Laser marking walking device for inner wall of pipeline

Abstract

The invention relates to the field of laser marking equipment, in particular to a laser marking walking device for the inner wall of a pipeline, and provides the laser marking walking device for the inner wall of the pipeline aiming at the problems in the prior art, the laser marking walking device for the inner wall of the pipeline comprises a walking device, a fixing device and a marking device which are sequentially arranged from bottom to top, through the integrated structural design of the walking device, the fixing device and the marking device, the limitation that an existing laser head fixing device can only conduct marking on the outer portion of a plane or a curved surface is thoroughly broken through, and the laser head fixing device can penetrate into a long and narrow space in a pipeline to complete operation. According to the pipeline inner wall micro-texture marking device, the requirement for pipeline bend inner wall micro-texture marking to improve the wear resistance can be met, pipeline inner wall anti-fake mark manufacturing can be achieved, the blank in the pipeline inner wall laser marking field in the prior art is filled up, and key technical equipment support is provided for the pipeline manufacturing and operation and maintenance industry.

Description

Technical Field

[0001] This invention relates to the field of laser marking equipment, and in particular to a laser marking traveling device for the inner wall of a pipe. Background Technology

[0002] Laser marking technology, with its advantages of clear marking, high durability, and high processing efficiency, is increasingly widely used in industrial manufacturing, especially in scenarios requiring long-term preservation of markings or improvement of component performance. In the field of pipe manufacturing and application, laser marking is often used to create micro-texture structures to enhance the wear resistance of the inner walls of bends. Simultaneously, some special pipes require custom markings on their inner walls for anti-counterfeiting and traceability. Existing laser marking devices mostly employ a fixed laser head design, primarily targeting marking operations on flat or curved surfaces. Their structural layout and functional design are ill-suited to the special working environment of pipe inner walls. The narrow, elongated space inside pipes limits the working angle, and different pipes have varying inner diameters. Traditional fixed marking devices cannot enter the pipe interior and flexibly adjust their working position. Furthermore, existing devices lack a moving mechanism adapted to the pipe interior, making it difficult to accurately reach the designated marking area or adjust the marking angle according to the curved characteristics of the pipe inner wall. This makes it difficult to meet the needs for micro-texture processing and anti-counterfeiting marking on pipe inner walls.

[0003] Furthermore, existing marking equipment suffers from poor versatility, mostly limited to processing components in a single scenario or of fixed dimensions. It cannot meet diverse needs such as marking pipe inner walls and planar surfaces, increasing equipment investment costs for companies. Regarding operational stability, the complex internal environment of pipelines and the lack of effective balancing and positioning mechanisms in existing devices make them prone to deviation during movement or marking, affecting marking accuracy. Therefore, developing a laser marking device that adapts to the working environment of pipe inner walls, possesses flexible movement and precise positioning capabilities, and combines versatility and stability has become an urgent need for the industry. Summary of the Invention

[0004] In view of the above situation and to overcome the defects of the prior art, the present invention provides a laser marking walking device for the inner wall of a pipe, which effectively solves the problems mentioned in the background art.

[0005] The technical solution adopted by the present invention to solve the above problems is as follows: A laser marking walking device for the inner wall of a pipe includes a walking device, a fixing device and a marking device arranged sequentially from bottom to top, and guide components are installed on the left and right sides of the fixing device respectively. The fixing device includes a base plate and a top plate that can be raised and lowered and installed on the upper side of the base plate. A gravity ball is connected to the lower side of the top plate. The marking device includes a horizontal boss mounted on the upper side of the top plate and a marking head rotatably connected to one end of the horizontal boss. A drive component for controlling the rotation of the marking head is mounted on the horizontal boss. The running gear includes steering wheel components mounted at the four corners of the base plate; The guiding component includes a guide frame and a linkage component connected to the guide frame, with the other end of the linkage component being detachably connected to the top plate.

[0006] Preferably, the surface of the top plate is provided with sliding holes, and a column is slidably connected to the inside of the sliding holes. Telescopic rods are fixedly connected to the four corners of the top plate, and the telescopic ends of the lower ends of the telescopic rods are fixedly connected to the bottom plate. A lifting screw is threadedly connected to the lower side of the column, and a lifting motor is fixedly connected to the upper end of the bottom plate. The power output end of the lifting motor is fixedly connected to the lifting screw. When the lifting screw rotates, it can drive the column to rise and fall through the action of threaded connection with the column.

[0007] Preferably, the upper end of the column is fixedly connected to a horizontally arranged connecting plate, and the horizontal boss is slidably connected to the connecting plate; the other end of the horizontal boss is fixedly connected to a connecting frame, and the lower end of the connecting frame is slidably connected to a fixing pin that can move up and down. The surface of the connecting plate (5) corresponding to the fixing pin is provided with a fixing groove, and one end of the fixing pin engages with the fixing groove. The lower end of the connecting frame is hinged to a swing plate that can swing up and down. A spring plate is provided between one side of the swing plate and the connecting frame. One end of the spring plate is fixedly connected to the connecting frame, and the other end of the spring plate presses against the surface of the swing plate. When the swing plate swings, the spring plate can store force. The other end of the swing plate has a keyway. A connecting pin is fixedly connected to the lower side of the surface of the fixing pin. The connecting pin slides with the keyway. When the swing plate swings, the fixing pin can be driven to disengage from the fixing groove by the sliding action of the keyway and the connecting pin.

[0008] Preferably, the driving component includes an asynchronous motor fixedly connected to the upper end of the horizontal boss, a driving gear fixedly connected to the power output end of the asynchronous motor, a driven gear meshing on the lower side of the driving gear, and a ball bearing fixedly connected coaxially to the middle of the driven gear. The ball bearing includes an inner ring and an outer ring, the inner ring being fixedly connected to the horizontal boss, and the outer ring being fixedly connected to the inner wall of the driven gear.

[0009] Preferably, the steering wheel component includes a connecting seat rotatably connected to the lower end of the base plate, a moving motor is fixedly connected to the surface of the connecting seat, a moving wheel is fixedly connected to the power output end of the moving motor on the same axis, and the circumferential surface of the moving wheel is in contact with the ground.

[0010] Preferably, the guide component further includes a mounting plate, with connecting clamps fixedly connected to both ends of the mounting plate, and the two ends of the top plate placed inside the connecting clamps. The lower ends of the connecting clamps are threaded with fixing bolts, and the upper ends of the fixing bolts are rotatably connected with fixing pads. The fixing pads are located on the lower side of the top plate, and the clamping force of the fixing pads on the top plate is controlled by rotating the fixing bolts.

[0011] Preferably, the linkage component includes a mating plate located on one side of the mounting plate. One end of the mating plate is fixedly connected to a support plate, and the other end of the support plate is hinged to the mounting plate, allowing the support plate to swing horizontally. The two ends of the support plate are respectively hinged to second hinge rods, and the other ends of the second hinge rods are respectively hinged to connecting sliders. The mounting plate has connecting grooves on both sides of the end facing the support plate. The connecting sliders are slidably connected to the connecting grooves. The two ends of the connecting sliders are respectively fixedly connected to return springs, and the other ends of the return springs are respectively fixedly connected to the inner wall of the connecting grooves.

[0012] Preferably, a horizontally arranged mounting tube is provided on one side of the mating plate, a connecting screw is fixedly connected to one end of the mounting tube, the connecting screw is threadedly connected to the middle of the mating plate, and a fixing knob is threadedly connected to the other end of the connecting screw; a connecting bracket is fixedly connected to the other end of the mounting tube, and a guide wheel is rotatably connected to the other end of the connecting bracket.

[0013] Preferably, the surface of the mounting tube away from the mating plate is hinged with multiple sets of parallelogram structures. Each parallelogram structure includes two parallel rods arranged in parallel with each other. The lower ends of the parallel rods are respectively hinged to the surface of the mounting tube. The upper ends of the two parallel rods are hinged to a support seat. The upper end of the support seat is fixedly connected to a first elastic telescopic rod. The upper telescopic end of the first elastic telescopic rod is fixedly connected to a support ball. The mounting tube has an internal sliding connection with a sliding plate that can move axially. Multiple connecting blocks are formed on the circumferential surface of the sliding plate. Multiple rectangular openings that can slide and engage with the connecting blocks are formed on the surface of the mounting tube. The connecting blocks slide and engage with the inner side of the rectangular openings. The outer ends of the connecting blocks are hinged with second elastic telescopic rods, and the other ends of the second elastic telescopic rods are hinged with corresponding parallel rods. A drive screw is threadedly connected to the middle of the sliding plate. The two ends of the drive screw are rotatably connected to the mounting tube. A drive motor is fixedly connected to the end of the mounting tube away from the mating plate. The drive motor is located inside the connecting frame and is protected by the connecting frame. The power output end of the drive motor is fixedly connected to the drive screw coaxially.

[0014] This invention features a novel structure, ingenious design, and simple and convenient operation, offering the following advantages compared to existing technologies: This device, through its integrated structural design of "walking device, fixing device, and marking device," completely breaks through the limitations of existing fixed laser head devices that can only mark on the external surfaces of planes or curved surfaces. It can penetrate deep into the narrow spaces inside pipelines to complete the operation. It can meet the needs of micro-textured marking on the inner walls of pipeline bends to improve wear resistance, and can also realize the production of anti-counterfeiting marks on the inner walls of pipelines. It fills the gap in the field of laser marking on the inner walls of pipelines and provides key technical equipment support for the pipeline manufacturing and maintenance industry. The traveling device uses four sets of steering wheel components, each equipped with an independent moving motor, which can move according to the operation requirements and easily adapt to the movement needs of straight sections and bends in the pipeline. During the lifting and lowering of the top plate, the guide frame is always kept in the middle position of the pipeline, and the support ball provides close support to the inner wall of the pipeline. The guide wheel guides the device during movement, effectively preventing the device from deviating during movement or marking, and ensuring the accuracy of the marking position. Attached Figure Description

[0015] Figure 1 This is a first schematic diagram of the overall structure of a laser marking walking device for the inner wall of a pipe according to the present invention.

[0016] Figure 2 This is a second schematic diagram of the overall structure of a laser marking walking device for the inner wall of a pipe according to the present invention.

[0017] Figure 3 This is a schematic diagram of the steering wheel component of a laser marking and walking device for the inner wall of a pipeline according to the present invention.

[0018] Figure 4 This is a schematic diagram of the marking device connection structure of a laser marking walking device for the inner wall of a pipe according to the present invention.

[0019] Figure 5 For the present invention Figure 4 A magnified view of part A.

[0020] Figure 6 This is a schematic diagram of the guide component structure of a laser marking walking device for the inner wall of a pipe according to the present invention.

[0021] Figure 7 This is a schematic diagram of the linkage component structure of a laser marking walking device for the inner wall of a pipe according to the present invention.

[0022] Figure 8 This is a first schematic diagram of the guide frame structure of a laser marking walking device for the inner wall of a pipe according to the present invention.

[0023] Figure 9 This is a second schematic diagram of the guide frame structure of a laser marking walking device for the inner wall of a pipe according to the present invention.

[0024] Figure 10 This is a third schematic diagram of the guide frame structure of a laser marking walking device for the inner wall of a pipe according to the present invention.

[0025] Numbering in the diagram: 1-Base plate, 2-Top plate, 3-Telescopic rod, 4-Column, 5-Connecting plate, 6-Horizontal boss, 7-Marking head, 8-Gravity ball, 9-Hook, 10-Lifting motor, 11-Lifting screw, 12-Connecting seat, 13-Moving wheel, 14-Moving motor, 18-Asynchronous motor, 19-Driven gear, 20-Driven gear, 21-Connecting frame, 22-Fixing pin, 23-Swing plate, 24-Spring plate, 25-Keyway, 26-Connecting pin, 27-Mounting plate, 28-Connecting clip, 29 - Fixing pad, 30- Fixing bolt, 33- Mating plate, 35- Support plate, 36- Second hinge rod, 37- Connecting slider, 38- Return spring, 39- Mounting tube, 40- Connecting screw, 41- Fixing knob, 42- Sliding plate, 43- Drive screw, 44- Drive motor, 45- Connecting frame, 46- Guide wheel, 47- Parallel rod, 48- Support seat, 49- Spring cylinder, 50- Piston rod, 51- Support ball, 52- Telescopic cylinder, 53- Moving rod, 54- Storage spring, 55- Support spring. Detailed Implementation

[0026] The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0027] like Figure 1-10 As shown, the present invention provides a laser marking walking device for the inner wall of a pipe, comprising a walking device, a fixing device, and a marking device arranged sequentially from bottom to top. Guide components are installed on the left and right sides of the fixing device. The walking device is used to drive the device to move, and the marking device is used to mark the inner wall of the pipe when the device moves. During the movement of the device, it is guided by the guide components. The three work together to achieve precise marking operation on the inner wall of the pipe.

[0028] The fixing device includes a base plate 1 and a liftable top plate 2 mounted on the upper side of the base plate 1. A gravity ball 8 is connected to the lower side of the top plate 2; wherein, the lower side of the top plate 2 is connected via... Figure 1 The hook 9 is connected to the gravity ball 8. The gravity ball 8 can increase the overall stability of the device and prevent the device from tipping over when it is moving or marking in the pipe. Its gravity can lower the center of gravity of the device, so that it can maintain a stable posture even at the bend of the pipe and prevent it from tipping over.

[0029] The surface of the top plate 2 has sliding holes, and columns 4 are slidably connected to the inside of the sliding holes. Telescopic rods 3 are fixedly connected to the four corners of the top plate 2, and the telescopic ends of the lower ends of the telescopic rods 3 are fixedly connected to the bottom plate 1. There are four sets of telescopic rods 3 located at the four corners of the top plate 2, which can limit the lifting direction of the top plate 2 and prevent it from shifting during lifting. The two diagonally opposite telescopic rods 3 are electric telescopic rods, capable of synchronous extension and retraction, providing power for the lifting of the top plate. Depending on the diameter of the pipe, the electric telescopic rods 3 can be controlled to lift and lower the top plate 2, adjusting it to the center position of the pipe, thereby adjusting the guide frame to the center position of the pipe, facilitating the positioning of the guide frame, improving the guiding effect of the guide wheels 46, and enhancing the support effect of the guide frame. The axial limiting of the telescopic rods 3 ensures that the top plate 2 does not shift during lifting and operation, providing structural protection for subsequent marking accuracy. Guide wheels 46 are located at the front and rear of the traveling device in the direction of travel, serving as guides when the pipe bends.

[0030] A lifting screw 11 is threadedly connected to the lower side of the column 4, and a lifting motor 10 is fixedly connected to the upper end of the base plate 1. The power output end of the lifting motor 10 is fixedly connected to the lifting screw 11. Since the column 4 has a rectangular structure and the sliding hole is also rectangular, the top plate 2 can only move axially under the limitation of the telescopic rod 3. Therefore, when the lifting screw 11 rotates, it can drive the column 4 to rise and fall through the threaded connection with the column 4. During the rising and falling of the column 4, the marking equipment is also raised and lowered, which facilitates the adjustment of the height of the marking device according to the marking requirements. The internal thread on the lower side of the column 4 is connected to... Figure 1 The lifting screw 11 is threaded and adapted to the external thread. After the lifting motor 10 starts, it drives the lifting screw 11 to rotate clockwise or counterclockwise, which in turn drives the column 4 to rise and fall through the threaded transmission, thereby adjusting the height of the marking device to accommodate marking on the inner walls of pipes of different diameters. The threaded transmission design features high transmission accuracy and good self-locking, enabling the marking device to accurately stop at the target height and preventing height deviation due to vibration during operation, ensuring that the distance between the marking device and the inner wall of the pipe always meets the marking requirements.

[0031] The marking device includes a horizontal boss 6 mounted on the upper side of the top plate 2 and a marking head 7 rotatably connected to one end of the horizontal boss 6. A drive component for controlling the rotation of the marking head 7 is mounted on the horizontal boss 6. The marking head 7 can emit laser to mark the inner wall of the pipe. The drive component is used to adjust the angle of the marking head 7 to adapt to the marking requirements of different positions on the inner wall of the pipe. Whether it is a straight section of the pipe or the inner side of a bend, full coverage marking can be achieved by adjusting the angle.

[0032] A horizontally positioned connecting plate 5 is fixedly connected to the upper end of the column 4, and a horizontal boss 6 is slidably connected to the connecting plate 5. The connecting plate 5 has a long, narrow slide rail, and the bottom of the horizontal boss 6 has a slider adapted to the slide rail. The horizontal boss 6 can slide horizontally along the slide rail and move horizontally on the surface of the connecting plate 5, facilitating installation and connection. It also facilitates the movement of the marking head 7, allowing for easy adjustment of its position. This horizontal sliding structure enables fine-tuning of the marking head 7 in the horizontal direction. Combined with the lifting structure, this allows the marking head 7 to accurately align with the target marking area on the inner wall of the pipe, improving the accuracy of the marking position.

[0033] A connecting bracket 21 is fixedly connected to the lower side of the other end of the horizontal boss 6. A fixing pin 22 that can move up and down is slidably connected to the lower end of the connecting bracket 21. A fixing groove is opened on the surface of the connecting plate 5 corresponding to the fixing pin 22, and one end of the fixing pin 22 engages with the fixing groove; the lower side of the other end of the horizontal boss 6 is connected to... Figure 5 The connecting frame 21 is welded and fixed. A vertical guide hole is provided at the lower end of the connecting frame 21, and a fixing pin 22 passes through the guide hole and can slide up and down. Multiple fixing grooves are formed on the surface of the connecting plate 5 along the length of the slide rail. The upper end of the fixing pin 22 can be inserted into the fixing groove to achieve relative fixation between the horizontal boss 6 and the connecting plate 5. The meshing structure of the fixing pin 22 and the fixing groove can quickly lock the position of the horizontal boss 6, preventing the marking head 7 from shifting due to device vibration during marking, and ensuring the continuity and consistency of the marking trajectory.

[0034] A swing plate 23 capable of swinging up and down is hinged to the lower end of the connecting frame 21. A spring plate 24 is provided between one side of the swing plate 23 and the connecting frame 21. One end of the spring plate 24 is fixedly connected to the connecting frame 21, and the other end of the spring plate 24 presses against the surface of the swing plate 23. When the swing plate 23 swings, it allows the spring plate 24 to store force. The lower end of the connecting frame 21 is hinged to the swing plate 23 via a hinge shaft, allowing the swing plate 23 to swing up and down around the hinge shaft. One end of the spring plate 24 is welded to the connecting frame 21, and the other end elastically presses against the surface of the swing plate 23. When the swing plate 23 swings downward, it squeezes the spring plate 24, causing it to elastically deform and store force, providing power for the swing plate 23 to return to its original position. The elastic return design of the spring plate 24 achieves automatic locking of the fixing pin 22, eliminating the need for additional manual fixing, simplifying the operation process, and improving work efficiency.

[0035] The other end of the swing plate 23 has a keyway 25. A connecting pin 26 is fixedly connected to the lower side of the surface of the fixing pin 22. The connecting pin 26 slides in the keyway 25. When the swing plate 23 swings, the fixing pin 22 can be driven to disengage from the fixing groove by the sliding engagement of the keyway 25 and the connecting pin 26. The free end of the swing plate 23 has a keyway 25. A connecting pin 26 is welded to the lower side of the fixing pin 22. The connecting pin 26 passes into the keyway 25 and can slide along the groove. When the free end of the swing plate 23 is pressed down, the keyway 25 drives the fixing pin 22 to move downward through the connecting pin 26, causing its upper end to disengage from the fixing groove. At this time, the horizontal boss 6 can slide. After the swing plate 23 is released, the elastic force of the spring plate 24 pushes the swing plate 23 to reset, and the fixing pin 22 re-inserts into the corresponding fixing groove, completing the position locking of the horizontal boss 6. The sliding fit structure between the keyway 25 and the connecting pin 26 converts the swing motion of the swing plate 23 into the linear motion of the fixed pin 22, ensuring smooth and precise transmission and allowing the fixed pin 22 to smoothly disengage from or insert into the fixed groove. The marking head can be adjusted from 0-360° to accommodate annular or spiral marking requirements on the inner wall of pipes; gear transmission and ball bearings ensure smooth rotation and angular accuracy; the horizontal sliding structure and the fixed pin locking mechanism enable fine-tuning and fixing of the marking head position, preventing displacement during the marking process and ensuring the continuity and consistency of the marking trajectory. Furthermore, the marking device is detachable, allowing the horizontal boss and marking head to be disassembled as a whole for maintenance and replacement.

[0036] The driving component includes an asynchronous motor 18 fixedly connected to the upper end of the horizontal boss 6. A drive gear 20 is fixedly connected to the power output end of the asynchronous motor 18. A driven gear 19 meshes with the lower side of the drive gear 20. A ball bearing is coaxially fixedly connected to the middle of the driven gear 19. The ball bearing includes an inner ring and an outer ring. The inner ring is fixedly connected to the horizontal boss 6, and the outer ring is fixedly connected to the inner wall of the driven gear 19. The asynchronous motor is fixed to the upper end of the horizontal boss 6 with bolts; the drive gear is fixed to the output end of the asynchronous motor 18 via a coupling; the driven gear meshes with the drive gear 20; the inner ring of the ball bearing is welded to the horizontal boss 6, and the outer ring is interference-fitted with the inner wall of the driven gear 19; the marking head 7 is fixedly connected to the side of the driven gear 19 away from the horizontal boss 6. When the asynchronous motor 18 is working, it drives the marking head 7 to rotate around the axis of the ball bearing through gear transmission, achieving a 0-360° marking angle adjustment. Gear transmission features precise transmission ratio and high efficiency. Combined with the low friction characteristics of ball bearings, it enables the marking head 7 to rotate more smoothly and the angle adjustment to be more precise, ensuring clear and continuous marking lines.

[0037] The walking device includes steering wheel components installed at the four corners of the base plate to help the device move. The steering wheel components are symmetrically distributed at the four corners of the base plate 1 to ensure the stability of the device when moving and adapt to the movement requirements of the narrow space inside the pipe. The symmetrical layout at the four corners can make the device bear the force evenly and reduce the bumps when moving inside the pipe.

[0038] The steering wheel assembly includes a connecting seat 12 rotatably connected to the lower end of the base plate 1. A moving motor 14 is fixedly connected to the surface of the connecting seat 12. A moving wheel 13 is coaxially fixedly connected to the power output end of the moving motor 14. The circumferential surface of the moving wheel 13 contacts the ground, forming a universal wheel structure, which facilitates the movement and steering of the device. The moving wheel 13 can be driven by the moving motor 14. The connecting seat is rotatably connected to the lower end of the base plate 1 through bearings. The moving motor is fixed to the side of the connecting seat 12. The moving wheel and the output end of the moving motor 14 are coaxially fixed. The circumferential surface of the moving wheel 13 is provided with anti-slip texture, which can increase friction when in contact with the inner wall of the pipe and prevent slippage. The forward and reverse rotation of the moving motor 14 can drive the device to move forward or backward along the pipe axis. The anti-slip texture design can effectively enhance the adhesion between the moving wheel 13 and the inner wall of the pipe. Even if there is slight oil stains or unevenness on the inner wall of the pipe, it can ensure stable movement of the device and avoid marking position deviation caused by slippage.

[0039] The guiding component includes a guide frame and a linkage component connected to the guide frame. The other end of the linkage component is detachably connected to the top plate 2, facilitating the use and replacement of the guide frame according to user needs. The core component of the guide frame is... Figure 6 , Figure 8The guide wheel 46 is used for movement and guidance. The linkage component can adjust the height of the guide frame synchronously with the mechanical transmission of the top plate 2, so that the guide wheel 46 is always at the same height as the top plate 2. When the top plate 2 is raised or lowered, the guide wheel 46 can be raised or lowered synchronously, so that the guide wheel 46 is always in the center position of the pipeline. The three support balls are centered on the mounting pipe 39. The mounting pipe 39 and the guide wheel 46 are at the same horizontal height. When the mounting pipe 39 is adjusted to be in the center of the pipeline, not only is the guide wheel 46 in the center for easy and stable guidance, but the pressure of the three sets of support balls 51 against the pipe wall is the same, which increases the stability of the traveling device and ensures that the guide frame is always in the center position of the pipeline. Furthermore, by supporting the inner wall of the pipe, the stability of the device during movement is improved. During movement, the guide wheels 46 on both sides are located at both ends of the top plate 2, guiding the device forward and backward, and improving the stability of the device during movement. During the movement of the device, when encountering the curved part of the pipe, it can be guided by the guide wheels 46 at the outer end of the guide frame. The inner wall of the pipe will apply a lateral force to the guide wheels, allowing the guide wheels and their supporting structure to swing within a certain range, so that they can passively conform to the bending direction of the pipe, thereby achieving smooth turning. This facilitates the device to turn in the curved part of the pipe during movement, further facilitating the movement of the device inside the pipe.

[0040] The guide component also includes a mounting plate 27, with connecting clips 28 fixedly connected to both ends of the mounting plate 27. Both ends of the top plate 2 are positioned inside the connecting clips 28. The lower ends of the connecting clips 28 are threadedly connected to fixing bolts 30, and the upper ends of the fixing bolts 30 are rotatably connected to fixing washers 29. The fixing washers 29 are located below the top plate 2. By rotating the fixing bolts 30, the fixing washers 29 are raised and lowered under the action of the threaded connection, thereby controlling the clamping force of the fixing washers 29 on the top plate 2. Connecting clips 28 are welded to both ends of the mounting plate 27. The connecting clips 28 are U-shaped, and both ends of the top plate 2 are embedded inside the connecting clips 28; the fixing bolts correspond to... Figure 6 The 30 in the middle is adapted to the threaded hole at the lower end of the connecting clamp 28; the fixing pad 29 is made of rubber and is rotatably connected to the upper end of the fixing bolt 30 via a bearing; rotating the fixing bolt 30 clockwise moves the fixing pad 29 upward and presses it against the top plate 2, thus fixing the mounting plate 27 to the top plate 2; rotating it counterclockwise loosens it, making it easy to adjust the position of the mounting plate 27 on the top plate 2 to adapt to device bodies of different widths. The rubber fixing pad 29 can increase the friction with the top plate 2, improve the stability of the fixation, and at the same time avoid wear caused by direct metal contact, thus extending the service life of the components.

[0041] The linkage includes a mating plate 33 located on one side of the mounting plate 27. One end of the mating plate 33 is fixedly connected to a support plate 35, and the other end of the support plate 35 is hinged to the mounting plate 27, allowing the support plate 35 to swing horizontally. Second hinge rods 36 are hinged to both ends of the support plate 35, and connecting sliders 37 are hinged to the other ends of the second hinge rods 36. Connecting grooves are formed on both sides of the end of the mounting plate 27 facing the support plate 35, and the connecting sliders 37 are slidably connected to these grooves. Return springs 38 are fixedly connected to both ends of the connecting sliders 37, and the other ends of the return springs 38 are fixedly connected to the inner walls of the connecting grooves. The middle of the support plate 35 is hinged to the mounting plate 27 via a hinge shaft, allowing it to swing horizontally. The two ends of the second hinge rods 36 are hinged to the support plate 35 and the connecting sliders 37, respectively. The connecting sliders correspond to... Figure 6 The connecting slider 37 is embedded in the connecting groove on the side of the mounting plate 27 and can slide. The two ends of the return spring 38 are welded to the outer end of the connecting slider 37 and the inner wall of the connecting groove, respectively. When the device moves to the bend of the pipe, in order to prevent the device from getting stuck during movement, the guide wheel 46 can first press against the inner wall of the bend to guide the movement of the device. Under the obstruction of the inner wall of the bend, the entire guide frame is driven to swing, and the support plate 35 will also be in a swing state, which is conducive to steering and buffering flexible adjustment to prevent steering jamming. During the swing of the support plate 35 under force, the connecting slider 37 will be pushed to move under the transmission of the second hinge rod 36, and the return spring 38 will be compressed, so that the return spring 38 is in a stored state, providing horizontal return force for the support plate 35 and ensuring stable guidance. The elasticity of the return spring 38 keeps the support plate 35 in a centered position. There may be unevenness or welds inside the pipeline. The swing structure, together with its internal return spring 38, can absorb and buffer sudden lateral impacts encountered during the movement, reduce disturbance to the core marking device and the walking device, and ensure the smoothness of the marking process.

[0042] A horizontally positioned mounting tube 39 is provided on one side of the mating plate 33. One end of the mounting tube 39 is fixedly connected to a connecting screw 40, which is threadedly connected to the middle of the mating plate 33. The other end of the connecting screw 40 is threadedly connected to a fixing knob 41. One end of the mounting tube 39 is welded to the connecting screw 40, which passes through and fits into the threaded hole in the middle of the mating plate 33. The fixing knob 41 is threadedly connected to the other end of the connecting screw 40. By rotating the fixing knob 41, the mating plate 33 can be clamped, achieving a reliable connection between the mounting tube 39 and the mating plate 33. This also facilitates the disassembly of the mounting tube 39 and the mating plate 33, allowing for modular installation and disassembly of the device, making it easy to carry.

[0043] The other end of the mounting tube 39 is fixedly connected to a connecting frame 45, and the other end of the connecting frame 45 is rotatably connected to a guide wheel 46. The mounting tube 39 is welded to the connecting frame 45. The guide wheel 46 is rotatably connected to the connecting frame 45 through a bearing. Its circumferential surface is arc-shaped. When encountering a bend in the pipe, the guide wheel 46 can first press against the inner wall of the bend and fit tightly against it. When the device moves, the guide wheel 46 rolls along the inner wall of the pipe, reducing friction between the device and the pipe, and causing the guide frame to swing along the bend of the pipe, thus providing directional guidance and facilitating the movement of the device along the bend of the pipe. The arc-shaped circumferential surface of the guide wheel 46 can form line contact with the inner wall of the pipe, ensuring the stability of the guidance and reducing rolling friction resistance, making the movement of the device within the pipe smoother.

[0044] Multiple sets of parallelogram structures are hinged to the surface of the mounting tube 39 away from the mating plate 33. Each parallelogram structure includes two parallel rods 47 arranged parallel to each other. The lower ends of the parallel rods 47 are hinged to the surface of the mounting tube 39, and the upper ends of the two parallel rods 47 are hinged to a support seat 48. A first elastic telescopic rod is fixedly connected to the upper end of the support seat 48, and a support ball 51 is fixedly connected to the upper telescopic end of the first elastic telescopic rod. Three sets of parallelogram structures are hinged to the surface of the mounting tube 39 away from the mating plate 33, such as... Figure 8 , Figure 10 As shown, they are evenly distributed in a circle; each group of parallel rods 47 consists of two parallel rods, with their lower ends hinged to the mounting tube 39 and their upper ends hinged to the support base 48; the first elastic telescopic rod is composed of... Figure 8 , Figure 10 The device consists of a spring cylinder 49 and a piston rod 50. The spring cylinder 49 contains a support spring 55, and the piston rod 50 can extend and retract along the spring cylinder 49. A support ball 51, fixed to the upper end of the piston rod 50, is made of wear-resistant metal and can roll against the inner wall of the pipe. During use, multiple parallelogram structures open outwards under the support of the first elastic telescopic rod, with the support ball 51 pressing against the inner wall of the pipe. The elastic support of the first elastic telescopic rod further enhances the support force, thus improving the stability of the device during use. If the guide frame is rigidly fixed, the contact force between the support ball 51 and the inner wall of the pipe will change drastically at bends, potentially leading to instability or accelerated wear. The swing structure allows the entire guide frame to "deflect" as a whole in the direction of pipe bending, ensuring that the support ball 51 maintains uniform and stable contact with the inner wall of the bend, preventing it from detaching or becoming overly compressed due to sudden force changes. The parallelogram structure has the characteristic of being variable in shape but always having parallel sides, which can ensure that the support seat 48 remains horizontal during the opening or closing process, so that the support ball 51 is evenly stressed; the elastic action of the first elastic telescopic rod can adapt to the slight irregularity of the inner wall of the pipe, ensuring that the support ball 51 is always in close contact with the inner wall of the pipe, providing stable support force.

[0045] The mounting tube 39 is internally slidably connected to a sliding plate 42 capable of axial movement. Multiple connecting blocks are formed on the circumferential surface of the sliding plate 42. The surface of the mounting tube 39 has multiple rectangular openings that slide within the connecting blocks. The connecting blocks slide within these rectangular openings. A second elastic telescopic rod is hinged to the outer end of each connecting block, and the other end of each second elastic telescopic rod is hinged to a corresponding parallel rod 47. The sliding plate is slidably connected to the inner wall of the mounting tube 39. Multiple connecting blocks are formed on the circumferential surface of the sliding plate 42, passing through the rectangular openings on the surface of the mounting tube 39. The second elastic telescopic rod is formed by... Figure 9 , Figure 10 The system consists of a telescopic cylinder 52, a moving rod 53, and a storage spring 54. The storage spring 54 is sleeved on the outside of the moving rod 53, with its two ends abutting against the telescopic cylinder 52 and the connecting block, respectively. One end of the second elastic telescopic rod is hinged to the connecting block, and the other end is hinged to the middle of the parallel rod 47. It can move with the sliding plate 42 to push or pull the parallel rod 47 to swing. The rectangular opening guides the sliding of the connecting block, ensuring that the axial movement of the sliding plate 42 can be accurately transmitted to the second elastic telescopic rod, thereby driving the parallel rod 47 to swing, realizing the opening and closing of the support ball 51. The transmission process is precise and efficient.

[0046] A drive screw 43 is threadedly connected to the middle of the sliding plate 42. Both ends of the drive screw 43 are rotatably connected to the mounting tube 39. A drive motor 44 is fixedly connected to the end of the mounting tube 39 away from the mating plate 33. The drive motor 44 is located inside the connecting frame 45 and is protected by the connecting frame 45. The power output end of the drive motor 44 is coaxially fixedly connected to the drive screw 43. The sliding plate 42 is threadedly connected to the drive screw 43 at its middle part. The two ends of the drive screw 43 are rotatably connected to the inner wall of the mounting tube 39 through bearings. The drive motor 44 is fixed at the end of the mounting tube 39 and located inside the connecting frame 45. The connecting frame 45 can prevent collisions and protect the drive motor 44. The output end of the drive motor 44 is coaxially fixed with the drive screw 43. When rotating forward, it drives the sliding plate 42 to move away from the drive motor 44, and pushes the parallel rod 47 to swing through the second elastic telescopic rod, pressing the support ball 51 against the inner wall of the pipe. When rotating in reverse, the sliding plate 42 moves in the opposite direction, and the support ball 51 returns to its original position, which facilitates the entry and exit of the device from the pipe and improves the stability of the device when walking and turning. The threaded drive method can achieve precise displacement control of the sliding plate 42, thereby accurately adjusting the clamping force of the support ball 51, which not only ensures the stability of the device during operation, but also avoids damage to the inner wall of the pipe or difficulty in moving the device due to excessive pressure.

[0047] In use, the guide component is fixed to the top plate 2 via the connecting clamp 28. The fixing bolt 30 is rotated to press the fixing pad 29 against the top plate 2, thus completing the reliable connection between the guide component and the fixing device. The height of the top plate 2 is controlled according to the inner diameter of the pipe, so that the guide wheel 46 is located at the center of the pipe. This allows it to adapt to pipes with different inner diameters, ensuring that the guide wheel 46 can be adjusted to the center of the pipe for pipes with different inner diameters. The device is placed at the pipe inlet, and the drive motor 44 is started. The drive motor 44 drives the drive screw 43 to rotate, causing the sliding plate 42 to move axially along the mounting tube 39. The second elastic telescopic rod pushes the parallel rod 47 to swing, thereby causing the support seat 48 and the support ball 51 to open outwards until the support ball 51 gently touches the inner wall of the pipe, achieving initial centering support for the device. Then, the moving motor 14 of the traveling device is started, and the moving wheel 13 rolls on the inner wall of the pipe, driving the device to slowly enter along the pipe axial direction. When the device moves to the vicinity of the preset marking start area, the marking machine is started and the marking head 7 marks the pipe. During the marking process, the moving motor 14 moves the marking head 7 to adjust the position of the laser marking in the length direction of the pipe. The lifting motor 10 drives the lifting screw 11 to rotate, and pushes the column 4 to lift axially through the threaded transmission to adjust the height of the marking head 7. The asynchronous motor 18 is started. The asynchronous motor 18 drives the marking head 7 to rotate around the ball bearing axis through the meshing transmission of the drive gear 20 and the driven gear 19, and adjusts the laser emission angle of the marking head 7 to ensure that the marking trajectory is consistent with the preset pattern to complete the marking operation. If the pipe has a bend, during movement, the guide wheel 46 can first press against the inner wall of the bend. The inner wall of the pipe generates a lateral force on the guide wheel opposite to the direction of the bend. This lateral force is transmitted to the mating plate 33 through the connecting bracket 45, the mounting pipe 39, and the connecting screw 40. The mating plate 33 transmits the force to the support plate 35, which is fixedly connected to it. Since the support plate 35 is connected to the mounting plate 27 through a hinge point, this lateral force forms a torque on the hinge point, forcing the support plate 35 to swing horizontally around its hinge point. The swing of the support plate 35 will pull or push the second hinge rod 36 hinged at both ends. The second hinge rod 36 will then push the connecting slider 37 to slide in the connecting groove of the mounting plate 27. The movement of the connecting slider 37 compresses the return spring 38 at one end, so that the return spring 38 stores elastic potential energy. The final manifestation of the above process is that the entire guide frame, as a whole, undergoes a deflection that adapts to the bending direction of the pipe. At the same time, under the elastic support of the first and second elastic telescopic rods, the end support ball 51 can adjust its posture in time and continue to be evenly supported on the inner wall of the bend, ensuring that the device still has a stable centering effect when turning. Throughout the process, the parallelogram structure ensures that no matter how the first elastic telescopic rod extends or retracts, the posture of the support seat 48 and the support ball 51 on it remains unchanged, that is, it is always perpendicular to the axis of the installation pipe, or always pointing to the center of the pipe, which avoids the support ball 51 from tilting, scraping or point contacting the pipe wall, and ensures the stability and low wear of the support. Once the device has completely passed through the bend and entered the straight section or completed the turn, the guide wheel 46 is no longer subjected to strong and continuous lateral forces from the inner wall of the bend. The previously compressed return spring 38 releases its stored elastic potential energy, pushing the connecting slider 3 to move along the connecting groove to the initial equilibrium position. The movement of the connecting slider 37 is transmitted in the reverse direction through the second hinge rod 36, which pulls the support plate 35 back to its initial central position around its hinge point. The return of the support plate 35 causes the mating plate 33 and the entire guide frame connected to it to return to the initial state parallel to the direction of travel of the device, preparing for the next turn or straight movement.

[0048] This invention achieves an "elastically adaptive" guiding function by setting up a linked swing mechanism consisting of a support plate 35, a second hinge rod 36, a connecting slider 37, and a return spring 38. This structure allows the device to passively and smoothly turn in curves, and automatically return to the correct position after turning through the return mechanism.

[0049] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A laser marking walking device for the inner wall of a pipe, characterized in that, The walking device, the fixing device and the marking device are arranged from bottom to top, and the fixing device is provided with guiding components on the left and right sides respectively; The fixing device comprises a bottom plate (1) and a top plate (2) installed on the upper side of the bottom plate (1) and capable of lifting, and the lower side of the top plate (2) is connected with a gravity ball (8); The marking device comprises a horizontal boss (6) installed on the upper side of the top plate (2) and a marking head (7) rotatably connected to one end of the horizontal boss (6), and the horizontal boss (6) is provided with a driving component for controlling the rotation of the marking head (7); The walking device comprises rudder wheel components installed at the four corners of the bottom plate (1). The guiding component comprises a guiding frame and a linkage component connected with the guiding frame, and the other end of the linkage component is detachably connected with the top plate (2).

2. A laser marking trolley for the internal wall of a pipe according to claim 1, characterized in that: The surface of the top plate (2) is provided with a sliding hole, and a stand (4) is slidably connected to the inner side of the sliding hole; the four corners of the top plate (2) are respectively fixedly connected with telescopic rods (3), and the lower ends of the telescopic rods (3) are respectively fixedly connected with the bottom plate (1); the lower side of the stand (4) is threadedly connected with a lifting screw (11), the upper end of the bottom plate (1) is fixedly connected with a lifting motor (10), the power output end of the lifting motor (10) is fixedly connected with the lifting screw (11), and the lifting screw (11) can drive the stand (4) to lift when rotating through the threaded connection with the stand (4).

3. A laser marking trolley for use on the internal wall of a pipe as claimed in claim 2, characterised in that: The upper end of the stand (4) is fixedly connected with a horizontally arranged connecting plate (5), the horizontal boss (6) is slidably connected with the connecting plate (5); the other end of the horizontal boss (6) is fixedly connected with a connecting frame (21), the lower end of the connecting frame (21) is slidably connected with a fixed pin (22) capable of moving up and down, the surface of the connecting plate (5) corresponding to the fixed pin (22) is provided with a fixed groove, and one end of the fixed pin (22) is engaged with the fixed groove; The lower end of the connecting frame (21) is hingedly connected with a swing plate (23) capable of swinging up and down, a spring sheet (24) is arranged between one side of the swing plate (23) and the connecting frame (21), one end of the spring sheet (24) is fixedly connected with the connecting frame (21), the other end of the spring sheet (24) is abutted against the surface of the swing plate (23), and the swing plate (23) can store the force of the spring sheet (24) when swinging; the other end of the swing plate (23) is provided with a key-shaped groove (25), the surface of the fixed pin (22) is fixedly connected with a connecting pin (26), the connecting pin (26) is slidably connected with the key-shaped groove (25), and the swing plate (23) can drive the fixed pin (22) to disengage from the fixed groove through the sliding connection between the key-shaped groove (25) and the connecting pin (26) when swinging.

4. A laser marking trolley for use on the internal wall of a pipe as claimed in claim 1 characterised in that: The driving component comprises an asynchronous motor (18) fixedly connected with the upper end of the horizontal boss (6), the power output end of the asynchronous motor (18) is fixedly connected with a driving gear (20), the lower side of the driving gear (20) is engaged with a driven gear (19), the middle part of the driven gear (19) is fixedly connected with a ball bearing, the ball bearing comprises an inner ring and an outer ring, the inner ring is fixedly connected with the horizontal boss (6), and the outer ring is fixedly connected with the inner wall of the driven gear (19).

5. A laser marking trolley for use on the internal wall of a pipe as claimed in claim 1 characterised in that: The rudder wheel part comprises a connecting seat (12) rotatably connected to the lower end of the bottom plate (1), the surface of the connecting seat (12) is fixedly connected with a moving motor (14), the power output end of the moving motor (14) is coaxially fixedly connected with a moving wheel (13), and the circumferential surface of the moving wheel (13) is in contact with the ground.

6. A laser marking trolley for use on the internal wall of a pipe as claimed in claim 1 characterised in that: The guiding part further comprises a mounting plate (27), the two ends of the mounting plate (27) are fixedly connected with connecting clamps (28) respectively, the two ends of the top plate (2) are respectively arranged on the inner sides of the connecting clamps (28), the lower ends of the connecting clamps (28) are respectively threadedly connected with fixed bolts (30), the upper ends of the fixed bolts (30) are rotatably connected with fixed pads (29) respectively, the fixed pads (29) are located on the lower side of the top plate (2), and the clamping force of the fixed pads (29) on the top plate (2) is realized by rotating the fixed bolts (30).

7. A laser marking trolley for use on the internal wall of a pipe as claimed in claim 6 wherein: The connecting part comprises a matching plate (33) located on one side of the mounting plate (27), one end of the matching plate (33) is fixedly connected with a support plate (35), the other end of the support plate (35) is hingedly connected with the mounting plate (27), the support plate (35) can swing horizontally, the two ends of the support plate (35) are respectively hingedly connected with second hinge rods (36), the other ends of the second hinge rods (36) are respectively hingedly connected with connecting sliding blocks (37), the two sides of one end of the mounting plate (27) towards the support plate (35) are respectively provided with connecting sliding grooves, the connecting sliding blocks (37) are respectively slidably connected with the connecting sliding grooves, and the two ends of the connecting sliding blocks (37) are respectively fixedly connected with return springs (38), the other ends of the return springs (38) are respectively fixedly connected with the inner walls of the connecting sliding grooves.

8. A laser marking trolley for use on the internal wall of a pipe as claimed in claim 7, characterised in that: One end of the mounting pipe (39) is fixedly connected with a connecting screw rod (40), the connecting screw rod (40) is threadedly connected with the middle part of the matching plate (33), the other end of the connecting screw rod (40) is threadedly connected with a fixed knob (41); the other end of the mounting pipe (39) is fixedly connected with a connecting frame (45), and the other end of the connecting frame (45) is rotatably connected with a guide wheel (46).

9. A laser marking trolley for use on the internal wall of a pipe as claimed in claim 8, characterised in that: The surface of the other end of the mounting pipe (39) away from the matching plate (33) is respectively hingedly connected with multiple groups of parallelogram structures, the parallelogram structure comprises two parallelly arranged parallel rods (47), the lower ends of the parallel rods (47) are respectively hingedly connected with the surface of the mounting pipe (39), the upper ends of the two parallel rods (47) are hingedly connected with a support seat (48), the upper end of the support seat (48) is fixedly connected with a first elastic telescopic rod, and the upper telescopic ends of the first elastic telescopic rod are respectively fixedly connected with support balls (51); The inside of the installation pipe (39) is slidably connected with a sliding plate (42) capable of moving in the axial direction. The circumferential surface of the sliding plate (42) is respectively provided with a plurality of connecting blocks, and the surface of the installation pipe (39) is respectively provided with a plurality of rectangular openings capable of being slidably matched with the connecting blocks. The connecting blocks are respectively slidably matched inside the rectangular openings, and the outer end of each connecting block is respectively hingedly connected with a second elastic telescopic rod. The other end of each second elastic telescopic rod is respectively hingedly connected with a corresponding parallel rod (47). The middle part of the sliding plate (42) is threadedly connected with a driving screw (43). The two ends of the driving screw (43) are rotatably connected with the installation pipe (39). The end of the installation pipe (39) away from the matching plate (33) is fixedly connected with a driving motor (44). The driving motor (44) is located inside a connecting frame (45) and is protected by the connecting frame (45). The power output end of the driving motor (44) is fixedly connected with the driving screw (43) in the same axis.

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