioning process, the shock absorber 321 in the second variable diameter assembly 320 plays a flexible adjustment role, adapts to the local pipe diameter deviation, and improves the stability of the initial fit.

[0077] After the support structure is unfolded, the hub motor 230 starts to run, driving the support wheel to roll slowly along the inner wall of the pipe, thereby driving the robot forward. During the movement, the universal wheel 250 maintains continuous contact with the inner wall of the pipe, and the contact pressure is monitored in real time through the pressure sensor 240, and the data is fed back to the control system. When the pressure is abnormal or a change in the pipe diameter is detected, the control system immediately controls the drive mechanism 400 to adjust the rotation state of the screw 311, so that the three groups of walking support assemblies 200 can make radial displacement adjustments synchronously. This real-time responsive adjustment mechanism helps the robot posture to always fit the inner wall of the pipe, effectively reduces the risk of running deviation or jamming, and enhances the robot's adaptability in a variable diameter environment.

[0078] When the robot reaches the target spraying area, the spraying assembly 500 is started to operate. Under the guidance of the air cap 512, the spray gun 510 sprays a high-speed molten metal flow, and at the same time continuously supplies wire through the spray tube 530 to form a metal coating on the inner wall surface of the pipe. During the operation, the cleaning mechanism 600 arranged at the front end first cleans the floating dust, rust and other impurities on the pipe wall to create a better attachment environment for subsequent spraying. The dust suction mechanism 700 follows closely and promptly sucks the dust particles and splashing impurities generated during the spraying to help maintain the cleanliness of the working environment and the uniform quality of the spray layer. After the spraying is completed, the robot can return along the original route, or exit from the other end as needed, completing a continuous and efficient inner wall spraying operation process.

[0079] During the use of the pipeline arc spraying robot provided in this embodiment, in order to ensure the stable development of the spraying operation, it is necessary to pay attention to the following operating points: Before introducing the robot into the pipeline, it should be confirmed in advance that the internal channel of the pipeline is unobstructed and there are no large-sized obstacles to avoid structural jamming or damage during the operation of the robot. At the same time, in order to improve the adjustment accuracy of the first reducer component 310, it is recommended to perform no-load debugging on the drive mechanism 400 before the initial operation to ensure that the linkage structure between the gear transmission shaft 431 and the lead screw 311 is responsive and has no obvious deviation. The spray wire should be reasonably selected according to the coating process requirements, and should be fully unfolded and tensioned to prevent entanglement or slipping during the wire feeding process.

[0080] During the operation of the robot, the data communication between the pressure sensor 240 and the control system should be kept real-time and stable to avoid the support structure 200 failing to make timely position adjustments due to signal delays. If used in a complex pipe diameter environment, it is recommended to conduct a short-range rehearsal run before formal operation to observe the response status of the walking support assembly 200 and the shock absorber 321. If necessary, the initial support expansion range can be manually adjusted to better adapt to non-circular or partially deformed pipe wall conditions. In addition, before the spray assembly 500 is powered on, check whether the wire feed wheel 511 and the air cap 512 have problems such as nozzle clogging and wire jamming to ensure that the metal wire can be smoothly fed into the spraying area and form a continuous and stable molten spray flow.

[0081] After the operation is completed, the dust suction mechanism 700 should continue to operate for a period of time to completely suck out the metal particles and dust remaining during the spraying process to reduce the impact on the subsequent spraying effect. In order to extend the service life of the robot, it is recommended to perform necessary lubrication maintenance and cleaning on key transmission and buffer components such as the hub motor 230, the lead screw 311, and the shock absorber 321 after each use. Especially in high dust and high humidity conditions, the dust and impurities attached to the surface of the structure should be removed in time to keep the robot in good operating condition. Through the above operating specifications and usage precautions, the practicality and stability of the device can be effectively enhanced, providing reliable support for actual pipeline spraying operations.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, ordinary technicians in the field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A pipeline arc spraying robot, characterized in that: It includes a casing, a walking support mechanism, a spraying assembly, a reducing mechanism and a driving mechanism; The spraying assembly is arranged at the rear end of the casing, and is used to form a metal coating on the inner wall of the pipeline by arc spraying; the walking support mechanism includes three groups of walking support assemblies, which are evenly distributed at 120° intervals on the circumference of the casing, and are used to respectively roll in contact with the inner wall of the pipeline to realize the overall movement of the robot; the diameter-changing mechanism includes three groups of adaptive diameter-changing assemblies that are evenly arranged in a one-to-one correspondence with the three groups of walking support assemblies, each group of the adaptive diameter-changing assemblies is respectively connected to a corresponding group of walking support assemblies, the driving mechanism is installed in the casing and connected to the diameter-changing mechanism, and the diameter-changing mechanism can drive the three groups of walking support assemblies to produce radial movement relative to the casing under the control of the driving mechanism to adapt to the change in the diameter of the pipeline, and each group of the adaptive diameter-changing assemblies includes a first diameter-changing assembly for actively changing the diameter to actively control the walking support assembly and a second diameter-changing assembly for passively changing the diameter to adapt to the walking support assembly to perform passive buffering adjustment during its movement in the pipeline.

2. The pipeline arc spraying robot according to claim 1, characterized in that: The three groups of adaptive variable diameter components are connected to a driving mechanism, and the three groups of adaptive variable diameter components synchronously drive the three groups of walking support components under the control of the driving mechanism; The first diameter-changing component adopts a screw slider linkage mechanism to drive the walking support component to produce radial movement relative to the casing in the form of rod-type retraction and extension. The three first diameter-changing components of the diameter-changing mechanism are connected to the driving mechanism to realize synchronous control of the three groups of walking support components. Each second diameter-changing component is connected between the corresponding walking support component and the casing in an articulated manner. The second diameter-changing component is equipped with a shock-absorbing unit to realize passive buffering adjustment.

3. The pipeline arc spraying robot according to claim 2, characterized in that: The first diameter-changing assembly includes a lead screw, a slider and a connecting rod; the lead screw is rotatably installed in the housing in an arrangement manner parallel to the axial direction of the housing, the slider is arranged on the lead screw in a threaded manner and can move along the axial direction of the lead screw when the lead screw rotates; one end of the connecting rod is hingedly connected to the slider, and the other end of the connecting rod is hingedly connected to the corresponding walking support assembly, and the slider can convert the linear motion of the slider into the radial telescopic motion of the walking support assembly relative to the housing when the slider moves axially on the lead screw; The three lead screws of the diameter reducing mechanism are evenly arranged at intervals of 120° along the circumferential direction inside the housing, and the three lead screws are commonly connected to a driving mechanism, which is arranged at the middle and rear position inside the housing. The driving mechanism drives the three lead screws to rotate synchronously through a gear set or a synchronous linkage structure to achieve synchronous adjustment of the three groups of first diameter reducing components; The second diameter-changing assembly includes two shock absorbers arranged in parallel. The two shock absorbers are arranged as shock absorbing units between the walking support assembly and the casing to form a parallelogram hinge structure for buffering radial impact when the pipe diameter fluctuates.

4. The pipeline arc spraying robot according to claim 3, characterized in that: The walking support assembly includes a support frame, two hub motor mounting frames, two hub motors, a pressure sensor and a universal wheel; The support frame is symmetrically provided with two hub motor mounting frames at both ends of a side surface facing away from the casing, the hub motor mounting frames are fixedly connected to the support frame, the two hub motors are respectively mounted on the two hub motor mounting frames and are used to contact the inner wall of the pipeline for self-rotation, the support frame is also provided with a pressure sensor in the middle of a side surface facing away from the casing, the pressure sensor is arranged between the two hub motor mounting frames, the pressure sensor is connected with a universal wheel, and is used to monitor the contact pressure between the walking support assembly and the inner wall of the pipeline in real time during the contact between the universal wheel and the inner wall of the pipeline, the pressure sensor can feed back the detected pressure data to the control system in real time, and the control system can control the driving mechanism according to the received pressure data to realize the radial movement adjustment of the walking support assembly driven by the variable diameter mechanism, the support frame is hinged with two parallel arranged shock absorbers at both ends of a side surface close to the casing, and the support frame is also hinged with a connecting rod at the middle position of one side of the articulated shock absorber, and the connecting rod is staggered with a shock absorber in front.

5. The pipeline arc spraying robot according to claim 3 or 4, characterized in that: The driving mechanism includes a driving motor I, a center gear and three transmission gears. The driving motor I is fixedly mounted on a mounting frame inside the casing. The output shaft of the driving motor I faces forward and is coaxially arranged with the axis of the casing. The output shaft of the driving motor I is connected to the center gear to drive the center gear to rotate. The three transmission gears are evenly arranged around the periphery of the center gear at intervals of 120° and are respectively meshed with the center gear. The middle parts of the three transmission gears are respectively connected to gear transmission shafts. The three gear transmission shafts are rotatably mounted on the mounting frame and are respectively connected to three lead screws through couplings to achieve synchronous rotation of the three lead screws.

6. The pipeline arc spraying robot according to claim 5, characterized in that: The housing is a regular hexagonal prism structure, and the housing includes a front end plate, a rear end plate, a frame and an outer side plate, the front and rear ends of the frame are respectively connected to the front end plate and the rear end plate, the outer side plate is arranged on the outer periphery of the side of the frame, the front end plate, the rear end plate, the frame and the outer side plate are connected as a whole to form a housing with a regular hexagonal prism structure, and the rear end plate is provided with an outlet for guiding the spray wire and the power cable to pass through; A mounting frame is arranged at the middle and rear part of the casing, the mounting frame is connected to the frame, the mounting frame is a frame of a regular hexagonal prism structure, a front fixing plate, a motor mounting plate and a rear fixing plate are arranged on the mounting frame from front to back in sequence, three fixed end seats I which are respectively rotatably connected to the rear ends of three lead screws are evenly arranged on the front side surface of the front fixing plate, the lead screw is connected to the gear transmission shaft through a coupling after passing through the fixed end seat I and the front fixing plate, a driving motor I is fixedly installed at the middle part of the motor mounting plate, a bearing I connected to the output shaft of the driving motor I is arranged in the middle part of the front fixing plate, bearings II which are respectively connected to the three gear transmission shafts are also evenly arranged on the motor mounting plate, the rear fixing plate is connected to the front side of the rear end plate and is connected to the frame at the same time, a spraying assembly is installed on the rear fixing plate; a front fixing plate is also arranged at the front part of the casing, the front fixing plate is connected to the rear side of the front end plate and is connected to the frame at the same time, three fixed end seats II which are respectively rotatably connected to the front ends of the three lead screws are evenly arranged on the rear side surface of the front fixing plate.

7. The pipeline arc spraying robot according to claim 5, characterized in that: The spray assembly includes a spray gun and a spray pipe, wherein the spray gun is installed on the inner side of the rear end of the housing, and the spray gun is connected to the spray pipe located outside the rear end of the housing, and a wire feeding wheel and an air cap are provided on the spray gun, wherein the wire feeding wheels are provided on both sides of the spray gun and transport the spray wire to the spray gun, and the air cap is located at the center of the spray gun and keeps coaxial with the coaxial spray pipe, and is used to guide the molten spray wire to form a high-speed airflow; The spray pipe is arranged at the rear end of the casing in a rotatable connection manner, and a driving motor II for driving the spray pipe to rotate is fixedly installed inside the rear end of the casing. A main gear is arranged on the outer side of the rear end of the driving motor II, and a sub-gear is fixedly installed on the spray pipe, and the main gear is meshed with the sub-gear.

8. The pipeline arc spraying robot according to claim 5, characterized in that: A monitoring and lighting device is arranged above the front end of the casing. The monitoring and lighting device includes a camera and an LED lighting lamp, which is used for real-time monitoring of the spraying operation area and providing auxiliary lighting.

9. The pipeline arc spraying robot according to any one of claims 1 to 4, characterized in that: It also includes a cleaning mechanism, which is installed at the outer front end of the casing and is used to clean the inner wall surface of the pipeline.

10. The pipeline arc spraying robot according to claim 9, characterized in that: It also includes a dust suction mechanism, which is located behind the cleaning mechanism and is arranged at the rear bottom of the casing, and is used to suck impurities and dust cleaned by the cleaning mechanism.

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