A walking UV curing robot

Abstract

The present invention belongs to the field of pipeline maintenance technology, specifically a walking type ultraviolet curing robot, comprising a frame; baffles are installed at both ends of the frame; a plurality of evenly arranged sliding rods are fixedly connected between the baffles; a pair of symmetrically arranged top rods are slidably connected to the surface of the sliding rods; the paired top rods are rotatably connected; the surfaces of the opposite sides of the two baffles are fixedly connected to hydraulic rods; the piston rod end faces of the two hydraulic rods are fixedly connected to one end of the top rod on the same side close to the sliding rod; the side surfaces of the baffles are provided with mounting grooves; an air bag is fixedly connected in the mounting groove; an air pump is installed in the middle of the frame, and the air pump and the air bag are connected by a hose, and most of the liquid in the area to be repaired is pumped away by the liquid pumping component, thereby avoiding excessive liquid accumulation between the light-curing film and the inner wall of the pipe during the process of sticking the light-curing film to the inner wall of the pipe, which affects the adhesion of the light-curing film and thus affects the quality of the final repair.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline maintenance, in particular to a walking ultraviolet curing robot. Background Art

[0002] Pipeline transportation is a mode of transportation that uses pipelines as a means of transportation to transport liquid and gas materials over long distances. It is a mode of transportation specifically used to transport oil, coal and chemical products from the production site to the market. However, since the transmission pipelines are generally long distances, if they are damaged, they are more difficult to repair.

[0003] The prior art also proposes some solutions. For example, a patent application with publication number CN108019584B discloses a light-curing lamp for pipes, which includes a body with a hollow interior provided with an irradiation lamp group and an interconnected adjustment group. Each LED lamp of the irradiation lamp group is composed of multiple ultraviolet light-emitting diodes and can be driven by the adjustment group so that each LED lamp can be moved inward or outward and adjusted to match the diameter of the construction pipe. The support mechanism has two support groups installed at both ends of the body. Each support group is provided with at least three legs to match the pipe diameter adjustment and provide stable support, so that the invention can be moved within the pipe and complete the curing operation. It is indeed a invention that can be applied to pipes of different diameters and perform curing operations.

[0004] The light-curing lamp used for pipelines in the above-mentioned prior art enters the pipeline through the body with the ultraviolet light-emitting diode, irradiates the photosensitive liner in the pipeline, and hardens it to complete the repair. However, if there is liquid in the pipeline, the adhesion effect of the photosensitive liner will be reduced, affecting the final repair effect.

[0005] To this end, the present invention provides a walking type ultraviolet curing robot. Summary of the Invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve its technical problems is as follows: the walking type UV curing robot described in the present invention comprises a frame; baffles are installed at both ends of the frame; a plurality of evenly arranged sliding rods are fixedly connected to the surface of the frame; a pair of symmetrically arranged push rods are slidably connected to the surface of the sliding rods; the paired push rods are rotatably connected; hydraulic rods are fixedly connected to both ends of the frame; the piston rod end faces of the two hydraulic rods are fixedly connected to the push rods on the same side; the side surfaces of the baffles are each provided with a mounting groove; an air bag is fixedly connected in the mounting groove; an air pump is installed in the middle of the frame , and the air pump and the air bag are connected by a hose; a liquid extraction component is installed between the baffle and the frame; the liquid extraction component is used to extract the liquid between the two baffles; a driving component is installed at one end of the two baffles away from each other; the driving component is used to drive the frame to move along the pipeline; the ends of the driving components away from each other are fixedly connected to a camera component; the camera component is used to take pictures of the inside of the pipeline and send them to the user; the connecting ends of the paired push rods are fixedly connected to the top plate; the outer side of the top plate is covered with a light-curing film, and the outer surface of the light-curing film is coated with an adhesive; the An ultraviolet lamp is fixedly connected to the side surface of the push rod; when working, the user first drives the frame along the inside of the pipe with the remote control drive component, and observes the situation inside the pipe through the camera component at the same time. When the frame travels to the damaged part in the pipe, the air pump inflates the air bags at both ends to expand the air bags, thereby pushing out the mounting groove on the side surface of the baffle and finally pushing to the inner wall of the pipe. At this time, the air bags can close the pipe space between the two baffles, and then the liquid extraction component extracts most of the liquid between the two baffles, and then the hydraulic rod is started and squeezes the push rods to make the paired push rods close to each other. The top rod and the top plate move in the direction away from the vehicle frame, and finally the light-curing film is pushed to the inner wall surface of the pipe to be repaired, and adheres to the inner wall of the pipe. Then the ultraviolet lamp on the side surface of the top rod is turned on, and the light-curing film is irradiated, and finally the light-curing film is hardened, thereby completing the repair of the inner wall of the pipe. Most of the liquid in the area to be repaired is extracted by the liquid extraction component, which avoids excessive liquid accumulation between the light-curing film and the inner wall of the pipe during the process of the light-curing film being attached to the inner wall of the pipe, thereby affecting the adhesion of the light-curing film and thus affecting the quality of the final repair.

[0008] Preferably, the top plate is fixedly connected to an air cushion at one end away from the push rod; the air cushion is connected to the air pump through a hose; when working, the air pump will ventilate the inside of the air cushion, and then the top plate, pushed by the push rod, will push the air cushion to the surface of the photocurable film, and the air cushion increases the contact area between the top plate and the photocurable film, so that the force on the photocurable film is more uniform, and the fit between the photocurable film and the inner wall of the pipe is tighter, while also avoiding the situation that the push rod damages the photocurable film in the process of supporting the photocurable film due to the small contact area between the push rod and the photocurable film.

[0009] Preferably, the photocurable film is cylindrical; a support belt is provided near both ends of the photocurable film; one end of the support belt is fixedly connected to a connecting frame; a plurality of evenly arranged ratchet teeth 1 are fixedly connected to the inner surface of the support belt; the end of the support belt away from the connecting frame is inserted into the connecting frame and coiled into a ring; the inner surface of the connecting frame is hingedly connected to a ratchet tooth 2 that matches the ratchet tooth 1, and a torsion spring is installed at the hinge; during operation, the air cushion will drive the photocurable film to gradually stretch and at the same time drive the support belt to move, so that the diameter of the ring structure formed by the support belt gradually expands. During the expansion process, the end of the support belt away from the connecting frame will move toward the connecting frame. At this time, the ratchet tooth 1 and the ratchet tooth 2 will not hinder each other. When the photocurable film hits the inner wall of the pipe, the support belt also stops moving. At this time, the ratchet tooth 1 and the ratchet tooth 2 hinder each other to prevent the annular structure formed by the support belt from shrinking, and provide support for the photocurable film through the annular structure formed by the support belt, thereby preventing the photocurable film from peeling off during the curing process, thereby ensuring the final curing effect of the photocurable film.

[0010] Preferably, the end of the connecting frame away from the second ratchet is fixedly connected to a liquid storage box, and an adhesive is provided in the liquid storage box; the end of the liquid storage box close to the second ratchet is rotatably connected to a smear roller; when working, the support belt will pass through the surface of the smear roller and drive the smear roller to rotate, and then the smear roller will bring out the adhesive in the liquid storage box and smear it on the surface of the support belt in contact with it, and then after the surface of the support belt contacts the inner wall of the photocurable film, the support belt and the inner wall of the photocurable film will be adhered together, thereby further improving the stability of the support belt when fixed and preventing the support belt from falling off from both ends of the photocurable film.

[0011] Preferably, the surface of the smear roller is provided with a plurality of evenly arranged grooves; the surface of the smear roller is fixedly connected to a plurality of evenly arranged brushes; when working, the support belt will contact the surface of the smear roller, and the brushes and the grooves will increase the roughness of the smear roller, so that the support belt can more easily drive the smear roller to rotate, and at the same time the brushes can apply the adhesive more evenly to the surface of the support belt, thereby improving the adhesion effect between the support belt and the inner wall of the pipe.

[0012] Preferably, a connecting rod is fixedly connected between the baffles; the frame is rotatably connected to the connecting rod; a servo motor 1 is fixedly connected to the surface of the frame, and the output shaft of the servo motor 1 is connected to the connecting rod through a gear set; when working, the servo motor 1 is started and drives the frame to rotate on the connecting rod through the gear set, and then the rotating frame drives the top rod, top plate and air cushion to rotate, and the air cushion evenly squeezes the surface of the photocurable film, thereby squeezing out the bubbles between the photocurable film and the inner wall of the pipe, so that the photocurable film and the inner wall of the pipe fit more tightly.

[0013] Preferably, the liquid extraction assembly includes a pair of conduits; the two conduits are respectively fixedly connected to the side surfaces of the two baffles that are close to each other, and are located at the bottom position of the baffles; the sides of the two baffles that are away from each other are fixedly connected with connecting pipes; the connecting pipes and the conduits are connected through hoses, and the hoses are arranged inside the baffles; when working, it is necessary to connect the external liquid extraction pump and the connecting pipe through the liquid extraction pump, and then put the embodiment of the present invention into the pipeline. When the frame moves to the place where the pipeline is to be repaired, the external liquid extraction pump extracts most of the liquid between the baffles through the liquid extraction pipe, the connecting pipe and the conduit connected to the connecting pipe. Since conduits are provided at the bottom of the baffles on both sides, the user can choose any end to connect according to needs, thereby facilitating the user's assembly.

[0014] Preferably, a magnet ring is fixed at the bottom of the conduit; a bellows is fixedly connected to the bottom surface of the magnet ring; a metal sheet is fixedly connected to the side surface of the bottom of the bellows, and the metal sheet can be magnetized; during operation, the user can stretch the bellows according to the diameter of the pipe, and then adsorb the metal sheet at the end of the bellows on the magnet ring at the bottom of the conduit, thereby fixing the length of the bellows and adapting to pipes of different diameters.

[0015] Preferably, the driving assembly includes a pair of bidirectional screw rods; the two bidirectional screw rods are respectively rotatably connected to the sides of the two baffles away from each other; both ends of the bidirectional screw rods are threadedly connected to a U-shaped plate, and the U-shaped plate is slidably connected to the baffle; both ends of the U-shaped plate are rotatably connected to a driving wheel, and the drive is driven by an external motor; when working, the user can rotate the bidirectional screw rod to drive the two U-shaped plates to move along the bidirectional screw rod, thereby ensuring that the driving wheels at the ends of the two U-shaped plates can contact the inner wall of the pipe, thereby ensuring that the frame is in the middle of the pipe, reducing the risk of the light-cured film on the frame contacting the liquid in the pipe during the movement of the embodiment of the present invention, thereby affecting the subsequent adhesion of the light-cured film.

[0016] Preferably, the surfaces of the two baffles on one side away from each other are both fixedly connected to a servo motor 2; the servo motor 2 is connected to the middle part of the bidirectional screw rod through a gear set; during operation, if encountering some debris blocking the way, the user can remotely control the servo motor 2 to drive the bidirectional screw rod to rotate, and retract the U-shaped plate at one baffle toward the baffle, and then the U-shaped plate at the other baffle side and the driving wheel drive the embodiment of the present invention to move. After passing over the debris, the user remotely controls the servo motor 2 to drive the bidirectional screw rod to rotate, and push the U-shaped plate and the driving wheel back to the inner wall of the pipe, and then the U-shaped plate on the other side uses the same method to pass over the debris, so that the embodiment of the present invention has a certain obstacle-crossing ability, which improves the scope of application of the embodiment of the present invention.

[0017] The beneficial effects of the present invention are as follows:

[0018] 1. The walking UV-curing robot described in the present invention removes most of the liquid from the area to be repaired through a liquid extraction component, thereby preventing excessive liquid from accumulating between the photocuring film and the inner wall of the pipe during the process of affixing the photocuring film to the inner wall of the pipe, thereby affecting the adhesion of the photocuring film and thus the quality of the final repair.

[0019] 2. The walking UV curing robot described in the present invention provides support for the photocurable film through the annular structure formed by the support belt, thereby preventing the photocurable film from peeling off during the curing process, thereby ensuring the final curing effect of the photocurable film. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings.

[0021] Figure 1 is a perspective view of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the vehicle frame of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the support belt in the present invention;

[0024] Figure 4 It is a partial cross-sectional view of the connection frame in the present invention;

[0025] Figure 5 It is a structural schematic diagram of the connecting rod in the present invention;

[0026] Figure 6 yes Figure 5 A partial enlarged view of the middle part;

[0027] In the figure: 1. Frame; 2. Baffle; 3. Sliding rod; 4. Push rod; 5. Hydraulic rod; 6. Mounting slot; 7. Air bag; 8. Air pump; 9. Camera assembly; 10. Photocuring film; 11. Ultraviolet lamp; 12. Support belt; 13. Connecting frame; 14. Ratchet 1; 15. Ratchet 2; 16. Liquid storage box; 17. Applicator roller; 18. Groove; 19. Brush; 20. Top plate; 21. Air cushion; 22. Connecting rod; 23. Servo motor 1; 24. Conduit; 25. Connecting pipe; 26. Magnet ring; 27. Bellows; 28. Metal sheet; 29. Bidirectional screw; 30. U-shaped plate; 31. Driving wheel; 32. Servo motor 2. DETAILED DESCRIPTION

[0028] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0029] like Figures 1 to 2As shown, a walking type UV curing robot according to an embodiment of the present invention comprises a frame 1; baffles 2 are installed at both ends of the frame 1; a plurality of evenly arranged sliding rods 3 are fixedly connected to the surface of the frame 1; a pair of symmetrically arranged push rods 4 are slidably connected to the surface of the slide rods 3; the pairs of push rods 4 are rotatably connected; hydraulic rods 5 are fixedly connected to both ends of the frame 1; the piston rod end faces of the two hydraulic rods 5 are fixedly connected to the push rods 4 on the same side; the side surfaces of the baffles 2 are provided with mounting grooves 6; an air bag 7 is fixedly connected in the mounting grooves 6; an air pump 8 is installed in the middle of the frame 1, and the air pump 8 is connected to the air bag 7 through a hose; A liquid extraction component is installed between the baffle 2 and the frame 1; the liquid extraction component is used to extract the liquid between the two baffles 2; a driving component is installed at the ends of the two baffles 2 away from each other; the driving component is used to drive the frame 1 to move along the pipeline; the ends of the driving components away from each other are fixedly connected to a camera component 9; the camera component 9 is used to take pictures inside the pipeline and send them to the user; the connecting ends of the paired top rods 4 are fixedly connected to a top plate 20; the outer side of the top plate 20 is covered with a light-curing film 10, and the outer surface of the light-curing film 10 is coated with an adhesive; the side surface of the top rod 4 is fixedly connected to an ultraviolet lamp 11; when working, In order to repair the damaged part in the transport pipeline, the present invention can be used. First, the user drives the frame 1 along the inside of the pipeline by remote control, and observes the situation inside the pipeline through the camera assembly 9. When the frame 1 reaches the damaged part in the pipeline, the air pump 8 inflates the air bags 7 at both ends, so that the air bags 7 expand, thereby pushing out the mounting groove 6 on the side surface of the baffle 2, and finally pushing to the inner wall of the pipeline. At this time, the air bags 7 can close the pipeline space between the two baffles 2, and then the liquid extraction assembly extracts most of the liquid between the two baffles 2, and then the hydraulic rod 5 is started and squeezes the push rod 4, so that the paired push rods 4 moves toward each other, thereby causing the push rod 4 and the top plate 20 to move in a direction away from the vehicle frame 1, and finally pushing the light-curing film 10 to the surface of the inner wall of the pipe to be repaired, and causing it to adhere to the inner wall of the pipe. Then, the ultraviolet lamp 11 on the side surface of the push rod 4 is turned on and irradiates the light-curing film 10, finally hardening the light-curing film 10, and thus completing the repair of the inner wall of the pipe. Most of the liquid in the area to be repaired is extracted by the liquid extraction component, thereby avoiding excessive liquid accumulation between the light-curing film 10 and the inner wall of the pipe during the process of the light-curing film 10 being attached to the inner wall of the pipe, which would affect the adhesion of the light-curing film 10 and thus affect the quality of the final repair.

[0030] like Figures 1 to 2As shown, the ends of the top plate 20 away from the top rod 4 are fixedly connected with an air cushion 21; the air cushions 21 are connected to the air pump 8 through a hose; the air cushions 21 and the top plate 20 are both made of transparent materials; during operation, when the support pushes the light-curing film 10 to the inner wall of the pipe, the air pump 8 will ventilate the inside of the air cushion 21, and then the top plate 20, under the push of the top rod 4, pushes the air cushion 21 to the surface of the light-curing film 10, and increases the contact area between the top plate 20 and the light-curing film 10 through the air cushion 21, so that the force on the light-curing film 10 is more uniform, and the fit between the light-curing film 10 and the inner wall of the pipe is tighter, while also avoiding the situation that the top rod 4 damages the light-curing film 10 in the process of supporting the light-curing film 10 due to the small contact area between the top rod 4 and the light-curing film 10.

[0031] like Figure 1 、 Figure 3 and Figure 4 As shown, the photocurable film 10 is cylindrical; a support belt 12 is provided near both ends of the photocurable film 10; one end of the support belt 12 is fixedly connected to a connecting frame 13; a plurality of evenly arranged ratchet teeth 14 are fixedly connected to the inner surface of the support belt 12; the end of the support belt 12 away from the connecting frame 13 is inserted into the connecting frame 13 and coiled into a ring; the inner surface of the connecting frame 13 is hinged with a ratchet tooth 2 15 adapted to the ratchet tooth 14, and a torsion spring is installed at the hinge; when working, when the air cushion 21 is pushed against the photocurable film 10, the air cushion 21 will drive the photocurable film 10 to gradually stretch, and at the same time drive the support belt 12 to move The support belt 12 moves so that the diameter of the annular structure formed by the support belt 12 gradually expands. During the expansion process, the end of the support belt 12 away from the connecting frame 13 moves toward the connecting frame 13. At this time, the first ratchet 14 and the second ratchet 15 do not hinder each other. When the light-curing film 10 hits the inner wall of the pipe, the support belt 12 also stops moving. At this time, the first ratchet 14 and the second ratchet 15 hinder each other, preventing the annular structure formed by the support belt 12 from shrinking. The annular structure formed by the support belt 12 provides support for the light-curing film 10, preventing the light-curing film 10 from peeling off during the curing process, thereby ensuring the final curing effect of the light-curing film 10.

[0032] like Figures 3 and 4As shown, the end of the connecting frame 13 away from the second ratchet 15 is fixedly connected to a liquid storage box 16, and an adhesive is provided in the liquid storage box 16; the end of the liquid storage box 16 close to the second ratchet 15 is rotatably connected to a smear roller 17; during operation, when the support belt 12 passes through the connecting frame 13, the support belt 12 will pass through the surface of the smear roller 17 and drive the smear roller 17 to rotate, and then the smear roller 17 will bring out the adhesive in the liquid storage box 16 and smear it on the surface of the support belt 12 in contact with it, and then after the surface of the support belt 12 contacts the inner wall of the photocurable film 10, the support belt 12 will be adhered to the inner wall of the photocurable film 10, thereby further improving the stability of the support belt 12 when it is fixed, and preventing the support belt 12 from falling off from both ends of the photocurable film 10.

[0033] like Figure 4 As shown, the surface of the above-mentioned smear roller 17 is provided with a plurality of evenly arranged grooves 18; the surface of the above-mentioned smear roller 17 is fixedly connected with a plurality of evenly arranged brushes 19; during operation, when the support belt 12 passes through the surface of the smear roller 17, the support belt 12 will contact the surface of the smear roller 17, and the brushes 19 and the grooves 18 increase the roughness of the smear roller 17, so that the support belt 12 can more easily drive the smear roller 17 to rotate, and at the same time, the brushes 19 can apply the adhesive more evenly to the surface of the support belt 12, thereby improving the adhesion effect between the support belt 12 and the inner wall of the pipe.

[0034] like Figure 1 、 Figure 2 and Figure 5 As shown, a connecting rod 22 is fixedly connected between the above-mentioned baffles 2; the above-mentioned frame 1 is rotatably connected to the connecting rod 22; a servo motor 23 is fixedly connected to the surface of the above-mentioned frame 1, and the output shaft of the servo motor 23 is connected to the connecting rod 22 through a gear set; during operation, when the light-curing film 10 is attached to the inner wall of the pipe, the servo motor 23 is started and drives the frame 1 to rotate on the connecting rod 22 through the gear set, and then the rotating frame 1 drives the top rod 4, the top plate 20 and the air cushion 21 to rotate, and the air cushion 21 evenly squeezes the surface of the light-curing film 10, thereby squeezing out the bubbles between the light-curing film 10 and the inner wall of the pipe, so that the light-curing film 10 and the inner wall of the pipe fit more tightly.

[0035] like Figure 1 、 Figure 2 、 Figure 5 and Figure 6As shown, the above-mentioned liquid extraction component includes a pair of conduits 24; the two above-mentioned conduits 24 are respectively fixedly connected to the side surfaces of the two baffles 2 that are close to each other, and are located at the bottom position of the baffle 2; the two above-mentioned baffles 2 are fixedly connected to the side surfaces that are away from each other; the above-mentioned connecting pipes 25 and the conduits 24 are connected through a hose, and the hose is arranged inside the baffle 2; during operation, before the user puts the embodiment of the present invention into the pipeline, it is necessary to connect the external liquid extraction pump and the connecting pipe 25 through the liquid extraction pump, and then put the embodiment of the present invention into the pipeline. When the frame 1 moves to the place where the pipeline is to be repaired, the external liquid extraction pump extracts most of the liquid between the baffles 2 through the liquid extraction pipe, the connecting pipe 25 and the conduit 24 connected to the connecting pipe 25. Since the bottom of the baffles 2 on both sides is provided with a conduit 24, the user can choose any end to connect according to needs, thereby facilitating the assembly of the user.

[0036] like Figures 5 and 6 As shown, a magnet ring 26 is fixed to the bottom of the conduit 24; a bellows 27 is fixed to the bottom surface of the magnet ring 26; a metal sheet 28 is fixed to the side surface of the bottom of the bellows 27, and the metal sheet 28 can be magnetized; during operation, when it is necessary to repair pipes of different diameters, the user can lengthen the bellows 27 according to the diameter of the pipe, and then adsorb the metal sheet 28 at the end of the bellows 27 onto the magnet ring 26 at the bottom of the conduit 24, thereby fixing the length of the bellows 27 and adapting to pipes of different diameters.

[0037] like Figures 1 to 2 As shown, the driving assembly includes a pair of bidirectional screw rods 29; the thread directions at both ends of the bidirectional screw rods 29 are opposite; the two bidirectional screw rods 29 are respectively rotatably connected to the side of the two baffles 2 away from each other; both ends of the bidirectional screw rods 29 are threadedly connected to a U-shaped plate 30, and the U-shaped plate 30 is slidably connected to the baffle 2; both ends of the U-shaped plate 30 are rotatably connected to a driving wheel 31, and the drive is driven by an external motor; during operation, before repairing pipes of different diameters, the user can rotate the bidirectional screw rods 29 to drive the two U-shaped plates 30 to move along the bidirectional screw rods 29, thereby ensuring that the driving wheels 31 at the ends of the two U-shaped plates 30 can contact the inner wall of the pipe, thereby ensuring that the frame 1 is in the middle of the pipe, reducing the risk of the light-curing film 10 on the frame 1 contacting the liquid in the pipe during movement, thereby affecting the subsequent adhesion of the light-curing film 10.

[0038] like Figures 1 to 2As shown, the surfaces of the two baffles 2 that are away from each other are both fixedly connected to a servo motor 2 32; the servo motor 2 32 is connected to the middle part of the bidirectional screw 29 through a gear set; during operation, when the user remotely controls the embodiment of the present invention to move along the pipeline, if it encounters some obstacles, the user can remotely control the servo motor 2 32 to drive the bidirectional screw 29 to rotate, and retract the U-shaped plate 30 at one side of the baffle 2 toward the baffle 2, and then the U-shaped plate 30 at the other side of the baffle 2 and the driving wheel 31 drive the embodiment of the present invention to move. After passing over the obstacles, the user remotely controls the servo motor 2 32 to drive the bidirectional screw 29 to rotate, and push the U-shaped plate 30 and the driving wheel 31 back to the inner wall of the pipeline, and then the U-shaped plate 30 on the other side uses the same method to pass over the obstacles, so that the embodiment of the present invention has a certain obstacle-crossing ability, which improves the scope of application of the embodiment of the present invention.

[0039] During operation, in order to repair the damaged part in the transport pipeline, the present invention can be used. First, the user drives the frame 1 along the inside of the pipeline with the remote control driving assembly, and observes the situation inside the pipeline through the camera assembly 9. When the frame 1 travels to the damaged part in the pipeline, the air pump 8 inflates the air bags 7 at both ends, causing the air bags 7 to expand, thereby pushing out the mounting groove 6 on the side surface of the baffle 2, and finally pushing to the inner wall of the pipeline. At this time, the air bags 7 can close the pipeline space between the two baffles 2, and then the liquid extraction assembly extracts most of the liquid between the two baffles 2, and then the hydraulic rod 5 is started and squeezes the push rod 4, so that the paired The push rods 4 move toward each other, causing the push rods 4 and the top plate 20 to move in a direction away from the frame 1, and eventually the light-curing film 10 is pushed to the inner wall surface of the pipe to be repaired, and adheres to the inner wall of the pipe. Then the ultraviolet lamp 11 on the side surface of the push rod 4 is turned on, and the light-curing film 10 is irradiated, and eventually the light-curing film 10 is hardened, thereby completing the repair of the inner wall of the pipe. Most of the liquid in the area to be repaired is extracted by the liquid extraction component, avoiding the accumulation of excessive liquid between the light-curing film 10 and the inner wall of the pipe during the process of the light-curing film 10 being attached to the inner wall of the pipe, which affects the adhesion of the light-curing film 10 and thus affects the quality of the final repair.

[0040] When the support pushes the photocurable film 10 toward the inner wall of the pipe, the air pump 8 will ventilate the inside of the air cushion 21, and then the top plate 20, pushed by the push rod 4, pushes the air cushion 21 to the surface of the photocurable film 10, and increases the contact area between the top plate 20 and the photocurable film 10 through the air cushion 21, so that the force on the photocurable film 10 is more uniform, thereby making the fit between the photocurable film 10 and the inner wall of the pipe tighter, and at the same time, it also prevents the push rod 4 from damaging the photocurable film 10 in the process of supporting the photocurable film 10 due to the small contact area between the push rod 4 and the photocurable film 10.

[0041] When the air cushion 21 pushes against the photocuring film 10, the air cushion 21 will drive the photocuring film 10 to gradually stretch, and at the same time drive the support belt 12 to move, so that the diameter of the annular structure formed by the support belt 12 gradually expands. During the expansion process, the end of the support belt 12 away from the connecting frame 13 will move toward the connecting frame 13. At this time, the ratchet 14 and the ratchet 2 15 will not hinder each other. When the photocuring film 10 pushes against the inner wall of the pipe, the support belt 12 also stops moving. At this time, the ratchet 14 and the ratchet 2 15 hinder each other to prevent the annular structure formed by the support belt 12 from shrinking, and provide support for the photocuring film 10 through the annular structure formed by the support belt 12, so as to prevent the photocuring film 10 from peeling off during the curing process, thereby ensuring the final curing effect of the photocuring film 10.

[0042] When the support belt 12 passes through the connecting frame 13, the support belt 12 will pass through the surface of the smear roller 17 and drive the smear roller 17 to rotate. The smear roller 17 then brings out the adhesive in the liquid storage box 16 and smears it on the surface of the support belt 12 in contact with it. After the surface of the support belt 12 contacts the inner wall of the photocurable film 10, the support belt 12 and the inner wall of the photocurable film 10 will be adhered together, thereby further improving the stability of the support belt 12 when it is fixed and preventing the support belt 12 from falling off from both ends of the photocurable film 10.

[0043] When the support belt 12 passes over the surface of the smear roller 17, the support belt 12 will contact the surface of the smear roller 17. The brush 19 and the groove 18 increase the roughness of the smear roller 17, making it easier for the support belt 12 to drive the smear roller 17 to rotate. At the same time, the brush 19 can apply the adhesive more evenly to the surface of the support belt 12, thereby improving the adhesion effect between the support belt 12 and the inner wall of the pipe.

[0044] When the photocurable film 10 is attached to the inner wall of the pipe, the servo motor 23 is started and drives the frame 1 to rotate on the connecting rod 22 through the gear set. The rotating frame 1 then drives the top rod 4, the top plate 20 and the air cushion 21 to rotate, and the air cushion 21 evenly squeezes the surface of the photocurable film 10, thereby squeezing out the bubbles between the photocurable film 10 and the inner wall of the pipe, making the photocurable film 10 fit more tightly to the inner wall of the pipe.

[0045] Before placing the embodiment of the present invention into the pipeline, the user needs to connect the external liquid extraction pump to the connecting pipe 25 through the liquid extraction pump, and then place the embodiment of the present invention into the pipeline. When the frame 1 moves to the part of the pipeline to be repaired, the external liquid extraction pump extracts most of the liquid between the baffles 2 through the liquid extraction pipe, the connecting pipe 25 and the conduit 24 connected to the connecting pipe 25. Since the bottom of the baffles 2 on both sides is provided with a conduit 24, the user can choose any end to connect according to needs, thereby facilitating the user's assembly.

[0046] When it is necessary to repair pipes of different diameters, the user can lengthen the bellows 27 according to the diameter of the pipe, and then adsorb the metal sheet 28 at the end of the bellows 27 onto the magnet ring 26 at the bottom of the conduit 24, thereby fixing the length of the bellows 27 and adapting to pipes of different diameters.

[0047] Before repairing pipes of different diameters, the user can rotate the bidirectional screw 29 to drive the two U-shaped plates 30 to move along the bidirectional screw 29, thereby ensuring that the driving wheels 31 at the ends of the two U-shaped plates 30 can contact the inner wall of the pipe, thereby ensuring that the frame 1 is in the middle of the pipe, thereby reducing the risk of the light-curing film 10 on the frame 1 contacting the liquid in the pipe during movement, thereby reducing the risk of the light-curing film 10 sticking to the frame 10.

[0048] When the user remotely controls the embodiment of the present invention to move along the pipeline, if it encounters some obstacles, the user can remotely control the servo motor 2 32 to drive the bidirectional screw 29 to rotate, and the U-shaped plate 30 at the baffle 2 on one side is retracted toward the baffle 2, and then the U-shaped plate 30 and the driving wheel 31 at the baffle 2 on the other side drive the embodiment of the present invention to move. After passing over the obstacles, the user remotely controls the servo motor 2 32 to drive the bidirectional screw 29 to rotate, and the U-shaped plate 30 and the driving wheel 31 are pushed back toward the inner wall of the pipeline, and then the U-shaped plate 30 on the other side uses the same method to pass over the obstacles, so that the embodiment of the present invention has a certain obstacle-crossing ability, which improves the scope of application of the embodiment of the present invention.

[0049] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A walking UV curing robot, characterized by: The invention comprises a vehicle frame (1); baffles (2) are installed at both ends of the vehicle frame (1); a plurality of uniformly arranged sliding rods (3) are fixedly connected to the surface of the vehicle frame (1); a pair of symmetrically arranged top rods (4) are slidably connected to the surface of the sliding rods (3); the paired top rods (4) are rotatably connected; a hydraulic rod (5) is fixedly connected to both ends of the vehicle frame (1); the piston rod end faces of the two hydraulic rods (5) are fixedly connected to the top rod (4) on the same side; a mounting groove (6) is provided on the side surface of the baffle (2); an air bag (7) is fixedly connected in the mounting groove (6); an air pump (8) is installed in the middle of the vehicle frame (1), and the air pump (8) is connected to the air bag (7) through a hose; the baffle (2 ) and the vehicle frame (1); a liquid extraction component is installed between the two baffles (2); the liquid extraction component is used to extract the liquid between the two baffles (2); a driving component is installed at the ends of the two baffles (2) away from each other; the driving component is used to drive the vehicle frame (1) to move along the pipeline; the ends of the driving components away from each other are fixedly connected to a camera component (9); the camera component (9) is used to shoot the picture inside the pipeline and send it to the user; the connecting ends of the paired top rods (4) are fixedly connected to the top plate (20); the outer side of the top plate (20) is covered with a light-curing film (10), and the outer surface of the light-curing film (10) is coated with an adhesive; the side surface of the top rod (4) is fixedly connected to an ultraviolet lamp (11); The photocurable film (10) is cylindrical; a support belt (12) is provided near both ends of the photocurable film (10); one end of the support belt (12) is fixedly connected to a connecting frame (13); a plurality of evenly arranged ratchet teeth (14) are fixedly connected to the inner surface of the support belt (12); the end of the support belt (12) away from the connecting frame (13) is inserted into the connecting frame (13) and coiled into a ring; a ratchet tooth (15) adapted to the ratchet tooth (14) is hingedly connected to the inner surface of the connecting frame (13), and a torsion spring is installed at the hinge; The end of the connecting frame (13) away from the second ratchet (15) is fixedly connected to a liquid storage box (16), and an adhesive is provided in the liquid storage box (16); the end of the liquid storage box (16) close to the second ratchet (15) is rotatably connected to a smear roller (17); The surface of the smear roller (17) is provided with a plurality of evenly arranged grooves (18); and the surface of the smear roller (17) is fixedly connected with a plurality of evenly arranged brushes (19).

2. The walking UV curing robot according to claim 1, characterized in that: An air cushion (21) is fixedly connected to one end of the top plate (20) away from the top rod (4); and the air cushion (21) is connected to the air pump (8) via a hose.

3. The walking UV curing robot according to claim 1, characterized in that: A connecting rod (22) is fixedly connected between the baffles (2); the vehicle frame (1) is rotatably connected to the connecting rod (22); a servo motor (23) is fixedly connected to the surface of the vehicle frame (1), and an output shaft of the servo motor (23) is connected to the connecting rod (22) via a gear set.

4. The walking UV curing robot according to claim 1, characterized in that: The liquid extraction assembly comprises a pair of servo conduits (24); the two servo conduits (24) are respectively fixedly connected to the surfaces of the two baffles (2) on the sides close to each other, and are located at the bottom of the baffles (2); the two baffles (2) are both fixedly connected to the sides away from each other with a connecting pipe (25); the connecting pipe (25) and the servo conduits (24) are connected via a hose, and the hose is arranged inside the baffle (2).

5. The walking UV curing robot according to claim 4, characterized in that: The bottom of the servo tube (24) is fixed with a magnet ring (26); the bottom surface of the magnet ring (26) is fixedly connected with a bellows (27); the side surface of the bottom of the bellows (27) is fixedly connected with a metal sheet (28), and the metal sheet (28) can be magnetized.

6. The walking UV curing robot according to claim 1, characterized in that: The driving assembly comprises a pair of bidirectional screw rods (29); the two bidirectional screw rods (29) are respectively rotatably connected to the sides of the two baffles (2) that are away from each other; both ends of the bidirectional screw rods (29) are threadedly connected to U-shaped plates (30), and the U-shaped plates (30) are slidably connected to the baffles (2); both ends of the U-shaped plates (30) are rotatably connected to driving wheels (31), and the driving is driven by an external motor.

7. The walking UV curing robot according to claim 6, characterized in that: The surfaces of the two baffles (2) that are away from each other are both fixedly connected to a second servo motor (32); the second servo motor (32) is connected to the middle part of the bidirectional screw rod (29) via a gear set.

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