Pipeline crawling robot

Abstract

The pipeline crawling robot comprises a mounting frame, a cutting and welding mechanism and crawling mechanisms are fixedly mounted on the two sides of the mounting frame correspondingly, the multiple crawling mechanisms are connected through universal joints, and a monitoring mechanism is fixedly mounted on the cutting and welding mechanism; a driving mechanism for driving the cutting and welding mechanism and the monitoring mechanism to rotate is fixedly mounted on one side of the mounting frame; the monitoring mechanism comprises a high-temperature protection seat, a camera is clamped to the high-temperature protection seat, a rubber sealing ring is arranged between the high-temperature protection seat and the camera, and a first cooling assembly and a second cooling assembly which are used for cooling are arranged in the high-temperature protection seat. By means of the crawling mechanism, the robot can apply sufficient wall pressing force to the pipe wall in different pipe diameters, it is ensured that the robot has sufficient friction force when moving, and a stable working environment is provided for cutting and welding of a cutting and welding mechanism to a pipeline.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline cutting and welding robots, and in particular relates to a pipeline crawling robot. Background Art

[0002] With the development of economy and social construction, robotics technology has been widely developed and applied in all walks of life. Its research and application level has become one of the important indicators to measure the level of national scientific and technological development (especially the level of industrial automation and intelligence).

[0003] Among the many technical difficulties in the remote operation of future fusion reactors, there are many pipes of different specifications inside the blanket, divertor and other systems. During their maintenance, cutting and welding are the first problems to be solved. However, the internal pipe forest system of fusion reactors is complicated, and conventional welding tools and welding robots are difficult to complete maintenance tasks. Summary of the invention

[0004] The present invention aims at solving the problems in the prior art and proposes the following technical solutions:

[0005] A pipeline crawling robot comprises a mounting frame, wherein a cutting and welding mechanism and a crawling mechanism are fixedly mounted on both sides of the mounting frame, wherein a plurality of crawling mechanisms are connected via universal joints, wherein a monitoring mechanism is fixedly mounted on the cutting and welding mechanism, and a driving mechanism for driving the cutting and welding mechanism and the monitoring mechanism to rotate is fixedly mounted on one side of the mounting frame;

[0006] The monitoring mechanism comprises a high temperature protection seat, the high temperature protection seat is connected with a camera, a rubber sealing ring is arranged between the high temperature protection seat and the camera, and a cooling component 1 and a cooling component 2 for cooling are arranged in the high temperature protection seat;

[0007] The cooling component includes a cooling chamber, which is installed on the inner wall of the high-temperature protection seat. A fan is installed through the top of the cooling chamber, and the fan is fixedly connected with fan blades through a rotating shaft. A temperature sensor is installed on the inner wall of the top of the cooling chamber, and two branch wires are arranged in the cooling chamber, and the branch wires pass through the outer wall of the cooling chamber.

[0008] As a preferred embodiment of the above technical solution, the second cooling component includes a second cooling chamber, which is installed on the inner wall of the high-temperature protection seat, and wire holes are opened on the top and bottom of the second cooling chamber.

[0009] As a preferred embodiment of the above technical solution, a push plate is slidably connected to the interior of the cooling bin 2 via a slide groove, and clamping strips are provided on both sides of the inner wall of the cooling bin 2, and the clamping strips are located below the push plate.

[0010] As a preferred embodiment of the above technical solution, a plurality of limiting grooves are arranged at the bottom of the second cooling chamber, and retractable water balls are placed in the limiting grooves.

[0011] As a preferred embodiment of the above technical solution, two memory springs are fixedly connected to the bottom of the cooling chamber, the bottom end of the memory spring is fixedly connected to the top of the push plate, and the inner ring of the memory spring is sleeved on the outer ring of the branch wire.

[0012] As a preferred embodiment of the above technical solution, the cutting and welding mechanism includes a fixed sleeve fixed on the mounting frame, the inner ring rotating sleeve of the fixed sleeve is provided with a laser cutting and welding head, the outer ring fixed sleeve of the laser cutting and welding head is provided with a gear ring and a bracket, and the high temperature protection seat is fixed on the bracket.

[0013] As a preferred embodiment of the above technical solution, the driving mechanism includes a motor 1 fixed on a mounting frame, an output end of the motor 1 is fixedly connected to a transmission gear, and the transmission gear is meshed with a gear ring for transmission.

[0014] As a preferred embodiment of the above technical solution, the crawling mechanism includes a crawling frame, which is rotatably connected to a plurality of bidirectional screw rods, the outer ring of each of the bidirectional screw rods is threadedly connected to two thread sleeves, the outer wall of the thread sleeve is hinged with a connecting rod 1, the end of the connecting rod 1 away from the thread sleeve is hinged with a connecting rod 2, the end of the connecting rod 2 away from the connecting rod 1 is connected to the crawling frame, and the side wall of the connecting rod 1 is fixedly connected to a motor 2, the output end of the motor 2 is fixedly connected to a crawling wheel, the inner ring fixed sleeve of the crawling frame is provided with a motor 3, the output end of the motor 3 is fixedly connected with a driving gear, the outer ring fixed sleeve of the bidirectional screw rod is provided with a planetary gear, and the driving gear is meshed with the planetary gear for transmission.

[0015] The beneficial effects of the present invention are:

[0016] 1. The present invention uses a crawling mechanism to enable the robot to add sufficient wall pressure to the pipe wall in different pipe diameters, ensuring sufficient friction when the robot moves, and providing a stable working environment for the cutting and welding mechanism to cut and weld the pipe;

[0017] 2. The present invention drives the fan through the induction of the temperature sensor, and cools the inside of the cooling chamber 1 through the fan. A cooling component 2 is set, and the memory spring senses the temperature, which can drive the push plate to cool the inside of the cooling chamber 2, so that the push plate squeezes the telescopic water ball and makes the telescopic water ball contact the branch wire, thereby protecting the high-temperature protection seat from damage due to overheating caused by cutting and welding of the cutting and welding mechanism, thereby ensuring the safe use of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 What is shown is a schematic structural diagram of a pipeline crawling robot in an embodiment;

[0019] Figure 2 What is shown is a schematic diagram of the structure of the crawling mechanism in the embodiment;

[0020] Figure 3 What is shown is a schematic diagram of the structure of the monitoring mechanism in the embodiment;

[0021] Figure 4 What is shown is a schematic diagram of the structure in the embodiment;

[0022] Figure 5 Shown is a schematic diagram of the structure of and in the embodiment.

[0023] Description of reference numerals:

[0024] 10. Mounting frame; 20. Driving mechanism; 21. Motor 1; 22. Transmission gear; 30. Cutting and welding mechanism; 31. Fixing sleeve; 32. Laser cutting and welding head; 33. Gear ring; 40. Monitoring mechanism; 41. High temperature protection seat; 42. Rubber sealing ring; 43. Camera; 44. Cooling component 1; 441. Cooling chamber 1; 442. Fan; 443. Fan blade; 444. Temperature sensor; 445. Branch conductor; 45, cooling component 2; 451, cooling chamber 2; 452, conductor hole; 453, push plate; 454, limit groove; 455, telescopic water ball; 46, terminal block; 47, memory spring; 48, main conductor; 50, crawling mechanism; 51, crawling frame; 52, bidirectional screw rod; 53, screw sleeve; 54, connecting rod 1; 55, connecting rod 2; 56, motor 2; 57, crawling wheel; 58, motor 3. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0026] Example 1

[0027] like Figure 1 and Figure 2As shown, a pipeline crawling robot comprises a mounting frame 10, on both sides of which a cutting and welding mechanism 30 and a crawling mechanism 50 are fixedly mounted, respectively, and a plurality of crawling mechanisms 50 are connected via universal joints, the cutting and welding mechanism 30 is fixedly mounted with a monitoring mechanism 40, and one side of the mounting frame 10 is fixedly mounted with a driving mechanism 20 for driving the cutting and welding mechanism 30 and the monitoring mechanism 40 to rotate; the cutting and welding mechanism 30 comprises a fixed sleeve 31 fixed on the mounting frame 10, the inner ring rotating sleeve of the fixed sleeve 31 is provided with a laser cutting and welding head 32, the outer ring fixed sleeve of the laser cutting and welding head 32 is provided with a gear ring 33 and a bracket, a high temperature protection seat 41 is fixed on the bracket, and the driving mechanism 20 comprises a motor 21 fixed on the mounting frame 10, and the output end of the motor 21 is fixedly connected with a transmission gear 22, the transmission gear 22 is meshed with the gear ring 33 for transmission, the crawling mechanism 50 includes a crawling frame 51, the crawling frame 51 is rotatably connected with a plurality of bidirectional screw rods 52, the outer ring of each bidirectional screw rod 52 is threadedly connected with two thread sleeves 53, the outer wall of the thread sleeve 53 is hinged with a connecting rod 1 54, the end of the connecting rod 1 54 away from the thread sleeve 53 is hinged with a connecting rod 2 55, the end of the connecting rod 2 55 away from the connecting rod 1 54 is connected to the crawling frame 51, and the side wall of the connecting rod 1 54 is fixedly connected with a motor 2 56, the output end of the motor 2 56 is fixedly connected with a crawling wheel 57, the inner ring fixed sleeve of the crawling frame 51 is provided with a motor 3 58, the output end of the motor 3 58 is fixedly connected with a driving gear, the outer ring fixed sleeve of the bidirectional screw rod 52 is provided with a planetary gear, and the driving gear is meshed with the planetary gear for transmission.

[0028] Specifically, the monitoring mechanism 40 uses the camera function, and the motor 1 21 drives the laser cutting and welding head 32 and the monitoring mechanism 40 installed on the bracket to rotate together through the meshing of the transmission gear 22 and the gear ring 33, so that the monitoring mechanism 40 monitors the cutting and welding state of the laser cutting and welding head 32 on the pipeline in real time. When the bracket of the pipeline changes, the active gear can be driven to rotate by the motor 3 58, and the active gear drives the bidirectional screw 52 to rotate through the meshing transmission with the planetary gear. The rotation of the bidirectional screw 52 will drive the two wire sleeves 53 threadedly connected thereto to move in the direction of moving away from or approaching each other, so that the motor 2 56 and the crawling wheel 57 move closer to or away from the middle of the crawling frame 51, so that after the diameter of the pipeline changes, the crawling wheel 57 can firmly grasp the inner wall of the pipeline, so that it can move forward, backward, and turn inside the pipeline with an inner diameter of Φ80mm, and the pipeline can adapt to the bending angle ≥120° and the bending radius ≥3D and can crawl smoothly, so that the robot can add sufficient wall pressure to the pipe wall in different pipe diameters, ensuring that the robot has sufficient friction when moving.

[0029] The hardware includes: 220V AC to 24V DC power supply, 24V DC to 12V DC step-down converter, 24V DC to 5V DC step-down converter, STM32F103C8T6 control board, DC drive motor control board, stepper motor driver, SP2 handle receiver and lora communication module. The system enters the pipeline and works in the form of a cable. In order to ensure sufficient power supply and achieve the working time requirement of more than 2 hours, this system uses a 220V to 24V power supply. After the commonly used 220V is first stepped down to 24V power supply, the 24V to 12V step-down converter and the 24V to 5V step-down converter are used to power the DC drive motor control board, stepper motor driver and STM32F103C8T6 control board respectively. The signals of the DC drive motor control board and the stepper motor driver are provided by the STM32F103C8T6 control board, and then the power is supplied to the external robot.

[0030] The selection of power supply and voltage reducer is based on the rated voltage of STM32F103C8T6 and motor, converting the commonly used AC 220V power supply into a lower DC power supply that can be used by the robot.

[0031] In order to improve the overall motion capability of the pipeline cutting and welding system, appropriate mechanism design is a critical first step. However, the motion mechanism is only for special pipeline environments. After the structure is determined, the motion control strategy of the walking mechanism is also the core research content, and it has wider versatility. According to different motion requirements and target positions, the robot's kinematic solution is used to calculate the motion of each joint, thereby controlling the movement of the entire walking mechanism. The control system of the walking mechanism platform of this project can be divided into the main body CPU and the host computer, which send and receive information through cables. The main control chip used by the walking mechanism body is the 32-bit processor STM32F103C8T6 of STMicroelectronics.

[0032] Example 2

[0033] like Figure 1-Figure 5 As shown, a pipeline crawling robot, compared with the first embodiment, the present embodiment has a high temperature protection seat 41, the high temperature protection seat 41 is clamped with a camera 43, and a rubber sealing ring 42 is arranged between the high temperature protection seat 41 and the camera 43, and a cooling component 1 44 and a cooling component 2 45 for cooling are arranged in the high temperature protection seat 41; the cooling component 1 44 includes a cooling chamber 1 441, the cooling chamber 1 441 is installed on the inner wall of the high temperature protection seat 41, a fan 442 is installed through the top of the cooling chamber 1 441, the fan 442 is fixedly connected with a fan blade 443 through a rotating shaft, a temperature sensor 444 is installed on the inner wall of the top of the cooling chamber 1 441, and two branch wires 445 are arranged in the cooling chamber 1 441, and the branch wires 445 pass through the outer wall of the cooling chamber 1 441.

[0034] Specifically, a camera 43 is clamped on the bottom of the high-temperature protection seat 41 through a rubber sealing ring 42. The camera 43 and the high-temperature protection seat 41 are easy to disassemble. When there is a problem with the line, it is convenient to replace the wire. A cooling component 44 is set in the high-temperature protection seat 41. If the high-temperature protection seat 41 heats up after charging for a long time, when the temperature sensor 444 detects that the temperature of the high-temperature protection seat 41 exceeds a certain range, the temperature sensor 444 transmits a signal to the fan 442. The fan 442 drives the two fan blades 443 to rotate through the rotating shaft. The rotation of the fan blades 443 can cool the inside of the cooling chamber 441. The model of the temperature sensor 444 is pt100. The cooling chamber 441 can be cooled by starting the fan 442. The cooling is convenient and reduces the high temperature caused by charging from burning the equipment.

[0035] Example 3

[0036] like Figure 3 , Figure 4 and Figure 5 As shown, a pipeline crawling robot subject proposed by the present invention, compared with the first or second embodiment, the cooling component 45 of this embodiment includes a second cooling chamber 451, the second cooling chamber 451 is installed on the inner wall of the high temperature protection seat 41, the top and bottom of the second cooling chamber 451 are provided with wire holes 452, the inside of the second cooling chamber 451 is slidably connected with a push plate 453 through a slide groove, the inner wall of the second cooling chamber 451 is provided with a card strip on both sides, the card strip is located below the push plate 453, and the bottom of the second cooling chamber 451 is provided with a plurality of limit grooves 45 4. A retractable water ball 455 is placed in each of the limit grooves 454. The bottom end of the branch wire 445 passes through the wire hole 452 and is fixedly connected to a terminal block 46. The terminal block 46 is installed below the second cooling chamber 451. Two memory springs 47 are fixedly connected to the bottom of the first cooling chamber 441. The bottom end of the memory spring 47 is fixedly connected to the top of the push plate 453. The inner ring of the memory spring 47 is sleeved on the outer ring of the branch wire 445. A main wire 48 is arranged at the bottom of the terminal block 46. The main wire 48 is sleeved on the inner ring of the rubber sealing ring 42.

[0037] Specifically, the cooling component 45 includes a cooling chamber 451. The cooling chamber 451 is provided to increase the cooling method for the inside of the high-temperature protection seat 41. If the temperature of the branch conductor 445 rises, the memory spring 47 will be deformed and elongated. The memory spring 47 can drive the push plate 453 to move downward on the inner wall of the cooling chamber 451. The downward movement of the push plate 453 will cause the push plate 453 to contact a plurality of retractable water balls 455. The retractable water balls 455 can contact the outer surface of the branch conductor 445. The cooling chamber 451 can be cooled by the plurality of retractable water balls 455, thereby protecting the high-temperature protection seat 41 from overheating and damage during charging. The expansion temperature of the memory spring 47 is 455°C-485°C, and it can be deformed by the principle of thermal expansion and contraction, thereby avoiding damage caused by overheating of the charging equipment. The device is simple and convenient.

[0038] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them.

Claims

1. A pipeline crawling robot, comprising a mounting frame (10), characterized in that: A cutting and welding mechanism (30) and a crawling mechanism (50) are fixedly mounted on both sides of the mounting frame (10), and a plurality of crawling mechanisms (50) are connected via universal joints; a monitoring mechanism (40) is fixedly mounted on the cutting and welding mechanism (30); and a driving mechanism (20) for driving the cutting and welding mechanism (30) and the monitoring mechanism (40) to rotate is fixedly mounted on one side of the mounting frame (10); The monitoring mechanism (40) comprises a high temperature protection seat (41), a camera (43) is clamped on the high temperature protection seat (41), a rubber sealing ring (42) is arranged between the high temperature protection seat (41) and the camera (43), and a cooling component 1 (44) and a cooling component 2 (45) for cooling are arranged inside the high temperature protection seat (41); The cooling component (44) comprises a cooling chamber (441), the cooling chamber (441) being installed on the inner wall of the high temperature protection seat (41), a fan (442) being installed through the top of the cooling chamber (441), the fan (442) being fixedly connected with a fan blade (443) via a rotating shaft, a temperature sensor (444) being installed on the inner wall of the top of the cooling chamber (441), two branch wires (445) being arranged in the cooling chamber (441), the branch wires (445) being installed through the outer wall of the cooling chamber (441).

2. A pipeline crawling robot according to claim 1, characterized in that: The second cooling component (45) comprises a second cooling chamber (451), which is installed on the inner wall of the high temperature protection seat (41), and wire holes (452) are provided at the top and bottom of the second cooling chamber (451).

3. A pipeline crawling robot according to claim 2, characterized in that: The interior of the second cooling chamber (451) is slidably connected to a push plate (453) via a slide groove, and clamping strips are provided on both sides of the inner wall of the second cooling chamber (451), and the clamping strips are located below the push plate (453).

4. A pipeline crawling robot according to claim 2, characterized in that: The bottom of the second cooling chamber (451) is provided with a plurality of limiting grooves (454), and each of the limiting grooves (454) has a retractable water ball (455) placed therein.

5. The pipeline crawling robot according to claim 1, characterized in that: Two memory springs (47) are fixedly connected to the bottom of the cooling chamber (441), the bottom end of the memory spring (47) is fixedly connected to the top of the push plate (453), and the inner ring of the memory spring (47) is sleeved on the outer ring of the branch wire (445).

6. The pipeline crawling robot according to claim 1, characterized in that: The cutting and welding mechanism (30) comprises a fixed sleeve (31) fixed on a mounting frame (10); an inner ring rotating sleeve of the fixed sleeve (31) is provided with a laser cutting and welding head (32); an outer ring fixed sleeve of the laser cutting and welding head (32) is provided with a gear ring (33) and a bracket; and the high temperature protection seat (41) is fixed on the bracket.

7. The pipeline crawling robot according to claim 6, characterized in that: The driving mechanism (20) comprises a motor 1 (21) fixed on a mounting frame (10), the output end of the motor 1 (21) being fixedly connected to a transmission gear (22), and the transmission gear (22) meshes with a gear ring (33) for transmission.

8. The pipeline crawling robot according to claim 1, characterized in that: The crawling mechanism (50) comprises a crawling frame (51), wherein the crawling frame (51) is rotatably connected to a plurality of bidirectional screw rods (52), wherein the outer ring of each bidirectional screw rod (52) is threadedly connected to two thread sleeves (53), the outer wall of the thread sleeve (53) is hingedly connected to a connecting rod 1 (54), an end of the connecting rod 1 (54) away from the thread sleeve (53) is hingedly connected to a connecting rod 2 (55), an end of the connecting rod 2 (55) away from the connecting rod 1 (54) is connected to the crawling frame (51), and a side wall of the connecting rod 1 (54) is fixedly connected to a motor 2 (56), an output end of the motor 2 (56) is fixedly connected to a crawling wheel (57), an inner ring fixed sleeve of the crawling frame (51) is provided with a motor 3 (58), an output end of the motor 3 (58) is fixedly connected to a driving gear, an outer ring fixed sleeve of the bidirectional screw rod (52) is provided with a planetary gear, and the driving gear is meshed with the planetary gear for transmission.

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