Self-propelled laser heat treatment equipment for inner and outer walls of metal pipeline

Abstract

The present application belongs to the field of robot technology, and particularly relates to a self-propelled metal pipeline inner and outer wall laser heat treatment equipment, which at least comprises a base with a ring track, a plurality of laser heat treatment mechanisms which are arranged along the circumferential direction and are spaced apart and are arranged on the base and are suitable for being electrically rotated along the ring track, a plurality of heat treatment range adjusting mechanisms which are arranged on each laser heat treatment mechanism in a one-to-one manner, and a plurality of crawling mechanisms which are spaced apart along the circumferential direction and are connected with the base; the laser heat treatment mechanism comprises a support seat, a first telescopic driving assembly which is arranged in the support seat and partially extends outside the support seat, and a laser quenching head which is arranged outside the support seat and is connected with the first telescopic driving assembly; the heat treatment range adjusting mechanism comprises a light-transmitting area shielding piece and a second telescopic driving assembly which is used for driving the light-transmitting area shielding piece to be telescopically relative to the laser quenching head; and the crawling mechanism comprises a walking wheel and a wheel track adjusting assembly.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a self-propelled laser heat treatment device for the inner and outer walls of metal pipes. Background Technology

[0002] Laser heat treatment technology is increasingly widely used in pipeline surface strengthening and repair due to its rapid heating speed, small heat-affected zone, controllable workpiece deformation, and excellent hardened layer properties. Especially in industries with stringent pipeline reliability requirements, such as petroleum and chemical industries, laser hardening has become an important means of extending pipeline service life by improving the hardness, wear resistance, fatigue strength, and corrosion resistance of the pipeline inner wall.

[0003] Currently, laser heat treatment of pipelines mostly employs manual, segment-by-segment operation using a handheld laser quenching head. Operators must work in high-temperature environments for extended periods, especially when working from above on the bottom of the pipeline's outer wall, which is both difficult and poses significant safety hazards. For long-distance pipelines, manual segment-by-segment processing is time-consuming and inefficient, failing to meet the needs of large-scale projects. Although some research has combined pipeline robotics with laser surface modification technology—for example, CN101787424A discloses a laser strengthening treatment device for the inner surface of slender pipes based on a pipeline robot, using a pipeline robot to drive an optical fiber guiding system to strengthen the inner surface of the pipe—this device can only strengthen the inner surface of slender pipes, limiting its applicability.

[0004] Furthermore, the diameter, wall thickness, and material of different pipes vary significantly, resulting in different process parameters such as laser power, scanning speed, and defocusing amount. However, existing equipment generally lacks adaptive adjustment capabilities, relying heavily on operator experience for parameter adjustments during production. This is especially true when pipes have welded enclosures, flanges, or other auxiliary structures, making laser focus adjustment even more complex. Manual operation is not only time-consuming, but the adjusted focus position is also prone to shift, requiring frequent interruptions for measurement and correction, severely impacting the efficiency of continuous operation and the consistency of processing quality.

[0005] Existing laser heat treatment equipment for pipelines is mostly designed for specific pipe diameters, making it difficult to apply to irregularly shaped pipes such as those with varying diameters. Small areas such as welds and localized wear points require repeated scanning, resulting in high difficulty and low efficiency in heat treatment.

[0006] In summary, existing pipeline laser heat treatment technologies generally exhibit problems such as low efficiency, insufficient quality stability, and high rework costs in engineering applications. For industries with stringent requirements for pipeline reliability, such as petroleum and chemical industries, the instability of heat treatment quality directly affects the service life and operational safety of pipelines. Therefore, there is an urgent need for a pipeline laser heat treatment robot that integrates laser heat treatment, online inspection, and adaptive repair to overcome the shortcomings of existing equipment. Summary of the Invention

[0007] The purpose of this invention is to provide a self-propelled laser heat treatment device for the inner and outer walls of metal pipes, so as to solve the technical problem of optimizing its use process.

[0008] The self-propelled laser heat treatment equipment for the inner and outer walls of metal pipes of the present invention is implemented as follows: A self-propelled laser heat treatment device for the inner and outer walls of metal pipes includes at least: a base with a ring track, a plurality of laser heat treatment mechanisms arranged on the base and adapted to be electrically rotated along the ring track and spaced apart in the circumferential direction, a plurality of heat treatment range adjustment mechanisms arranged one-to-one on each of the laser heat treatment mechanisms, and a plurality of crawling mechanisms arranged at intervals in the circumferential direction connected to the base. The laser heat treatment mechanism includes a support base, a first telescopic drive assembly disposed in the support base and partially extending out of the support base, and a laser quenching head disposed outside the support base and connected to the first telescopic drive assembly; the first telescopic drive assembly is used to drive the laser quenching head to extend and retract radially along the pipe being processed to adjust the working distance. The heat treatment range adjustment mechanism includes a light-transmitting area shielding plate and a second telescopic drive component for driving the light-transmitting area shielding plate to extend or retract relative to the laser quenching head to adjust the effective range of the laser heat treatment. The crawling mechanism includes walking wheels and a wheel spacing adjustment component; wherein the wheel spacing adjustment component is adapted to adjust the extension distance of the walking wheels relative to the base so that the self-propelled metal pipe inner and outer wall laser heat treatment equipment can adapt to pipes of different diameters.

[0009] In an optional embodiment of the present invention, the first telescopic drive assembly includes a first telescopic rod connected to the laser quenching head, and a first linear push rod that is driven in conjunction with the first telescopic rod. The first linear push rod is adapted to drive the first telescopic rod to extend or retract to adjust the distance between the laser quenching head and the wall of the pipe being processed.

[0010] In an optional embodiment of the present invention, the second telescopic drive assembly includes a second telescopic rod connected to the light-transmitting area shielding sheet, a second linear push rod that is driven by the second telescopic rod, and a light-transmitting hole disposed on the light-transmitting area shielding sheet; The second linear push rod is adapted to drive the second telescopic rod to extend or retract to adjust the extension distance of the light-transmitting area shielding plate relative to the laser quenching head.

[0011] In an optional embodiment of the invention, the second linear push rod is fixed to the second telescopic rod; and The heat treatment range adjustment mechanism also includes a micro motor for driving the second telescopic rod to rotate.

[0012] In an optional embodiment of the present invention, a rotation drive assembly is further provided between the base and the laser heat treatment mechanism; The rotation drive assembly includes a gear ring disposed on the outer wall of the annular track, and a gear connected to the support base of each of the laser heat treatment mechanisms.

[0013] In an optional embodiment of the invention, each of the support seats is provided with a guide groove that slides with the annular track.

[0014] In an optional embodiment of the present invention, the crawling mechanism further includes a connecting frame and a support frame that are slidably connected; the walking wheels are mounted on the connecting frame and driven by a walking drive motor; The wheel track adjustment assembly includes a sliding guide structure disposed between the connecting frame and the support frame, and a linear motion driver for driving the connecting frame to move relative to the support frame.

[0015] In an optional embodiment of the present invention, the support frame is further provided with a distance sensor, which is used to detect the distance between the traveling wheel and the outer wall surface of the pipe being processed.

[0016] In an optional embodiment of the present invention, the self-propelled metal pipe inner and outer wall laser heat treatment equipment further includes a radial support mechanism disposed at the lower end of the base; The radial support mechanism includes a plurality of elastic support components spaced apart along the circumferential direction.

[0017] In an optional embodiment of the invention, each of the elastic support components includes a support block adapted to fit against the outer wall surface of the pipe being processed, an elastic support member connected to the support block, and an L-shaped support frame connected to the elastic support member; wherein A linear motion drive structure is provided between the L-shaped support frame and the base.

[0018] The beneficial effects of this invention are that the self-propelled laser heat treatment equipment for the inner and outer walls of metal pipes provided by this invention, through the design of multiple laser heat treatment mechanisms evenly distributed along the circumference, can complete the heat treatment of the entire pipe circle in one go. Compared with the traditional single-laser-head segment-by-segment scanning method, the heat treatment efficiency is significantly improved. Multiple laser quenching heads can work synchronously to achieve full coverage of the entire circle, or be independently controlled to achieve differentiated heat treatment, adapting to different working conditions. By adjusting the wheel extension distance through the wheel spacing adjustment component, stable walking and positioning on metal pipes of different diameters can be achieved, enabling the robot to adapt to pipes of different diameters, including ultra-large diameter pipes. This invention can perform continuous heat treatment by walking in a straight line along the pipe, or rotate the laser heat treatment mechanism at a fixed position to complete the full circle of heat treatment before moving in a straight line, or perform reciprocating heat treatment on the same segment of the pipe. The combination of multiple walking modes allows the robot to flexibly adapt to the heat treatment requirements of pipes of different diameters, lengths, and working conditions.

[0019] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the self-propelled metal pipe inner and outer wall laser heat treatment equipment disclosed in this invention, used in the case of the pipe outer wall. Figure 2 This is a second-view structural schematic diagram of the self-propelled metal pipe inner and outer wall laser heat treatment equipment disclosed in this invention, used in the case of the pipe outer wall. Figure 3 This is an initial state diagram of the heat treatment range adjustment mechanism in the self-propelled metal pipe inner and outer wall laser heat treatment equipment disclosed in this invention. Figure 4 This is a diagram showing the shielding state of the heat treatment range adjustment mechanism in the self-propelled metal pipe inner and outer wall laser heat treatment equipment disclosed in this invention. Figure 5 for Figure 2 A schematic diagram of the structure of part A; Figure 6 This is a third-view structural diagram of the self-propelled metal pipe inner and outer wall laser heat treatment equipment disclosed in this invention, used in the state of the pipe outer wall. Figure 7 for Figure 6 A schematic diagram of the structure of section B; Figure 8 This is a first-view structural schematic diagram of the self-propelled metal pipe inner and outer wall laser heat treatment equipment disclosed in this invention, used in the state of the inner wall of the pipe. Figure 9 This is a second-view structural diagram of the self-propelled metal pipe inner and outer wall laser heat treatment equipment disclosed in this invention, used in the state of the inner wall of the pipe.

[0023] In the diagram: Base 1, Gear Ring 11, Circular Track 2, Support Base 31, Laser Quenching Head 32, First Telescopic Rod 33, Gear 35, Guide Groove 36, Drive Motor 37, Light Transmitting Area Blocking Plate 41, Light Transmitting Hole 411, Second Telescopic Rod 42, Second Linear Push Rod 43, Micro Motor 44, Crawling Mechanism Bracket 51, Connecting Frame 52, Support Frame 53, Walking Wheel 54, Walking Drive Motor 55, Distance Sensor 6, Support Block 71, Elastic Support Component 72, L-Shaped Support Frame 73, Linear Motion Drive Structure 74, Pipe 8. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1

[0025] Please see Figures 1 to 9 As shown, this embodiment provides a self-propelled laser heat treatment device for the inner and outer walls of metal pipes. Its overall structure generally includes: a base 1 with an annular track 2, a plurality of laser heat treatment mechanisms arranged on the base 1 and adapted to be electrically rotated along the annular track 2 and distributed at intervals along the circumferential direction, a plurality of heat treatment range adjustment mechanisms arranged one-to-one on each laser heat treatment mechanism, and a plurality of crawling mechanisms arranged at intervals along the circumferential direction connected to the base 1.

[0026] Specifically, in this embodiment, nine laser heat treatment mechanisms are mounted on the base 1, evenly spaced along the circumference (with adjacent intervals of 40°). Each heat treatment mechanism includes a support base 31, a first telescopic drive assembly disposed within the support base 31 and partially extending outward from the support base 31, and a laser quenching head 32 disposed outside the support base 31 and connected to the first telescopic drive assembly. The first telescopic drive assembly drives the laser quenching head 32 to extend and retract radially along the processed pipe 8 to adjust the working distance. The first telescopic drive assembly includes a first telescopic rod 33 (which may be a miniature servo cylinder) connected to the laser quenching head 32, and a first linear push rod that is driven by the first telescopic rod 33. The first linear push rod is adapted to drive the first telescopic rod 33 to extend and retract to adjust the distance between the laser quenching head 32 and the wall of the processed pipe 8. The support base 31 is hollow inside to accommodate the power part of the first telescopic drive assembly.

[0027] A rotation drive assembly is also provided between the base 1 and the laser heat treatment mechanism. The rotation drive assembly includes a gear ring 11 on the outer wall of the annular track 2 and a gear 35 connected to the support seat 31 of each laser heat treatment mechanism. Each gear 35 is also equipped with a drive motor 37 for driving its rotation. The motor body can be connected to the support seat 31. Each support seat 31 is provided with a guide groove 36 that slides along the annular track 2, so that each support seat 31 can slide along the annular track 2. The surface of the annular track 2 is precision ground with a surface roughness Ra≤0.8μm to provide a guiding reference when the laser heat treatment mechanism rotates circumferentially. The annular guide rail-guide groove 36 cooperation provides an additional circumferential constrained degree of freedom in addition to the meshing drive of the gear 35 and the gear ring 11, eliminating radial wobble caused by the meshing backlash of the gear 35, and ensuring that the radial position fluctuation of the focal point of the laser quenching head 32 relative to the wall of the pipe 8 does not exceed ±0.1mm during the rotation of the laser heat treatment mechanism. Meanwhile, the annular guide rail also bears part of the weight load of the support 31, reduces the radial load on the gear teeth of the gear 35, and improves the service life of the rotation drive assembly.

[0028] The side wall of the support base 31 is rotatably connected to the central shaft of the gear 35 through a bearing seat, and the gear 35 meshes externally with the gear ring 11 on the base 1. When the drive motor 37 drives the gear 35 to rotate, the gear 35 moves along the gear ring 11 fixed on the base 1, thereby driving the entire laser heat treatment mechanism (including the support base 31, the first telescopic drive assembly, and the laser quenching head 32) to perform electric rotary motion along the annular track 2, realizing the scanning of the laser quenching head 32 around the pipe 8.

[0029] Secondly, the heat treatment range adjustment mechanism includes a light-transmitting area shielding plate 41 and a second telescopic drive assembly for driving the light-transmitting area shielding plate 41 to extend and retract relative to the laser quenching head 32 to adjust the effective range of the laser heat treatment. The second telescopic drive assembly includes a second telescopic rod 42 (which can be a miniature servo cylinder) connected to the light-transmitting area shielding plate 41 of the heat treatment range, and a second linear push rod 43 that is driven by the second telescopic rod 42. The second linear push rod 43 is adapted to drive the second telescopic rod 42 to extend and retract to adjust the extension distance of the light-transmitting area shielding plate 41 of the heat treatment range relative to the laser quenching head 32. The cylinder body of the second linear push rod 43 is fixedly mounted on the telescopic rod baffle by a flange, and its push rod end is connected to the root of the light-transmitting area shielding plate 41 of the heat treatment range through a spherical bearing. The extension action of the second linear push rod 43 directly pushes the second telescopic rod 42 to slide along its axial direction (parallel to the laser beam direction), thereby adjusting the axial extension distance of the light-transmitting area shielding plate 41 relative to the front end face of the laser quenching head 32. When the extension distance increases from 0 mm to 30 mm, the effective passage area of ​​the laser beam decreases linearly from 100% to about 40%, thereby enabling continuous adjustment of the heat treatment range from macroscopic quenching to microscopic point repair.

[0030] The second linear push rod 43 is fixed to the second telescopic rod 42; and the heat treatment range adjustment mechanism also includes a micro motor 44 for driving the second telescopic rod 42 to rotate. When the micro motor 44 is started, the second telescopic rod 42 drives the heat treatment range light-transmitting area shielding plate 41 to rotate around its own axis (i.e., the direction of the laser optical axis). Based on this, in this embodiment, the light-transmitting hole 411 on the light-transmitting area shielding plate 41 can be designed as any shape such as rectangular or crescent-shaped. Specifically, multiple light-transmitting area shielding plates 41 with light-transmitting holes 411 of different shapes can be set. In specific use, selective replacement can be made according to the shape and size of the actual heat treatment area. The rotation of the micro motor 44 can change the long axis direction of the area of ​​the heat treatment area after shielding, making it perpendicular to the extension direction of the defect area to be repaired (such as axial cracks or circumferential welds), thereby covering the largest defect area with the smallest heat-affected area. The rotation angle range of the micro motor 44 is 0 to 360°, and the angle control accuracy is ≤ ±1°.

[0031] The second telescopic rod 42 is arranged parallel to the axis of the laser quenching head 32. Its fixed end is mounted on the top of the support base 31 through a bearing seat, and its movable end extends towards the outlet direction of the laser quenching head 32. The light-transmitting area shielding plate 41 is a crescent-shaped or rectangular thin plate. One end of it is connected to the movable end of the second telescopic rod 42, and the other end is a free end. The light-transmitting area shielding plate 41 is designed with a light-transmitting hole 411 facing the laser quenching head 32 to cut into the propagation path of the laser beam. The cylinder end of the second linear push rod 43 (which can be a miniature servo electric cylinder) is fixed to the fixed end of the second telescopic rod 42, and its push rod end is connected to the movable end of the second telescopic rod 42 through a connecting block. In use, the micro motor 44 is activated to drive the second linear push rod 43 to rotate, so that the light-transmitting area blocking plate 41 is located at the front end of the laser quenching head 32. When the second linear push rod 43 extends, it drives the light-transmitting area blocking plate 41, which is fixedly connected to the output end of the second telescopic rod 42, to advance axially towards the front end of the laser quenching head 32. When the second linear push rod 43 retracts, the light-transmitting area blocking plate 41 returns to its initial position. By controlling the axial extension distance of the light-transmitting area blocking plate 41 relative to the laser quenching head 32, the effective aperture of the laser beam can be linearly changed, thereby adjusting the area of ​​the heat treatment region.

[0032] Furthermore, the crawling mechanism includes walking wheels 54 and a wheel track adjustment assembly; wherein the wheel track adjustment assembly is adapted to adjust the extension distance of the walking wheels 54 relative to the base 1 so that the self-propelled pipeline 8 inner and outer wall laser heat treatment robot can adapt to pipelines 8 of different diameters. The crawling mechanism is provided in three groups, evenly distributed at 120° intervals along the circumference, and fixedly installed on the crawling mechanism bracket 51 at the lower end of the base 1 by screws.

[0033] The crawling mechanism also includes a slidingly connected connecting frame 52 and a support frame 53; the traveling wheel 54 is mounted on the connecting frame 52 and driven by a traveling drive motor 55; the wheel gauge adjustment assembly includes a sliding guide structure disposed between the connecting frame 52 and the support frame 53, and a linear motion driver (which can be a servo electric cylinder or a hydraulic cylinder) for driving the connecting frame 52 to move relative to the support frame 53. Referring to the accompanying drawings, in one optional case, the connecting frame 52 is L-shaped or T-shaped, with a traveling drive motor 37 mounted at one end. The output shaft of the traveling drive motor 37 is directly connected to the central axis of the roller, driving the roller to rotate and provide traveling power. When the linear motion driver is activated, the connecting frame 52 slides radially along the pipe 8 relative to the support frame 53, thereby changing the radial extension distance of the roller relative to the center of the base 1. The effective adjustment range of this wheel gauge adjustment assembly is ±100mm, adapting to pipe diameters ranging from DN200 to DN2000. When the roller extends to contact the wall of the pipe 8, the three sets of crawling mechanisms form a three-point support, automatically aligning the axis of the entire machine with the axis of the pipe 8 being processed. When the walking wheel 54 extends outward from the center of the base 1, it contacts the outer wall of the pipe 8, and the robot is fully fitted onto the outside of the pipe 8 to perform heat treatment on the outer wall of the pipe 8. When the walking wheel 54 retracts inward from the center of the base 1 (i.e., the connecting frame 52 retracts centripetally) until it contacts the inner wall of the pipe 8, the robot is fully placed inside the pipe 8 to perform heat treatment on the inner wall of the pipe 8. In both working conditions, the working principles of the annular track 2 of the base 1, the laser heat treatment mechanism, and the heat treatment range adjustment mechanism are the same; only the linear motion directions of the walking wheel 54 of the crawling mechanism, the laser quenching head 32, and the light-transmitting area blocking plate 41 are opposite.

[0034] A distance sensor 6 is also installed on the support frame 53. The distance sensor 6 is used to detect the distance between the walking wheel 54 and the outer wall of the pipe 8 being processed. Specifically, the distance sensor 6 is a laser triangulation rangefinder or an ultrasonic sensor, and its measurement beam direction is parallel to the radial adjustment direction of the walking wheel 54. Before the robot enters the pipe 8 or during its movement, the distance sensor 6 detects in real time the actual distance between the support frame 53 at the location of the walking wheel 54 and the wall of the pipe 8 being processed. This distance signal serves as the closed-loop feedback of the wheel gauge adjustment component: when the measured distance is greater than the preset target distance, the control system drives the linear motion driver to increase the extension of the walking wheel 54; when the measured distance is less than the safety threshold, the control system drives the walking wheel 54 to retract appropriately to prevent the walking wheel 54 from excessively squeezing the wall of the pipe 8, which would lead to excessive walking resistance or deformation of the pipe 8. The detection accuracy of the distance sensor 6 is ±0.1mm, and the sampling frequency is ≥100Hz, providing a reliable sensing basis for adaptive variable diameter movement.

[0035] In summary, the general usage process of the laser heat treatment robot for the inner and outer walls of pipelines in this embodiment is as follows. It should be emphasized that the laser heat treatment robot for the inner and outer walls of pipelines in this embodiment can be used on oil pipelines, as well as on other pipelines such as chemical pipelines. Here, we only take its practical application on oil pipelines as an example: Step S1: Pipe insertion / redirection and adaptive diameter change. Based on the diameter of the oil pipeline 8 to be processed and the operational requirements of the inner and outer walls, position commands are sent to the linear motion actuators of the three sets of crawling mechanisms. The distance sensor 6 provides real-time feedback on the distance until the three sets of walking wheels 54 uniformly press against the wall of the oil pipeline 8, and the positive pressure of the walking wheels 54 reaches the set threshold (determined by the current loop feedback of the drive motor 37). At this point, the robot completes self-centering and diameter change adaptation.

[0036] Step S2: Laser heat treatment. The first telescopic drive assembly of the nine laser heat treatment mechanisms is activated. Based on the pre-set defocusing amount for the material of the oil pipeline 8, the first telescopic rod 33 is driven to extend to the target position. The nine laser quenching heads 32 simultaneously emit light. For large-diameter, thick-walled pipes, the crawling mechanism brakes, and the nine rotating motors simultaneously drive the gears 35 to rotate along the gear ring 11, causing the nine laser quenching heads 32 to rotate a full circle. After completing the quenching treatment of this section, the crawling mechanism advances linearly by one step (overlap 15%–20%) before proceeding to the next rotation.

[0037] Step S3: Adaptive shaping of irregularly shaped pipes. When there are weld seams or box protrusions on the 8th side of the oil pipeline, the first linear push rod drives the laser quenching head 32 to actively extend and retract during the journey, maintaining a constant defocusing amount to ensure the uniformity of the hardness of the entire pipe.

[0038] Based on the above, it should be noted that, in one optional implementation, after the laser heat treatment based on step S2, defects such as insufficient hardening layer, substandard hardness, and uneven heating may occur locally. To address this, an existing mature technology based on infrared thermal imaging detection used in pipelines can be adopted (by capturing infrared radiation from the pipeline surface to generate an infrared thermal image of the temperature distribution, and using the temperature difference between the defect and the normal area for identification) to obtain the coordinates of the defect locations where the hardening layer is insufficient and the hardness is substandard. The self-propelled metal pipeline inner and outer wall laser heat treatment equipment moves to the above coordinate area under the action of the crawling mechanism and performs secondary laser heat treatment on the above area. To detect surface defects such as overheated white spots and microcracks in the heated area, a binocular vision detector, a mature technology in the prior art, can be used to acquire real-time images of the heat-treated surface. Based on the acquired image data, the self-propelled metal pipe inner and outer wall laser heat treatment equipment of this application is controlled to perform secondary or multiple heat treatments on the area. It should be further explained that the real-time image data obtained by the binocular vision detector can also be used as a reference for judging the morphology of the inner or outer wall of the pipe. If the pipe is an irregularly shaped pipe (such as an irregularly shaped pipe with a box weld), the extension and retraction distance of the laser quenching head 32 in the corresponding laser heat treatment mechanism needs to be adjusted to ensure uniform heat treatment of the pipe wall.

[0039] During the secondary or multiple heat treatments of the aforementioned defect locations, when the defect area is small or has a specific shape, the second linear push rod 43 pushes the second telescopic rod 42 to extend, and then the micro motor 44 is activated to drive the second telescopic rod 42 to rotate along the output axis of the micro motor 44. The light-transmitting area shielding plate 41 installed at the output end of the second telescopic rod 42 blocks the front end of the laser quenching head 32. That is, the micro motor 44 drives the light-transmitting area shielding plate 41 to rotate to the optimal shielding angle perpendicular to the defect direction. The light-transmitting area shielding plate 41 cuts into the laser beam emitted by the laser quenching head 32. By utilizing the size and shape of the light-transmitting hole 411 on the light-transmitting area shielding plate 41, local light transmission is achieved in the heat treatment area, realizing heat treatment of a specific area and providing precise heat replenishment for the aforementioned defect area.

[0040] To avoid damage to surrounding healthy areas during secondary heat treatment, this embodiment includes a heat treatment range adjustment mechanism. This mechanism can repair defective areas from the first heat treatment with secondary heat treatment, while shielding and protecting areas that do not require secondary treatment. This effectively isolates and protects areas that do not require treatment, achieving safe heat repair for specific areas. Example 2

[0041] Please see Figures 1 to 9As shown, based on the self-propelled metal pipe inner and outer wall laser heat treatment equipment of Embodiment 1, the self-propelled metal pipe inner and outer wall laser heat treatment equipment provided in this embodiment also includes a radial support mechanism located at the lower end of the base 1; the radial support mechanism includes multiple elastic support components spaced apart along the circumferential direction. In this embodiment, it is set to three groups, which are staggered with the three groups of crawling mechanisms in the circumferential direction (i.e., distributed at 60° intervals). The function of this radial support mechanism is to assist the crawling mechanism in bearing the radial load when the robot performs laser heat treatment rotation operation, reduce the contact stress between the walking wheel 54 and the wall of the pipe 8, and prevent the pipe 8 from undergoing elliptical deformation due to excessive local support force at high temperature.

[0042] Each elastic support assembly includes a support block 71 adapted to fit against the outer wall of the pipe 8 being processed, an elastic support member 72 connected to the support block 71, and an L-shaped support frame 73 connected to the elastic support member 72; wherein a linear motion drive structure 74 is provided between the L-shaped support frame 73 and the base 1.

[0043] Building upon the aforementioned structure, the support block 71 is further defined as an arc-shaped block with a radius of curvature matching the outer diameter of the commonly used pipe 8. The arc surface is lined with a high-temperature resistant polyurethane pad to increase friction and prevent scratches on the pipe 8 surface. The elastic support 72 is specifically a helical compression spring or a gas spring, with one end pressed against the back of the support block 71 and the other end fixed to the horizontal plate of the L-shaped support frame 73. A linear motion drive structure 74 (e.g., a lead screw and nut pair driven by a micro servo motor) is provided between the vertical plate of the L-shaped support frame 73 and the crawling mechanism bracket 51 of the base 1. When it is necessary to enter the pipe 8, the linear motion drive structure 74 drives the L-shaped support frame 73 to move radially as a whole, causing the support block 71 to contact or detach from the pipe 8 wall.

[0044] Based on the above, when the robot is moving in a straight line normally, the linear motion drive structure 74 retracts the support block 71 to prevent it from contacting the wall of the pipe 8, thereby reducing walking resistance. When the robot stops at a certain position for full-circle rotational heat treatment, the linear motion drive structure 74 drives the support block 71 to extend outward until the support block 71 contacts the wall of the pipe 8 and the spring generates a pre-compression of 20% to 30%. At this time, the three sets of elastic support components and the three sets of crawling mechanisms together form a six-point support, which significantly improves the support stiffness and anti-tipping ability of the robot under rotational conditions. The spring stiffness of the elastic support component 72 is calculated to ensure that when the pipe 8 expands and elongates due to thermal expansion, the support block 71 can slide axially with the surface of the pipe 8 (friction drives the spring to deform slightly), avoiding jamming.

[0045] The shortcomings of the above solutions are the result of the inventor's practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure below should be considered as the inventor's contribution to this disclosure.

[0046] In this document, when it is mentioned that a first component is located on a second component, this can mean that the first component can be directly formed on the second component, or that a third component can be inserted between the first and second components. Furthermore, in the accompanying drawings, the thickness of the components may be exaggerated or reduced for the purpose of effectively describing the technical content.

[0047] In this document, when an element or layer is referred to as “located,” “joined to,” “connected to,” “attached to,” or “coupled to” another element or layer, it may be directly located, joined, connected, attached to, or coupled to the other element or layer, or there may be intermediate elements or layers present. Conversely, when an element is referred to as “directly on another element or layer,” “directly joined to,” “directly connected to,” “directly attached to,” or “directly coupled to” another element or layer, there may be no intermediate elements or layers present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the related listed items.

[0048] In this document, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. As used herein, expressions such as “at least one of…” modify the entire list of elements when following a list of elements, rather than individual elements in the list. For example, the expression “at least one of a, b, and c” should be understood to include only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.

[0049] The terminology used herein is for the purpose of describing specific exemplary configurations only and is not intended to be limiting. As used herein, the singular articles “a,” “an,” and “the” may also be intended to include plural forms unless otherwise clearly stated herein. The terms “comprising,” “including,” and “having” are inclusive and thus specify the presence of features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown, unless specifically identified as such. Additional or alternative steps may be employed.

[0050] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.

Claims

1. A self-propelled laser heat treatment device for the inner and outer walls of metal pipes, characterized in that, At least including: The system includes a base with a ring track, multiple laser heat treatment mechanisms spaced apart in a circumferential direction and mounted on the base and adapted to rotate electrically along the ring track, multiple heat treatment range adjustment mechanisms mounted one-to-one on each of the laser heat treatment mechanisms, and multiple crawling mechanisms spaced apart in a circumferential direction and connected to the base. The laser heat treatment mechanism includes a support base, a first telescopic drive assembly disposed in the support base and partially extending out of the support base, and a laser quenching head disposed outside the support base and connected to the first telescopic drive assembly; the first telescopic drive assembly is used to drive the laser quenching head to extend and retract radially along the pipe being processed to adjust the working distance. The heat treatment range adjustment mechanism includes a light-transmitting area shielding plate and a second telescopic drive component for driving the light-transmitting area shielding plate to extend or retract relative to the laser quenching head to adjust the effective range of the laser heat treatment. The crawling mechanism includes walking wheels and a wheel spacing adjustment component; wherein the wheel spacing adjustment component is adapted to adjust the extension distance of the walking wheels relative to the base so that the self-propelled metal pipe inner and outer wall laser heat treatment equipment can adapt to pipes of different diameters.

2. The self-propelled laser heat treatment equipment for the inner and outer walls of metal pipes according to claim 1, characterized in that, The first telescopic drive assembly includes a first telescopic rod connected to the laser quenching head, and a first linear push rod that is driven by the first telescopic rod. The first linear push rod is adapted to drive the first telescopic rod to extend or retract to adjust the distance between the laser quenching head and the wall of the pipe being processed.

3. The self-propelled metal pipe inner and outer wall laser heat treatment equipment according to claim 1, characterized in that, The second telescopic drive assembly includes a second telescopic rod connected to the light-transmitting area shield, a second linear push rod that is driven by the second telescopic rod, and a light-transmitting hole provided on the light-transmitting area shield; The second linear push rod is adapted to drive the second telescopic rod to extend or retract to adjust the extension distance of the light-transmitting area shielding plate relative to the laser quenching head.

4. The self-propelled metal pipe inner and outer wall laser heat treatment equipment according to claim 3, characterized in that, The second linear push rod is fixed to the second telescopic rod; and The heat treatment range adjustment mechanism also includes a micro motor for driving the second telescopic rod to rotate.

5. The self-propelled metal pipe inner and outer wall laser heat treatment equipment according to claim 1, characterized in that, A rotation drive assembly is also provided between the base and the laser heat treatment mechanism; The rotation drive assembly includes a gear ring disposed on the outer wall of the annular track, and a gear connected to the support base of each of the laser heat treatment mechanisms.

6. The self-propelled metal pipe inner and outer wall laser heat treatment equipment according to claim 5, characterized in that, Each of the support seats is provided with a guide groove that slides with the annular track.

7. The self-propelled laser heat treatment equipment for the inner and outer walls of metal pipes according to claim 1, characterized in that, The crawling mechanism further includes a connecting frame and a support frame that are slidably connected; the walking wheels are mounted on the connecting frame and driven by a walking drive motor; The wheel track adjustment assembly includes a sliding guide structure disposed between the connecting frame and the support frame, and a linear motion driver for driving the connecting frame to move relative to the support frame.

8. The self-propelled metal pipe inner and outer wall laser heat treatment equipment according to claim 7, characterized in that, The support frame is also equipped with a distance sensor, which is used to detect the distance between the traveling wheel and the outer wall of the pipe being processed.

9. The self-propelled laser heat treatment equipment for the inner and outer walls of metal pipes according to claim 1, characterized in that, The self-propelled metal pipe inner and outer wall laser heat treatment equipment also includes a radial support mechanism located at the lower end of the base. The radial support mechanism includes a plurality of elastic support components spaced apart along the circumferential direction.

10. The self-propelled laser heat treatment equipment for the inner and outer walls of metal pipes according to claim 9, characterized in that, Each of the aforementioned elastic support components includes a support block adapted to fit against the outer wall surface of the pipe being processed, an elastic support member connected to the support block, and an L-shaped support frame connected to the elastic support member. in A linear motion drive structure is provided between the L-shaped support frame and the base.

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