Pipe cutting robot and cutting method thereof

Abstract

The application discloses a pipeline cutting robot and a cutting method thereof, and relates to the technical field of cutting robots, which comprises a body, a rotating plate, a lifting stabilizing mechanism, an illuminating and photographing mechanism and a multidirectional cutting mechanism, the top end of the body is fixedly connected with a fixing frame, the lifting stabilizing mechanism for stabilizing the body is arranged on the fixing frame, the body and the fixing frame are provided with the illuminating and photographing mechanism, the rotating plate is rotatably arranged in the body, and the multidirectional cutting mechanism is arranged on the rotating plate. The lifting stabilizing mechanism, the illuminating and photographing mechanism and the multidirectional cutting mechanism are matched and arranged, the moving wheels of the body and the lifting stabilizing mechanism can be used to stably and stably displace in different specifications of pipelines, meanwhile, the illuminating and photographing mechanism can provide good illumination and photographing, the multidirectional cutting mechanism can be replaced according to the required cutting objects in the pipeline, and the multidirectional cutting mechanism can continuously cope with various obstacles without exiting the pipeline, so that downtime is reduced.

Description

Technical Field

[0001] This invention relates to the field of cutting robot technology, and in particular to a pipe cutting robot and its cutting method. Background Technology

[0002] The pipe cutting robot is a pipe cleaning device that can replace manual labor. It can perform cutting and crushing operations inside pipes. The equipment adopts a modular structure design, and the blades can be flexibly replaced to adapt to the cutting and crushing needs of various scenarios. The equipment comes standard with a 120-meter electric cable trolley, a 100-meter air hose reel, an air compressor, and a wireless visual control system to achieve efficient, powerful, and accurate cleaning operations.

[0003] Existing pipe cutting robots can usually only be equipped with a single tool. When encountering obstacles that cannot be handled by a single tool while working inside the pipe, the operator needs to completely remove the equipment from the pipe and manually replace the tool from the outside. This process is time-consuming and laborious, seriously disrupts the continuity of the operation, and greatly reduces the overall cleaning efficiency under complex working conditions. Summary of the Invention

[0004] The purpose of this invention is to provide a pipe cutting robot and its cutting method to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a pipe cutting robot, comprising:

[0006] The machine body has a fixed frame fixedly connected to its top, and a lifting and stabilizing mechanism for stabilizing the machine body is provided on the fixed frame. An illumination and camera mechanism for observation is provided on the machine body and the fixed frame.

[0007] A rotating plate is rotatably disposed inside the machine body. A first pneumatic motor is fixedly installed inside the machine body. The output end of the first pneumatic motor is connected to the rotating plate in a transmission manner. A multi-directional cutting mechanism is provided on the rotating plate.

[0008] Preferably, the lifting and stabilizing mechanism includes:

[0009] A lifting frame, which is mounted on a fixed frame;

[0010] The first support wheel is rotatably mounted at the end of the lifting frame via a bearing;

[0011] The second support wheel is rotatably connected to the lifting frame, and the first support wheel and the second support wheel are used to fit against the inner wall of the pipe;

[0012] A cylinder, which is rotatably mounted inside a fixed frame;

[0013] A push rod is fixedly connected to the lifting frame, and the output end of the cylinder is connected to the push rod for transmission.

[0014] Preferably, the lighting camera mechanism includes:

[0015] Mounting block, which is fixedly and interlocked with the lifting frame;

[0016] The front camera is fixedly mounted on the outer wall of the mounting block;

[0017] The rear camera is embedded in the outer wall of the body;

[0018] The front lighting lamp has beveled surfaces at both the top and bottom of the mounting block, and the front lighting lamp is fixedly mounted on the beveled surfaces.

[0019] A rear-mounted light is fixedly embedded in the outer wall of the device and is used to provide illumination for the rear camera.

[0020] Preferably, the multi-directional cutting mechanism includes:

[0021] A rotating frame, which is fixedly mounted on a rotating plate;

[0022] The second pneumatic motor is fixedly installed on the outer wall of the rotating frame;

[0023] A rotating frame, wherein the rotating frame is rotatably disposed inside a rotating frame, and the output end of the second pneumatic motor is connected to the rotating frame for transmission.

[0024] A rotating cylinder, which is rotatably disposed inside a rotating frame;

[0025] The third pneumatic motor, the output end of which is connected to the rotating cylinder via a transmission;

[0026] A first cutting assembly is disposed on a rotating cylinder;

[0027] The second cutting component is disposed on the rotating cylinder.

[0028] Preferably, the first cutting component includes:

[0029] The fourth pneumatic motor is fixedly installed inside the rotating cylinder;

[0030] The cutting blade is connected to the output of the fourth pneumatic motor via a drive connection.

[0031] Preferably, the first cutting component further includes:

[0032] An annular tube, which is fixedly sleeved on the outside of the rotating cylinder;

[0033] The nozzles are fixedly installed at equal intervals on the outer wall of the annular tube and are used to blow air onto the cutting blade.

[0034] A connecting pipe is symmetrically and fixedly connected to the top and bottom of the rotating cylinder. An air groove is provided inside the rotating cylinder, and the connecting pipe is used to connect the annular pipe and the air groove.

[0035] Preferably, the second cutting component includes:

[0036] A plasma cutting head is fixedly installed on the outer wall of the rotating cylinder;

[0037] A baffle, which is rotatably mounted on the outer wall of the plasma cutting head;

[0038] The sliding rod has an elastic groove inside the rotating cylinder, and the end of the sliding rod is fixedly connected to the inner wall of the elastic groove.

[0039] A slider, wherein the slider is slidably interlocked with a sliding rod;

[0040] A compression spring is sleeved on the outside of the slide rod, one end of the compression spring is fixedly connected to the slider, and the other end of the compression spring is fixedly connected to the inner wall of the elastic groove.

[0041] An extrusion rod is fixedly connected to a slider and slidably inserted into a rotating cylinder.

[0042] An extrusion plate is fixedly connected to one end of an extrusion rod, and a baffle plate cooperates with the extrusion plate.

[0043] An extrusion block, which is fixedly connected to both sides of the extrusion rod;

[0044] A guide plate is fixedly installed inside the air duct, and the guide plate has guide grooves for guiding airflow.

[0045] Piston plate, which is slidably disposed between guide plates, is used to select the guide groove to be used;

[0046] The air pipe is fixedly installed on the outside of the rotating frame and is used to deliver gas to the air tank;

[0047] A guide frame is fixedly connected to a piston plate. An extrusion groove is provided on the inner wall of the guide frame, and the extrusion block is slidably inserted into the inner cavity of the extrusion groove.

[0048] Preferably, a fifth pneumatic motor is fixedly installed on the outer wall of the rotating frame, and the output end of the fifth pneumatic motor is connected to the baffle for transmission.

[0049] Preferably, an electrical interface is embedded in the outer wall of the machine body, and an air interface is fixedly installed on the outer wall of the machine body.

[0050] This invention also provides a cutting method for a pipe cutting robot, including the following specific steps:

[0051] Step 1: Send the robot into the pipe using the robot's moving wheels. Adjust the height of the lifting frame using the cylinder of the lifting and stabilizing mechanism to make the first support wheel and the second support wheel fit tightly against the inner wall of the pipe to stabilize the robot. Then, turn on the front and rear cameras of the lighting and camera mechanism, as well as the corresponding front and rear lights, to conduct all-round observation and positioning of the internal environment of the pipe and the obstacles to be cut.

[0052] Step 2: Operate the first pneumatic motor to drive the rotating plate to rotate for circumferential adjustment. At the same time, operate the second pneumatic motor to drive the rotating frame to rotate and the third pneumatic motor to drive the rotating cylinder to rotate, thereby realizing the fine adjustment of the multi-directional cutting mechanism in radial and yaw angles, so that the cutting tool is accurately aligned with the obstacle.

[0053] Step 3: Depending on the material of the obstacle, select the first or second cutting component by rotating the cylinder. If the first cutting component is selected, start the fourth pneumatic motor to drive the cutting blade to rotate. High-pressure airflow is sprayed out from the nozzle through the connecting pipe and the annular pipe for cooling and dust removal. If the second cutting component is selected, start the fifth pneumatic motor to rotate the baffle. This action is linked to the extrusion plate, extrusion rod, and extrusion block guide frame, pushing the piston plate to move to switch the air path, so that the high-pressure airflow is guided into the plasma cutting head to generate a plasma arc for cutting.

[0054] Step 4: After completing the cutting, control the robot to retreat, use the rear camera and rear lighting to observe the path behind to ensure safe exit. If necessary, it can move forward again and use the front-view system to re-inspect the cutting area to confirm the operation effect.

[0055] The technical effects and advantages of this invention are as follows:

[0056] (1) The present invention utilizes a combination of lifting and stabilizing mechanism, lighting and camera mechanism and multi-directional cutting mechanism. The machine body’s moving wheels and lifting and stabilizing mechanism can make stable displacement inside pipes of different specifications. At the same time, the lighting and camera mechanism can provide good lighting and imaging. The multi-directional cutting mechanism can be changed according to the items to be cut inside the pipe. It can continuously deal with various obstacles such as tree roots, cement and metal without leaving the pipe, reducing downtime and realizing efficient, continuous and safe intelligent pipe cleaning operation, which is easy to use.

[0057] (2) The present invention utilizes a combination of a rotating plate, a rotating frame, a rotating frame and a rotating cylinder. By utilizing the rotation of the rotating plate and the rotation of the rotating frame inside the rotating frame, and the rotation of the rotating cylinder inside the rotating frame, the multi-directional cutting mechanism can achieve longitudinal feeding and circumferential rotation, and can also perform radial swing and yaw angle adjustment. This allows the cutter to flexibly adapt to the complex spatial orientation inside the pipe, accurately approach and process obstacles located on the side wall, corner or irregular position from multiple angles, and achieve a full-dimensional, all-round coverage cutting and crushing of the inside of the pipe without dead angles, which is convenient to use.

[0058] (3) The present invention utilizes the combination of the first cutting component and the second cutting component. By switching the position of the baffle in the second cutting component, the direction of gas flow of the piston plate inside the gas groove can be changed. When the first cutting component is in use, gas can be provided to effectively blow away the dust and debris generated during cutting, maintain a clear view of the cutting area, and assist in cooling the cutting tool and the object being cut to prevent overheating. When the second cutting component is not in use, it can also protect the plasma cutting head to prevent moisture, sludge and dust from adhering in the pipe, thereby reducing the risk of tool damage and facilitating use. Attached Figure Description

[0059] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0060] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0061] Figure 2 This is a schematic diagram of the overall side internal structure of the present invention;

[0062] Figure 3 This is a schematic diagram of the lifting and stabilizing mechanism of the present invention;

[0063] Figure 4 This is a partial structural diagram of the electrical interface of the present invention;

[0064] Figure 5 This is a schematic diagram of the internal structure of the side of the multi-directional cutting mechanism of the present invention;

[0065] Figure 6 This is a schematic diagram of the multi-directional cutting mechanism of the present invention;

[0066] Figure 7 This is a schematic diagram of the internal structure of the side of the second cutting component of the present invention.

[0067] In the attached diagram: 1. Machine body; 2. Fixing frame; 3. Lifting and stabilizing mechanism; 31. Lifting frame; 32. Push rod; 33. First support wheel; 34. Second support wheel; 35. Cylinder; 4. Lighting and camera mechanism; 41. Mounting block; 42. Front camera; 43. Rear camera; 44. Front light; 45. Rear light; 5. Rotating plate; 6. First pneumatic motor; 7. Multi-directional cutting mechanism; 71. Rotating frame; 72. Second pneumatic motor; 73. Rotating frame; 74. Rotating cylinder; 75. Third pneumatic motor; 76. First... Cutting assembly; 761, Fourth pneumatic motor; 762, Cutting blade; 763, Annular tube; 764, Nozzle; 765, Connecting pipe; 77, Second cutting assembly; 771, Plasma cutting head; 772, Baffle; 773, Slide bar; 774, Slider; 775, Compression spring; 776, Extrusion rod; 777, Extrusion plate; 778, Extrusion block; 779, Guide plate; 7710, Piston plate; 7711, Air pipe; 7712, Guide frame; 7713, Fifth pneumatic motor; 8, Electrical interface; 9, Air interface. Detailed Implementation

[0068] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0069] This invention provides, for example Figure 1-7 The illustrated pipe-cutting robot includes a body 1, a lifting and stabilizing mechanism 3, a lighting and camera mechanism 4, a rotating plate 5, a first pneumatic motor 6, and a multi-directional cutting mechanism 7. A fixed frame 2 is fixedly connected to the top of the body 1. The lifting and stabilizing mechanism 3, which stabilizes the body 1, is mounted on the fixed frame 2. The lighting and camera mechanism 4, used for observation, is mounted on both the body 1 and the fixed frame 2. The rotating plate 5 is rotatably mounted inside the body 1. The first pneumatic motor 6 is fixedly installed inside the body 1, and its output is connected to the rotating plate 5. The multi-directional cutting mechanism 7 is mounted on the rotating plate 5. Utilizing the moving wheels of the body 1 and the lifting and stabilizing mechanism 3, the robot can move smoothly and stably inside pipes of different specifications. Simultaneously, the lighting and camera mechanism 4 provides good illumination and imaging. The multi-directional cutting mechanism 7 can be changed according to the items to be cut inside the pipe. It can continuously handle various obstacles such as tree roots, cement, and metal without exiting the pipe, reducing downtime and achieving efficient, continuous, safe, and intelligent pipe cleaning operations, making it easy to use.

[0070] Specifically, the lifting and stabilizing mechanism 3 includes a lifting frame 31, a push rod 32, a first support wheel 33, a second support wheel 34, and a cylinder 35. The lifting frame 31 is mounted on the fixed frame 2. The first support wheel 33 is rotatably mounted on the end of the lifting frame 31 via bearings. The first support wheel 33 at the top is used to fit against the top of the inner wall of the pipe, while the first support wheel 33 at the bottom rolls within the inner cavity of the fixed frame 2, thus limiting the displacement of the lifting frame 31. The second support wheel 34 is rotatably connected to the lifting frame 31, and the first support wheel 33 and the second support wheel 34 are used to fit against the inner wall of the pipe. The cylinder 35 is rotatably mounted inside the fixed frame 2. The push rod 32 is fixedly connected to the lifting frame 31, and the output end of the cylinder 35 is drively connected to the push rod 32. Figure 3 As shown, the cylinder 35 can drive the push rod 32 to rotate, thereby adjusting the lifting height of the lifting frame 31, so that the first support wheel 33 and the second support wheel 34 can just fit against the top of the pipes of different specifications, and with the moving wheels at the bottom of the machine body 1, it can move smoothly inside the pipe.

[0071] Specifically, the lighting camera mechanism 4 includes a mounting block 41, a front camera 42, a rear camera 43, a front light 44, and a rear light 45. The mounting block 41 is fixedly connected to the lifting frame 31. The front camera 42 is fixedly mounted on the outer wall of the mounting block 41. The rear camera 43 is embedded in the outer wall of the body 1. The top and bottom ends of the mounting block 41 are both provided with inclined surfaces. The front light 44 is fixedly mounted on the inclined surface, and the rear light 45 is fixedly embedded in the outer wall of the body 1 to provide illumination for the rear camera 43. By setting two inclined front lights... The lighting 44 illuminates the inside of the pipe in a fan-shaped pattern, ensuring that the front camera 42, located between the two front lights 44, can accurately observe the object to be cut. At the same time, a front light 44 is also embedded next to the rear camera 43, so that the front light 44 can provide a clear, shadow-free rear view for the rear camera 43 when retracting, allowing the operator to observe the retreat path in real time, effectively avoid obstacles, uneven areas or fallen debris in the pipe, and prevent the risk of jamming, collision or cable pulling during the equipment withdrawal process.

[0072] Specifically, the multi-directional cutting mechanism 7 includes a rotating frame 71, a second pneumatic motor 72, a rotating frame 73, a rotating cylinder 74, a third pneumatic motor 75, a first cutting assembly 76, and a second cutting assembly 77. The rotating frame 71 is fixedly mounted on the rotating plate 5; the second pneumatic motor 72 is fixedly mounted on the outer wall of the rotating frame 71, and the second pneumatic motor 72 can drive the rotating frame 73 on the rotating frame 71 to rotate under the drive of an air source; the rotating frame 73 is rotatably disposed inside the rotating frame 71, and the output end of the second pneumatic motor 72 is drive-connected to the rotating frame 73; the rotating cylinder 74 is rotatably disposed inside the rotating frame 73; and the output end of the third pneumatic motor 75 is drive-connected to the rotating cylinder 74. The first cutting component 76 is mounted on the rotating cylinder 74; the second cutting component 77 is mounted on the rotating cylinder 74; and the third pneumatic motor 75 can drive the rotating cylinder 74 to rotate under the drive of the air source, so that the first cutting component 76 and the second cutting component 77 can be selected for use, and the operating angle can be adjusted during use. With the rotatable rotating plate 5, longitudinal feed and circumferential rotation can be achieved, and radial swing and yaw angle adjustment can be performed, so that the cutter can flexibly adapt to the complex spatial orientation of the pipeline, accurately approach and process obstacles located on the side wall, corner or irregular position from multiple angles, and achieve a full-dimensional coverage cutting and crushing of the pipeline without dead angles, which is convenient to use.

[0073] Furthermore, the first cutting assembly 76 includes a fourth pneumatic motor 761, a cutting blade 762, an annular tube 763, a nozzle 764, and a connecting pipe 765. The fourth pneumatic motor 761 is fixedly installed inside the rotating cylinder 74; the output end of the fourth pneumatic motor 761 is connected to the cutting blade 762 in a transmission connection. An annular tube 763 is fixedly sleeved on the outside of a rotating cylinder 74; nozzles 764 are equidistantly fixedly installed on the outer wall of the annular tube 763 for blowing air onto the cutting blade 762; connecting pipes 765 are symmetrically fixedly connected to the top and bottom of the rotating cylinder 74. An air groove is provided inside the rotating cylinder 74. The connecting pipes 765 are used to connect the annular tube 763 and the air groove. The fourth pneumatic motor 761 can drive the cutting blade 762 to rotate through an air source, thereby performing cutting operations inside the pipe. The connecting pipes 765 can provide a cooling air source when cutting objects. The multiple nozzles 764 on the annular tube 763 spray from different directions, which can effectively disperse the dust and debris generated during cutting, maintain a clear view of the cutting area, and assist in cooling the cutting tool and the object being cut to prevent overheating.

[0074] Furthermore, the second cutting assembly 77 includes a plasma cutting head 771, a baffle 772, a slide rod 773, a slider 774, a compression spring 775, an extrusion rod 776, an extrusion plate 777, an extrusion block 778, a guide plate 779, a piston plate 7710, an air pipe 7711, a guide frame 7712, and a fifth pneumatic motor 7713. The plasma cutting head 771 is fixedly installed on the outer wall of the rotating cylinder 74; the baffle 772 is rotatably disposed on the outer wall of the plasma cutting head 771; an elastic groove is formed inside the rotating cylinder 74, and the end of the slide rod 773 is connected to the elastic groove. The inner wall of the groove is fixedly connected; the slider 774 and the slide rod 773 are slidably interlocked; the compression spring 775 is sleeved on the outside of the slide rod 773, and one end of the compression spring 775 is fixedly connected to the slider 774; the extrusion rod 776 is fixedly connected to the slider 774, and the extrusion rod 776 is slidably interlocked with the rotating cylinder 74; the extrusion plate 777 is fixedly connected to one end of the extrusion rod 776, and the baffle 772 cooperates with the extrusion plate 777; the extrusion block 778 is fixedly connected to both sides of the extrusion rod 776; the guide plate 779 is fixedly installed inside the air groove. The rotating frame 73 has a guide groove for guiding airflow; a piston plate 7710 is slidably disposed between guide plates 779 to select the guide groove to be used; an air pipe 7711 is fixedly installed on the outside of the rotating frame 73 for supplying gas to the air groove; a guide frame 7712 is fixedly connected to the piston plate 7710, and an extrusion groove is formed on the inner wall of the guide frame 7712; an extrusion block 778 is slidably inserted into the inner cavity of the extrusion groove; the other end of the compression spring 775 is fixedly connected to the inner wall of the elastic groove, and the compression spring 775 always provides a pressure to the extrusion rod 776 through the slider 774. The stable elastic force ensures that the extrusion plate 777 remains in a ready position when the baffle 772 is in place. It also allows the extrusion block 778 to press against the guide frame 7712, keeping the piston plate 7710 in a stable position. At this time, the gas delivered by the air pipe 7711 can be used in the direction of the cutting blade 762. It is sprayed from different directions through multiple nozzles 764 on the annular pipe 763, which can effectively disperse the dust and debris generated during cutting, maintain a clear view of the cutting area, and help cool the cutting tool and the object being cut to prevent overheating.A fifth pneumatic motor 7713 is fixedly installed on the outer wall of the rotating frame 73. The output end of the fifth pneumatic motor 7713 is connected to the baffle 772 for transmission. When the plasma cutting head 771 needs to be used, the fifth pneumatic motor 7713 can drive the baffle 772 to rotate, thereby removing the obstruction and protection of the plasma cutting head 771. At the same time, the baffle 772 can be used to squeeze the extrusion plate 777, so that the extrusion rod 776 can be displaced, and the extrusion block 778 can squeeze the guide frame 7712 in the opposite direction, so that the piston plate 7710 slides and switches the direction of the gas delivered from the gas pipe 7711 to the plasma cutting head 771. After passing through the inside of the plasma cutting head 771, the gas is ejected, which can ionize to form a high-temperature plasma arc to melt the metal. At the same time, the high-speed airflow can blow away the slag at the cut, ensuring smooth cutting and a clean cut, and also playing a cooling and protection role for the plasma cutting head 771. This is the key to ensuring the efficient, high-quality and safe operation of plasma cutting.

[0075] Furthermore, an electrical interface 8 is embedded in the outer wall of the machine body 1, and an air interface 9 is fixedly installed on the outer wall of the machine body 1. The electrical interface 8 and the air interface 9 are convenient for use with a 120-meter electric cable trolley, a 100-meter air hose reel, and an air compressor. Through a visual control device, efficient, powerful, and accurate cutting operations can be achieved, making it easy to use.

[0076] Cutting method of this invention:

[0077] Step 1: The robot is sent into the pipe via the moving wheels of the body 1. The height of the lifting frame 31 is adjusted by the cylinder 35 of the lifting and stabilizing mechanism 3 so that the first support wheel 33 and the second support wheel 34 are in close contact with the inner wall of the pipe to stabilize the body 1. Then, the front camera 42, the rear camera 43 and the corresponding front light 44 and rear light 45 of the lighting and camera mechanism 4 are turned on to conduct all-round observation and positioning of the internal environment of the pipe and the obstacles to be cut.

[0078] Step 2: Operate the first pneumatic motor 6 to drive the rotating plate 5 to rotate for circumferential adjustment. At the same time, operate the second pneumatic motor 72 to drive the rotating frame 73 to rotate, and the third pneumatic motor 75 to drive the rotating cylinder 74 to rotate, thereby realizing the fine adjustment of the multi-directional cutting mechanism 7 in radial and yaw angles, so that the cutting tool is accurately aligned with the obstacle.

[0079] Step 3: Depending on the material of the obstacle, select the first cutting component 76 or the second cutting component 77 by rotating the cylinder 74. If the first cutting component 76 is selected, start the fourth pneumatic motor 761 to drive the cutting blade 762 to rotate. High-pressure airflow is sprayed out from the nozzle 764 through the connecting pipe 765 and the annular pipe 763 for cooling and dust removal. If the second cutting component 77 is selected, start the fifth pneumatic motor 7713 to rotate the baffle 772. This action is linked to the guide frame 7712 through the extrusion plate 777, extrusion rod 776, and extrusion block 778, which pushes the piston plate 7710 to move to switch the air path, so that the high-pressure airflow is guided into the plasma cutting head 771 to generate a plasma arc for cutting.

[0080] Step 4: After completing the cutting, control the robot to retreat. Use the rear camera 43 and rear lighting 45 to observe the path behind to ensure safe exit. If necessary, it can move forward again and use the forward-looking system to re-inspect the cutting area to confirm the operation effect.

[0081] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pipe cutting robot, characterized in that, include: The machine body (1) has a fixed frame (2) fixedly connected to its top end. The fixed frame (2) is provided with a lifting and stabilizing mechanism (3) to stabilize the machine body (1). The machine body (1) and the fixed frame (2) are provided with an illumination camera mechanism (4) for observation. Rotating plate (5), the rotating plate (5) is rotatably disposed inside the machine body (1), the machine body (1) is fixedly installed with a first pneumatic motor (6), the output end of the first pneumatic motor (6) is connected to the rotating plate (5) for transmission, and the rotating plate (5) is provided with a multi-directional cutting mechanism (7).

2. The pipe cutting robot according to claim 1, characterized in that, The lifting and stabilizing mechanism (3) includes: A lifting frame (31) is mounted on a fixed frame (2); The first support wheel (33) is rotatably mounted on the end of the lifting frame (31) via a bearing; The second support wheel (34) is rotatably connected to the lifting frame (31), and the first support wheel (33) and the second support wheel (34) are used to fit the inner wall of the pipe; Cylinder (35), which is rotatably mounted inside the fixed frame (2); Push rod (32), which is fixedly connected to lifting frame (31), and the output end of cylinder (35) is connected to push rod (32) for transmission.

3. The pipe cutting robot according to claim 2, characterized in that, The lighting camera mechanism (4) includes: Mounting block (41), which is fixedly inserted and connected to the lifting frame (31); A front camera (42) is fixedly mounted on the outer wall of the mounting block (41); A rear camera (43) is embedded in the outer wall of the body (1); The front lighting lamp (44) has inclined surfaces at both the top and bottom of the mounting block (41), and the front lighting lamp (44) is fixedly installed on the inclined surfaces; The rear lighting lamp (45) is fixedly embedded in the outer wall of the body (1) and is used to provide illumination for the rear camera (43).

4. The pipe cutting robot according to claim 1, characterized in that, The multi-directional cutting mechanism (7) includes: A rotating frame (71) is fixedly installed on a rotating plate (5); The second pneumatic motor (72) is fixedly installed on the outer wall of the rotating frame (71); Rotating frame (73), the rotating frame (73) is rotatably disposed inside the rotating frame (71), and the output end of the second pneumatic motor (72) is connected to the rotating frame (73) in a transmission connection; Rotating cylinder (74), which is rotatably disposed inside the rotating frame (73); The output end of the third pneumatic motor (75) is connected to the rotating cylinder (74) in a transmission manner; The first cutting component (76) is disposed on the rotating cylinder (74); The second cutting component (77) is disposed on the rotating cylinder (74).

5. A pipe cutting robot according to claim 4, characterized in that, The first cutting component (76) includes: A fourth pneumatic motor (761) is fixedly installed inside the rotating cylinder (74); The cutting blade (762) is connected to the output end of the fourth pneumatic motor (761) via a drive connection.

6. The pipe cutting robot according to claim 5, characterized in that, The first cutting component (76) further includes: An annular tube (763) is fixedly sleeved on the outside of the rotating cylinder (74); Nozzles (764) are fixedly installed at equal intervals on the outer wall of the annular tube (763) for blowing air onto the cutting blade (762); A connecting pipe (765) is symmetrically fixedly connected to the top and bottom of the rotating cylinder (74). An air groove is provided inside the rotating cylinder (74). The connecting pipe (765) is used to connect the annular pipe (763) and the air groove.

7. The pipe cutting robot according to claim 4, characterized in that, The second cutting component (77) includes: Plasma cutting head (771), which is fixedly installed on the outer wall of the rotating cylinder (74); A baffle (772) is rotatably disposed on the outer wall of the plasma cutting head (771); The slide rod (773) has an elastic groove inside the rotating cylinder (74), and the end of the slide rod (773) is fixedly connected to the inner wall of the elastic groove; A slider (774) is slidably interlocked with a slide rod (773); Compression spring (775), the compression spring (775) is sleeved on the outside of slide bar (773), one end of the compression spring (775) is fixedly connected to slider (774), and the other end of the compression spring (775) is fixedly connected to the inner wall of elastic groove; The extrusion rod (776) is fixedly connected to the slider (774) and the extrusion rod (776) is slidably inserted into the rotating cylinder (74); An extrusion plate (777) is fixedly connected to one end of an extrusion rod (776), and a baffle (772) cooperates with the extrusion plate (777). An extrusion block (778) is fixedly connected to both sides of an extrusion rod (776); Guide plate (779), the guide plate (779) is fixedly installed inside the air groove, and the guide plate (779) is provided with a guide groove for guiding airflow; Piston plate (7710), which is slidably disposed between guide plates (779) for selecting the guide groove to be used; Air pipe (7711), which is fixedly installed on the outside of the rotating frame (73) and is used to deliver gas to the air tank; The guide frame (7712) is fixedly connected to the piston plate (7710). The inner wall of the guide frame (7712) is provided with an extrusion groove, and the extrusion block (778) is slidably inserted into the inner cavity of the extrusion groove.

8. The pipe cutting robot according to claim 7, characterized in that, The outer wall of the rotating frame (73) is fixedly installed with a fifth pneumatic motor (7713), and the output end of the fifth pneumatic motor (7713) is connected to the baffle (772) for transmission.

9. A pipe cutting robot according to claim 1, characterized in that, An electrical interface (8) is embedded in the outer wall of the body (1), and an air interface (9) is fixedly installed on the outer wall of the body (1).

10. A pipe cutting robot cutting method according to any one of claims 1-9, characterized in that, The specific usage steps are as follows: Step 1: Send the robot into the pipe through the moving wheels of the body (1), and adjust the height of the lifting frame (31) by the cylinder (35) of the lifting and stabilizing mechanism (3) so that the first support wheel (33) and the second support wheel (34) are tightly attached to the inner wall of the pipe to stabilize the body (1). Then, turn on the front camera (42), rear camera (43) of the lighting and camera mechanism (4) and the corresponding front lighting (44) and rear lighting (45) to conduct all-round observation and positioning of the internal environment of the pipe and the obstacles to be cut. Step 2: Operate the first pneumatic motor (6) to drive the rotating plate (5) to rotate for circumferential adjustment. At the same time, operate the second pneumatic motor (72) to drive the rotating frame (73) to rotate, and the third pneumatic motor (75) to drive the rotating cylinder (74) to rotate, thereby realizing the fine adjustment of the multi-directional cutting mechanism (7) in radial and yaw angles, so that the cutting tool is accurately aligned with the obstacle. Step 3: Depending on the material of the obstacle, select the first cutting component (76) or the second cutting component (77) by rotating the cylinder (74). If the first cutting component (76) is selected, start the fourth pneumatic motor (761) to drive the cutting blade (762) to rotate. The high-pressure airflow is sprayed out from the nozzle (764) through the connecting pipe (765) and the annular pipe (763) for cooling and dust removal. If the second cutting component (77) is selected, start the fifth pneumatic motor (7713) to rotate the baffle (772). This action is linked to the guide frame (7712) through the extrusion plate (777), extrusion rod (776), extrusion block (778), and push the piston plate (7710) to move to switch the air path, so that the high-pressure airflow is guided into the plasma cutting head (771) to generate a plasma arc for cutting. Step 4: After the cutting is completed, control the robot to retreat and use the rear camera (43) and rear lighting (45) to observe the path behind to ensure safe exit. If necessary, it can move forward again and use the front-view system to re-inspect the cutting area to confirm the operation effect.

Images