CN113524213A

CN113524213A - Cutting robot

Info

Publication number: CN113524213A
Application number: CN202110769524.7A
Authority: CN
Inventors: 钟万国; 古林; 王介波; 庄泳林; 黄利明; 韩元兵; 苏雪峰; 李小桥; 谢林兴; 林勇兴; 温福洲; 黄宝仪; 陈嘉; 秦理
Original assignee: Guangdong Power Grid Energy Development Co Ltd
Current assignee: Guangdong Power Grid Energy Development Co Ltd
Priority date: 2021-07-07
Filing date: 2021-07-07
Publication date: 2021-10-22

Abstract

The embodiment of the invention discloses a cutting robot, which is suitable for cutting a barrier on the inner wall of a pipeline and comprises a cutting assembly, a driving assembly and a body, wherein the driving assembly is used for driving the cutting assembly to rotate so as to cut the barrier; the cutting assembly is in transmission connection with the driving assembly, and the driving assembly is fixedly connected with the body. Adopt this cutting robot, through rotating the body so that the cutting assembly rotates around the axial of pipeline inner wall to the clearance of barrier on the pipeline inner wall has been realized. Compared with the prior art, the cutting robot has the advantages that the labor cost can be reduced, and the cutting efficiency is improved.

Description

Cutting robot

Technical Field

The invention relates to the technical field of cutting equipment, in particular to a cutting robot.

Background

In the process of cable construction, a sleeve needs to be installed on the periphery of the cable so as to prevent the cable from being corroded and extruded by building materials such as cement and the like, and meanwhile, the subsequent maintenance work is facilitated. In the work, adjacent sleeves need to be welded, and after welding is completed, welding slag or other obstacles are formed on the inner walls of the joints of the adjacent sleeves. In order to ensure the normal construction of the cable, the removal of welding slag or obstacles is an indispensable work.

In the prior art, the welding slag is mainly cut by a manual operation cutting knife. The working mode has low efficiency and wastes labor cost.

Disclosure of Invention

Based on this, it is necessary to provide a cutting robot suitable for cutting the inner wall obstacle of the pipeline.

A cutting robot is suitable for cutting an obstacle on the inner wall of a pipeline and comprises a cutting assembly, a driving assembly and a body, wherein the driving assembly is used for driving the cutting assembly to rotate so as to cut the obstacle, and the body is used for being abutted against the inner wall of the pipeline and can rotate along the circumferential direction of the inner wall of the pipeline; the cutting assembly is in transmission connection with the driving assembly, and the driving assembly is fixedly connected with the body;

when the body is abutted to the inner wall of the pipeline, the driving assembly drives the cutting assembly to rotate, and the body rotates around the axial direction of the inner wall of the pipeline, so that the cutting assembly annularly cuts the barrier on the inner wall of the pipeline.

By adopting the cutting robot provided by the embodiment of the invention, the cutting assembly rotates around the axial direction of the inner wall of the pipeline by rotating the body, so that the obstacles on the inner wall of the pipeline are removed. Compared with the prior art, the cutting robot has the advantages that the labor cost can be reduced, and the cutting efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Wherein:

fig. 1 is a schematic structural diagram of a cutting robot according to an embodiment.

Fig. 2 is a partial structural schematic view of the cutting robot provided in fig. 1.

Fig. 3 is a schematic structural diagram of a magnetic assembly in the cutting robot as provided in fig. 1.

Reference numerals:

12-inner wall of the pipeline, 14-outer wall of the pipeline;

100-cutting assembly, 110-mounting member, 112-mounting member, 120-cutting member;

200-a drive assembly;

300-body, 310-first support assembly, 320-second support assembly, 322-piston cylinder, 324-piston rod, 326-support, 330-grip;

400-magnetic component, 410-third magnetic body, 420-connecting rod structure, 422-first connecting rod, 424-rotating shaft. 426-second link.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 and 2, an embodiment of the invention provides a cutting robot suitable for cutting an obstacle on an inner wall 12 of a pipe, including a cutting assembly 100, a driving assembly 200 for driving the cutting assembly 100 to rotate to cut the obstacle, and a body 300 for abutting against the inner wall 12 of the pipe and capable of rotating along a circumferential direction of the inner wall 12 of the pipe; the cutting assembly 100 is in transmission connection with the driving assembly 200, and the driving assembly 200 is fixedly connected with the body 300.

The cutting robot is implemented as follows. When the body 300 is input into the pipe along the axial direction of the pipe inner wall 12 and the cutting assembly 100 reaches the position where the obstacle needs to be cut, the body 300 is constrained by the pipe inner wall 12, and the body 300 only has the freedom to rotate around the axial direction of the pipe inner wall 12 and move along the axial direction of the pipe inner wall 12. Then, the body 300 is driven to rotate around the inner wall 12 of the pipe in the axial direction, and the cutting assembly 100 rotates with the body 300 around the inner wall 12 of the pipe in the axial direction and cuts around the obstacle of the inner wall 12 of the pipe. When the cutting operation is performed in this process, the driving assembly 200 always drives the cutting assembly 100 to rotate, so that the cutting assembly 100 performs the cutting operation.

With the cutting robot provided above, the cleaning of the obstacle on the inner wall 12 of the pipe is achieved by rotating the body 300 so that the cutting assembly 100 rotates around the axial direction of the inner wall 12 of the pipe. Compared with the prior art, the cutting robot has the advantages that the labor cost can be reduced, and the cutting efficiency is improved.

It is understood that the driving assembly 200 is any structure capable of driving the cutting assembly 100 to rotate, such as a motor, and is not specifically described herein. Of course, in order to achieve different requirements, a speed reducing mechanism is not added between the driving assembly 200 and the cutting assembly 100, and the description thereof is also omitted.

Referring to fig. 1 and fig. 2, in an embodiment, the body 300 includes a first supporting component 310 fixed on the body 300 and a second supporting component 320 movably disposed on the body 300; the first support member 310 and the second support member 320 are adapted to abut the inner wall 12 of the pipe. When it is required to feed the body 300 into the inner pipe wall 12, the position of the second support member 320 is adjusted so that the body 300 is adapted to the diameter of the inner pipe wall 12. By adopting the structure, the cutting robot can adapt to the inner walls 12 of the pipelines with different diameters, so that the cutting robot has certain universality.

Furthermore, the number of the first supporting members 310 may be plural. The plurality of first support members 310 abut against the inner wall 12 of the pipe from different directions, thereby increasing the stability of the body 300 on the inner wall 12 of the pipe.

Referring to fig. 2, preferably, the first supporting member 310 is elongated, and the extending direction of the first supporting member 310 is the same as the axial direction of the inner wall 12 of the pipe.

In a more specific embodiment, the second support assembly 320 includes a piston cylinder 322 filled with a compressible medium, a piston rod 324 sliding within the piston cylinder 322 to compress the medium, and a support 326 connected to the piston rod 324 and adapted to abut the inner pipe wall 12. When the body 300 is fed into the pipe inner wall 12, the compressed medium exerts a force on the piston rod 324 in the direction of the pipe inner wall 12, so that the support 326 connected to the piston rod 324 abuts against the pipe inner wall 12. In this way, the cutting assembly 100 may be made to cut the obstacle more stably.

In addition, the medium may be air or liquid.

In other more specific embodiments, the second supporting assembly 320 includes a cylinder having a receiving space, a spring received in the receiving space, a telescopic rod inserted into the receiving space and abutting against the spring, and a support 326 connected to the telescopic rod and abutting against the inner wall 12 of the pipeline. The support 326 performs the function of adjusting the height of the second supporting member 320 on the body 300 by the elastic action of the spring.

In yet another more specific embodiment, the second support assembly 320 includes a threaded fastener, a threaded rod threadedly coupled to the fastener, and a support 326 fixedly coupled to the threaded rod and adapted to abut the inner wall 12 of the pipe. The second supporting member 320 performs a function of adjusting the height of the second supporting member 320 on the body 300 by screwing a screw.

In a more specific and particular embodiment, the support 326 is a pulley. The pulley design is adopted to facilitate the body 300 to enter the inner wall 12 of the pipeline. In addition, the pulley may be designed as a universal wheel to reduce frictional resistance experienced by the body 300 as it rotates axially about the inner wall 12 of the pipe.

Of course, two second supporting members 320 may be provided on the body 300 in order to balance the force.

In addition, in order to further reduce the friction force when the body 300 rotates axially around the inner wall 12 of the pipeline, a pulley structure may be provided on the first supporting member 310.

Referring to fig. 2, in the present embodiment, the main body 300 further includes a grip 330 extending along the axial direction of the inner wall 12 of the pipeline, and the grip 330 is used for driving the main body 300 to rotate around the axial direction of the inner wall 12 of the pipeline under the action of an external force. It is understood that the cutting assembly 100 and the grip 330 are located on two sides of the body 300. After the body 300 partially enters the inner wall 12 of the pipe, the operator can rotate the body 300 by the grip 330.

Furthermore, the grip 330 is disposed offset from the rotational center of the body 300. This may reduce the force required to be applied to the grip 330 when rotating the body 300.

Referring to fig. 1 and 2, in the present embodiment, the cutting assembly 100 includes a mounting member 110 extending along an axial direction of the pipe inner wall 12 and connected to the driving assembly 200, and a cutting member 120 disposed at an outer periphery of the mounting member 110 for cutting an obstacle. The cutting assembly 100 mainly drives the cutting member 120 to rotate at a high speed through the driving assembly 200, so as to cut the obstacle. The material of the cutting member 120 is not described herein.

In a particular embodiment, the peripheral ring of the mounting member 110 is provided with a plurality of cutting members 120. In this way, the efficiency of the cutting member 120 cutting the obstacle may be improved.

In a more specific embodiment, the mounting member 110 is formed with a mounting portion 112 protruding in the axial direction of the pipe inner wall 12, and the cutting member 120 is mounted on the mounting portion 112.

Further, a threaded hole is formed on the mounting portion 112, and a through hole corresponding to the threaded hole is formed on the cutting member 120. The cutting member 120 is fixed to the mounting portion 112 by bolts. By adopting the structure, the disassembly, the maintenance and the like are convenient.

Referring to fig. 1 and 3, in the present embodiment, the cutting robot further includes a magnetic assembly 400 attached to the outer wall 14 of the pipe, and the body 300 is fixed with a first magnetic body and a second magnetic body. After the magnetic assembly 400 attracts the first and second magnetic bodies in the inner wall 12 of the pipeline, the magnetic assembly 400 rotates around the outer wall 14 of the pipeline under the driving of an external force, so that the body 300 rotates along the inner wall 12 of the pipeline. It will be appreciated that when the body 300 is advanced into the pipe to a certain depth, it is not convenient to drive the body 300 to rotate by the grip 330. The magnetic assembly 400 and the related structure thereof are convenient to operate, so that the cutting robot has a wider application range.

In a specific embodiment, the first magnetic body is located at one axial end of the cutting assembly 100, and the second magnetic body is located on the second supporting assembly 320.

Alternatively, the first magnetic body and the second magnetic body may be made of metal such as iron, cobalt, nickel, or may be made of ferromagnetic such as neodymium iron boron.

Referring to fig. 3, in a more specific embodiment, the magnetic assembly 400 includes two third magnetic bodies 410 attached to the outer wall 14 of the pipe and a link structure 420 connecting the two third magnetic bodies 410; the link structure 420 is used to adjust a distance between the two third magnetic bodies 410. The link structure 420 includes two first links 422 oppositely disposed and connected to one of the third magnetic bodies 410, two second links 426 oppositely disposed and connected to the other of the third magnetic bodies 410, and a rotation shaft 424. The first link 422 is connected to a second link 426, and the shaft 424 is provided at the connection.

In this embodiment, the cutting robot further includes an image acquiring device for acquiring image information of the inner wall 12 of the pipe, and the image acquiring device is fixed to the body 300.

It will be appreciated that the image acquisition device includes a camera and a controller that will communicate image information. By adopting the design of the image acquisition device, the cutting condition of the inner wall 12 of the pipeline can be conveniently checked in real time, so that the corresponding adjustment can be conveniently carried out according to the specific cutting condition.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.

Claims

1. A cutting robot is suitable for cutting an obstacle on the inner wall of a pipeline and is characterized by comprising a cutting assembly, a driving assembly and a body, wherein the driving assembly is used for driving the cutting assembly to rotate so as to cut the obstacle, and the body is used for being abutted against the inner wall of the pipeline and can rotate along the circumferential direction of the inner wall of the pipeline; the cutting assembly is in transmission connection with the driving assembly, and the driving assembly is fixedly connected with the body;

2. The cutting robot of claim 1, wherein the body includes a first support assembly fixedly disposed on the body and a second support assembly movably disposed on the body; the first supporting component and the second supporting component are used for being abutted against the inner wall of the pipeline.

3. The cutting robot of claim 2, wherein the second support assembly includes a piston cylinder filled with a compressible medium, a piston rod sliding within the piston cylinder to compress the medium, and a support connected with the piston rod for abutting the inner wall of the pipe.

4. A cutting robot as claimed in claim 3, wherein the support is a pulley.

5. The cutting robot as claimed in claim 1, wherein the body further comprises a grip extending in an axial direction of the inner wall of the pipe, the grip being configured to drive the body to rotate in the axial direction of the inner wall of the pipe under an external force.

6. The cutting robot as claimed in claim 1, wherein the cutting assembly includes a mounting member extending in an axial direction of the pipe inner wall and connected to the driving assembly, and a cutting member for cutting the obstacle and provided at an outer periphery of the mounting member.

7. A cutting robot as claimed in claim 6, wherein the mounting member is formed with a mounting portion projecting from an outer periphery thereof to extend in an axial direction of the inner wall of the pipe, the cutting member being mounted to the mounting portion.

8. The cutting robot as claimed in any one of claims 1 to 7, further comprising a magnetic assembly for attaching to an outer wall of a pipe, wherein the body is fixed with a first magnetic body and a second magnetic body;

after the magnetic assembly attracts the first magnetic body and the second magnetic body in the inner wall of the pipeline, the magnetic assembly rotates around the outer wall of the pipeline under the driving of external force, so that the body rotates along the inner wall of the pipeline.

9. The cutting robot as claimed in claim 8, wherein the magnetic assembly includes two third magnetic bodies attached to the outer wall of the pipe and a link structure connecting the two third magnetic bodies; the connecting rod structure is used for adjusting the distance between the two third magnetic bodies.

10. The cutting robot according to any one of claims 1 to 7, further comprising an image obtaining device for obtaining image information of the inner wall of the pipe, the image obtaining device being fixed to the body.