T-shaped pipeline anti-corrosion operation mechanical arm

Abstract

The invention belongs to mechanical arms, and particularly relates to a T-shaped pipeline anti-corrosion operation mechanical arm. The T-shaped pipeline anti-corrosion operation mechanical arm comprises a vehicle chassis, a control box, a winch and a mechanical arm body, the vehicle chassis is arranged on the lowest portion and serves as a bearing body of all devices, and the control box controls the mechanical arm body through the winch. The robot has the remarkable effects that the robot can enter in parallel along the horizontal pipeline and stop advancing when reaching the position above the vertical pipeline, and the scissor-fork type mechanical arm is opened and stretches into the vertical pipeline to detect, polish and spray paint on the vertical pipeline.

Description

Technical Field

[0001] The invention belongs to a mechanical arm, and in particular relates to a T-shaped pipeline anti-corrosion operation mechanical arm. Background Art

[0002] With the rapid development of industries such as petroleum, chemical, electric power, natural gas, and nuclear industry, pipeline transportation equipment with advantages such as large transportation volume, convenience, speed, and low cost has played an increasingly important role in industrial production. Affected by factors such as the transportation medium, its own defects, and natural disasters, corrosion, wear, cracking, and scaling will occur inside the pipeline, posing hidden dangers in terms of safe and stable operation. Therefore, regular inspection and maintenance of pipelines are very important, which has also become a problem hindering the development of industrial pipelines. Traditional pipeline inspections rely on manual work, which is inefficient and labor-intensive. Workers cannot enter certain locations in the pipeline, so inspection and maintenance are impossible. Summary of the invention

[0003] In view of the defects of the prior art, the present invention provides a T-shaped pipeline anti-corrosion operation mechanical arm.

[0004] The present invention is implemented as follows: a T-shaped pipeline anti-corrosion operation mechanical arm, which includes a vehicle chassis, a control box, a winch, and a mechanical arm, wherein the vehicle chassis is arranged at the bottom and is the carrier of all devices, and the control box is installed above the vehicle body.

[0005] A T-shaped pipeline anti-corrosion operation robot arm as described above, wherein the chassis body is composed of aluminum profiles, which are connected through aluminum profile fixing seats to form a rectangular part.

[0006] A T-shaped pipeline anti-corrosion operation robot arm as described above, wherein four walking devices are arranged on the vehicle chassis, and the walking device includes a leveling and tightening mechanism shell, and the leveling and tightening mechanism shell is used to be connected to the vehicle chassis, and the leveling and tightening mechanism shell is connected to two joint motor drive devices in turn, and the two joint motor drive devices respectively control two mutually perpendicular active dimensions, and the joint motor drive device includes a motor fixing seat and a joint motor arranged in the motor fixing seat, and the pipeline driving wheel is connected to the joint motor drive device at the end.

[0007] A T-shaped pipeline anti-corrosion operation robot arm as described above, wherein the leveling and tightening mechanism housing is connected to the vehicle chassis through a guide rail assembly, the guide rail assembly includes a connecting seat connected to the leveling and tightening mechanism housing, a slide rail module is arranged on the connecting seat, an electric push rod is also arranged on the connecting seat, and a pressure sensor is arranged between the electric push rod and the connecting seat.

[0008] A T-shaped pipeline anti-corrosion operation robot arm as described above, wherein the robot arm includes a stepper motor and a scissors fork, the scissors fork is a telescopic device composed of 16 cross bars, a micro slide is arranged at the free end of the telescopic device, a joint motor and a grinding motor are arranged on the micro slide, and a grinding wheel is arranged on the grinding motor.

[0009] A T-shaped pipeline anti-corrosion operation robot arm as described above, wherein the winch includes a stepper motor and a joint motor, and a roller is arranged on the joint motor.

[0010] In the T-shaped pipeline anti-corrosion operation robot arm as described above, a slip ring is arranged between the joint motor and the roller to connect the cables.

[0011] The remarkable effect of the present invention is that the robot can enter in parallel along the horizontal pipeline, stop moving forward when reaching above the vertical pipeline, open the scissor-type mechanical arm, extend into the vertical pipeline, and inspect, polish and paint it. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic diagram of a T-shaped pipeline anti-corrosion operation mechanical arm moving along the central axis of the pipeline according to an example of the present invention;

[0013] Figure 2 It is a schematic diagram of a non-working state of a T-shaped pipeline anti-corrosion operation mechanical arm moving along the central axis of the pipeline;

[0014] Figure 3 is a structural diagram of the frame;

[0015] Figure 4 This is a schematic diagram of the external structure of the leveling and tightening mechanism;

[0016] Figure 5 This is a schematic diagram of the internal structure of the leveling and tightening mechanism;

[0017] Figure 6 It is a structural schematic diagram of a scissor-type robotic arm;

[0018] Figure 7 The schematic diagram of the winch structure is shown in FIG.

[0019] Explanation of the accompanying drawings: 1-chassis, 2-winch, 3-control box, 4-scissor-type robotic arm, 5-aluminum profile, 6-aluminum profile fixing seat, 7-pipeline driving wheel, 8-motor fixing seat, 9-joint motor, 10-joint motor, 11-leveling and tightening mechanism housing, 12-motor fixing seat, 13-electric push rod, 14-pressure sensor, 15-slide guide module, 16-connecting seat, 17-micro slide, 18-joint motor, 19-stepping motor, 20-grinding motor, 21-grinding wheel, 22-fairguide, 23-slip ring, 24-roller, 25-joint motor, 26-stepping motor. DETAILED DESCRIPTION

[0020] The robot body can move along the central axis of the pipeline. The robot includes a modular chassis, a cable winch, a leveling mechanism, a tightening mechanism, a scissor-type operating robot arm, and various sensors and control systems. The modular chassis can adjust different widths according to different pipe diameters, and then the tightening mechanism tightens it to the center of the pipe diameter. The cable winch is located behind the robot and drags the power supply and control cables. The leveling mechanism can ensure that the robot remains horizontal at the center of the pipe diameter.

[0021] The operation on the T-shaped pipe is performed by the scissor-type mechanical arm installed under the robot, which can carry different working tools, such as grinding wheels, flap wheels, airless spray guns, etc. When the robot reaches the top of the vertical pipe, the scissor-type mechanical arm opens and extends into the vertical pipe to inspect, grind and paint it.

[0022] Depth cameras are installed at the center of the front and rear of the robot and at the end of the robotic arm, which can simultaneously obtain color images and depth images (distance) inside the pipe for target detection such as paint and rust removal.

[0023] The robot chassis adopts a four-wheel mechanism, and the four wheels and the leveling mechanism are driven by joint motors (DC servo motors, including reducers, encoders, and brakes).

[0024] The power supply outside the pipeline provides power to the robot through the winch cable. The control cabinet is installed in the center of the chassis. The control system is responsible for sensing the robot's own status and environmental information, image processing, obstacle and target detection, obstacle avoidance, path planning, operation planning, control of the robot and its various motion mechanisms, and communication with the remote control computer. The robot can move and operate autonomously, or it can be remotely controlled or operated on site. The control system consists of an industrial control computer, a control board, an industrial-grade wireless network card, a depth camera, a motor controller, a DC power supply, sensors, and various electrical components.

[0025] A specific example is given below.

[0026] The anti-corrosion robot moving along the central axis of the pipeline is mainly composed of a chassis 1, a control box 3, a winch 2, and a mechanical arm 4. The chassis 1 is mainly composed of an aluminum profile 5, which is connected by an aluminum profile fixing seat 6.

[0027] In the tightening mechanism, the leveling tightening mechanism housing 11 and the slide 15 are fixed. The guide rail is fixed to the connecting seat 16, and the electric push rod 13 is fixed to the tightening mechanism housing 11. When working, the connecting seat 16, the pressure sensor 14, the motor bracket 16, the joint motor 10 and the pipeline driving wheel 7 are pushed out together by the push of the electric push rod 13. The pressure sensor 14 monitors the thrust in real time, and the electric push rod 13 stops pushing after reaching a predetermined value. When the tire retracts, the pressure sensor 14 separates from the connecting seat 16, and the connecting seat 16 is driven by the pin to retract the driving wheel.

[0028] In the leveling mechanism, the leveling and tightening mechanism housing 11 and the aluminum profile 5 are connected through the aluminum profile fixing seat 6. The joint motor 9 is connected to the joint motor 10 through the motor bracket 8, and the joint motor 9 drives the pipeline driving wheel 7. When the leveling mechanism is working, the rotation of the joint motor 10 makes the pipeline wheel produce a certain angle, and as the robot moves forward in the pipeline, the robot can return to a horizontal position.

[0029] The scissor-type robot arm 4 is composed of 16 crossbars, and the telescopic movement is driven by a stepper motor 19. The joint motor 18 can rotate the micro slide 17, the grinding motor 20 and the grinding wheel 21 as a whole to grind around the center of the pipe diameter. The micro slide 17 can adjust the grinding wheel position and provide a certain pressure, and the grinding wheel 21 can replace the appropriate grinding equipment according to different working conditions.

[0030] The electric winch 2 is driven by the joint motor 25, which drives the drum 24 to rotate and wind the cable. The cable needs to be connected to the slip ring 23 in advance. While the drum 24 rotates, the screw of the stepper motor 26 moves the cable guide 22 above the slide table left and right, allowing the cable to be tightly wound around the drum.

[0031] The present application is mainly used for an anti-corrosion robot moving along the central axis of a pipeline.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A T-shaped pipeline anti-corrosion operation robotic arm, characterized in that: it includes a vehicle chassis (1), a control box (3), a winch (2), and a robotic arm. The vehicle chassis (1) is arranged at the bottommost and is the carrier of all devices. The control box (3) controls the robotic arm through the winch (2).

2. The T-shaped pipeline anti-corrosion operation robotic arm according to claim 1, characterized in that: the main body of the vehicle chassis (1) is composed of aluminum profiles (5) and is connected through aluminum profile fixing seats (6) to form a rectangular part.

3. The T-shaped pipeline anti-corrosion operation robotic arm according to claim 2, characterized in that: four walking devices are arranged on the vehicle chassis (1). The walking device includes an adjustable flat tightening mechanism housing (11) which is used to connect with the vehicle chassis (1). The adjustable flat tightening mechanism housing (11) is successively connected to two joint electrode driving devices. The two joint electrode driving devices respectively control two mutually perpendicular moving dimensions. The joint electrode driving device includes a motor fixing seat and a joint motor arranged in the motor fixing seat. A pipeline driving wheel (7) is connected to the joint electrode driving device at the end.

4. The T-shaped pipeline anti-corrosion operation robotic arm according to claim 3, characterized in that: the adjustable flat tightening mechanism housing (11) is connected to the vehicle chassis (1) through a guide rail assembly. The guide rail assembly includes a connecting seat (16) connected to the adjustable flat tightening mechanism housing (11). A sliding table guide rail module (15) is arranged on the connecting seat (16). An electric push rod (13) is also arranged on the connecting seat (16). A pressure sensor (14) is arranged between the electric push rod (13) and the connecting seat (16).

5. The T-shaped pipeline anti-corrosion operation robotic arm according to claim 4, characterized in that: the robotic arm includes a stepping motor (19). An expansion device composed of 16 cross bars is arranged on the stepping motor (19). A micro sliding table (17) is arranged at the free end of the expansion device. A joint motor is arranged on the micro sliding table (17). A grinding motor (20) is also arranged on the micro sliding table (17). A grinding wheel (21) is arranged on the grinding motor (20).

6. The T-shaped pipeline anti-corrosion operation robotic arm according to claim 5, characterized in that: the winch (2) includes a stepping motor (26). A joint motor is arranged on the stepping motor (26). A drum (24) is arranged on the joint motor.

7. The T-shaped pipeline anti-corrosion operation robotic arm according to claim 6, characterized in that: a slip ring (23) is arranged between the joint motor and the drum (24) to reduce friction.

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