A narrow-mouth deep-cavity adaptive intelligent machining robot

Abstract

This invention provides an adaptive intelligent machining robot for narrow-mouth deep-cavity cylinders, belonging to the field of intelligent machining robots. It includes a robot shell, a walking and diameter-changing mechanism, a three-axis motion mechanism, and a folding and unfolding machining mechanism. The robot shell is a structural component used for mounting other structural parts. The walking and diameter-changing mechanism consists of three sets, spaced 120° apart and mounted on the robot shell, enabling the robot to walk along the inner wall of the cylinder, adjust its posture, and achieve high-rigidity support. The three-axis motion mechanism includes an axial motion structure, a rotary motion structure, and a radial motion structure, providing the robot with degrees of freedom in the axial, rotary, and radial directions. The folding and unfolding machining mechanism enables the unfolding of the two machining mechanisms, allowing it to enter the narrow-mouth cylinder and complete various machining requirements within the variable-diameter cylinder. This invention overcomes the challenges of structural size limitations, high rigidity, and high precision requirements, achieving high-quality machining of welds within narrow-mouth deep-cavity cylinders.

Description

Technical Field

[0001] This invention belongs to the field of intelligent processing robots and relates to an adaptive intelligent processing robot for narrow-mouth deep-cavity cylinders. Background Technology

[0002] Narrow-mouth, deep-cavity cylindrical parts are widely used in energy transportation, chemical industry, and aerospace due to their advantages such as high specific strength, large load-bearing capacity, and light weight. These parts are hollow inside, with end structural dimensions significantly smaller than the main cavity, and the interior of the cylinder requires various processing techniques such as welding, drilling, and grinding.

[0003] Because of the small inlet diameter of narrow-mouth deep-cavity cylinders, general industrial robots and machine tools are difficult to enter due to size limitations. Therefore, the existing processing technology is: workers hold processing tools and crawl into the inside of the cylinder to process. In this process, workers not only have high labor intensity, but also limited operating space, which makes the processing difficult and dangerous, and is not conducive to the personal safety of workers. Designing a mobile robot for processing inside the cylinder is a feasible solution. The design difficulties of this type of robot capable of intelligent processing inside narrow-mouth deep-cavity cylinders are: (1) The cylinder inlet diameter is small and the internal cavity diameter is large, which puts demanding requirements on the robot's movement and processing mechanism. It needs to be able to enter the narrow opening and adapt to the large internal diameter to achieve high rigidity support. (2) Under the condition of large-range diameter changes, it is also necessary to meet various high-quality processing needs, which poses a challenge to the robot's high-strength support and high-precision processing mechanism. Therefore, it is necessary to design a mobile processing robot inside the cylinder.

[0004] Scholars have already explored the design of mobile processing robots for pipe interiors. Wang Yuefei et al. disclosed a robot for polishing the inner walls of pipes in Chinese invention patent application number 202120866545.6. This robot's movement mechanism is a flexible semi-automatic mechanism; its size is relatively small when not in operation, making it suitable for pipes of various diameters. Although this robot can enter narrow-mouthed cylinders, its diameter-changing actuator is a spring, which can lead to insufficient support and reduced processing accuracy in larger chambers. Fan Zhenchang et al. disclosed a mobile robot for pipe grinding in Chinese invention patent application number 201910361036.5. This robot can adapt to grinding the inner walls of pipes of different diameters using external casters and a central turntable, and can drive the cylinder to revolve and rotate via chain drive, thus achieving full grinding of the pipe's inner wall. However, when the cylinder diameter changes, manual replacement of external casters and chains of different lengths is required, resulting in low processing efficiency. In summary, neither of these two robots can meet the diverse high-quality processing requirements of narrow-mouthed, deep-cavity cylinders. Summary of the Invention

[0005] This invention addresses the challenges of machining various diameter cylinders within narrow-mouthed, deep cavities by providing an adaptive intelligent machining robot. This mobile machining robot can adapt to intelligent machining of narrow-mouthed, deep-cavity cylinders with large diameter variations. A walking diameter-changing mechanism is designed, which adjusts the robot's posture according to changes in the inner wall of the cylinder and achieves high-rigidity support, solving the problems of diameter changes and high-rigidity support in large-diameter cavities. A folding and unfolding machining mechanism is also designed, allowing the robot to pass through a cylinder with a smaller inlet in a closed posture and unfold within a larger cavity for machining the inner wall of the cylinder, solving the problems of pipe robots entering narrow-mouthed cylinders and achieving high-precision machining.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An adaptive intelligent machining robot for narrow-mouth deep-cavity cylinders is disclosed. The robot includes a robot shell 1, a walking and diameter-changing mechanism 2, a three-axis motion mechanism 3, and a folding and unfolding machining mechanism 4. The robot shell 1 is a structural component of the robot, used for the installation of motors, cylinders, etc. The walking and diameter-changing mechanism 2 enables the robot to walk on the inner wall of the cylinder, adjust its posture, and achieve high rigidity support. The three-axis motion mechanism 3 enables the robot to move in three directions: axial, rotational, and radial, within the cylinder. The folding and unfolding machining mechanism 4 enables the folding and unfolding of the two machining mechanisms, allowing the robot to enter the narrow-mouth cylinder and complete various machining requirements inside the variable-diameter cylinder.

[0007] The robot housing 1 includes a housing 1.1, an inbound / outbound connection seat 1.2, a connection seat support plate 1.3, an axial motor mounting plate 1.4, a center carriage plate 1.5, and a spacer 1.6, which serve as structural components of the robot and are used for the installation of other components.

[0008] The aforementioned walking diameter-changing mechanism 2 comprises three identical sets, distributed 120° apart along the circumference of the robot shell 1. Each set of the walking diameter-changing mechanism 2 includes a cylinder 2.1, a cylinder connector 2.2, a guide rod 2.3, a connecting rod 2.4, a carriage 2.5, an axle 2.6, a wheel 2.7, a servo motor 2.8, a reducer 2.9, a bevel gear 2.10, and a deep groove ball bearing 2.11. The cylinder 2.1 is fixedly mounted on the robot shell 1, with one end of the cylinder 2.1 extending outwards from the piston rod. The cylinder connector 2.2 is located at the end of the piston rod and is fixedly connected to one end of the guide rod 2.3. The other end of the guide rod 2.3 is rotatably connected to the middle of the connecting rod 2.4, used to transmit the power of the cylinder 2.1. The connecting rod 2.4... One end of the cylinder 2.1 is rotatably connected to the housing 1.1 via a deep groove ball bearing 2.11. The other connecting rod 2.4 is located on the other side of the cylinder 2.1, with one end of it rotatably connected to the housing 1.1 via another deep groove ball bearing 2.11. The other ends of the two connecting rods 2.4 are respectively installed at the front and rear ends of the vehicle plate 2.5. The vehicle plate 2.5 is equipped with axles 2.6 at both the front and rear, and each axle 2.6 has wheels 2.7 installed at both ends. The servo motor 2.8 and reducer 2.9 are fixed on the vehicle plate 2.5. The two cooperate to connect to the axle 2.6 at one end via a bevel gear 2.10 to provide power. The cylinder 2.1 controls the piston rod to perform telescopic movement, thereby controlling the extension or retraction of the vehicle plate 2.5, so as to realize the robot's flexible movement inside the cylinder.

[0009] The three-axis motion mechanism 3 includes an axial motion structure, a rotary motion structure, and a radial motion structure, which are used to realize the robot's degrees of freedom in the axial, rotary, and radial directions.

[0010] The folding and unfolding processing mechanism 4 includes a tool mounting bracket 4.1, an electromagnet 4.2, a drive motor 4.3, a second reducer 4.4, a synchronous toothed belt 4.5, a processing tool 4.6, an auxiliary fixture 4.7, a measuring device 4.8, and an industrial camera 4.9. Two identical tool mounting brackets 4.1 are strip-shaped supports, symmetrically arranged at one end at the front end of the three-axis motion mechanism 3, and both can rotate around this end to achieve unfolding and folding. A synchronous pulley is also provided at this end. The electromagnet 4.2 is mounted on the three-axis motion mechanism 3 next to the tool mounting bracket 4.1, and magnetically engages with the tool mounting bracket 4.1 to position and self-lock the tool mounting bracket 4.1 when unfolded to its working position. The drive motor 4.3 is mounted on a motor mounting base, which is fixedly mounted on the three-axis motion mechanism 3 between the two tool mounting brackets 4.1. The drive motor 4.3 serves as the actuator for the folding and unfolding movement of the tool mounting bracket 4.1, and its output shaft is connected to the second reducer 4.4. The second reducer 4.5... 4 is fixedly mounted on the motor mounting base, and its output shaft is connected to another synchronous pulley via a key, driving the synchronous pulley to rotate. This synchronous pulley cooperates with the synchronous pulleys on the two tool mounting frames 4.1, thereby driving the two tool mounting frames 4.1 to rotate, realizing the unfolding and retraction. The processing tools 4.6 are respectively mounted on the other end of the two tool mounting frames 4.1, unfolding and retracting with the tool mounting frames 4.1. The additional tooling 4.7 is respectively mounted on the processing tools 4.6 with certain fits, and different additional tooling 4.7 with different functions can be replaced as needed. The measuring device 4.8 and the industrial camera 4.9 are mounted on one side of the tool mounting frame 4.1, and are used for non-contact measurement of the inner wall of the cylinder and real-time monitoring of the processing process, respectively.

[0011] The specific structure of the robot is as follows: The robot housing 1 includes a housing 1.1, an in / out connection seat 1.2, a connection seat support plate 1.3, an axial motor mounting plate 1.4, a center carriage plate 1.5, and a spacer 1.6. The housing 1.1 is a hexagonal prism thin-walled structure with three cylinder mounting slots spaced 120° apart on its outer wall. The direction of the folding and unfolding processing mechanism 4 is defined as the front side of the robot. The in / out connection seat 1.2 is mounted on the rear side of the housing 1.1 by screws. It is a cylindrical thin-walled structure with an annular plate structure at its rear end, used to connect with the in / out device that assists the robot in entering and exiting the cylinder through pin holes. The connection seat support plate 1.3 is an annular plate structure that fits onto the cylindrical structure of the in / out connection seat 1.2 with a clearance fit. It is mounted inside the housing 1.1 by screws to support the in / out connection seat 1.2. There are three through holes spaced 120° apart around the center, for the passage of cables for robot motors and sensors; the axial motor mounting plate 1.4 is located in front of the inbound / outbound connecting seat 1.2, and is a circular plate structure with a through hole in the center. It is fixed inside the housing 1.1 with screws and is used to install the axial servo motor 3.1 in the three-axis motion mechanism 3; the trolley plate 1.5 is located in front of the axial motor mounting plate 1.4, and is a circular plate structure with a through hole in the center. It is fixed inside the housing 1.1 with screws and is used to install the lead screw mounting seat 3.2 in the three-axis motion mechanism 3; the spacer 1.6 is a hexagonal prism thin-walled structure, located in front of the trolley plate 1.5, fixed inside the housing 1.1, and has six through holes spaced 120° apart around its outer wall at both ends, with the through holes at both ends corresponding to form three sets of channels.

[0012] The aforementioned walking diameter-changing mechanism 2 consists of three identical sets. Each set includes a cylinder 2.1, a cylinder connector 2.2, a guide rod 2.3, a connecting rod 2.4, a plate 2.5, an axle 2.6, a wheel 2.7, a servo motor 2.8, a reducer 2.9, a bevel gear 2.10, and a deep groove ball bearing 2.11. The cylinder 2.1, as the actuator for the robot's diameter changing, controls the high-pressure gas pressure to ensure the robot's flexible movement within the cylinder and maintains a stable supporting force with the inner wall of the cylinder. Simultaneously, the robot maintains high rigidity during processing. A cylinder 2.1 is fixedly installed in a cylinder mounting slot on the outer wall of housing 1.1, with a piston rod extending from its front end. A cylinder connector 2.2 is located at the end of the piston rod and is connected to one end of a guide rod 2.3 via a pin hole. The other end of the guide rod 2.3 is rotatably connected to the middle of a connecting rod 2.4 via a pin hole, used to transmit power from the cylinder 2.1. One end of the connecting rod 2.4 is mounted on housing 1.1 via a deep groove ball bearing 2.11, and another connecting rod 2.4 is located behind cylinder 2.1, with one end mounted on housing 1.1 via another deep groove ball bearing 2.11. The two connecting rods 2. The other end of .4 is rotatably connected to the front and rear ends of the vehicle plate 2.5, respectively. The vehicle plate 2.5 is a rectangular plate structure, serving as a structural component for the installation of the servo motor 2.8 and the axle 2.6. The axle 2.6 includes a front axle and a rear axle, which are rotatably connected to the vehicle plate 2.5 via additional deep groove ball bearings 2.11. There are four wheels 2.7 in total, divided into two groups. Each group of two wheels is mounted on two axles 2.6 via deep groove ball bearings 2.11. The distributed drive structure with double rows of wheels helps to increase the friction between the robot and the cylinder, ensuring the stability of the robot's movement. Qualitatively, due to the thin-walled structure of the cylinder, the double-row wheel distribution drive structure also helps to reduce the geometric deformation of the cylinder under the action of the robot; the servo motor 2.8 is fixed on the vehicle plate 2.5 to provide forward power for the robot's movement, and its output shaft is connected to the reducer 2.9; the reducer 2.9 is fixed on the vehicle plate 2.5, and its output shaft is connected to the connecting shaft through a key, and the connecting shaft is connected to one of the axles 2.6 through a bevel gear 2.10; the cylinder 2.1 controls the piston rod to perform telescopic movement, thereby controlling the extension or retraction of the vehicle plate 2.5, so as to realize the robot's flexible movement inside the cylinder.

[0013] The three-axis motion mechanism 3 has three degrees of freedom: axial movement, rotation, and radial movement. It includes an axial motion structure, a rotational motion structure, and a radial motion structure. The axial motion structure includes an axial servo motor 3.1, a lead screw mounting base 3.2, a lead screw 3.3, and a lead screw nut 3.4. The rotational motion structure includes a rotational servo motor 3.5, a guide rod 3.6, a linear bearing 3.7, a rotational bearing fixing base 3.8, a rotational motor mounting base 3.11, and a rotational shaft 3. 12. Deep groove ball bearing 3.13, radial motion structure including base plate 3.9, slide plate 3.10, radial movement servo motor 3.14, reducer 3.15, synchronous toothed belt 3.16, tensioning pulley 3.17, lead screw 3.18, lead screw mounting base 3.19a, lead screw mounting base 3.19b, lead screw nut 3.20, guide rail, slider 3.22a, slider 3.22b, baffle 3.23a, baffle 3.23b, grating reading head 3.24. The axial servo motor 3.1 is located inside the housing 1.1 and mounted on the axial motor mounting plate 1.4. As the actuator for axial movement, the output shaft of the axial servo motor 3.1 passes through a through hole in the axial motor mounting plate 1.4 and is connected to one end of the lead screw 3.3 via a coupling, thereby driving the lead screw 3.3 to rotate. The lead screw mounting seat 3.2 is fixed on the chuck plate 1.5 and connected to the middle of the lead screw 3.3 via an angular contact ball bearing. It is used for the installation and support of the lead screw 3.3. The lead screw 3.3 passes through the lead screw mounting seat... The mounting base 3.2 and the center carriage plate 1.5 are connected at their other ends to a lead screw nut 3.4, which is mounted on the rear end face of a triangular thin plate located between the center carriage plate 1.5 and the spacer 1.6. This triangular thin plate serves as a structural component, with a rotary motor mounting base 3.11 mounted on its front end face. Three through holes are provided at 120° intervals along its edge. The rotary servo motor 3.5 is mounted on the rotary motor mounting base 3.11, serving as the actuator for rotary motion. A flange is provided on its front side. The rear end of the rotary shaft 3.12 is... The rotary servo motor 3.5 is connected to the flange of the coupling, and the rotary servo motor 3.5 drives the rotary shaft 3.12 to rotate, thereby realizing the rotation of the entire three-axis motion mechanism 3 within the cylinder. The front end of the rotary shaft 3.12 passes through the spacer 1.6. There are three sets of linear bearings 3.7, which are respectively installed in the three through holes at the rear end of the spacer 1.6. There are three guide rods 3.6, which pass through the three linear bearings 3.7 and the three sets of holes on the spacer 1.6. Their rear ends are fixed in the through holes of the triangular thin plate, and their front ends are fixed by screws. The slewing bearing is fixed on the slewing bearing mounting seat 3.8 located in front of the spacer 1.6; the outer ring of the deep groove ball bearing 3.13 mates with the slewing bearing mounting seat 3.8, and the inner ring mates with the front end of the slewing shaft 3.12; the base plate 3.9 is a rectangular plate structure, connected to the front end face of the slewing shaft 3.12 by screws, and is used to install the radial motion structure; the guide rail includes two parts: a mountain-shaped guide rail 3.21a and a flat guide rail 3.21b, which are fixed to each other on both sides of the base plate 3.9; the slider 3.22a and the slider 3.22b, respectively, mates with the mountain-shaped guide rail 3.21a and the flat guide rail 3.21b, and the two are fixed on both sides of the slide plate 3.10, leaving a gap between the base plate 3.9 and the slide plate 3.10. The slide plate 3.10 is used to carry the folding and unfolding processing mechanism 4, which can move radially linearly along the guide rail; the baffles 3.23a and 3.23b are respectively installed on the sliders 3.22a and 3.22b, and are used to prevent the slide plate 3.10 from tipping over when it moves radially linearly along the guide rail. The radial motion servo motor 3.14 is located between the base plate 3.9 and the slide plate 3.10, and is fixed on the base plate 3.9. Its output shaft is connected to the reducer 3.15, serving as the actuator for radial motion. The reducer 3.15 is fixed on the base plate 3.9, and its output shaft is connected to the lead screw 3.18 via the synchronous toothed belt 3.16, used to drive the lead screw 3.18 to rotate. The tension wheel 3.17 is located next to the synchronous toothed belt 3.16, used to adjust the synchronous toothed belt 3.16. The tension is adjusted to 0.16 to ensure stability. The lead screw 3.18 is mounted on two lead screw mounting seats 3.19a and 3.19b via deep groove ball bearings at both ends, allowing the lead screw 3.18 to rotate within the two mounting seats, which are fixed to the base plate 3.9. The lead screw nut 3.20 is positioned between the two mounting seats and fixedly connected to the slide plate 3.10. It cooperates with the lead screw 3.18; the rotation of the lead screw 3.18 drives the lead screw nut 3.20. The lead screw 3.18 moves linearly, thereby driving the slide plate 3.10 to achieve radial linear motion. The grating reading head 3.24 is fixedly connected to the base plate 3.9 and is used to read the displacement data of the slide plate 3.10 during radial movement. The radial movement servo motor 3.14 drives the lead screw 3.18 to rotate, thereby enabling the slide plate 3.10 to move radially along the guide rail within the cylinder. The combination of the mountain-shaped guide rail 3.21a and the flat guide rail 3.21b ensures that the slide plate 3.10 can only move along the direction of the guide rail.

[0014] The folding and unfolding processing mechanism 4 includes a tool mounting frame 4.1, an electromagnet 4.2, a drive motor 4.3, a reducer 4.4, a synchronous toothed belt 4.5, a processing tool 4.6, an auxiliary fixture 4.7, a measuring device 4.8, and an industrial camera 4.9. The tool mounting bracket 4.1 comprises two identical strip-shaped supports, each with one end symmetrically positioned on the side of the slide plate 3.10 away from the base plate 3.9. Both supports are capable of rotating around this end to unfold and retract. A synchronous pulley is also provided at this end. The electromagnet 4.2 is mounted on the slide plate 3.10 next to the tool mounting bracket 4.1, and magnetically engages with the tool mounting bracket 4.1 to position and lock it in its working position. The drive motor 4.3 is mounted on a motor mounting base, which is fixed to the slide plate 3.10. The drive motor 4.3 serves as the actuator for the unfolding and retracting movement of the tool mounting bracket 4.1, and its output shaft is connected to a second reducer 4.4. The second reducer 4.4 is fixedly mounted on the motor mounting base, and its output shaft is connected to... The key connects to another synchronous pulley, driving it to rotate. This pulley engages with synchronous pulleys on two tool mounting brackets 4.1, thus rotating the two tool mounting brackets 4.1 to achieve unfolding and retraction. The processing tools 4.6 are respectively mounted on the other end of the two tool mounting brackets 4.1, unfolding and retracting with the tool mounting brackets 4.1. The additional tooling 4.7 is respectively mounted on the processing tools 4.6 with certain fits, and different additional tooling 4.7 with different functions can be replaced as needed. The measuring device 4.8 is mounted on the measuring device mounting bracket to perform non-contact measurement of the inner wall of the cylinder. The measuring device mounting bracket is mounted on one side of the tool mounting bracket 4.1. The industrial camera 4.9 is mounted on the measuring device mounting bracket to realize real-time monitoring of the processing process.

[0015] The three-axis motion mechanism 3 of this invention can realize three degrees of freedom: axial movement, rotation, and radial movement. Specifically, the axial servo motor 3.1 drives the lead screw 3.3 to rotate, and the rotation of the lead screw 3.3 drives the lead screw nut 3.4 to move. In this way, the three sets of guide rods 3.6 fixed on the rotary bearing mounting seat 3.8 move along the linear bearing 3.7 to realize the axial movement of the three-axis motion mechanism 3. The rotary servo motor 3.5 drives the rotary shaft 3.12 to rotate, which drives the base plate 3.9 to rotate, realizing the rotary movement of the three-axis motion mechanism 3. The radial movement servo motor 3.14 drives the lead screw 3.18 to rotate, and the slide plate 3.10 moves along the mountain-shaped guide rail 3.21a and the flat guide rail 3.21b to realize the radial movement of the three-axis motion mechanism 3.

[0016] The usage process of this invention is as follows: The robot is fed into the cylinder by the inbound / outbound device. Cylinder 2.1 supplies air to extend its piston rod, pushing guide rod 2.3, which in turn moves connecting rod 2.4, causing the three pallets 2.5 to move closer to the cylinder wall until the wheels 2.7 contact the wall. The cylinder pressure at this point is recorded as the initial value, completing the robot's deployment inside the cylinder. Simultaneously, drive motor 4.3 drives synchronous toothed belt 4.5 to rotate, which in turn rotates the two tool mounting brackets 4.1. When the tool mounting brackets 4.1 are deployed to their working position, they are attracted to the electromagnet 4.2 fixed on the slide plate 3.10, achieving a self-locking effect during deployment, and the robot's head is fully deployed. At this point, the robot disconnects from the inbound / outbound device, and servo motor 2.8 rotates, transmitting power to wheels 2.7 through reducer 2.9 and bevel gear 2.10. The robot moves forward inside the cylinder, while measuring device 4.8 collects information inside. After confirming the processing position, cylinder 2.1 increases its output force, providing high-rigidity support for the robot inside the cylinder. The robot approaches the machining position using three degrees of freedom provided by the three-axis motion mechanism 3, and performs machining. After machining is completed, the electromagnet 4.2 is de-energized, and the drive motor 4.3 rotates. The rotational motion is transmitted to the two tool mounting brackets 4.1 through the reducer 4.4 and the synchronous toothed belt until the tool mounting brackets 4.1 retract to their initial positions. The cylinder pressure is then adjusted to its initial value, and the robot retreats inside the cylinder until it connects with the in-and-out device. The pressure of cylinder 2.1 decreases, causing its piston rod to retract, which in turn causes the guide rod 2.3 and connecting rod 2.4 to retract until the three sets of pneumatic diameter-changing mechanisms 2 return to their initial positions. The in-and-out device then takes the robot out of the cylinder.

[0017] The beneficial effects of this invention are as follows: This invention presents an adaptive intelligent machining robot for narrow-mouth deep-cavity cylinders, overcoming challenges related to structural size limitations, high rigidity, and precision requirements, achieving high-quality machining of weld seams within these cylinders. The designed pneumatic-driven linkage-type diameter-changing mechanism allows for adaptive diameter changes over a wide range; independent cylinder control enables controllable adjustment of the support force, achieving diameter-changing movement and high-rigidity support within the narrow-mouth deep-cavity cylinder. The designed folding and unfolding machining mechanism allows the robot to pass through a cylinder with a small inlet in a closed posture and unfold within a larger cavity to increase the machining range. Driven by a precision three-axis mechanism, it enables high-precision machining of weld seam areas within the narrow-mouth deep-cavity cylinder. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the robot's external structure. Figure 2 A schematic diagram showing the robot in its fully retracted external state; Figure 3 This is a schematic diagram of the robot's outer shell structure; Figure 4 This is a schematic diagram of the internal structure of the robot's outer shell; Figure 5 A schematic diagram of the internal structure of the robot's walking diameter-changing mechanism; Figure 6 This is a schematic diagram of the axial motion structure of a robot's three-axis motion mechanism; Figure 7 This is a schematic diagram of the rotary motion structure of a robot's three-axis motion mechanism; Figure 8 This is a schematic diagram of the radial motion structure of a robot's three-axis motion mechanism; Figure 9 This is a schematic diagram of a robot's folding and unfolding processing mechanism; Figure 10 A schematic diagram of the robot's unfolding processing mechanism in its retracted state; In the diagram: 1. Robot shell; 2. Walking and diameter-changing mechanism; 3. Three-axis motion mechanism; 4. Folding and unfolding machining mechanism; 1.1 Shell; 1.2 Inbound / outbound connecting seat; 1.3 Connecting seat support plate; 1.4 Axial motor mounting plate; 1.5 Center car plate; 1.6 Spacer; 2.1 Cylinder; 2.2 Cylinder connector; 2.3 Guide rod; 2.4 Connecting rod; 2.5 Car plate; 2.6 Axle; 2.7 Wheel; 2.8 Servo motor; 2.9 Reducer 1; 2.10 Bevel gear; 2.11 Deep groove ball bearing; 3.1 Axial servo motor; 3.2 Leadscrew mounting seat; 3.3 Leadscrew; 3.4 Leadscrew nut; 3.5 Rotary servo motor; 3.6 Guide rod; 3.7 Linear bearing; 3.8 Rotary bearing fixing seat; 3.9 Base plate; 3.10 Slide plate; 3.11 Return... 3.12 Rotary motor mounting base; 3.13 Deep groove ball bearing; 3.14 Radial motion servo motor; 3.15 Reducer III; 3.16 Synchronous toothed belt; 3.17 Tensioner; 3.18 Leadscrew; 3.19a Leadscrew mounting base; 3.19b Leadscrew mounting base; 3.20 Leadscrew nut seat; 3.21a Mountain-shaped guide rail; 3.21b Flat guide rail; 3.22a Slider; 3.22b Slider; 3.23a Baffle; 3.23b Baffle; 3.24 Grating reading head; 4.1 Machining tool mounting bracket; 4.2 Electromagnet; 4.3 Drive motor; 4.4 Reducer II; 4.5 Synchronous toothed belt; 4.6 Machining tool; 4.6a Electric spindle; 4.6b Electric spindle; 4.7 Additional tooling; 4.7a Grinding wheel; 4.7b Grinding wheel; 4.8 Measuring device; 4.9 Industrial camera. Detailed Implementation

[0019] The embodiments of the present invention will be described in detail with reference to the accompanying drawings and technical solutions.

[0020] This embodiment takes the grinding requirement of weld seams inside a narrow-mouth, deep-cavity cylindrical body as an example. In this embodiment, the processing tools 4.6 are electric spindles 4.6a and 4.6b; the auxiliary tooling 4.7 are grinding wheels 4.7a and 4.7b; and the measuring device 4.8 is a line laser sensor.

[0021] A narrow-mouth deep-cavity adaptive intelligent machining robot, such as Figure 1 and Figure 2 As shown, the robot includes a robot shell 1, a walking and diameter-changing mechanism 2, a three-axis motion mechanism 3, and a folding and unfolding processing mechanism 4. The robot shell 1 is a structural component of the robot, used for the installation of motors, cylinders, etc. The walking and diameter-changing mechanism 2 enables the robot to walk on the inner wall of the cylinder, adjust its posture, and achieve high rigidity support. The three-axis motion mechanism 3 enables the robot to move in the axial, rotational, and radial directions within the cylinder. The folding and unfolding processing mechanism 4 enables the folding and unfolding of the two processing mechanisms, allowing the robot to enter the narrow-mouth cylinder and complete various processing requirements inside the variable-diameter cylinder.

[0022] The robot shell 1 includes a shell 1.1, an in / out connection seat 1.2, a connection seat support plate 1.3, an axial motor mounting plate 1.4, a center carriage plate 1.5, and a spacer 1.6. The shell 1.1 is a hexagonal prism thin-walled structure, and its outer wall has three cylinder mounting slots spaced 120° apart for mounting the traveling diameter changing mechanism 2. The direction of the unfolding processing mechanism 4 is defined as the front side of the robot. Figure 3 As shown; Figure 4 As shown, the inbound / outbound connecting seat 1.2 is mounted on the rear side of the housing 1.1 with screws. It is a cylindrical thin-walled structure with an annular plate structure at its rear end, which is used to connect with the inbound / outbound device that assists the robot in entering and exiting the cylinder through a pin hole. Its built-in zero-point locator is used to ensure the accuracy of the robot's inbound / outbound positioning. The connecting seat support plate 1.3 is an annular plate structure, two in total, which are respectively fitted onto the cylindrical structure of the inbound / outbound connecting seat 1.2 with clearance fit. It is mounted inside the housing 1.1 with screws to support the inbound / outbound connecting seat 1.2. Each of the two connecting seat support plates 1.3 has three through holes at 120° intervals around the center on its edge for the passage of robot motor and sensor cables. The axial motor mounting plate 1.4 is located in front of the inbound / outbound connecting seat 1.2 and is a circular plate structure with a through hole in the center. The screw is fixed inside the housing 1.1 and is used to install the axial servo motor 3.1 in the three-axis motion mechanism 3. It has three notches distributed at 120-degree intervals along the circumference for installing the traveling diameter changing mechanism 2. The trolley plate 1.5 is located in front of the axial motor mounting plate 1.4. It is a circular plate structure with a through hole in the center. It is fixed inside the housing 1.1 by screws and is used to install the lead screw mounting seat 3.2 in the three-axis motion mechanism 3. It has three notches distributed at 120-degree intervals along the circumference for installing the traveling diameter changing mechanism 2. The spacer 1.6 is a hexagonal prism thin-walled structure. It is located in front of the trolley plate 1.5 and fixed inside the housing 1.1. Its outer wall has six through holes at 120-degree intervals along the circumference at both ends. The through holes at both ends correspond to form three sets of channels. A conductive slip ring device is installed inside the spacer 1.6 to replace the wire for power supply and signal transmission.

[0023] The aforementioned traveling diameter changing mechanism 2 consists of three identical sets. Each set of the traveling diameter changing mechanism 2 includes a cylinder 2.1, a cylinder connector 2.2, a guide rod 2.3, a connecting rod 2.4, a plate 2.5, an axle 2.6, a wheel 2.7, a servo motor 2.8, a reducer 2.9, a bevel gear 2.10, and a deep groove ball bearing 2.11; Figure 5 As shown, the cylinder 2.1, as the actuator for the robot's diameter change, ensures the robot's flexible movement within the cylinder by controlling the high-pressure gas pressure, maintaining a stable supporting force with the inner wall of the cylinder. Simultaneously, the robot maintains high rigidity during processing. It is fixedly installed in a cylinder mounting slot on the outer wall of the housing 1.1, with a piston rod extending from the front end of the cylinder 2.1. The cylinder connector 2.2 is located at the end of the piston rod and connects to one end of the guide rod 2.3 via a pin hole. The other end of the guide rod 2.3 connects to the connecting rod 2.4 via a pin hole. The connecting rod 2.4 is rotatably connected to transmit power to cylinder 2.1. One end of the connecting rod 2.4 is mounted on housing 1.1 with a deep groove ball bearing 2.11, and the other connecting rod 2.4 is located behind cylinder 2.1, with one end mounted on housing 1.1 via another deep groove ball bearing 2.11. Specifically, the connecting rod 2.4 is fixedly connected to the inner ring of the deep groove ball bearing 2.11, and the outer ring of the deep groove ball bearing 2.11 mates with housing 1.1, allowing the two connecting rods 2.4 to be rotatably connected to housing 1.1. The other ends of the two connecting rods 2.4 are respectively mounted on the front and rear of the vehicle body 2.5. The end; the vehicle plate 2.5 is a rectangular plate structure, serving as a structural component for mounting the servo motor 2.8 and the axle 2.6; the axle 2.6 includes a front axle and a rear axle, which are respectively mounted on the vehicle plate 2.5 via additional deep groove ball bearings 2.11; there are four wheels 2.7 in total, divided into two groups, with two wheels in each group mounted on two axles 2.6 via deep groove ball bearings 2.11. The distributed drive structure with double rows of wheels helps increase the friction between the robot and the cylinder, ensuring the stability of the robot's movement. Meanwhile, because the cylinder is thin-walled... The structure, with its dual-row wheel distribution drive, also helps reduce the geometric deformation of the cylinder under the robot's action. The servo motor 2.8 is fixed on the vehicle plate 2.5, providing forward power for the robot's movement. Its output shaft is connected to the reducer 2.9. The reducer 2.9 is fixed on the vehicle plate 2.5, and its output shaft is connected to the connecting shaft via a key. The connecting shaft is connected to one of the axles 2.6 via a bevel gear 2.10. The cylinder 2.1 controls the piston rod to perform telescopic movements, thereby controlling the extension or retraction of the vehicle plate 2.5, enabling the robot to move flexibly within the cylinder.

[0024] like Figures 6 to 8As shown, the three-axis motion mechanism 3 has three degrees of freedom: axial movement, rotation, and radial movement. It includes an axial motion structure, a rotational motion structure, and a radial motion structure. The axial motion structure includes an axial servo motor 3.1, a lead screw mounting base 3.2, a lead screw 3.3, and a lead screw nut 3.4. The rotational motion structure includes a rotational servo motor 3.5, a guide rod 3.6, a linear bearing 3.7, a rotational bearing mounting base 3.8, a rotational motor mounting base 3.11, and a rotational shaft. 3.12, Deep groove ball bearing 3.13, Radial motion structure including base plate 3.9, slide plate 3.10, radial movement servo motor 3.14, reducer 3.15, synchronous toothed belt 3.16, tensioning pulley 3.17, lead screw 3.18, lead screw mounting base 3.19a, lead screw mounting base 3.19b, lead screw nut 3.20, guide rail, slider 3.22a, slider 3.22b, baffle 3.23a, baffle 3.23b, grating reading head 3.24. The axial servo motor 3.1 is located inside the housing 1.1 and mounted on the axial motor mounting plate 1.4. As the actuator for axial movement, the output shaft of the axial servo motor 3.1 passes through a through hole in the axial motor mounting plate 1.4 and is connected to one end of the lead screw 3.3 via a coupling, thereby driving the lead screw 3.3 to rotate. The lead screw mounting seat 3.2 is fixed on the chuck plate 1.5 and connected to the middle of the lead screw 3.3 via an angular contact ball bearing. It is used for the installation and support of the lead screw 3.3. The lead screw 3.3 passes through the lead screw mounting seat... The mounting base 3.2 and the center carriage plate 1.5 are connected at their other ends to a lead screw nut 3.4, which is mounted on the rear end face of a triangular thin plate located between the center carriage plate 1.5 and the spacer 1.6. This triangular thin plate serves as a structural component, with a rotary motor mounting base 3.11 mounted on its front end face. Three through holes are provided at 120° intervals along its edge. The rotary servo motor 3.5 is mounted on the rotary motor mounting base 3.11, serving as the actuator for rotary motion. A flange is provided on its front side. The rear end of the rotary shaft 3.12 is... The rotary servo motor 3.5 is connected to the flange of the coupling, and the rotary servo motor 3.5 drives the rotary shaft 3.12 to rotate, thereby realizing the rotation of the entire three-axis motion mechanism 3 within the cylinder. The front end of the rotary shaft 3.12 passes through the spacer 1.6. There are three sets of linear bearings 3.7, which are respectively installed in the three through holes at the rear end of the spacer 1.6. There are three guide rods 3.6, which pass through the three linear bearings 3.7 and the three sets of holes on the spacer 1.6. Their rear ends are fixed in the through holes of the triangular thin plate, and their front ends are fixed by screws. The slewing bearing is fixed on the slewing bearing mounting seat 3.8 located in front of the spacer 1.6; the outer ring of the deep groove ball bearing 3.13 mates with the slewing bearing mounting seat 3.8, and the inner ring mates with the front end of the slewing shaft 3.12; the base plate 3.9 is a rectangular plate structure, connected to the front end face of the slewing shaft 3.12 by screws, and is used to install the radial motion structure; the guide rail includes two parts: a mountain-shaped guide rail 3.21a and a flat guide rail 3.21b, which are fixed to each other on both sides of the base plate 3.9; the slider 3.22a and the slider 3.22b, respectively, mates with the mountain-shaped guide rail 3.21a and the flat guide rail 3.21b, both fixed on both sides of the slide plate 3.10, leaving a gap between the base plate 3.9 and the slide plate 3.10. The slide plate 3.10 is used to mount the folding and unfolding processing mechanism 4, which can move radially linearly along the guide rail; the baffles 3.23a and 3.23b are respectively installed on the sliders 3.22a and 3.22b, used to prevent the slide plate 3.10 from tipping over when moving radially linearly along the guide rail; the radial... A servo motor 3.14 is located between the base plate 3.9 and the slide plate 3.10, and is fixed to the base plate 3.9. Its output shaft is connected to a reducer 3.15, serving as the actuator for radial motion. The reducer 3.15 is fixed to the base plate 3.9, and its output shaft is connected to a lead screw 3.18 via a synchronous toothed belt 3.16, used to drive the lead screw 3.18 to rotate. A tensioning wheel 3.17 is located beside the synchronous toothed belt 3.16, used to adjust the tension of the synchronous toothed belt 3.16. To ensure its stability, the lead screw 3.18 is mounted on two lead screw mounting seats 3.19a and 3.19b at both ends via deep groove ball bearings, allowing the lead screw 3.18 to rotate within the two mounting seats. The two mounting seats are fixed to the base plate 3.9. The lead screw nut 3.20 is positioned between the two mounting seats, threaded onto the lead screw 3.18, with a clearance fit between them. The lead screw nut 3.20 is fixedly connected to the slide plate 3.10, and the rotation of the lead screw 3.18 drives the lead screw nut. 3.20 moves linearly along the lead screw 3.18, thereby driving the slide plate 3.10 to achieve radial linear motion; the grating reading head 3.24 is fixedly connected to the base plate 3.9 and is used to read the displacement data of the slide plate 3.10 during radial movement; the radial movement servo motor 3.14 drives the lead screw 3.18 to rotate, thereby enabling the slide plate 3.10 to move radially along the guide rail within the cylinder. The combination of the mountain-shaped guide rail 3.21a and the flat guide rail 3.21b ensures that the slide plate 3.10 can only move along the direction of the guide rail.

[0025] like Figure 9 and Figure 10As shown, the folding and unfolding processing mechanism 4 includes a tool mounting frame 4.1, an electromagnet 4.2, a drive motor 4.3, a reducer 4.4, a synchronous toothed belt 4.5, a processing tool 4.6, an auxiliary fixture 4.7, a measuring device 4.8, and an industrial camera 4.9. The tool mounting bracket 4.1 comprises two identical strip-shaped supports, each with one end symmetrically positioned on the side of the slide plate 3.10 away from the base plate 3.9. Both supports are capable of rotating around this end to unfold and retract. A synchronous pulley is also provided at this end. The electromagnet 4.2 is mounted on the slide plate 3.10 next to the tool mounting bracket 4.1, and magnetically engages with the tool mounting bracket 4.1 to position and self-lock it when unfolded to its working position. The drive motor 4.3 is mounted on a motor mounting base, which is fixed to the slide plate 3.10. The drive motor 4.3 serves as the actuator for the unfolding and retracting movement of the tool mounting bracket 4.1, and its output shaft is connected to a second reducer 4.4. The second reducer 4.4 is fixedly mounted on the motor mounting base, and its output shaft is connected to another synchronous pulley via a key, driving the synchronous pulley to rotate. This synchronous pulley is connected to the two tool mounting brackets. The synchronous pulleys on the frame 4.1 engage to drive the two tool mounting frames 4.1 to rotate, enabling them to unfold and retract. In this embodiment, the processing tools 4.6 are electric spindles 4.6a and 4.6b, respectively mounted on the other ends of the two tool mounting frames 4.1, unfolding and retracting with them. The additional tooling 4.7 in this embodiment includes grinding wheels 4.7a and 4.7b, respectively mounted on the processing tools 4.6 with a specific fit. Grinding wheel 4.7a is used for rough grinding of the weld seams inside the cylinder, and grinding wheel 4.7b is used for polishing the weld seams inside the cylinder. The measuring device 4.8 is mounted on a measuring device mounting frame for non-contact measurement of the inner wall of the cylinder. This measuring device mounting frame is mounted on one side of the tool mounting frame 4.1. The industrial camera 4.9 is mounted on the measuring device mounting frame for real-time monitoring of the processing process.

[0026] The process of using the above-mentioned robot is as follows: The robot is fed into the cylinder by the inbound / outbound device. Cylinder 2.1 supplies air to extend its piston rod, pushing guide rod 2.3, which in turn moves connecting rod 2.4, causing the three pallets 2.5 to move closer to the cylinder wall until the wheels 2.7 contact the wall. The cylinder pressure at this point is recorded as the initial value, completing the robot's deployment inside the cylinder. Simultaneously, drive motor 4.3 drives synchronous toothed belt 4.5 to rotate, which in turn rotates the two tool mounting brackets 4.1. When the tool mounting brackets 4.1 are deployed to their working position, they are attracted to the electromagnet 4.2 fixed on the slide plate 3.10, achieving a self-locking effect during deployment, and the robot's head is fully deployed. At this point, the robot disconnects from the inbound / outbound device, and servo motor 2.8 rotates, transmitting power to wheels 2.7 through reducer 2.9 and bevel gear 2.10. The robot moves forward inside the cylinder, while measuring device 4.8 collects information inside. After confirming the processing position, cylinder 2.1 increases its output force, providing high-rigidity support for the robot inside the cylinder. Axial servo motor 3.1 drives lead screw 3.3 to rotate, and the rotation of lead screw 3.3 drives lead screw nut 3.4 to move. Three sets of guide rods 3.6, fixed on rotary bearing mounting seat 3.8, move along linear bearing 3.7 to realize the axial movement of three-axis motion mechanism 3. Rotary servo motor 3.5 drives rotary shaft 3.12 to rotate, driving base plate 3.9 to rotate, realizing the rotary motion of three-axis motion mechanism 3. Radial movement servo motor 3.14 drives lead screw 3.18 to rotate, and slide plate 3.10 moves along mountain-shaped guide rail 3.21a and flat guide rail 3.21b to realize the radial movement of three-axis motion mechanism 3. The three degrees of freedom provided by three-axis motion mechanism 3 approach the machining position for machining. Grinding wheel 4.7a performs rough grinding on the weld seam inside the cylinder, and grinding wheel 4.7b polishes the weld seam inside the cylinder. After processing, the electromagnet 4.2 is de-energized, and the drive motor 4.3 rotates. The rotational motion is transmitted to the two tool mounting brackets 4.1 through the reducer 4.4 and the synchronous toothed belt until the tool mounting brackets 4.1 are retracted to their initial positions. The cylinder pressure is adjusted to the initial value, and the robot retreats inside the cylinder until it connects with the in-and-out device. The pressure of the cylinder 2.1 decreases, causing its piston rod to retract, which in turn drives the guide rod 2.3 and connecting rod 2.4 to retract until the three sets of pneumatic diameter changing mechanisms 2 return to their initial positions. The in-and-out device then takes the robot out of the cylinder.

[0027] The above-described embodiments are merely illustrative of the implementation methods of the present invention, but should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the protection scope of the present invention.

Claims

1. A narrow-mouth deep-cavity adaptive intelligent machining robot, characterized in that, The robot includes a robot shell (1), a walking diameter-changing mechanism (2), a three-axis motion mechanism (3), and a folding and unfolding processing mechanism (4). The robot shell (1) serves as a structural component of the robot and is used for the installation of other parts; The aforementioned walking diameter changing mechanism (2) consists of three identical sets, spaced 120° apart along the circumference of the robot shell (1). Each set of walking diameter changing mechanism (2) includes a cylinder (2.1), a cylinder connector (2.2), a guide rod (2.3), a connecting rod (2.4), a vehicle plate (2.5), an axle (2.6), a wheel (2.7), a servo motor (2.8), a reducer (2.9), a bevel gear (2.10), and a deep groove ball bearing (2.11). The cylinder (2.1) is fixedly mounted on the robot shell (1), with one end of the cylinder (2.1) extending out of the piston rod. The cylinder connector (2.2) is located at the end of the piston rod and is fixedly connected to one end of the guide rod (2.3). The other end of the guide rod (2.3) is rotatably connected to the middle of the connecting rod (2.4) to transmit the power of the cylinder (2.1). The connecting rod (2.4) 2.4) One end is rotatably connected to the robot shell (1) via a deep groove ball bearing (2.11), and the other link (2.4) is located on the other side of the cylinder (2.1), with one end rotatably connected to the shell (1.1) via another deep groove ball bearing (2.11). The other ends of the two links (2.4) are respectively installed at the front and rear ends of the vehicle plate (2.5); the vehicle plate (2.5) is equipped with axles (2.6) at both the front and rear, and each axle (2.6) is equipped with wheels (2.7) at both ends; the servo motor (2.8) and reducer (2.9) are fixed on the vehicle plate (2.5), and the two are connected to the axle (2.6) at one end via a bevel gear (2.10) to provide power; the cylinder (2.1) controls the piston rod to perform telescopic movement, thereby controlling the vehicle plate (2.5) to extend or retract, so as to realize the robot's flexible walking in the cylinder; The three-axis motion mechanism (3) includes an axial motion structure, a rotary motion structure and a radial motion structure, which are used to realize the robot's degrees of freedom in the axial, rotary and radial directions; The unfolding processing mechanism (4) includes a tool mounting bracket (4.1), an electromagnet (4.2), a drive motor (4.3), a reducer (4.4), a synchronous toothed belt (4.5), a processing tool (4.6), an additional fixture (4.7), a measuring device (4.8), and an industrial camera (4.9). The tool mounting bracket (4.1) consists of two identical strip-shaped supports, one end of which is symmetrically arranged at the front end of the three-axis motion mechanism (3). Both supports can rotate around this end to unfold and retract. A synchronous pulley is also provided at this end. The electromagnet (4.2) is mounted on the three-axis motion mechanism (3) next to the tool mounting bracket (4.1) and magnetically engages with the tool mounting bracket (4.1) to achieve positioning and self-locking of the tool mounting bracket (4.1) when unfolded to its working position. The drive motor (4.3) is mounted on a motor mounting base, which is fixedly installed between the two tool mounting brackets (4.1) on the three-axis motion mechanism. On the drive mechanism (3), the drive motor (4.3) serves as the actuator for the unfolding and folding motion of the tool mounting frame (4.1), and its output shaft is connected to the reducer (4.4). The reducer (4.4) is fixedly mounted on the motor mounting base, and its output shaft is connected to another synchronous pulley, which drives the synchronous pulley to rotate. The synchronous pulley cooperates with the synchronous pulleys on the two tool mounting frames (4.1), thereby driving the two tool mounting frames (4.1) to rotate, thus realizing unfolding and folding. The processing tool (4.6) is respectively mounted on the other end of the two tool mounting frames (4.1), unfolding and folding with the tool mounting frame (4.1). The additional fixture (4.7) is respectively mounted on the processing tool (4.6) through a certain fit. The measuring device (4.8) and the industrial camera (4.9) are mounted on the tool mounting frame (4.1) on one side, and are respectively used for non-contact measurement of the inner wall of the cylinder and real-time monitoring of the processing process.

2. The narrow-mouth deep-cavity adaptive intelligent machining robot according to claim 1, characterized in that, The specific structure of the robot is as follows: The robot shell (1) includes a shell (1.1), an inbound / outbound connecting seat (1.2), a connecting seat support plate (1.3), an axial motor mounting plate (1.4), a trolley plate (1.5), and a spacer (1.6). The shell (1.1) is a hexagonal prism thin-walled structure, and the direction of the unfolding processing mechanism (4) is defined as the front side of the robot. The inbound / outbound connecting seat (1.2) is installed on the rear side of the shell (1.1) and is a cylindrical thin-walled structure. Its rear end is connected to the inbound / outbound device that assists the robot in entering and exiting the cylinder. The connecting seat support plate (1.3) is an annular plate structure that fits on the cylindrical structure of the inbound / outbound connecting seat (1.2) with a clearance fit. The interior of the housing (1.1) is used to support the inlet / outlet connecting seat (1.2); the axial motor mounting plate (1.4) is located in front of the inlet / outlet connecting seat (1.2), and is a circular plate structure with a through hole in the center, fixed inside the housing (1.1); the trolley plate (1.5) is located in front of the axial motor mounting plate (1.4), and is a circular plate structure with a through hole in the center, fixed inside the housing (1.1); the spacer (1.6) is a hexagonal prism thin-walled structure, located in front of the trolley plate (1.5), fixed inside the housing (1.1), and has six through holes at 120° intervals along the circumference at both ends of its outer wall, and the through holes at both ends correspond to form three sets of channels; The aforementioned walking diameter changing mechanism (2) consists of three identical sets. Each set of walking diameter changing mechanism (2) includes a cylinder (2.1), a cylinder connector (2.2), a guide rod (2.3), a connecting rod (2.4), a vehicle plate (2.5), an axle (2.6), a wheel (2.7), a servo motor (2.8), a reducer (2.9), a bevel gear (2.10), and a deep groove ball bearing (2.11). The cylinder (2.1) serves as the actuator for the robot's diameter changing and is fixedly installed on the outer wall of the housing (1.1). The piston rod extends from the front end of the cylinder (2.1). The cylinder connector (2.2) is located at the end of the piston rod and is connected to one end of the guide rod (2.3). The other end of the guide rod (2.3) is rotatably connected to the middle of the connecting rod (2.4) to transmit the power of the cylinder (2.1). One end of the connecting rod (2.4) is mounted on the housing (1.1) via a deep groove ball bearing (2.11). On .1), another connecting rod (2.4) is located behind the cylinder (2.1), one end of which is mounted on the housing (1.1) via another deep groove ball bearing (2.11), and the other ends of the two connecting rods (2.4) are rotatably connected to the front and rear ends of the plate (2.5); the plate (2.5) is a rectangular plate structure, which serves as a structural component for mounting the servo motor (2.8) and the axle (2.6); the axle (2.6) includes the front axle. The rear axle is rotatably connected to the vehicle plate (2.5); there are four wheels (2.7), which are installed on two axles (2.6); the servo motor (2.8) is fixed on the vehicle plate (2.5), and its output shaft is connected to the reducer (2.9); the reducer (2.9) is fixed on the vehicle plate (2.5), and its output shaft is connected to the connecting shaft, which is connected to one of the axles (2.6) through a bevel gear (2.10); The three-axis motion mechanism (3) includes an axial motion structure, a rotary motion structure, and a radial motion structure. The axial motion structure includes an axial servo motor (3.1), a lead screw mounting base (3.2), a lead screw (3.3), and a lead screw nut (3.4). The rotary motion structure includes a rotary servo motor (3.5), a guide rod (3.6), a linear bearing (3.7), a rotary bearing mounting base (3.8), a rotary motor mounting base (3.11), a rotary shaft (3.12), and a deep groove ball bearing (3.13). The radial motion structure includes a base plate (3.9), a sliding plate (3.10), a radial movement servo motor (3.14), a reducer (3.15), a synchronous toothed belt (3.16), a lead screw (3.18), and a lead screw mounting base. The components include a base (3.19a), a lead screw mounting base (3.19b), a lead screw nut base (3.20), a guide rail, a slider (3.22a), a slider (3.22b), a baffle (3.23a), and a baffle (3.23b). The axial servo motor (3.1) is located inside the housing (1.1) and mounted on the axial motor mounting plate (1.4). As an actuator for axial movement, the output shaft of the axial servo motor (3.1) passes through the through hole of the axial motor mounting plate (1.4) and is connected to one end of the lead screw (3.3), thereby driving the lead screw (3.3) to rotate. The lead screw mounting base (3.2) is fixed on the trolley plate (1.5) and cooperates with the middle part of the lead screw (3.3). It is used for the installation and support of the lead screw (3.3). 3) Passing through the lead screw mounting seat (3.2) and the trolley plate (1.5), its other end is mounted on the lead screw nut (3.4) on the lead screw seat. The lead screw nut is mounted on the rear end face of a triangular thin plate. The triangular thin plate is located between the trolley plate (1.5) and the spacer (1.6). As a structural component, a rotary motor mounting seat (3.11) is mounted on its front end face. Three through holes are provided at 120° intervals at its edge. The rotary servo motor (3.5) is mounted on the rotary motor mounting seat (3.11) as the actuator for rotary motion. A flange is provided on its front side. The rear end of the rotary shaft (3.12) is connected to the flange of the rotary servo motor (3.5) through a coupling. The rotary servo motor (3.5) drives the rotary shaft (3.12) to rotate. 12) The front end passes through the spacer (1.6); the linear bearing (3.7) is provided in 3 sets, which are respectively installed in the 3 through holes at the rear end of the spacer (1.6); the guide rod (3.6) is provided in 3 sets, which pass through the 3 linear bearings (3.7) and the 3 sets of holes on the spacer (1.6), and its rear end is fixed in the through hole of the triangular thin plate, and its front end is fixed on the slewing bearing fixing seat (3.8) located on the front side of the spacer (1.6); the outer ring of the deep groove ball bearing (3.13) is fitted with the slewing bearing fixing seat (3.8), and the inner ring is fitted with the front end of the slewing shaft (3.12); the base plate (3.9) is a rectangular plate structure, which is connected to the front end face of the slewing shaft (3.12) and is used to install the radial motion structure; the guide rail includes a mountain-shaped guide rail (3.21a) A flat guide rail (3.21b) is fixed to both sides of the base plate (3.9); the slider (3.22a) and slider (3.22b) respectively cooperate with the mountain-shaped guide rail (3.21a) and the flat guide rail (3.21b), and are fixed to both sides of the slide plate (3.10), so that there is a gap between the base plate (3.9) and the slide plate (3.10). The slide plate (3.10) is used to carry the folding and unfolding processing mechanism (4); the baffle (3.23a) and baffle (3.23b) are respectively installed on the slider (3.22a) and slider (3.22b) to prevent the slide plate (3.10) from tipping over when it moves; the radial movement servo motor (3.14) is located between the base plate (3.9) and the slide plate (3.10) and is fixed on the base plate (3.9). Its output shaft is connected to the reducer (3.15). The reducer (3.15) is fixed on the base plate (3.9), and its output shaft is connected to the lead screw (3.18) via a synchronous toothed belt (3.16) to drive the lead screw (3.18) to rotate. The two ends of the lead screw (3.18) are mounted on two lead screw mounting seats (3.19a) and two lead screw mounting seats (3.19b), so that the lead screw (3.18) can rotate within the two lead screw mounting seats, which are fixed on the base plate (3.9). The lead screw nut (3.20) is located between the two lead screw mounting seats and is fixedly connected to the slide plate (3.10). It cooperates with the lead screw (3.18). The rotation of the lead screw (3.18) drives the lead screw nut (3.20) to move linearly along the lead screw (3.18), thereby driving the slide plate (3.10) to achieve radial linear motion. The folding and unfolding processing mechanism (4) includes a tool mounting bracket (4.1), an electromagnet (4.2), a drive motor (4.3), a second reducer (4.4), a synchronous toothed belt (4.5), a processing tool (4.6), an additional fixture (4.7), a measuring device (4.8), and an industrial camera (4.9). The tool mounting bracket (4.1) consists of two identical strip-shaped supports, each symmetrically positioned at one end on the side of the slide plate (3.10) away from the base plate (3.9). Both supports can rotate around this end to unfold and retract. A synchronous pulley is also provided at this end. The electromagnet (4.2) is mounted on the slide plate (3.10) next to the tool mounting bracket (4.1) and magnetically engages with the tool mounting bracket (4.1) to position and lock the tool mounting bracket (4.1) in its working posture. The drive motor (4.3) is mounted on a motor mounting base, which is fixed to the slide plate (3.10). The drive motor (4.3) operates... An actuator for folding and unfolding the tool mounting bracket (4.1) has its output shaft connected to a second reducer (4.4). The second reducer (4.4) is fixedly mounted on a motor mounting base, and its output shaft is connected to another synchronous pulley, which rotates the synchronous pulley. The synchronous pulley cooperates with the synchronous pulleys on the two tool mounting brackets (4.1), thereby driving the two tool mounting brackets (4.1) to rotate, thus realizing unfolding and folding. The processing tools (4.6) are respectively mounted on the other end of the two tool mounting brackets (4.1), unfolding and folding with the tool mounting brackets (4.1). The additional fixtures (4.7) are respectively mounted on the processing tools (4.6). The additional fixtures (4.7) are respectively mounted on the processing tools (4.6) through a certain fit. The measuring device (4.8) and the industrial camera (4.9) are mounted on one side of the tool mounting bracket (4.1), respectively used for non-contact measurement of the inner wall of the cylinder and real-time monitoring of the processing process.

3. The narrow-mouth deep-cavity adaptive intelligent machining robot according to claim 1, characterized in that, The additional tooling (4.7) can be replaced with tooling of different functions as needed.

4. The narrow-mouth deep-cavity adaptive intelligent machining robot according to claim 2, characterized in that, The connecting seat support plate (1.3) has three through holes spaced 120° apart at the edge with the center as the center, for the passage of cables for robot motors and sensors.

5. The narrow-mouth deep-cavity adaptive intelligent machining robot according to claim 1, characterized in that, A tensioning wheel (3.17) is provided next to the synchronous toothed belt (3.16) to adjust the tension of the synchronous toothed belt (3.16) to ensure its stability.

6. The narrow-mouth deep-cavity adaptive intelligent machining robot according to claim 1, characterized in that, The base plate (3.9) of the triaxial motion mechanism (3) is also provided with a grating reading head (3.24) for reading the displacement data of the slide plate (3.10) during radial movement.

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