A method for removing rust from the inner wall of a pipeline based on an alternating fixed robot

Abstract

The application provides a pipeline inner wall rust removal method based on an alternating fixed robot, which comprises the following steps: fixing a first step fixing structure and a second step fixing structure in a straight pipeline, making a rust removal structure act, and removing rust at an anchoring point; the second step fixing structure is separated from the straight pipeline, the second step fixing structure moves towards the first step fixing structure, and the second step fixing structure is fixed at a new pipeline position; the first step fixing structure is separated from the straight pipeline, the first step fixing structure synchronously reciprocates with the rust removal structure, and dynamic rust removal is performed in a stroke area; after the dynamic rust removal is completed, the first step fixing structure moves to a starting position of a next rust removal area, and is fixed at a new pipeline position; the above steps are repeated until the rust removal of the straight pipeline is completed, rust removal and step are continuously realized, and the operation efficiency is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of pipeline maintenance technology, and in particular relates to a method for removing rust from the inner wall of pipelines based on an alternating fixed robot. Background Technology

[0002] Metal pipelines in industrial and municipal pipeline systems (such as water, gas, and oil / gas pipelines) are prone to corrosion and rust on their inner walls after long-term service. This not only reduces the effective flow diameter and increases energy consumption, but can also lead to leaks, pollution, and even safety accidents. Therefore, regular inspection and maintenance of the pipeline inner walls is crucial, with rust removal being a key component.

[0003] Currently, rust removal operations on the inner walls of pipelines mainly rely on the following technical solutions:

[0004] 1. Non-autonomous externally driven equipment: For example, using long-handled push-in wire brushes or high-pressure water jet nozzles, with thrust or hydraulic power provided by equipment outside the pipeline. This type of method is limited by the length and direction of the pipeline (such as bends), has a limited operating range, low automation, and poor practicality for complex pipe networks.

[0005] 2. Passive through-feed cleaning devices (such as PIG pigs): These rely on fluid pressure to propel themselves through the pipeline, using their surface material to scrape the inner wall. This method cannot precisely locate, control the operating speed and effectiveness, has insufficient ability to remove stubborn corrosion, and is limited in its application in pipes with diameter changes or multiple branches.

[0006] 3. Traditional Autonomous Mobile Robot Platforms: Currently reported pipeline robots mostly employ wheeled, tracked, or helical drive systems. To achieve stable movement and load carrying, these robots typically require relatively complex multi-drive unit structures and large body dimensions, which limits their mobility and flexibility within small- to medium-diameter pipes (e.g., 200mm-500mm in diameter). More importantly, their movement and rust removal functions are often designed independently: the mobile chassis provides forward propulsion, while the rust removal mechanism (such as rotating blades) is independently installed. This design presents an inherent contradiction: to provide sufficient rust removal reaction force and stability, the robot needs strong anchoring force against the pipe wall, but this increases movement resistance and may even require stopping to change modes, resulting in discontinuous operation and low efficiency; if simple support is used, slippage and vibration are likely during rust removal, affecting the results. Furthermore, existing robots struggle to maintain a compact structure while possessing both strong load-bearing capacity (to drive high-power rust removal tools) and precise stepping control capabilities. Summary of the Invention

[0007] In view of the above problems, the present invention provides a method for removing rust from the inner wall of pipes based on an alternating fixed robot, so as to solve the above or other problems existing in the prior art.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a method for removing rust from the inner wall of a pipe based on an alternating fixed robot. The alternating fixed robot is used to remove rust from the inner wall of the pipe. The alternating fixed robot 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 and the second step fixing structure are connected through a reversing structure.

[0009] A method for removing rust from the inner wall of pipes based on an alternating fixed robot includes rust removal from straight pipes. The rust removal process for straight pipes includes the following steps:

[0010] Both the first and second step fixing structures are fixed inside the straight pipe, and the rust removal structure is activated to remove rust from the anchor points.

[0011] The second step fixing structure detaches from the straight pipe, moves towards the first step fixing structure, and is fixed to the new pipe wall position.

[0012] The first step of the fixed structure is separated from the straight pipe. The first step of the fixed structure and the rust removal structure move in a reciprocating linear motion synchronously to perform dynamic rust removal within the stroke area.

[0013] After dynamic rust removal is completed, the first step of the fixed structure moves to the starting position of the next rust removal area and is fixed at the new pipe wall position;

[0014] Repeat the above steps until all rust removal work on the straight pipe is completed.

[0015] Furthermore, after the rust removal work on the straight pipes is completed, the rust removal work on the bent pipes is carried out, including the following steps:

[0016] At the attitude adjustment position before the entrance of the curved pipe, the second step fixing structure is fixed to the inner wall of the straight pipe, the first step fixing structure is separated from the straight pipe, and the first step fixing structure moves towards the second step fixing structure to form an attitude adjustment operation space.

[0017] The second step fixing structure and the first step fixing structure perform a differential stroke driving action, causing the first step fixing structure to deflect relative to the second step fixing structure, so that the axis of the first step fixing structure and the rust removal structure are aligned with the direction of the bent pipe, and the bending posture is adjusted.

[0018] Maintaining the deflection angle of the first step fixed structure, the first step fixed structure moves, driving the rust removal structure to reciprocate along the trajectory of the curved pipe, and dynamically removing rust from the starting area of ​​the curved pipe.

[0019] After the dynamic rust removal of the starting area of ​​the curved pipe is completed, the first step fixing structure is fixed to the inner wall of the curved pipe, the second step fixing structure is detached from the straight pipe and moved into the curved pipe, the second step fixing structure is fixed to the inner wall of the curved pipe, and the stepping and turning follow-up is carried out inside the curved pipe.

[0020] Repeat the above steps: pipe bending posture adjustment, dynamic rust removal, and pipe bending step and turning follow-up steps, until the pipe bending rust removal operation is completed.

[0021] 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. Through the action of the stepping device, the first or second step-fixing structure is fixed inside or detached from the pipeline. Through the cooperation of the telescopic devices of the first and second step-fixing structures, the first and second step-fixing structures move forward or backward along the axial direction of the pipeline.

[0022] Furthermore, the first step fixing structure and the second step fixing structure are arranged opposite to each other. The telescopic device of the first step fixing structure includes multiple first telescopic components, which are arranged sequentially along the circumferential direction of the mounting body. The telescopic device of the second step fixing structure includes multiple second telescopic components, which are arranged sequentially along the circumferential direction of the mounting body. The multiple first telescopic components and the multiple second telescopic components correspond one-to-one, and the corresponding first telescopic components and second telescopic components are connected by a reversing structure.

[0023] Furthermore, when the second step fixing structure and the first step fixing structure perform differential stroke driving actions, both the first and second telescopic components near the outside of the curved pipe extend, and both the first and second telescopic components near the inside of the curved pipe retract.

[0024] 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.

[0025] Furthermore, both the first and second step fixing structures are fixed inside the straight pipe. During the rust removal process, multiple first and second expansion joints are in the extended state.

[0026] Furthermore, the second step fixing structure detaches from the straight pipe, and when the second step fixing structure moves towards the first step fixing structure, both the first and second telescopic components retract.

[0027] Furthermore, while maintaining the deflection angle of the first step fixed structure, the first step fixed structure moves, driving the rust removal structure to reciprocate along the trajectory of the curved pipe. In the dynamic rust removal step of the starting area of ​​the curved pipe, the first telescopic component moves, driving the rust removal structure to reciprocate along the trajectory of the curved pipe.

[0028] Furthermore, after the dynamic rust removal of the starting area of ​​the curved pipe is completed, the first step fixing structure is fixed to the inner wall of the curved pipe, the second step fixing structure is detached from the straight pipe and moves into the curved pipe, and the second step fixing structure is fixed to the inner wall of the curved pipe. During the stepping and turning follow-up steps in the curved pipe, both the first and second telescopic components retract, driving the second step fixing structure to move into the curved pipe.

[0029] 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-moving device and a first telescopic device, and the second step-fixing structure has a second step-moving device and a second telescopic device. Through the alternating fixing of the first step-moving device and the second step-moving device with the pipe and the coordinated extension and retraction of the first telescopic device and the second telescopic device, the robot's step-moving movement is realized. During rust removal operations, at least one step-moving device is in a fixed state, providing stable support for the robot body. This solves the problem of slippage in continuous walking robots during rust removal, and achieves efficient and continuous operation. The movement and operation support functions are integrated into a set of alternating motion anchoring mechanisms, realizing the integration of movement and support functions of the rust removal robot. This eliminates the mode switching pauses of traditional robots, achieves true continuity of rust removal and stepping, and greatly improves work efficiency.

[0030] 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. This allows the robot to actively adjust its posture to adapt to the curved pipe, resulting in strong passability. This enables the rust removal robot to actively adapt to the curved pipe, realizing active posture control and self-adaptation of the rust removal robot in the curved pipe. It breaks through the bottleneck of existing rigid robots having difficulty passing through curved pipes and broadens the application scenarios.

[0031] 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 heavy rust removal operations and avoiding slippage and vibration. Attached Figure Description

[0032] 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;

[0033] 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;

[0034] Figure 3 This is an exploded view of the second step fixing structure according to an embodiment of the present invention;

[0035] Figure 4 This is an exploded view of the first step fixing structure according to an embodiment of the present invention;

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] In the picture:

[0042] 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

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0044] Figure 1A schematic diagram of an alternating fixed pipe rust removal robot according to an embodiment of the present invention is shown. This embodiment relates to a pipe rust removal method based on an alternating fixed robot. The alternating fixed pipe rust removal robot is used to remove rust from straight and curved pipes. By setting a first step fixing structure and a second step fixing structure, the movement and operation support functions are integrated into a set of alternating motion anchoring mechanisms, eliminating the mode switching pauses of traditional robots, realizing continuous rust removal and stepping, and greatly improving the operation efficiency. The setting of the reversing structure, through the cooperation of the first step fixing structure, the second step fixing structure and the reversing structure, realizes the active attitude control and self-adaptation of the rust removal robot in curved pipes.

[0045] 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.

[0046] 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.

[0047] Specifically, such as Figure 2-4As 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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".

[0078] A method for removing rust from the inner wall of pipes based on an alternating fixed robot, comprising removing rust from the inner wall of pipes using the aforementioned alternating fixed robot, including rust removal from straight pipes, wherein when removing rust from straight pipes, such as... Figure 5 and 6 As shown, it includes the following steps:

[0079] Both the first step fixing structure 2 and the second step fixing structure 1 are fixed inside the straight pipe. The rust removal structure 3 is activated to remove rust at the anchor point: After the rust removal robot is placed in the straight pipe, the first step drive component 22 and the second step drive component 4 are activated, driving the first step component 14 and the second step component 6 to expand synchronously, so that the first step component 14 and the second step component 6 are in contact with the inner wall of the straight pipe, fixing both the first step fixing structure 2 and the second step fixing structure 1 inside the straight pipe, thereby firmly anchoring the entire rust removal robot to the inner wall of the straight pipe; multiple first telescopic components 19 and multiple second telescopic components 11 are in the extended state; the rust removal drive component 26 drives the rust removal component 27 to rotate, removing rust from the pipe wall around the current anchor position, and the rust removal effect is monitored by the camera device 29.

[0080] After the current area has reached the rust removal standard, the rust removal drive 26 stops operating, the rust removal component 27 stops rotating, the second stepping fixing structure 1 disengages from the straight pipe, and moves towards the first stepping fixing structure 2, fixing the second stepping fixing structure 1 to the new pipe wall position. The rust removal robot then moves forward: the second stepping drive 4 activates, driving the second stepping component 6 to tighten, disengaging the second stepping component 6 from the pipe wall, thus disengaging the second stepping fixing structure 1 from the straight pipe. The first telescopic component 19 and the second telescopic component 11 simultaneously retract, causing the second stepping fixing structure 1 to move towards the first stepping fixing structure 2, shortening the overall length of the rust removal robot. Subsequently, the second stepping drive 4 activates, driving the second stepping component 6 to expand, bringing the second stepping component 6 into contact with the new pipe wall position, fixing the second stepping fixing structure 1 to the new pipe wall position.

[0081] The first step of the fixed structure 2 disengages from the straight pipe, and the first step of the fixed structure 2 and the rust removal structure 3 move in a reciprocating linear motion synchronously to perform dynamic rust removal within the stroke area: the first step drive component 22 moves, driving the first step advance component 14 to tighten, so that the first step advance component 14 disengages from the inner wall of the pipe; the rust removal drive component 26 moves, driving the rust removal component 27 to rotate, and then the first telescopic component 19 and the second telescopic component 11 extend synchronously, pushing the first step of the fixed structure 2 and the rust removal structure 3 forward by a full stroke, and then the first telescopic component 19 and the second telescopic component 11 retract synchronously, so that the first step of the fixed structure 2 moves backward to reset; the extension and retraction actions of the first telescopic component 19 and the second telescopic component 11 are repeated repeatedly, so that the rust removal component 27 repeatedly and comprehensively removes rust from the inner wall of the straight pipe within the entire stroke area of ​​the current fixed point. During or after this rust removal process, the rust removal effect in this area is observed through the camera device 29.

[0082] After dynamic rust removal is completed (meeting the rust removal standard), the first step fixing structure 2 moves to the starting position of the next rust removal area and is fixed at the new pipe wall position. The first telescopic component 19 and the second telescopic component 11 extend synchronously, pushing the first step fixing structure 2 and the rust removal structure 3 forward to the starting position of the next rust removal area. The first step driving component 22 is activated, driving the first step component 14 to expand. The first step component 14 contacts the new inner wall of the straight pipe and fixes the first step fixing structure 2 at the new pipe wall position.

[0083] Repeat the above steps in sequence to remove rust from anchor points, perform step-by-step dynamic rust removal in the travel area, and re-fix until all work on the straight pipe section is completed.

[0084] After the rust removal work on straight pipes is completed, rust removal is performed on bent pipes, such as... Figure 7 and 8 As shown, it includes the following steps:

[0085] Rust removal and positioning at the end of straight pipe: The rust removal robot performs rust removal on the straight pipe according to the above-mentioned straight pipe rust removal steps until it reaches the vicinity of the bend pipe inlet, and completes the rust removal of the end area of ​​the straight pipe. The rust removal part 27 then stops rotating.

[0086] At the attitude adjustment position before the bend inlet, the second stepping fixing structure 1 is fixed to the inner wall of the straight pipe, while the first stepping fixing structure 2 disengages from the straight pipe and moves towards the second stepping fixing structure 1, creating an attitude adjustment operation space. Through the alternating movements of the first stepping fixing structure 2 and the second stepping fixing structure 1, the rust removal robot is moved backward as a whole, causing the first stepping fixing structure 2 and the rust removal structure 3 to move away from the bend inlet, reaching the attitude adjustment position before the bend inlet. This attitude adjustment position can be selected and set according to actual needs; no specific requirements are specified here. The second stepper 6 is kept in contact with the inner wall of the straight pipe, and the second stepper fixing structure 1 is fixed to the inner wall of the straight pipe as the core fulcrum. The first stepper 14 is kept detached from the inner wall of the straight pipe. Then, the first telescopic component 19 and the second telescopic component 11 are controlled to retract synchronously, so that the first stepper fixing structure 2 and the rust removal structure 3 move backward a certain distance. This moving distance can be selected and set according to actual needs to leave the necessary operating space for subsequent attitude adjustment. Thereafter, until the first anchoring in the curved pipe, the second stepper fixing structure 1 is always fixed in the straight pipe.

[0087] The second step fixing structure 1 and the first step fixing structure 2 perform differential stroke driving actions, causing the first step fixing structure 2 to deflect relative to the second step fixing structure 1, so that the axis of the first step fixing structure 1 and the rust removal structure 3 are aligned with the direction of the curved pipe, and the posture of the curved pipe is adjusted: When the second step fixing structure 1 and the first step fixing structure 2 perform differential stroke driving actions, the first telescopic member 19 and the second telescopic member 11 near the outside of the curved pipe are both extended, and the first telescopic member 19 and the second telescopic member 11 near the inside of the curved pipe are both retracted. The other first telescopic members 19 and the second telescopic members 11 are adjusted accordingly, retracting or extending according to the position of the first telescopic members 19 and the second telescopic members 11. Under the hinge action of the universal joint 13, the first step fixing structure 2 deflects around the second step fixing structure 1, generating a deflection angle that matches the initial curvature of the curved pipe, so that the axis of the first step fixing structure 1 and the rust removal structure 3 are aligned with the direction of the curved pipe.

[0088] Maintaining the deflection angle of the first step fixed structure 2, the first step fixed structure 2 moves, driving the rust removal structure 3 to reciprocate along the curved pipe trajectory, dynamically removing rust from the starting area of ​​the curved pipe: the rust removal drive component 26 moves, driving the rust removal component 27 to rotate, and the first telescopic component 19 moves in and out, driving the first step drive structure and the rust removal structure 3 to reciprocate along the curved pipe trajectory, sweeping and removing rust from the inner wall of the starting area of ​​the curved pipe, and observing the rust removal effect through the camera device 29.

[0089] After dynamic rust removal is completed in the initial area of ​​the curved pipe, the first step fixing structure 2 is fixed to the inner wall of the curved pipe, and the second step fixing structure 1 detaches from the straight pipe and moves into the curved pipe. The second step fixing structure 1 is fixed to the inner wall of the curved pipe, and performs stepping and turning follow-up within the curved pipe. After dynamic rust removal is completed in the initial area of ​​the curved pipe, both the first telescopic component 19 and the second telescopic component 11 remain extended. The first step driving component 22 is activated, driving the first step advancing component 14 to expand. The first step advancing component 14 contacts the inner wall of the curved pipe, fixing the first step fixing structure 2 inside the curved pipe. On the wall, the second stepping drive 4 then moves, driving the second stepping component 6 to tighten, causing the second stepping component 6 to detach from the inner wall of the straight pipe; the first telescopic component 19 and the second telescopic component 11 simultaneously retract, driving the second stepping fixing structure 1 to move into the curved pipe, pulling the second stepping fixing structure 1 into the curved pipe. Then, the second stepping drive 4 moves, driving the second stepping component 6 to expand, and the second stepping component 6 contacts the inner wall of the curved pipe, fixing the second stepping fixing structure 1 to the inner wall of the curved pipe, completing the first stepping and turning of the rust removal robot into the curved pipe.

[0090] Repeat the above steps: pipe bending posture adjustment, dynamic rust removal, and pipe bending step and turning follow-up steps, until the pipe bending rust removal operation is completed.

[0091] By adopting the above technical solution, this alternating fixed pipe 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-moving device and a first telescopic device, and the second step-fixing structure has a second step-moving device and a second telescopic device. Through the alternating fixing of the first and second step-moving devices to the pipe and the coordinated extension and retraction of the first and second telescopic devices, the robot's step-moving movement is achieved. During rust removal operations, at least one step-moving device is in a fixed state, providing stable support for the robot body. This solves the problem of slippage in continuous walking robots during rust removal, achieving efficient and continuous operation. The robot integrates movement and operational support functions into a set of alternating-action anchoring mechanisms, unifying the movement and support functions of the rust removal robot, eliminating the mode-switching pauses of traditional robots, and achieving… The rust removal and stepping processes are truly continuous, significantly improving work efficiency. The first and second telescopic devices are connected by universal joints. By independently controlling the stroke of each first and second telescopic component and utilizing the degrees of freedom of the universal joints, a relative deflection angle can be generated between the first and second stepping fixed structures. This allows the robot to actively adjust its posture to adapt to curved pipes, resulting in strong passability. The rust removal robot actively adapts to curved pipes, achieving active posture control and self-adaptation in curved pipes. This overcomes the bottleneck of existing rigid robots struggling to pass through curved pipes, broadening its application scenarios. The rust removal robot adopts a modular symmetrical design, with a compact, stable, and clear structure. The four-bar linkage expansion mechanism provides strong and uniform radial anchoring force, ensuring the stability of the entire machine during heavy rust removal operations and preventing slippage and vibration.

[0092] 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. A method for removing rust from the inner wall of a pipe based on an alternating fixed robot, characterized in that: An alternating fixed robot is used to remove rust from the inner wall of a pipe. The alternating fixed robot 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 and the second step fixing structure are connected through a reversing structure. A method for removing rust from the inner wall of pipes based on an alternating fixed robot includes rust removal from straight pipes. The rust removal process for straight pipes includes the following steps: Both the first step fixing structure and the second step fixing structure are fixed inside the straight pipe, and the rust removal structure is activated to remove rust from the anchor points; The second step fixing structure disengages from the straight pipe, moves towards the first step fixing structure, and is fixed to the new pipe wall position; The first step of the fixing structure is detached from the straight pipe, and the first step of the fixing structure and the rust removal structure move in reciprocating linear motion synchronously to perform dynamic rust removal within the stroke area; After dynamic rust removal is completed, the first step fixing structure moves to the starting position of the next rust removal area and is fixed at the new pipe wall position; Repeat the above steps until all rust removal work on the straight pipe is completed.

2. The pipe inner wall rust removal method based on an alternating fixed robot according to claim 1, characterized in that: After the rust removal work on straight pipes is completed, the rust removal work on bent pipes is carried out, including the following steps: At the attitude adjustment position before the entrance of the curved pipe, the second step fixing structure is fixed to the inner wall of the straight pipe, the first step fixing structure is detached from the straight pipe, and the first step fixing structure moves towards the second step fixing structure to form an attitude adjustment operation space; The second stepping fixing structure and the first stepping fixing structure perform a differential stroke driving action, causing the first stepping fixing structure to deflect relative to the second stepping fixing structure, so that the axis of the first stepping fixing structure and the rust removal structure are aligned with the direction of the bent pipe, and the bending posture is adjusted. Maintaining the deflection angle of the first step fixing structure, the first step fixing structure moves, driving the rust removal structure to reciprocate along the trajectory of the curved pipe, and dynamically removing rust from the starting area of ​​the curved pipe. After the dynamic rust removal of the starting area of ​​the curved pipe is completed, the first step fixing structure is fixed to the inner wall of the curved pipe, the second step fixing structure is detached from the straight pipe and moved into the curved pipe, the second step fixing structure is fixed to the inner wall of the curved pipe, and the stepping and turning follow-up is carried out in the curved pipe. Repeat the above steps: pipe bending posture adjustment, dynamic rust removal, and pipe bending step and turning follow-up steps, until the pipe bending rust removal operation is completed.

3. The pipe inner wall rust removal method based on an alternating fixed robot according to claim 2, 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. Through the action of the stepping device, the first step fixing structure or the second step fixing structure is fixed inside the pipe or detached from the pipe. Through the cooperation of the telescopic device of the first step fixing structure and the telescopic device of the second step fixing structure, the first step fixing structure and the second step fixing structure move forward or backward along the axial direction of the pipe.

4. The pipe inner wall rust removal method based on an alternating fixed robot according to claim 3, characterized in that: The first step fixing structure and the second step fixing structure are arranged opposite to each other. The telescopic device of the first step fixing structure includes a plurality of first telescopic members, which are arranged sequentially along the circumferential direction of the mounting body. The telescopic device of the second step fixing structure includes a plurality of second telescopic members, which are arranged sequentially along the circumferential direction of the mounting body. The plurality of first telescopic members and the plurality of second telescopic members correspond one-to-one, and the corresponding first telescopic members and second telescopic members are connected through the reversing structure.

5. The pipe inner wall rust removal method based on an alternating fixed robot according to claim 4, characterized in that: When the second stepping fixing structure and the first stepping fixing structure perform differential stroke driving actions, the first telescopic member and the second telescopic member near the outside of the curved pipe both extend, and the first telescopic member and the second telescopic member near the inside of the curved pipe both retract.

6. The pipe inner wall rust removal method based on an alternating fixed robot according to claim 4 or 5, 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.

7. The pipe inner wall rust removal method based on an alternating fixed robot according to claim 6, characterized in that: Both the first step fixing structure and the second step fixing structure are fixed inside the straight pipe. When the rust removal structure is activated and the anchor point rust removal step is performed, multiple first expansion joints and multiple second expansion joints are in the extended state.

8. The pipe inner wall rust removal method based on an alternating fixed robot according to claim 7, characterized in that: When the second stepping fixing structure detaches from the straight pipe, and the second stepping fixing structure moves toward the first stepping fixing structure, both the first telescopic member and the second telescopic member retract.

9. The pipe inner wall rust removal method based on an alternating fixed robot according to claim 7 or 8, characterized in that: While maintaining the deflection angle of the first step fixing structure, the first step fixing structure moves, driving the rust removal structure to reciprocate along the curved pipe trajectory. In the dynamic rust removal step of the starting area of ​​the curved pipe, the first telescopic component extends and retracts, driving the rust removal structure to reciprocate along the curved pipe trajectory.

10. The pipe inner wall rust removal method based on an alternating fixed robot according to claim 9, characterized in that: After the dynamic rust removal of the starting area of ​​the curved pipe is completed, the first step fixing structure is fixed to the inner wall of the curved pipe, the second step fixing structure is detached from the straight pipe and moves into the curved pipe, and the second step fixing structure is fixed to the inner wall of the curved pipe. During the stepping and turning follow-up steps in the curved pipe, both the first telescopic component and the second telescopic component retract, driving the second step fixing structure to move into the curved pipe.

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