A small-diameter pipe inner wall spraying robot and its control method

Abstract

A small-diameter pipe inner wall spraying robot and its control method, including a drive module, a power supply module, a control module, a material delivery pipe support module, a hose connector, and a material delivery pipe; the drive module includes a drive module spindle, a screw drive assembly, and a nozzle Components, support components, and the helical variable diameter mechanism in the screw drive component can be adaptively adjusted with the pipe diameter, and its drive wheel is always pressed against the inner wall of the sprayed pipe to ensure that the main shaft of the drive module is coaxial with the sprayed pipe, and the helical movement produces Traction force; the nozzle assembly rotates at high speed to disperse the coating evenly; the coating thickness sensor at the front end of the nozzle assembly can measure the coating thickness in real time, and the coating thickness and quality control can be realized through the control module; Continuous and stable, uniform and controllable spraying, strong traction ability, and high passability in narrow pipes.

Description

technical field [0001] The invention relates to the technical field of intelligent manufacturing spraying, in particular to a small-diameter pipeline inner wall spraying robot and a control method thereof. Background technique [0002] For a long time, all kinds of pipelines have been widely used in production and life fields such as energy and chemical industry, mainly responsible for material transportation and other functions, and some fields have more special and stricter requirements on the performance of pipelines: such as combustion The boiler pipes in the ultra-supercritical units used in coal power plants need to withstand high temperature and high pressure environment for a long time, and the working environment is extremely harsh. This complex working environment puts forward higher requirements on the pressure resistance and oxidation resistance of the pipes; in addition, For example, in the fields of residential water supply and heating, in order to improve the ...

AI Technical Summary

Problems solved by technology

The wheeled robot has a simple structure and good movement performance on a flat surface; the helical robot has a large traction force, strong load capacity, and relatively stable movement, but the movement speed is not high; the crawler robot has a large traction force and strong obstacle surmounting ability, but the structure is more complicated; The snake-shaped robot has good obstacle-surmounting ability and strong ability to pass through curves, but the motion control is more complicated and the load capacity is insufficient; the multi-legged robot has strong obstacle-surmounting ability, but the control is difficult and the efficiency is not high; the peristaltic robot can pass through special-shaped pipes Strong ability, but low movement speed and discontinuous movement process

At present, most of the robots used in small-diameter pipelines are multi-legged and peristaltic, such as SMA-driven footed pipeline robots, pneumatic peristaltic pipeline robots, etc. Coating uniformity and controllability, motion continuity and stability, spatial layout of paint conveying structure, load capacity and other requirements, the existing small-caliber pipeline robots are difficult to meet the above requirements

[0005] In summary, the current pipeline inner wall spraying technology is difficult to meet the spraying task of the small diameter pipeline inner wall, and the existing pipeline robots generally have complex structures, insufficient load capacity, poor continuity and stability, and poor passing performance in complex and narrow pipelines. Therefore, a small-diameter pipe inner wall spraying robot with small structure, continuous and stable movement, uniform and controllable spraying, strong traction ability, and high passability in narrow pipes is designed. field is important

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