A pipeline robot variable diameter system and all-pneumatic pipeline inner wall spraying robot

Abstract

The application discloses a pipeline robot variable-diameter system and a full-pneumatic pipeline inner wall spraying robot, and belongs to the technical field of pipeline robots; the pipeline robot variable-diameter system comprises a fixed plate and a telescopic assembly rotationally connected with the fixed plate, the telescopic assembly comprises a plurality of connecting rod mechanisms, and variable-diameter movement is realized by driving of a pneumatic cylinder. The system simplifies structural design, adopts pneumatic driving, realizes self-adaptive variable-diameter and shock absorption functions, and reduces cost and maintenance difficulty. In addition, the application further provides a full-pneumatic pipeline inner wall spraying robot, which has autonomous walking and high-efficiency spraying capabilities, adopts a 3D printing manufactured rotary spray head and a pneumatic motor driven walking system, and safety and spraying uniformity are enhanced. The overall design of the application improves stability and adaptability of the equipment, and is widely applicable to pipeline detection, maintenance and spraying operations.

Description

Technical Field

[0001] This invention relates to the technical field of pipeline robots, and more specifically, to a pipeline robot diameter changing system and a fully pneumatic pipeline inner wall spraying robot. Background Technology

[0002] Pipeline robots have wide applications in pipeline inspection and maintenance, and their diameter-changing systems are a key technology ensuring the robot's normal operation within pipes of different diameters. Traditional pipeline robot diameter-changing systems primarily rely on adjustments to mechanical structures, such as gear transmissions and push rods, to achieve diameter changes. Existing diameter-changing systems typically include components such as a main shaft, bevel gears, a motor, and a lead screw. The motor drives the main shaft to rotate, the large bevel gear drives the small bevel gear to rotate, and the lead screw and nut connected to it then push the push rod to move, thereby achieving diameter adjustment for the robot. This structural design allows the robot to adapt to pipes of different sizes and maintain stability during movement.

[0003] For example, Chinese invention patent application number CN201811586116.2 discloses a diameter-changing mechanism for a pipeline robot, including a body, a main shaft, a large bevel gear, a small bevel gear, a motor, a coupling, a support base, a lead screw, a lead screw nut, push rods, a support shaft, bearings, and wheels. The main shaft axis coincides with the body axis. The motor is connected to the main shaft via the coupling and is fixed to the support base, which is fixed to the body. The large bevel gear is coaxially fixed to the main shaft. Three small bevel gears mesh with the large bevel gear. Three lead screws are fixedly connected to the three small bevel gears. The lead screws are threadedly connected to the lead screw nuts. Three push rods are fixedly connected to the three lead screw nuts. The wheels are fixedly connected to the push rods. This invention improves the flexibility, stability, and sealing of the pipeline robot, significantly extends its service life, saves on manufacturing costs, and enables the pipeline robot to better adapt to complex pipeline systems. However, the diameter-changing mechanism of this invention has some obvious shortcomings, as listed below:

[0004] First, because most of the structure uses mechanical transmission, the system is highly complex, with numerous components requiring precision machining, leading to increased manufacturing costs. Simultaneously, the engagement of multiple gears and lead screws requires high-precision alignment and installation, increasing assembly difficulty. Furthermore, in practical applications, the reliability of gear meshing and lead screw-nut mating is a significant issue, prone to wear, jamming, and other malfunctions, affecting the robot's normal operation. Especially under long-term operation or high-frequency use, the system requires substantial maintenance, increasing maintenance costs and impacting work continuity and efficiency.

[0005] Therefore, there is an urgent need to develop an improved pipe robot diameter-changing system to solve the above-mentioned problems in the existing technology, thereby simplifying the system structure, reducing manufacturing and maintenance costs, and improving the reliability and stability of the diameter-changing system to meet the application requirements of complex pipeline environments. Summary of the Invention

[0006] To overcome the problems of complex mechanical transmission, numerous components requiring high-precision machining, high manufacturing and maintenance costs, poor reliability of gear and lead screw matching, and easy wear and jamming in the prior art, this invention provides a pipe robot diameter changing system and a fully pneumatic pipe inner wall spraying robot.

[0007] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0008] A pipe robot diameter-changing system includes a fixed plate and a telescopic assembly rotatably connected to the fixed plate. The telescopic assembly includes several linkage mechanisms, and the linkage mechanisms are provided with several movable joints.

[0009] A cylinder is installed at one end of the fixed plate, the cylinder is provided with a piston rod, and the end of the piston rod extending out of the cylinder is connected to a piston rod connecting plate;

[0010] The first movable joint of the linkage mechanism is rotatably connected to the side wall of the fixed plate, and the second movable joint of the linkage mechanism is rotatably connected to the side wall of the piston rod connecting plate.

[0011] The cylinder is configured to drive the piston rod to extend or retract, thereby causing the piston rod connecting plate to move synchronously, and in turn causing the linkage mechanism to perform a diameter change movement.

[0012] Furthermore, the telescopic assembly includes four linkage mechanisms, which are four-bar linkages, and the four four-bar linkages are symmetrically arranged circumferentially along the fixed plate.

[0013] Furthermore, the linkage mechanism includes a first link, a second link, a third link, and a fourth link;

[0014] The end of the first link away from the fixed plate is rotatably connected to the second link to form a third movable joint, and the second link is rotatably connected to the fourth link;

[0015] One end of the third link is a second movable joint that is rotatably connected to the side wall of the piston rod connecting plate, and the other end of the third link is rotatably connected to the fourth link.

[0016] Furthermore, the second link is an L-shaped link, and the second link is provided with a first end, a second end and a third end;

[0017] Wherein, the first end of the second link is rotatably connected to the first link; the second end of the second link is located at the corner of the second link, which is the turning point of the L-shaped link; the third end of the second link is rotatably connected to the fourth link;

[0018] The second end of the second link is connected to the second movable joint of the third link via a transmission plate. One end of the transmission plate is rotatably connected to the second end of the second link, and the other end of the transmission plate is rotatably connected to the second movable joint of the third link.

[0019] Furthermore, a support roller is installed at one end of the fourth link, and a roller assembly mounting part for installing the roller assembly is provided at the other end of the fourth link. The rotational connection points of the second link, the third link and the fourth link are all located in the middle of the fourth link.

[0020] Furthermore, the fixed plate and the linkage mechanism, as well as the connecting rods in the linkage mechanism, are rotatably connected by grooved pins. The grooved pins have slots, and a retaining ring is installed in the slots to prevent the connecting parts from falling off.

[0021] A fully pneumatic pipe inner wall spraying robot includes a spraying system, a walking system, and a diameter changing system, wherein the diameter changing system adopts the pipe robot diameter changing system described above.

[0022] Furthermore, the spraying system includes a rotary nozzle, a rotary joint, and a paint spraying pipeline. The rotary nozzle includes a paint spraying section and a hydrodynamic drive device for driving the paint spraying section to rotate.

[0023] Furthermore, at least one spray hole is evenly provided on the side wall of the rotary nozzle, the rotary joint is connected to the rotary nozzle by a thread, and the paint spraying pipeline is inserted into the rotary joint for delivering paint to the rotary nozzle;

[0024] The fluid power drive device employs a pneumatic motor, and is connected to a drive air pipe that provides compressed air to it.

[0025] Furthermore, the walking system is a roller assembly mounted on the linkage mechanism, which includes a drive roller and a pneumatic motor that provides power to the drive roller, and the pneumatic motor is connected to a drive pipeline that provides compressed air to it.

[0026] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0027] This invention provides a pipe robot diameter-changing system and a fully pneumatic pipe inner wall spraying robot. By adopting pneumatic drive and optimized mechanical structure design, it achieves multiple functions such as adaptive diameter changing, vibration damping, lightweighting, and efficient spraying. Compared with traditional electric drive systems, the pneumatic system of this invention not only reduces production and maintenance costs and simplifies the structure, but also improves the safety and reliability of the equipment. This invention also has the advantage of strong adaptability, and can be applied to a variety of complex pipe environments, significantly improving the efficiency of pipe maintenance and spraying operations. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a three-dimensional structural diagram of the pipe robot variable diameter system in one embodiment of the present invention when it is contracted, at which time the piston rod is in the retracted state;

[0030] Figure 2 This is a three-dimensional structural diagram of the pipe robot variable diameter system provided in one embodiment of the present invention when it is extended, at which time the piston rod is in the extended state;

[0031] Figure 3 This is a front view of the pipe robot variable diameter system in one embodiment of the present invention during contraction;

[0032] Figure 4 This is a front view of the pipe robot variable diameter system provided in one embodiment of the present invention when it is extended;

[0033] Figure 5 This is a three-dimensional structural diagram of the pipe robot variable diameter system provided in one embodiment of the present invention when it is extended from another angle;

[0034] Figure 6 This is a three-dimensional structural diagram of the pipe robot variable diameter system provided in one embodiment of the present invention when it contracts at another angle;

[0035] Figure 7 This is a schematic diagram of the fully pneumatic pipe inner wall spraying robot retracting in a pipe according to one embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of the fully pneumatic pipe inner wall spraying robot extending in a pipe according to one embodiment of the present invention;

[0037] Figure 9This is a three-dimensional structural diagram of a fully pneumatic pipe inner wall spraying robot provided in one embodiment of the present invention in a pipe;

[0038] Figure 10 This is a three-dimensional structural schematic diagram of a fully pneumatic pipe inner wall spraying robot provided in one embodiment of the present invention;

[0039] Figure 11 This is a three-dimensional structural diagram of the fully pneumatic pipe inner wall spraying robot provided in one embodiment of the present invention from other angles;

[0040] Figure 12 This is a three-dimensional structural diagram of the fully pneumatic pipe inner wall spraying robot provided in one embodiment of the present invention from other angles;

[0041] Figure 13 This is the present invention. Figure 10 A three-dimensional structural diagram of the spraying system;

[0042] Figure 14 This is the present invention. Figure 13 A three-dimensional structural diagram after removing the pneumatic motor stator and drive piping;

[0043] Figure 15 It is related to the present invention. Figure 14 Corresponding sectional views;

[0044] The markings in the diagram are as follows: 1. Rotary nozzle; 2. Rotary joint; 3. Paint spraying pipe; 4. Fixing plate; 5. Cylinder; 6. First connecting rod; 7. Second connecting rod; 8. Third connecting rod; 9. Fourth connecting rod; 10. Support roller; 11. Piston rod connecting plate; 12. Pneumatic motor; 13. Drive roller; 14. Drive air pipe one; 15. Drive air pipe two; 16. Drive air pipe three; 17. Drive air pipe four; 18. Grooved pin; 19. Buckle; 20. Pipe; 21. Roller assembly mounting part. Detailed Implementation

[0045] To better understand the purpose, structure, and function of this invention, the technical solution of this invention will be further described in detail below with reference to the accompanying drawings and specific preferred embodiments.

[0046] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of components, and therefore should not be construed as a limitation of the invention. The specific dimensions used in the embodiments are only for illustrating the technical solutions and do not limit the scope of protection of the invention. It is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings for those skilled in the art.

[0047] Unless otherwise expressly specified and limited, the terms "installation," "setting," "connection," and "fixation" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0048] Example 1:

[0049] like Figure 1-6 As shown, the present invention provides a technical solution:

[0050] A pipe robot diameter-changing system includes a fixed plate 4 and a telescopic assembly rotatably connected to the fixed plate 4. The telescopic assembly includes several linkage mechanisms, and the linkage mechanisms are provided with several movable joints.

[0051] A cylinder 5 is installed at one end of the fixed plate 4. The cylinder 5 is provided with a piston rod. One end of the piston rod extending out of the cylinder 5 is connected to a piston rod connecting plate 11.

[0052] The first movable joint of the linkage mechanism is rotatably connected to the side wall of the fixed plate 4, and the second movable joint of the linkage mechanism is rotatably connected to the side wall of the piston rod connecting plate 11.

[0053] The cylinder 5 is configured to drive the piston rod to extend or retract, thereby causing the piston rod connecting plate 11 to move synchronously, and in turn causing the linkage mechanism to perform a diameter change movement.

[0054] Existing pipe robot diameter-changing systems typically use motors and ball screws for drive, resulting in complex structures, high costs, and an inability to achieve adaptive diameter changing, requiring active control of the motor for this purpose. In contrast, the diameter-changing system of this invention uses a cylinder drive, achieving both adaptive diameter changing and vibration damping.

[0055] This embodiment provides a cylinder-driven pipe robot diameter adjustment system with adaptive diameter adjustment capability. The system automatically adjusts the diameter by coordinating the cylinder-driven piston rod and linkage mechanism. This system simplifies the mechanical structure, reduces the number of parts, and avoids the complex control and maintenance issues of electric systems through cylinder drive. The overall system cost is low, it is suitable for pipes of different diameters, and it has a certain degree of vibration damping, improving the stability and reliability of the equipment.

[0056] Example 2:

[0057] Based on Example 1, and referring to Figure 1-4 The telescopic assembly includes four linkage mechanisms, which are four-bar linkage mechanisms, and the four four-bar linkage mechanisms are symmetrically arranged around the circumference of the fixed plate 4.

[0058] Furthermore, the linkage mechanism includes a first link 6, a second link 7, a third link 8, and a fourth link 9;

[0059] The end of the first link 6 away from the fixed plate 4 is rotatably connected to the second link 7 to form a third movable joint, and the second link 7 is rotatably connected to the fourth link 9;

[0060] One end of the third link 8 is a second movable joint that is rotatably connected to the side wall of the piston rod connecting plate 11, and the other end of the third link 8 is rotatably connected to the fourth link 9.

[0061] Furthermore, the second connecting rod 7 is an L-shaped connecting rod, and the second connecting rod 7 is provided with a first end, a second end and a third end;

[0062] Wherein, the first end of the second link 7 is rotatably connected to the first link 6; the second end of the second link 7 is located at the corner of the second link 7, which is the turning point of the L-shaped link; the third end of the second link 7 is rotatably connected to the fourth link 9;

[0063] The second end of the second link 7 is connected to the second movable joint of the third link 8 via a transmission plate. One end of the transmission plate is rotatably connected to the second end of the second link 7, and the other end of the transmission plate is rotatably connected to the second movable joint of the third link 8.

[0064] Furthermore, a support roller 10 is installed at one end of the fourth link 9, and a roller assembly mounting part 21 for mounting the roller assembly is provided at the other end of the fourth link 9. The rotational connection points of the second link 7, the third link 8 and the fourth link 9 are all located in the middle of the fourth link 9.

[0065] This embodiment, based on Embodiment 1, proposes a four-bar linkage design, making the diameter-changing system more stable and uniform during adjustment. The symmetrical arrangement of the four linkages ensures uniform force distribution during diameter change, reducing system wear and extending service life. Through the special structural design of the linkage mechanism, flexible diameter adjustment is achieved, making it more adaptable to a wider range of pipe types and sizes.

[0066] Example 3:

[0067] Based on Example 1, and referring to Figure 1-4 The fixed plate 4 and the linkage mechanism, as well as the linkage mechanism and the connecting rods, are rotatably connected by grooved pins 18. The grooved pins 18 have slots, and buckles 19 for preventing the connecting parts from falling off are installed in the slots.

[0068] This embodiment employs a grooved pin and retaining ring design to ensure a secure connection between the linkage mechanisms and the fixed plate. This design effectively prevents the connecting parts from detaching, improving the system's safety and reliability. The grooved pin design simplifies the installation and maintenance process while enhancing the system's durability and stability.

[0069] Example 4:

[0070] like Figure 7-12 As shown, the present invention provides a technical solution:

[0071] A fully pneumatic pipe inner wall spraying robot includes a spraying system, a walking system, and a diameter changing system, wherein the diameter changing system adopts the pipe robot diameter changing system as described in any of Examples 1-3.

[0072] In current technology, with the development of modern industry, pipeline transportation systems in industries such as oil, natural gas, and chemicals are becoming increasingly complex and large-scale. The maintenance and upkeep of these pipeline systems are crucial for ensuring their long-term stable operation. Among these, the anti-corrosion treatment of the pipeline inner wall is particularly important because the inner wall is constantly exposed to the transported medium, making it susceptible to corrosion and wear, affecting the pipeline's service life and safety. Traditional pipeline inner wall anti-corrosion treatment usually relies on manual spraying, which is not only inefficient and labor-intensive, but also difficult to achieve uniform coating in narrow and complex pipeline environments, posing significant safety hazards.

[0073] This embodiment provides a fully pneumatic pipeline inner wall spraying robot. This robot can autonomously walk inside narrow and complex pipelines and perform efficient and uniform paint spraying operations. At the same time, it solves the problem that sparks generated by existing electrically driven pipeline spraying robots when they malfunction in the pipeline can cause deflagration when they come into contact with flammable and explosive paint in the relatively confined space of the pipeline.

[0074] Example 5:

[0075] Based on Example 4, and referring to Figure 13-15 The spraying system includes a rotary nozzle 1, a rotary joint 2, and a paint spraying pipeline 3. The rotary nozzle 1 includes a paint spraying section and a hydrodynamic drive device for driving the paint spraying section to rotate.

[0076] Furthermore, the end of the rotary nozzle 1 near the rotary joint 2 is connected to the end of the fixed plate 4 away from the cylinder 5 through several connecting posts, and the central axis of the rotary nozzle 1 is aligned with the center line of the fixed plate 4. This design, combined with the symmetrical structure of the variable diameter system, ensures that the rotary nozzle 1 remains in the center of the pipe during the spraying process, thus guaranteeing the uniformity of the coating.

[0077] Furthermore, at least one spray hole is evenly provided on the side wall of the rotary nozzle 1, and the paint in the paint spraying pipeline 3 can be sprayed out from the spray hole after being pressurized;

[0078] The rotary joint 2 is connected to the rotary nozzle 1 by a thread, and the paint spraying pipe 3 is inserted into the rotary joint 2 for conveying paint to the rotary nozzle 1;

[0079] The fluid power drive device uses a pneumatic motor, and the fluid power drive device is connected to a drive air pipe that provides compressed air to it.

[0080] The driving air tubes are provided in four parts, namely driving air tube one 14, driving air tube two 15, driving air tube three 16, and driving air tube four 17.

[0081] Existing 360° rotating nozzles for spraying the inner wall of pipes are complex in structure, made of metal, have long processing cycles, and are costly. They also require additional connecting structures to connect with the motor, which further increases the complexity of the structure. Therefore, the rotating nozzle proposed in this invention is manufactured by 3D printing and integrated with a pneumatic motor, achieving the goals of lightweighting, simplifying the structure, and reducing costs.

[0082] Example 6:

[0083] Based on Example 4, and referring to Figure 10The walking system is a roller assembly mounted on the linkage mechanism, which includes a drive roller 13 and a pneumatic motor 12 that provides power to the drive roller 13. The drive roller 13 is used to drive the fully pneumatic pipe wall spraying robot to move within the pipe 20. The pneumatic motor 12 is connected to a drive pipeline that provides compressed air to it. The use of a pneumatic system greatly simplifies the robot structure, reduces costs and maintenance difficulty, and enhances system safety by eliminating the safety hazards of electric systems in flammable and explosive environments. This design enables the robot to move stably within the pipe, improving the accuracy and efficiency of operation.

[0084] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A pipe robot diameter changing system, characterized in that: It includes a fixed plate (4) and a telescopic assembly rotatably connected to the fixed plate (4). The telescopic assembly includes several linkage mechanisms, and the linkage mechanisms are provided with several movable joints. A cylinder (5) is installed at one end of the fixed plate (4). The cylinder (5) is provided with a piston rod. The end of the piston rod extending out of the cylinder (5) is connected to a piston rod connecting plate (11). The first movable joint of the linkage mechanism is rotatably connected to the side wall of the fixed plate (4), and the second movable joint of the linkage mechanism is rotatably connected to the side wall of the piston rod connecting plate (11). The cylinder (5) is configured to drive the piston rod to extend or retract, thereby driving the piston rod connecting plate (11) to move synchronously, and thus driving the linkage mechanism to perform a variable diameter movement; The linkage mechanism includes a first link (6), a second link (7), a third link (8), and a fourth link (9); The end of the first link (6) away from the fixed plate (4) is rotatably connected to the second link (7) to form a third movable joint, and the second link (7) is rotatably connected to the fourth link (9); One end of the third link (8) is a second movable joint that is rotatably connected to the side wall of the piston rod connecting plate (11), and the other end of the third link (8) is rotatably connected to the fourth link (9); The second link (7) is an L-shaped link, and the second link (7) is provided with a first end, a second end and a third end; Wherein, the first end of the second link (7) is rotatably connected to the first link (6); the second end of the second link (7) is located at the corner of the second link (7), which is the turning point of the L-shaped link; the third end of the second link (7) is rotatably connected to the fourth link (9); The second end of the second link (7) is connected to the second movable joint of the third link (8) through a transmission plate. One end of the transmission plate is rotatably connected to the second end of the second link (7), and the other end of the transmission plate is rotatably connected to the second movable joint of the third link (8).

2. The pipe robot diameter changing system according to claim 1, characterized in that, The telescopic assembly includes four linkage mechanisms, which are four-bar linkages, and the four four-bar linkages are symmetrically arranged around the fixed plate (4).

3. The pipe robot diameter changing system according to claim 1, characterized in that, One end of the fourth link (9) is equipped with a support roller (10), and the other end of the fourth link (9) is provided with a roller assembly mounting part (21) for mounting the roller assembly. The rotation connection points of the second link (7), the third link (8) and the fourth link (9) are all located in the middle of the fourth link (9).

4. The pipe robot diameter changing system according to claim 1, characterized in that, The fixed plate (4) and the linkage mechanism, as well as the linkage mechanism, are rotatably connected by a grooved pin (18). The grooved pin (18) has a slot, and a retaining ring (19) is installed in the slot to prevent the connecting parts from falling off.

5. A fully pneumatic pipe inner wall spraying robot, characterized in that: It includes a spraying system, a walking system, and a diameter changing system, wherein the diameter changing system adopts the pipe robot diameter changing system as described in any one of claims 1-4.

6. The fully pneumatic pipe inner wall spraying robot according to claim 5, characterized in that, The spraying system includes a rotary nozzle (1), a rotary joint (2), and a paint spraying pipeline (3). The rotary nozzle (1) includes a paint spraying section and a hydrodynamic drive device for driving the paint spraying section to rotate.

7. The fully pneumatic pipe inner wall spraying robot according to claim 6, characterized in that, The rotating nozzle (1) has at least one spray hole evenly opened on its side wall. The rotating joint (2) is connected to the rotating nozzle (1) by a thread. The paint spraying pipe (3) is inserted into the rotating joint (2) for conveying paint to the rotating nozzle (1). The fluid power drive device employs a pneumatic motor, and is connected to a drive air pipe that provides compressed air to it.

8. The fully pneumatic pipe inner wall spraying robot according to claim 5, characterized in that, The walking system is a roller assembly mounted on the linkage mechanism, which includes a drive roller (13) and a pneumatic motor (12) that provides power to the drive roller (13), the pneumatic motor (12) being connected to a drive pipeline that provides compressed air to it.

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