An all-terrain pipeline robot for welding the inner wall of long-distance water supply pipelines in mountainous areas

Abstract

The present invention discloses an all-terrain pipeline robot for welding the inner wall of a long-distance water supply pipeline in mountainous areas, and relates to the field of welding technology. It comprises a driving body, a group of mounting plates in an annular array are fixedly connected to the surface of the driving body, an electric push rod is arranged at one end of the mounting plate, a driving wheel is arranged on the mounting plate, an output shaft is rotatably connected to one end of the driving body, a rotating groove is provided on the driving body, a limiting groove is provided on the side wall of the rotating groove, and one end of the output shaft is connected to the motor inside the driving body. By providing auxiliary components and welding components, the present invention can not only be used for inner wall welding of pipelines with different inner diameters, but also can perform continuous welding work in long-distance water supply pipelines, thereby improving the efficiency of welding the inner wall of the pipeline.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to an all-terrain pipeline robot used for welding the inner wall of a long-distance water supply pipeline in mountainous areas. Background Art

[0002] In the process of laying long-distance water supply pipelines in mountainous areas, it is necessary not only to weld the outer wall of the pipeline, but also to weld the inner wall to ensure the firmness of the welding and avoid problems caused by loose welding in the later stage that are inconvenient for maintenance. The existing welding of the inner wall of long-distance water supply pipelines in mountainous areas requires the use of pipeline welding robots for welding.

[0003] However, the existing all-terrain pipeline robot for welding the inner wall of long-distance water supply pipelines in mountainous areas not only requires the operator to accurately measure the pipe diameter in advance, but also needs to adjust the position of the welding head so that the welding head can be attached to the pipe wall for welding. In this process, when welding pipes of different diameters, they need to be readjusted, and the operation is relatively complicated. At the same time, when performing circular welding on the pipe wall, continuous welding of the inner wall of the pipe cannot be achieved, and manual adjustment is required. Due to the long length of the water supply pipeline, there are many places that need to be welded, which greatly delays the welding efficiency. In view of the above problems, it is urgent to carry out innovative design on the original basis. Summary of the invention

[0004] The purpose of the present invention is to provide an all-terrain pipeline robot for welding the inner wall of long-distance water supply pipelines in mountainous areas, so as to solve the problem proposed in the above-mentioned background technology that welding work cannot be carried out continuously when welding long-distance pipelines, and manual adjustment is required, which delays the welding efficiency. At the same time, when welding pipelines of different diameters, the position of the welding head needs to be adjusted, and the operation is relatively cumbersome. The technical solution of the present invention aims at the technical problem that the existing technical solution is too single, and provides a solution that is significantly different from the existing technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an all-terrain pipeline robot for welding the inner wall of a long-distance water supply pipeline in mountainous areas, comprising a driving body, a group of mounting plates in a circular array are fixedly connected to the surface of the driving body, an electric push rod is arranged at one end of the mounting plate, a driving wheel is arranged on the mounting plate, an output shaft is rotatably connected to one end of the driving body, a rotating groove is provided on the driving body, a limiting groove is provided on the side wall of the rotating groove, one end of the output shaft is connected to the motor inside the driving body, a gear is provided at the other end of the output shaft, a storage box is rotatably connected in the rotating groove, and the storage box Welding wire is placed therein, and a first hollow column, a second hollow column and a third hollow column are fixedly connected to the storage box, the top ends of the first hollow column, the second hollow column and the third hollow column are fixedly connected to the rotating plate, the gear on the output shaft is rotatably connected to the rotating plate, an auxiliary component and a welding component are arranged in the rotating plate, the auxiliary component is used to determine the diameter of the water supply pipe, and the welding component is used to weld the water supply pipe, the auxiliary component and the welding component are respectively meshed with both sides of the gear on the output shaft, and by arranging the driving wheel, when in use, the three driving wheels can be moved along the inner wall of the pipe through the extension and shortening of the electric push rod.

[0006] Preferably, the auxiliary component includes an auxiliary box, one side of the auxiliary box is fixedly connected to an auxiliary tooth plate, a first oil storage rod is fixedly connected in the auxiliary box, the first oil storage rod is connected to the second oil storage rod through a hose, and a hose is inserted in the auxiliary tooth plate.

[0007] Preferably, a first piston rod is provided in the first oil storage rod, a first spring is provided between one side of the first piston rod and the bottom of the first oil storage rod, the top of the first piston rod abuts against the inner side of a rubber pad, and the rubber pad is fixedly connected to the notch on one side of the auxiliary box, and the rubber pad has soft and wear-resistant characteristics when in use.

[0008] Preferably, the second oil storage rod is fixedly connected in the storage box, a second piston rod is arranged in the second oil storage rod, and one end of the second piston rod passes through the storage box and is inserted in the limiting groove.

[0009] Preferably, the welding assembly includes a welding box, a welding tooth plate is fixedly connected to one side of the welding box, a welding head is fixedly connected in the welding box, a limiting plate is provided on one side of the welding head, a sensor is provided on the other side of the welding head, a guide wheel is provided on one side of the limiting plate, and a welding wire is slidably connected in the welding tooth plate.

[0010] Preferably, a limiting hole is provided on the limiting plate, a limiting rod is fixedly connected to one side of the limiting plate, an arc groove is provided at one end of the limiting rod, the welding wire passes through and is slidably connected in the limiting hole, and half of the welding wire is located in the arc groove, which can not only prevent the welding wire from falling during use, but also ensure that the position of the welding wire does not change after the welding is completed.

[0011] Preferably, a fixing groove is provided in the connecting hole on the guide wheel, a ratchet is fixedly connected in the fixing groove, a fixing column is rotatably connected in the connecting hole of the guide wheel, the fixing column is fixedly connected in the welding box, a pawl is slidably connected to the fixing column, a spring is provided at the bottom of the pawl, the ratchet and the pawl are cooperatively connected, and the guide wheel is wound with welding wire. By providing the pawl and the ratchet, the guide wheel can only rotate in one direction when in use, thereby preventing the movement of the welding tooth plate from changing the position of the welding wire, thereby achieving the fixation of the exposed position of the welding wire.

[0012] Preferably, a guide groove is provided on one side of the welding box, a positioning hole is provided on one side of the guide groove, a welding hole is provided on one side of the positioning hole, a sensing hole is provided on one side of the welding hole, a guide wheel is rotatably connected in the guide groove, one end of the limiting rod passes through the positioning hole, the welding head is located in the welding hole, the sensor is located in the sensing hole, and a transmission line coil is provided between the welding box and the rotating plate.

[0013] Preferably, one end of the welding wire is located at one side of the welding hole, the welding wire is slidably connected in the arc groove of the limiting rod, and the other end of the welding wire is located in the storage box.

[0014] Preferably, a hose is provided in the first hollow column, a transmission line is provided in the second hollow column, a welding wire is provided in the third hollow column, and both sides of the gear on the output shaft are meshed and connected with the auxiliary tooth plate and the welding tooth plate respectively.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects:

[0016] In the above scheme, by setting up auxiliary components, when the equipment is performing welding operations in the pipeline, when the pipe wall squeezes and deforms the rubber pad to a certain extent, the welding component will also contact the pipe wall, and at this time the rotating plate will start to rotate, so that the welding component welds the pipe wall, which solves the need to determine the pipe diameter and perform complex operations to debug the equipment when the equipment is used. Furthermore, since the rotating plate is located at the circular part of the pipe cross section, no matter how large the pipe diameter is, it only needs the inner wall of the pipe to squeeze and deform the rubber pad on the auxiliary box to a certain extent, and the welding component will contact and weld the inner wall of the pipe, so that the equipment can be applied to water supply pipes of different diameters.

[0017] By setting up the welding assembly, when welding the inner wall of the pipe, the inner wall of the pipe can be welded in a circular shape through the cooperation of the welding head and the welding wire, thereby avoiding the situation of incomplete welding when welding the inner wall of the pipe. At the same time, under the action of the limit rod and the guide wheel, the exposed length and position of the welding wire can remain unchanged, so that the equipment can act continuously and avoids the trouble of repeatedly adjusting the position of the welding wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic structural diagram of an all-terrain pipeline robot used for inner wall welding of long-distance water supply pipelines in mountainous areas according to the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the driving body of the present invention;

[0020] Figure 3 This is a schematic diagram of the storage box structure of the present invention;

[0021] Figure 4 This is a schematic diagram of the explosion structure of the storage box and the driving body of the present invention;

[0022] Figure 5 This is a schematic diagram of the internal structure of the rotating plate of the present invention;

[0023] Figure 6 This is a schematic diagram of the auxiliary component structure of the present invention;

[0024] Figure 7 This is a schematic diagram of the principle structure of the auxiliary components of the present invention;

[0025] Figure 8 This is a schematic diagram of the structure of the welding assembly of the present invention;

[0026] Fig. 9 For the present invention Figure 8 Middle A enlarged view;

[0027] Fig.10 This is a schematic diagram of the explosion structure of the guide wheel of the present invention;

[0028] Fig.11 It is a schematic diagram of the structure of the limiting plate of the present invention.

[0029] In the figure: 1, driving body; 11, mounting plate; 12, electric push rod; 13, rotating groove; 131, limiting groove; 2, driving wheel; 3, output shaft; 4, storage box; 41, first hollow column; 42, second hollow column; 43, third hollow column; 5, rotating plate; 6, auxiliary component; 61, auxiliary box; 611, rubber pad; 62, auxiliary tooth plate; 63, first oil storage rod; 631, first piston rod; 632, first spring; 64 , the second oil storage rod; 641, the second piston rod; 7, the welding assembly; 71, the welding box; 711, the guide groove; 712, the positioning hole; 713, the welding hole; 714, the sensing hole; 72, the welding tooth plate; 73, the welding head; 74, the limit plate; 741, the limit hole; 742, the limit rod; 75, the guide wheel; 751, the fixing groove; 752, the ratchet; 753, the fixing column; 754, the pawl; 76, the welding wire; 77, the sensor. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figures 1 to 5The present invention provides a technical solution: an all-terrain pipeline robot for welding the inner wall of a long-distance water supply pipeline in a mountainous area, comprising a driving body 1, a group of mounting plates 11 in a ring array are fixedly connected to the surface of the driving body 1, an electric push rod 12 is arranged at one end of the mounting plate 11, a driving wheel 2 is arranged on the mounting plate 11, an output shaft 3 is rotatably connected to one end of the driving body 1, a rotating groove 13 is provided on the driving body 1, a limiting groove 131 is provided on the side wall of the rotating groove 13, one end of the output shaft 3 is connected to the motor inside the driving body 1, and the output shaft 3 The other end is provided with a gear, a storage box 4 is rotatably connected in the rotating groove 13, a welding wire 76 is placed in the storage box 4, a first hollow column 41, a second hollow column 42 and a third hollow column 43 are fixedly connected to the storage box 4, the top ends of the first hollow column 41, the second hollow column 42 and the third hollow column 43 are fixedly connected to the rotating plate 5, the gear on the output shaft 3 is rotatably connected to the rotating plate 5, an auxiliary component 6 and a welding component 7 are provided in the rotating plate 5, the auxiliary component 6 is used to determine the diameter of the water supply pipe, the welding component 7 is used to weld the water supply pipe, and the auxiliary component The auxiliary assembly 6 and the welding assembly 7 are respectively meshed with the two sides of the gear connected to the output shaft 3. When welding the pipeline, the device is first placed in the pipeline. The driving wheel 2 can be attached to the inner wall of the pipeline by the extension and contraction of the electric push rod 12. The driving body 1 is moved in the pipeline by the driving wheel 2. When the driving body 1 moves to the place where welding is required in the pipeline, the driving wheel 2 stops moving, and the motor in the driving body 1 starts to rotate and drives the output shaft 3 to rotate. When the output shaft 3 rotates, the auxiliary assembly 6 and the welding assembly 7 will be synchronously unfolded. When the auxiliary assembly 6 and the welding assembly 7 contact the inner wall of the pipeline, the auxiliary assembly 6 and the welding assembly 7 are simultaneously unfolded, and the rotating plate 5 starts to rotate. When the rotating plate 5 rotates, the auxiliary assembly 6 and the welding assembly 7 rotate synchronously. At this time, the welding assembly 7 starts to weld the pipeline. When the pipeline welding is completed, the motor in the driving body 1 is reversed. At this time, the rotating plate 5 stops rotating. At the same time, the auxiliary assembly 6 and the welding assembly 7 shrink synchronously and gradually return to the initial state. Then the driving wheel 2 continues to move with the driving body 1 to find the next part in the pipeline that needs to be welded.

[0032] See also Figures 2 to 7The present invention provides a technical solution: an all-terrain pipeline robot for welding the inner wall of a long-distance water supply pipeline in mountainous areas, the auxiliary component 6 includes an auxiliary box 61, one side of the auxiliary box 61 is fixedly connected to an auxiliary tooth plate 62, a first oil storage rod 63 is fixedly connected in the auxiliary box 61, the first oil storage rod 63 is connected to the second oil storage rod 64 through a hose, a hose is inserted in the auxiliary tooth plate 62, a first piston rod 631 is arranged in the first oil storage rod 63, a first spring 632 is arranged between one side of the first piston rod 631 and the bottom of the first oil storage rod 63, the top of the first piston rod 631 abuts against the inner side of the rubber pad 611, the rubber pad 611 is fixedly connected to the notch on one side of the auxiliary box 61, the second oil storage rod 64 is fixedly connected in the storage box 4, the first A second piston rod 641 is provided in the second oil storage rod 64, and one end of the second piston rod 641 passes through the storage box 4 and is inserted in the limiting groove 131. When the driving body 1 moves to the place where welding is required in the pipeline, the motor in the driving body 1 starts to rotate and drives the output shaft 3 to rotate. At this time, since the top of the second piston rod 641 is inserted in the limiting groove 131, the storage box 4 and the rotating plate 5 will remain in a stationary state, and the gear in the output shaft 3 will rotate in the rotating plate 5. Under the action of the gear, the auxiliary tooth plate 62 and the welding tooth plate 72 meshingly connected on both sides of the gear will move synchronously to both sides, so that the welding box 71 and the auxiliary box 61 are gradually expanded to both sides. Since the outer side of the auxiliary box 61 is provided with a protruding rubber pad 611, the auxiliary box 61 will The auxiliary box 61 contacts the inner wall of the pipe before the welding box 71. When the rubber pad 611 on the auxiliary box 61 contacts the pipe wall, the auxiliary box 61 will still expand outward under the action of the auxiliary tooth plate 62. At this time, the rubber pad 611 will be squeezed on the pipe wall. When the rubber pad 611 is squeezed, the first piston rod 631 will be pushed and squeeze the oil in the first oil storage rod 63, so that the oil in the first oil storage rod 63 enters the second oil storage rod 64 through the hose. When the oil enters the second oil storage rod 64, it will gradually push the second piston rod 641, so that the second piston rod 641 gradually leaves the limiting groove 131. When the welding box 71 contacts the inner wall of the pipe, the first piston rod 631 is pushed to the lowest point. At this time, the oil squeezed out of the first oil storage rod 63 makes the second piston rod 64 The rod 641 moves to the lowest point of the second oil storage rod 64. At this time, the second piston rod 641 completely leaves the limiting groove 131. Then, due to the continuous rotation of the motor in the driving body 1, and the welding box 71 and the auxiliary box 61 are both in contact with the inner wall of the pipe, the gear on the output shaft 3 cannot continue to rotate. However, since the second piston rod 641 has completely left the limiting groove 131, the output shaft 3 will rotate synchronously with the rotating plate 5 and the storage box 4. When the rotating plate 5 rotates, the welding head 73 and the welding wire 76 in the welding box 71 will weld the inner wall of the pipe. After the rotating plate 5 rotates one circle, the welding assembly 7 will also rotate one circle and complete the welding of the pipe wall. At this time, the motor in the driving body 1 starts to rotate in the opposite direction and drives the output shaft 3 to rotate in the opposite direction.When the output shaft 3 rotates in the opposite direction, the gear on the output shaft 3 rotates in the opposite direction synchronously, and the auxiliary tooth plate 62 and the welding tooth plate 72 move in the opposite direction, and the welding box 71 and the auxiliary box 61 shrink synchronously and separate from the pipe wall. When the auxiliary box 61 separates, the compressed first spring 632 in the first oil storage rod 63 begins to gradually extend and pushes the first piston rod 631. When the first piston rod 631 is pushed, the oil in the second oil storage rod 64 will be gradually drawn back into the first oil storage rod 63. During this process, the second piston rod 641 will gradually extend and be inserted back into the limiting groove 131. Since the second piston rod 641 is inserted into the limiting groove 131, the storage box 4 is affected by the second piston rod 641 and cannot rotate in the rotating groove 13. At this time, the storage box 4 and the rotating plate 5 will remain stationary. When the auxiliary tooth plate 62 and the welding tooth plate 72 return to their original positions, the motor in the driving body 1 stops rotating, and the driving wheel 2 will continue to move the driving body 1 in the pipeline to find the next place in the pipeline that needs to be welded. ,

[0033] See also Figures 2 to 4 and Figures 8 to 11The present invention provides a technical solution: an all-terrain pipeline robot for welding the inner wall of a long-distance water supply pipeline in a mountainous area, wherein the welding assembly 7 comprises a welding box 71, a welding tooth plate 72 is fixedly connected to one side of the welding box 71, a welding head 73 is fixedly connected to the welding box 71, a limiting plate 74 is arranged on one side of the welding head 73, a sensor 77 is arranged on the other side of the welding head 73, a guide wheel 75 is arranged on one side of the limiting plate 74, a welding wire 76 is slidably connected to the welding tooth plate 72, a limiting hole 741 is arranged on the limiting plate 74, a limiting rod 742 is fixedly connected to one side of the limiting plate 74, an arc groove is arranged at one end of the limiting rod 742, the welding wire 76 passes through and is slidably connected to the limiting hole 741, and a fixed hole is arranged in the connecting hole on the guide wheel 75. A fixed groove 751 is provided, and a ratchet 752 is fixedly connected in the fixed groove 751. A fixed column 753 is rotatably connected in the connecting hole of the guide wheel 75. The fixed column 753 is fixedly connected in the welding box 71. A pawl 754 is slidably connected to the fixed column 753. A spring is provided at the bottom of the pawl 754. The ratchet 752 and the pawl 754 are matched and connected. A welding wire 76 is wound and connected on the guide wheel 75. A guide groove 711 is provided on one side of the welding box 71. A positioning hole 712 is provided on one side of the guide groove 711. A welding hole 713 is provided on one side of the positioning hole 712. An induction hole 714 is provided on one side of the welding hole 713. The guide wheel 75 is rotatably connected in the guide groove 711. One end of the limiting rod 742 passes through the positioning hole 712. The welding head 73 is located at the welding The sensor 77 is located in the sensing hole 714, a transmission line coil is arranged between the welding box 71 and the rotating plate 5, one end of the welding wire 76 is located on one side of the welding hole 713, the welding wire 76 is slidably connected in the arc groove of the limiting rod 742, and the other end of the welding wire 76 is located in the storage box 4. A hose is arranged in the first hollow column 41, a transmission line is arranged in the second hollow column 42, and a welding wire 76 is arranged in the third hollow column 43. The two sides of the gear on the output shaft 3 are respectively meshed and connected with the auxiliary tooth plate 62 and the welding tooth plate 72. When the driving body 1 moves to the place where welding is required in the pipeline, the sensor 77 will detect the corresponding position and stop the driving wheel 2 from moving, so that the welding head 73 can face the part of the pipeline where welding is required. When the motor 1 rotates, the welding tooth plate 72 will move outward. When the welding tooth plate 72 moves and pulls the welding wire 76, one end of the welding wire 76 is wound around the guide wheel 75, and a ratchet 752 and a pawl 754 are provided between the guide wheel 75 and the fixed column 753, so that the guide wheel 75 cannot rotate in the opposite direction. The welding tooth plate 72 can only continuously pull the welding wire 76 in the storage box 4. When the welding box 71 and the auxiliary box 61 are both in contact with the inner wall of the pipe and rotate under the action of the rotating plate 5, the guide wheel 75 will rotate against the inner wall of the pipe. When the guide wheel 75 rotates, one end of the welding wire 76 wound around the guide wheel 75 will move. During the movement of the welding wire 76, the welding head 73 will weld the welding wire 76 to the inner wall of the pipe.At the same time, during the rotation of the guide wheel 75, the welding wire 76 in the storage box 4 will be continuously drawn out and wound. When the guide wheel 75 rolls, the welding wire 76 of corresponding length will be released. Since one end of the welding wire 76 is located on one side of the welding head 73, the welding wire 76 released by the guide wheel 75 will be welded to the pipe wall at the welding head 73. After the guide wheel 75 rotates one circle along the inner wall, it will return to its original position. At this time, the welding head 73 will also return to its original position, and in the process of moving, the welding wire 76 released by the guide wheel 75 will be completely welded to the pipe wall, so that a complete weld is formed on the inner wall of the pipe, ensuring its airtightness and integrity.

[0034] Working principle: When welding a pipeline, first place the device in the pipeline, and through the extension and retraction of the electric push rod 12, the driving wheel 2 can be attached to the inner wall of the pipeline, and the driving body 1 is moved in the pipeline through the driving wheel 2. When the driving body 1 moves to the place in the pipeline where welding is required, the driving wheel 2 stops moving, and the motor in the driving body 1 starts to rotate, and drives the output shaft 3 to rotate. At this time, since the top of the second piston rod 641 is inserted in the limiting groove 131, the storage box 4 and the rotating plate 5 will remain in a stationary state, and the gear in the output shaft 3 will rotate in the rotating plate 5. Under the action of the gear, the auxiliary tooth plate 62 and the welding tooth plate 72 meshingly connected on both sides of the gear will move synchronously to both sides, so that the welding box 71 and the auxiliary box 61 are gradually expanded to both sides. Since a protruding rubber pad 611 is provided on the outer side of the auxiliary box 61, the auxiliary box 61 will contact the inner wall of the pipeline before the welding box 71. When the rubber pad 611 on the auxiliary box 61 contacts the pipe wall, the auxiliary box 61 will still expand outward under the action of the auxiliary tooth plate 62;

[0035] At this time, the rubber pad 611 will be squeezed on the pipe wall. When the rubber pad 611 is squeezed, the first piston rod 631 will be pushed and squeeze the oil in the first oil storage rod 63, so that the oil in the first oil storage rod 63 enters the second oil storage rod 64 through the hose. When the oil enters the second oil storage rod 64, it will gradually push the second piston rod 641, so that the second piston rod 641 gradually leaves the limit groove 131. When the welding box 71 contacts the inner wall of the pipe, the first piston rod 631 is pushed to the lowest point. At this time, the oil squeezed out of the first oil storage rod 63 causes the second piston rod 641 to move to the lowest point of the second oil storage rod 64. At this time, the second piston rod 641 completely leaves the limiting groove 131. Then, because the motor in the driving body 1 continues to rotate, and the welding box 71 and the auxiliary box 61 are both in contact with the inner wall of the pipe, the gear on the output shaft 3 cannot continue to rotate. However, because the second piston rod 641 has completely left the limiting groove 131, the output shaft 3 will rotate synchronously with the rotating plate 5 and the storage box 4 at this time.

[0036] When the rotating plate 5 rotates, the welding head 73 and the welding wire 76 in the welding box 71 will weld the inner wall of the pipe. After the rotating plate 5 rotates one circle, the welding assembly 7 will also rotate one circle and complete the welding of the pipe wall. At this time, the motor in the driving body 1 starts to rotate in the reverse direction and drives the output shaft 3 to rotate in the reverse direction. When the output shaft 3 rotates in the reverse direction, the gear on the output shaft 3 rotates in the reverse direction synchronously, and the auxiliary tooth plate 62 and the welding tooth plate 72 move in the reverse direction, and the welding box 71 and the auxiliary box 61 shrink synchronously and separate from the pipe wall. When the auxiliary box 61 separates When the first spring 632 compressed in the first oil storage rod 63 begins to gradually extend and pushes the first piston rod 631. When the first piston rod 631 is pushed, the oil in the second oil storage rod 64 will be gradually drawn back into the first oil storage rod 63. During this process, the second piston rod 641 will gradually extend and be inserted back into the limiting groove 131. Since the second piston rod 641 is inserted into the limiting groove 131, the storage box 4 is affected by the second piston rod 641 and cannot rotate in the rotating groove 13. At this time, the storage box 4 and the rotating plate 5 will remain stationary.

[0037] When the auxiliary tooth plate 62 and the welding tooth plate 72 return to their original positions, the motor in the driving body 1 stops rotating, and the driving wheel 2 will continue to move the driving body 1 in the pipeline to find the next place in the pipeline that needs to be welded. When the driving body 1 moves to the place in the pipeline that needs to be welded, the sensor 77 will detect the corresponding position and stop the driving wheel 2, so that the welding head 73 can face the part in the pipeline that needs to be welded. When the motor in the driving body 1 rotates, the welding tooth plate 72 moves outward. When the welding tooth plate 72 moves and pulls the welding wire 76, one end of the welding wire 76 is wrapped around the guide wheel 75, and the guide wheel 75 A ratchet 752 and a pawl 754 are provided between the guide wheel 75 and the fixed column 753, so that the guide wheel 75 cannot rotate in the opposite direction, and the welding tooth plate 72 can only continuously pull the welding wire 76 in the storage box 4. When the welding box 71 and the auxiliary box 61 are both in contact with the inner wall of the pipe and rotate under the action of the rotating plate 5, the guide wheel 75 will rotate along the inner wall of the pipe. When the guide wheel 75 rotates, one end of the welding wire 76 wound on the guide wheel 75 will move. During the movement of the welding wire 76, the welding head 73 will weld the welding wire 76 to the inner wall of the pipe. At the same time, during the rotation of the guide wheel 75, it will continuously draw out and wind the welding wire 76 in the storage box 4.

[0038] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An all-terrain pipeline robot for welding the inner wall of long-distance water supply pipelines in mountainous areas, characterized in that: The invention comprises a driving body (1), a group of mounting plates (11) in an annular array are fixedly connected to the surface of the driving body (1), an electric push rod (12) is arranged at one end of the mounting plate (11), a driving wheel (2) is arranged on the mounting plate (11), an output shaft (3) is rotatably connected to one end of the driving body (1), a rotating groove (13) is provided on the driving body (1), a limiting groove (131) is provided on the side wall of the rotating groove (13), and one end of the output shaft (3) is connected to the inside of the driving body (1). On the motor, a gear is arranged at the other end of the output shaft (3), a storage box (4) is rotatably connected in the rotating groove (13), a welding wire (76) is placed in the storage box (4), a first hollow column (41), a second hollow column (42) and a third hollow column (43) are fixedly connected to the storage box (4), the top ends of the first hollow column (41), the second hollow column (42) and the third hollow column (43) are fixedly connected to the rotating plate (5), and the gear on the output shaft (3) is rotatably connected to the rotating plate (5); The rotating plate (5) is provided with an auxiliary component (6) and a welding component (7), the auxiliary component (6) is used to determine the diameter of the water supply pipeline, the welding component (7) is used to weld the water supply pipeline, and the auxiliary component (6) and the welding component (7) are respectively meshed with two sides of the gear connected to the output shaft (3); The auxiliary assembly (6) comprises an auxiliary box (61), one side of the auxiliary box (61) is fixedly connected to an auxiliary tooth plate (62), a first oil storage rod (63) is fixedly connected in the auxiliary box (61), the first oil storage rod (63) is connected to a second oil storage rod (64) via a hose, and a hose is inserted in the auxiliary tooth plate (62); A first piston rod (631) is arranged in the first oil storage rod (63), a first spring (632) is arranged between one side of the first piston rod (631) and the bottom of the first oil storage rod (63), the top of the first piston rod (631) abuts against the inner side of the rubber pad (611), and the rubber pad (611) is fixedly connected to the notch on one side of the auxiliary box (61); The second oil storage rod (64) is fixedly connected to the storage box (4), and a second piston rod (641) is provided in the second oil storage rod (64), and one end of the second piston rod (641) passes through the storage box (4) and is inserted into the limiting groove (131); The welding assembly (7) comprises a welding box (71), one side of the welding box (71) is fixedly connected to a welding tooth plate (72), a welding head (73) is fixedly connected in the welding box (71), a limiting plate (74) is provided on one side of the welding head (73), a sensor (77) is provided on the other side of the welding head (73), a guide wheel (75) is provided on one side of the limiting plate (74), and a welding wire (76) is slidably connected in the welding tooth plate (72); The limiting plate (74) is provided with a limiting hole (741), one side of the limiting plate (74) is fixedly connected to a limiting rod (742), one end of the limiting rod (742) is provided with an arc groove, and the welding wire (76) passes through and is slidably connected in the limiting hole (741); A fixing groove (751) is provided in the connection hole on the guide wheel (75), a ratchet (752) is fixedly connected in the fixing groove (751), a fixing column (753) is rotatably connected in the connection hole of the guide wheel (75), the fixing column (753) is fixedly connected in the welding box (71), a ratchet (754) is slidably connected to the fixing column (753), a spring is provided at the bottom of the ratchet (754), the ratchet (752) and the ratchet (754) are matched and connected, and a welding wire (76) is wound and connected to the guide wheel (75); A guide groove (711) is provided on one side of the welding box (71), a positioning hole (712) is provided on one side of the guide groove (711), a welding hole (713) is provided on one side of the positioning hole (712), and a sensing hole (714) is provided on one side of the welding hole (713). A guide wheel (75) is rotatably connected in the guide groove (711), one end of the limit rod (742) passes through the positioning hole (712), the welding head (73) is located in the welding hole (713), the sensor (77) is located in the sensing hole (714), and a transmission line coil is provided between the welding box (71) and the rotating plate (5).

2. The all-terrain pipeline robot for inner wall welding of long-distance water supply pipelines in mountainous areas according to claim 1 is characterized in that: One end of the welding wire (76) is located on one side of the welding hole (713), the welding wire (76) is slidably connected in the arc groove of the limiting rod (742), and the other end of the welding wire (76) is located in the storage box (4).

3. The all-terrain pipeline robot for inner wall welding of long-distance water supply pipelines in mountainous areas according to claim 2 is characterized in that: A hose is arranged in the first hollow column (41), a transmission line is arranged in the second hollow column (42), a welding wire (76) is arranged in the third hollow column (43), and two sides of the gear on the output shaft (3) are respectively meshed and connected with the auxiliary tooth plate (62) and the welding tooth plate (72).

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