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CN-121989144-A - Rust removal robot

CN121989144ACN 121989144 ACN121989144 ACN 121989144ACN-121989144-A

Abstract

The invention relates to the technical field of pipeline rust removal and discloses a rust removal robot which comprises a hoop unit, a plurality of grinding mechanisms, a plurality of adjusting mechanisms and a plurality of walking components, wherein the hoop unit comprises a plurality of elastic bearing arms which are sequentially connected and jointly enclose a through cavity, the through cavity is used for allowing a pipeline to pass through, the grinding mechanisms are respectively arranged on the plurality of elastic bearing arms and used for grinding the outer wall of the pipeline, the adjusting mechanisms are respectively arranged on the plurality of elastic bearing arms and used for changing the curvature of the elastic bearing arms where the grinding mechanisms are arranged so as to adjust the radial position of the grinding mechanisms arranged on the elastic bearing arms relative to the axis of the hoop unit, and the walking components are arranged on the hoop unit. According to the invention, the elastic bearing arm is driven by the adjusting mechanism to generate controllable bending deformation, so that the polishing mechanism on the elastic bearing arm can synchronously adjust the positions, a single rust removing robot can be self-adaptively attached to pipelines with different diameters, the polishing requirements of pipelines with different pipe diameters are met, and the equipment cost can be reduced.

Inventors

  • WANG LIZHI

Assignees

  • 三一能源装备有限公司

Dates

Publication Date
20260508
Application Date
20260128

Claims (10)

  1. 1. A rust removing robot, comprising: the hoop unit comprises a plurality of elastic bearing arms (1), wherein the plurality of elastic bearing arms (1) are sequentially connected and jointly enclose a through cavity (101), and the through cavity (101) is used for a pipeline to pass through; The polishing mechanisms (2) are respectively arranged on the elastic bearing arms (1) and are used for polishing the outer wall of the pipeline; The adjusting mechanisms (3) are respectively arranged on the elastic bearing arms (1) and are used for adjusting the curvature of the elastic bearing arms (1) where the adjusting mechanisms are arranged so as to change the radial position of the polishing mechanism (2) arranged on the elastic bearing arms (1) relative to the axis of the hoop unit; The walking components (4) are arranged on the hoop unit.
  2. 2. The derusting robot according to claim 1, characterized in that the adjusting mechanism (3) is a linear driving mechanism, the linear driving mechanism has two power output ends, and the two power output ends are respectively connected to two positions of the elastic bearing arm (1) which are spaced apart in the arc length direction and are used for driving the two ends of the elastic bearing arm (1) to approach or separate from each other.
  3. 3. The derusting robot according to claim 2, characterized in that the adjusting mechanisms (3) each comprise: a first rotary drive assembly (301) arranged on the elastic bearing arm (1); The bidirectional screw rod (302), a first threaded section and a second threaded section with opposite rotation directions are arranged on the bidirectional screw rod (302), and the first rotary driving assembly (301) is used for driving the bidirectional screw rod (302) to rotate around the axis of the bidirectional screw rod; the first push-pull piece (303) is in threaded connection with the first threaded section, and the first push-pull piece (303) is also connected with a first stress part of the elastic bearing arm (1); The second push-pull piece (304) is in threaded connection with the second threaded section, and the second push-pull piece (304) is also connected with a second stressed part of the elastic bearing arm (1); The first stress part and the second stress part are two positions of the elastic bearing arm (1) which are spaced apart in the arc length direction.
  4. 4. The rust removing robot according to claim 1, wherein a plurality of anchor ear units are arranged at intervals along the axial direction of the anchor ear units, a butt joint structure (5) is arranged on at least one elastic bearing arm (1) in the same anchor ear unit, and two adjacent anchor ear units are detachably connected through the butt joint structure (5).
  5. 5. The derusting robot as claimed in claim 4, wherein the elastic carrying arms (1) are detachably connected in sequence, and the detachable connection end of at least one elastic carrying arm (1) on each hoop unit is aligned with the detachable connection end of the corresponding position on all other hoop units in the axial direction of the hoop unit.
  6. 6. The rust removing robot according to claim 5, wherein two ends of the elastic carrying arm (1) are provided with first electromagnetic adsorption structures (6), and the first electromagnetic adsorption structure (6) at one end of one elastic carrying arm (1) is connected with the first electromagnetic adsorption structure (6) at the other end of the other elastic carrying arm (1) in two adjacent elastic carrying arms (1).
  7. 7. The derusting robot according to claim 5, further comprising a cover body (7), wherein the cover body (7) is enclosed outside the plurality of hoop units and forms a dust collecting cavity, a window (701) is arranged on the cover body (7), the window (701) extends from one end to the other end of the cover body (7) along the axial direction of the dust collecting cavity, and the aligned detachable connection end parts are exposed outside the dust collecting cavity through the window (701) along the axial direction of the hoop units.
  8. 8. The derusting robot according to claim 1, characterized in that the grinding mechanisms (2) each comprise: A second rotary drive assembly (201) arranged on the elastic bearing arm (1); and the polishing brush (202) is connected with the power output end of the second rotary driving assembly (201) and is used for being in contact with the outer wall of the pipeline.
  9. 9. The rust removing robot according to claim 8, wherein the polishing mechanism (2) further comprises a laser detector provided on the elastic carrying arm (1) for measuring a rust layer thickness of the pipe surface.
  10. 10. The derusting robot according to any of the claims 1 to 9, characterized in that at least one of the elastic carrying arms (1) is provided with an environmental monitor (8), which environmental monitor (8) is used for detecting the concentration of combustible gas and oxygen.

Description

Rust removal robot Technical Field The invention relates to the technical field of pipeline rust removal, in particular to a rust removal robot. Background Metal pipeline facilities in the fields of petrochemical industry, energy sources, ocean engineering and the like are exposed to complex corrosion environments such as the atmosphere, ocean, chemical engineering atmosphere and the like for a long time, so that the outer wall of the pipeline can be inevitably corroded, the attractiveness of equipment is seriously affected, the structural strength of the pipeline body is greatly weakened, the wall thickness is reduced, the pressure bearing capacity is reduced, and the metal pipeline facilities are potential hazards of major safety accidents such as medium leakage, fire and even explosion. Therefore, the outer wall of the pipe needs to be subjected to rust removal treatment at regular intervals. The traditional method for derusting by manually holding the angle grinder or the sand blasting equipment has the safety risk of high-altitude operation and lower efficiency, so that the application of the derusting robot is promoted. However, the existing rust removing robot can realize automatic operation, but has obvious limitations. Most of the existing rust removing robots are designed in fixed sizes, and one set of robot is only suitable for pipelines with single pipe diameter. The actual on-site pipeline specifications are complex and changeable, and a plurality of special robots are often required to be arranged from a thin pipe to a thick pipe, so that the equipment cost is high. Disclosure of Invention Aiming at the problem that the rust removing robot in the prior art is only suitable for pipelines with single pipe diameters, the invention provides a rust removing robot which can be suitable for rust removal of pipelines with different pipe diameters. In order to solve the problems, the invention provides a rust removing robot which comprises a hoop unit, a plurality of polishing mechanisms, a plurality of adjusting mechanisms and a plurality of walking components, wherein the hoop unit comprises a plurality of elastic bearing arms, the plurality of elastic bearing arms are sequentially connected and jointly enclose a through cavity, the through cavity is used for a pipeline to pass through, the polishing mechanisms are respectively arranged on the plurality of elastic bearing arms and used for polishing the outer wall of the pipeline, the adjusting mechanisms are respectively arranged on the plurality of elastic bearing arms and used for changing the curvature of the elastic bearing arms on which the adjusting mechanisms are arranged so as to adjust the radial positions of the polishing mechanisms arranged on the elastic bearing arms relative to the axis of the hoop unit, and the walking components are arranged on the hoop unit. The multiple polishing mechanisms are respectively arranged on the multiple elastic bearing arms, and each elastic bearing arm is correspondingly provided with one, two or more polishing mechanisms, and the multiple adjusting mechanisms are respectively arranged on the multiple elastic bearing arms, and each elastic bearing arm is correspondingly provided with one, two or more adjusting mechanisms. When the rust removing robot is used, the hoop unit is sleeved outside a pipeline, the elastic bearing arms are driven by the adjusting mechanism to generate bending deformation until all polishing mechanisms uniformly contact the outer wall of the pipeline and reach preset holding force, then the walking assembly drives the hoop unit to axially move and circumferentially rotate along the pipeline, and the polishing mechanisms polish rust layers on the outer wall of the pipeline at the same time. When the pipeline with different pipe diameters is switched, the curvature of the elastic bearing arm is readjusted by the adjusting mechanism, so that the radial position of the polishing mechanism on the elastic bearing arm is adapted to the new pipe diameter. Preferably, the adjusting mechanism is a linear driving mechanism, the linear driving mechanism is provided with two power output ends, and the two power output ends are respectively connected to two positions of the elastic bearing arm which are spaced apart in the arc length direction and are used for driving the two ends of the elastic bearing arm to be close to or far away from each other. When the curvature of the elastic bearing arm is regulated, two power output ends of the linear driving mechanism apply a pair of reverse pushing force or pulling force to the elastic bearing arm, so that the elastic bearing arm is subjected to moment for bending or unfolding the elastic bearing arm, two ends of the elastic bearing arm are driven to approach or separate from each other, the change of the overall curvature is realized, and further, the polishing mechanism arranged on the elastic bearing arm is driven to adjust the radial position