Magnetic type ball wheel pipeline rust removal robot

Abstract

The invention discloses a magnetic attraction type ball wheel pipeline rust removal robot, and belongs to the technical field of pipeline cleaning robots, the magnetic attraction type ball wheel pipeline rust removal robot comprises a bottom plate, a chassis, a ball wheel, a laser rust removal head, a steering mechanism and an adjusting mechanism, the steering mechanism drives a small gear to be meshed with a large gear through a first motor to achieve chassis steering, and the ball wheel is directly driven to roll through a second motor; and the adjusting mechanism comprises a lead screw module, the lead screw module is arranged on the stand column to drive the laser rust removal head to ascend, descend and move leftwards and rightwards, and the angle of the laser rust removal head can be adjusted through transmission of a motor driving belt. The problems that an existing pipeline robot is inconvenient to steer, unstable in adsorption and uneven in rust removal effect are solved, and the purposes that steering is flexible, adsorption is stable, the operation distance is automatically adjusted, and it is ensured that rust removal is even and efficient are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline cleaning robots, in particular to a magnetic type ball wheel pipeline rust removal robot. BACKGROUND

[0002] Metal pipelines are key facilities for industrial transportation and are applied in the fields of petroleum, chemical industry, natural gas, etc. However, during long-term use, the inner wall of the pipeline will produce rust, scaling and other defects. These defects not only reduce the transportation efficiency, but also cause safety hazards. Therefore, it is crucial to regularly detect and maintain the pipeline.

[0003] The existing pipeline rust removal robot adopts a wheel type or a track type structure for movement. When driving in a straight horizontal pipeline, it can still meet the demand, but when facing a pipeline elbow, a vertical pipeline section or an inverted pipeline section, the traditional wheel type structure will slip and the adhesion is insufficient. Although the track type structure has slightly stronger adhesion, the steering mechanism of the track type structure is complex, the maneuverability is poor in a narrow space, and it is difficult to adapt to changes in different pipe diameters, resulting in limited movement and existing cleaning dead angles.

[0004] In terms of rust removal, the traditional mechanical polishing or high-pressure water jet method has the problems of low efficiency, damage to the pipeline matrix or secondary pollution. Although laser rust removal has been applied as a new green technology, the laser head and the focal distance of the working surface have very strict requirements. The existing laser rust removal robot rigidly fixes the laser head on the machine body, and the inner wall of the pipeline has ellipticity, welds or unevenness, so that the actual distance between the laser head and the pipeline wall changes constantly when the robot moves, and it is difficult to maintain a constant optimal focal distance, which seriously affects the uniformity and thoroughness of rust removal.

[0005] Therefore, the present application proposes a magnetic type ball wheel pipeline rust removal robot to solve the problems of the prior art. SUMMARY

[0006] In view of the problems of the prior art that the steering mechanism of the magnetic type ball wheel pipeline rust removal robot is complex, the maneuverability is poor in a narrow space, it is difficult to adapt to changes in different pipe diameters, the magnetic adsorption is unstable, and the laser rust removal head is difficult to maintain a constant distance from the inner wall of the pipeline, resulting in uneven rust removal effect, the present application aims to provide a magnetic type ball wheel pipeline rust removal robot with an improved structure that can effectively solve the above problems.

[0007] The present application provides a magnetic type ball wheel pipeline rust removal robot, which comprises a bottom plate, a chassis, a ball wheel and a laser rust removal head, a steering mechanism composed of a large gear, a motor one, a pinion, a motor two, a straight gear one, a rotating bearing, a straight gear two, a flange, a square bearing, a support two and an annular magnet, and an adjusting mechanism arranged on a stand column.

[0008] The large gear is fixed to the bottom of the base plate, and the chassis is rotatably connected to the inner wall of the large gear. The first motor drives the small gear meshing with the large gear to rotate the chassis. The second motor drives the first spur gear, which meshes with the second spur gear to rotate the flange fixedly connected to the ball wheel. The second bracket is supported inside the ball wheel by the square bearing. The annular magnet is fixed to the outer wall of the second bracket. The adjustment mechanism is connected to the top of the base plate by the column, and the laser rust removal head is mounted on the adjustment mechanism.

[0009] Preferably, a connecting frame is fixed to the bottom of the chassis, a bracket is fixed to the outer wall of the connecting frame, the second motor and the rotating bearing are both mounted on the bracket, and the second spur gear and the flange are both fixedly connected to the outer wall of the rotating bearing.

[0010] Preferably, the adjustment mechanism includes a lead screw module fixedly connected to the outer wall of the column, and a connecting rod threadedly connected to the lead screw module, with the laser rust removal head connected to the connecting rod.

[0011] Preferably, the lead screw module adopts a double lead screw structure to improve the smoothness of lifting.

[0012] Preferably, the adjustment mechanism further includes a support bracket fixed to the top of the connecting rod, and the laser rust removal head is slidably connected to the inner wall of the support bracket.

[0013] Preferably, the top of the support frame is rotatably connected to a fixed cover, the front side of the fixed cover is fixed with a locking lug, and the front side of the support frame is fixed with a latch that cooperates with the locking lug to lock.

[0014] Preferably, the magnetic ball wheel pipe rust removal robot also includes a lidar, which is fixedly connected to the top of the base plate and used to scan the pipe environment.

[0015] Preferably, the magnetic ball wheel pipe rust removal robot also includes a camera, which is fixedly connected to the bottom front side of the connecting rod for close-range observation of the pipe wall.

[0016] The present invention has the following beneficial effects: 1. This invention designs a steering mechanism and a ball wheel drive mechanism. Steering is achieved by meshing a small gear with a fixed large gear to deflect the chassis. Drive is achieved by a motor to make the ball wheel roll. At the same time, a magnetic adsorption module is set inside the ball wheel to maintain a stable posture. This solves the problems of rigid structure, inconvenient steering, difficulty in adapting to different pipe diameters and unstable adsorption in existing pipeline robots.

[0017] 2. This invention, by setting an adjustment mechanism driven by a lead screw module and cooperating with laser radar and camera to monitor the distance in real time, realizes automatic closed-loop control of the position of the laser rust removal head, which solves the problem that existing rust removal devices are unable to maintain a constant distance between the working head and the irregular inner wall of the pipe, resulting in uneven rust removal effect and the existence of cleaning dead corners. Attached Figure Description

[0018] Figure 1 This is a perspective view of a magnetic ball wheel pipe rust removal robot proposed in this invention; Figure 2 This is a side view of a magnetic ball wheel pipe rust removal robot proposed in this invention; Figure 3 This is a schematic diagram of the chassis structure of a magnetic ball wheel pipe rust removal robot proposed in this invention; Figure 4 This is a split view of the large gear of a magnetic ball wheel pipe rust removal robot proposed in this invention; Figure 5 This is a cross-sectional view of the ball wheel of a magnetic ball wheel pipe rust removal robot proposed in this invention; Figure 6 This is an exploded view of the laser rust removal head of a magnetic ball wheel pipe rust removal robot proposed in this invention.

[0019] Legend: 1. Base plate; 2. Chassis; 3. Connecting frame; 4. Bracket 1; 5. Steering mechanism; 501. Large gear; 502. Motor 1; 503. Small gear; 504. Motor 2; 505. Spur gear 1; 506. Rotary bearing; 507. Spur gear 2; 508. Flange; 509. Square bearing; 510. Bracket 2; 511. Ring magnet; 512. Ball wheel; 6. Column; 7. Laser rust removal head; 8. Adjustment mechanism; 801. Screw module; 802. Connecting rod; 803. Support frame; 804. Fixing cover; 805. Locking lug; 806. Lock; 9. LiDAR; 10. Camera. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example: Please refer to Figures 1 to 6This invention provides a magnetic ball wheel pipe rust removal robot, aiming to solve the problems of existing pipe robots, such as rigid structure, poor adaptability to different pipe diameters, unstable adsorption, and difficulty in maintaining a constant distance between the working head and the pipe wall. Figure 1 , Figure 2 and Figure 3 As shown, the magnetic ball wheel pipe rust removal robot includes a base plate 1. A steering mechanism 5 is fixedly connected to the bottom of the base plate 1. A column 6 is fixedly connected to the top rear side of the base plate 1. An adjustment mechanism 8 is fixedly connected to the outer wall of the column 6. A laser rust removal head 7 is mounted on the adjustment mechanism 8. A laser radar 9 is also fixedly connected to the top of the base plate 1. The steering mechanism 5 includes a large gear 501, which is fixedly connected to the bottom of the base plate 1. A chassis 2 is rotatably connected to the inner wall of the large gear 501. A motor 502 is fixedly connected to the top of the chassis 2. A small gear 503 is fixedly connected to the output end of the motor 502. The small gear 503 meshes with the large gear 501. Two connecting frames are fixedly connected to the bottom of the chassis 2. 3. The outer walls of two adjacent connecting frames 3 are fixedly connected to the same bracket 4. The outer wall of bracket 4 is fixedly connected to the motor 504. The output end of motor 504 is fixedly connected to the spur gear 505. The left and right sides of the inner wall of bracket 4 are rotatably connected to the rotating bearings 506. The outer wall of the rotating bearings 506 is fixedly connected to the spur gear 507 and the flange 508. The spur gear 505 meshes with the two spur gears 507. The ball wheel 512 is fixedly connected between the two adjacent flanges 508. The ball wheel 512 is coaxially arranged with a square bearing 509 inside. The outer wall of the square bearing 509 is fixedly connected to the bracket 510. Multiple ring magnets 511 are fixedly connected to the outer wall of the bracket 510.

[0022] Please refer to Figure 3 , Figure 4 and Figure 5The steering function of the lower steering mechanism 5 is achieved by a small gear 503 driven by a motor 502. The small gear 503 meshes with a large gear 501 fixed to the bottom of the base plate 1. Since the large gear 501 is a fixed part, when the motor 502 drives the small gear 503 to rotate, the small gear 503 will roll along the inner gear ring of the large gear 501, thereby driving the entire chassis 2, on which the motor 502 is mounted, to rotate around the center of the large gear 501, thus realizing the steering of the entire robot. At the same time, the robot's linear movement function is achieved by a motor 504. The motor 504, fixed on the bracket 4, drives a spur gear 505 to rotate. The spur gear 505 simultaneously meshes with a large gear 501 symmetrically arranged on the base plate 1. Two spur gears 507 on both sides of the inner wall of the support 4 mesh and drive the two spur gears 507 to rotate synchronously in opposite directions. Each spur gear 507 is installed through a rotating bearing 506 and fixedly connected to a flange 508. The flange 508 is fixedly connected to the ball wheel 512, which ultimately drives the ball wheel 512 to roll. To ensure the adsorption force, the support 510 is supported inside the ball wheel 512 by a square bearing 509. The ring magnet 511 is fixed to the outer wall of the support 510. This coaxial rotating but non-fixed connection structure allows the support 510 and the ring magnet 511 inside the ball wheel 512 to maintain a stable posture when the ball wheel 512 is rolling, ensuring that the magnetic attraction force always acts effectively on the pipe wall.

[0023] In a preferred embodiment, in order to achieve precise lifting and lowering adjustment of the laser rust removal head 7, the adjustment mechanism 8 includes a lead screw module 801 fixedly connected to the outer wall of the column 6. The lead screw module 801 is threadedly connected to the connecting rod 802, and the connecting rod 802 is slidably connected to the front side of the column 6. The laser rust removal head 7 can be adjusted up and down through the connecting rod 802. In order to improve the stability of the lifting process and the load resistance, the lead screw module 801 is preferably a double lead screw structure.

[0024] As another preferred embodiment, in order to facilitate the installation, fixing and replacement of the laser rust removal head 7, the adjustment mechanism 8 further includes a support bracket 803. The support bracket 803 is fixed to the top front side of the connecting rod 802. The laser rust removal head 7 is slidably connected to the inner wall of the support bracket 803. The top of the support bracket 803 is also rotatably connected to a fixing cover 804. A locking lug 805 is fixedly connected to the front side of the fixing cover 804. A latch 806 is fixedly connected to the corresponding position on the front side of the support bracket 803. The fixing cover 804 and the support bracket 803 are rotatably connected by a hinge structure. The locking lug 805 and the latch 806 form a self-locking latch structure, which can be easily opened and closed, thereby quickly fixing or disassembling the laser rust removal head 7 on the inner wall of the support bracket 803.

[0025] As another preferred embodiment, in order to achieve the perception of the pipeline environment and precise control of the working distance, a lidar 9 is fixedly connected to the top of the base plate 1. The lidar 9 is used to scan and establish a three-dimensional contour model of the pipeline. At the same time, a camera 10 is fixedly connected to the bottom front side of the connecting rod 802. The camera 10 is used to observe the surface condition of the pipe wall at close range and to assist in calibrating the actual distance between the laser rust removal head 7 and the pipe wall.

[0026] Working principle: When the robot needs to turn, motor 502 mounted on top of chassis 2 starts, driving the small gear 503 at its output end to rotate. Since the small gear 503 is always meshed with the large gear 501 fixed to the bottom of base plate 1, the rotation of the small gear 503 will cause planetary motion along the internal gear ring of the large gear 501, thereby causing the entire chassis 2, as well as the connecting frame 3, bracket 4, and ball wheel assembly connected to the chassis 2, to deflect around the central axis of the large gear 501. This allows the robot to turn in place or adjust its direction while moving. This design makes the turning action flexible and adaptable to narrow and curved pipe spaces. When the robot needs to move in a straight line, motor 504 fixed on bracket 4 starts, and motor 505... 04 drives the spur gear 505 to rotate, which simultaneously meshes with two symmetrically arranged spur gears 507, causing the two spur gears 507 and the fixedly connected flange 508 to rotate synchronously in opposite directions. Finally, it drives the ball wheel 512 fixedly connected to the flange 508 to roll, making the robot move forward or backward. During the entire movement, the annular magnet 511 located inside the ball wheel 512 always holds the robot on the pipe wall by magnetic attraction. The ball wheel 512 forms a rotational engagement with the bracket 510 that carries the annular magnet 511 through the square bearing 509. This allows the ball wheel 512 to roll freely, while the annular magnet 511 can maintain a relatively stable adsorption posture under the action of gravity, ensuring adsorption stability under different pipe diameters and tilt angles. When performing rust removal on the pipeline, the lidar 9 located on top of the base plate 1 first scans the internal environment of the pipeline to obtain the pipeline's outline and size information. At the same time, the camera 10 located at the bottom of the connecting rod 802 is aimed at the pipe wall to provide close-range visual feedback. Based on the data from the lidar 9 and the camera 10, the control unit calculates the ideal working distance between the laser rust removal head 7 and the pipe wall. Subsequently, the control unit drives the lead screw module 801 in the adjustment mechanism 8 to rotate. The lead screw module 801, which adopts a double lead screw structure, drives the connecting rod 802 connected to the thread to move smoothly up and down, thereby adjusting the height of the laser rust removal head 7 on the support frame 803. This ensures that the laser rust removal head 7 and the inner wall of the pipeline always maintain a constant optimal focal length, ensuring that the laser energy acts efficiently on the rust surface and achieves a uniform and residue-free cleaning effect. Through this closed-loop control, the robot can automatically adapt to changes in pipeline diameter or surface unevenness, ensuring continuous and efficient rust removal quality.

Claims

1. A magnetic ball wheel pipe rust removal robot, comprising a base plate (1), a chassis (2), a ball wheel (512) and a laser rust removal head (7); Its features are, The robot also includes a steering mechanism (5) consisting of a large gear (501), a first motor (502), a small gear (503), a second motor (504), a first spur gear (505), a rotating bearing (506), a second spur gear (507), a flange (508), a square bearing (509), a second bracket (510), and a ring magnet (511). The large gear (501) is fixed to the bottom of the base plate (1), and the chassis (2) is rotatably connected to the inner wall of the large gear (501). The first motor (502) drives the small gear (503) that meshes with the large gear (501). The chassis (2) is turned by the motor (2), the motor (504) drives the spur gear (505), the spur gear (505) meshes with the spur gear (507) to drive the flange (508) which is fixedly connected to the ball wheel (512) to rotate. The ball wheel (512) supports the bracket (510) through the square bearing (509). The ring magnet (511) is fixed to the outer wall of the bracket (510). The top of the base plate (1) is connected to the adjustment mechanism (8) through the column (6). The laser rust removal head (7) is set on the adjustment mechanism (8).

2. The magnetic ball wheel pipe rust removal robot according to claim 1, characterized in that, The chassis (2) has a connecting frame (3) fixed at the bottom. The connecting frame (3) has a bracket (4) fixed on its outer wall. The motor (504) and the rotating bearing (506) are both mounted on the bracket (4). The spur gear (507) and the flange (508) are both fixedly connected to the outer wall of the rotating bearing (506).

3. The magnetic ball wheel pipe rust removal robot according to claim 1, characterized in that, The adjustment mechanism (8) includes a screw module (801) fixedly connected to the outer wall of the column (6) and a connecting rod (802) threadedly connected to the screw module (801), and the laser rust removal head (7) is connected to the connecting rod (802).

4. The magnetic ball wheel pipe rust removal robot according to claim 3, characterized in that, The lead screw module (801) adopts a double lead screw structure.

5. A magnetic ball wheel pipe rust removal robot according to claim 3, characterized in that, The adjustment mechanism (8) also includes a support bracket (803) fixed to the top of the connecting rod (802), and the laser rust removal head (7) is slidably connected to the inner wall of the support bracket (803).

6. The magnetic ball wheel pipe rust removal robot according to claim 5, characterized in that, The top of the support frame (803) is rotatably connected to a fixed cover (804), and a lock lug (805) is fixed on the front side of the fixed cover (804). A latch (806) that cooperates with the lock lug (805) to lock the support frame (803) is fixed on the front side.

7. The magnetic ball wheel pipe rust removal robot according to claim 1, characterized in that, A laser radar (9) is also fixedly connected to the top of the base plate (1).

8. A magnetic ball wheel pipe rust removal robot according to claim 3, characterized in that, A camera (10) is also fixedly connected to the bottom front side of the connecting rod (802).

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