An integrated pipeline laying robot

Abstract

The present invention provides a pipeline integrated laying robot, which relates to the technical field of pipeline integrated laying technology. It includes a cutting component and a welding component. The cutting component is used for grooving, and the welding component is used for welding pipelines. By means of the present invention, the problem of low working efficiency is solved, and thus 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 more particularly, relates to an integrated pipeline laying robot. Background Art

[0002] With the continuous improvement of people's living standards and the beautification of the urban environment, people are also starting to pursue beauty and safety. Optical cables, electric wires, and water pipes are all installed in concealed lines, and the difficulty of concealed line installation lies in the grooving operation.

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

[0004] In the article Key Technical Points of PP-R Pipeline Construction for indoor water Supply, it is stated that the existing grooving technology has not broken through the traditional mode of "scattered equipment and manual connection in series". The present invention integrates the equipment required in pipeline installation and innovates and transforms it, achieving high-level mechatronics and automation. Summary of the Invention

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

[0006] The technical solution of the present invention:

[0007] An integrated pipeline laying robot includes a cutting component 2 and a welding component 4. The cutting component 2 is used for grooving; the welding component 4 is used for welding pipelines; the cutting component 2 and the welding component 4 are independently arranged on a chassis 1;

[0008] The cutting component 2 includes a grooving component, and the grooving component includes a grooving tool 211 and a power component for driving the grooving tool 211 to work;

[0009] The cutting component 2 further includes a first adjustment component; the first adjustment component includes a first connecting piece fixedly connected to the grooving component, a first driving component fixedly connected to the first connecting piece, and a first self-locking component. The first driving component drives the first connecting piece to move, and the first connecting piece drives the grooving component to move;

[0010] The first driving component includes a first sprocket 231, a first driving wheel 232, and a first power component 233. The first power component 233 is fixed on a first mounting component 34, and the first mounting component 34 is a supporting component of the entire first adjustment component. The output end of the first power component 233 is coaxially fixed to the first driving wheel 232. When the first power component 233 rotates, it can drive the first driving wheel 232 to rotate coaxially. The driving cooperation mode between the first driving wheel 232 and the first sprocket 231 is as follows: The center of the first sprocket 231 is rotationally connected to a rotating shaft provided on the first mounting component 34, and the position of the rotating shaft is set to ensure that the first driving wheel 232 can drive the first sprocket 231 to rotate. Then, a plurality of driving grooves 2311 are formed on the first sprocket 231 in the radial direction. At the same time, the surface of the first driving wheel 232 close to the first sprocket 231 is defined as the first surface, and driving columns 2321 are fixedly arranged on the first surface. The driving columns 2321 are perpendicular to and circumferentially distributed on the first surface, and the driving columns 2321 pass through the driving grooves 2311. During the rotation of the first driving wheel 232, the driving columns 2321 exert a force on the groove walls of the driving grooves 2311 and can travel in the driving grooves 2311 to drive the first sprocket 231 to rotate around the rotating shaft on the first mounting component 34.

[0011] The first driving component further includes a first bearing 25. On both sides of the inner bearing of the first bearing 25 close to the first sprocket 231 and close to the first connecting component, first connecting short columns 2312 are provided. The first connecting short columns 2312 on both sides are fixedly connected to the first sprocket 231 and the first connecting component respectively. The rotation of the first sprocket 231 drives the inner bearing of the first bearing 25 to rotate relative to the outer bearing, and then drives the first connecting component to rotate. The outer bearing of the first bearing 25 is fixedly connected to an external grooved housing 210, and the external grooved housing 210 is fixed to the first mounting component 34 on which the first power component 233 is fixed.

[0012] The first self-locking component includes self-locking teeth 242 circumferentially arranged along the circumferential surface of the first sprocket 231 and a first self-locking servo 241. The first self-locking servo 241 includes a first self-locking fixing module 2411 fixedly connected to the external grooved housing 210 and a self-locking action member 2412 inserted into the self-locking teeth 242. The first self-locking fixing module 2411 is rotationally connected to the self-locking action member 2412. A self-locking groove 24121 for cooperating with the self-locking teeth 242 is formed on one side of the self-locking action member 2412 close to the first sprocket 231. The first self-locking fixing module 2411 drives the self-locking moving member towards the first sprocket 231 and inserts the self-locking teeth 242 into the self-locking groove 24121.

[0013] Further, the cutting assembly 2 further includes a first lifting assembly. The first lifting assembly includes an electric push rod 31 fixedly arranged on the chassis 1, a first sliding member 32 fixedly connected to the output end of the electric push rod 31, a guiding member 36 for guiding the sliding of the first sliding member 32, a variable connecting member 33 with one end fixedly connected to the guiding 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 grooved housing 210. The electric push rod 31 drives the first sliding member 32 to act. The first sliding member 32 drives the first mounting member 34 to act through the variable connecting member 33. The first mounting member 34 drives the grooving assembly and the first adjustment assembly to act through the external grooved housing 210.

[0014] Further, the welding assembly 4 includes a welding member 41 for welding the pipeline.

[0015] Further, the welding assembly 4 further includes a clamping assembly for clamping the pipeline. The clamping assembly includes a clamping housing 420, clamping jaws located inside the clamping housing 420 and passing through the clamping housing 420, and a clamping servo 422 with an output end drivingly connected to the clamping jaws. The clamping servo 422 drives the clamping jaws to move closer to each other to clamp the pipeline. The clamping servo 422 is drivingly connected to the clamping jaws through a connecting rod structure. The clamping jaws include two clamping arms 421, and an installation block 430 is provided at the bottom of the clamping arms 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. The two inner ends of the connecting rod 432 are respectively connected to the two ends of the connecting head 431. 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 to the installation block 430 and fixedly connected thereto. The end of the installation block 430 is in an inverted T shape and can slide in a slide rail provided in the clamping housing 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 act through the connecting rod 432. At this time, the hinged rod 433 drives the clamping arms 421 to approach or move away through the installation block 430, realizing the clamping and loosening of the pipeline. There are two clamping arms 421 and two sets of connecting rod structures. A "C"-shaped clamping connecting piece 423 is added to the clamping jaws to perform limiting after clamping the pipeline to ensure that the pipeline will not fall off during the welding process.

[0016] Further, the welding assembly 4 further includes a second adjustment assembly. The second adjustment assembly is connected to the clamping assembly and drives the clamping assembly to act so that the clamping assembly clamps different areas of the pipeline. The second adjustment assembly includes a mounting skeleton 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 a clamping drive motor 56 with an output end 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. The third connecting member 52 drives the clamping housing 420 to slide, so that the clamping assemblies approach or move away from each other. A clamping guide post 424 passing through the third connecting member 52 is provided. The clamping guide post 424 is parallel to the first lead screw 53. When the third connecting member 52 slides, it slides along the clamping guide post 424.

[0017] Furthermore, the welding assembly 4 further includes a third adjustment assembly. The third adjustment assembly includes a connecting hanging part 63, a trapezoidal lead screw 61 with one end connected to the second adjustment assembly, and an adjustment motor 62 with its output end fixedly connected to the other end of the trapezoidal lead screw 61. The trapezoidal lead screw 61 is connected to the welding part 41 through the connecting hanging part 63. The adjustment motor 62 drives the trapezoidal lead screw 61 to act, and the trapezoidal lead screw 61 drives the welding part 41 to act through the connecting hanging part 63. The moving direction of the welding part 41 is perpendicular to the pipeline clamped by the clamping assembly. The installation skeleton 51 includes a first part 511 for installing the first lead screw 53 and a second part 512 for installing the trapezoidal lead screw 61. The first part 511 is fixedly connected to the second part 512 and they are perpendicular to each other. The second part 512 is provided with an installation groove for installing the trapezoidal lead screw 61. The end of the trapezoidal lead screw 61 away from the adjustment motor 62 is rotatably connected to the groove wall of the installation groove. A connecting sliding groove 5122 is opened on the second part 512 along the length direction of the trapezoidal lead screw 61. The connecting hanging part 63 includes a first connecting part 631 threadedly connected to the trapezoidal lead screw 61, a second connecting part passing through the connecting sliding groove 5122, and a flat plate connecting part 632 fixedly connected 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 lead screw 61, and the connecting sliding groove 5122 limits the flat plate connecting part 632. The other end of the welding part 41 is fixedly connected with a nail gun head 44 for firing fixing nails. The output shaft of a rotating servo motor 633 is fixedly connected to the flat plate connecting part 632. The output shaft of the rotating servo motor 633 is perpendicular to the flat plate connecting part 632. The rotating servo motor 633 drives the nail gun head 44 and the welding part 41 to rotate, realizing the conversion between welding and nailing. The third adjustment assembly further includes a servo motor 64 with its output end rotatably connected to the installation skeleton 51 of the second adjustment assembly. The servo motor 64 is fixedly arranged on the adjustment support rod 70. The servo motor 64 drives the second adjustment assembly to adjust the pitching angle.

[0018] Furthermore, the welding assembly 4 further includes a fourth adjustment assembly. The fourth adjustment assembly 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 crossbar 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 fixed 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 connected to a first transmission gear 7314 rotatably connected to the lower part of the mounting support rod 730. A first transmission belt 7316 is sleeved outside the first transmission gear 7314. The other end of the first transmission belt 7316 is sleeved on the outer circumference of a first driven wheel 7315. 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 crossbar 731. The other end of the horizontal crossbar 731 is fixedly connected to the upper end of the connecting bracket 732. 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. A second transmission belt 7317 is sleeved outside the second transmission gear 7312 and the second driven wheel 7313. 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 crossbar 731. The output shaft of the horizontal drive motor 7311 is fixedly connected to the axis of the second transmission gear 7312. When the adjustment drive motor 71 rotates, it drives the flexible coupling 72 to rotate through the adjustment drive motor 71, drives the first transmission gear 7314 and the first transmission belt 7316 to rotate, drives the first driven wheel 7315 to rotate, and further drives the entire horizontal crossbar 731 and the connecting bracket 732 to swing, and finally makes the fourth connecting member 74 connected to the connecting bracket 732 swing accordingly. When the horizontal drive motor 7311 rotates, it drives the second transmission gear 7312, the second transmission belt 7317, and the second driven wheel 7313 to rotate, and further drives 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. The output shaft of the central axis drive motor 75 is coaxially and fixedly connected to the axis of the adjustment support rod 70. The top of the adjustment support rod 70 is fixedly connected to the servo motor 64. The central axis drive motor 75 drives the adjustment support rod 70 to rotate axially around the axis, thereby realizing multi-angle rotation adjustment.

[0019] Advantages of the present invention: With the present invention, since the grooving component and the welding component are integrally designed, welding can be directly carried out after grooving is completed, and pipeline welding and laying work can be carried out in sequence, effectively improving the pipeline installation efficiency. Therefore, the problem of low pipeline installation efficiency can be solved, and the effect of improving the pipeline installation efficiency can be achieved. The present invention designs a lockable positioning grooved wheel. By designing a grooved wheel with four grooves to rotate the grooving tool for positioning, the direction can be quickly changed; during grooving operation, the rotation and locking of the grooved wheel are realized through a mechanical structure. The present invention uses a synchronous belt to drive the robotic arm and a high-precision servo motor to drive the synchronous belt to control the movement of the robotic arm; it can effectively avoid dead points, 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 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 component according to an embodiment of the present invention;

[0023] Figure 4 is a partial structural schematic diagram of a cutting component according to an embodiment of the present invention Figure 1 ;

[0024] Figure 5 is a partial structural schematic diagram of a cutting component according to an embodiment of the present invention Figure 2 ;

[0025] Figure 6 is a partial structural schematic diagram of a cutting component according to an embodiment of the present invention Figure 3 ;

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

[0027] Figure 8 is a partial structural schematic diagram of a welding component according to an embodiment of the present invention Figure 1 ;

[0028] Figure 9 is a partial structural schematic diagram of a welding component according to an embodiment of the present invention Figure 2 ;

[0029] Figure 10 is a partial structural schematic diagram of a welding component according to an embodiment of the present invention Figure 3 ;

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

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

[0032] Figure 13 Schematic diagram of the structure of the driving wheel according to an embodiment of the present invention;

[0033] Figure 14 Schematic diagram of the partial structure of the driving wheel according to an embodiment of the present invention Figure 1 ;

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

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

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

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

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

[0039] Figure 20 Schematic diagram of the partial structure of the driving wheel according to an embodiment of the present invention Figure 2 .

[0040] In the figure, 1 is the chassis; 10 is the robot housing; 101 is the fixed housing; 102 is the first door shell; 103 is the top shell; 110 is the action mounting bracket; 111 is the wheel body; 112 is the steering drive motor; 121 is the action connecting piece; 122 is the shock-absorbing fixed arm; 123 is the shock-absorbing spring; 131 is the action self-locking servo; 132 is the self-locking abutting piece; 133 is the self-locking mating rod; 134 is the connecting rod piece; 14 is the action drive motor; 15 is the chassis coupling; 16 is the water tank; 17 is the water spraying piece; 18 is the mounting hole; 181 is the action connecting plate; 2 is the cutting assembly; 210 is the external grooving housing; 211 is the grooving tool; 2111 is the protective cover; 212 is the grooving power component; 2211 is the turntable; 2212 is the fixing ring; 231 is the first grooved pulley; 2311 is the driving groove; 2312 is the first connecting short column; 232 is the first driving wheel; 2321 is the driving column; 233 is the first power component; 241 is the first self-locking servo; 2411 is the first self-locking fixing module; 2412 is the self-locking action piece; 24121 is the self-locking groove; 242 is the self-locking tooth; 25 is the first bearing; 31 is the electric push rod; 32 is the first sliding piece; 33 is the variable connecting piece; 34 is the first mounting piece; 341 is the mounting plate; 342 is the second connecting piece; 35 is the steering fixed pulley; 36 is the guiding piece; 361 is the guiding column; 362 is the first guiding groove; 363 is the first mating piece; 364 is the first guiding wheel; 365 is the second guiding groove; 366 is the second guiding wheel; 4 is the welding assembly; 41 is the welding piece; 420 is the clamping housing; 421 is the clamping arm; 422 is the clamping servo; 423 is the clamping connecting piece; 424 is the clamping guiding column; 430 is the mounting block; 431 is the connecting head; 432 is the connecting rod; 433 is the articulated rod; 44 is the nailing gun head; 51 is the mounting skeleton; 511 is the first part; 512 is the second part; 5122 is the connecting chute; 52 is the third connecting piece; 53 is the first lead screw; 54 is the first bevel gear; 55 is the second bevel gear; 56 is the clamping drive motor; 61 is the trapezoidal lead screw; 62 is the adjusting motor; 63 is the connecting hanging piece; 631 is the first connecting part; 632 is the flat plate connecting part; 633 is the rotating servo; 64 is the servo motor; 70 is the adjusting support rod; 71 is the adjusting drive motor; 72 is the flexible coupling; 73 is the adjusting bracket; 730 is the mounting support rod; 731 is the horizontal cross frame; 7311 is the horizontal drive motor; 7312 is the second transmission gear; 7313 is the second driven wheel; 7314 is the first transmission gear; 7315 is the first driven wheel; 7316 is the first transmission belt; 7317 is the second transmission belt; 732 is the connecting bracket; 74 is the fourth connecting piece; 75 is the central axis drive motor. Detailed implementation manner

[0041] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0042] Hereinafter, terms such as "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0043] In addition, in the present application, orientation terms such as "upper", "lower", "left", "right", etc. may include but are not limited to being defined relative to the schematic placement of components in the accompanying drawings. It should be understood that these directional terms may be relative concepts, which are used for relative description and clarification, and they may change correspondingly according to the change in the orientation of the components placed in the accompanying drawings.

[0044] In the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" may be a fixed connection, a detachable connection, or integrated; it may be directly connected or indirectly connected through an intermediate medium. In addition, the term "coupling" may be a way of realizing electrical connection for signal transmission.

[0045] As used herein, "about", "substantially" or "approximately" includes the stated value and the average value within an acceptable deviation range of the specific value, where the acceptable deviation range is determined by those of ordinary skill in the art considering the measurement being discussed and the errors associated with the measurement of the specific quantity (i.e., the limitations of the measurement system).

[0046] In this embodiment, an integrated pipeline laying robot is provided, as Figure 1 、 Figure 2 、 Figure 3 、 Figure 7 shown, including 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 both the cutting assembly 2 and the welding assembly 4 are arranged on the chassis 1, under external control, after grooving, the integrated pipeline laying robot is rotated by the driving wheels, and then pipeline laying and welding are carried out; so grooving and welding work can be carried out in sequence without manual handling, greatly improving the pipeline laying efficiency.

[0047] Among them, as Figure 3 - Figure 4As shown, the cutting assembly 2 includes a grooving assembly. The grooving assembly includes a grooving tool 211 and a grooving power component 212 for driving the grooving tool 211 to work. The grooving power component 212 can be set as a driving motor. The grooving tool 211 and the grooving power component 212 together form a grooving assembly that can cut walls, floors, ceilings, etc. Among them, the grooving assembly is designed with an adjustable blade structure (such as an adjustable bottom plate of 0 mm - 40 mm). At this time, by adjusting the number of blades, the grooving width can be accurately controlled, and the cutting of embedded grooves for pipes with different diameters can be realized. At the same time, to meet the grooving depth, the maximum grooving depth of the grooving assembly can reach 45 mm, providing sufficient embedded depth. When designing the tool, a replaceable diamond tool is selected. After the tool wears during long-term operation, the tool can be directly replaced, improving the operation efficiency and saving maintenance time. At the same time, a protective cover 2111 is also provided. The protective cover 2111 is fixed on the outer periphery of the grooving tool 211, effectively solving the problem of grooving at a 90° dead angle. Usually during grooving, the protective cover 2111 can reduce dust diffusion.

[0048] The cutting assembly 2 further includes a first adjustment assembly, and the first adjustment assembly is connected to the grooving assembly. Since the grooving angles and grooving positions of different walls, floors, and ceilings vary according to requirements, in order to adapt to grooving at different angles and in different ways, the grooving assembly is adjusted by setting the first adjustment assembly.

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

[0050] In an alternative embodiment, as Figure 3 , Figure 5 , Figure 6As shown, the first driving assembly includes a first sprocket 231, a first driving 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, a rack and pinion, etc. that can provide power. It is not limited here. Of course, the first driving assembly can also be a driving motor or stepping motor with a separate output end fixedly connected to the turntable 2211, which will not be elaborated here; the first sprocket 231 is fixedly connected to the turntable 2211 of the first connecting member. The connection method can be fixed connection, welding, or other fixed connection methods, as long as the first sprocket 231 can drive the turntable 2211 to rotate; the power output end of the first power member 233 is fixedly connected to the first driving wheel 232. The first driving wheel 232 is drivingly engaged with the first sprocket 231. The first power member 233 is fixed on the first mounting member 34. The driving engagement method can be belt drive, or by setting gears on the first sprocket 231 and the first driving wheel 232 so that the two gears mesh, or by setting a gear on the first sprocket 231 or the first driving wheel 232 and setting a rack on the first driving wheel 232 or the first sprocket 231 for driving. It is not limited here; the output end of the first power member 233 drives the first driving wheel 232 to rotate. At this time, the first driving wheel 232 drives the first sprocket 231 to rotate through the driving engagement method. Since the first sprocket 231 is fixedly connected to the turntable 2211, the first sprocket 231 can drive the first connecting member to rotate, so that the grooving assembly can groove at different angles.

[0051] In an alternative embodiment, as Figure 6As shown in the figure, the specific preferred method is as follows: The first power component 233 is fixed on the first mounting component 34, and the first mounting component 34 is the supporting component of the entire first adjustment assembly; the output end of the first power component 233 is coaxially fixed with the first driving wheel 232. When the first power component 233 rotates, it can drive the first driving wheel 232 to rotate coaxially. The driving cooperation mode between the first driving wheel 232 and the first grooved wheel 231 can be: The center of the first grooved wheel 231 is positioned at a certain position of the first mounting component 34 to which the first power component 233 is fixed. The so-called positioning means that it is rotatably connected to a rotating shaft provided at a certain position of the first mounting component 34, but is not coaxially fixed with the first driving wheel 232, and it is ensured that the first driving wheel 232 can drive the first grooved wheel 231 to rotate; then, a number of driving grooves 2311 are opened on the first grooved wheel 231 in the radial direction. At the same time, the surface of the first driving wheel 232 close to the first grooved wheel 231 is set as the first surface, and driving columns 2321 are fixedly provided on the first surface. The driving columns 2321 are perpendicular to and circumferentially evenly distributed on the first surface, and the driving columns 2321 pass through the driving grooves 2311. (The diameter of the first driving wheel 232 is 100 mm, the lengths and diameters of the driving columns 2321 are 8 mm and 10 mm respectively, and the transmission ratio is 1:1;). During the rotation of the first driving wheel 232, the driving columns 2321 exert a force on the groove walls of the driving grooves 2311 and can travel in the driving grooves 2311 to drive the first grooved wheel 231 to rotate around the rotating shaft on the first mounting component 34.

[0052] The design of the grooving assembly fully considers the actual working requirements and the stability of operation. Due to the requirements of the housing decoration pipeline installation specifications, pipeline grooving usually only adopts two methods: horizontal and vertical. Therefore, the grooving assembly only needs to meet the conversion in the horizontal and vertical directions. The first power component 233 is used to drive the first driving wheel 232 to cooperate with the first grooved wheel 231, ensuring that the single-turn of the grooving assembly is controlled within 90°.

[0053] Among them, to realize the installation of the first grooved wheel 231, as Figure 5 shown, the first driving assembly further includes a first bearing 25. On both sides of the inner bearing of the first bearing 25 close to the first grooved wheel 231 and close to the first connecting member, first connecting short columns 2312 are provided. The first connecting short columns 2312 on both sides are fixedly connected to the first grooved wheel 231 and the first connecting member respectively. The rotation of the first grooved wheel 231 drives the inner bearing of the first bearing 25 to rotate relative to the outer bearing, and then drives the first connecting member to rotate. The outer bearing of the first bearing 25 is fixedly connected to the external grooving housing 210, and the external grooving housing 210 is fixed to the first mounting component 34 on which the first power component 233 is fixedly provided.

[0054] In an alternative embodiment, during the grooving process, the grooving assembly applies a reverse force to the first grooved pulley 231 through the turntable 2211, thereby causing it to have a tendency to rotate, which affects the grooving angle of the grooving assembly. To ensure the normal progress of the grooving process, a self-locking structure needs to be set to lock the first grooved pulley 231. Specifically, the first adjustment assembly further includes a first self-locking assembly. The first self-locking assembly includes a first self-locking servo 241 and self-locking teeth 242 arranged circumferentially along the circumferential surface of the first grooved pulley 231. The first self-locking servo 241 includes a first self-locking fixing module 2411 fixedly connected to the external grooving housing 210 and a self-locking action member 2412 inserted into the self-locking teeth 242. The first self-locking fixing module 2411 is rotatably connected to the self-locking action member 2412. A self-locking groove 24121 for cooperating with the self-locking teeth 242 is formed on one side of the self-locking action member 2412 close to the first grooved pulley 231. When the self-locking teeth 242 of the first grooved pulley 231 move to a predetermined position, the first self-locking fixing module 2411 drives the self-locking action member 2412 to move towards the first grooved pulley 231, so that the self-locking teeth 242 are inserted into the self-locking groove 24121, thereby realizing the locking of the first grooved pulley 231.

[0055] Due to the friction and collision between the blade and the wall during the construction process, the grooving angle of the grooving assembly may be affected. To ensure the stability and accuracy of the cutting action, a fixing module is designed. When the grooving knife 211 is in the 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 alternative embodiment, to adjust the grooving position in the vertical direction, such as Figure 3 and Figure 4As shown, the pipeline integrated laying robot further includes a first lifting component for driving the grooving component to lift. 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 guiding member 36 for guiding the sliding of the first sliding member 32, a variable connecting member 33 fixedly connected to one end of the guiding 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 grooving housing 210. The variable connecting member 33 can be a plate chain. Preferably, it can be set as a short pitch precision plate chain, or it can be other connecting members that can change with the position of the sliding member. Among them, when the variable connecting member 33 is a plate chain, the short pitch precision plate chain has a pitch of 12.70 mm, a chain plate combination of 4×4, a chain plate height of 12.07 mm, a chain plate thickness of 2.08 mm, a pin diameter of 5.09 mm, a pin length of 36.45 mm, an ultimate tensile load of 89 KN, and a weight of 2.56 kg per meter in length. The first sliding member 32 further includes a steering fixed pulley 35 for cooperating 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 drives the first sliding member 32 to move. The first sliding member 32 drives the first mounting member 34 to lift through the variable connecting member 33, and the first mounting member 34 drives the grooving component and the first adjustment component to lift through the external grooving housing 210.

[0057] The first lifting component can meet higher structural design requirements. Especially the application of the electric push rod 31 not only provides a more stable movement of the inner gantry, but also ensures the stability and accuracy of the lifting structure even when carrying a heavier grooving component.

[0058] The electric push rod 31 is the power source. Its advantage lies in being able to provide strong thrust and precise control, which is crucial for accurately positioning the grooving component to the position where grooving is required. The electric push rod 31 effectively realizes the lifting action through the plate chain.

[0059] It should be noted that to effectively ensure the sliding of the first sliding member 32, such as Figure 3 、 Figure 4 、 Figure 15 、 Figure 16As shown in the figure, a guiding member 36 is provided on the chassis 1. The guiding member 36 includes guiding columns 361 oppositely arranged on the chassis 1. The guiding columns 361 are provided with first guiding grooves 362 along the length direction. The notch of the first guiding groove 362 faces the first sliding member 32. On one side of the first sliding member 32 facing the first guiding groove 362, a first fitting member 363 is provided which is matched with the first guiding groove 362. The first fitting member 363 is located in the groove of the first guiding groove 362. Preferably, the first fitting member 363 can be set as a U-shaped groove with its notch facing the first guiding groove 362. In order to make the sliding of the first sliding member 32 smoother, a first guiding wheel 364 is further provided in the first guiding groove 362. The first guiding wheel 364 abuts against the bottom surface of the U-shaped groove of the first fitting member 363. To cooperate with the sliding of the first mounting member 34, a second guiding groove 365 is opened along the length direction (the lifting direction of the first mounting member 34) on one side of the first sliding member 32 close to the first mounting member 34. The first mounting member 34 includes a mounting plate 341 and a second connecting member 342. The external grooved housing 210 and the first driving assembly are connected to the mounting plate 341. The variable connecting member 33 is connected to the second connecting member 342. The second connecting member 342 is perpendicularly arranged with respect to the mounting plate 341, so that there is a certain mounting space between the second connecting member 342 and the mounting plate 341 and on the side close to the second guiding groove 365. A second guiding wheel 366 which abuts against the groove wall of the second guiding groove 365 can be arranged in this mounting space. The second guiding wheel 366 is rotatably arranged on the second connecting member 342, and its axis is perpendicular to the plate surface of the second connecting member 342. When the first sliding member 32 slides, the first guiding wheel 364 guides the sliding of the first fitting member 363. At the same time, the second guiding wheel 366 also makes the sliding of the first mounting member 34 smoother. Particularly, multiple second guiding wheels 366 can be provided, and their arrangement mode can be arranged in sequence along the sliding direction or arranged in other ways.

[0060] That is, in order to realize the cutting of embedded grooves on the wall and the ground, the present design adopts a first adjustment assembly 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 grooving assembly to move, positions the grooving assembly at the bottom of the first lifting assembly, and rotates the grooving assembly to the bottom of the first adjustment assembly through the first adjustment assembly; thus, ground grooving is carried out. When the cutting assembly 2 leaves the lowest position, wall grooving can be carried out. By controlling the rotation of the first grooved wheel 231 through the first power member 233, the cutting direction can be changed to achieve precise grooving in the horizontal and vertical directions. At the same time, the first driving assembly is mechanically locked through the first self-locking assembly.

[0061] In order to realize the automatic fusion welding of two sections of pipes and accurately place them into the pre-opened 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 pipes. Specifically, the welding part 41 can be a high-temperature welding nozzle or a high-temperature nozzle capable of high-temperature heating. By heating the pipes, they are partially melted. At this time, the two pipes are tightly fitted together. Under the influence of the temperature field, gravity, etc., without pressure, the melted liquid of the two pipes will mix. After the temperature drops, the melted part solidifies, and the two pipes are firmly welded together. Of course, the welding process can also be used to melt and disassemble a long pipe. The specific process can be adjusted according to actual needs.

[0063] In order to effectively clamp two pipes or one pipe and prevent it from 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 、 Figure 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 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, or it can 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 fixedly connected to the mounting block 430. The mounting block 430 is fixedly connected to the mounting block 430. The end of the clamp 420 is in an inverted T-shape and can slide within a slide rail provided in the clamp housing 420. When the connector 431 rotates under the drive of the clamping servo 422, the connector 431 drives the hinged rod 433 via the connecting rod 432. At this time, the hinged rod 433 drives the clamping arms 421 closer or farther through the mounting block 430, thereby clamping and releasing the pipe. As can be easily understood, there are two clamping arms 421, and therefore two sets of connecting rod structures. In particular, considering the diversity of pipe sizes, the two clamping arms 421 should form a circular shape when fully closed to accommodate pipes of different diameters. The center diameter of the clamping jaws is designed to be 15 mm, which is smaller than the minimum nominal diameter of the pipe, ensuring that it can accommodate the two household pipe size standards published by the Ministry of Housing and Urban-Rural Development, namely 15 mm and 20 mm. Secondly, to ensure that the clamping jaws can adapt to pipes of different sizes, the design ensures that the diameter of the central circle of the clamping jaws when closed is smaller than the minimum diameter of the pipe, thereby achieving stable clamping of the pipe. Furthermore, the clamping jaws must provide sufficient friction to overcome the weight of the pipe and prevent it from slipping during the welding process. The national standard for the average weight of pipe is 1.0 ± 0.5 kg / m. Therefore, a "C"-shaped clamping connector 423 is added to the clamping jaws to limit the position of the pipe after clamping, ensuring that the pipe does not fall off during the welding process.

[0066] In addition, there are at least two groups of clamping assemblies 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 components, in order to achieve adjustment of the multiple groups of clamping components, the robot also includes a second adjustment component, which is connected to the clamping component. The second adjustment component drives the clamping component to move so that the clamping component clamps different areas of the pipeline.

[0068] In an optional embodiment, if Figure 7 and Figure 10As shown in the figure, the second adjustment component includes an installation skeleton 51, a third connecting piece 52 fixedly connected to the clamping shell 420 of the clamping component, a first lead screw 53 passing through the third connecting piece 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 with an output end 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 piece 52 to slide, and the third connecting piece 52 drives the clamping shell 420 to slide, so that the clamping components approach or move away from each other; particularly, in order to ensure the normal movement of the third connecting piece 52, a clamping guide post 424 passing through the third connecting piece 52 needs to be provided. The clamping guide post 424 is parallel to the first lead screw 53, and when the third connecting piece 52 slides, it slides along the clamping guide post 424.

[0069] It should be noted that among them, 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 jaws. While providing a large traction force, it meets the stable movement of the jaws. In order to achieve the precise docking of the pipeline, at the same time, two second bevel gears 55 are driven by a clamping drive motor 56, and then two first bevel gears 54 and two first lead screws 53 are driven. The first lead screw 53 is driven to control the mechanical jaws of the two sections of the pipeline, and they move horizontally and synchronously in opposite directions along the guide rod to ensure the accuracy of pipeline alignment.

[0070] In an alternative embodiment, as Figure 8 、 Figure 11 、 Figure 17As shown in the figure, to adjust the welded part 41, the robot further includes a third adjustment component. The third adjustment component includes a connecting hanging part 63, a trapezoidal lead screw 61 with one end connected to the second adjustment component, and an adjustment motor 62 with its output end fixedly connected to the other end of the trapezoidal lead screw 61. The trapezoidal lead screw 61 is connected to the welded part 41 through the connecting hanging part 63. The adjustment motor 62 drives the trapezoidal lead screw 61 to act, and the trapezoidal lead screw 61 drives the welded part 41 to act through the connecting hanging part 63. The moving direction of the welded part 41 is perpendicular to the pipeline clamped by the clamping component. Among them, to reduce the installation volume, the installation skeleton 51 may include a first part 511 for installing the first lead screw 53 and a second part 512 for installing the trapezoidal lead screw 61. The first part 511 and the second part 512 are fixedly connected and perpendicular to each other. The second part 512 is provided with an installation groove for installing the trapezoidal lead screw 61. The end of the trapezoidal lead screw 61 away from the adjustment motor 62 is rotatably connected to the groove wall of the installation groove. To move the connecting hanging part 63, a connecting sliding groove 5122 needs to be opened on the second part 512 along the length direction of the trapezoidal lead screw 61. Correspondingly, the connecting hanging part 63 includes a first connecting part 631 threadedly connected to the trapezoidal lead screw 61, a second connecting part passing through the connecting sliding groove 5122, and a flat plate connecting part 632 fixedly connected to the welded 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 lead screw 61, and the connecting sliding groove 5122 limits the flat plate connecting part 632.

[0071] Specifically, to realize the integration of melting and nailing, a nailing gun head 44 for firing fixing nails is fixedly connected to the other end of the welded part 41. To realize the conversion between welding and nailing, the output shaft of a rotating servo 633 is fixedly connected to the flat plate connecting part 632. 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 welded part 41 to rotate, realizing the conversion between welding and nailing.

[0072] Specifically, to improve the responsiveness and accuracy of welding and clamping installation, a feedback loop can also be added. When the clamping component moves to the target position, the feedback loop will send a signal to stop further movement, ensuring the precise execution of the welding process. Special attention should also be paid to safety and reliability, including an emergency stop mechanism, overload protection, and a fault monitoring system, to ensure a rapid response in case of abnormalities and guarantee the safety of operators and equipment.

[0073] In an alternative embodiment, as Figure 8 、 Figure 12As shown in the figure, to further adjust the welding angle, the third adjustment component further includes a servo motor 64 whose output end is rotatably connected to the second adjustment component (specifically, the mounting skeleton 51 of the second adjustment component). The servo motor 64 is fixed on the adjustment support rod 70. The servo motor 64 drives the second adjustment component to adjust the pitching angle.

[0074] In an alternative embodiment, as Figure 7 , Figure 12 , Figure 18 , Figure 19 shown, to further adjust the welding angle, the robot further includes a fourth adjustment component. The fourth adjustment component 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 drive gear 7312, a second driven gear 7313, a fourth connecting member 74, and a central axis drive motor 75. The adjustment bracket 73 includes a horizontal crossbar 731 and a connecting bracket 732. The mounting support rod 730 is vertically fixed on the chassis 1, with one on each side. The adjustment drive motor 71 is fixed 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 a first drive gear 7314 rotatably connected to the lower part of the mounting support rod 730. A first drive belt 7316 is sleeved outside the first drive gear 7314. The other end of the first drive belt 7316 is sleeved on the outer periphery of a first driven gear 7315. The first driven gear 7315 is rotatably connected to the upper part of the mounting support rod 730. The axis of the first driven gear 7315 is fixedly connected to one end of the horizontal crossbar 731. The other end of the horizontal crossbar 731 is fixedly connected to the upper end of the connecting bracket 732. 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 drive gear 7312, and the outer side of the lower end is rotatably connected to the second driven gear 7313. A second drive belt 7317 is sleeved outside the second drive gear 7312 and the second driven gear 7313. The axis of the second driven gear 7313 is fixedly connected to the fourth connecting member 74. A horizontal drive motor 7311 is arranged inside the horizontal crossbar 731. The output shaft of the horizontal drive motor 7311 is fixedly connected to the axis of the second drive gear 7312.

[0075] When the adjustment drive motor 71 rotates, it drives the flexible coupling 72 to rotate through the adjustment drive motor 71, drives the first drive gear 7314 and the first drive belt 7316 to rotate, drives the first driven gear 7315 to rotate, and further drives the entire horizontal crossbar 731 and the connecting bracket 732 to swing, finally causing the fourth connecting member 74 connected to the connecting bracket 732 to swing accordingly.

[0076] The horizontal drive motor 7311 rotates to drive the second drive gear 7312, the second drive 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 provided inside the fourth connecting member 74. The output shaft of the central axis drive motor 75 is fixedly coaxial with the axis of the adjusting rod 70. The top end of the adjusting rod 70 is fixed to the servo motor 64. The central axis drive motor 75 drives the adjusting rod 70 to rotate axially around the axis, thereby realizing multi-angle rotation adjustment; among them, the above-mentioned related motors can all be set as servo motors.

[0078] Considering the large weight of the entire installation device and in order to precisely control the pipeline laying and ensure its accurate entry into 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 robotic arm, especially considering the weight of the welding device, a speed reducer is added. The speed reducer can not only increase the torque of the system, but also improve the rigidity and stability of the system. In this way, even under heavy load conditions, the robotic arm can maintain stable and precise movement.

[0080] In an alternative embodiment, as Figure 1 , Figure 7 , Figure 13 , Figure 19 shown, it further includes moving wheels provided at the bottom of the chassis 1. The moving wheels include a moving mounting frame 110 and a wheel body 111. The wheel body 111 can be a universal wheel or other rolling wheel sets; in order to realize the installation of the wheel body 111, mounting holes 18 are provided on the chassis 1. A moving connecting plate 181 is fixedly connected in the mounting holes 18. A steering drive motor 112 is installed on the moving mounting frame 110. 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 alternative embodiment, to reduce the influence of the road surface during movement, as Figure 1 and Figure 13As shown, a shock absorption assembly is further provided at the bottom of the chassis 1. The shock absorption assembly includes a movement connecting member 121, a shock absorption fixing arm 122, and a shock absorption spring 123. The center of the movement connecting member 121 is rotatably connected to the axis of the wheel body 111 of the movement wheel. One end of the shock absorption fixing arm 122 is rotatably connected to the movement connecting member 121, and the other end is fixedly connected to the movement mounting frame 110. Both ends of the shock absorption spring 123 are respectively connected to the movement connecting member 121 and the shock absorption fixing arm 122. A set of shock absorption assemblies are respectively arranged 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, reducing the risk of tipping over. It not only improves the passability of the chassis 1, but also makes the main vehicle carrying the grooving assembly move more flexibly, enabling it to move in all directions, thus better adapting to the changing working environment.

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

[0084] In an alternative embodiment, a movement self-locking assembly is further included, as Figure 13 shown. The movement self-locking assembly includes a movement self-locking servo 131 and a self-locking abutting member 132. A connecting rod member 134 is fixedly arranged between the shock absorption fixing arms 122 of the two sets of shock absorption assemblies, and a self-locking mating rod 133 is fixedly arranged between the movement connecting members 121 of the two sets of shock absorption assemblies. One end of the movement self-locking servo 131 is fixedly arranged on the connecting rod member 134, the output end of the movement self-locking servo 131 is rotatably connected to the self-locking abutting member 132, and an arc-shaped abutting surface is provided on one side of the self-locking abutting member 132 close to the self-locking mating rod 133, which can abut against the self-locking mating rod 133 to lock the movement connecting member 121.

[0085] The movement self-locking servo 131 can be set as a stepper motor.

[0086] Through the movement self-locking assembly, the influence of the up and down vibration of the body on the grooving accuracy during grooving is avoided. The precise control ability of the stepper motor enables the wheel body 111 to be finely adjusted according to the road surface conditions during operation. The rotation of the stepper motor drives the self-locking abutting member 132 to abut against the self-locking mating rod 133, thereby fixing the shock absorption 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 laying operations.

[0087] In an alternative embodiment, as Figure 13 、 Figure 14As shown, on both sides of the wheel body 111 of the driving wheel, driving connection motors 14 are fixedly installed on the driving connection members 121. The driving connection motors 14 are connected to the wheel body 111 of the driving wheel through a chassis coupling 15. At this time, the driving connection motors 14 drive the wheel body 111 to rotate through the chassis coupling 15.

[0088] In an optional embodiment, as Figure 1 , Figure 2 , Figure 3 shown, it further includes a water tank 16. The water tank 16 is fixedly connected to the robot housing 10. The water tank 16 is provided with a water outlet. The grooving knife 211 of the cutting assembly 2 is provided with a water spraying member 17. The water spraying member 17 is communicated with the water outlet through a water pipe, so as to realize the hiding and protection of the water tank 16.

[0089] The design of the water tank 16 combines functionality and structure. It is not only a simple water storage container, but also a key component for the stability of the vehicle body. The box body is made of a strong and durable material to ensure its integrity and durability in various working environments. The upper part of the box body is designed with enough space to hold a large amount of water, and its bottom can be provided with a water outlet. The water outlet is communicated with a water pump through a pipeline, and then communicated with a water outlet member through a pipeline, ensuring an automatic and uniform water spraying effect during the operation of the equipment, effectively reducing dust in the air and keeping the environment clean.

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

[0091] The robot housing 10 can be designed as an oval structure. The housing is composed of four deployable first door shells 102 and a top shell 103. These door shells and the top shell 103 are closely closed when not in use to avoid dust in the construction site from polluting the internal mechanism. When the welding work starts, four hatch covers are manually unfolded to provide enough space for the flexible movement of the robotic arm. This design enhances the safety and dust prevention of the operation.

[0092] It should be noted that all the foregoing driving motors or servos are controlled by a central control system. The central control system is signal-connected to an external control device through a communication module, so that the central control system can instruct each driving motor or servo to act according to external instructions, realizing operations such as grooving or welding.

[0093] The above content is only a specific implementation manner 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 covered by 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. An integrated pipeline laying robot, characterized in that, It includes a cutting component (2) and a welding component (4). The cutting component (2) is used for grooving; the welding component (4) is used for welding pipes; the cutting component (2) and the welding component (4) are independently arranged on the chassis (1); The cutting component (2) includes a grooving component, and the grooving component includes a grooving tool (211) and a power component for driving the grooving tool (211) to work; The cutting component (2) further includes a first adjustment component; the first adjustment component includes a first connecting piece fixed to the grooving component, a first driving component fixedly connected to the first connecting piece, and a first self-locking component. The first driving component drives the first connecting piece to move, and the first connecting piece drives the grooving component to move; The first driving component includes a first sheave (231), a first moving wheel (232), and a first power component (233). The first power component (233) is fixed on a first mounting piece (34), and the first mounting piece (34) is the supporting component of the entire first adjustment component; the output end of the first power component (233) is coaxially fixed to the first moving wheel (232). When the first power component (233) rotates, it can drive the first moving wheel (232) to rotate coaxially. The driving cooperation mode between the first moving wheel (232) and the first sheave (231) is as follows: the center of the first sheave (231) is rotatably connected to a rotating shaft arranged on the first mounting piece (34), and the position of the rotating shaft is set to ensure that the first moving wheel (232) can drive the first sheave (231) to rotate; then, a number of driving grooves (2311) are formed in the first sheave (231) along the radial direction. At the same time, the surface of the first moving wheel (232) close to the first sheave (231) is set as the first surface, and driving columns (2321) are fixedly arranged on the first surface. The driving columns (2321) are perpendicular to and circumferentially distributed on the first surface, and the driving columns (2321) pass through the driving grooves (2311). During the rotation of the first moving wheel (232), the driving columns (2321) apply a force to the groove wall of the driving grooves (2311) and can travel in the driving grooves (2311) to drive the first sheave (231) to rotate around the rotating shaft on the first mounting piece (34); The first driving component further includes a first bearing (25). On both sides of the inner bearing of the first bearing (25) close to the first sheave (231) and close to the first connecting piece, first connecting short columns (2312) are arranged. The first connecting short columns (2312) on both sides are respectively fixedly connected to the first sheave (231) and the first connecting piece. The rotation of the first sheave (231) drives the inner bearing of the first bearing (25) to rotate relative to the outer bearing, and then drives the first connecting piece to rotate; the outer bearing of the first bearing (25) is fixedly connected to the external grooving housing (210), and the external grooving housing (210) is fixed to the first mounting piece (34) where the first power component (233) is fixed; The first self-locking assembly includes self-locking teeth (242) circumferentially arranged along the circumferential surface of the first sheave (231) and a first self-locking servo (241). The first self-locking servo (241) includes a first self-locking fixing module (2411) fixedly connected to an external slotted housing (210) and a self-locking actuating member (2412) inserted 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) for cooperating with the self-locking teeth (242) is formed on one side of the self-locking actuating member (2412) close to the first sheave (231). The first self-locking fixing module (2411) drives the self-locking actuating member (2412) to move towards the first sheave (231), and makes the self-locking teeth (242) inserted into the self-locking groove (24121).

2. The integrated pipeline laying robot according to claim 1, wherein The cutting assembly (2) further includes a first lifting assembly. The first lifting assembly includes an electric push rod (31) fixedly arranged on the chassis (1), a first sliding member (32) fixedly connected to the output end of the electric push rod (31), a guiding member (36) for guiding the sliding of the first sliding member (32), a variable connecting member (33) with one end fixedly connected to the guiding 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 housing (210). The electric push rod (31) drives the first sliding member (32) to act. The first sliding member (32) drives the first mounting member (34) to act through the variable connecting member (33). The first mounting member (34) drives the slotted assembly and the first adjustment assembly to act through the external slotted housing (210).

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

4. The integrated pipeline laying robot according to claim 3, wherein, The welding assembly (4) further includes a clamping assembly for clamping the pipeline. The clamping assembly includes a clamping housing (420), clamping jaws located inside the clamping housing (420) and passing through the clamping housing (420), and a clamping servo (422) whose output end is drivingly connected to the clamping jaws. The clamping servo (422) drives the clamping jaws to move closer to each other to clamp the pipeline. The clamping servo (422) is drivingly connected to the clamping jaws through a connecting rod structure. The clamping jaws include 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). 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 to and fixedly connected to the mounting block (430). The end of the mounting block (430) is in an inverted T shape and can slide in a slide rail provided in the clamping housing (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 act through the connecting rod (432). At this time, the hinged rod (433) drives the clamping arm (421) to approach or move away through the mounting block (430), realizing the clamping and loosening of the pipeline. There are two clamping arms (421), and there are also two sets of connecting rod structures. A "C"-shaped clamping connector (423) is added to the clamping jaws to perform limit after clamping the pipeline to ensure that the pipeline will not fall off during the welding process.

5. The integrated pipeline laying robot according to claim 4, wherein The welding assembly (4) further includes a second adjustment assembly. The second adjustment assembly is connected to the clamping assembly and drives the clamping assembly to act so that the clamping assembly clamps different areas of the pipeline. The second adjustment assembly includes a mounting skeleton (51), a third connector (52) fixedly connected to the clamping housing (420) of the clamping assembly, a first lead screw (53) passing through the third connector (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 connector (52) to slide. The third connector (52) drives the clamping housing (420) to slide, so that the clamping assemblies approach or move away from each other. A clamping guide post (424) passing through the third connector (52) is provided. The clamping guide post (424) is parallel to the first lead screw (53). When the third connector (52) slides, it slides along the clamping guide post (424).

6. The integrated pipeline laying robot according to claim 5, wherein, The welding assembly (4) further includes a third adjustment assembly. The third adjustment assembly includes a connecting hanging part (63), a trapezoidal lead screw (61) with one end connected to the second adjustment assembly, and an adjustment motor (62) with an output end fixedly connected to the other end of the trapezoidal lead screw (61). The trapezoidal lead screw (61) is connected to the welding part (41) through the connecting hanging part (63). The adjustment motor (62) drives the trapezoidal lead screw (61) to act. The trapezoidal lead screw (61) drives the welding part (41) to act through the connecting hanging part (63). The moving direction of the welding part (41) is perpendicular to the pipeline clamped by the clamping assembly. The installation skeleton (51) includes a first part (511) for installing the first lead screw (53) and a second part (512) for installing the trapezoidal lead screw (61). The first part (511) is fixedly connected to the second part (512) and perpendicular to each other. The second part (512) is provided with an installation groove for installing the trapezoidal lead screw (61). The end of the trapezoidal lead screw (61) far from the adjustment motor (62) is rotatably connected to the groove wall of the installation groove. A connecting sliding groove (5122) is opened on the second part (512) along the length direction of the trapezoidal lead screw (61). The connecting hanging part (63) includes a first connecting part (631) threadedly connected to the trapezoidal lead screw (61), a second connecting part passing through the connecting sliding groove (5122), and a flat plate connecting part (632) fixedly connected 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 lead screw (61). The connecting sliding groove (5122) limits the flat plate connecting part (632). The other end of the welding part (41) is fixedly connected with a nail gun head (44) for firing fixing nails. The output shaft of a rotating servo motor (633) is fixedly connected to the flat plate connecting part (632). The output shaft of the rotating servo motor (633) is perpendicular to the flat plate connecting part (632). The rotating servo motor (633) drives the nail gun head (44) and the welding part (41) to rotate, realizing the conversion between welding and nailing. The third adjustment assembly further includes a servo motor (64) with an output end rotatably connected to the installation skeleton (51) of the second adjustment assembly. The servo motor (64) is fixedly arranged on the adjustment support rod (70). The servo motor (64) drives the second adjustment assembly to adjust the pitching angle.

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

Images