Equipped with modules, oiling devices and pipeline maintenance robots

Abstract

The present invention discloses a carrying module, an oiling device, and a pipeline maintenance robot, wherein the carrying module includes a walking unit that can move autonomously along the interior of a pipeline, a support unit that can contact the upper guide rail in the pipeline, and includes a support shell, support wheels, and an adjustment assembly. The support shell is provided with an adjustment assembly, and the adjustment assembly is rotatably provided with at least one support wheel so that the support wheel can extend from the interior of the support shell to the outside of the support shell; the oiling device is fixed to the carrying module and also includes an oiling unit for oiling the guide rail surface inside the pipeline; the pipeline maintenance robot includes the oiling device, a rotating motor, a flange, and a functional module. The rotating motor is fixed to the body, and the output end of the rotating motor is fixed to the flange, and the flange is detachably connected to the functional module along the circumferential direction. The beneficial effects of the present invention are smooth operation, efficient and uniform oiling, and the ability to perform multiple operations simultaneously.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline maintenance equipment, in particular to a carrying module, an oiling device and a pipeline maintenance robot. Background Art

[0002] In industrial production and military applications, such as Figure 1 and Figure 2 The special pipes shown in the figure are widely used, such as torpedo launch tubes and weapon firing chambers. These pipes often have four guide rails: upper, lower, left, and right. These guide rails serve as guides within the pipe. The upper guide rail is a T-slot structure. In actual use, the guide surfaces of each rail require regular maintenance to prevent corrosion and rust.

[0003] Prior art publication CN111992414B, titled "A Lubricating Mechanism for Special Pipes," discloses a lubricating mechanism for special pipes, belonging to the technical field of lubricating mechanisms. By correspondingly disposing lateral and vertical lubricating units on the main body, the mechanism effectively and efficiently lubricates four guide rails within a special pipe: the left and right sides, top, and bottom, ensuring lubrication efficiency and quality. In this solution, the lubricating units simultaneously lubricate the left and right sides and top of the special pipe, but the trolley's operation is not stable, and any vibration will cause the lubrication path to deviate.

[0004] At the same time, the extrusion between the oiling unit and the guide rail during the oiling process is directly controlled by the telescopic part. The movement of the telescopic part when controlling the oiling sponge is not smooth, and sudden acceleration or sudden stop may occur. Summary of the Invention

[0005] The present invention aims to address the aforementioned issues and provides a carrying module, an oiling device, and a pipeline maintenance robot. The carrying module comprises a travel unit capable of autonomously moving along the interior of a pipeline; a body fixedly connected to the travel unit; and a support unit, capable of contacting an upper guide rail within the pipeline and fixedly connected to the body. The support unit comprises a support housing, support wheels, and an adjustment assembly. The adjustment assembly is disposed within the support housing and is rotatably provided with at least one support wheel, allowing the support wheel to extend from the interior of the support housing.

[0006] Furthermore, the adjustment assembly includes a handle, a fixing frame, a connecting rod and a bracket. The handle is slidably installed on the side wall of the support shell, the fixing frame is fixedly connected to the handle, and connecting rods are fixedly connected on both sides of the fixing frame. The connecting rods are rotatably connected to multiple brackets along the length direction, and the ends of the brackets are rotatably connected to support wheels. A through hole is opened on the support shell for the support wheel to pass through, and a tension spring is fixed between the two connecting rods.

[0007] Furthermore, the walking unit includes a driving device, a transmission part, a driving wheel, a driven wheel, a crawler and a frame. The driving device is fixed in the frame, the driving device is fixed with a transmission part, the transmission part is connected to the driving wheel in a transmission manner, the driving wheel and the driven wheel are both rotatably connected to the frame, and a crawler is installed between the driving wheel and the driven wheel for transmission.

[0008] Furthermore, the transmission part includes a driving bevel gear, a driven bevel gear, a first pulley and a second pulley. The output end of the driving device is fixed with a driving bevel gear, the driving bevel gear is meshed with a driven bevel gear, and the driven bevel gear is coaxially provided with a first pulley. The first pulley is transmission-connected to the second pulley, and the second pulley is coaxially provided with the driving wheel.

[0009] In addition, the present invention discloses an oiling device, which is fixed to the above-mentioned mounting module, and also an oiling unit, which is used to oil the guide rail surface inside the pipeline. The oiling unit includes an outer shell, a drive component, a rubber head component and a reset component. The outer shell is provided with a drive component, one end of the drive component is fixedly connected to the outer shell, and the other end of the drive component is rotatably connected to the rubber head component. A reset component is fixed between the rubber head component and the outer shell.

[0010] Furthermore, the driving assembly includes a telescopic part, a push wheel, a push block, a fixed rod and a connecting seat, the rubber head assembly is fixed with a connecting seat, the connecting seat is rotatably provided with a fixed rod, the fixed rod is rotatably provided with a push block, the push block is rotatably provided with the outer shell, the telescopic part is fixed in the outer shell, the push wheel is fixed at the end of the telescopic part and the push wheel can contact the push block.

[0011] Furthermore, the rubber head assembly includes a rubber head frame and a rubber head seat. The rubber head seat is fixed to the end of the rubber head frame. The end of the rubber head seat can extend outside the outer shell. The rubber head seat is connected to the oil supply unit.

[0012] Furthermore, a slide rail is fixed in the outer shell, a slider is fixed to the slide rail, and the slider can slide along the slide rail. A guide support plate is fixed in the outer shell, and guide wheels are fixed to the two side walls of the rubber head frame, and the guide wheels can roll along the shell and the guide support plate.

[0013] Furthermore, the reset assembly includes at least two reset springs, and two ends of the reset spring are respectively fixed to the rubber head frame and the inner wall of the shell.

[0014] Furthermore, an oiling unit for oiling the guide rails on both sides of the pipeline is fixed on both sides of the fuselage, and an oiling unit for oiling the top guide rail in the pipeline is fixed in the support shell.

[0015] Furthermore, it also includes an oil supply unit for providing maintenance oil to the oiling unit, the oil supply unit includes an oil supply motor, a propulsion assembly, an oil cylinder, and an oil outlet seat, the output end of the oil supply motor is fixed with a propulsion assembly, one end of the propulsion assembly extends into the oil outlet seat, the oil outlet seat has an oil inlet channel, the oil outlet seat has at least two oil inlets and one oil outlet, the oil inlet and the oil outlet are both connected to the oil inlet channel, the oil cylinder is connected to the oil inlet, and the oil outlet is connected to the rubber head.

[0016] Furthermore, the propulsion assembly includes a cam, a push rod, a connecting column, and a movable seat. The output end of the oil supply motor is fixed with a cam, the end of the cam is fixed with a connecting column, the connecting column extends into the movable seat, the movable seat is fixed with a push rod, and the push rod extends into the oil inlet channel.

[0017] The present invention also discloses a pipeline maintenance robot, including the above-mentioned oiling device, and also including a rotating motor, a flange and a functional module. The rotating motor is fixed to the fuselage, the output end of the rotating motor is fixed to the flange, and the flange is detachably connected to the functional module along the circumferential direction.

[0018] Furthermore, the functional modules include at least one of a pipeline paint repair module, a pipeline water wiping module, a pipeline impurity removal module, a guide rail water wiping module, a pipe wall grinding module and a zinc block grinding module. The pipeline paint repair module is used to repair the paint inside the pipeline, the pipeline water wiping module is used to wipe the water inside the pipeline, the pipeline impurity removal module is used to clean the impurities inside the pipeline, the guide rail water wiping module is used to wipe the guide rail fixed in the pipeline, the pipe wall grinding module is used to grind impurities on the inner wall of the pipeline, and the zinc block grinding module is used to grind the zinc blocks inside the pipeline.

[0019] The beneficial effects achieved by the carrying module manufactured using the technical solution of the present invention are as follows: a supporting unit is provided, and the walking unit can carry the supporting unit and move along the pipeline. During this process, the handle is pulled, the fixed frame moves along the supporting shell, and the bracket drives the supporting wheels to extend out of the supporting shell and contact the inner wall of the pipeline. During the movement of the walking unit, the supporting wheels roll along the inner wall of the pipeline. Since the carrying module can carry many components, the overall center of gravity is unstable. During the movement of the walking unit, the supporting unit can maintain its stable operation.

[0020] The oiling device manufactured by the technical solution of the present invention has the following beneficial effects: the oiling device drives the push block to rotate through the telescopic member, further driving the rubber head assembly to move inward, so that the rubber head seat extends into the interior of the outer shell when oiling is not required, keeping the oiling end clean; when oiling is required, the reset assembly causes the rubber head seat to apply a certain pressure to the guide rail to be oiled, so that the oiling is more evenly applied;

[0021] The oil supply unit has two oil inlets, which ensure that the push rod assembly avoids the adverse effects caused by air entering the oil inlet channel when pushing the oil from the oil inlet channel to the oil outlet;

[0022] There is a support unit on the top, which plays a certain guiding role for the walking unit during the oiling process on both sides of the pipeline and the top guide rail to prevent its route from deviating;

[0023] The pipeline maintenance robot manufactured by using the technical solution of the present invention has the beneficial effects of having multiple functional modules and being able to install different functional arms at the flange as needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the internal structure of the torpedo tube of the present invention;

[0025] Figure 2 is a perspective view of the torpedo tube of the present invention;

[0026] Figure 3 This is a first-perspective stereoscopic view of the pipeline maintenance robot of the present invention;

[0027] Figure 4 is a second perspective perspective diagram of the pipeline maintenance robot of the present invention;

[0028] Figure 5 It is a structural schematic diagram of the support unit of the present invention;

[0029] Figure 6 is a perspective view of the adjustment assembly of the present invention;

[0030] Figure 7 It is a three-dimensional diagram of the walking unit of the present invention;

[0031] Figure 8 Schematic diagram of the internal structure of the oil coating unit of the present invention;

[0032] Figure 9 is a perspective view of the oil supply unit of the present invention;

[0033] Figure 10 Schematic diagram of the internal structure of the oil supply unit of the present invention;

[0034] In the figure, 1. pipeline; 11. guide rail; 12. zinc block; 2. walking unit; 21. driving device; 22. transmission unit; 221. driving bevel gear; 222. driven bevel gear; 223. first pulley; 224. second pulley; 23. driving wheel; 24. driven wheel; 25. crawler track; 26. frame; 3. support unit; 31. supporting shell; 32. supporting wheel; 33. adjusting assembly; 331. handle; 332. fixing frame; 333. connecting rod; 334. bracket; 4. oiling unit; 41. outer shell; 42. driving assembly; 421. telescopic Parts; 422, push wheel; 423, push block; 424, fixing rod; 425, connecting seat; 43, rubber head assembly; 431, rubber head frame; 432, rubber head seat; 433, guide wheel; 434, guide support plate; 44, reset assembly; 5, oil supply unit; 51, oil supply motor; 52, propulsion assembly; 521, cam; 522, push rod; 523, connecting column; 524, moving seat; 53, oil cylinder; 54, oil outlet seat; 55, oil inlet channel; 56, oil inlet; 57, oil outlet; 6, fuselage; 7, rotating motor; 8, flange; 9, functional module. DETAILED DESCRIPTION

[0035] Example 1:

[0036] The present invention is described in detail below with reference to the accompanying drawings. The module is used in the technical field of torpedo pipe 1 maintenance. Figure 1 and Figure 2 As shown, the torpedo launch tube 1 often has four guide rails 11, namely, upper, lower, left and right, which play a guiding role in the tube 1. The upper guide rail 11 is a T-slot structure. A plurality of zinc blocks 12 are also fixed inside the tube 1. Figure 3-Figure 7As shown, it includes a walking unit 2, which can move autonomously along the inside of the pipeline 1; a fuselage 6, which is fixedly connected to the walking unit 2; a support unit 3, which can contact the upper guide rail 11 in the pipeline 1 and is fixedly connected to the fuselage 6, including a support shell 31, a support wheel 32, and an adjustment component 33. The support shell 31 is provided with an adjustment component 33, and the adjustment component 33 is rotatably provided with at least one support wheel 32 so that the support wheel 32 can extend out of the support shell 31 along the inside of the support shell 31. The walking unit 2 carries the fuselage 6 and other components and moves along the interior of the pipe 1. During this movement, other maintenance modules fixed to the fuselage 6 can perform maintenance work on the interior of the pipe 1. Since the guide rails 11 inside the pipe 1 have multiple orientations, and maintenance work on these multiple guide rails 11 may occur simultaneously during maintenance, if the walking unit 2 deviates from its path within the pipe 1, maintenance work will be seriously affected. Therefore, a support unit 3 is fixed above the fuselage 6. The extension of the support wheels 32 is adjusted by an adjustment assembly 33. When the carrying module moves within the torpedo pipe 1, the adjustment assembly 33 causes the support wheels 32 to extend and rest against the inner wall of the torpedo pipe 1, rolling along the torpedo pipe 1 to provide guidance and support. When the carrying module is not within the torpedo pipe 1, the adjustment assembly 33 causes the support wheels 32 to retract. The T-slots of the upper guide rails serve as travel guides for the support wheels.

[0037] like Figure 5 and Figure 6 As shown, the adjustment assembly 33 includes a handle 331, a fixing frame 332, a connecting rod 333 and a bracket 334. The handle 331 is slidably installed on the side wall of the support shell 31, the fixing frame 332 is fixedly connected to the handle 331, and the connecting rod 333 is fixedly connected on both sides of the fixing frame 332. The connecting rod 333 is rotatably connected to multiple brackets 334 along the length direction, and the end of the bracket 334 is rotatably connected to the support wheel 32. A through hole is opened on the support shell 31 for the support wheel 32 to pass through, and a tension spring is fixed between the two connecting rods 333. The center of the bracket 334 is rotatably connected to the support housing. The handle 331 extends into the support housing 31 and can move along the support housing 31. Since the handle 331 is fixedly connected to the fixing frame 332, when the handle 331 is pulled, the handle 331, the fixing frame 332, and the connecting rod 333 move in the same direction. Driven by the connecting rod 333, the bracket 334 transitions from an inclined state to a vertical state. The support wheel 32 is rotatably connected to the top of the support frame, and the support wheel 32 is pushed out of the support housing 31. Conversely, when the handle 331 is pushed into the support housing 31, the fixing frame 332 and the connecting rod 333 simultaneously retract, and the bracket 334 drives the support wheel 32 to retract from the outside of the support housing 31 into the interior.

[0038] like Figure 7As shown, the walking unit 2 includes a driving device 21, a transmission part 22, a driving wheel 23, a driven wheel 24, a crawler belt 25, and a frame 26. The driving device 21 is fixed in the frame 26. The driving device 21 is fixed with a transmission part 22. The transmission part 22 is in driving connection with the driving wheel 23. The driving wheel 23 and the driven wheel 24 are both rotatably connected to the frame 26. The crawler belt 25 is installed between the driving wheel 23 and the driven wheel 24. The driving device 21 can be a motor. After the driving device 21 is started, the driving device 21 and the transmission part 22 drive the driving wheel 23 to rotate. Since the driving wheel 23 and the driven wheel 24 are connected by the crawler belt 25, the driven wheel 24 also rotates accordingly. The crawler belt 25 contacts the inner wall of the pipeline 1, and the walking unit 2 moves along the inside of the pipeline 1.

[0039] The transmission unit 22 includes a driving bevel gear 221, a driven bevel gear 222, a first pulley 223, and a second pulley 224. The driving bevel gear 221 is fixed to the output end of the drive device 21. The driving bevel gear 221 meshes with the driven bevel gear 222. The driven bevel gear 222 is coaxially provided with a first pulley 223. The first pulley 223 is in transmission connection with the second pulley 224, which is coaxially provided with the drive wheel 23. After the drive device 21 is activated, the driving bevel gear 221 rotates, and the driven bevel gear 222, which is meshed with the driving bevel gear 221, also rotates. The first pulley 223, which is coaxially provided with the driven bevel gear 222, rotates, and the second pulley 224, which is coaxially provided with the drive wheel 23, also rotates. This transmission method ensures that the rotation of the drive device 21 and the drive wheel 23 requires other components, allowing the travel unit 2 to start smoothly. At the same time, a plurality of transmission parts 22 are provided between the driving device 21 and the driving wheel 23, and the speed of the driving wheel 23 can be adjusted in multiple stages.

[0040] Example 2:

[0041] like Figure 8As shown, the lubricating device is fixed to the aforementioned mounting module and further includes an oiling unit 4 for lubricating the surface of the guide rail 11 inside the pipe 1. The oiling unit 4 includes an outer shell 41, a drive assembly 42, a glue head assembly 43, and a reset assembly 44. The drive assembly 42 is disposed within the outer shell 41. One end of the drive assembly 42 is fixedly connected to the outer shell 41, and the other end of the drive assembly 42 is rotatably connected to the glue head assembly 43. A reset assembly 44 is fixed between the glue head assembly 43 and the outer shell 41. The oiling units 4 for lubricating the guide rails 11 on both sides of the pipe 1 are fixed to both sides of the fuselage 6. The oiling unit 4 for lubricating the top guide rail 11 in the pipe 1 is fixed to the support shell 31. Multiple groups of oiling units 4 are provided to simultaneously lubricate the guide rails 11 at different positions. The driving component 42 enables the rubber head component 43 to adjust the distance between itself and the guide rail 11, and retracts the rubber head component 43 into the outer shell 41. If the driving component 42 does not work, the reset component 44 is used to push the rubber head component 43 out of the outer shell 41 and contact it with the guide rail to be oiled, thereby realizing the oiling operation.

[0042] The drive assembly 42 includes a telescopic member 421, a push wheel 422, a push block 423, a fixed rod 424, and a connecting seat 425. The rubber head assembly 43 is fixed to the connecting seat 425, and the connecting seat 425 is rotatably provided with a fixed rod 424. The fixed rod 424 is rotatably provided with a push block 423. The push block 423 is rotatably provided with the outer shell 41. The telescopic member 421 is fixed within the shell. The push wheel 422 is fixed to the end of the telescopic member 421, and the push wheel 422 can contact the push block 423. The rubber head assembly 43 includes a rubber head frame 431 and a rubber head seat 432. The rubber head frame 431 has a rubber head seat 432 fixed to the end. The end of the rubber head seat 432 can extend outside the outer shell 41 and is connected to the oil supply unit 5. The reset assembly 44 includes at least two reset springs, the ends of which are respectively fixed to the rubber head frame 431 and the inner wall of the outer shell 41. In this embodiment, four return springs are provided and distributed along the circumference of the rubber head frame 431 .

[0043] The telescopic member 421 can be an actuator capable of linear reciprocating motion, such as an electric push rod or a pneumatic cylinder. When the push wheel 422 fixed at the end of the telescopic member 421 contacts the push block 423, the push block 423 rotates about the axis, lifting the end of the push block 423 upward. This drives the fixed rod 424 to rotate, which in turn drives the rubber head assembly 43 toward the reset assembly 44, causing the rubber head seat 432 to retract into the interior of the outer shell 41. When the telescopic member 421 retracts, the rubber head seat 432 extends out of the outer shell 41 under the push of the reset assembly 44. The reset assembly 44 maintains a certain pressure between the rubber head seat 432 and the guide rail 11, ensuring more even oiling when the rubber head seat 432 contacts the guide rail 11. Oiling the surface of the guide rail 11 can prevent rust on the guide rail 11.

[0044] A slide rail is fixed within the outer shell 41, and a slider is fixed to the rail. The slider can slide along the rail. A guide support plate 434 is fixed within the outer shell 41. Guide wheels 433 are fixed to the two side walls of the glue head frame 431. The guide wheels 433 can roll along the shell and the guide support plate 434. The slide rail, slider, and guide wheels 433 all serve to guide the glue head assembly 43 during movement, ensuring better centering of the glue head assembly 43 during movement.

[0045] like Figure 9 and Figure 10 As shown, the apparatus further includes an oil supply unit 5 for providing maintenance oil to the oiling unit 4. The oil supply unit 5 includes an oil supply motor 51, a propulsion assembly 52, an oil cylinder 53, and an oil outlet seat 54. The propulsion assembly 52 is fixed to the output end of the oil supply motor 51. One end of the propulsion assembly 52 extends into the oil outlet seat 54. The oil outlet seat 54 has an oil inlet channel 55. The oil outlet seat 54 has at least two oil inlets 56 and one oil outlet 57. The oil inlets 56 and the oil outlet 57 are both connected to the oil inlet channel 55. The oil cylinder 53 is connected to the oil inlet 56, and the oil outlet 57 is connected to the rubber head. At least two groups of oil supply units 5 are distributed along the fuselage 6, and the oil supply units 5 provide maintenance oil to the oiling units 4 at different positions. Specifically, the oil supply motor 51 is activated, driving the propulsion assembly 52 to move within the oil inlet channel 55. A pull rod is slidably provided within the oil barrel 53, with a piston fixed at the end of the pull rod. The piston can move along the oil barrel 53, and the grease in the oil barrel 53 can enter the oil inlet channel 55 through the oil inlet 56. Driven by the propulsion assembly 52, it enters the oil outlet 57. The oil outlet 57 is interconnected with the rubber head seat 432, and the grease is then transported from the oil supply unit 5 to the oiling unit 4. By coordinating the movement speed and the oiling speed, the optimal oiling thickness can be adjusted.

[0046] The propulsion assembly 52 includes a cam 521, a push rod 522, a connecting column 523, and a movable seat 524. The cam 521 is fixed to the output end of the oil supply motor 51. The connecting column 523 is fixed to the end of the cam 521. The connecting column 523 extends into the movable seat 524. The push rod 522 is fixed to the movable seat 524. The push rod 522 extends into the oil inlet channel 55. After the oil supply motor 51 is started, it drives the cam 521 to rotate. The connecting column 523 is fixed to the end of the cam 521. Because the cam 521 and the connecting column 523 are eccentrically arranged, when the cam 521 rotates, the connecting column 523 rotates in the movable seat 524, and at the same time drives the push rod 522 fixed to the movable seat 524 to undergo vertical displacement. The push rod 522 continuously squeezes the butter in the oil inlet channel 55 to the oil outlet 57, and the butter is discharged from the oil outlet 57.

[0047] For example, if the oil supply motor 51 has a torque of 6 Nm, it can cause the push rod 522 to perform a maximum of 80 piston movements per minute, with each piston movement displacing 2 ml of oil. The oil cylinder 53 can carry a maximum of 1000 ml of oil. Each guide rail 11 requires a minimum oil thickness of 0.2 mm. Therefore, the speed of the oil supply motor 51 can be adjusted to match the travel speed of the equipment according to actual site requirements to achieve optimal lubrication results.

[0048] Two oil inlets 56, one at the farthest end of the push rod 522's travel and the other at the closest end, are also equipped with a one-way valve. The design of two oil inlets 56 increases the amount of oil entering the push rod 522 during its retraction process and improves the speed of oil inflow. Furthermore, the addition of an oil inlet 56 at the innermost end of the oil inlet channel 55 prevents air compression or vacuum from occurring within the channel during operation, reducing the risk of external air inflow, minimizing damage to various components, and extending the service life of the entire device.

[0049] Due to the compressibility of air, when a large amount of external air enters the oil inlet channel 55, oil will no longer enter the channel. Furthermore, compressed air cannot easily open the one-way valve, so air will remain in the oil inlet channel 55, causing the oil supply unit 5 to cease operation. However, in this solution, the one-way valve at the oil inlet port 56 formed at the end of the push rod 522 ensures that only butter can enter. A steady stream of butter can enter as the push rod 522 is pulled back. Even if a small amount of air is introduced during oil filling, the oil inlet channel 55 will contain more oil than air. At this point, the small amount of air will be discharged along with the large amount of butter, thus preventing it from interfering with the normal operation of the structure. This structure can automatically exhaust air regardless of air interference, greatly reducing the difficulty of filling for the operator.

[0050] The rubber head holder 432 is a highly contoured oil-coated end made of silicone rubber, which is highly oil-resistant and corrosion-resistant. The oil is discharged from the middle outlet of the end, and the stepped design at the end allows the oil to be evenly spread in the prescribed shape.

[0051] Example 3:

[0052] The pipeline maintenance robot includes the aforementioned mounting module and oiling device, as well as a rotary motor 7, a flange 8, and a functional module 9. The rotary motor 7 is fixed to the body 6, and the flange 8 is fixed to the output end of the rotary motor 7. The flange 8 is detachably connected to the functional module 9 along the circumference. The rotary motor 7 drives the flange 8 and functional module 9 to rotate, adjusting the position of the functional module 9 to its working position.

[0053] The functional module 9 includes at least one of a pipeline paint repair module, a pipeline water wiping module, a pipeline impurity removal module, a guide rail water wiping module, a pipe wall grinding module and a zinc block grinding module. The pipeline paint repair module is used to repair the paint inside the pipeline 1, the pipeline water wiping module is used to wipe the water inside the pipeline 1, the pipeline impurity removal module is used to clean the impurities in the pipeline 1, the guide rail water wiping module is used to wipe the guide rail 11 fixed in the pipeline 1, the pipe wall grinding module is used to grind impurities on the inner wall of the pipeline 1, and the zinc block grinding module is used to grind the zinc block 12 in the pipeline 1.

[0054] Working process:

[0055] When performing maintenance and repairs on a torpedo tube 1, the robot is placed entirely inside the tube 1. The support wheels 32 of the support unit 3 extend from the support housing 31 and rest against the inner wall of the tube 1. As the travel unit 2 moves along the tube 1, the support wheels 32 maintain contact and roll with the inner wall. Different functional modules 9 are installed on the flange 8 according to maintenance requirements, and the operating position of these modules is adjusted by the rotary motor 7. The robot performs maintenance and repair work on the torpedo tube 1 during movement, while also lubricating the guide rails 11 at various locations within the tube 1.

[0056] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention. Any changes that may be made to certain parts thereof by those skilled in the art all reflect the principles of the present invention and fall within the scope of protection of the present invention.

Claims

1. Pipeline maintenance robot, characterized in that: The robot comprises an oiling device, the oiling device comprises a carrying module, the carrying module comprises a walking unit (2) and can move autonomously along the interior of a pipeline (1); The machine body is fixedly connected to the walking unit (2); the support unit (3) can contact the upper guide rail (11) in the pipeline (1) and is fixedly connected to the machine body (6), and includes a support shell (31), a support wheel (32), and an adjustment component (33). The adjustment component (33) is provided in the support shell (31), and the adjustment component (33) is rotatably provided with at least one support wheel (32) so that the support wheel (32) can extend from the support shell (31) along the inside of the support shell (31); The oiling device further comprises an oiling unit (4) for oiling the surface of the guide rail (11) inside the pipeline (1), the oiling unit (4) comprising an outer shell (41), a driving assembly (42), a glue head assembly (43) and a reset assembly (44), wherein the outer shell (41) is provided with a driving assembly (42), one end of the driving assembly (42) is fixedly connected to the outer shell (41), and the other end of the driving assembly (42) is rotatably connected to the glue head assembly (43), and a reset assembly (44) is fixed between the glue head assembly (43) and the outer shell (41); The robot further comprises a rotating motor (7), a flange (8) and a functional module (9); the rotating motor (7) is fixed to the body (6); the flange (8) is fixed to the output end of the rotating motor (7); and the functional module (9) is detachably connected to the flange (8) along the circumferential direction; The driving assembly (42) comprises a telescopic member (421), a push wheel (422), a push block (423), a fixed rod (424) and a connecting seat (425); the rubber head assembly (43) is fixed with the connecting seat (425); the connecting seat (425) is rotatably provided with a fixed rod (424); the fixed rod (424) is rotatably provided with a push block (423); the push block (423) is rotatably provided with the outer shell (41); the telescopic member (421) is fixed in the outer shell (41); the push wheel (422) is fixed at the end of the telescopic member (421), and the push wheel (422) can contact the push block (423); The rubber head assembly (43) comprises a rubber head frame (431) and a rubber head seat (432); the rubber head seat (432) is fixed to the end of the rubber head frame (431); the end of the rubber head seat (432) can extend outside the outer shell (41); and the rubber head seat (432) is connected to the oil supply unit (5).

2. The pipeline maintenance robot according to claim 1, characterized in that: The adjustment assembly (33) comprises a handle (331), a fixing frame (332), a connecting rod (333) and a bracket (334); the handle (331) is slidably mounted on the side wall of the support shell (31); the fixing frame (332) is fixedly connected to the handle (331); connecting rods (333) are fixedly connected to both sides of the fixing frame (332); the connecting rods (333) are rotatably connected to a plurality of brackets (334) along the length direction; the ends of the brackets (334) are rotatably connected to support wheels (32); and a through hole is provided on the support shell (31) for the support wheels (32) to pass through.

3. The pipeline maintenance robot according to claim 2, characterized in that: The walking unit (2) comprises a driving device (21), a transmission part (22), a driving wheel (23), a driven wheel (24), a crawler belt (25) and a frame (26); the driving device (21) is fixed in the frame (26); the driving device (21) is fixed with a transmission part (22); the transmission part (22) is connected to the driving wheel (23) in a transmission manner; the driving wheel (23) and the driven wheel (24) are both rotatably connected to the frame (26); and the crawler belt (25) is installed between the driving wheel (23) and the driven wheel (24) in a transmission manner.

4. The pipeline maintenance robot according to claim 1, characterized in that: The oiling device further comprises an oil supply unit (5) for providing maintenance oil for the oiling unit (4). The oil supply unit (5) comprises an oil supply motor (51), a propulsion assembly (52), an oil cylinder (53), and an oil outlet seat (54). The propulsion assembly (52) is fixed to the output end of the oil supply motor (51). One end of the propulsion assembly (52) extends into the oil outlet seat (54). The oil outlet seat (54) has an oil inlet channel (55). The oil outlet seat (54) has at least two oil inlets (56) and one oil outlet (57). The oil inlet (56) and the oil outlet (57) are both in communication with the oil inlet channel (55). The oil cylinder (53) is in communication with the oil inlet (56). The oil outlet (57) is in communication with the rubber head.

5. The pipeline maintenance robot according to claim 4, characterized in that: The propulsion assembly (52) comprises a cam (521), a push rod (522), a connecting column (523), and a movable seat (524). The cam (521) is fixed to the output end of the oil supply motor (51). The connecting column (523) is fixed to the end of the cam (521). The connecting column (523) extends into the movable seat (524). The movable seat (524) is fixed with a push rod (522). The push rod (522) extends into the oil inlet channel (55).

6. The pipeline maintenance robot according to claim 1, characterized in that: The functional module (9) includes at least one of a pipeline paint repair module, a pipeline water wiping module, a pipeline impurity removal module, a guide rail water wiping module, a pipe wall grinding module and a zinc block grinding module. The pipeline paint repair module is used to repair the paint inside the pipeline, the pipeline water wiping module is used to wipe the water inside the pipeline, the pipeline impurity removal module is used to clean the impurities inside the pipeline, the guide rail water wiping module is used to wipe the guide rail fixed inside the pipeline, the pipe wall grinding module is used to grind impurities on the inner wall of the pipeline, and the zinc block grinding module is used to grind the zinc block (12) inside the pipeline.

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