A robot for automatically crawling and polishing the inner surface of a circular tube

Abstract

A robot for automatically crawling and polishing the inner wall of a circular tube belongs to the technical field of descaling of a spraying pipe line. The device includes a shell, a main drive module, a drive base, a polishing module and a crawling module. The shell includes a left shell and a right shell, and the drive base includes a first drive base and a second drive base. The main drive module, the crawling module and a plurality of support wheels are installed on the outer end face of the drive base. The plurality of polishing modules are evenly distributed circumferentially between the outer end face of the right shell and the end face opposite to the second drive base. The crawling module drives the polishing device to perform linear motion along the outer wall of the pipe to be polished, and the main drive module drives the polishing module to perform rotational motion along the circumferential direction of the inner wall of the pipe through the gear transmission drive shell. The device has a wide range of applications, and the disassembly and assembly and polishing of the grinder can be completed by a single person. In addition, a detection device is arranged on the outer end face of the drive base, and the detection of pipe wall thickness, cracks and corrosion conditions can be realized while polishing the pipe, so that one machine can be used for multiple purposes.

Description

Technical Field

[0001] The invention belongs to the technical field of descaling of round pipes, relates to the technical field of descaling of spray pipe lines, and specifically relates to an automatic crawling and polishing robot for the inner wall of a round pipe. Background Art

[0002] As a part of the well control device of oil drilling, the blower line plays a vital role in it. Due to the fluid scouring, electrochemical corrosion, chemical corrosion and other effects of the fluid medium in the pipe, the blower line will gradually develop defects such as pipe wall thinning, corrosion, and cracks. Once leakage and failure occur, it will cause serious safety accidents. Therefore, it is necessary to conduct non-destructive testing on the return blower line regularly to ensure the quality and operation safety of the pipeline.

[0003] At present, the commonly used method for testing straight pipes for spraying is magnetic flux leakage detection technology, but before the detection, the cement, paint, rust and other attachments on the spraying pipes need to be polished as a whole to ensure the accuracy of the detection. After the straight pipes for spraying are returned to the site, they are piled on the material rack, first polished, and then the magnetic flux leakage detection instrument is used for defect detection. The polishing space for straight pipes for spraying is limited, and they can only be polished on the material rack, and cannot be moved over a large range. Only a simple and light polishing method can be used.

[0004] At present, the inner circle of the spray pipe line is cleaned of rust and paint on the inner circle of the pipe line by the contact between the workpiece and the rotating grinding wheel under the high-speed rotation of the polishing equipment. Improper operation by workers can easily cause contact between their hands and the polishing wheel, causing injuries. The traditional grinding method is inefficient and polluting. The manual grinding workload is large and the labor intensity is high. A large amount of dust and severe noise will be generated during the grinding process, affecting the health of workers. In addition, the grinding quality is poor. It is difficult for workers to grasp the angle of force between the handheld grinder and the pipe column, which affects the sanding quality and the passability of the inspection equipment. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, the present invention provides an automatic crawling and polishing robot for the inner wall of a circular tube.

[0006] The design concept of the present invention is as follows: the grinding device is tightly attached to the inner wall of the pipe through equiangular support wheels, pre-tightening wheel sets and crawling modules to prevent circumferential jumps during the rotation of the grinding device. The shell is equipped with a main drive module, and the main drive gear realizes the rotation of the shell through gear transmission. Planetary transmission gears are installed at equal angles in the shell. The planetary transmission gears rotate radially around the pipe to be polished as the shell rotates, and drive themselves to rotate under the action of the main drive ring gear of the shell. The four grinding modules are installed at equal angles and driven by the gear set to achieve radial full coverage grinding of the inner wall of the pipe to be polished. The driving wheel power of the crawling module is driven by a brushless motor to control the axial walking direction and grinding rhythm of the grinding device during the grinding process. The shell keeps moving back and forth under the drive of the crawling module.

[0007] The present invention is achieved through the following technical solutions.

[0008] A robot for automatically crawling and polishing the inner wall of a circular tube comprises a shell, a main driving module, a driving base, a polishing module and a crawling module, wherein the shell comprises a left shell and a right shell, and the driving base comprises a first driving base and a second driving base, wherein:

[0009] The first driving base includes a first retaining ring and a first sleeve, the first sleeve is fixedly mounted on the end face of the first retaining ring, the second driving base includes a second retaining ring and a second sleeve, the second sleeve is fixedly mounted on the end face of the second retaining ring, a mounting flange is provided on the inner wall of the second sleeve away from the end face of the second retaining ring, and the second sleeve is fixedly mounted on the end face of the first sleeve through the mounting flange; the left side shell is sleeved on the outside of the first sleeve, the right side shell is sleeved on the outside of the assembly position of the first sleeve and the second sleeve, and the end faces of the left side shell and the right side shell are fixedly connected, and a plurality of the grinding modules are evenly distributed along the circumferential direction between the outer end face of the right side shell and the end face of the second retaining ring;

[0010] A crawling module and a plurality of supporting wheels are installed on the outer end surface of the first retaining ring, and the crawling module and the plurality of supporting wheels are arranged at equal angles along the circumferential direction of the outer end surface of the first retaining ring; a pre-tightening wheel group and a plurality of supporting wheels are installed on the outer end surface of the second retaining ring, and the pre-tightening wheel group and the plurality of supporting wheels are arranged at equal angles along the circumferential direction of the outer end surface of the second retaining ring; the pre-tightening wheel group, the supporting wheels and the crawling module are all in contact with the inner wall line of the pipe to be polished;

[0011] The motor rotor of the main drive module passes through the first retaining ring and extends into the cavity between the first sleeve and the left shell body. The main drive wheel is installed on the motor rotor of the main drive module. A main transmission gear ring is arranged on the inner wall of the left shell body close to the first retaining ring. The main transmission gear ring is meshed with the main drive wheel. The main drive module drives the shell body to move in the circumferential direction.

[0012] A first slide rail is arranged in the middle of the outer wall of the first sleeve, a second slide rail is arranged on the outer wall of the second sleeve close to the first sleeve, an outer gear ring is arranged on the outer wall of the first sleeve between the first slide rail and the second slide rail, and the outer gear ring is located in the annular cavity of the right shell, a plurality of transmission planetary gear shafts are evenly distributed in the annular cavity along the circumferential direction, the transmission planetary gears are correspondingly installed on the transmission planetary gear shafts, and the transmission planetary gears are all meshed with the outer gear ring, and the first sleeve drives the transmission planetary gear to rotate through the outer gear ring; a plurality of slide rail guide wheel shafts are arranged on the end surface of the right shell, and the plurality of slide rail guide wheel shafts are evenly arranged in the circumferential direction in the right shell, and slide rail guide wheels are respectively installed at both ends of the slide rail guide wheel shaft, and the slide rail guide wheels cooperate with the corresponding first slide rail and second slide rail;

[0013] The grinding module includes a reduction gear box, a cover plate, a grinding module driving gear, a grinding module transmission gear, a steel brush transmission gear, a steel brush and a torsion spring. The reduction gear box is provided with a cover plate on one side close to the second retaining ring. The grinding module driving gear, the grinding module transmission gear and the steel brush transmission gear are all provided in the reduction gear box. The transmission planetary gear shaft extends into the reduction gear box. The grinding module driving gear is installed on the transmission planetary gear shaft in the reduction gear box. The grinding module driving gear rotates synchronously with the transmission planetary gear. The grinding module driving gear meshes with the grinding module transmission gear. The grinding module transmission gear is meshed with the steel brush transmission gear, the steel brush transmission gear is installed on the steel brush shaft, the steel brush shaft is arranged at the eccentric position of the transmission gear box, the steel brush shaft passes through the cover plate and extends to the outside of the reduction gear box, the steel brush is installed on the steel brush shaft outside the cover plate, a waist-shaped shaft hole is arranged on the cover plate corresponding to the position of the steel brush shaft, a pin is installed at the eccentric position of the outer end surface of the cover plate, a torsion spring is installed on the pin, the tail of the torsion spring contacts with the steel brush shaft, the torsion spring drives the steel brush shaft to slide in the waist-shaped shaft hole, so that the steel brush is close to the inner wall of the pipe to be polished when in working state.

[0014] Furthermore, the crawling module includes a driving wheel motor, a motor support, a crawling module bearing, a driving wheel, a bushing, a bearing retaining ring and a driving wheel support seat, the driving wheel support seat is installed on the outer end surface of the driving base, the driving wheel motor is installed on the driving wheel support seat horizontally and forwardly, the motor support member is arranged between the sides opposite to the driving wheel motor and the driving wheel support seat, the bushing is installed on the motor rotor of the driving wheel motor, the driving wheel is installed on the outside of the bushing and is located between the two side plates of the driving wheel support seat, the outer cylindrical surface of the driving wheel contacts the outer side wall of the pipe to be polished, the crawling module bearing is arranged at the contact position between the motor rotor of the driving wheel motor and the two side plates of the driving wheel support seat, the crawling module bearing, and the bearing retaining ring is arranged on the bushing at the inner end surface position of the crawling module bearing, the driving wheel motor drives the driving wheel to rotate, and the crawling module drives the polishing device to move along the axial direction of the pipe to be polished.

[0015] Furthermore, the pre-tightening wheel assembly includes a pre-tightening wheel, a pre-tightening wheel pin, a pre-tightening wheel assembly bracket, a pre-tightening bracket, a pre-tightening spring, a locking nut and a pre-tightening wheel pin shaft. The side plates on both sides of the pre-tightening wheel assembly bracket are fixedly installed on the outer end surface of the left shell body. The bottom plate of the pre-tightening wheel assembly bracket is arranged between the side plates on both sides of the pre-tightening wheel assembly bracket. The opening direction of the pre-tightening wheel assembly bracket points to the side of the pipeline to be polished. The pre-tightening bracket is installed in the opening of the pre-tightening wheel assembly bracket. The pre-tightening wheel pin shaft passes through the bottom plate of the pre-tightening wheel assembly bracket and is fixedly connected to the pre-tightening bracket. The locking nut The tightening nut is installed on the preload wheel pin shaft outside the preload wheel assembly bracket, the preload spring is installed on the preload wheel pin shaft between the preload bracket and the bottom plate of the preload wheel assembly bracket, the preload wheel pin passes through the two side plates of the preload bracket and the two side plates of the preload wheel assembly bracket, the preload wheel is installed between the two side plates of the preload bracket through the preload wheel pin, and waist-shaped holes are arranged on the two side plates of the preload wheel assembly bracket at positions corresponding to the positions of the preload wheel pins. The preload wheel to be polished is pressed to drive the preload wheel pin to slide in the waist-shaped hole along the axial direction of the preload wheel pin shaft.

[0016] Furthermore, the preload wheel and the support wheel are both V-shaped wheels.

[0017] Furthermore, connecting plates are provided between the steel brush rotating shafts inside and outside the reduction gear box and the mounting shaft of the grinding module transmission gear.

[0018] Furthermore, a limit pin is provided on the cover plate at the tail of the torsion spring.

[0019] Furthermore, the second retaining ring is provided with a notch for taking out the steel brush.

[0020] Furthermore, a detection device for detecting the wall thickness, cracks and corrosion conditions of the pipe to be polished is arranged on the outer end surface of the first retaining ring, and the contact of the detection device contacts the inner wall of the pipe to be polished.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. This grinding device has a wide range of applications and can automatically crawl and move along the pipe wall, avoiding mechanical damage caused by the rotation of the pipeline itself. The grinding device has a short structure length and is suitable for grinding in places with limited space.

[0023] 2. The grinding device is simple in design and easy to operate on site. A single operator can complete the entire grinding work including installation and disassembly of the grinder, thus avoiding the consumption of a large amount of human resources.

[0024] 3. The grinding device of this device can achieve full radial and axial coverage grinding with high grinding efficiency. The grinding module rotates by itself and rotates 360 degrees along the radial direction of the pipe to be polished as the internal module rotates, achieving full radial and axial coverage grinding. The control system of the grinding device is controlled by a remote control handle, and the mobile crawling speed can be adjusted according to the actual grinding effect to improve the grinding efficiency.

[0025] 4. The grinding device of this device is fully automatic. The grinding device is fully automatic during the grinding process, avoiding the grinding effect affected by manual grinding, ensuring the passability of the detection equipment and improving the accuracy of the detection.

[0026] 5. This device is equipped with a detection device on the outer end surface of the driving base, which can detect the pipe wall thickness, cracks and corrosion conditions while grinding the pipe, making it a multi-purpose machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0028] Figure 2 for Figure 1 Schematic diagram of the left-view stereoscopic structure;

[0029] Figure 3 This is a schematic diagram of a half-section structure of the present invention in use;

[0030] Figure 4 It is a schematic diagram of the main cross-sectional structure of the present invention;

[0031] Figure 5 It is a schematic diagram of a top view and cross-sectional structure of the present invention;

[0032] Figure 6 This is a schematic diagram of the three-dimensional structure of the driving base;

[0033] Figure 7 It is a schematic diagram of the three-dimensional half-section structure of the shell;

[0034] Figure 8 for Figure 7 A schematic diagram of a main cross-sectional structure;

[0035] Fig. 9 This is a schematic diagram of the three-dimensional structure of the polishing module;

[0036] Fig.10 It is a schematic diagram of the internal structure of the reduction gear box;

[0037] Fig.11 This is a schematic diagram of the three-dimensional structure of the reduction gear box after omitting the steel brush;

[0038] Fig.12 It is a schematic diagram of the three-dimensional structure of the reduction gear box from a side view;

[0039] Fig.13 for Fig.12 A right view structural diagram of ;

[0040] Fig.14 It is a schematic diagram of the cross-sectional structure of the reduction gear box;

[0041] Fig.15 This is a schematic diagram of the three-dimensional structure of the crawling module;

[0042] Fig.16 It is a schematic diagram of the front and cross-sectional view of the three-dimensional structure of the crawling module;

[0043] Fig.17 It is a schematic diagram of the three-dimensional structure of the support wheel;

[0044] Fig.18 It is a schematic diagram of the three-dimensional structure of the preloaded wheel set;

[0045] Fig.19 for Fig.18 Schematic diagram of the main cross-sectional structure. DETAILED DESCRIPTION

[0046] The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention. Unless otherwise specified, the examples are all based on conventional experimental conditions. In addition, for those skilled in the art, without departing from the essence and scope of the present invention, various modifications or improvements to the material components and dosages in these embodiments are within the scope of the present invention.

[0047] like Figures 1 to 8 The robot is an automatic crawling and polishing robot for the inner wall of a circular tube, which comprises a shell 1, a main driving module 2, a driving base 3, a polishing module 4 and a crawling module 5. The shell 1 comprises a left shell 1-1 and a right shell 1-2. The driving base 3 comprises a first driving base 3-1 and a second driving base 3-2, wherein:

[0048] The first driving base 3-1 includes a first retaining ring 3-3 and a first sleeve 3-4, the first sleeve 3-4 is fixedly installed on the end face of the first retaining ring 3-3, the second driving base 3-2 includes a second retaining ring 3-7 and a second sleeve 3-8, the second sleeve 3-8 is fixedly installed on the end face of the second retaining ring 3-7, and a mounting flange 3-10 is provided on the inner wall of the second sleeve 3-8 away from the end face of the second retaining ring 3-7, and the second sleeve 3-8 is fixedly installed on the end face of the first sleeve 3-4 through the mounting flange 3-10; the left side shell 1-1 is sleeved on the outside of the first sleeve 3-4, the right side shell 1-2 is sleeved on the outside of the assembly position of the first sleeve 3-4 and the second sleeve 3-8, and the opposite end faces of the left side shell 1-1 and the right side shell 1-2 are fixedly connected, and a plurality of the grinding modules 4 are evenly distributed along the circumferential direction between the outer end face of the right side shell and the opposite end face of the second retaining ring 3-7;

[0049] The outer end surface of the first retaining ring 3-3 is equipped with a crawling module 5 and a plurality of supporting wheels 6 (such as Fig.17 As shown), the crawling module 5 and the plurality of support wheels 6 are arranged at equal angles along the circumferential direction of the outer end surface of the first retaining ring 3-3; a preloaded wheel set 7 (as shown) is installed on the outer end surface of the second retaining ring 3-7 Fig.18 and Fig.19 As shown) and a plurality of support wheels 6, the pre-tightening wheel set 7 and the plurality of support wheels 6 are arranged at equal angles along the circumferential direction of the outer end surface of the second retaining ring 3-7; the pre-tightening wheel set 7, the support wheels 6 and the crawling module 5 are all in contact with the inner wall line of the pipe 8 to be polished;

[0050] The motor rotor of the main drive module 2 passes through the first retaining ring 3-3 and extends into the cavity between the first sleeve 3-4 and the left shell 1-1. The main drive wheel 2-1 is installed on the motor rotor of the main drive module 2. A main transmission gear ring 1-3 is arranged on the inner wall of the left shell 1-1 close to the first retaining ring 3-3. The main transmission gear ring 1-3 is meshed with the main drive wheel 2-1. The main drive module 2 drives the shell 1 to move in the circumferential direction.

[0051] A first slide rail 3-5 is arranged in the middle of the outer wall of the first sleeve 3-4, a second slide rail 3-9 is arranged on the outer wall of the second sleeve 3-8 close to the first sleeve 3-4, an outer gear ring 3-6 is arranged on the outer wall of the first sleeve 3-4 between the first slide rail 3-5 and the second slide rail 3-9, and the outer gear ring 3-6 is located in the annular cavity of the right shell 1-2, a plurality of transmission planetary gear shafts 3-11 are evenly distributed in the annular cavity along the circumferential direction, the transmission planetary gears 3-12 are correspondingly installed on the transmission planetary gear shafts 3-11, and the transmission planetary gears 3-12 are meshed with the outer gear ring 3-6, and the first sleeve 3-4 drives the transmission planetary gears 3-12 to rotate through the outer gear ring 3-6; a plurality of slide rail guide wheel shafts 1-5 are arranged on the end surface of the right shell 1-2, and the plurality of slide rail guide wheel shafts 1-5 are evenly arranged in the circumferential direction in the right shell 1-2, and slide rail guide wheels 1-6 are respectively installed at both ends of the slide rail guide wheel shaft 1-5,

[0052] The slide rail guide wheel 1-6 cooperates with the corresponding first slide rail 3-5 and second slide rail 3-9;

[0053] like Figures 9 to 14 The grinding module 4 shown includes a reduction gear box 4-1, a cover plate 4-2, a grinding module driving gear 4-3, a grinding module transmission gear 4-5, a steel brush transmission gear 4-6, a steel brush 4-7 and a torsion spring 4-8. The reduction gear box 4-1 is provided with a cover plate 4-2 on one side close to the second retaining ring 3-7. The grinding module driving gear 4-3, the grinding module transmission gear 4-5 and the steel brush transmission gear 4-6 are all provided in the reduction gear box 4-1. The transmission planetary gear shaft 3-11 extends into the reduction gear box 4-1. The grinding module driving gear 4-3 is installed on the transmission planetary gear shaft 3-11 in the reduction gear box 4-1. The grinding module driving gear 4-3 rotates synchronously with the transmission planetary gear 3-12. The grinding module driving gear 4-3 is meshed with the grinding module transmission gear 4-5. The grinding module transmission gear 4-5 is meshed with the steel brush transmission gear 4-6, and the steel brush transmission gear 4-6 is installed on the steel brush shaft 4-4. The steel brush shaft 4-4 is set at the eccentric position of the transmission gear box 4-1. The steel brush shaft 4-4 passes through the cover plate 4-2 and extends to the outside of the reduction gear box 4-1. The steel brush 4-7 is installed on the steel brush shaft 4-4 outside the cover plate 4-2. The position corresponding to the position of the steel brush shaft 4-4 on the cover plate 4-2 is set as a waist-shaped shaft hole 4-9, and the pin 4-11 is installed at the eccentric position of the outer end surface of the cover plate 4-2. The torsion spring 4-8 is installed on the pin 4-11. The tail of the torsion spring 4-8 contacts with the steel brush shaft 4-4. The torsion spring 4-8 drives the steel brush shaft 4-4 to slide in the waist-shaped shaft hole 4-9, so that the steel brush 4-7 is close to the inner wall of the pipe 8 to be polished when it is in the working state.

[0054] like Fig.15 and Fig.16As shown, the crawling module 5 includes a driving wheel motor 5-1, a motor support 5-2, crawling module bearings 5-3, 5-7, a driving wheel 5-4, a bushing 5-5, a bearing retaining ring 5-6 and a driving wheel support seat 5-8, wherein the driving wheel support seat 5-8 is mounted on the outer end surface of the driving base 3, the driving wheel motor 5-1 is mounted horizontally and forwardly on the driving wheel support seat 5-8, the motor support 5-2 is arranged between the opposite sides of the driving wheel motor 5-1 and the driving wheel support seat 5-8, the bushing 5-5 is installed on the motor rotor of the driving wheel motor 5-1, and the driving wheel 5- 4 is installed on the outside of the sleeve 5-5 and is located between the side plates on both sides of the driving wheel support seat 5-8. The outer cylindrical surface of the driving wheel 5-4 contacts the outer side wall of the pipeline 8 to be polished. The crawling module bearings 5-3 and 5-7 are arranged at the contact position between the motor rotor of the driving wheel motor 5-1 and the side plates on both sides of the driving wheel support seat 5-8. The sleeve 5-5 is provided with a bearing retaining ring 5-6 at the inner end surface position of the crawling module bearings 5-3 and 5-7. The driving wheel motor 5-1 drives the driving wheel 5-4 to rotate, and the crawling module 5 drives the polishing device to move along the axial direction of the pipeline 8 to be polished.

[0055] Furthermore, the pre-tightening wheel group 7 includes a pre-tightening wheel 7-1, a pre-tightening wheel pin 7-2, a pre-tightening wheel group bracket 7-3, a pre-tightening bracket 7-4, a pre-tightening spring 7-5, a locking nut 7-6 and a pre-tightening wheel pin shaft 7-7. The side plates on both sides of the pre-tightening wheel group bracket 7-3 are fixedly installed on the outer end surface of the left shell body 1-7. The bottom plate of the pre-tightening wheel group bracket 7-3 is arranged between the side plates on both sides of the pre-tightening wheel group bracket 7-3. The opening direction of the pre-tightening wheel group bracket 7-3 points to the side of the pipe 8 to be polished. The pre-tightening bracket 7-4 is installed in the opening of the pre-tightening wheel group bracket 7-3. The pre-tightening wheel pin shaft 7-7 passes through the bottom plate of the pre-tightening wheel group bracket 7-3 and is fixedly connected with the pre-tightening bracket 7-4. The locking The nut 7-6 is installed on the preload wheel pin 7-7 outside the preload wheel bracket 7-3, the preload spring 7-5 is installed on the preload wheel pin 7-7 between the preload bracket 7-4 and the bottom plate of the preload wheel bracket 7-3, the preload wheel pin 7-2 passes through the two side plates of the preload bracket 7-4 and the two side plates of the preload wheel bracket 7-3, the preload wheel 7-1 is installed between the two side plates of the preload bracket 7-4 through the preload wheel pin 7-2, and waist-shaped holes are provided on the two side plates of the preload wheel bracket 7-3 at positions corresponding to the positions of the preload wheel pin 7-2. The pipeline 8 to be polished presses the preload wheel 7-1 to drive the preload wheel pin 7-2 to slide in the waist-shaped hole along the axial direction of the preload wheel pin 7-7.

[0056] Furthermore, the preload wheel 7 - 1 and the support wheel 6 are both V-shaped wheels, which can prevent the grinding device from rotating when it runs along the axial direction of the pipe to be ground.

[0057] Furthermore, connecting plates are provided between the steel brush rotating shaft 4-4 inside and outside the reduction gear box 4-1 and the mounting shaft of the grinding module transmission gear 4-5.

[0058] Furthermore, a limit pin 4-10 is provided on the cover plate 4-2 at the tail of the torsion spring 4-8.

[0059] Furthermore, a notch for taking out the steel brush 4-7 is provided on the second retaining ring 3-7. After the steel brush 4-7 has been used for a period of time, the steel brush 4-7 cannot be close to the inner wall of the pipe 8 to be polished due to the action of the torsion spring 4-8. At this time, it is only necessary to rotate the polishing module 4 to the position corresponding to the notch, and then take out the worn steel brush 4-7 from the notch and replace it.

[0060] Furthermore, a detection device 9 for detecting the wall thickness, cracks and corrosion of the pipe 8 to be polished is provided on the outer end surface of the first retaining ring 3 - 3 , and the contact of the detection device 9 contacts the inner wall of the pipe 8 to be polished.

[0061] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot for automatically crawling and polishing the inner wall of a circular tube, comprising a housing (1), a main driving module (2), a driving base (3), a polishing module (4) and a crawling module (5), wherein the housing (1) comprises a left housing (1-1) and a right housing (1-2), and the driving base (3) comprises a first driving base (3-1) and a second driving base (3-2), and is characterized in that: The first driving base (3-1) comprises a first retaining ring (3-3) and a first sleeve (3-4), the first sleeve (3-4) being fixedly mounted on the end surface of the first retaining ring (3-3), the second driving base (3-2) comprises a second retaining ring (3-7) and a second sleeve (3-8), the second sleeve (3-8) being fixedly mounted on the end surface of the second retaining ring (3-7), a mounting flange (3-10) being arranged on the inner wall of the end surface of the second sleeve (3-8) away from the second retaining ring (3-7), and the second sleeve (3-10) being fixedly mounted on the end surface of the second retaining ring (3-7). 3-8) is fixedly mounted on the end face of the first sleeve (3-4) through a mounting flange (3-10); the left shell (1-1) is sleeved on the outside of the first sleeve (3-4), the right shell (1-2) is sleeved on the outside of the assembly position of the first sleeve (3-4) and the second sleeve (3-8), and the opposite end faces of the left shell (1-1) and the right shell (1-2) are fixedly connected, and a plurality of the grinding modules (4) are evenly distributed along the circumferential direction between the outer end face of the right shell and the opposite end face of the second retaining ring (3-7); A crawling module (5) and a plurality of supporting wheels (6) are mounted on the outer end surface of the first retaining ring (3-3), and the crawling module (5) and the plurality of supporting wheels (6) are arranged at equal angles along the circumferential direction of the outer end surface of the first retaining ring (3-3); a pre-tightening wheel group (7) and a plurality of supporting wheels (6) are mounted on the outer end surface of the second retaining ring (3-7), and the pre-tightening wheel group (7) and the plurality of supporting wheels (6) are arranged at equal angles along the circumferential direction of the outer end surface of the second retaining ring (3-7); the pre-tightening wheel group (7), the supporting wheels (6) and the crawling module (5) are all in linear contact with the inner wall of the pipe (8) to be polished; The motor rotor of the main drive module (2) passes through the first retaining ring (3-3) and extends into the cavity between the first sleeve (3-4) and the left shell (1-1), and the main drive wheel (2-1) is installed on the motor rotor of the main drive module (2); a main transmission gear ring (1-3) is arranged on the inner wall of the left shell (1-1) on the side close to the first retaining ring (3-3), and the main transmission gear ring (1-3) is meshed with the main drive wheel (2-1), so that the main drive module (2) drives the shell (1) to move in a circumferential direction; A first slide rail (3-5) is arranged in the middle of the outer wall of the first sleeve (3-4), a second slide rail (3-9) is arranged on the outer wall of the second sleeve (3-8) on the side close to the first sleeve (3-4), an outer gear ring (3-6) is arranged on the outer wall of the first sleeve (3-4) between the first slide rail (3-5) and the second slide rail (3-9), and the outer gear ring (3-6) is located in the annular cavity of the right shell (1-2), and a plurality of transmission planetary gear shafts (3-11) are evenly distributed in the annular cavity along the circumferential direction, and the transmission planetary gears (3-12) are correspondingly mounted on the transmission planetary gear shafts ( The first sleeve (3-4) is provided with a plurality of guide wheel shafts (1-5) penetrating the end surface of the right housing (1-2), and the guide wheel shafts (1-5) are evenly arranged along the circumferential direction in the right housing (1-2). The two ends of the guide wheel shafts (1-5) are respectively provided with guide wheel shafts (1-6), and the guide wheel shafts (1-6) are matched with the corresponding first guide rail (3-5) and the second guide rail (3-9); The grinding module (4) comprises a reduction gear box (4-1), a cover plate (4-2), a grinding module driving gear (4-3), a grinding module transmission gear (4-5), a steel brush transmission gear (4-6), a steel brush (4-7) and a torsion spring (4-8); the reduction gear box (4-1) is provided with a cover plate (4-2) on one side close to the second retaining ring (3-7); the grinding module driving gear (4-3), the grinding module transmission gear (4-5) and the steel brush transmission gear (4-6) are all provided in the reduction gear box (4-1); the transmission planetary gear shaft (3-11) extends into the reduction gear box (4-1); the grinding module driving gear (4-3) is installed on the transmission planetary gear shaft (3-11) in the reduction gear box (4-1); the grinding module driving gear (4-3) rotates synchronously with the transmission planetary gear (3-12); the grinding module driving gear (4-3) meshes with the grinding module transmission gear (4-5); The block transmission gear (4-5) is meshed with the steel brush transmission gear (4-6), the steel brush transmission gear (4-6) is mounted on the steel brush rotating shaft (4-4), the steel brush rotating shaft (4-4) is arranged at an eccentric position of the reduction gear box (4-1), the steel brush rotating shaft (4-4) penetrates the cover plate (4-2) and extends to the outside of the reduction gear box (4-1), the steel brush (4-7) is mounted on the steel brush rotating shaft (4-4) outside the cover plate (4-2), and the cover plate (4-2) is connected to the steel brush rotating shaft (4-4). A waist-shaped shaft hole (4-9) is arranged at a position corresponding to the position of the steel brush rotating shaft (4-4), a pin shaft (4-11) is installed at an eccentric position of the outer end surface of the cover plate (4-2), a torsion spring (4-8) is installed on the pin shaft (4-11), the tail of the torsion spring (4-8) contacts the steel brush rotating shaft (4-4), and the torsion spring (4-8) drives the steel brush rotating shaft (4-4) to slide in the waist-shaped shaft hole (4-9), so that the steel brush (4-7) is in close contact with the inner wall of the pipe (8) to be polished in the working state.

2. The automatic crawling and polishing robot for the inner wall of a round tube according to claim 1, characterized in that: The crawling module (5) comprises a driving wheel motor (5-1), a motor support (5-2), a crawling module bearing (5-3, 5-7), a driving wheel (5-4), a shaft sleeve (5-5), a bearing retaining ring (5-6) and a driving wheel support seat (5-8), wherein the driving wheel support seat (5-8) is mounted on the outer end surface of the driving base (3), the driving wheel motor (5-1) is mounted on the driving wheel support seat (5-8) horizontally and forwardly, the motor support (5-2) is arranged between the side surfaces opposite to the driving wheel motor (5-1) and the driving wheel support seat (5-8), the shaft sleeve (5-5) is mounted on the motor rotor of the driving wheel motor (5-1), and the driving wheel ( The driving wheel (5-4) is installed outside the shaft sleeve (5-5) and is located between the side plates on both sides of the driving wheel support seat (5-8). The outer cylindrical surface of the driving wheel (5-4) contacts the outer side wall of the pipeline (8) to be polished. The crawling module bearings (5-3, 5-7) are arranged at the contact position between the motor rotor of the driving wheel motor (5-1) and the side plates on both sides of the driving wheel support seat (5-8). The shaft sleeve (5-5) is provided with a bearing retaining ring (5-6) at the inner end surface position of the crawling module bearings (5-3, 5-7). The driving wheel motor (5-1) drives the driving wheel (5-4) to rotate, and the crawling module (5) drives the polishing device to move along the axial direction of the pipeline (8) to be polished.

3. The automatic crawling and polishing robot for the inner wall of a round tube according to claim 1, characterized in that: The pre-tightening wheel assembly (7) comprises a pre-tightening wheel (7-1), a pre-tightening wheel pin (7-2), a pre-tightening wheel assembly bracket (7-3), a pre-tightening bracket (7-4), a pre-tightening spring (7-5), a locking nut (7-6) and a pre-tightening wheel pin shaft (7-7); the side plates on both sides of the pre-tightening wheel assembly bracket (7-3) are fixedly mounted on the outer end surface of the left shell body (1-1); the bottom plate of the pre-tightening wheel assembly bracket (7-3) is arranged between the side plates on both sides of the pre-tightening wheel assembly bracket (7-3); the opening direction of the pre-tightening wheel assembly bracket (7-3) points to the side of the pipeline (8) to be polished; the pre-tightening bracket (7-4) is installed in the opening of the pre-tightening wheel assembly bracket (7-3); the pre-tightening wheel pin shaft (7-7) passes through the bottom plate of the pre-tightening wheel assembly bracket (7-3) and is fixedly connected to the pre-tightening bracket (7-4); the locking nut (7-6) is fixedly mounted on the pre-tightening wheel assembly bracket (7-7); The preload spring (7-5) is installed on the preload pin (7-7) outside the preload bracket (7-3), the preload pin (7-2) penetrates the two side plates of the preload bracket (7-4) and the two side plates of the preload bracket (7-3), the preload wheel (7-1) is installed between the two side plates of the preload bracket (7-4) through the preload pin (7-2), and waist holes are provided on the two side plates of the preload bracket (7-3) at positions corresponding to the positions of the preload pin (7-2). The pipeline (8) to be polished presses the preload wheel (7-1) to drive the preload pin (7-2) to slide in the waist hole along the axis direction of the preload pin (7-7).

4. The automatic crawling and polishing robot for the inner wall of a round tube according to claim 1 or 3, characterized in that: The preload wheel (7-1) and the support wheel (6) are both V-shaped wheels.

5. The automatic crawling and polishing robot for the inner wall of a round tube according to claim 1, characterized in that: Connecting plates are provided between the steel brush rotating shaft (4-4) inside and outside the reduction gear box (4-1) and the mounting shaft of the grinding module transmission gear (4-5).

6. The automatic crawling and polishing robot for inner wall of a round tube according to claim 1, characterized in that: A limiting pin (4-10) is provided on the cover plate (4-2) at the tail of the torsion spring (4-8).

7. The automatic crawling and polishing robot for the inner wall of a round tube according to claim 1, characterized in that: The second retaining ring (3-7) is provided with a notch for taking out the steel brush (4-7).

8. The automatic crawling and polishing robot for the inner wall of a round tube according to claim 1, characterized in that: A detection device (9) for detecting the wall thickness, cracks and corrosion conditions of the pipe (8) to be polished is arranged on the outer end surface of the first retaining ring (3-3), and a contact of the detection device (9) contacts the inner wall of the pipe (8) to be polished.

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