Pipeline integrated laying robot

Abstract

The invention provides a pipeline integrated laying robot, and relates to the technical field of pipeline integrated laying technologies. Comprising a cutting assembly and a welding assembly, and the cutting assembly is used for grooving; and the welding assembly is used for welding the pipeline. According to the invention, the problem of low working efficiency is solved, so that the effect of improving the laying efficiency is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline laying equipment, and in particular, relates to an integrated pipeline laying robot. Background Art

[0002] With the continuous improvement of people's living standards and the beauty of urban environment, people have also begun to pursue beauty and safety. Optical cables, electrical wires, and water pipes are all installed in concealed wires. The difficulty of concealed wire installation lies in the grooving operation.

[0003] Traditional grooving construction operations have a harsh working environment, high dust, serious noise pollution, and difficult operations. Operations in large spaces with high walls and ceilings are highly dangerous. Workers use electric hammers, electric picks and other tools to assist in grooving operations. The health of people who engage in this kind of work for a long time is greatly threatened. Therefore, manual grooving faces problems such as low operating efficiency and high risk factors.

[0004] In the article Key Technical Points of PP-R Pipeline Construction for indoor water Supply, it is explained that the existing grooving technology has not broken through the traditional mode of "dispersed equipment and manual series connection". The present invention integrates the equipment required for pipeline installation and makes innovative transformation, achieving a high degree of mechatronics and automation. Summary of the invention

[0005] The present invention aims to provide a pipeline integrated laying robot to at least solve the problem of low operating efficiency in the related art.

[0006] The technical solution of the present invention:

[0007] A pipeline integrated laying robot comprises a cutting assembly 2 and a welding assembly 4, wherein the cutting assembly 2 is used for grooving; the welding assembly 4 is used for welding pipelines; the cutting assembly 2 and the welding assembly 4 are independently arranged on a chassis 1;

[0008] The cutting assembly 2 includes a slotting assembly, and the slotting assembly includes a slotting knife 211 and a power member that drives the slotting knife 211 to work;

[0009] The cutting assembly 2 further includes a first adjustment assembly; the first adjustment assembly includes a first connecting member fixedly connected to the slotting assembly, a first driving assembly fixedly connected to the first connecting member, and a first self-locking assembly, wherein the first driving assembly drives the first connecting member to move, and the first connecting member drives the slotting assembly to move;

[0010] The first driving member assembly includes a first groove wheel 231, a first moving wheel 232 and a first power member 233. The first power member 233 is fixed on a first mounting member 34, and the first mounting member 34 is a supporting member of the entire first adjustment assembly; the output end of the first power member 233 is coaxially fixed with the first moving wheel 232, and the first power member 233 can drive the first moving wheel 232 to rotate coaxially while rotating, and the first moving wheel 232 and the first groove wheel 231 drive and cooperate in a manner that the center of the first groove wheel 231 is rotatably connected to the rotating shaft set on the first mounting member 34, and the position of the rotating shaft is set to ensure that the first moving wheel 232 can be driven The first groove wheel 231 is driven to rotate; then a plurality of driving grooves 2311 are opened on the first groove wheel 231 along the radial direction, and at the same time, a surface of the first moving wheel 232 close to the first groove wheel 231 is set as the first surface, and a driving column 2321 is fixed on the first surface. The driving column 2321 is perpendicular to and uniformly distributed on the first surface in the circumferential direction, and the driving column 2321 is penetrated in the driving groove 2311. During the rotation of the first moving wheel 232, the driving column 2321 applies a force to the groove wall of the driving groove 2311, and can move in the driving groove 2311 to drive the first groove wheel 231 to rotate around the rotating shaft on the first mounting member 34;

[0011] The first driving member assembly further includes a first bearing 25, and a first connecting stud 2312 is provided on the inner bearing of the first bearing 25 on one side close to the first sheave 231 and on the other side close to the first connecting member. The first connecting studs 2312 on both sides are respectively fixedly connected to the first sheave 231 and the first connecting member. The rotation of the first sheave 231 drives the inner bearing of the first bearing 25 to rotate relative to the outer bearing, thereby driving the first connecting member to rotate. The outer bearing of the first bearing 25 is fixedly connected to the outer slotted housing 210, and the outer slotted housing 210 is fixed to the first mounting member 34 on which the first power member 233 is fixed.

[0012] The first self-locking component includes self-locking teeth 242 arranged circumferentially along the circumferential surface of the first groove wheel 231 and a first self-locking servo 241. The first self-locking servo 241 includes a first self-locking fixing module 2411 fixed to the external grooved shell 210 and a self-locking actuating member 2412 plugged into the self-locking teeth 242. The first self-locking fixing module 2411 is rotatably connected to the self-locking actuating member 2412. A self-locking groove 24121 matching the self-locking teeth 242 is provided on the side of the self-locking actuating member 2412 close to the first groove wheel 231. The first self-locking fixing module 2411 drives the self-locking moving member to move toward the first groove wheel 231 and inserts the self-locking teeth 242 into the self-locking groove 24121.

[0013] Furthermore, the cutting assembly 2 also includes a first lifting assembly, which includes an electric push rod 31 fixed on the chassis 1, a first sliding member 32 fixedly connected to the output end of the electric push rod 31, a guide member 36 that guides the sliding of the first sliding member 32, a variable connecting member 33 with one end fixedly connected to the guide member 36, and a first mounting member 34 fixedly connected to the other end of the variable connecting member 33, one side of the first mounting member 34 is fixedly connected to the external slotted shell 210, the electric push rod 31 pushes the first sliding member 32 to move, the first sliding member 32 drives the first mounting member 34 to move through the variable connecting member 33, and the first mounting member 34 drives the slotting assembly and the first adjustment assembly to move through the external slotted shell 210.

[0014] Furthermore, the welding assembly 4 includes a welding piece 41, and the welding piece 41 is used for welding the pipeline.

[0015] Furthermore, the welding assembly 4 also includes a clamping assembly, which is used to clamp the pipe; the clamping assembly includes a clamping shell 420, a clamping claw located in the clamping shell 420 and inserted into the clamping shell 420, and a clamping servo 422 with a transmission connection between the output end and the clamping claw, and the clamping servo 422 drives the clamping claws to move toward each other to clamp the pipe; the clamping servo 422 is connected to the clamping claw through a connecting rod structure, and the clamping claw includes two clamping arms 421, and a mounting block 430 is provided at the bottom of the clamping arm 421; the connecting rod structure includes a connecting head 431, a connecting rod 432 and a hinged rod 433; the connecting head 431 is fixedly connected to the output end of the clamping servo 422, and the two ends of the connecting head 431 are respectively connected to the inner ends of the connecting rod 432, The outer end of the connecting rod 432 is connected to one end of the hinged rod 433, and the other end of the hinged rod 433 is connected and fixed to the mounting block 430; the end of the mounting block 430 is an inverted T-shape, which can slide in the slide rail arranged in the clamping shell 420; when the connecting head 431 rotates under the drive of the clamping servo 422, the connecting head 431 drives the hinged rod 433 to move through the connecting rod 432, and at this time the hinged rod 433 drives the clamping arm 421 to approach or move away through the mounting block 430, so as to clamp and release the pipe; there are two clamping arms 421, and there are also two groups of connecting rod structures; a "C"-shaped clamping connector 423 is added to the clamping jaw to limit the position after clamping the pipe to ensure that the pipe will not fall off during the welding process.

[0016] Furthermore, the welding assembly 4 also includes a second adjusting assembly, which is connected to the clamping assembly, and the second adjusting assembly drives the clamping assembly to move so that the clamping assembly clamps different areas of the pipeline; the second adjusting assembly includes a mounting frame 51, a third connecting member 52 fixedly connected to the clamping housing 420 of the clamping assembly, a first lead screw 53 passing through the third connecting member 52, a first bevel gear 54 fixedly connected to one end of the first lead screw 53, a second bevel gear 55 meshing with the first bevel gear 54, and an output end fixedly connected to the second bevel gear 55 Clamping drive motor 56; the clamping drive motor 56 drives the second bevel gear 55 to rotate, the second bevel gear 55 drives the first bevel gear 54 to rotate, the first bevel gear 54 drives the first screw 53 to rotate, the first screw 53 drives the third connecting member 52 to slide, and the third connecting member 52 drives the clamping shell 420 to slide, so that the clamping components are closer to or farther away from each other; a clamping guide column 424 is set to pass through the third connecting member 52, and the clamping guide column 424 is parallel to the first screw 53. When the third connecting member 52 slides, it slides along the clamping guide column 424.

[0017] Furthermore, the welding assembly 4 also includes a third adjustment assembly, which includes a connecting hanger 63, a trapezoidal screw 61 connected to the second adjustment assembly at one end, and an adjustment motor 62 fixedly connected to the other end of the trapezoidal screw 61 at the output end. The trapezoidal screw 61 is connected to the welding piece 41 through the connecting hanger 63; the adjustment motor 62 drives the trapezoidal screw 61 to move, and the trapezoidal screw 61 drives the welding piece 41 to move through the connecting hanger 63. The movement direction of the welding piece 41 is perpendicular to the direction of movement of the welding piece 41 clamped by the clamping assembly. The installation frame 51 includes a first portion 511 for installing the first lead screw 53 and a second portion 512 for installing the trapezoidal lead screw 61. The first portion 511 and the second portion 512 are fixedly connected and perpendicular to each other. The second portion 512 is provided with a mounting groove for installing the trapezoidal lead screw 61. One end of the trapezoidal lead screw 61 away from the adjusting motor 62 is rotatably connected to the groove wall of the mounting groove. A connecting groove 5122 is provided on the second portion 512 along the length direction of the trapezoidal lead screw 61 to connect the hanger 6 3 comprises a first connection part 631 threadedly connected to the trapezoidal lead screw 61, a second connection part inserted in the connection slide 5122, and a flat plate connection part 632 fixed to the welding piece 41, the two ends of the second connection part are respectively connected to the first connection part 631 and the flat plate connection part 632, the flat plate connection part 632 needs to be perpendicular to the trapezoidal lead screw 61, and the connection slide 5122 limits the flat plate connection part 632; the other end of the welding piece 41 is fixedly connected to a nail gun head 44 for firing a fixing nail, the flat plate connection part 632 is fixedly connected to an output shaft of a rotating steering gear 633, and the output shaft of the rotating steering gear 633 is perpendicular to the flat plate connection part 632; the rotating steering gear 633 drives the nail gun head 44 and the welding piece 41 to rotate, so as to realize the conversion between welding and nailing; the third adjustment component also comprises a servo motor 64 whose output end is rotatably connected to the mounting frame 51 of the second adjustment component, and the servo motor 64 is fixedly arranged on the adjustment support rod 70; the servo motor 64 drives the second adjustment component to adjust the pitch angle.

[0018] Furthermore, the welding assembly 4 also includes a fourth adjustment assembly, which includes an adjustment support rod 70, an adjustment drive motor 71, a flexible coupling 72, an adjustment bracket 73, a mounting support rod 730, a horizontal drive motor 7311, a second transmission gear 7312, a second driven wheel 7313, a fourth connecting member 74, and a central axis drive motor 75; the adjustment bracket 73 includes a horizontal cross frame 731 and a connecting bracket 732; the mounting support rod 730 is vertically fixed to the chassis 1, one on each side; the adjustment drive motor 71 is fixedly mounted on the chassis 1; the flexible coupling 72 is fixedly connected to the output end of the adjustment drive motor 71; the flexible coupling 72 is fixedly connected to the rotating The first transmission gear 7314 is connected to the lower part of the mounting support rod 730, and the first transmission gear 7314 is covered with a first transmission belt 7316. The other end of the first transmission belt 7316 is sleeved on the outer periphery of the first driven wheel 7315, and the first driven wheel 7315 is rotatably connected to the upper part of the mounting support rod 730; the axis of the first driven wheel 7315 is fixedly connected to one end of the horizontal cross frame 731, and the other end of the horizontal cross frame 731 is fixedly connected to the upper end of the connecting bracket 732, and the inner side of the lower end of the connecting bracket 732 is rotatably connected to the fourth connecting member 74; the outer side of the upper end of the connecting bracket 732 is rotatably connected to the second transmission gear 7312, and the outer side of the lower end The second driven wheel 7313 is rotatably connected; the second transmission gear 7312 and the second driven wheel 7313 are sleeved with a second transmission belt 7317; the axis of the second driven wheel 7313 is fixedly connected to the fourth connecting member 74; a horizontal drive motor 7311 is arranged inside the horizontal cross frame 731, and the output shaft of the horizontal drive motor 7311 is fixed to the axis of the second transmission gear 7312; the drive motor 71 is adjusted to rotate, and the flexible coupling 72 is driven to rotate by adjusting the drive motor 71, and the first transmission gear 7314 and the first transmission belt 7316 are driven to rotate, and the first driven wheel 7315 is driven to rotate, and then the horizontal cross frame 731 and The connecting bracket 732 swings as a whole, and finally the fourth connecting member 74 connected to the connecting bracket 732 swings along with it; the horizontal drive motor 7311 rotates to drive the second transmission gear 7312, the second transmission belt 7317, and the second driven wheel 7313 to rotate, thereby driving the fourth connecting member 74 to rotate relative to the connecting bracket 732; a central axis drive motor 75 is arranged inside the fourth connecting member 74, and the output shaft of the central axis drive motor 75 is coaxially fixed with the axis of the adjusting support rod 70, and the top of the adjusting support rod 70 is fixed to the servo motor 64; the central axis drive motor 75 drives the adjusting support rod 70 to rotate axially around the axis, thereby realizing multi-angle rotation adjustment.

[0019] Beneficial effects of the present invention: Through the present invention, since the slotting component and the welding component are designed as one body, welding can be performed directly after slotting is completed, and pipeline welding and laying work can be performed in sequence, which effectively improves the efficiency of pipeline installation. Therefore, the problem of low pipeline installation efficiency can be solved, and the effect of improving pipeline installation efficiency can be achieved. The present invention designs a lockable positioning groove wheel, and designs a four-groove groove wheel to rotate the groove cutter for positioning, which can quickly change direction; during the slotting operation, the groove wheel is rotated and locked by a mechanical structure. The present invention adopts a synchronous belt to drive the mechanical arm, and adopts a high-precision servo motor to drive the synchronous belt to control the movement of the mechanical arm; it can effectively avoid dead points and achieve three-sided coverage; reduce redundant supports, effectively simplify the structure, and lower the center of gravity. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of a pipeline integrated laying robot according to an embodiment of the present invention;

[0021] Figure 2 is a structural cross-sectional view of a pipeline integrated laying robot according to an embodiment of the present invention;

[0022] Figure 3 is a schematic structural diagram of a cutting assembly according to an embodiment of the present invention;

[0023] Figure 4 Schematic diagram of the local structure of the cutting assembly according to an embodiment of the present invention Figure 1 ;

[0024] Figure 5 Schematic diagram of the local structure of the cutting assembly according to an embodiment of the present invention Figure 2 ;

[0025] Figure 6 Schematic diagram of the local structure of the cutting assembly according to an embodiment of the present invention Figure 3 ;

[0026] Figure 7 is a schematic structural diagram of a welding assembly according to an embodiment of the present invention;

[0027] Figure 8 Schematic diagram of the local structure of the welding assembly according to an embodiment of the present invention Figure 1 ;

[0028] Fig. 9 Schematic diagram of the local structure of the welding assembly according to an embodiment of the present invention Figure 2 ;

[0029] Fig.10 Schematic diagram of the local structure of the welding assembly according to an embodiment of the present invention Figure 3 ;

[0030] Fig.11Schematic diagram of the local structure of the welding assembly according to an embodiment of the present invention Figure 4 ;

[0031] Fig.12 Schematic diagram of the local structure of the welding assembly according to an embodiment of the present invention Figure 5 ;

[0032] Fig.13 is a schematic diagram of the structure of an action wheel according to an embodiment of the present invention;

[0033] Fig.14 Schematic diagram of the local structure of the action wheel according to an embodiment of the present invention Figure 1 ;

[0034] Fig.15 Schematic diagram of the local structure of the cutting assembly according to an embodiment of the present invention Figure 4 ;

[0035] Fig.16 Schematic diagram of the local structure of the cutting assembly according to an embodiment of the present invention Figure 5 ;

[0036] Fig.17 Schematic diagram of the local structure of the welding assembly according to an embodiment of the present invention Figure 6 ;

[0037] Fig.18 Schematic diagram of the local structure of the welding assembly according to an embodiment of the present invention Figure 7 ;

[0038] Fig.19 Schematic diagram of the local structure of the welding assembly according to an embodiment of the present invention Figure 8 ;

[0039] Fig. 20 Schematic diagram of the local structure of the action wheel according to an embodiment of the present invention Figure 2 .

[0040] In the figure, 1, chassis; 10, robot shell; 101, fixed shell; 102, first door shell; 103, top shell; 110, action mounting frame; 111, wheel body; 112, steering drive motor; 121, action connecting piece; 122, shock-absorbing fixed arm; 123, shock-absorbing spring; 131, action self-locking servo; 132, self-locking abutment; 133, self-locking matching rod; 134, connecting rod; 14, action drive motor; 15, chassis coupling; 16, water tank; 17, water spraying piece; 18, mounting hole; 181, action connecting plate; 2, cutting assembly; 210, external slotting shell; 211, slotting knife; 2111, protective cover; 21 2. slotted power member; 2211. turntable; 2212. fixed ring; 231. first groove wheel; 2311. driving groove; 2312. first connecting short column; 232. first moving wheel; 2321. driving column; 233. first power member; 241. first self-locking servo; 2411. first self-locking fixing module; 2412. self-locking action member; 24121. self-locking groove; 242. self-locking tooth; 25. first bearing; 31. electric push rod; 32. first sliding member; 33. variable connecting member; 34. first mounting member; 341. mounting plate; 342. second connecting member; 35. steering fixed pulley; 36. guide member; 361. guide column; 362 , first guide groove; 363, first matching piece; 364, first guide wheel; 365, second guide groove; 366, second guide wheel; 4, welding assembly; 41, welding piece; 420, clamping shell; 421, clamping arm; 422, clamping servo; 423, clamping connector; 424, clamping guide column; 430, mounting block; 431, connector; 432, connecting rod; 433, hinged rod; 44, nailing gun head; 51, mounting frame; 511, first part; 512, second part; 5122, connecting slide; 52, third connector; 53, first lead screw; 54, first bevel gear; 55, second bevel gear; 56, clamping drive motor ; 61. Trapezoidal screw; 62. Adjusting motor; 63. Connecting hanger; 631. First connecting part; 632. Flat connecting part; 633. Rotating servo; 64. Servo motor; 70. Adjusting support rod; 71. Adjusting drive motor; 72. Flexible coupling; 73. Adjusting bracket; 730. Installing support rod; 731. Horizontal crossbeam; 7311. Horizontal drive motor; 7312. Second transmission gear; 7313. Second driven wheel; 7314. First transmission gear; 7315. First driven wheel; 7316. First transmission belt; 7317. Second transmission belt; 732. Connecting bracket; 74. Fourth connecting piece; 75. Middle shaft drive motor. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0042] In the following, the terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0043] In addition, in the present application, directional terms such as "up", "down", "left" and "right" may be defined including but not limited to the orientation relative to the schematic placement of the components in the drawings. It should be understood that these directional terms may be relative concepts, which are used for relative description and clarification, and may change accordingly according to the change in the orientation of the components in the drawings.

[0044] In this application, unless otherwise specified or limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. In addition, the term "coupling" can be a way of achieving electrical connection for signal transmission.

[0045] As used herein, "about," "substantially," or "approximately" includes the stated value and an average value that is within an acceptable range of variation from the particular value as determined by one of ordinary skill in the art taking into account the measurements in question and the errors associated with the measurement of the particular quantity (i.e., the limitations of the measurement system).

[0046] In this embodiment, a pipeline integrated laying robot is provided. Figure 1 , Figure 2 , Figure 3 , Figure 7 As shown, it includes a chassis 1, on which at least a cutting assembly 2 for grooving and a welding assembly 4 for welding pipes are installed; the cutting assembly 2 and the welding assembly 4 are independently arranged on the chassis 1. It is easy to understand that since the cutting assembly 2 and the welding assembly 4 are both arranged on the chassis 1, under external control, the pipeline integrated laying robot is rotated by the action wheels after grooving, and then the pipeline laying and welding are carried out; therefore, the grooving and welding work can be carried out in sequence without manual processing, which greatly improves the pipeline laying efficiency.

[0047] Among them, Figure 3-Figure 4As shown, the cutting assembly 2 includes a slotting assembly, which includes a slotting knife 211 and a slotting power member 212 for driving the slotting knife 211 to work. The slotting power member 212 can be set as a driving motor. The slotting knife 211 and the slotting power member 212 together constitute a slotting assembly that can cut walls, base plates, ceilings, etc.; wherein, the slotting assembly design adopts an adjustable blade structure (for example, an adjustable base plate of 0mm-40mm), at this time, by adjusting the number of blades to accurately control the slot width, it is possible to achieve the cutting of embedded grooves for pipes of different diameters. At the same time, in order to meet the slotting depth, the maximum slotting depth of the slotting assembly can reach 45mm, providing sufficient embedded depth. When designing the tool, a replaceable diamond tool was selected. After the tool is worn out after long-term operation, the tool can be directly replaced to improve operation efficiency and save maintenance time. At the same time, a protective cover 2111 is provided. The protective cover 2111 is fixed on the outer periphery of the slotting knife 211 to effectively solve the problem of 90° dead angle slotting. During normal slotting, the protective cover 2111 can reduce dust diffusion.

[0048] The cutting component 2 also includes a first adjustment component, which is connected to the grooving component; since the grooving angles and grooving positions of different walls, base plates, and ceilings vary according to needs, in order to adapt to grooving at different angles and methods, the grooving component is adjusted by setting the first adjustment component.

[0049] like Figure 3 and Figure 4 As shown, the first adjustment component includes a first connecting member fixedly connected to the slotting component and a first driving component fixedly connected to the first connecting member; the first driving component drives the first connecting member to move, and the first connecting member drives the slotting component to move. The first connecting member includes a turntable 2211 fixedly connected to the end part of the first driving component and a fixing ring 2212 fixedly connected to the slotting power member 212, and the fixing ring 2212 is fixedly connected to the turntable 2211; the first driving component drives the turntable 2211 to rotate, and at the same time, the turntable 2211 drives the slotting component to rotate through the fixing ring 2212, so that the slotting component can slot at different angles.

[0050] In an optional embodiment, if Figure 3 , Figure 5 , Figure 6As shown, the first driving component includes a first grooved wheel 231, a first moving wheel 232 and a first power member 233. The first power member 233 can be a driving motor / stepping motor, etc., or a connecting rod or belt transmission member, gear rack, etc. that can provide power, which is not limited here. Of course, the first driving component can also be a driving motor or stepping motor, etc. whose output end is fixedly connected to the turntable 2211, which is not repeated here; the first grooved wheel 231 is fixedly connected to the turntable 2211 of the first connecting member, and the fixing method can be fixing, welding or other fixing methods, as long as the first grooved wheel 231 can drive the turntable 2211 to rotate; the power output end of the first power member 233 is fixedly connected to the first moving wheel 232, and the first moving wheel 232 is driven by the first grooved wheel 231 In cooperation, the first power member 233 is fixed on the first mounting member 34, and the driving cooperation method can be belt drive, or it can be by setting gears on the first groove wheel 231 and the first moving wheel 232 to make the two gears mesh, or setting gears on the first groove wheel 231 or the first moving wheel 232, and setting racks on the first moving wheel 232 or the first groove wheel 231 for driving, which is not limited here; the output end of the first power member 233 drives the first moving wheel 232 to rotate, and at this time, the first moving wheel 232 drives the first groove wheel 231 to rotate through driving cooperation. Since the first groove wheel 231 is fixedly connected to the turntable 2211, the first groove wheel 231 can drive the first connecting member to rotate, so that the slotting component can slot at different angles.

[0051] In an optional embodiment, if Figure 6As shown, the preferred method is specific: the first power member 233 is fixed on the first mounting member 34, and the first mounting member 34 is the supporting member of the entire first adjustment assembly; the output end of the first power member 233 is coaxially fixed with the first moving wheel 232, and the first power member 233 can drive the first moving wheel 232 to rotate coaxially while rotating, and the driving cooperation method of the first moving wheel 232 and the first groove wheel 231 can be: the center of the first groove wheel 231 is positioned at a certain position of the first mounting member 34 fixed by the first power member 233, and the positioning refers to the rotational connection with the rotating shaft set at a certain position of the first mounting member 34, but not coaxially fixed with the first moving wheel 232, and ensuring that the first moving wheel 232 can drive the first groove wheel 231 to rotate; then Then, a plurality of driving grooves 2311 are opened on the first groove wheel 231 along the radial direction, and at the same time, the surface of the first moving wheel 232 close to the first groove wheel 231 is set as the first surface, and a driving column 2321 is fixed on the first surface. The driving column 2321 is perpendicular to and circumferentially evenly distributed on the first surface, and the driving column 2321 is penetrated through the driving groove 2311 (the diameter of the first moving wheel 232 is 100 mm, the length and diameter of the driving column 2321 are 8 mm and 10 mm respectively, and the transmission ratio is 1:1;) during the rotation of the first moving wheel 232, the driving column 2321 applies force to the groove wall of the driving groove 2311, and can move in the driving groove 2311 to drive the first groove wheel 231 to rotate around the rotating shaft on the first mounting member 34.

[0052] The design of the slotting assembly fully considers the actual work requirements and the stability of operation. Due to the requirements of the house decoration pipeline installation specification, pipeline slotting usually only adopts two methods: horizontal and vertical. Therefore, the slotting assembly only needs to meet the conversion between horizontal and vertical directions. The first power member 233 is used to drive the first moving wheel 232 to cooperate with the first groove wheel 231 to ensure that the slotting assembly structure is controlled at 90° for a single turn.

[0053] To install the first sheave 231, Figure 5 As shown, the first driving assembly also includes a first bearing 25, and a first connecting stud 2312 is provided on the inner bearing of the first bearing 25 on one side close to the first sheave 231 and on one side close to the first connecting member. The first connecting studs 2312 on both sides are respectively fixedly connected to the first sheave 231 and the first connecting member. The rotation of the first sheave 231 drives the inner bearing of the first bearing 25 to rotate relative to the outer bearing, thereby driving the first connecting member to rotate. The outer bearing of the first bearing 25 is fixedly connected to the outer slotted housing 210, and the outer slotted housing 210 is fixed to the first mounting member 34 on which the first power member 233 is fixed.

[0054] In an optional embodiment, during the slotting process, the slotting component will apply a reverse force to the first slot wheel 231 through the turntable 2211, so that it has a tendency to rotate, thereby affecting the slotting angle of the slotting component; in order to ensure the normal progress of the slotting process, it is necessary to set a self-locking structure to self-lock the first slot wheel 231; specifically, the first adjustment component also includes a first self-locking component, the first self-locking component includes a first self-locking servo 241 and self-locking teeth 242 arranged circumferentially along the circumferential surface of the first slot wheel 231, the first self-locking servo 241 includes a first self-locking servo 241 fixedly connected to the external slotting shell 210 A self-locking fixing module 2411 and a self-locking actuating member 2412 plugged into the self-locking tooth 242, the first self-locking fixing module 2411 is rotatably connected to the self-locking actuating member 2412, and a self-locking groove 24121 matching the self-locking tooth 242 is provided on the side of the self-locking actuating member 2412 close to the first groove wheel 231. When the self-locking tooth 242 of the first groove wheel 231 moves to a predetermined position, the first self-locking fixing module 2411 drives the self-locking actuating member 2412 to move toward the first groove wheel 231 so that the self-locking tooth 242 is inserted into the self-locking groove 24121, thereby locking the first groove wheel 231.

[0055] Due to the friction and collision between the blade and the wall during the construction process, the slotting angle of the slotting assembly may be affected. In order to ensure the stability and accuracy of the cutting action, a fixed module is designed. When the slotting knife 211 is in working state, the first self-locking servo 241 rotates to make the self-locking teeth 242 cooperate with the self-locking groove 24121 to achieve locking. This configuration not only improves the cutting efficiency, but also makes the cutting process smoother.

[0056] In an optional embodiment, to adjust the slot position in the vertical direction, as Figure 3 and Figure 4As shown, the pipeline integrated laying robot also includes a first lifting component that drives the grooving component to rise and fall, and the first lifting component includes an electric push rod 31 vertically fixed on the chassis 1, a first sliding member 32 fixedly connected to the output end of the electric push rod 31, a guide member 36 that guides the sliding of the first sliding member 32, a variable connecting member 33 fixedly connected to the guide member 36 at one end, and a first mounting member 34 fixedly connected to the other end of the variable connecting member 33, one side of the first mounting member 34 is fixedly connected to the external grooving shell 210, wherein the variable connecting member 33 can be a plate chain, preferably, it can be set to a short pitch precision plate chain, or it can be other connecting members that can change with the position of the sliding member, wherein in the variable connecting member When 33 is a plate chain, the pitch of the short pitch precision plate chain is 12.70mm, the chain plate combination is 4×4, the chain plate height is 12.07mm, the chain plate thickness is 2.08mm, the pin shaft diameter is 5.09mm, the pin shaft length is 36.45mm, the ultimate tensile load is 89KN, and the weight per meter is 2.56kg; the first sliding member 32 also includes a steering fixed pulley 35 that cooperates with the plate chain, and the steering fixed pulley 35 is in contact with the chain plate of the plate chain; the electric push rod 31 pushes the first sliding member 32 to move, and the first sliding member 32 drives the first mounting member 34 to rise and fall through the variable connecting member 33, and the first mounting member 34 drives the slotting assembly and the first adjustment assembly to rise and fall through the external slotted shell 210.

[0057] The first lifting assembly can meet higher structural design requirements, especially the application of the electric push rod 31, which not only provides a more stable inner door frame movement, but also ensures the stability and accuracy of the lifting structure even when carrying heavier slotting components.

[0058] The electric push rod 31 is the power source of the rod. Its advantage is that it can provide strong thrust and precise control, which is essential for accurately positioning the slotting component to the position where the slotting is required. The electric push rod 31 effectively realizes the lifting action through the leaf chain.

[0059] It should be noted that, in order to effectively ensure the sliding of the first sliding member 32, Figure 3 , Figure 4 , Fig.15 , Fig.16As shown, a guide member 36 is provided on the chassis 1, and the guide member 36 includes a guide column 361 relatively arranged on the chassis 1, and the guide column 361 is provided with a first guide groove 362 along the length direction, and the notch of the first guide groove 362 faces the first sliding member 32, and the first sliding member 32 is provided with a first matching member 363 matching with the first guide groove 362 on the side facing the first guide groove 362, and the first matching member 363 is located in the groove of the first guide groove 362. Preferably, the first matching member 363 can be set as a U-shaped groove with the notch facing the first guide groove 362; and in order to make the first sliding member 32 slide more smoothly, a first guide wheel 364 is further provided in the first guide groove 362, and the first guide wheel 364 abuts against the bottom surface of the U-shaped groove of the first matching member 363; in order to cooperate with the sliding of the first mounting member 34, a second guide groove 365 is provided on the side of the first sliding member 32 close to the first mounting member 34 along the length direction (the lifting direction of the first mounting member 34), and the first The mounting member 34 includes a mounting plate 341 and a second connecting member 342. The mounting plate 341 is connected to the external slotted shell 210 and the first driving assembly, and the second connecting member 342 is connected to the variable connecting member 33. The second connecting member 342 is vertically arranged to the mounting plate 341, so that a certain mounting space is provided between the second connecting member 342 and the mounting plate 341 and on the side close to the second guide groove 365. A second guide wheel 366 abutting against the groove wall of the second guide groove 365 can be provided in the mounting space. The second guide wheel 366 is rotatably arranged on the second connecting member 342 and is axially perpendicular to the plate surface of the second connecting member 342. When the first sliding member 32 slides, the first guide wheel 364 guides the first matching member 363 to slide, and at the same time, the second guide wheel 366 also makes the sliding of the first mounting member 34 smoother. In particular, a plurality of second guide wheels 366 can be provided, and the arrangement method can be arranged in sequence along the sliding direction, or can be arranged in other ways.

[0060] That is, in order to realize the embedded groove cutting of the wall and the ground, the present design adopts the first adjustment component to adjust the cutting position by moving the tool holder. When the electric push rod 31 drives the first sliding member 32 to move, the chain drives the slotting component to move, and the slotting component is positioned at the bottom of the first lifting component, and the slotting component is rotated to the bottom of the first adjustment component through the first adjustment component; thereby, the ground slotting is performed. When the cutting component 2 leaves the lowest position, the wall slotting can be performed. By controlling the rotation of the first groove wheel 231 through the first power member 233, the cutting direction can be changed to achieve precise horizontal and vertical slotting. At the same time, the first self-locking component realizes the mechanical self-locking of the first drive component.

[0061] In order to achieve automatic welding of two sections of pipe and accurately place them into the prepared grooves, it is necessary to design a clamping mechanism that can firmly clamp the pipes and accurately dock them, as well as a device that can heat the pipes to a semi-molten state.

[0062] In an optional embodiment, if Figure 7-Figure 8 As shown, the welding assembly 4 includes a welding part 41, which is used to weld the pipe. Specifically, the welding part 41 can be a high-temperature welding nozzle or a high-temperature nozzle that can be heated at high temperature. By heating the pipe, it is partially melted. At this time, the two pipes are tightly fitted. Under the action of temperature field, gravity, etc., without pressure, the melted liquid of the two pipes will mix. After the temperature is lowered, the melted part condenses, and the two pipes are firmly welded together; of course, the welding process can also be to melt and disassemble a long pipe, which can be adjusted according to actual needs.

[0063] In order to achieve effective clamping of two pipes or one pipe to prevent shaking, the welding assembly 4 also includes a clamping assembly, which is used to clamp the pipes.

[0064] In an optional embodiment, if Figure 7 , Figure 8 , Fig. 9 As shown, the clamping assembly includes a clamping shell 420, a clamping claw located in and penetrating the clamping shell 420, and a clamping servo 422 whose output end is transmission-connected to the clamping claw. The clamping servo 422 drives the clamping claws to move toward each other to clamp the pipe.

[0065] Among them, Figure 8-Figure 9As shown, the clamping servo 422 can be connected to the clamping jaw through a connecting rod structure, and of course, it can also be connected through other means; specifically, the clamping jaw includes two clamping arms 421, and a mounting block 430 is provided at the bottom of the clamping arm 421; the connecting rod structure includes a connecting head 431, a connecting rod 432 and a hinged rod 433; the connecting head 431 is fixedly connected to the output end of the clamping servo 422, and the two ends of the connecting head 431 are respectively connected to the inner end of the connecting rod 432, the outer end of the connecting rod 432 is connected to one end of the hinged rod 433, and the other end of the hinged rod 433 is connected and fixed to the mounting block 430; the mounting block 430 is fixedly connected to the mounting block 430; the mounting block 431 is fixedly connected to the mounting block 430; the mounting block 430 ... The end of the clamp 430 is inverted T-shaped and can slide in the slide rail set in the clamp housing 420; when the connector 431 rotates under the drive of the clamping servo 422, the connector 431 drives the hinge rod 433 to move through the connecting rod 432, and the hinge rod 433 drives the clamp arm 421 to move closer or farther through the mounting block 430 to achieve the clamping and loosening of the pipe; it is easy to understand that there are two clamp arms 421, so there are also two groups of connecting rod structures; among them, considering the diversity of pipe sizes, the two clamp arms 421 should form a circle when fully closed to adapt to pipes of different diameters. The center diameter of the clamp is designed to be 15mm, which is smaller than the minimum nominal diameter of the pipe, to ensure that it can adapt to the household pipe size standards announced by the Ministry of Housing and Urban-Rural Development, that is, 15mm and 20mm; secondly, in order to ensure that the clamp can adapt to pipes of different sizes, it is necessary to ensure that the central circular diameter of the clamp when closed is smaller than the minimum diameter of the pipe, so as to achieve stable clamping of the pipe. In addition, the clamping jaws must provide sufficient friction to overcome the weight of the pipe to prevent the pipe from slipping off during the welding process. The average weight of the national standard pipe is 1.0±0.5kg / m, so a "C"-shaped clamping connector 423 is added to the clamping jaws to limit the position after clamping the pipe to ensure that the pipe will not fall off during the welding process.

[0066] In addition, at least two groups of clamping assemblies are provided to clamp pipes at different positions; it should be noted that when there are multiple groups of clamping assemblies, the clamping assemblies can be arranged horizontally side by side, vertically side by side, or in other forms of arrangement.

[0067] In particular, when there are multiple groups of clamping assemblies, in order to achieve adjustment of the multiple groups of clamping assemblies, the robot also includes a second adjustment assembly, which is connected to the clamping assembly and drives the clamping assembly to move so that the clamping assembly clamps different areas of the pipeline.

[0068] In an optional embodiment, if Figure 7 and Fig.10As shown, the second adjustment component includes a mounting frame 51, a third connecting member 52 fixedly connected to the clamping shell 420 of the clamping component, a first lead screw 53 passing through the third connecting member 52, a first bevel gear 54 fixedly connected to one end of the first lead screw 53, a second bevel gear 55 meshing with the first bevel gear 54, and a clamping drive motor 56 whose output end is fixedly connected to the second bevel gear 55; the clamping drive motor 56 drives the second bevel gear 55 to rotate, the second bevel gear 55 drives the first bevel gear 54 to rotate, the first bevel gear 54 drives the first lead screw 53 to rotate, the first lead screw 53 drives the third connecting member 52 to slide, and the third connecting member 52 drives the clamping shell 420 to slide, so that the clamping components are closer to or farther away from each other; in particular, in order to ensure the normal operation of the third connecting member 52, it is also necessary to set a clamping guide column 424 passing through the third connecting member 52, the clamping guide column 424 is parallel to the first lead screw 53, and when the third connecting member 52 slides, it slides along the clamping guide column 424.

[0069] It should be noted that the clamping servo 422 is used to drive the connector 431 to control the connecting rod 432, thereby driving the opening and closing of the clamping jaws, providing a large traction force while satisfying the stable movement of the clamping jaws. In order to achieve accurate docking of the pipeline, a clamping drive motor 56 is used to drive two second bevel gears 55, and then drive two first bevel gears 54 and two first lead screws 53, driving the first lead screw 53 to control the mechanical clamps of the two sections of the pipeline, and move synchronously in opposite directions along the guide rod horizontally to ensure the accuracy of pipeline alignment.

[0070] In an optional embodiment, if Figure 8 , Fig.11 , Fig.17As shown, in order to adjust the welding piece 41, the robot also includes a third adjustment component, which includes a connecting hanger 63, a trapezoidal screw 61 connected to the second adjustment component at one end, and an adjustment motor 62 fixedly connected to the other end of the trapezoidal screw 61 at an output end, and the trapezoidal screw 61 is connected to the welding piece 41 through the connecting hanger 63; the adjustment motor 62 drives the trapezoidal screw 61 to move, and the trapezoidal screw 61 drives the welding piece 41 to move through the connecting hanger 63, and the movement direction of the welding piece 41 is perpendicular to the pipe clamped by the clamping assembly; wherein, in order to reduce the installation volume, the installation frame 51 may include a first part 511 for installing the first screw 53 and a second part 512 for installing the trapezoidal screw 61, and the first part 511 and the second part 512 are connected. 12 are fixedly connected and perpendicular to each other, the second part 512 is provided with a mounting groove for installing the trapezoidal screw 61, and the end of the trapezoidal screw 61 away from the adjusting motor 62 is rotatably connected to the groove wall of the mounting groove; and in order to realize the movement of the connecting hanger 63, it is necessary to open a connecting groove 5122 on the second part 512 along the length direction of the trapezoidal screw 61, and correspondingly, the connecting hanger 63 includes a first connecting part 631 threadedly connected to the trapezoidal screw 61, a second connecting part inserted in the connecting groove 5122, and a flat plate connecting part 632 fixed to the welding part 41, the two ends of the second connecting part are respectively connected to the first connecting part 631 and the flat plate connecting part 632, the flat plate connecting part 632 needs to be perpendicular to the trapezoidal screw 61, and the connecting groove 5122 limits the flat plate connecting part 632.

[0071] In particular, in order to achieve the integration of melting and nailing, the other end of the welding piece 41 is fixedly connected with a nailing gun head 44 for firing fixed nails, and in order to achieve the conversion between welding and nailing, the flat plate connecting part 632 is fixedly connected with the output shaft of the rotating servo 633, and the output shaft of the rotating servo 633 is perpendicular to the flat plate connecting part 632; the rotating servo 633 drives the nailing gun head 44 and the welding piece 41 to rotate, thereby achieving the conversion between welding and nailing.

[0072] In particular, a feedback loop can be added to improve the responsiveness and accuracy of welding and clamping installation. When the clamping assembly moves to the target position, the feedback loop will send a signal to stop further movement to ensure the accurate execution of the welding process. Special consideration should also be given to safety and reliability, including emergency stop mechanisms, overload protection, and fault monitoring systems to ensure rapid response in abnormal situations to ensure the safety of operators and equipment.

[0073] In an optional embodiment, if Figure 8 , Fig.12As shown, in order to further adjust the welding angle, the third adjustment component also includes a servo motor 64 whose output end is rotatably connected to the second adjustment component (specifically, the mounting frame 51 of the second adjustment component), and the servo motor 64 is fixed on the adjustment support rod 70; the servo motor 64 drives the second adjustment component to adjust the pitch angle.

[0074] In an optional embodiment, if Figure 7 , Fig.12 , Fig.18 , Fig.19 As shown, in order to further adjust the welding angle, the robot also includes a fourth adjustment component, which includes an adjustment support rod 70, an adjustment drive motor 71, a flexible coupling 72, an adjustment bracket 73, an installation support rod 730, a horizontal drive motor 7311, a second transmission gear 7312, a second driven wheel 7313, a fourth connecting member 74, and a central axis drive motor 75. The adjustment bracket 73 includes a horizontal cross frame 731 and a connecting bracket 732; the mounting support rod 730 is vertically fixed on the chassis 1, one on each side; the adjustment drive motor 71 is fixedly mounted on the chassis 1; the flexible coupling 72 is fixedly connected to the output end of the adjustment drive motor 71; the flexible coupling 72 is fixedly connected to the first transmission gear 7314 rotatably connected to the lower part of the mounting support rod 730, the first transmission gear 7314 is covered with a first transmission belt 7316, the other end of the first transmission belt 7316 is covered on the outer periphery of the first driven wheel 7315, and the first driven wheel 7315 is rotatably connected to the upper part of the mounting support rod 730; the axis of the first driven wheel 7315 is connected to the horizontal cross frame One end of the horizontal cross frame 731 is fixedly connected, the other end of the horizontal cross frame 731 is fixedly connected to the upper end of the connecting bracket 732, and the inner side of the lower end of the connecting bracket 732 is rotatably connected to the fourth connecting member 74; the outer side of the upper end of the connecting bracket 732 is rotatably connected to the second transmission gear 7312, and the outer side of the lower end is rotatably connected to the second driven wheel 7313; the second transmission gear 7312 and the second driven wheel 7313 are sleeved with a second transmission belt 7317; the axis of the second driven wheel 7313 is fixedly connected to the fourth connecting member 74; a horizontal driving motor 7311 is arranged inside the horizontal cross frame 731, and the output shaft of the horizontal driving motor 7311 is fixed to the axis of the second transmission gear 7312;

[0075] The driving motor 71 is adjusted to rotate, and the flexible coupling 72 is driven to rotate by adjusting the driving motor 71, and the first transmission gear 7314 and the first transmission belt 7316 are driven to rotate, and the first driven wheel 7315 is driven to rotate, and then the horizontal cross frame 731 and the connecting bracket 732 are driven to swing as a whole, and finally the fourth connecting member 74 connected to the connecting bracket 732 is swung;

[0076] The horizontal driving motor 7311 rotates to drive the second transmission gear 7312, the second transmission belt 7317, and the second driven wheel 7313 to rotate, thereby driving the fourth connecting member 74 to rotate relative to the connecting bracket 732;

[0077] A central axis drive motor 75 is arranged inside the fourth connecting member 74, and the output shaft of the central axis drive motor 75 is coaxially fixed with the axis of the adjusting support rod 70, and the top of the adjusting support rod 70 is fixed to the servo motor 64; the central axis drive motor 75 drives the adjusting support rod 70 to rotate axially around the axis, thereby realizing multi-angle rotation adjustment; wherein, the above-mentioned related motors can all be set as servo motors.

[0078] Considering the heavy weight of the entire installation device, and in order to precisely control the laying of the pipe and ensure that it accurately enters the groove, the corresponding adjustment drive motor 71 is selected instead of the electric telescopic rod drive, which improves the safety factor and motion accuracy. The adjustment drive motor 71 has high control accuracy and fast response speed, and can achieve more precise and reliable motion control.

[0079] In order to further improve the load capacity and stability of the robot arm, especially considering the weight of the welding device, a reducer was installed. The reducer not only increases the torque of the system, but also improves the rigidity and stability of the system. In this way, the robot arm can maintain stable and precise movement even under heavy load conditions.

[0080] In an optional embodiment, if Figure 1 , Figure 7 , Fig.13 , Fig.19 As shown, it also includes a moving wheel arranged at the bottom of the chassis 1, and the moving wheel includes a moving mounting frame 110 and a wheel body 111, wherein the wheel body 111 can be a universal wheel or other rolling wheel group; and in order to realize the installation of the wheel body 111, a mounting hole 18 is opened on the chassis 1, and a moving connecting plate 181 is fixedly connected in the mounting hole 18, and a steering drive motor 112 is installed on the moving mounting frame 110, and the output shaft of the steering drive motor 112 is fixedly connected to the moving mounting frame 110, and the steering drive motor 112 is fixedly connected to the moving connecting plate 181.

[0081] In an optional embodiment, in order to reduce the impact of the road surface during movement, such as Figure 1 and Fig.13As shown, a shock absorbing assembly is also provided at the bottom of the chassis 1, and the shock absorbing assembly includes a moving connecting piece 121, a shock absorbing fixed arm 122 and a shock absorbing spring 123; the center of the moving connecting piece 121 is rotatably connected to the axis of the wheel body 111 of the moving wheel; one end of the shock absorbing fixed arm 122 is rotatably connected to the moving connecting piece 121, and the other end is fixedly connected to the moving mounting frame 110; the two ends of the shock absorbing spring 123 are respectively connected to the moving connecting piece 121 and the shock absorbing fixed arm 122. A set of shock absorbing assemblies is respectively provided on both sides of each wheel body 111.

[0082] The above design enables the chassis 1 to maintain the stability of the vehicle body when driving on uneven roads and reduce the risk of overturning. It not only improves the passability of the chassis 1, but also makes the main vehicle carrying the slotted components more flexible and can move in all directions, thereby better adapting to the changing working environment.

[0083] In addition, the shock absorbing spring 123 can effectively absorb the impact and vibration of the road surface, reduce the impact on the grooving components and paving equipment, and ensure stability and accuracy during the construction process. Through the combination of this shock absorption and control mechanism, the chassis 1 can operate stably in various complex terrains, reducing errors and equipment wear caused by uneven roads.

[0084] In an optional embodiment, it also includes a self-locking component, such as Fig.13 As shown, the action self-locking assembly includes an action self-locking servo 131, a self-locking abutment 132, a connecting rod 134 is fixedly arranged between the shock absorbing fixed arms 122 of the two sets of shock absorbing assemblies, and a self-locking matching rod 133 is fixedly arranged between the action connecting members 121 of the two sets of shock absorbing assemblies; one end of the action self-locking servo 131 is fixed on the connecting rod 134, and the output end of the action self-locking servo 131 is rotatably connected to the self-locking abutment 132, and the self-locking abutment 132 is provided with an arc-shaped abutment surface on one side close to the self-locking matching rod 133, which can abut against the self-locking matching rod 133 to lock the action connecting member 121.

[0085] The self-locking action servo 131 can be configured as a stepping motor.

[0086] The self-locking component is used to avoid the influence of the up and down vibration of the body on the grooving accuracy during grooving. The precise control ability of the stepper motor enables the wheel body 111 to be fine-tuned according to the road conditions during operation. The rotation of the stepper motor drives the self-locking abutment 132 to abut against the self-locking matching rod 133, thereby fixing the shock-absorbing spring 123. This design not only improves the adaptability of the chassis 1 to different road surfaces, but also improves the accuracy of grooving and paving operations.

[0087] In an optional embodiment, if Fig.13 , Fig.14As shown, a motion drive motor 14 is fixedly provided on the motion connecting members 121 on both sides of the wheel body 111 of the motion wheel. The motion drive motor 14 is connected to the wheel body 111 of the motion wheel through a chassis coupling 15. At this time, the motion drive motor 14 drives the wheel body 111 to rotate through the chassis coupling 15.

[0088] In an optional embodiment, if Figure 1 , Figure 2 , Figure 3 As shown, it also includes a water tank 16, which is fixedly connected to the robot housing 10. The water tank 16 is provided with a water outlet. The slotting knife 211 of the cutting assembly 2 is provided with a water spraying member 17. The water spraying member 17 is connected to the water outlet through a water pipe, thereby realizing the hiding and protection of the water tank 16.

[0089] The design of the water tank 16 combines functionality and structure. It is not just a simple water storage container, but also a key component of the vehicle body stability. The box body is made of strong and durable materials to ensure that it can maintain its integrity and durability in various working environments. The upper part of the box body is designed to have enough space to hold a large amount of water, and the bottom can be opened with a water outlet, which is connected to the water pump through a pipe, and then connected to the water outlet through a pipe, ensuring that the automatic and uniform water spraying effect can be achieved when the equipment is running, effectively reducing dust in the air and keeping the environment clean.

[0090] In an optional embodiment, to achieve the welding and installation of the welding assembly 4, as Figure 1 As shown, the robot housing 10 is provided with a fixed shell 101, a first door shell 102 hinged to one side of the fixed shell 101, and a top shell 103 hinged to the top of the fixed shell 101 on one side. After the door shell and the top shell 103 are opened, the welding component 4 can be installed and extended.

[0091] The robot housing 10 can be designed as an elliptical structure, and the housing is composed of four expandable first door shells 102 and a top shell 103. These door shells and the top shell 103 are tightly closed when not in use to prevent dust from the construction site from contaminating the internal mechanism. When the welding work begins, the four hatches are manually unfolded to provide sufficient space for the flexible movement of the robot arm. This design enhances the safety and dust resistance of the operation.

[0092] It should be noted that all the aforementioned drive motors or servos are controlled by the central control system, and the central control system is connected to the external control device by signal through the communication module, so that the central control system can instruct each drive motor or servo to move according to external instructions to achieve actions such as grooving or welding.

[0093] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A pipeline integrated laying robot, characterized in that: It comprises a cutting assembly (2) and a welding assembly (4), wherein the cutting assembly (2) is used for grooving; the welding assembly (4) is used for welding pipes; the cutting assembly (2) and the welding assembly (4) are independently arranged on a chassis (1); The cutting assembly (2) comprises a slotting assembly, and the slotting assembly comprises a slotting knife (211) and a power part driving the slotting knife (211) to work; The cutting assembly (2) further comprises a first adjustment assembly; the first adjustment assembly comprises a first connecting member fixedly connected to the slotting assembly, a first driving assembly fixedly connected to the first connecting member, and a first self-locking assembly, wherein the first driving assembly drives the first connecting member to move, and the first connecting member drives the slotting assembly to move; The first driving member assembly comprises a first grooved wheel (231), a first moving wheel (232) and a first power member (233); the first power member (233) is fixed on a first mounting member (34); the first mounting member (34) is a supporting member of the entire first adjustment assembly; the output end of the first power member (233) is coaxially fixed with the first moving wheel (232); the first power member (233) can drive the first moving wheel (232) to rotate coaxially when rotating; the first moving wheel (232) and the first grooved wheel (231) are driven and matched in the following manner: the center of the first grooved wheel (231) is rotatably connected to a rotating shaft arranged on the first mounting member (34); the position of the rotating shaft ensures that the first moving wheel (232) can rotate coaxially with the first grooved wheel (231); The first groove wheel (231) is driven to rotate; then, a plurality of driving grooves (2311) are opened on the first groove wheel (231) along the radial direction, and at the same time, a surface of the first moving wheel (232) close to the first groove wheel (231) is set as the first surface, and a driving column (2321) is fixed on the first surface. The driving column (2321) is perpendicular to and uniformly distributed on the first surface in the circumferential direction, and the driving column (2321) is penetrated in the driving groove (2311). During the rotation of the first moving wheel (232), the driving column (2321) applies a force to the groove wall of the driving groove (2311), and can move in the driving groove (2311) to drive the first groove wheel (231) to rotate around the rotating shaft on the first mounting member (34); The first driving member assembly further comprises a first bearing (25), and a first connecting short column (2312) is arranged on a side of the inner bearing of the first bearing (25) close to the first groove wheel (231) and a side close to the first connecting member, and the first connecting short columns (2312) on both sides are respectively fixedly connected to the first groove wheel (231) and the first connecting member, and the rotation of the first groove wheel (231) drives the inner bearing of the first bearing (25) to rotate relative to the outer bearing, thereby driving the first connecting member to rotate; the outer bearing of the first bearing (25) is fixedly connected to the external slotted shell (210), and the external slotted shell (210) is fixed to the first mounting member (34) on which the first power member (233) is fixed; The first self-locking component comprises self-locking teeth (242) arranged circumferentially along the circumferential surface of the first groove wheel (231) and a first self-locking servo (241); the first self-locking servo (241) comprises a first self-locking fixing module (2411) fixedly connected to the external grooved shell (210) and a self-locking actuating member (2412) plugged into the self-locking teeth (242); the first self-locking fixing module (2411) is rotatably connected to the self-locking actuating member (2412); a self-locking groove (24121) matching the self-locking teeth (242) is provided on a side of the self-locking actuating member (2412) close to the first groove wheel (231); the first self-locking fixing module (2411) drives the self-locking actuating member to move toward the first groove wheel (231) and inserts the self-locking teeth (242) into the self-locking groove (24121).

2. The integrated pipeline laying robot according to claim 1, characterized in that: The cutting assembly (2) also includes a first lifting assembly, which includes an electric push rod (31) fixedly mounted on the chassis (1), a first sliding member (32) fixedly connected to the output end of the electric push rod (31), a guide member (36) that guides the sliding of the first sliding member (32), a variable connecting member (33) fixedly connected to the guide member (36) at one end, and a first mounting member (34) fixedly connected to the other end of the variable connecting member (33), one side of the first mounting member (34) is fixedly connected to the external slotted shell (210), the electric push rod (31) pushes the first sliding member (32) to move, the first sliding member (32) drives the first mounting member (34) to move through the variable connecting member (33), and the first mounting member (34) drives the slotting assembly and the first adjustment assembly to move through the external slotted shell (210).

3. The integrated pipeline laying robot according to claim 1, characterized in that: The welding assembly (4) comprises a welding piece (41), and the welding piece (41) is used for welding the pipeline.

4. The integrated pipeline laying robot according to claim 3, characterized in that: The welding assembly (4) further comprises a clamping assembly, which is used for clamping a pipe; the clamping assembly comprises a clamping shell (420), a clamping claw located in the clamping shell (420) and penetrating the clamping shell (420), and a clamping servo (422) whose output end is connected to the clamping claw in a transmission manner, and the clamping servo (422) drives the clamping claws to move toward each other to clamp the pipe; the clamping servo (422) is connected to the clamping claw in a transmission manner through a connecting rod structure, the clamping claw comprises two clamping arms (421), and a mounting block (430) is provided at the bottom of the clamping arm (421); the connecting rod structure comprises a connecting head (431), a connecting rod (432), and a hinged rod (433); the connecting head (431) is fixedly connected to the output end of the clamping servo (422), the two ends of the connecting head (431) are respectively connected to the inner end of the connecting rod (432), and the connecting rod (433) is connected to the inner end of the connecting rod (432). The outer end of (432) is connected to one end of the hinged rod (433), and the other end of the hinged rod (433) is connected and fixed to the mounting block (430); the end of the mounting block (430) is inverted T-shaped and can slide in the slide rail arranged in the clamping shell (420); when the connecting head (431) rotates under the drive of the clamping servo (422), the connecting head (431) drives the hinged rod (433) to move through the connecting rod (432), and at this time, the hinged rod (433) drives the clamping arm (421) to move closer or farther through the mounting block (430), thereby clamping and releasing the pipe; two clamping arms (421) are provided, and two groups of connecting rod structures are also provided; a "C"-shaped clamping connector (423) is added to the clamping jaw to limit the position after clamping the pipe, so as to ensure that the pipe will not fall off during the welding process.

5. The integrated pipeline laying robot according to claim 4, characterized in that: The welding assembly (4) further comprises a second adjusting assembly, which is connected to the clamping assembly and drives the clamping assembly to move so that the clamping assembly clamps different areas of the pipeline; the second adjusting assembly comprises a mounting frame (51), a third connecting member (52) fixedly connected to a clamping housing (420) of the clamping assembly, a first lead screw (53) passing through the third connecting member (52), a first bevel gear (54) fixedly connected to one end of the first lead screw (53), a second bevel gear (55) meshing with the first bevel gear (54), and a clamping drive motor (55) having an output end fixedly connected to the second bevel gear (55). 6); the clamping drive motor (56) drives the second bevel gear (55) to rotate, the second bevel gear (55) drives the first bevel gear (54) to rotate, the first bevel gear (54) drives the first lead screw (53) to rotate, the first lead screw (53) drives the third connecting member (52) to slide, the third connecting member (52) drives the clamping shell (420) to slide, so that the clamping components are moved closer to or farther away from each other; a clamping guide column (424) is provided which penetrates the third connecting member (52), the clamping guide column (424) is parallel to the first lead screw (53), and when the third connecting member (52) slides, it slides along the clamping guide column (424).

6. The integrated pipeline laying robot according to claim 5, characterized in that: The welding assembly (4) further comprises a third adjusting assembly, the third adjusting assembly comprising a connecting hanger (63), a trapezoidal lead screw (61) connected to the second adjusting assembly at one end, and an adjusting motor (62) whose output end is fixedly connected to the other end of the trapezoidal lead screw (61), the trapezoidal lead screw (61) being connected to the welding piece (41) via the connecting hanger (63); the adjusting motor (62) drives the trapezoidal lead screw (61) to move, the trapezoidal lead screw (61) drives the welding piece (41) to move via the connecting hanger (63), and the moving direction of the welding piece (41) is perpendicular to the pipe clamped by the clamping assembly; The mounting frame (51) comprises a first portion (511) for mounting a first lead screw (53) and a second portion (512) for mounting a trapezoidal lead screw (61). The first portion (511) and the second portion (512) are fixedly connected and perpendicular to each other. The second portion (512) is provided with a mounting groove for mounting the trapezoidal lead screw (61). One end of the trapezoidal lead screw (61) away from the adjusting motor (62) is rotatably connected to the groove wall of the mounting groove. A connecting slide groove (5122) is provided on the second portion (512) along the length direction of the trapezoidal lead screw (61) to connect the hanging member (61). 3) comprises a first connection part (631) threadedly connected to the trapezoidal lead screw (61), a second connection part inserted in the connection slide groove (5122), and a flat plate connection part (632) fixed to the welding piece (41), the two ends of the second connection part are respectively connected to the first connection part (631) and the flat plate connection part (632), the flat plate connection part (632) needs to be perpendicular to the trapezoidal lead screw (61), and the connection slide groove (5122) limits the flat plate connection part (632); the other end of the welding piece (41) is fixedly connected to a nail gun head ( 44), the flat plate connecting part (632) is fixedly connected with an output shaft of a rotating steering gear (633), and the output shaft of the rotating steering gear (633) is perpendicular to the flat plate connecting part (632); the rotating steering gear (633) drives the nailing gun head (44) and the welding piece (41) to rotate, thereby realizing the conversion between welding and nailing; the third adjustment component also includes a servo motor (64) whose output end is rotatably connected to the mounting frame (51) of the second adjustment component, and the servo motor (64) is fixedly arranged on the adjustment support rod (70); the servo motor (64) drives the second adjustment component to adjust the pitch angle.

7. The integrated pipeline laying robot according to claim 6, characterized in that: The welding assembly (4) further comprises a fourth adjustment assembly, which comprises an adjustment support rod (70), an adjustment drive motor (71), a flexible coupling (72), an adjustment bracket (73), a mounting support rod (730), a horizontal drive motor (7311), a second transmission gear (7312), a second driven wheel (7313), a fourth connecting member (74), and a central axis drive motor (75); the adjustment bracket (73) comprises a horizontal cross frame (731) and a connecting bracket (732); the mounting support rod (730) is vertically fixed to the chassis (1), one on each side; the adjustment drive motor (71) is fixedly mounted on the chassis (1); the flexible coupling (72) is fixedly connected to the output end of the adjustment drive motor (71); the flexible coupling (72) The first transmission gear (7314) is connected to the lower part of the mounting support rod (730), the first transmission gear (7314) is covered with a first transmission belt (7316), the other end of the first transmission belt (7316) is sleeved on the outer periphery of the first driven wheel (7315), and the first driven wheel (7315) is rotatably connected to the upper part of the mounting support rod (730); the axis of the first driven wheel (7315) is fixedly connected to one end of the horizontal cross frame (731), the other end of the horizontal cross frame (731) is fixedly connected to the upper end of the connecting bracket (732), and the inner side of the lower end of the connecting bracket (732) is rotatably connected to the fourth connecting member (74); the outer side of the upper end of the connecting bracket (732) is rotatably connected to the second transmission gear (7312), and the outer side of the lower end The second driven wheel (7313) is rotatably connected; the second transmission gear (7312) and the second driven wheel (7313) are sleeved with a second transmission belt (7317); the axis of the second driven wheel (7313) is fixedly connected to the fourth connecting member (74); a horizontal drive motor (7311) is arranged inside the horizontal cross frame (731), and the output shaft of the horizontal drive motor (7311) is fixedly connected to the axis of the second transmission gear (7312); the drive motor (71) is adjusted to rotate, and the flexible coupling (72) is driven to rotate by adjusting the drive motor (71), thereby driving the first transmission gear (7314) and the first transmission belt (7316) to rotate, and driving the first driven wheel (7315) to rotate, thereby driving the horizontal cross frame (731) and The connecting bracket (732) swings as a whole, and finally the fourth connecting member (74) connected to the connecting bracket (732) swings accordingly; the horizontal drive motor (7311) rotates to drive the second transmission gear (7312), the second transmission belt (7317), and the second driven wheel (7313) to rotate, thereby driving the fourth connecting member (74) to rotate relative to the connecting bracket (732); a central axis drive motor (75) is arranged inside the fourth connecting member (74), and the output shaft of the central axis drive motor (75) is coaxially fixed with the axis of the adjusting support rod (70), and the top of the adjusting support rod (70) is fixed with the servo motor (64); the central axis drive motor (75) drives the adjusting support rod (70) to rotate axially around the axis, thereby realizing multi-angle rotation adjustment.

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