Alternating fixed type pipeline inner wall rust removal robot

Abstract

The application provides an alternating fixed pipeline inner wall rust removal robot, which comprises coaxially arranged rust removal structure, first step fixing structure and second step fixing structure, the rust removal structure is connected with the first step fixing structure, the first step fixing structure is connected with the second step fixing structure through a reversing structure, the rust removal structure is driven to advance or retreat through the action of the first step fixing structure and the second step fixing structure and the cooperation with the reversing structure, the rust removal structure removes rust and produces a deflection angle in a curved pipeline to make the rust removal structure adaptable to the trend of the curved pipeline. The rust removal robot adopts a modular symmetrical design, the structure is compact and stable, the structure is clear, the expansion mechanism composed of four connecting rods can provide strong and uniform radial anchoring force, the stability of the whole machine during rust removal operation is ensured, the curved pipe passability is strong, the step-by-step movement of the robot is realized, and the movement and support functions of the rust removal robot are combined.

Description

Technical Field

[0001] This invention belongs to the field of pipeline maintenance technology, and in particular relates to an alternating fixed pipeline inner wall rust removal robot. Background Technology

[0002] Metal pipes in industrial and municipal pipeline networks are prone to corrosion. Traditional rust removal methods, such as manual brushing or passive pipe cleaning devices, suffer from low efficiency and limited applicability. Existing pipe rust removal robots mostly employ wheeled or tracked continuous walking designs, with their mobile chassis and rust removal mechanism operating independently. This design has inherent flaws: to provide sufficient rust removal reaction force, the robot needs to be in close contact with the pipe wall, which increases movement resistance and leads to discontinuous operation; if the contact force is insufficient, slippage is likely during rust removal. Furthermore, these robots generally lack flexibility when navigating bends in pipes. Therefore, there is an urgent need for a compact, stable, and bend-adaptable autonomous pipe rust removal device. Summary of the Invention

[0003] In view of the above problems, the present invention provides an alternating fixed pipe inner wall rust removal robot to solve the above or other problems existing in the prior art.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an alternating fixed pipe inner wall rust removal robot, including a rust removal structure, a first step fixing structure and a second step fixing structure arranged coaxially. The rust removal structure is connected to the first step fixing structure, and the first step fixing structure and the second step fixing structure are connected through a reversing structure. The rust removal structure is driven to move forward or backward by the movement of the first step fixing structure and the second step fixing structure, and in cooperation with the reversing structure. The rust removal structure removes rust and generates a deflection angle in the curved pipe so that the rust removal structure can adapt to the curved pipe direction.

[0005] Furthermore, both the first and second step fixing structures include an installation body, a telescopic device located within the installation body, and a stepping device connected to the installation body. The stepping device can move relative to the installation body, moving closer to or further away from the installation body, so that the first and second step fixing structures are fixed inside the pipe or detached from the pipe.

[0006] Furthermore, the stepping device includes a stepping drive, a linkage mechanism connected to the stepping drive, and a stepping member. The linkage mechanism is connected to the mounting body, and the stepping member is connected to the linkage mechanism. The stepping drive drives the stepping member to move through the linkage mechanism, so that the stepping member expands or contracts along the radial direction of the pipe.

[0007] Furthermore, the linkage mechanism includes a driving link and at least one driven link. The driving link is hinged to the stepper drive component, and the driven link is hinged to the mounting body. Both the driving link and the driven link are hinged to the stepper component.

[0008] Furthermore, there are multiple linkage mechanisms and multiple stepper components. Each linkage mechanism is connected to one stepper component. Multiple linkage mechanisms are arranged sequentially along the circumferential direction of the mounting body. Each linkage mechanism is connected to the stepper drive component and the mounting body respectively.

[0009] Furthermore, the telescopic device includes multiple telescopic components, which are arranged sequentially along the circumferential direction of the mounting body.

[0010] Furthermore, the first step fixing structure and the second step fixing structure are arranged opposite to each other, and the telescopic components of the first step fixing structure and the telescopic components of the second step fixing structure correspond one-to-one. The corresponding telescopic components of the first step fixing structure and the telescopic components of the second step fixing structure are connected by a reversing structure.

[0011] Furthermore, the shape of the side of the stepper that contacts the inner wall of the pipe is adapted to the shape of the inner wall of the pipe, and the contact surface of the stepper with the pipe is provided with anti-slip parts, and the reversing structure is a universal joint.

[0012] Furthermore, the rust removal structure includes a rust removal body, a rust removal drive unit connected to the rust removal body, and a rust removal component connected to the rust removal drive unit. The rust removal drive unit drives the rust removal component to rotate, thereby removing rust.

[0013] Furthermore, it also includes a camera device, which is mounted on the rust removal structure.

[0014] By adopting the above technical solution, the alternating fixed pipe inner wall rust removal robot has a first step fixing structure, a second step fixing structure, and a rust removal structure. The first step fixing structure has a first step device and a first telescopic device, and the second step fixing structure has a second step device and a second telescopic device. Through the alternating fixing of the first step device and the second step device with the pipe and the coordinated extension and retraction of the first telescopic device and the second telescopic device, the robot's step-like movement is realized. During rust removal operation, at least one step device is in a fixed state, providing stable support for the robot body, solving the problem of slippage in continuous walking robots during rust removal, realizing efficient and continuous operation, and combining the movement and support functions of the rust removal robot.

[0015] The first telescopic device and the second telescopic device are connected by a universal joint. By independently controlling the stroke of each first telescopic component and the second telescopic component, and by utilizing the degree of freedom of the universal joint, a relative deflection angle can be generated between the first step fixed structure and the second step fixed structure, so that the robot can actively adjust its posture to adapt to the curved pipe. It has strong passability and enables the rust removal robot to actively adapt to the curved pipe.

[0016] The rust removal robot adopts a modular symmetrical design, with a compact and stable structure and a clear structure. The four-bar linkage structure provides a strong and uniform radial anchoring force, ensuring the stability of the whole machine during rust removal operations. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall three-dimensional structure of a rust removal robot according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the overall exploded structure of a rust removal robot according to an embodiment of the present invention;

[0019] Figure 3 This is an exploded view of the second step fixing structure according to an embodiment of the present invention;

[0020] Figure 4 This is an exploded view of the first step fixing structure according to an embodiment of the present invention;

[0021] Figure 5 This is a side view of a rust removal robot performing rust removal operations inside a straight pipe, according to an embodiment of the present invention.

[0022] Figure 6 This is a three-dimensional structural diagram of a rust removal robot performing rust removal operations inside a straight pipe, according to an embodiment of the present invention.

[0023] Figure 7 This is a side view of a rust removal robot performing rust removal operations inside a curved pipe, according to an embodiment of the present invention.

[0024] Figure 8 This is a three-dimensional structural diagram of a rust removal robot performing rust removal operations inside a curved pipe, according to an embodiment of the present invention.

[0025] Figure 9 This is a front view schematic diagram of a rust removal robot performing rust removal operations inside a pipe, according to an embodiment of the present invention.

[0026] In the picture:

[0027] 1. Second stepper fixing structure; 2. First stepper fixing structure; 3. Rust removal structure; 4. Second stepper drive component; 5. Second fixing plate; 6. Second stepper component; 7. Second pin; 8. Second driven link; 9. Second drive link; 10. Second mounting body; 11. Second telescopic component; 12. First bolt; 13. Universal joint; 14. First stepper component; 15. First pin; 16. First drive link; 17. First driven link; 18. Second bolt; 19. First telescopic component; 20. First mounting body; 21. First fixing plate; 22. First stepper drive component; 23. Flange bolt; 24. Rust removal body; 25. Rust removal fixing plate; 26. Rust removal drive component; 27. Rust removal component; 28. Bearing; 29. ​​Camera device; 30. Pipeline. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0029] Figure 1 The diagram shows a structural schematic of an embodiment of the present invention. This embodiment relates to an alternating fixed pipe inner wall rust removal robot, used for rust removal of the inner walls of straight and curved pipes. By alternately fixing a first step fixing structure and a second step fixing structure, the rust removal structure moves forward and removes rust from the pipe. The movement and rust removal operation support functions are combined into one, realizing efficient and stable continuous rust removal operation. The first step fixing structure and the second step fixing structure are connected by a reversing structure, which gives the rust removal robot good pipe bending passability and adaptability to pipe bending rust removal.

[0030] An alternating fixed-position pipe rust removal robot, such as Figure 1-4 As shown, the system includes a rust removal structure 3, a first-step fixing structure 2, and a second-step fixing structure 1, all coaxially arranged. The rust removal structure 3 is used to remove rust from the inner wall of the pipe 30. The first-step fixing structure 2 and the second-step fixing structure 1 are used to fix the rust removal structure 3 inside the pipe 30 during the rust removal operation and to support the rust removal structure 3. The rust removal structure 3 is connected to the first-step fixing structure 2, and the first-step fixing structure 2 and the second-step fixing structure 1 are connected by a reversing structure. The movement of the first-step fixing structure 2 and the second-step fixing structure 1 drives the rust removal structure 3 to move forward or backward, thus performing rust removal. The coordinated movement of the first-step fixing structure 2 and the second-step fixing structure 1 enables the rust removal structure 3 to move forward or backward. The reversing structure allows the position of the transmission axis of the first-step fixing structure 2 and the second-step fixing structure 1 to be changed, generating a deflection angle in the curved pipe 30 so that the rust removal structure 3 can move along the curved pipe 30, giving the rust removal robot good pipe bending passability.

[0031] The first step fixing structure 2 and the second step fixing structure 1 are coaxially arranged. The second step fixing structure 1 is coaxially arranged and fixedly connected to the rust removal structure 3. This ensures that when the rust removal robot performs rust removal operations in the straight pipe 30, the transmission axis directions of the first step fixing structure 2 and the second step fixing structure 1 are consistent and located on the same straight line, moving forward in a straight direction. When the rust removal robot performs rust removal operations in the curved pipe 30, the transmission axis directions of the first step fixing structure 2 and the second step fixing structure 1 can be offset by an angle under the action of the reversing structure. This allows the rust removal robot to adapt to the direction of the curved pipe 30 and perform rust removal operations in the curved pipe 30, improving the flexibility of the rust removal robot in passing through the curved pipe 30.

[0032] Specifically, such as Figure 2-4 As shown in Figure 9, both the first step fixing structure 2 and the second step fixing structure 1 include an installation body, a telescopic device located within the installation body, and a stepping device connected to the installation body. The installation body serves as a supporting frame, facilitating the installation of the telescopic device and the stepping device. The stepping device ensures that either the first step fixing structure 2 or the second step fixing structure 1 is fixed within the pipe 30. The stepping device can move relative to the installation body, moving closer to or further away from it, thus fixing either the first step fixing structure 2 or the second step fixing structure 1. The stepping device is positioned inside or detached from the pipe 30. When the stepping device moves away from the installation body, it contacts the inner wall of the pipe 30, fixing the first stepping fixing structure 2 or the second stepping fixing structure 1 inside the pipe 30, thus anchoring the rust removal robot inside the pipe 30. When the stepping device moves closer to the installation body, it detaches from the inner wall of the pipe 30, at which point the first stepping fixing structure 2 or the second stepping fixing structure 1 can move. The telescopic device allows the first stepping fixing structure 2 and the second stepping fixing structure 1 to move forward or backward along the axis of the pipe 30.

[0033] The aforementioned mounting body is a tubular structure with openings at both ends and an internal accommodating space. The openings at both ends allow the internal accommodating space to communicate with the outside of the mounting body, enabling the telescopic device to be installed inside and extend to the outside of the mounting body. This facilitates the connection between the telescopic device of the first step fixing structure 2 and the telescopic device of the second step fixing structure 1, and also facilitates the connection between the stepping device and the interior of the mounting body, with a portion located on the outside of the mounting body. The cross-sectional shape of the mounting body can be circular, square, or other shapes, depending on actual needs; specific requirements are not specified here.

[0034] The mounting body has a certain length, and multiple mounting ears are provided on the outer periphery of the mounting body for connecting with the stepper device. The length of the mounting body can be selected and set according to actual needs, and no specific requirements are specified here.

[0035] The aforementioned stepping device includes a stepping drive, a linkage mechanism connected to the stepping drive, and a stepping member. The linkage mechanism is connected to the mounting body, and the stepping member is connected to the linkage mechanism. The stepping drive serves as a power source to drive the linkage mechanism to move. The linkage mechanism is used to transmit motion, and the stepping member is used to contact the inner wall of the pipe 30. The stepping drive drives the stepping member to move through the linkage mechanism, so that the stepping member expands or contracts along the radial direction of the pipe 30. When the stepping member expands, it can contact the inner wall of the pipe 30, anchoring the first stepping fixing structure 2 or the second stepping fixing structure 1 inside the pipe 30. When the stepping member contracts, it disengages from the inner wall of the pipe 30, and the first stepping fixing structure 2 or the second stepping fixing structure 1 can move forward or backward.

[0036] The aforementioned stepper drive component is fixedly installed inside the mounting body, with the stepper drive component located at one end closest to the mounting body to facilitate connection with the linkage mechanism. This stepper drive component is a cylinder. It is fixedly installed inside the mounting body via a fixed plate structure. The fixed plate's shape conforms to the internal shape of the mounting body, allowing it to be fixedly installed inside the mounting body using screws or other connecting components. The fixed plate has mounting holes or mounting seats, and the stepper drive component can be fixedly connected to the fixed plate using bolts or other connecting components. To ensure stable installation of the stepper drive component inside the mounting body via the fixed plate, one or more fixed plates can be used, arranged sequentially along the axial direction of the mounting body, each fixedly connected to the stepper drive component.

[0037] The aforementioned linkage mechanism is a four-bar linkage, which expands or contracts the stepper component through its oscillation. This linkage mechanism includes a drive link and at least one driven link. The drive link is connected to the stepper drive component and serves as the power source for the linkage mechanism. The driven link is connected to the mounting body. Both the drive link and the driven link are connected to the stepper component. The stepper drive component drives the drive link, which in turn drives the driven link and the stepper component to move, thus expanding or contracting the stepper component along the radial direction of the pipe 30. Specifically, both the driving link and the driven link mentioned above are rod structures. The free end of the telescopic rod of the stepper drive is fixedly mounted with an ear seat, which has multiple ear holes. One end of the driving link is hinged to the ear seat at the free end of the telescopic rod of the stepper drive via a pin, so that the driving link can rotate relative to the telescopic rod of the stepper drive. One end of the driven link is hinged to the mounting ear seat on the outer peripheral side wall of the mounting body via a pin, so that the driven link can rotate relative to the mounting body. The other ends of the driving link and the driven link are both hinged to the stepper via pins, so that both the driving link and the driven link can rotate relative to the stepper. By swinging the driving link and the driven link, the stepper is moved, so that the stepper can move closer to or away from the mounting body to expand or tighten.

[0038] The aforementioned driven links are multiple, and multiple driven links are arranged sequentially along the axial direction of the mounting body. One end of each driven link is hinged to the mounting lug on the outer peripheral side of the mounting body, and the other end is hinged to the stepper, so that the structure of the stepper device is stable and can be stably anchored to the inner wall of the pipe 30, avoiding slippage when the rust removal robot performs rust removal operations, and enabling the rust removal robot to perform continuous operations.

[0039] The aforementioned linkage mechanisms and stepping components are multiple, with each linkage mechanism connected to one stepping component. These multiple linkage mechanisms are sequentially arranged along the circumferential direction of the mounting body. Each linkage mechanism is connected to both the stepping drive and the mounting body. This arrangement of multiple linkage mechanisms and stepping components allows the stepping device to simultaneously contact multiple locations on the inner wall of the pipe 30, applying force to the pipe 30 from multiple locations along its radial direction. This ensures that the first stepping fixing structure 2 or the second stepping fixing structure 1 is stably anchored within the pipe 30. Preferably, the multiple linkage mechanisms are evenly spaced along the circumferential direction of the mounting body, ensuring balanced force distribution when the first stepping fixing structure 2 or the second stepping fixing structure 1 is fixed.

[0040] The aforementioned stepper is a plate-like structure, and the shape of the side of the stepper that contacts the inner wall of the pipe 30 is adapted to the shape of the inner wall of the pipe 30, so that the contact between the stepper and the inner wall of the pipe 30 is a surface contact, increasing the contact area between the stepper and the inner wall of the pipe 30. To reduce the relative sliding between the stepper and the inner wall of the pipe 30, an anti-slip element is provided on the contact surface between the stepper and the pipe 30. This anti-slip element is made of rubber, increasing the friction between the stepper and the inner wall of the pipe 30.

[0041] The aforementioned telescopic device includes multiple telescopic components, which are sequentially arranged along the circumferential direction of the mounting body. These components are connected to the inner wall of the mounting body via bolts or other connectors and are fixedly installed inside the mounting body. Alternatively, the multiple telescopic components can be fixedly mounted on a fixed plate, which is also fixedly installed inside the mounting body. The method of fixing the multiple telescopic components within the mounting body can be selected and configured according to actual needs; specific requirements are not specified here. The telescopic component is a cylinder, and its telescopic rod can extend out of the mounting body to facilitate connection with the corresponding cylinder's telescopic rod. By controlling the stroke differences of each telescopic component and cooperating with the reversing structure, the transmission axes of the first-step fixed structure 2 and the second-step fixed structure 1 are deflected, allowing the rust-removing robot to adapt to the direction of the curved pipe 30.

[0042] The first step fixing structure 2 is arranged opposite to the second step fixing structure 1. That is, the telescopic device of the first step fixing structure 2 corresponds to the telescopic device of the second step fixing structure 1. Multiple telescopic components of the first step fixing structure 2 correspond one-to-one with multiple telescopic components of the second step fixing structure 1. The corresponding telescopic components of the first step fixing structure 2 and the second step fixing structure 1 are connected by a reversing structure. This reversing structure is a universal joint 13. The telescopic rods of the two corresponding telescopic components are respectively connected to the two shafts (input shaft and output shaft) of the universal joint 13 through bushings.

[0043] The aforementioned rust removal structure 3 includes a rust removal body 24, a rust removal drive component 26 connected to the rust removal body 24, and a rust removal component 27 connected to the rust removal drive component 26. The rust removal drive component 26 drives the rust removal component 27 to rotate and remove rust. The rust removal body 24 facilitates the installation of the rust removal drive component 26 and the rust removal component 27. The rust removal drive component 26 serves as a power component to drive the rust removal component 27 to rotate. The rust removal component 27 is used to remove rust from the inner wall of the pipe 30.

[0044] The aforementioned rust-removing body 24 is a tubular structure with openings at both ends and internal accommodating space, and has a certain length. The length of the rust-removing body 24 can be selected and set according to actual needs, and no specific requirements are specified here. The cross-sectional shape of the rust-removing body 24 can be circular, square, or other shapes, and can be selected and set according to actual needs, and no specific requirements are specified here. Preferably, the shape and radial dimensions of the aforementioned rust-removing body 24 are adapted to the shape and radial dimensions of the mounting body, so that the rust-removing body 24 is fixedly connected to the mounting body of the second step fixing structure 1. The rust-removing body 24 and the mounting body are fixedly connected by flanges. Flanges are provided at the corresponding ends of the mounting body and the rust-removing body 24, and the two flanges are connected together by flange bolts 23, thereby connecting the mounting body of the second step fixing structure 1 and the rust-removing body 24 together.

[0045] Since the rust removal body 24 is fixedly connected to the mounting body of the second stepping fixing structure 1 at the end equipped with the stepping drive component, in order not to affect the movement of the drive linkage, multiple openings are provided along the circumferential direction of the rust removal body 24. The openings are provided along the axial direction of the rust removal body 24 and are formed by cutting from the end of the rust removal body 24 without the flange to the other end. The openings are provided so that the drive linkage of the second stepping fixing structure 1 can swing along the openings, and the rust removal body 24 will not interfere with the swing of the drive linkage.

[0046] The aforementioned rust removal drive component 26 is a motor. It is fixedly installed inside the rust removal body 26 via a rust removal fixing plate 25, and a portion of the drive component 26 can extend to the outside of the body 26 for connection with the rust removal component 27. This drive component 26 is an external rotor motor; that is, the rotor is mounted outside the stator via bearings 28. The rotor rotates around the output shaft of the stator, while the stator remains stationary. The rust removal component 27 is fixedly connected to the rotor via a connector. The rotor's rotation drives the rust removal component 27 to rotate, directly driving the motor to rotate the component, thus reducing power transmission loss. The connector is a curved connecting rod, with one end fixedly connected to the rotor and the other end fixedly connected to the rust removal component 27. Multiple connectors are evenly distributed along the circumferential direction of the rotor, ensuring balanced force on the rust removal component 27. The rust removal part 27 is provided with a central through hole so that the stator output shaft of the motor can pass through. The stator output shaft of the motor can be connected to the rust removal part 27 through a bearing to support the rotation of the rust removal part 27.

[0047] The aforementioned rust removal component 27 is a rust removal wire reel, a commercially available product, which can be selected and set according to actual needs.

[0048] To further optimize the design, the rust removal robot also includes a camera device 29, which is mounted on the rust removal structure 3. The camera device 29 is used to observe the operation and determine whether the rust removal of the inner wall of the pipe 30 is complete. This camera device 29 is a fixedly mounted camera on the stator output shaft of the motor, located at the front end of the stator output shaft, so as to observe whether the inner wall of the pipe 30 is completely rust-free during the rust removal operation, and also to observe the condition of the pipes ahead undergoing rust removal.

[0049] The rust removal robot also includes a control device, which is connected to the stepping drive and each telescopic component of the first stepping fixed structure 2, the stepping drive and each telescopic component of the second stepping fixed structure 1, the rust removal drive 26, and the camera device 29. The control device receives signals from the camera device 29 and controls the stepping drive and each telescopic component of the first stepping fixed structure 2, the stepping drive and each telescopic component of the second stepping fixed structure 1, and the rust removal drive 26 to move according to the signals, thereby improving the automation level of the rust removal robot.

[0050] The following detailed description of the first step fixing structure 2 and the second step fixing structure 1 is provided to illustrate the working process of the rust removal robot.

[0051] like Figure 2-4As shown in Figure 9, the first step-mounting fixing structure 2 includes a first mounting body 20, a first telescopic device disposed within the first mounting body 20, and a first step-mounting device connected to the first mounting body 20. The first step-mounting device can move relative to the first mounting body 20. By moving the first step-mounting device closer to or further away from the first mounting body 20, the first step-mounting fixing structure 2 can be fixed inside or detached from the pipe 30. When the first step-mounting device moves away from the first mounting body 20, it contacts the inner wall of the pipe 30, fixing the first step-mounting fixing structure 2 inside the pipe 30, thus anchoring the rust removal robot inside the pipe 30. When the first step-mounting device moves closer to the first mounting body 20, it detaches from the inner wall of the pipe 30, at which point the first step-mounting fixing structure 2 can move. The first telescopic device enables the first step-mounting fixing structure 2 to move forward or backward along the axial direction of the pipe 30.

[0052] The aforementioned first-step advancing device includes a first-step advancing drive 22, a first linkage mechanism connected to the first-step advancing drive 22, and a first-step advancing member 14. The first linkage mechanism is connected to the first mounting body 20, and the first-step advancing member 14 is connected to the first linkage mechanism. The first-step advancing drive 22 drives the first-step advancing member 14 to move through the first linkage mechanism, so that the first-step advancing member 14 expands or contracts along the radial direction of the pipe 30. When the first-step advancing member 14 expands, it can contact the inner wall of the pipe 30 and anchor the first-step advancing fixing structure 2 inside the pipe 30. When the first-step advancing member 14 contracts, it disengages from the inner wall of the pipe 30, and the first-step advancing fixing structure 2 can move forward or backward.

[0053] The first stepper drive member 22 is fixedly installed inside the first mounting body 20 via the first fixing plate 21. The telescopic rod of the first stepper drive member 22 can extend to the outside of the first mounting body 20. The first linkage mechanism includes a first drive link 16 and at least one first driven link 17. One end of the first drive link 16 is hinged to the first stepper drive member 22 via a first pin 15. One end of the first driven link 17 is hinged to the first mounting body 20 via a first pin 15. The other ends of the first drive link 16 and the first driven link 17 are both hinged to the first stepper 14 via first pins 15. There are two first driven links 17. The first stepper drive member 22 drives the first drive link 16 to swing. The first drive link 16 drives the two first driven links 17 to swing, which in turn drives the first stepper 14 to move, thereby expanding or contracting the first stepper 14 along the radial direction of the pipe 30.

[0054] The number of the aforementioned first linkage mechanisms is four. The four first linkage mechanisms are evenly arranged along the circumferential direction of the first mounting body 20, and each first linkage mechanism is connected to a first stepper 14.

[0055] The aforementioned first telescopic device includes four first telescopic members 19, which are arranged sequentially along the circumferential direction of the first mounting body 20. The first telescopic members 19 are fixedly installed inside the first mounting body 20 by first bolts 12, and the telescopic rods of the first telescopic members 19 can extend to the outside of the first mounting body 20.

[0056] The second stepping fixing structure 1 includes a second mounting body 10, a second telescopic device disposed within the second mounting body 10, and a second stepping device connected to the second mounting body 10. The second stepping device can move relative to the second mounting body 10. By moving the second stepping device closer to or further away from the second mounting body 10, the second stepping fixing structure 1 can be fixed inside or detached from the pipe 30. When the second stepping device moves away from the second mounting body 10, it contacts the inner wall of the pipe 30, fixing the second stepping fixing structure 1 inside the pipe 30, thus anchoring the rust removal robot inside the pipe 30. When the second stepping device moves closer to the second mounting body 10, it detaches from the inner wall of the pipe 30, at which point the second stepping fixing structure 1 can move. The second telescopic device enables the second stepping fixing structure 1 to move forward or backward along the axial direction of the pipe 30.

[0057] The aforementioned second stepping device includes a second stepping drive 4, a second linkage mechanism connected to the second stepping drive 4, and a second stepping member 6. The second linkage mechanism is connected to the second mounting body 10, and the second stepping member 6 is connected to the second linkage mechanism. The second stepping drive 4 drives the second stepping member 6 to move through the second linkage mechanism, so that the second stepping member 6 expands or contracts along the radial direction of the pipe 30. When the second stepping member 6 expands, it can contact the inner wall of the pipe 30 and anchor the second stepping fixing structure 1 inside the pipe 30. When the second stepping member 6 contracts, it disengages from the inner wall of the pipe 30, and the second stepping fixing structure 1 can move forward or backward.

[0058] The aforementioned second stepping drive member 4 is fixedly installed inside the second mounting body 10 via the second fixing plate 5, and the telescopic rod of the second stepping drive member 4 can extend to the outside of the second mounting body 10. The aforementioned second linkage mechanism includes a second driving link 9 and at least one second driven link 8. One end of the second driving link 9 is hinged to the second stepping drive member 4 via a second pin 7, and one end of the second driven link 8 is hinged to the second mounting body 10 via a second pin 7. The other ends of the second driving link 9 and the other ends of the second driven link 8 are both hinged to the second stepping member 6 via second pins 7. There are two second driven links 8. The second stepping drive member 4 drives the second driving link 9 to swing, and the second driving link 9 drives the two second driven links 8 to swing, thereby driving the second stepping member 6 to move, realizing the expansion or contraction of the second stepping member 6 along the radial direction of the pipe 30.

[0059] The number of the above-mentioned second linkage mechanisms is four. The four second linkage mechanisms are evenly arranged along the circumferential direction of the second mounting body 10, and each second linkage mechanism is connected to a second stepper 6.

[0060] The aforementioned second telescopic device includes four second telescopic members 11, which are arranged sequentially along the circumferential direction of the second mounting body 10. The second telescopic members 11 are fixedly installed inside the second mounting body 10 by second bolts 18, and the telescopic rods of the second telescopic members 11 can extend to the outside of the second mounting body 10.

[0061] The first step fixed structure 2 and the second step fixed structure 1 are arranged opposite to each other. The four second telescopic parts 11 correspond one-to-one with the four first telescopic parts 19. The corresponding first telescopic parts 19 are connected to the second telescopic parts 11 through universal joints 13. Through the universal joints 13, the transmission axis directions of the first step fixed structure 2 and the second step fixed structure 1 can be deflected at an angle, so that the rust removal robot can adapt to the direction of the curved pipe 30.

[0062] When this alternating fixed pipe wall rust removal robot is working, it controls the first stepping device and the second fixing device to alternately fix themselves to the inner wall of the pipe 30, and combines the coordinated action of the first telescopic device and the second telescopic device to achieve step-by-step movement and continuous rust removal operation of "fixing-contraction / extension-re-fixing".

[0063] In straight pipe 30, the rust removal robot operates according to a preset cycle, such as... Figure 5-6 As shown;

[0064] Bidirectional Anchoring and Spot Rust Removal: The rust removal robot is placed at the inlet of the straight pipe 30. The first stepper drive 22 drives the first linkage mechanism to expand the first stepper 14 and move it towards the inner wall of the pipe 30. At the same time, the second stepper drive 4 drives the second linkage mechanism to expand the second stepper 6 and move it towards the inner wall of the pipe 30. The first stepper 14 and the second stepper 6 expand synchronously, anchoring the rust removal robot bidirectionally inside the pipe 30. The first telescopic member 19 and the second telescopic member 11 are both in the extended state. The rust removal drive 26 drives the rust removal component 27 to move, and the rust removal component 27 performs spot rust removal. After the spot rust removal is completed, the rust removal drive 26 stops moving, and the rust removal component 27 stops removing rust.

[0065] Step-by-step and inter-section dynamic rust removal: First, the first step-by-step fixing structure 2 is fixed; second, the second step-by-step drive component 4 drives the second linkage mechanism to move, the second step-by-step component 6 tightens, the second step-by-step fixing structure 1 is released, and the first telescopic component 19 and the second telescopic component 11 retract simultaneously, allowing the second step-by-step fixing structure 1 to advance along the axial direction of the pipe 30; then, the second step-by-step drive component 4 drives the second linkage mechanism to move, the second step-by-step component 6 expands, fixing the second step-by-step fixing structure 1 at a new pipe wall position; then, the first step-by-step drive component 22 drives the first linkage mechanism to move, and the first step-by-step component 14 tightens. The first step of fixing structure 2 separates from the pipe wall; the rust removal drive 26 drives the rust removal component 27 to move, and the first telescopic component 19 and the second telescopic component 11 extend or retract synchronously, so that the first step of fixing structure 2 moves forward or backward along the axial direction of pipe 30, thereby causing the rust removal component 27 to move forward or backward along the axial direction of pipe 30. The rust removal component 27 makes reciprocating linear motion within the stroke range of the first telescopic component 19 and the second telescopic component 11, and performs dynamic sweeping rust removal on a section of pipe 30, improving the coverage and efficiency of the operation after a single anchoring.

[0066] After the rust removal of this section of pipe 30 meets the requirements (which can be set according to the rust removal operation standards), the rust removal component 27 stops operating. The first telescopic component 19 and the second telescopic component 11 extend simultaneously, pushing the first step-fixing structure 2 forward to reach the starting position of the next section to be rusted. The first step-drive component 22 drives the first linkage mechanism to operate, the first step-advancing component 14 expands, and the first step-fixing structure 2 is fixed in the new position of pipe 30. The second step-drive component 4 drives the second linkage mechanism to operate, the second step-advancing component 6 tightens, and the second step-fixing structure 1 disengages from the inner wall of pipe 30. The first telescopic component 19 and the second telescopic component 11 retract synchronously, and the second step-fixing structure 1 moves forward. Then, the second step-drive component 4 drives the second linkage mechanism to operate, the second step-advancing component 6 expands, and the second step-fixing structure 1 is fixed in the new position of pipe 30.

[0067] Repeat the above-mentioned bidirectional anchoring and fixed-point rust removal and step-by-step and interval dynamic rust removal operations until all rust removal operations of the straight pipe 30 are completed;

[0068] When working within a 30-degree bend in the pipe, the rust removal robot operates according to the following workflow: Figure 7-8 As shown:

[0069] Preparation and Retreat: The first step-fixed structure 2 and the second step-fixed structure 1 move alternately to move the rust removal robot backward as a whole, so that the first step-fixed structure 2 and the rust removal structure 3 move away from the entrance of the bend and reach a position where the posture can be safely adjusted. This position can be selected and set according to actual needs.

[0070] At this position, the second stepper 6 expands, and the second stepper fixing structure 1 is fixed to the inner wall of the straight pipe 30 as the core fulcrum; the first stepper 14 tightens, and the first stepper fixing structure 2 disengages from the inner wall of the straight pipe 30, while the first stepper 14 remains in a tightened state; subsequently, the first telescopic component 19 and the second telescopic component 11 are controlled to retract synchronously, further retracting the first stepper fixing structure 2 and the rust removal structure 3 a certain distance, leaving the necessary operating space for subsequent attitude adjustment; thereafter, until the first anchoring inside the bend, the second stepper fixing structure 1 remains fixed, serving as a stable foundation for the entire attitude adjustment phase of the rust removal robot;

[0071] Pipe bending posture adjustment: Under the premise that the second step fixing structure 1 is fixed, control each second telescopic component 11 and each first telescopic component 19 to perform differential stroke drive, that is, the first telescopic component 19 and the second telescopic component 11 located on the outside of the pipe 30 bend extend, the first telescopic component 19 and the second telescopic component 11 located on the inside of the pipe 30 bend retract, and the remaining first telescopic components 19 cooperate with the second telescopic components 11 to act. Under the hinge action of the universal joint 13, the first step fixing structure 2 and the rust removal structure 3 rotate around the fixed second step fixing structure 1, generating a deflection angle that matches the initial curvature of the bend, so that the axis of the first step fixing structure 2 and the rust removal structure 3 is aligned with the bend direction;

[0072] Dynamic rust removal inside the bend: Maintain the adjusted bending posture, and keep the second step fixed structure 1 in a fixed state; the rust removal drive component 26 drives the rust removal component 27 to move, and then repeatedly extends and retracts the first extension component 19, driving the first step fixed structure 2 and the rust removal structure 3 to reciprocate along the bend trajectory, sweeping and removing rust from the inner wall of the starting area of ​​the bend, and observing the effect through the camera device 29.

[0073] First step inside the bend: After the current bend area has been derusted to the standard, the first step drive component 22 is activated, the first step component 14 expands, and the first step fixing structure 2 is fixed to the inner wall of the bend; then, the second step drive component 4 is activated, the second step component 6 tightens, and the second step fixing structure 1 is disengaged from the straight pipe 30 and remains in a loose state.

[0074] Turning and following: The first telescopic component 19 and the second telescopic component 11 retract, pulling the second stepping fixing structure 1 forward to enter the bend; then, the second stepping drive component 4 drives the second stepping component 6 to move, and the second stepping component 6 expands to fix the second stepping fixing structure 1 inside the bend. Thus, the rust removal robot completes the first step and turn to enter the bend.

[0075] Cyclic operation: Subsequently, inside the bend, the robot repeats the above-mentioned cycle of bend posture adjustment, dynamic rust removal inside the bend, initial stepping inside the bend, and turning follow-up operation until it passes through the entire bend and completes the rust removal of the bend.

[0076] By adopting the above technical solution, the alternating fixed pipe inner wall rust removal robot has a first step fixing structure, a second step fixing structure, and a rust removal structure. The first step fixing structure has a first step device and a first telescopic device, and the second step fixing structure has a second step device and a second telescopic device. Through the alternating fixing of the first step device and the second step device with the pipe and the coordinated extension and retraction of the first telescopic device and the second telescopic device, the robot's step-like movement is realized. During rust removal operation, at least one step device is in a fixed state, providing stable support for the robot body, solving the problem of slippage in continuous walking robots during rust removal, realizing efficient and continuous operation, and combining the movement and support functions of the rust removal robot.

[0077] The first telescopic device and the second telescopic device are connected by a universal joint. By independently controlling the stroke of each first telescopic component and the second telescopic component, and by utilizing the degree of freedom of the universal joint, a relative deflection angle can be generated between the first step fixed structure and the second step fixed structure, so that the robot can actively adjust its posture to adapt to the curved pipe. It has strong passability and enables the rust removal robot to actively adapt to the curved pipe.

[0078] The rust removal robot adopts a modular symmetrical design, with a compact and stable structure and a clear structure. The four-bar linkage structure provides a strong and uniform radial anchoring force, ensuring the stability of the whole machine during rust removal operations.

[0079] The embodiments of the present invention have been described in detail above, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the patent coverage of the present invention.

Claims

1. An alternating fixed type pipeline inner wall deruster robot, characterized by: The device includes a rust removal structure, a first-step fixing structure, and a second-step fixing structure arranged coaxially. The rust removal structure is connected to the first-step fixing structure, and the first-step fixing structure is connected to the second-step fixing structure through a reversing structure. The movement of the first-step fixing structure and the second-step fixing structure, in conjunction with the reversing structure, drives the rust removal structure to move forward or backward. The rust removal structure removes rust and generates a deflection angle in curved pipes, allowing the rust removal structure to adapt to the direction of the curved pipes.

2. The alternating fixed pipe inner wall rust removal robot according to claim 1, characterized in that: Both the first step fixing structure and the second step fixing structure include an installation body, a telescopic device disposed within the installation body, and a stepping device connected to the installation body. The stepping device can move relative to the installation body, moving closer to or further away from the installation body, so that the first step fixing structure and the second step fixing structure are fixed inside the pipe or detached from the pipe.

3. The alternating fixed pipe inner wall rust removal robot according to claim 2, characterized in that: The stepping device includes a stepping drive, a linkage mechanism connected to the stepping drive, and a stepping member. The linkage mechanism is connected to the mounting body, and the stepping member is connected to the linkage mechanism. The stepping drive drives the stepping member to move through the linkage mechanism, so that the stepping member expands or contracts along the radial direction of the pipe.

4. The alternating fixed pipe inner wall rust removal robot according to claim 3, characterized in that: The linkage mechanism includes a driving link and at least one driven link. The driving link is hinged to the stepper drive component, and the driven link is hinged to the mounting body. Both the driving link and the driven link are hinged to the stepper component.

5. The alternating fixed pipe inner wall rust removal robot according to claim 3, characterized in that: There are multiple linkage mechanisms and multiple stepper components. Each linkage mechanism is connected to one stepper component. The multiple linkage mechanisms are arranged sequentially along the circumferential direction of the mounting body. Each of the multiple linkage mechanisms is connected to the stepper drive component and the mounting body respectively.

6. The alternating fixed pipe inner wall rust removal robot according to any one of claims 2-5, characterized in that: The telescopic device includes multiple telescopic components, which are arranged sequentially along the circumferential direction of the mounting body.

7. The alternating fixed pipe inner wall rust removal robot according to claim 6, characterized in that: The first step fixing structure and the second step fixing structure are arranged opposite to each other. The telescopic component of the first step fixing structure corresponds one-to-one with the telescopic component of the second step fixing structure. The corresponding telescopic components of the first step fixing structure and the telescopic components of the second step fixing structure are connected through the reversing structure.

8. The alternating fixed pipe inner wall rust removal robot according to claim 7, characterized in that: The shape of the side of the stepper that contacts the inner wall of the pipe is adapted to the shape of the inner wall of the pipe. The contact surface of the stepper with the pipe is provided with anti-slip components. The reversing structure is a universal joint.

9. The alternating fixed pipe inner wall rust removal robot according to any one of claims 1-5 and 7-8, characterized in that: The rust removal structure includes a rust removal body, a rust removal drive unit connected to the rust removal body, and a rust removal component connected to the rust removal drive unit. The rust removal drive unit drives the rust removal component to rotate, thereby removing rust.

10. The alternating fixed pipe inner wall rust removal robot according to claim 9, characterized in that: It also includes a camera device, which is mounted on the rust removal structure.

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