Flanging and grinding integrated robot for cable conduit

Abstract

The application provides a cable conduit flanging and cutting and grinding integrated robot, which comprises a shell assembly, a walking assembly, a balancing assembly, a driving assembly and a cutter assembly. The shell assembly is used for overall bearing and adapting to the conduit. The walking assembly is arranged at the lower part of the shell assembly and is in transmission connection with the driving assembly, and is used for carrying the robot to move in the conduit under the driving of the driving assembly. The balancing assembly is arranged around the outside of the shell assembly and is in abutment between the shell assembly and the inner wall of the conduit. The driving assembly is arranged in the shell assembly, and the power output ends thereof are respectively in transmission connection with the cutter assembly, and are used for providing power for the radial extension and contraction of the cutter of the cutter assembly and the cutting and grinding operation. The cutter assembly is arranged at the front end of the front half of the shell assembly and is in transmission connection with the driving assembly, and is used for realizing radial extension and contraction to change the effective cutting radius and performing the cutting and grinding operation on the conduit flanging.

Description

Technical Field

[0001] This invention relates to the field of cable engineering construction technology, and in particular to an integrated robot for internal flange cutting and grinding of cable ducts. Background Technology

[0002] In cable installation, MPP pipes are often spliced ​​and extended using hot-melt welding. This welding process creates irregularly shaped, hard inner flanges inside the pipe. When laying cables, these inner flanges can easily scratch the outer layer of the cable, affecting the safety of cable laying and the quality of the project.

[0003] Currently, manual cutting tools or manual magnetically guided robots are commonly used to remove inner flanges. Manual cutting tools rely on manual operation, resulting in inconsistent cut quality, low efficiency, and high labor costs. Manual magnetically guided robots are cumbersome to operate, have limited field of vision, and may not cut or grind thoroughly. Existing automated pipe robots struggle to simultaneously meet the practical engineering requirements for fully automated, high-precision cutting and grinding of inner flanges in MPP pipes. Summary of the Invention

[0004] In view of this, the present invention provides an integrated robot for flanging and grinding inside cable ducts.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: This invention provides an integrated robot for flange cutting and grinding inside cable ducts, comprising a shell assembly, a walking assembly, a balancing assembly, a drive assembly, and a cutting tool assembly; The outer casing assembly is used to support the entire structure and adapt to the pipeline; The walking component is located at the lower part of the outer shell component and is connected to the drive component for driving the robot to move inside the pipe under the drive of the drive component. The balancing components are distributed around the outer side of the outer shell assembly and abut against the inner wall of the pipe to keep the robot horizontally centered inside the pipe and to compensate for pose errors. The drive assembly is disposed inside the housing assembly, and its power output end is respectively connected to the tool assembly for transmission, and is used to provide power for the radial extension and retraction of the tool and the cutting and grinding operation of the tool assembly; The cutting tool assembly is located at the front end of the front half of the housing assembly and is connected to the drive assembly for transmission. It is used to achieve radial extension and retraction under the drive assembly to change the effective cutting radius and to perform cutting and grinding operations on the inner flange of the pipe.

[0006] Optionally, the housing assembly includes a front upper body, a rear upper body, a lower body, and handles respectively disposed above the front upper body and the rear upper body; the front upper body and the rear upper body are jointly mounted above the lower body to form a three-section split structure; the interior of the front upper body has a hollow structure to integrate the cutting tool assembly.

[0007] Optionally, the walking assembly includes a bottom drive wheel bracket, a drive wheel mounted on the bracket, and a drive motor; the drive wheel is a driving drive wheel with anti-slip texture; wherein, the bottom drive wheel bracket is fixedly connected to the lower side of the lower body of the housing assembly; The drive motor is fixedly mounted on the bottom drive wheel bracket; The drive wheel is a driving drive wheel with anti-slip texture. The drive wheel is rotatably mounted on the bottom drive wheel bracket, and its axle center is connected to the power output end of the drive motor, and is driven to rotate by the drive motor.

[0008] Optionally, the balancing component includes arc-shaped driven wheels, which comprise multiple sets and are rotatably connected to the front and rear ends of the lower body of the outer casing component via wheel seats. The arc surfaces of the arc-shaped driven wheels fit against the inner wall of the pipe and together with the drive wheels suspended on the lower side, they form a multi-point support and stable walking structure for the robot within the pipe.

[0009] Optionally, the drive assembly includes an electric actuator; the electric actuator is installed inside the rear half of the machine body and is drively connected to the inside of the tool assembly to provide axial driving force for radial extension and retraction.

[0010] Optionally, the tool assembly specifically includes a telescopic tool mechanism, a tool head rotation mechanism, a transmission mechanism connected to the drive assembly, a protection mechanism, and a cutting drive mechanism; The cutting drive mechanism is connected to the cutter head rotation mechanism and is used to provide rotational power to the cutter head rotation mechanism; The telescopic cutter mechanism is mounted on the cutter head rotating mechanism and is used to rotate synchronously with the cutter head rotating mechanism, and also to adapt to the inner wall of the pipe to abut against it. The transmission mechanism is connected between the drive assembly and the telescopic tool mechanism, and is used to convert the axial power output by the drive assembly into a thrust that drives the telescopic tool mechanism to perform radial extension and retraction. The protective mechanism is installed outside the cutter head rotation mechanism to provide safety protection.

[0011] Optionally, the cutting drive mechanism includes a cutting drive motor and a first-stage pinion; the cutting drive motor is installed inside the housing assembly, and its power output shaft is fixedly connected to the first-stage pinion for outputting high-speed rotational power.

[0012] Optionally, the cutter head rotation mechanism includes a variable diameter cutter head, a two-stage large gear, an angular contact ball bearing, and a deep groove ball bearing; The variable diameter cutter head is rotatably mounted on the front end face of the housing assembly, and its main rotational shaft is supported and carried by the angular contact ball bearing and the deep groove ball bearing in cooperation. The secondary large gear is integrated on the back of the variable diameter cutter head and meshes with the primary small gear of the cutting drive mechanism to drive the variable diameter cutter head to rotate.

[0013] Optionally, the transmission mechanism includes a ratchet sleeve, a variable-diameter inner ratchet, a variable-diameter pawl, and a variable-diameter cone; The ratchet sleeve is fixedly sleeved on the central axis, and the variable diameter inner ratchet and the variable diameter pawl are axially fitted and installed inside the ratchet sleeve; The rear end of the variable-diameter inner ratchet is connected to the power output end of the electric push rod in the drive assembly. The variable diameter cone is coaxially fixedly connected to the front end of the variable diameter ratchet, and its outer circumferential surface is formed with a tapered outer inclined surface. Under the drive of the electric push rod, the variable diameter cone moves axially synchronously with the ratchet component.

[0014] Optionally, the telescopic tool mechanism includes a sliding guide rail, a tool head base, a telescopic tool bar, a contact wheel, a cutting and grinding tool, a tool limiting wheel, a linear bearing, and a tool bar limiting compression spring; The sliding guide rail is fixedly mounted radially on the end face of the variable diameter cutter head of the cutter head rotation mechanism, and the cutter head base is slidably fitted therein; The bottom of the telescopic cutter bar is fixed to the cutter head base, and the cutting and grinding tool is an integrated cutting and grinding head, which is fixedly installed on the radial top end of the telescopic cutter bar; The contact wheel is rotatably mounted on the inner end of the bottom of the retractable tool bar and rolls against the outer inclined surface of the variable diameter cone of the transmission mechanism; the axial movement of the variable diameter cone forces the contact wheel to slide outward along the inclined surface, thereby converting the axial thrust into the radial thrust of the retractable tool bar. The tool limiting wheel is installed at the top of the telescopic tool bar, close to the cutting tool, and is used to roll against the pipe wall to limit the cutting depth; The linear bearing is sleeved on the outside of the telescopic tool bar, and works with the tool bar limiting spring to provide guidance and floating adjustment resistance for the radial extension and retraction of the telescopic tool bar and its fit against the pipe wall; The protection mechanism specifically includes a cutter head protective housing and a reset spring; the cutter head protective housing is located at the front end of the variable diameter cutter head and the reset spring is located between the two.

[0015] Implementing the embodiments of the present invention will have at least the following beneficial effects: This invention provides an integrated robot for cutting and grinding the inner flange of cable ducts. By setting a drive component inside the outer shell assembly, the drive component provides power to both the walking component and the cutting tool component. This enables the walking component to support the robot and move it stably inside the duct, while the cutting tool component can achieve radial extension and retraction to change the effective cutting radius and perform cutting and grinding operations on the inner flange of the duct. At the same time, the balancing components distributed around the outer side of the outer shell assembly abut against the inner wall of the duct to keep the robot horizontally centered inside the duct and compensate for posture errors. This allows the robot to automatically move and center inside the duct. By controlling the radial extension and retraction to adapt to different pipe diameters and inner flange sizes, the robot achieves automated cutting and grinding operations on the inner flange of the duct, improving the accuracy and overall efficiency of the processing operation. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of the integrated flange cutting and grinding robot for cable ducts provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the cable duct internal flange cutting and grinding integrated robot provided in an embodiment of the present invention; Figure 3 A partial structural schematic diagram of the tool assembly from the rear view provided in an embodiment of the present invention; Figure 4 A cross-sectional view of the internal structure of the tool assembly provided in an embodiment of the present invention; Figure 5 A front perspective view of the variable diameter cutter head and telescopic cutter mechanism provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the transmission mechanism and the telescopic cutter provided in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1-Outer shell assembly, 101-Front upper body, 102-Rear upper body, 103-Lower body, 104-Handle; 2-Walking assembly, 201-Bottom drive wheel bracket, 202-Drive wheel, 203-Drive motor; 3-Balance components; 4-Drive assembly, 401-Electric actuator; 5-Tool assembly; 501-Telescopic tool mechanism, 5011-Sliding guide rail, 5012-Tool head base, 5013-Telescopic tool holder, 5014-Contact wheel, 5015-Cutting and grinding tool, 5016-Tool limiting wheel, 5017-Tool holder limiting compression spring; 502-Cutter head rotation mechanism, 5021-Variable diameter cutter head, 5022-Secondary large gear, 5023-Angular contact ball bearing, 5024-Deep groove ball bearing; 503-Transmission mechanism, 5031-Ratchet sleeve, 5032-Variable diameter inner ratchet, 5033-Variable diameter pawl, 5034-Variable diameter cone; 504 - Protection mechanism; 5041 - Cutter head protective housing; 5042 - Reset spring; 505 - Cutting drive mechanism, 5051 - Cutting drive motor, 5052 - First stage pinion. Detailed Implementation

[0019] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many other different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0020] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] This embodiment provides an integrated robot for flanging and grinding inside cable ducts, such as... Figure 1-6 As shown, it includes a housing assembly 1, a walking assembly 2, a balancing assembly 3, a drive assembly 4, and a cutting tool assembly 5.

[0023] The outer shell assembly 1 serves to support all components and adapt to the internal space of the pipe. The walking assembly 2 is located at the lower part of the outer shell assembly 1 and is connected to the drive assembly 4. The balancing assembly 3 is distributed around the outer side of the outer shell assembly and abuts against the inner wall of the pipe between the outer shell assembly 1 and the pipe. The drive assembly 4 is located inside the outer shell assembly 1, and its power output end is connected to the tool assembly 5. The tool assembly 5 is located at the front end of the front half of the body of the outer shell assembly 1 and is connected to the drive assembly 4. During operation, the drive assembly 4 provides the walking assembly 2 with propulsion power and simultaneously provides power drive for the radial extension and cutting / grinding operations of the tool assembly 5, enabling the walking assembly 2 to carry the robot to move and perform operations within the pipe.

[0024] This invention utilizes the drive component 4 to provide unified power support, combined with the mobility of the walking component 2 and the centering support of the balance component 3, to ensure that the robot can smoothly enter the pipe and maintain a centered working posture; at the same time, the drive component 4 drives the tool component 5 to change the effective cutting radius, realizing dynamic adaptive removal of irregular internal flanges, and improving the stability of the joint operation.

[0025] In some embodiments, the housing assembly 1 includes a front upper body 101, a rear upper body 102, a lower body 103, and handles 104 respectively disposed above the front upper body 101 and the rear upper body 102.

[0026] Specifically, the front upper body 101 and the rear upper body 102 are fixedly installed on the top of the lower body 103, forming a three-section split structure; the front upper body 101 has a hollow structure inside, so that the tool assembly 5 can be integrated into the hollow structure.

[0027] The robot adopts a three-section split structure design, which facilitates the independent assembly of each functional module inside the robot and subsequent disassembly and maintenance; the hollow structure of the front upper body 101 provides a space for housing and protection of the internal tool telescopic transmission components, improving the overall structural compactness.

[0028] For example, the handle 104 can be a metal pipe fastened to the top housing of the front upper body 101 and the rear upper body 102 by bolts, so that construction workers can manually lift, place or move the robot at the pipe opening.

[0029] In some embodiments, the walking assembly 2 includes a bottom drive wheel bracket 201, a drive wheel 202 disposed on the bracket, and a drive motor 203; the drive wheel 202 is a driving drive wheel with anti-slip texture.

[0030] Specifically, the bottom drive wheel bracket 201 is fixedly connected to the lower side of the lower body 103 of the housing assembly 1; the drive motor 203 is fixedly mounted on the bottom drive wheel bracket 201; the drive wheel 202 is rotatably mounted on the bottom drive wheel bracket 201, and its axle center is connected to the power output end of the drive motor 203.

[0031] When movement is required, the drive motor 203 directly drives the drive wheel 202 to rotate, causing the robot to move as a whole, which improves the transmission efficiency. The drive wheel 202 with anti-slip texture increases its friction with the inner wall of the pipe, ensuring the stability of the robot's movement under pipe wall conditions and avoiding slippage.

[0032] In some embodiments, the balancing component 3 includes arc-shaped driven wheels, which comprise multiple sets and are rotatably connected to the front and rear ends of the lower body 103 of the housing component 1 via wheel seats.

[0033] Specifically, the curved surface of the driven wheel fits into the inner wall of the cylindrical pipe, and together with the drive wheel suspended on the lower side, they form a multi-point support structure and a stable walking structure for the robot inside the pipe.

[0034] Multiple sets of arc-shaped driven wheels are set up and distributed at both ends of the lower body 103. This can evenly distribute the passive support force around the pipe wall, reduce the radial runout of the robot during travel and cutting, ensure the coincidence of the robot's central axis with the pipe's central axis, and thus improve the accuracy of the cutting dimensions.

[0035] In some embodiments, the drive assembly 4 includes an electric push rod 401; Specifically, the electric push rod 401 is installed inside the rear half of the machine body and is connected to the inside of the tool assembly 5, providing linear axial driving force for the radial extension and retraction of the tool during operation.

[0036] In some embodiments, the tool assembly 5 specifically includes a telescopic tool mechanism 501, a tool head rotation mechanism 502, a transmission mechanism 503 connected to the drive assembly 4, a protection mechanism 504, and a cutting drive mechanism 505.

[0037] Specifically, the cutting drive mechanism 505 is connected to the cutter head rotation mechanism 502; the telescopic tool mechanism 501 is disposed on the cutter head rotation mechanism 502; the transmission mechanism 503 is connected between the drive assembly 4 and the telescopic tool mechanism 501; and the protection mechanism 504 is covered on the outside of the cutter head rotation mechanism 502.

[0038] During operation, the cutting drive mechanism 505 provides rotational power to the cutter head rotation mechanism 502, and the telescopic tool mechanism 501 rotates synchronously with it and adapts to the inner wall of the pipe to abut against it. The transmission mechanism 503 converts the axial power output by the drive assembly 4 into a thrust that drives the telescopic tool mechanism 501 to perform radial extension and retraction.

[0039] By dividing the power receiving, rotational actuation, telescopic actuation, and external protection into five independent mechanism modules, the load-bearing and transmission functions of each part are clearly defined, improving the smoothness of the transmission process; the external protection mechanism 504 effectively blocks plastic debris generated during cutting, preventing foreign objects from being drawn into the internal precision transmission components, and improving the continuous working life of the equipment.

[0040] In some embodiments, the cutting drive mechanism 505 includes a cutting drive motor 5051 and a primary pinion 5052.

[0041] Specifically, the cutting drive motor 5051 is installed inside the housing assembly 1, and its power output shaft is fixedly connected to the first-stage pinion 5052.

[0042] When powered on, the cutting drive motor 5051 drives the first-stage pinion 5052 through the output shaft to output high-speed rotational power. The motor output shaft is directly connected and fixed to the first-stage pinion, which has the characteristics of simple structure and short transmission chain. It can efficiently and without slippage transmit rotational torque and meet the power strength requirements for cutting hard inner flanges.

[0043] In some embodiments, the cutter head rotation mechanism 502 includes a variable diameter cutter head 5021, a secondary large gear 5022, an angular contact ball bearing 5023, and a deep groove ball bearing 5024.

[0044] Specifically, the variable diameter cutter head 5021 is rotatably mounted on the front end face of the housing assembly 1, and its main rotational shaft is supported by parallel angular contact ball bearings 5023 and deep groove ball bearings 5024. The secondary large gear 5022 is integrated on the back of the variable diameter cutter head 5021 and is internally meshed with the primary small gear 5052 of the cutting drive mechanism 505. When the primary small gear 5052 rotates, it drives the secondary large gear 5022 and the variable diameter cutter head 5021 in front to rotate synchronously through the internal meshing relationship.

[0045] The use of internal meshing gear transmission saves radial space on the back of the cutter head; the combination of angular contact ball bearing 5023 and deep groove ball bearing 5024 can simultaneously withstand the multi-directional axial thrust and radial reaction force generated during cutting, ensuring the smooth operation of the variable diameter cutter head 5021 when high-speed rotation is obstructed.

[0046] In some embodiments, the transmission mechanism 503 includes a ratchet sleeve 5031, a variable-diameter inner ratchet 5032, a variable-diameter pawl 5033, and a variable-diameter cone 5034.

[0047] Specifically, the ratchet sleeve 5031 is fixedly sleeved on the central axis, and the variable-diameter inner ratchet 5032 and the variable-diameter pawl 5033 are axially fitted inside the ratchet sleeve 5031; the rear end of the variable-diameter inner ratchet 5032 is connected to the power output end of the electric push rod in the drive assembly 4; the variable-diameter cone 5034 is coaxially fixedly connected to the front end of the variable-diameter pawl 5033, and its outer circumferential surface is formed as a conical outer inclined surface. Under the drive of the electric push rod, the variable-diameter inner ratchet 5032 is subjected to force, which drives the variable-diameter cone 5034 to move axially synchronously with the ratchet components such as the variable-diameter pawl 5033. The structural design of directly driving the ratchet assembly and the front-end variable-diameter cone to move axially using linear thrust accurately and linearly converts the control command of the electric push rod into the displacement change of the variable-diameter cone. The structure is compact and has sufficient mechanical rigidity in the transmission process.

[0048] In some embodiments, the telescopic tool mechanism 501 includes a sliding guide rail 5011, a tool disc base 5012, a telescopic tool bar 5013, a contact wheel 5014, a cutting and grinding tool 5015, a tool limiting wheel 5016, a linear bearing, and a tool bar limiting compression spring 5017; the protection mechanism 504 specifically includes a tool disc protective housing 5041 and a reset compression spring 5042.

[0049] Specifically, the sliding guide rail 5011 is radially fixed to the end face of the variable diameter cutter head 5021, and the cutter head base 5012 is slidably fitted therein; the bottom of the telescopic cutter bar 5013 is fixed to the cutter head base 5012, and the cutting and grinding tool 5015 is fixed to the radial top end; the contact wheel 5014 is rotatably mounted on the bottom side of the telescopic cutter bar 5013 and rolls against the tapered outer inclined surface of the variable diameter cone 5034 of the transmission mechanism 503; the tool limiting wheel 5016 is installed close to the cutting and grinding tool 5015; the linear bearing is sleeved on the outside of the telescopic cutter bar 5013 and cooperates with the tool bar limiting spring 5017; the cutter head protective shell 5041 is set at the front end of the variable diameter cutter head 501, and a reset spring 5042 is connected between the two. The axial movement of the variable-diameter cone 5034 forces the contact wheel 5014 to slide outward along the inclined plane, converting the axial thrust into the radial thrust of the tool holder to extend outward; at the same time, when the robot touches the front obstacle, the tool disc protective shell 5041 compresses the reset spring 5042 to generate displacement.

[0050] This inclined plane pushing mechanism realizes the conversion of force direction and uses the compression spring to maintain the reset balance. The tool limit wheel 5016 can prevent excessive cutting and damage to the pipe wall itself. The cutter head protective shell 5041, combined with the reset compression spring 5042, gives the robot a flexible retreat space when it encounters physical obstacles such as the end of the pipe, which plays a role in buffering and anti-collision and reduces the risk of structural damage to the actuator.

[0051] For example, the cutting and grinding tool 5015 is an integral milling head made of cemented carbide, which can simultaneously cut the protruding part of the flange and grind the rough surface of the joint by means of the end edge and the side edge during the process of extending and adhering to the pipe wall.

[0052] The working process of this invention: When the operation begins, the drive motor 203 of the walking component 2 starts, driving the anti-slip drive wheel 202 to rotate, so that the outer shell component 1 carries the various components and smoothly enters the cable duct. During the movement, the multiple sets of arc-shaped driven wheels of the balancing component 3 cooperate to fit against the inner wall of the duct, and together with the drive wheel 202, they form a multi-point support to keep the machine body horizontal and centered and compensate for errors. After reaching the inner flange position, the drive motor 203 stops, and the electric push rod 401 of the drive assembly 4 starts, pushing the variable diameter inner ratchet 5032, variable diameter pawl 5033 and variable diameter cone 5034 of the transmission mechanism 503 to produce an overall axial displacement. The conical outer inclined surface of the variable diameter cone 5034 forces the contact wheel 5014 of the telescopic tool mechanism 501 to slide outward, thereby driving the cutter head base 5012 at the bottom of the telescopic tool bar 5013 to overcome the resistance of the tool bar limiting spring 5017 and extend radially along the sliding guide rail 5011 until the tool limiting wheel 5016 at the top of the telescopic tool bar 5013 abuts against the pipe wall, completing the adaptive matching of pipe diameter and cutting depth. Subsequently, the cutting drive motor 5051 of the cutting drive mechanism 505 starts, and through the internal meshing of the first-stage pinion 5052 and the second-stage large gear 5022 on the back of the cutter head rotation mechanism 502, it drives the variable diameter cutter head 5021 to rotate smoothly, so that the cutting and grinding tool 5015 fixed at the end of the telescopic cutter bar 5013 rotates synchronously to perform cutting and grinding operations on the inner edge of the pipe. During this process, if the robot makes a physical contact with the front end inside the pipe, the cutter head protective shell 5041 of the protection mechanism 504 will compress the reset spring 5042 to produce flexible yielding and provide anti-collision buffer protection. After a single cutting operation is completed, the cutting drive motor 5051 stops, the electric push rod 401 retracts to remove the axial thrust, and the telescopic tool bar 5013 retracts under the action of the tool bar limiting spring 5017, causing the cutting and grinding tool 5015 to detach from the pipe wall. Finally, the drive motor 203 rotates in the opposite direction, driving the whole machine out of the pipeline along the original path, completing the automated workflow.

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A robot for internal flanging and grinding of cable ducts, characterized in that, It includes a housing assembly (1), a walking assembly (2), a balancing assembly (3), a drive assembly (4), and a cutting tool assembly (5); The outer casing assembly (1) is used to support and adapt the pipeline as a whole; The walking component (2) is disposed at the lower part of the outer shell component (1) and is connected to the drive component (4) for driving the robot to move in the pipe under the drive of the drive component (4); The balancing component (3) is distributed around the outer side of the outer shell component and abuts against the inner wall of the pipe to keep the robot horizontally centered in the pipe and to compensate for pose error. The drive assembly (4) is located inside the housing assembly (1), and its power output end is connected to the tool assembly (5) for transmission, and is used to provide power for the radial extension and retraction of the tool of the tool assembly (5) and for cutting and grinding operations; The cutting tool assembly (5) is located at the front end of the front half of the machine body in the cutting tool assembly (1) of the outer shell assembly, and is connected to the driving assembly (4) for radial extension and retraction under the drive of the driving assembly (4) to change the effective cutting radius, and to perform cutting and grinding operations on the inner flange of the pipe.

2. The integrated robot for flange cutting and grinding inside cable ducts as described in claim 1, characterized in that, The outer casing assembly (1) includes a front upper body (101), a rear upper body (102), a lower body (103), and handles (105) respectively disposed above the front upper body (101) and the rear upper body (102); the front upper body (101) and the rear upper body (102) are mounted together above the lower body (103) to form a three-section split structure; the front upper body (101) has a hollow structure inside to integrate the cutting tool assembly (5).

3. The integrated robot for flange cutting and grinding inside cable ducts as described in claim 2, characterized in that, The walking assembly (2) includes a bottom drive wheel bracket (201), a drive wheel (202) mounted on the bracket, and a drive motor (203); the drive wheel (202) is a driving drive wheel with anti-slip texture; wherein, the bottom drive wheel bracket (201) is fixedly connected to the lower side of the lower body (103) of the outer casing assembly (1); The drive motor (203) is fixedly mounted on the bottom drive wheel bracket (201); The drive wheel (202) is a driving drive wheel with anti-slip texture. The drive wheel (202) is rotatably mounted on the bottom drive wheel bracket (201), and its wheel axle center is connected to the power output end of the drive motor (203) for transmission and rotation by the drive motor (203).

4. The integrated robot for flange cutting and grinding inside cable ducts as described in claim 3, characterized in that, The balancing component (3) includes an arc-shaped driven wheel, which comprises multiple sets and is rotatably connected to the two ends of the lower body (103) of the outer shell component (1) via wheel seats. The arc surface of the arc-shaped driven wheel fits against the inner wall of the pipe and together with the drive wheel suspended on the side below, forms a multi-point support and stable walking structure for the robot in the pipe.

5. The integrated robot for flange cutting and grinding inside cable ducts as described in claim 1, characterized in that, The drive assembly (4) includes an electric push rod (401); the electric push rod (401) is installed inside the rear half of the machine body and is drively connected to the inside of the tool assembly (5) to provide axial driving force for radial extension.

6. The integrated robot for flange cutting and grinding inside cable ducts as described in any one of claims 1-5, characterized in that, The tool assembly (5) specifically includes a telescopic tool mechanism (501), a tool head rotation mechanism (502), a transmission mechanism (503) connected to the drive assembly (4), a protection mechanism (504), and a cutting drive mechanism (505). The cutting drive mechanism (505) is connected to the cutter head rotation mechanism (502) for providing rotational power to the cutter head rotation mechanism (502); The telescopic cutter mechanism (501) is mounted on the cutter head rotating mechanism (502) and is used to rotate synchronously with the cutter head rotating mechanism (502), and is also used to adapt to the inner wall of the pipe to abut against it. The transmission mechanism (503) is connected between the drive assembly (4) and the telescopic tool mechanism (501) and is used to convert the axial power output by the drive assembly (4) into a thrust that drives the telescopic tool mechanism (501) to perform radial extension and retraction. The protective mechanism (504) is installed outside the cutter head rotating mechanism (502) to provide safety protection.

7. The integrated robot for flange cutting and grinding inside cable ducts as described in claim 6, characterized in that, The cutting drive mechanism (505) includes a cutting drive motor (5051) and a first-stage pinion (5052); the cutting drive motor (5051) is installed inside the housing assembly (1), and its power output shaft is fixedly connected to the first-stage pinion (5052) for outputting high-speed rotational power.

8. The integrated robot for flange cutting and grinding inside cable ducts as described in claim 7, characterized in that, The cutter head rotation mechanism (502) includes a variable diameter cutter head (5021), a secondary large gear (5022), an angular contact ball bearing (5023), and a deep groove ball bearing (5024). The variable diameter cutter head (5021) is rotatably mounted on the front end face of the housing assembly (1), and its main rotational shaft is supported and carried by the angular contact ball bearing (5023) and the deep groove ball bearing (5024). The secondary large gear (5022) is integrated on the back of the variable diameter cutter head (5021) and meshes with the primary small gear (5052) of the cutting drive mechanism (505) to drive the variable diameter cutter head (5021) to rotate.

9. The integrated robot for flange cutting and grinding inside cable ducts as described in claim 8, characterized in that, The transmission mechanism (503) includes a ratchet sleeve (5031), a variable diameter inner ratchet (5032), a variable diameter pawl (5033), and a variable diameter cone (5034). The ratchet sleeve (5031) is fixedly sleeved on the central axis, and the variable diameter inner ratchet (5032) and the variable diameter pawl (5033) are axially fitted and installed inside the ratchet sleeve (5031); The rear end of the variable diameter inner ratchet (5032) is connected to the power output end of the electric push rod in the drive assembly (4); The variable diameter cone (5034) is coaxially fixedly connected to the front end of the variable diameter pawl (5033), and its outer circumferential surface is formed with a conical outer inclined surface. Under the drive of the electric push rod, the variable diameter cone (5034) moves axially synchronously with the ratchet component.

10. The integrated robot for flange cutting and grinding inside cable ducts as described in claim 9, characterized in that, The telescopic tool mechanism (501) includes a sliding guide rail (5011), a tool disc base (5012), a telescopic tool bar (5013), a contact wheel (5014), a cutting and grinding tool (5015), a tool limiting wheel (5016), a linear bearing, and a tool bar limiting compression spring (5017). The sliding guide rail (5011) is fixedly disposed radially on the end face of the variable diameter cutter head (5021) of the cutter head rotation mechanism (502), and the cutter head base (5012) is slidably fitted therein; The bottom of the telescopic cutter bar (5013) is fixed to the cutter head base (5012), and the cutting and grinding tool (5015) is an integrated cutting and grinding head, which is fixedly installed on the radial top end of the telescopic cutter bar (5013). The contact wheel (5014) is rotatably mounted on the inner end of the bottom of the telescopic tool bar (5013) and rolls against the tapered outer inclined surface of the variable diameter cone (5034) of the transmission mechanism (503); the axial movement of the variable diameter cone (5034) forces the contact wheel (5014) to slide outward along the inclined surface, thereby converting the axial thrust into the radial thrust of the telescopic tool bar (5013); The tool limiting wheel (5016) is installed at the top of the telescopic tool bar (5013) close to the cutting tool (5015) and is used to roll against the pipe wall to limit the cutting depth. The linear bearing is sleeved on the outside of the telescopic tool bar (5013) and works with the tool bar limiting spring (5017) to provide guidance and floating adjustment resistance for the radial extension and retraction of the telescopic tool bar (5013) and the fitting of the tube wall; The protection mechanism (504) specifically includes a cutter head protective shell (5041) and a reset spring (5042); the cutter head protective shell (5041) is disposed at the front end of the variable diameter cutter head (501) and the reset spring (5042) is disposed between the two.

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