Gluing device of pipeline explosion maintenance robot

Abstract

The utility model relates to the technical field of gluing devices, and discloses a gluing device of a pipeline burst maintenance robot, which comprises a fixed plate, the top end of the fixed plate is fixedly connected with two third support plates, the adjacent sides of the third support plates are slidably connected with short pieces, the left ends of the short pieces are fixedly connected with L-shaped blocks, and the left ends of the L-shaped blocks are fixedly connected with the left ends of the L-shaped blocks. A rotating shaft is rotationally connected between every two adjacent L-shaped blocks, a sprayer is fixedly connected to the middle of each rotating shaft, the top of each sprayer communicates with a liquid coating pipe, the front side of each rotating shaft penetrates through the corresponding L-shaped block and is fixedly connected with a half gear, and a supporting pad is fixedly connected to the bottom of the rear side of the L-shaped block on the front side. According to the utility model, the servo motor II drives the large gear to rotate, so that the sprayer reaches the gluing position, the accuracy of the gluing position is ensured, the small motor drives the small gear to rotate, the brushing effect is realized, the glue can be uniformly smeared on the surface of the pipeline, and the coverage and adhesive force of gluing are improved.

Description

Technical Field

[0001] This utility model relates to the field of adhesive application device technology, and in particular to an adhesive application device for a pipe burst repair robot. Background Technology

[0002] In industrial production and urban infrastructure, various pipelines are widely used to transport water, oil, and gas. Due to long-term service, pipelines are susceptible to corrosion, external damage, and aging, leading to frequent pipe bursts. Traditional pipeline repair methods typically require manual operation. In confined and harsh pipeline environments, manual adhesive application is difficult, inefficient, and of questionable quality, while also posing safety risks. With the continuous advancement of robotics technology, its application in various fields is becoming increasingly widespread. Robots offer advantages such as high automation, high precision, and adaptability to harsh environments. Applying robotics technology to pipeline burst repair has become an effective way to solve the aforementioned problems. As a key component of pipeline burst repair robots, the performance of the adhesive application device directly affects the quality and efficiency of pipeline repair. To improve the quality and efficiency of pipeline repair and reduce repair costs and safety risks, the industry has placed higher demands on pipeline burst repair robots and their adhesive application devices. These devices must be able to adapt to different types and specifications of pipelines, achieve precise, efficient, and uniform adhesive application, and possess good reliability and stability.

[0003] A search revealed Chinese Patent Publication No. CN208712081U, which discloses a high-efficiency robotic adhesive application device, comprising a base plate and a frame. The base plate is located at the bottom of the frame, and the top of the base plate is fixedly connected to the robot body via a mounting bracket. This utility model utilizes a glue-applying box, lifting structure, tray, industrial control computer bracket, industrial control computer body, camera, fixing plate, limit slider, glue-applying cylinder, push plate, lateral movement cylinder, glue-applying mechanism, cleaning mechanism, glue storage box, glue-applying valve, light source, and camera device to create a highly efficient robotic glue-applying device. This device solves the problem of reduced efficiency caused by separate installation of glue-applying and camera inspection in existing robotic glue-applying devices. It boasts the advantage of high-efficiency glue application, allowing simultaneous glue application and inspection at the same workstation. This simplifies the glue-applying and inspection structure, significantly reduces the space occupied at the workstation, shortens the production cycle, and lowers equipment costs, greatly improving glue-applying efficiency. However, if the glue is not accurately applied to the damaged area of ​​the pipe, an effective sealing layer cannot be formed. In water pipe burst repair, deviations in the glue application position can cause water to continue to leak from the damaged area, failing to achieve the repair purpose and affecting the normal use of the pipe. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides an adhesive application device for a pipe burst repair robot. It aims to improve the existing technology where, if the adhesive is not accurately applied to the damaged part of the pipe, an effective sealing layer cannot be formed. In water pipe burst repair, deviation in the adhesive application position will cause water to continue to leak from the damaged area, failing to achieve the repair purpose and affecting the normal use of the pipe.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a glue-applying device for a pipe burst repair robot, comprising a fixed plate, two support plates three being fixedly connected to the top of the fixed plate, short pieces being slidably connected to adjacent sides of each support plate three, and L-shaped blocks being fixedly connected to the left ends of each short piece, with rotating shafts rotatably connected between adjacent L-shaped blocks, a sprayer being fixedly connected to the middle of the rotating shaft, a coating pipe being connected to the top of the sprayer, and a half gear being fixedly connected through the L-shaped blocks on the front side of the rotating shaft, with a fixed rear bottom side of the front L-shaped blocks. A support pad is connected, and a small motor is fixedly connected to the top of the support pad. A small gear is fixedly connected to the output end of the small motor. The outer wall of the small gear meshes with the outer wall of the half gear. A fixing block is fixedly connected to the top right side of the fixing plate. A second servo motor is fixedly connected to the top of the fixing block. A large gear is fixedly connected to the output end of the second servo motor. A toothed strip meshes with the outer wall of the large gear. The front side of the toothed strip is fixedly connected to the rear side of the short piece. A cleaning mechanism is provided on the top of the fixing plate. The cleaning mechanism is used for cleaning before pipe maintenance.

[0006] The above technical solution provides support through a short film, a sprayer is fixedly connected to the middle of the rotating shaft, and a coating tube is connected to the top of the sprayer. The coating tube contains high-quality sealant, which ensures the continuity and uniformity of the coating process. The half gear can perfectly mesh with the L-shaped block on the rear side, ensuring the precise movement of the coating device. The support pad provides additional stability, and a small motor is fixedly connected to the top of the support pad. A small gear is fixedly connected to the output end of the small motor. The outer wall of the small gear meshes with the outer wall of the half gear, making the entire coating process more efficient.

[0007] As a further description of the above technical solution:

[0008] The cleaning mechanism includes a telescopic rod, which is fixedly connected to the top center left side of the fixed plate. The other end of the telescopic rod is fixedly connected to a support plate one. A servo motor one is fixedly connected to the top rear side of the support plate one. A reciprocating lead screw is fixedly connected to the output end of the servo motor one. A cleaning brush is threadedly connected to the middle of the reciprocating lead screw. Support plates two are fixedly connected to the top left and right sides of the fixed plate. The inner side of the support plate two is slidably connected to the front and rear sides of the support plate one.

[0009] Through the above technical solutions: the telescopic rod ensures the stability and reliability of the entire mechanism; the output end of the servo motor is fixedly connected to a reciprocating lead screw, and the cleaning brush is connected to the middle thread of the reciprocating lead screw, making the cleaning work more precise and efficient; the inner side of the support plate 2 can be slidably connected to the front and rear sides of the support plate 1, increasing the flexibility of the mechanism and improving the stability of the entire cleaning mechanism during operation.

[0010] As a further description of the above technical solution:

[0011] A base is fixedly connected to the top center of the fixed plate, and a mechanical arm joint is rotatably connected to the top of the base.

[0012] The above technical solution ensures the stability of the structure, and its top is equipped with a rotating mechanism that allows the robotic arm joint to rotate.

[0013] As a further description of the above technical solution:

[0014] The top of the first robotic arm joint is rotatably connected to the second robotic arm joint, and the top of the second robotic arm joint is rotatably connected to the third robotic arm joint.

[0015] Through the above technical solution, the top of the first robotic arm joint is connected to the second robotic arm joint through a rotating connection, so that the first robotic arm joint can rotate around the connection point.

[0016] As a further description of the above technical solution:

[0017] The left side of the robotic arm joint three is rotatably connected to a gripper, and the inner wall of the gripper is provided with anti-slip grooves.

[0018] The above technical solution involves a gripper used to firmly grasp and manipulate objects. To improve stability during grasping and prevent slippage, the inner wall of the gripper is equipped with anti-slip grooves.

[0019] As a further description of the above technical solution:

[0020] The right side of each short film is fixedly connected to a protective sleeve, and the left side of the fixing plate is fixedly connected to a nameplate.

[0021] Through the above technical solution, the protective cover can effectively protect the short film from damage by external factors, extend its service life, and the nameplate is marked with relevant information, making it easy to identify and understand product information.

[0022] As a further description of the above technical solution:

[0023] The bottom of the fixing plate is fixedly connected to a fixing seat on all four sides, and the bottom of the fixing seat is fixedly connected to a roller.

[0024] Through the above technical solution: the fixed base provides stable support for the entire structure, and each fixed base is fixedly connected to a roller at its bottom, which allows the entire device to move easily on various surfaces.

[0025] As a further description of the above technical solution:

[0026] A breathing light is fixedly connected to the top of each of the second support plates, and a heat sink is fixedly connected to the rear side of the second support plate.

[0027] Through the above technical solutions: the breathing light can enhance the aesthetics and indication function, and the heat sink can effectively conduct and dissipate the heat generated during the operation of the equipment, ensuring the stable operation of the equipment and extending its service life.

[0028] This utility model has the following beneficial effects:

[0029] 1. In this utility model, the rotation of the large gear is driven by the second servo motor, which enables the sprayer to accurately reach the adhesive application area of ​​the pipe, ensuring the accuracy of the adhesive application position. At this time, the rotation of the small gear is driven by the small motor, which in turn drives the rotation of the half gear meshing with it, thereby achieving the coating effect of the sprayer. The rotation of the half gear can make the sprayer swing at a specific angle and frequency. After the coating is completed, the device is moved to the other side to achieve coating around the outside of the pipe, improving the coverage and adhesion of the adhesive.

[0030] 2. In this utility model, before maintenance, the cleaning position is adjusted by the telescopic rod to reach a suitable height. Then, the servo motor drives the reciprocating screw to rotate. The rotation of the reciprocating screw moves the cleaning brush back and forth, thereby achieving the cleaning effect on the pipe. It can repeatedly clean the pipe surface, effectively removing dirt, debris and old adhesive from the pipe surface, providing a clean surface for subsequent adhesive application and maintenance work, helping to improve the adhesion between the adhesive and the pipe, and ensuring the quality of maintenance. Attached Figure Description

[0031] Figure 1 This is a perspective view of the front side of the fixing plate of the glue application device of the pipe burst repair robot proposed in this utility model.

[0032] Figure 2 This is a two-side view of the support plate of the glue application device for the pipe burst repair robot proposed in this utility model;

[0033] Figure 3 This is an exploded view of the support plate of the glue application device for the pipe burst repair robot proposed in this utility model.

[0034] Figure 4 This is a diagram showing the joint of the robotic arm of the adhesive application device for the pipe burst repair robot proposed in this utility model.

[0035] Figure 5 A schematic diagram of the L-shaped block of the adhesive application device for the pipe burst repair robot proposed in this utility model;

[0036] Figure 6 This is a split view of the rotating shaft of the adhesive application device for the pipe burst repair robot proposed in this utility model.

[0037] Figure 7 This is a diagram showing the half-gear of the adhesive application device for the pipe burst repair robot proposed in this utility model.

[0038] Legend:

[0039] 1. Fixed plate; 2. Cleaning mechanism; 201. Telescopic rod; 202. Support plate one; 203. Servo motor one; 204. Reciprocating lead screw; 205. Cleaning brush; 206. Support plate two; 3. Support plate three; 4. Short piece; 5. L-shaped block; 6. Rotating shaft; 7. Sprayer; 8. Coating pipe; 9. Half gear; 10. Support pad; 11. Small motor; 12. Small gear; 13. Fixed block; 14. Servo motor two; 15. Large gear; 16. Toothed strip; 17. Base; 18. Robotic arm joint one; 19. Robotic arm joint two; 20. Robotic arm joint three; 21. Gripper; 22. Anti-slip groove; 23. Protective cover; 24. Nameplate; 25. Fixed seat; 26. Roller; 27. Breathing light; 28. Heat sink. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0041] Please see the appendix Figure 5 - Appendix Figure 7This utility model provides an embodiment of a pipe burst repair robot's adhesive application device, comprising a fixed plate 1, two support plates 3 fixedly connected to the top of the fixed plate 1, short pieces 4 slidably connected to adjacent sides of each support plate 3, L-shaped blocks 5 fixedly connected to the left ends of each short piece 4, rotating shafts 6 rotatably connected between adjacent L-shaped blocks 5, a sprayer 7 fixedly connected to the middle of the rotating shaft 6, a coating pipe 8 connected to the top of the sprayer 7, a half gear 9 fixedly connected through the L-shaped blocks 5 on the front side of the rotating shaft 6, and a support pad 10 fixedly connected to the bottom rear side of the front L-shaped blocks 5. A small motor 11 is fixedly connected to the top of the pad 10. A small gear 12 is fixedly connected to the output end of the small motor 11. The outer wall of the small gear 12 meshes with the outer wall of the half gear 9. A fixing block 13 is fixedly connected to the top right side of the fixing plate 1. A servo motor 14 is fixedly connected to the top of the fixing block 13. A large gear 15 is fixedly connected to the output end of the servo motor 14. A toothed strip 16 meshes with the outer wall of the large gear 15. The front side of the toothed strip 16 is fixedly connected to the rear side of the short piece 4. A cleaning mechanism 2 is provided on the top of the fixing plate 1. The cleaning mechanism 2 is used for cleaning before pipe maintenance.

[0042] Specifically, the fixed plate 1 provides a base for the entire device, and two support plates 3 are fixedly connected to the top, increasing the stability of the device and providing an installation platform for other components of the adhesive application device. The L-shaped block 5 provides a support point for the rotating shaft 6. The sprayer 7 is fixedly connected to the middle of the rotating shaft 6, and the top of it is connected to the coating pipe 8. The coating pipe 8 is responsible for delivering the coating liquid to the sprayer 7 to ensure the continuity and uniformity of the adhesive application operation. The front side of the rotating shaft 6 passes through the L-shaped block 5 and is fixedly connected to the half gear 9. The outer wall of the small gear 12 meshes with the outer wall of the half gear 9, ensuring the precise movement of the sprayer 7 and the efficiency of the adhesive application operation. The outer wall of the large gear 15 meshes with the toothed strip 16, enabling the entire adhesive application device to achieve precise linear movement, thereby uniformly coating a protective coating on the pipe surface.

[0043] Please see the appendix Figure 2 - Appendix Figure 4 The cleaning mechanism 2 includes a telescopic rod 201, which is fixedly connected to the top center left side of the fixed plate 1. The other end of the telescopic rod 201 is fixedly connected to a support plate 202. A servo motor 203 is fixedly connected to the top rear side of the support plate 202. A reciprocating screw 204 is fixedly connected to the output end of the servo motor 203. A cleaning brush 205 is threadedly connected to the middle of the reciprocating screw 204. A second support plate 206 is fixedly connected to the top left and right sides of the fixed plate 1. The inner side of the second support plate 206 is slidably connected to the front and rear sides of the first support plate 202.

[0044] Specifically, the telescopic rod 201 is fixedly connected to the top center left side of the fixed plate 1, ensuring the stability of the entire mechanism during operation. The other end of the telescopic rod 201 is fixedly connected to the support plate 202, which provides stable support for other components while achieving adjustment. The servo motor 203 is the core component responsible for power output in the entire cleaning mechanism 2. It can precisely control the movement of the reciprocating screw 204, which in turn drives the cleaning brush 205 in the middle of the reciprocating screw 204 to achieve the cleaning effect. This cleaning brush 205 is the part that directly contacts the object being cleaned and is responsible for the actual cleaning work.

[0045] Please see the appendix Figure 3 - Appendix Figure 6 The bottom of the fixed plate 1 is fixedly connected to the four sides of the fixed plate 25, and the bottom of the fixed plate 25 is fixedly connected to the rollers 26. The top center of the fixed plate 1 is fixedly connected to the base 17, and the top of the base 17 is rotatably connected to the first mechanical arm joint 18. The top of the second support plate 206 is fixedly connected to the breathing light 27, and the rear side of the second support plate 206 is fixedly connected to the heat sink 28.

[0046] Specifically, the bottom of the fixed base 25 is equipped with flexible casters 26, which allows the device to move and position in different working environments. The top of the base 17 is connected to the robotic arm joint 18, which gives the robotic arm joint 18 flexibility and ensures the stability of the entire robotic arm during operation. The breathing light 27 can display the operating status of the device. In order to further improve the performance of the device, the heat sink 28 can quickly dissipate the heat generated during the operation of the device, ensuring that the device operates stably for a long time and avoiding performance impact due to overheating.

[0047] Please see the appendix Figure 1 - Appendix Figure 3 The top of the first robotic arm joint 18 is rotatably connected to the second robotic arm joint 19, the top of the second robotic arm joint 19 is rotatably connected to the third robotic arm joint 20, the left side of the third robotic arm joint 20 is rotatably connected to the gripper 21, the inner wall of the gripper 21 is provided with anti-slip groove 22, the right side of the short piece 4 is fixedly connected to the protective sleeve 23, and the left side of the fixed plate 1 is fixedly connected to the nameplate 24.

[0048] Specifically, the top of the first robotic arm joint 18 is rotatably connected to the second robotic arm joint 19, allowing the second robotic arm joint 19 to be angled to adapt to different work requirements. The third robotic arm joint 20 further enhances the range of motion of the robotic arm. The gripper 21 can grasp various objects. In order to improve the stability of the gripping, the inner wall of the gripper 21 is provided with anti-slip grooves 22, which can effectively prevent objects from slipping during the gripping process. The protective cover 23 improves the stability of the equipment. The nameplate 24 will mark the relevant information of the equipment for easy identification and management.

[0049] Working principle: The servo motor 14 drives the rotation of the large gear 15. The rotation of the large gear 15 moves the meshing toothed strip 16 to the left, which can precisely control the position of the sprayer 7, so that it accurately reaches the glue application area of ​​the pipe, ensuring the accuracy of the glue application position and avoiding glue application deviation and omission. At the same time, the small motor 11 drives the rotation of the small gear 12, which in turn drives the rotation of the meshing half gear 9, thereby realizing the brushing effect of the sprayer 7. The rotation of the half gear 9 can make the sprayer 7 oscillate at a specific angle and frequency, simulating the action of manual brushing, so that the glue can be applied more evenly to the pipe surface, improving the coverage and adhesion of the glue. After one side of the pipe is finished, the device can be moved to the other side of the pipe to achieve the coating effect around the perimeter of the pipe. At the same time, the paint can be replenished through the coating tube 8, which helps to maintain continuous glue application and avoid glue application interruption and uneven glue layer thickness due to insufficient paint, thus improving work efficiency and the stability of glue application quality.

[0050] Before maintenance, the cleaning position is adjusted using the telescopic rod 201 to reach a suitable height. Then, the servo motor 203 drives the reciprocating screw 204 to rotate. The rotation of the reciprocating screw 204 moves the cleaning brush 205 back and forth, thereby achieving the cleaning effect on the pipe. Driven by the reciprocating screw 204, the cleaning brush 205 moves back and forth rhythmically, which can repeatedly clean the pipe surface. It can effectively remove dirt, debris and old adhesive from the pipe surface, providing a clean surface for subsequent adhesive application and maintenance work. This helps to improve the adhesion between the adhesive and the pipe and ensure the quality of maintenance.

[0051] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A glue application device for a pipe burst repair robot, comprising a fixing plate (1), characterized in that: The top of the fixed plate (1) is fixedly connected to two support plates (3). Short pieces (4) are slidably connected to adjacent sides of the support plates (3). L-shaped blocks (5) are fixedly connected to the left ends of the short pieces (4). Rotating shafts (6) are rotatably connected between adjacent L-shaped blocks (5). A sprayer (7) is fixedly connected to the middle of the rotating shaft (6). A coating pipe (8) is connected to the top of the sprayer (7). A half gear (9) is fixedly connected to the front side of the rotating shaft (6) through the L-shaped block (5). A support pad (10) is fixedly connected to the bottom of the rear side of the front L-shaped block (5). A small motor (11) is fixedly connected to the top of the support pad (10). The output end of the small motor (11) is fixedly connected to a small gear (12), the outer wall of the small gear (12) meshes with the outer wall of the half gear (9), the top right side of the fixed plate (1) is fixedly connected to a fixed block (13), the top of the fixed block (13) is fixedly connected to a servo motor (14), the output end of the servo motor (14) is fixedly connected to a large gear (15), the outer wall of the large gear (15) meshes with a toothed strip (16), the front side of the toothed strip (16) is fixedly connected to the rear side of the short piece (4), the top of the fixed plate (1) is provided with a cleaning mechanism (2), the cleaning mechanism (2) is used for cleaning before pipeline maintenance.

2. The adhesive application device for the pipe burst repair robot according to claim 1, characterized in that: The cleaning mechanism (2) includes a telescopic rod (201), which is fixedly connected to the left side of the top center of the fixed plate (1). The other end of the telescopic rod (201) is fixedly connected to a support plate (202). A servo motor (203) is fixedly connected to the rear side of the top of the support plate (202). A reciprocating screw (204) is fixedly connected to the output end of the servo motor (203). A cleaning brush (205) is threadedly connected to the middle of the reciprocating screw (204). A support plate (206) is fixedly connected to the left and right sides of the top of the fixed plate (1). The inner side of the support plate (206) is slidably connected to the front and rear sides of the support plate (202).

3. The adhesive application device for the pipe burst repair robot according to claim 1, characterized in that: The top center of the fixed plate (1) is fixedly connected to a base (17), and the top of the base (17) is rotatably connected to a mechanical arm joint (18).

4. The adhesive application device for the pipe burst repair robot according to claim 3, characterized in that: The top of the first robotic arm joint (18) is rotatably connected to the second robotic arm joint (19), and the top of the second robotic arm joint (19) is rotatably connected to the third robotic arm joint (20).

5. The adhesive application device for the pipe burst repair robot according to claim 4, characterized in that: The left side of the robotic arm joint three (20) is rotatably connected to a gripper (21), and the inner wall of the gripper (21) is provided with an anti-slip groove (22).

6. The adhesive application device for the pipe burst repair robot according to claim 1, characterized in that: The right side of each short piece (4) is fixedly connected with a protective sleeve (23), and the left side of the fixing plate (1) is fixedly connected with a nameplate (24).

7. The adhesive application device for the pipe burst repair robot according to claim 1, characterized in that: The bottom of the fixed plate (1) is fixedly connected to a fixed seat (25) on all four sides, and the bottom of the fixed seat (25) is fixedly connected to a roller (26).

8. The adhesive application device for the pipe burst repair robot according to claim 2, characterized in that: A breathing light (27) is fixedly connected to the top of each of the two support plates (206), and a heat sink (28) is fixedly connected to the rear side of the two support plates (206).

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