Intelligent robot suitable for welding inner wall of pipeline

Abstract

An intelligent robot suitable for welding of the inner wall of a pipeline comprises a machine body, a walking system used for driving the robot to move in the pipeline, a welding system used for welding the pipeline, a reducing system used for changing the walking radius of the robot and a pipeline flaw detection system used for conducting flaw detection on the pipeline and detecting welding seams after welding. The walking system is installed on the machine body through the reducing system, and the welding system is installed at the front end of the machine body. The walking system, the welding system, the reducing system and the pipeline flaw detection system are all connected with the control system. The utility model provides the intelligent robot suitable for welding the inner wall of the pipeline, the diameter can be changed according to the radius of the pipeline, and intelligent path planning and real-time adjusting functions are realized through CCTV detection of the pipeline.

Description

Technical Field

[0001] This utility model relates to the field of pipeline welding technology, and in particular to an intelligent robot suitable for welding the inner wall of pipelines. Background Technology

[0002] As a major industrial nation, my country possesses a vast network of pipelines, widely distributed across numerous sectors including oil, natural gas, and chemicals. With the continuous advancement of industrial construction, pipeline laying and maintenance projects are becoming increasingly frequent. However, pipeline construction environments are complex, welding workloads are substantial, and the requirements for welding quality and efficiency are extremely high. Currently, manual welding is the primary method used in pipeline welding in my country. This method is not only labor-intensive and demands highly skilled welders, but also presents significant challenges in complex environments (such as confined spaces and high-temperature, high-pressure areas), making it difficult to guarantee welding stability and quality, and thus unable to meet the needs of large-scale pipeline construction and maintenance. Existing pipeline welding robots on the market mostly suffer from numerous problems. Some welding robots are expensive but lack comprehensive functionality and offer poor cost-effectiveness. They can only perform some basic welding actions, have poor adaptability to complex pipeline shapes (such as bends and diameter changes), and lack intelligent path planning and real-time adjustment capabilities. Furthermore, many robots are bulky and difficult to maneuver in confined pipeline spaces, requiring frequent manual intervention. In terms of energy supply, some robots have limited battery life, and frequent charging affects work efficiency, making it difficult for them to be widely used in pipeline engineering. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this utility model provides an intelligent robot suitable for welding the inner wall of pipes. It can change the diameter according to the pipe radius and realize intelligent path planning and real-time adjustment through pipe CCTV detection.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] An intelligent robot suitable for welding the inner wall of a pipe includes a body, a walking system for moving the robot inside the pipe, a welding system for welding the pipe, a diameter-changing system for changing the robot's walking radius, and a pipe flaw detection system for detecting pipe flaws and inspecting the weld after welding. The walking system is mounted on the body via the diameter-changing system, and the welding system is mounted at the front end of the body. The walking system, welding system, diameter-changing system, and pipe flaw detection system are all connected to a control system.

[0006] The diameter-changing system includes a diameter-changing mechanism. Each diameter-changing mechanism includes a lead screw and nut mechanism, a spreading rod, and an amplifying rod assembly. The lead screw and nut mechanism is installed in the machine body. The machine body has a notch at the lead screw of the lead screw and nut mechanism. One end of the spreading rod is connected to the lead screw and nut of the lead screw and nut mechanism. The other end of the spreading rod passes through the notch and is hinged to the amplifying rod assembly. One end of the amplifying rod assembly is hinged to the machine body, and the other end of the amplifying rod assembly is hinged to the walking system.

[0007] Furthermore, the welding system includes a welding pipe, a hydraulic rod, a mechanical upper arm, a mechanical lower arm, a gear rotating device, and a stepper motor. The welding pipe is mounted on the power output end of the hydraulic rod, and the extension and retraction of the welding pipe are controlled by the hydraulic rod. The hydraulic rod is mounted on the stepper motor, and the power output end of the stepper motor is connected to the upper end of the mechanical lower arm. The upper end of the mechanical upper arm is hinged to the lower end of the mechanical lower arm, and the mechanical lower arm and mechanical upper arm are rotated by the stepper motor. The lower end of the mechanical upper arm is mounted on the gear rotating device, which is mounted on the front end of the machine body to realize 360° rotation of the welding pipe.

[0008] Furthermore, the pipeline flaw detection system includes a miniature industrial camera for capturing images of welds and the inside of the pipeline, and a signal transmission device for transmitting the images captured by the miniature industrial camera. The miniature industrial camera is mounted on the robotic arm, and the signal transmission device is mounted on the rear end of the machine body.

[0009] Furthermore, the walking system includes three walking units, which are evenly distributed at 120° intervals around the outer circumference of the machine body. Each walking unit includes a DC motor, a track, a synchronous gear, a drive pulley, and a driven pulley. The track is installed between two track mounting plates. The drive pulley and the driven pulley are connected via the track. The DC motor is connected to the drive pulley via a drive shaft. The synchronous gear is located between the drive pulley and the driven pulley and is rotatably installed between the two track mounting plates, while also meshing with the track. Three diameter-changing mechanisms are provided, each corresponding to one of the three walking units. The other end of the amplification rod group of each diameter-changing mechanism is hinged to the track mounting plate of the corresponding walking unit. Each amplification rod group includes two amplification rods.

[0010] Furthermore, the control system includes a 32-bit microcontroller, a Bluetooth module, a stepper motor driver, a DC motor driver, and a power supply. The 32-bit microcontroller is connected to the DC motor and the stepper motor respectively through the DC motor driver and the stepper motor driver.

[0011] The beneficial effects of this utility model are mainly reflected in the following aspects: The integrated design with multiple functions enables more intelligent and convenient pipe welding, reducing manual labor and improving welding efficiency; the welding system uses a hydraulic rod to control the up-and-down movement of the welded pipe, allowing for free change of the welding position; the walking system adopts a tracked design, enabling more stable operation within the pipeline; the diameter-changing system uses a diameter-changing mechanism, which can adjust the walking radius in real time according to the pipe diameter; and the pipeline flaw detection system uses pipeline CCTV inspection, which can provide real-time feedback on welding quality and observe the pipeline radius to control the diameter-changing system. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of this utility model.

[0013] Figure 2 This is a schematic diagram of the welding system.

[0014] Figure 3 This is a schematic diagram of the walking system.

[0015] Figure 4 yes Figure 3 Side view.

[0016] Figure 5 This is a simplified structural diagram of a variable diameter system. Detailed Implementation

[0017] The present invention will now be further described with reference to the accompanying drawings.

[0018] Reference Figures 1-5 An intelligent robot suitable for welding the inner wall of a pipe includes a body 1, a walking system 2 for moving the robot inside the pipe, a welding system 3 for welding the pipe, a diameter-changing system 4 for changing the robot's walking radius, and a pipe flaw detection system for detecting pipe flaws and inspecting the weld after welding. The walking system 2 is mounted on the body 1 via the diameter-changing system 4, and the welding system 3 is mounted at the front end of the body 1. The walking system 2, welding system 3, diameter-changing system 4, and pipe flaw detection system are all connected to a control system, which enables the coordinated operation and automated operation of each system.

[0019] like Figure 2As shown, the welding system 3 includes a welding pipe 5, a hydraulic rod 6, a mechanical upper arm 7, a mechanical lower arm 8, a gear rotating device 9, and a stepper motor 10. The welding pipe 5 is installed on the power output end of the hydraulic rod 6, and the extension and retraction of the welding pipe 5 are controlled by the hydraulic rod 6. The hydraulic rod 6 is installed on the stepper motor 10, and the power output end of the stepper motor 10 is connected to the upper end of the mechanical lower arm 8. The upper end of the mechanical upper arm 7 is hinged to the lower end of the mechanical lower arm 8, and the mechanical lower arm 8 and the mechanical upper arm 7 are driven to rotate by the stepper motor 10. The lower end of the mechanical upper arm 7 is installed on the gear rotating device 9, which is installed at the front end of the machine body 1 and is used to drive the upper components to achieve 360° rotation, thereby enabling the welding pipe 5 to achieve 360° rotation.

[0020] The welding pipe 5 is connected to the hydraulic rod 6, and the extension and retraction of the welding pipe 5 are controlled by the hydraulic rod 6. The mechanical arm 7 is connected to the mechanical arm 8, and the mechanical arm 8 and the mechanical arm 7 are rotated by the stepper motor 10. The gear rotating device 9 is located at the bottom of the welding system and is used to drive the upper part to achieve 360° rotation.

[0021] The pipeline flaw detection system includes a miniature industrial camera 11 and a signal transmission device 12. The miniature industrial camera 11 is located on the welding system 3 and mounted on the robotic arm 7, used to capture images of the weld seam and the inside of the pipeline. The signal transmission device 12 is mounted on the rear end of the machine body 1 and used to transmit the images captured by the miniature industrial camera 11. The miniature industrial camera 11 is connected to the signal transmission device 12, the signal transmission device 12 is connected to the control system, and the control system is connected to the miniature industrial camera 11. The pipeline flaw detection system uses CCTV inspection of the pipeline, which can provide real-time feedback on welding quality and observe the pipeline radius.

[0022] like Figure 3 and Figure 4 As shown, the walking system 2 includes three walking units, which are evenly distributed at 120° intervals around the body. Each walking unit includes a DC motor, a track 13, a synchronous gear, a drive pulley, and a driven pulley. The track is installed between two track mounting plates. Due to size limitations, the DC motor is built into it. The drive pulley and the driven pulley are connected via the track. The DC motor is connected to the drive pulley via a drive shaft, ultimately driving the track. The synchronous gear is located between the drive pulley and the driven pulley and is rotatably mounted between the two track mounting plates, while also meshing with the track. Three diameter-changing mechanisms are provided, each corresponding to one of the three walking units. The other end of the amplification rod group 17 of each diameter-changing mechanism is hinged to the track mounting plate of the corresponding walking unit. Each amplification rod group 17 includes two amplification rods.

[0023] like Figure 5As shown, the variable diameter system 4 includes a variable diameter mechanism. Each variable diameter mechanism includes a lead screw and nut mechanism, a spreading rod 16, and an amplifying rod group 17. The lead screw and nut mechanism is installed inside the machine body 1. The machine body 1 has a notch at the lead screw 14 of the lead screw and nut mechanism. One end of the spreading rod 16 is connected to the lead screw and nut 15 of the lead screw and nut mechanism. The other end of the spreading rod 16 passes through the notch and is hinged to the amplifying rod group 17. One end of the amplifying rod group 17 is hinged to the machine body 1, and the other end of the amplifying rod group 17 is hinged to the walking system 2.

[0024] When the lead screw 14 of the lead screw and nut mechanism rotates, the lead screw and nut 15 moves left and right on the lead screw 14, thereby pulling the expansion rod 16. The expansion rod 16 is hinged to the amplifying rod assembly 17, which is hinged to the walking system, thereby changing its tilt angle to adapt to changes in pipe diameter.

[0025] The control system includes a 32-bit microcontroller, a Bluetooth module, a stepper motor driver, a DC motor driver, and a power supply. The 32-bit microcontroller is connected to the DC motor and the stepper motor respectively through the DC motor driver and the stepper motor driver.

[0026] The working process of this utility model is as follows: When the robot enters the pipeline, the miniature industrial camera 11 located on the welding system 3 transmits the captured image to the ground through the signal transmission device 12. The control system controls the movement of the walking system 2, and at the same time drives the diameter changing system 4 to change the walking radius according to the pipeline radius. The welding system 3 welds the places that need to be welded according to the information collected by the miniature industrial camera 11. The gear rotating device 9 drives the components on it to rotate 360°. The mechanical arm 7 and the mechanical arm 8 rotate under the drive of the stepper motor 10. The hydraulic rod 6 extends and retracts to realize the extension and retraction of the welding pipe 5.

[0027] This invention is simple to operate and easy to use. It can complete flaw detection and welding work in a single execution, making it highly practical and efficient for pipeline welding. Its overall structure is simple, occupies little space, and is inexpensive, making it suitable for most pipelines in my country.

Claims

1. An intelligent robot suitable for welding the inner wall of pipes, characterized in that: The system includes a body, a walking system for moving the robot within the pipeline, a welding system for welding the pipeline, a diameter-changing system for changing the robot's walking radius, and a pipeline flaw detection system for detecting pipeline flaws and inspecting welds after welding. The walking system is mounted on the body via the diameter-changing system, and the welding system is mounted at the front end of the body. The walking system, welding system, diameter-changing system, and pipeline flaw detection system are all connected to a control system. The diameter-changing system includes a diameter-changing mechanism. Each diameter-changing mechanism includes a lead screw and nut mechanism, a spreading rod, and an amplifying rod assembly. The lead screw and nut mechanism is installed in the machine body. The machine body has a notch at the lead screw of the lead screw and nut mechanism. One end of the spreading rod is connected to the lead screw and nut of the lead screw and nut mechanism. The other end of the spreading rod passes through the notch and is hinged to the amplifying rod assembly. One end of the amplifying rod assembly is hinged to the machine body, and the other end of the amplifying rod assembly is hinged to the walking system.

2. The intelligent robot suitable for welding the inner wall of pipes as described in claim 1, characterized in that: The welding system includes a welding pipe, a hydraulic rod, a mechanical upper arm, a mechanical lower arm, a gear rotating device, and a stepper motor. The welding pipe is mounted on the power output end of the hydraulic rod, which controls the extension and retraction of the welding pipe. The hydraulic rod is mounted on the stepper motor, and the power output end of the stepper motor is connected to the upper end of the mechanical lower arm. The upper end of the mechanical upper arm is hinged to the lower end of the mechanical lower arm, and the stepper motor drives the mechanical lower arm and mechanical upper arm to rotate. The lower end of the mechanical upper arm is mounted on the gear rotating device, which is mounted on the front end of the machine body to achieve 360° rotation of the welding pipe.

3. An intelligent robot suitable for welding the inner wall of pipes as described in claim 1 or 2, characterized in that: The pipeline flaw detection system includes a miniature industrial camera for capturing images of welds and the inside of the pipeline, and a signal transmission device for transmitting the images captured by the miniature industrial camera. The miniature industrial camera is mounted on the robotic arm, and the signal transmission device is mounted on the rear end of the machine body.

4. An intelligent robot suitable for welding the inner wall of pipes as described in claim 1 or 2, characterized in that: The walking system includes three walking units, which are evenly distributed at 120° intervals around the body. Each walking unit includes a DC motor, a track, a synchronous gear, a drive pulley, and a driven pulley. The track is installed between two track mounting plates. The drive pulley and the driven pulley are connected by the track. The DC motor is connected to the drive pulley via a drive shaft. The synchronous gear is located between the drive pulley and the driven pulley and is rotatably installed between the two track mounting plates, while also meshing with the track. Three diameter-changing mechanisms are provided, each corresponding to one of the three walking units. The other end of the amplification rod group of each diameter-changing mechanism is hinged to the track mounting plate of the corresponding walking unit. Each amplification rod group includes two amplification rods.

5. An intelligent robot suitable for welding the inner wall of a pipe as described in claim 1 or 2, characterized in that: The control system includes a 32-bit microcontroller, a Bluetooth module, a stepper motor driver, a DC motor driver, and a power supply. The 32-bit microcontroller is connected to the DC motor and the stepper motor respectively through the DC motor driver and the stepper motor driver.

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