Pipe inner wall laser cleaning mobile robot

Abstract

The invention relates to design improvement of seats, in particular to a pipe inner wall laser cleaning mobile robot which is fixed to a laser part, integrated with a laser and capable of driving a laser head to stably move in a pipeline at a constant speed, and therefore the laser cleaning effect of the inner wall of the pipeline is guaranteed. Comprising a body, the body is sleeved with a driving wheel assembly and a driven wheel assembly, a first fixed ring of the driving wheel assembly is fixed to the end of the body, a laser module is arranged on the end, a first movable ring is in sliding fit with the middle of the body, a first supporting rod is in rotating fit with a second supporting rod, and the first supporting rod is in rotating fit with the first fixed ring. The second supporting rod is rotationally matched with the first movable ring, the first supporting rod is provided with a driving wheel mechanism capable of making contact with the inner wall of the pipeline, the second fixed ring of the driven wheel assembly is fixed to the middle of the body, the second movable ring is in sliding fit with the other end of the body, the third supporting rod is rotationally matched with the fourth supporting rod, and the third supporting rod is rotationally matched with the second fixed ring. The fourth supporting rod is rotationally matched with the second movable ring.

Description

Technical Field

[0001] The invention relates to an improvement in the design of a seat, in particular to a mobile robot for laser cleaning of the inner wall of a pipe. Background Art

[0002] After long-term use, a large amount of attachments or rust will form on the inner wall of the pipeline, affecting the normal use of the pipeline. The traditional cleaning method is to soak and scrub with detergent, which is inconvenient and will cause corrosion to the pipeline and produce a large amount of chemical residue.

[0003] To address this problem, laser cleaning is used to clean the pipeline. Generally, a high-energy laser beam is used to irradiate the inner wall of the pipeline, so that the dirt, rust and other impurities on the inner wall of the pipeline are instantly evaporated or peeled off, thereby achieving the cleaning effect of the inner wall of the pipeline. It has the advantages of no grinding, no contact and no heat effect.

[0004] Patent content

[0005] In response to the problems mentioned in the technical background, the purpose of this patent is to provide a mobile robot for laser cleaning of the inner wall of a pipe. The mobile robot is fixed on the laser part and integrated with the laser. It can drive the laser head to move uniformly and smoothly in the pipe, thereby ensuring the laser cleaning effect of the inner wall of the pipe.

[0006] The technical solution of the present invention is as follows: A mobile robot for laser cleaning of the inner wall of a pipe comprises a main body, a driving wheel assembly and a driven wheel assembly are sleeved on the main body, a fixed ring 1 of the driving wheel assembly is fixed to the end of the main body, a laser module is arranged on the end, a movable ring 1 is slidably matched with the middle part of the main body, a support rod 1 is rotatably matched with a support rod 2, a support rod 1 is rotatably matched with a fixed ring 1, a support rod 2 is rotatably matched with a movable ring 1, a driving wheel mechanism that can contact the inner wall of the pipe is arranged on the support rod 1, a fixed ring 2 of the driven wheel assembly is fixed to the middle part of the main body, a movable ring 2 is slidably matched with the other end part of the main body, a support rod 3 is rotatably matched with a support rod 4, a support rod 3 is rotatably matched with a fixed ring 2, a support rod 4 is rotatably matched with a movable ring 2, a driven wheel is also arranged on the support rod 3, and a fixed ring 1, a fixed ring 2, a movable ring 1 and a movable ring 2 are arranged in sequence on the main body.

[0007] Preferably, it also includes an adjusting nut, which is threadedly connected to the body and abuts against the movable ring 2.

[0008] Preferably, the driving wheel mechanism comprises a driving motor, a gear transmission group and a traveling wheel. The driving motor and the traveling wheel are both mounted on the support rod 1, and the driving motor is linked to the traveling wheel through the gear transmission group.

[0009] Preferably, movable ring one and movable ring two are also connected by a guide rod.

[0010] Preferably, the outer diameters of the traveling wheel and the driven wheel are ≥20 mm, and the contact surfaces with the inner wall of the pipeline are made of flexible materials.

[0011] The beneficial effects of the seat of the present invention are as follows: the mobile robot for laser cleaning of the inner wall of a tube of the present invention can adjust the expansion or retraction of the running wheels by screwing the adjusting nut before use;

[0012] After inserting the driving wheel assembly and the driven wheel assembly into the pipe to be cleaned, use a torque wrench to tighten the adjusting nut to confirm that the pressure of the driving wheel assembly and the driven wheel assembly on the inner wall of the pipe reaches the designed value; after the adjusting nut is tightened, the robot should move without hindrance and enter and exit the pipe wall smoothly.

[0013] When powered on, the drive motor rotates and transmits the power to the travel wheel through the gear transmission group, driving the travel wheel to rotate. The friction force generated by the travel wheel squeezing the pipe wall pulls the entire laser part to move stably in the pipe. The mobile robot is compatible with pipes with an inner diameter of 125-155mm and the traction provided by the mobile robot is not less than 100N. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The structure of the robot of the present invention is shown in FIG. Figure 1 ;

[0015] Figure 2 The structure of the robot of the present invention is shown in FIG. Figure 2 ;

[0016] Figure 3 It is a schematic diagram of the structure of the driving wheel assembly and the driven wheel assembly of the seat.

[0017] Figure numerals: 1. body; 2. driving wheel assembly; 3. driven wheel assembly; 4. fixed ring 1; 5. movable ring 1; 6. support rod 1; 7. support rod 2; 8. driving wheel mechanism; 81. driving motor; 82. gear transmission group; 83. walking wheel; 9. fixed ring 2; 10. movable ring 2; 11. support rod 3; 12. support rod 4; 13. driven wheel; 14. adjusting nut; 15. laser module; 16. guide rod. Specific implementation methods

[0018] When the mobile robot for laser cleaning the inner wall of a pipe of the present invention cleans the inner wall of a pipe, its structure includes a main body 1, which can generally adopt a metal cylindrical structure and has a cross section smaller than the cross section of the inner wall of the pipe. The gap between the main body 1 and the inner wall of the pipe is used to accommodate a driving wheel assembly 2 and a driven wheel assembly 3, the driving wheel assembly 2 and the driven wheel assembly 3 are sleeved on the main body 1, a fixing ring 4 of the driving wheel assembly 2 is fixed to the end of the main body 1, a laser module 15 is used to clean the inner wall of the pipe, a plurality of laser emitters with a rotating function are provided, the laser module 15 is installed at the end of the main body 1, the fixing ring 4 is located at one end close to the laser module 15, and the movable ring 5 is provided at the end of the main body 1. The support rod 16 is rotatably matched with the middle part of the main body 1, the support rod 16 is rotatably matched with the support rod 27, the support rod 16 is rotatably matched with the fixed ring 14, the support rod 27 is rotatably matched with the movable ring 15, and the support rod 16 is provided with a driving wheel mechanism 8 that can contact the inner wall of the pipeline. When the movable ring 15 approaches the fixed ring 14, the angle between the support rod 16 and the support rod 27 is reduced, and the driving wheel mechanism 8 can adjust its position to abut against the inner wall of the pipeline. The fixed ring 29 of the driven wheel assembly 3 is fixed in the middle part of the main body 1, and the movable ring 210 is slidably matched with the other end of the main body 1, the support rod 311 is rotatably matched with the support rod 412, the support rod 311 is rotatably matched with the fixed ring 29, and the support rod 41 2 is rotatably matched with the movable ring 2 10, and a driven wheel 13 is also provided on the support rod 3 11. By adjusting the spacing between the movable ring 2 10 and the fixed ring 2 9, the angle between the support rod 3 11 and the support rod 4 12 can be adjusted, so that the driven wheel 13 is further abutted against the inner wall of the pipeline. The fixed ring 1 4, the fixed ring 2 9, the movable ring 1 5 and the movable ring 2 10 are arranged in sequence on the body 1; it also includes an adjusting nut 14, the adjusting nut 14 is screwed with the body 1 and abuts against the movable ring 2 10; the movable ring 1 5 and the movable ring 2 10 are also connected by a guide rod 16; the movable ring 2 10 can be adjusted by screwing the adjusting nut 14, and the movable ring 1 5 and the movable ring 2 10 are The movable ring 10 is linked through the guide rod 16 to realize the linkage between the movable ring 1 5 and the movable ring 2 10, thereby ensuring that the driving wheel mechanism 8 and the driven wheel assembly 3 can be adjusted synchronously; if the inner wall of the pipeline is consistent front and back, the walking wheel 83 and the driven wheel 13 can use the same diameter, the outer diameter of the walking wheel 83 and the driven wheel 13 is ≥20mm, and the contact surface with the inner wall of the pipeline is a flexible material; if the inner wall of the pipeline is inconsistent front and back, the walking wheel 83 and the driven wheel 13 can use different diameters, the number of the driving wheel assembly 2 and the driven wheel assembly 3 can be more than three and are evenly distributed, thereby ensuring that the position of the main body 1 in the inner wall of the pipeline is more stable.

[0019] The driving wheel mechanism 8 includes a driving motor 81, a gear transmission group 82 and a walking wheel 83. The driving motor 81 and the walking wheel 83 are both installed on the support rod 6. The driving motor 81 is linked with the walking wheel 83 through the gear transmission group 82. When the main body 1 is placed in the pipeline, the walking wheel 83 and the driven wheel 13 are abutted against the inner wall of the pipeline by screwing the adjusting nut 14. The driving motor 81 is controlled to rotate forward and reverse, thereby driving the main body 1 to move forward and backward relative to the inner wall of the pipe.

Claims

1. A mobile robot for laser cleaning of inner wall of pipes, characterized in that: The invention comprises a body (1), a driving wheel assembly (2) and a driven wheel assembly (3) are sleeved on the body (1), a fixed ring (4) of the driving wheel assembly (2) is fixed to the end of the body (1), a laser module (15) is provided on the end, a movable ring (5) is slidably matched with the middle of the body (1), a support rod (6) is rotationally matched with a support rod (7), the support rod (6) is rotationally matched with the fixed ring (4), the support rod (7) is rotationally matched with the movable ring (5), and a driving wheel mechanism (15) which can contact the inner wall of the pipeline is provided on the support rod (6). 8), the fixed ring 2 (9) of the driven wheel assembly (3) is fixed at the middle part of the body (1), the movable ring 2 (10) is slidably matched with the other end of the body (1), the support rod 3 (11) is rotationally matched with the support rod 4 (12), the support rod 3 (11) is rotationally matched with the fixed ring 2 (9), the support rod 4 (12) is rotationally matched with the movable ring 2 (10), the support rod 3 (11) is also provided with a driven wheel (13), and the fixed ring 1 (4), the fixed ring 2 (9), the movable ring 1 (5) and the movable ring 2 (10) are arranged in sequence on the body (1).

2. The mobile robot for laser cleaning of inner wall of pipe according to claim 1, characterized in that: It also includes an adjusting nut (14), which is threadedly connected to the body (1) and abuts against the movable ring 2 (10).

3. The mobile robot for laser cleaning of inner wall of pipe according to claim 1, characterized in that: The driving wheel mechanism (8) comprises a driving motor (81), a gear transmission group (82) and a walking wheel (83). The driving motor (81) and the walking wheel (83) are both mounted on the support rod (6). The driving motor (81) is linked to the walking wheel (83) via the gear transmission group (82).

4. The mobile robot for laser cleaning of inner wall of pipe according to claim 1, characterized in that: The movable ring 1 (5) and the movable ring 2 (10) are also connected via a guide rod (16).

5. The mobile robot for laser cleaning of inner wall of pipe according to claim 3, characterized in that: The outer diameters of the traveling wheel (83) and the driven wheel (13) are ≥20 mm, and the contact surfaces with the inner wall of the pipeline are made of flexible materials.

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