阅读说明：本技术 带有旋转电机的管道内壁喷涂机器人 (Pipeline inner wall spraying robot with rotating motor ) 是由 陈思琦 于 2021-08-19 设计创作，主要内容包括：本发明公开了带有旋转电机的管道内壁喷涂机器人,涉及管道喷涂技术领域,包括安装梁,还包括安装板、涂料箱、旋转轴、旋转电机、移动套、防凝固机构、喷料机构、刷料机构、移动机构和两个行走机构,所述涂料箱设置在安装板的顶部,所述移动套套设在旋转轴的外部,所述旋转轴远离安装梁的端部设有防脱头,所述防凝固机构安装在涂料箱内,所述喷料机构设置在安装梁的后端,所述刷料机构安装在移动套的外壁上,所述移动机构设置在安装梁的底部,两个所述行走机构对称设置在安装梁的前端,本发明实现对不同管径的管道内壁进行喷涂作业,并且涂料不会随着时间在涂料箱内凝固,进而不会影响整个机器人的长时间工作。(The invention discloses a pipeline inner wall spraying robot with a rotary motor, which relates to the technical field of pipeline spraying, and comprises a mounting beam, a mounting plate, a coating box, a rotating shaft, a rotary motor, a moving sleeve, an anti-solidification mechanism, a spraying mechanism, a brushing mechanism, a moving mechanism and two traveling mechanisms, wherein the coating box is arranged at the top of the mounting plate, the moving sleeve is sleeved outside the rotating shaft, the end part of the rotating shaft, far away from the mounting beam, is provided with an anti-drop head, the anti-solidification mechanism is arranged in the coating box, the spraying mechanism is arranged at the rear end of the mounting beam, the brushing mechanism is arranged on the outer wall of the moving sleeve, the moving mechanism is arranged at the bottom of the mounting beam, and the two traveling mechanisms are symmetrically arranged at the front end of the mounting beam, and further the long-time work of the whole robot cannot be influenced.)

1. Pipeline inner wall spraying robot with rotating electrical machines, including installation roof beam (1), its characterized in that: still include mounting panel (11), scribble workbin (12), rotation axis (2), rotating electrical machines (3), remove cover (4), prevent solidification mechanism (5), spout material mechanism (6), brush material mechanism (7), moving mechanism (8) and two running gear (9), mounting panel (11) set up the top at installation roof beam (1), scribble workbin (12) and set up the top at mounting panel (11), the top of scribbling workbin (12) is equipped with rather than inside and is linked together add material pipe (13), it has sealed lid (14) to thread joint in material pipe (13), rotation axis (2) are rotated and are installed the rear end at installation roof beam (1), rotating electrical machines (3) set up the inside at installation roof beam (1) to the output and the rotation axis (2) fixed connection of rotating electrical machines (3), be equipped with four spacing strips (21) on the outer wall of rotation axis (2), remove cover (4) cover and establish the outside at rotation axis (2) to remove cover (4) and four spacing (21) sliding fit, the tip that installation roof beam (1) was kept away from in rotation axis (2) is equipped with anticreep head (22), prevent that solidification mechanism (5) from installing in scribbling workbin (12), spout the rear end that material mechanism (6) set up at installation roof beam (1) to spout material mechanism (6) and scribble workbin (12) and be linked together, brush material mechanism (7) and install on the outer wall of removing cover (4), moving mechanism (8) set up the bottom at installation roof beam (1) to the one end and the brush material mechanism (7) of moving mechanism (8) are connected, two running gear (9) symmetry sets up the front end at installation roof beam (1).

2. The robot for spraying the inner wall of the pipeline with the rotating motor according to claim 1, wherein: brush material mechanism (7) are including solid fixed ring (71), three connecting rod (72) and three brush material subassembly (73), and is three connecting rod (72) are equidistant to be set up on the outer wall of removal cover (4) around the centre of a circle of removing cover (4), be equipped with round hole (721) on connecting rod (72), still be equipped with conflict groove (722) that are linked together with round hole (721) on connecting rod (72), gu fixed ring (71) and the end fixed connection of three connecting rod (72), it is three brush material subassembly (73) are equidistant to be set up on the outer wall of removal cover (4) around the centre of a circle of removing cover (4), and the one end of three brush material subassembly (73) extends to the outside of solid fixed ring (71), every brush material subassembly (73) all include bearing frame (731), regulating plate (732), regulation rack (733), regulating motor (734), regulating gear (735), An arc-shaped plate (736) and a plurality of brush heads (737), wherein the bearing frame (731) is arranged on the outer wall of the movable sleeve (4), one end of the bearing frame (731) extends to the outside of the fixed ring (71), the adjusting plate (732) is installed in the bearing frame (731) in a sliding way, and one end of the adjusting plate (732) extends to the outside of the bearing frame (731), the adjusting rack (733) is installed on the outer wall of the adjusting plate (732), the adjusting motor (734) is arranged on the outer wall of the bearing frame (731), the adjusting gear (735) is fixedly connected with the output shaft of the adjusting motor (734), and the adjusting gear (735) is meshed with the adjusting rack (733), the arc-shaped plate (736) and one end of the adjusting plate (732) extending to the outside of the bearing frame (731) are fixedly connected, and the plurality of brush heads (737) are arranged on the arc-shaped plate (736) at equal intervals.

3. The robot for spraying the inner wall of the pipeline with the rotating motor according to claim 1, wherein: the material spraying mechanism (6) comprises a fixed frame (61), a hollow box (62), a booster pump (63), a first connecting pipe (64), a second connecting pipe (65), two connecting frames (66) and a plurality of material spraying heads (67), wherein the two connecting frames (66) are symmetrically arranged on the outer wall of the rear end of the mounting beam (1), the fixed frame (61) is erected on two connecting frames (66), the hollow box (62) is arranged at the top end of the fixed frame (61), the booster pump (63) is horizontally arranged at the side of the mounting plate (11), two ends of the first connecting pipe (64) are respectively communicated with the input end of the booster pump (63) and the paint tank (12), the two ends of the second connecting pipe (65) are respectively communicated with the output end of the booster pump (63) and the hollow box (62), and the plurality of material spraying heads (67) are arranged at the bottom of the hollow box (62) at equal intervals.

4. The inner wall painting robot for a pipe with a rotating motor according to claim 2, wherein: the moving mechanism (8) comprises a first hydraulic push rod (81), a connecting sleeve (82), a contact plate (83), a moving rack (84), a micro motor (85) and a rotating gear (86), wherein the first hydraulic push rod (81) is horizontally arranged at the bottom of the mounting beam (1), the connecting sleeve (82) is fixedly connected with the output end of the first hydraulic push rod (81), the connecting sleeve (82) is located in a round hole (721), the contact plate (83) is slidably mounted on the outer side of the connecting sleeve (82), the bottom end of the contact plate (83) extends to the inside of the connecting sleeve (82), the top end of the contact plate (83) is in interference fit with an interference groove (722), the moving rack (84) is mounted on the side wall of the bottom end of the contact plate (83), the micro motor (85) is horizontally arranged on the outer wall of the connecting sleeve (82), and the output shaft of the micro motor (85) extends to the inside of the connecting sleeve (82), the rotating gear (86) is fixedly connected with an output shaft of the micro motor (85), and the rotating gear (86) is meshed with the moving rack (84).

5. The robot for spraying the inner wall of the pipeline with the rotating motor according to claim 1, wherein: the anti-solidification mechanism (5) comprises a bearing plate (51), a stirring motor (52), a chain (53) and a plurality of stirring assemblies (54), wherein the stirring assemblies (54) are arranged inside the coating box (12) at equal intervals, each stirring assembly (54) comprises a stirring shaft (541), a chain wheel (542) and a plurality of stirring blades (543), the stirring shaft (541) is rotatably arranged inside the coating box (12), one end of the stirring shaft (541) extends to the outside of the coating box (12), the stirring blades (543) are arranged on the stirring shaft (543) at equal intervals, each stirring blade (543) is provided with a plurality of through grooves (544), the chain wheel (542) and the stirring shaft (541) extend to the outside end of the coating box (12) and are fixedly connected, the bearing plate (51) is arranged on the outer side wall of the coating box (12), the stirring motor (52) is horizontally arranged at the top of the bearing plate (51), an output shaft of the stirring motor (52) is fixedly connected with a stirring shaft (541) in one stirring assembly (54), and the chain (53) is sleeved outside all the chain wheels (542).

6. The robot for spraying the inner wall of the pipeline with the rotating motor according to claim 1, wherein: each walking mechanism (9) comprises four walking components (91), the four walking components (91) are arranged on the outer wall of the mounting beam (1) at equal intervals, each walking component (91) comprises a second hydraulic push rod (92), a U-shaped frame (93), a walking belt (94), a walking motor (95), two rotating rollers (96) and two supporting pieces (97), the second hydraulic push rod (92) is vertically arranged on the outer wall of the mounting beam (1), the U-shaped frame (93) is arranged on the output end of the second hydraulic push rod (92), the two rotating rollers (96) are rotatably arranged in the U-shaped frame (93), the walking belt (94) is sleeved outside the two rotating rollers (96), the walking motor (95) is horizontally arranged on the outer wall of the U-shaped frame (93), and the output shaft of the walking motor (95) is fixedly connected with one of the rotating rollers (96), the two supporting pieces (97) are symmetrically arranged on the mounting beam (1), and the top ends of the two supporting pieces (97) extend to the bottom of the U-shaped frame (93).

7. The inner wall painting robot with a rotating motor according to claim 6, wherein: every support piece (97) all includes first articulated seat (971), guide rail (972), slider (973), the articulated seat of second (974), sleeve (975) and pull rod (976), first articulated seat (971) sets up on the outer wall of installation roof beam (1), guide rail (972) level sets up the bottom at U type frame (93), slider (973) slidable mounting is on guide rail (972), the articulated seat of second (974) sets up the bottom at slider (973), the bottom of sleeve (975) articulates in first articulated seat (971), pull rod (976) slidable mounting is in sleeve (975) to the top and the articulated seat of second (974) of pull rod (976) are articulated.

8. The inner wall painting robot with a rotating motor according to claim 6, wherein: a plurality of anti-skid ribs (941) are arranged on the walking belt (94).

Technical Field

The invention relates to the technical field of pipeline spraying, in particular to a pipeline inner wall spraying robot with a rotating motor.

Background

The pipeline is used as an important marine resource transportation tool and plays an important role in the national economy core industries of natural gas, nuclear industry, petroleum and the like. In order to enhance the corrosion resistance of the pipeline, scientific research workers research and develop substances of coatings and corrosion inhibitors to coat the surface of the material so as to reduce the corrosion phenomenon of the pipeline, in the spraying application, manual and simple spray heads are often used for spraying, in the long-distance pipeline spraying, the manual spraying is difficult, and the spraying time is long, so that the research and development significance of the pipeline inner wall spraying robot is great.

The existing robot for spraying the inner wall of the pipeline can only spray a single pipe diameter generally, and the coating is easy to solidify along with time, so that the long-time work of the robot for spraying the inner wall of the pipeline is influenced.

Disclosure of Invention

The invention aims to provide a pipeline inner wall spraying robot with a rotating motor, and aims to solve the technical problems that in the prior art, only a single pipe diameter can be sprayed, and long-time work of the pipeline inner wall spraying robot is influenced due to the fact that paint is easy to solidify along with time.

The invention provides a pipeline inner wall spraying robot with a rotary motor, which comprises a mounting beam, a mounting plate, a coating box, a rotating shaft, the rotary motor, a moving sleeve, an anti-solidification mechanism, a spraying mechanism, a brushing mechanism, a moving mechanism and two traveling mechanisms, wherein the mounting plate is arranged at the top of the mounting beam, the coating box is arranged at the top of the mounting plate, a material adding pipe communicated with the inside of the coating box is arranged at the top of the coating box, a sealing cover is screwed in the material adding pipe, the rotating shaft is rotatably arranged at the rear end of the mounting beam, the rotary motor is arranged in the mounting beam, the output end of the rotary motor is fixedly connected with the rotating shaft, four limiting strips are arranged on the outer wall of the rotating shaft, the moving sleeve is sleeved outside the rotating shaft and is in sliding fit with the four limiting strips, and an anti-falling head is arranged at the end part of the rotating shaft far away from the mounting beam, the anti-solidification mechanism is installed in the coating box, the material spraying mechanism is arranged at the rear end of the installation beam and communicated with the coating box, the material brushing mechanism is installed on the outer wall of the moving sleeve, the moving mechanism is arranged at the bottom of the installation beam, one end of the moving mechanism is connected with the material brushing mechanism, and the two traveling mechanisms are symmetrically arranged at the front end of the installation beam.

In a further embodiment, the brushing mechanism comprises a fixed ring, three connecting rods and three brushing assemblies, the three connecting rods are arranged on the outer wall of the movable sleeve at equal intervals around the circle center of the movable sleeve, round holes are arranged on the connecting rods, a contact groove communicated with the round holes is further arranged on the connecting rods, the fixed ring is fixedly connected with the end parts of the three connecting rods, the three brushing assemblies are arranged on the outer wall of the movable sleeve at equal intervals around the circle center of the movable sleeve, one end of each brushing assembly extends to the outside of the fixed ring, each brushing assembly comprises a bearing frame, an adjusting plate, an adjusting rack, an adjusting motor, an adjusting gear, an arc-shaped plate and a plurality of brush heads, the bearing frame is arranged on the outer wall of the movable sleeve, one end of the bearing frame extends to the outside of the fixed ring, and the adjusting plate is slidably arranged in the bearing frame, and the one end of regulating plate extends to the outside of carriage, the adjusting rack is installed on the outer wall of regulating plate, the adjusting motor sets up on the outer wall of carriage, adjusting gear and adjusting motor's output shaft fixed connection to adjusting gear and adjusting rack meshing, the arc extends to the outside one end fixed connection of carriage, a plurality of with the regulating plate the brush head is equidistant to be set up on the arc, can realize adjusting the position of arc, makes things convenient for a plurality of brush head to evenly brush coating to the pipe inner wall of different pipe diameters.

In a further embodiment, spout material mechanism and include mount, well cavity case, booster pump, first connecting pipe, second connecting pipe, two link and a plurality of and spout the stub bar, two the link symmetry sets up on the rear end outer wall of installation roof beam, the mount is erect on two link, well cavity case sets up the top at the mount, the booster pump level sets up the side at the mounting panel, the both ends of first connecting pipe are linked together with the input of booster pump and scribbles the workbin respectively, the both ends of second connecting pipe are linked together, a plurality of with the output and the hollow box of booster pump respectively spout stub bar equidistant setting in the bottom of well cavity case, can realize carrying the coating of scribbling the incasement to well cavity incasement, and a plurality of spouts the stub bar evenly to the brush overhead with coating, provides coating for the brush of brush head's brush.

In a further embodiment, the moving mechanism includes a first hydraulic push rod, a connecting sleeve, a touch panel, a moving rack, a micro motor and a rotating gear, the first hydraulic push rod is horizontally disposed at the bottom of the mounting beam, the connecting sleeve is fixedly connected with the output end of the first hydraulic push rod and is located in the round hole, the touch panel is slidably mounted on the outer side of the connecting sleeve, the bottom end of the touch panel extends into the connecting sleeve, the top end of the touch panel is in touch fit with the touch groove, the moving rack is mounted on the sidewall of the bottom end of the touch panel, the micro motor is horizontally disposed on the outer wall of the connecting sleeve, the output shaft of the micro motor extends into the connecting sleeve, the rotating gear is fixedly connected with the output shaft of the micro motor, and the rotating gear is engaged with the moving rack, so as to drive the top end of the touch panel to touch the touch groove, then the work of first hydraulic pressure push rod drives adapter sleeve and conflict board and removes, and the conflict board utilizes and removes the cover and drive the arc and remove to the below of a plurality of material spraying head, makes things convenient for material spraying head to spout coating to the brush overhead.

In a further embodiment, the anti-solidification mechanism comprises a bearing plate, a stirring motor, a chain and a plurality of stirring components, wherein the plurality of stirring components are arranged in the coating tank at equal intervals, each stirring component comprises a stirring shaft, a chain wheel and a plurality of stirring blades, the stirring shaft is rotatably arranged in the coating tank, one end of the stirring shaft extends to the outside of the coating tank, the plurality of stirring blades are arranged on the stirring shaft at equal intervals, each stirring blade is provided with a plurality of through grooves, the chain wheel is fixedly connected with one end of the stirring shaft extending to the outside of the coating tank, the bearing plate is arranged on the outer side wall of the coating tank, the stirring motor is horizontally arranged at the top of the bearing plate, the output shaft of the stirring motor is fixedly connected with the stirring shaft in one of the stirring components, and the chain is sleeved on the outside of all the chain wheels, can realize driving a plurality of stirring vane and rotate and stir the coating in the coating incasement, prevent that coating from solidifying in the coating incasement along with time.

In a further embodiment, each walking mechanism comprises four walking components, the four walking components are arranged on the outer wall of the mounting beam at equal intervals, each walking component comprises a second hydraulic push rod, a U-shaped frame, a walking belt, a walking motor, two rotating rollers and two supporting pieces, the second hydraulic push rod is vertically arranged on the outer wall of the mounting beam, the U-shaped frame is arranged on the output end of the second hydraulic push rod, the two rotating rollers are rotatably arranged in the U-shaped frame, the walking belt is sleeved outside the two rotating rollers, the walking motor is horizontally arranged on the outer wall of the U-shaped frame, an output shaft of the walking motor is fixedly connected with one rotating roller, the two supporting pieces are symmetrically arranged on the mounting beam, the top ends of the two supporting pieces extend to the bottom of the U-shaped frame, and the walking belt can be adjusted to be abutted against the inner wall of the pipeline, the walking belt is convenient to rotate to drive the mounting beam to move at a constant speed in pipelines with different pipe diameters.

In further embodiment, every support piece all includes first articulated seat, guide rail, slider, the articulated seat of second, sleeve and pull rod, first articulated seat sets up on the outer wall of installation roof beam, the guide rail level sets up the bottom at U type frame, slider slidable mounting is on the guide rail, the articulated seat of second sets up in the bottom of slider, telescopic bottom articulates in first articulated seat, pull rod slidable mounting is in the sleeve to the top of pull rod is articulated with the articulated seat of second, can be the steady support of time to U type frame, and the area of conveniently walking stably rotates and drives the installation roof beam and remove.

In a further embodiment, the walking belt is provided with a plurality of anti-skidding ribs, so that the friction force between the walking belt and the inner wall of the pipeline can be increased.

Compared with the prior art, the invention has the beneficial effects that:

(1) the connecting sleeve is driven to move into the circular hole by the work of the first hydraulic push rod, then the micro motor drives the rotating gear to rotate, the rotating gear drives the moving rack to move, the moving rack drives the top end of the touch plate to move to be in contact with the contact groove, then the first hydraulic push rod continues to work and drives the moving sleeve to move on the four limit strips by the connecting rod, the moving sleeve drives the arc plate to move to the position under the hollow box, then the booster pump works to extract the coating in the coating box to enter the hollow box through the first connecting pipe and the second connecting pipe, the plurality of spray heads spray the coating onto the brush heads, meanwhile, the rotating motor works to drive the rotating shaft to rotate, the rotating shaft drives the arc plate in the three brush components to rotate, the plurality of spray heads uniformly spray the coating onto all the brush heads conveniently, then the first hydraulic push rod works to drive the moving sleeve to reset, the micro motor continues to work and drives the top end of the touch plate to be separated from the contact groove, the first hydraulic push rod works to drive the connecting sleeve to be separated from the round hole, then the adjusting motor drives the adjusting gear to rotate, the adjusting gear drives the adjusting rack to move, the adjusting rack drives the adjusting plate to slide in the bearing frame, the adjusting plate drives the arc plate to move, the arc plate drives the brush heads to move to be abutted against the inner wall of the pipeline, the brush heads uniformly brush the inner walls of the pipelines with different diameters, finally, the rotating motor works to drive the moving sleeve to rotate, the moving sleeve drives the arc plates in the three brush assemblies to rotate, the brush heads can conveniently brush the inner wall of the pipeline, meanwhile, the two walking mechanisms drive the mounting beams to walk in the pipeline, the brush operation of the brush heads on the inner wall of the pipeline is realized continuously, the anti-solidification mechanism works to avoid the paint from being solidified in the paint box, and through the steps, the spraying operation of the inner walls of the pipelines with different diameters is realized, the coating cannot be solidified in the coating box along with time, so that the long-time work of the whole robot cannot be influenced;

(2) the second hydraulic push rod drives the walking belt to abut against the inner wall of the pipeline, the walking motor works to drive one of the rotating rollers to rotate, the rotating roller drives the walking belt and the other rotating roller to rotate, the U-shaped frame drives the sliding block to slide on the guide rail while the second hydraulic push rod drives the U-shaped frame to move upwards, the sliding block drives the second hinging seat to move, the second hinging seat drives the pull rod to slide and extend out in the sleeve, the sleeve and the pull rod are matched to play a role in stably supporting the U-shaped frame, the U-shaped frame is stably stressed, and the walking belt drives the whole robot to walk in the pipeline conveniently;

(3) utilize the chain to drive the sprocket rotation in the stirring subassembly of a plurality of through stirring motor work, the sprocket drives (mixing) shaft and a plurality of stirring vane and rotates, and a plurality of stirring vane rotates and stirs the liquid coating in the coating incasement, avoids coating to take place to solidify in the coating incasement.

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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a first perspective view of the present invention;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a partial cross-sectional view of the first embodiment of the present invention;

FIG. 4 is a partial perspective view of the first embodiment of the present invention;

FIG. 5 is a partial perspective view of the second embodiment of the present invention;

FIG. 6 is a third schematic view of a partial perspective structure of the present invention;

FIG. 7 is a partial sectional view of the second embodiment of the present invention;

FIG. 8 is a schematic perspective view of a connecting rod of the present invention;

FIG. 9 is a partial cross-sectional view of the third embodiment of the present invention;

FIG. 10 is a partial cross-sectional view of the fourth aspect of the present invention;

FIG. 11 is a first perspective view of the walking assembly of the present invention;

fig. 12 is a schematic perspective view of the walking assembly of the present invention.

Reference numerals:

the installation beam 1, the installation plate 11, the paint tank 12, the feeding pipe 13, the sealing cover 14, the rotating shaft 2, the limiting strip 21, the anti-dropping head 22, the rotating motor 3, the moving sleeve 4, the anti-solidification mechanism 5, the bearing plate 51, the stirring motor 52, the chain 53, the stirring component 54, the stirring shaft 541, the sprocket 542, the stirring blade 543, the through groove 544, the spraying mechanism 6, the fixing frame 61, the hollow tank 62, the booster pump 63, the first connecting pipe 64, the second connecting pipe 65, the connecting frame 66, the spraying head 67, the brushing mechanism 7, the fixing ring 71, the connecting rod 72, the circular hole 721, the abutting groove 722, the brushing component 73, the bearing frame 731, the adjusting plate 732, the adjusting rack 733, the adjusting motor 734, the adjusting gear 735, the arc plate, the brush head 737, the moving mechanism 8, the first hydraulic push rod 81, the connecting sleeve 82, the abutting plate 83, the moving rack 84, the micro motor 85, the rotating gear 86, the traveling mechanism 9, walking subassembly 91, second hydraulic push rod 92, U type frame 93, walking area 94, anti-skidding rib 941, walking motor 95, live-rollers 96, support 97, first articulated seat 971, guide rail 972, slider 973, the articulated seat 974 of second, sleeve 975, pull rod 976.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

In order to solve the problem of crosstalk, the technical scheme in the embodiment of the present application has the following general idea: the connecting sleeve 82 is driven to move into the circular hole 721 by the operation of the first hydraulic push rod 81, then the micro motor 85 drives the rotating gear 86 to rotate, the rotating gear 86 drives the moving rack 84 to move, the moving rack 84 drives the top end of the touch panel 83 to move to touch the touch groove 722, then the first hydraulic push rod 81 continues to operate and drives the moving sleeve 4 to move on the four limit strips 21 by using the connecting rod 72, the moving sleeve 4 drives the arc plate 736 to move to the right below the hollow box 62, then the booster pump 63 operates to extract the coating in the coating box 12 and enters the hollow box 62 through the first connecting pipe 64 and the second connecting pipe 65, the plurality of spray heads 67 spray the coating onto the brush heads 737, meanwhile, the rotating motor 3 operates to drive the rotating shaft 2 to rotate, the rotating shaft 2 drives the arc plates 736 in the three brush assemblies 73 to rotate, so that the plurality of spray heads 67 can uniformly spray the coating onto all the brush heads 737, then the first hydraulic push rod 81 works to drive the movable sleeve 4 to reset, the micro motor 85 continues to work to drive the top end of the touch plate 83 to separate from the touch slot 722, the first hydraulic push rod 81 works to drive the connecting sleeve 82 to separate from the round hole 721, the adjusting motor 734 drives the adjusting gear 735 to rotate, the adjusting gear 735 drives the adjusting rack 733 to move, the adjusting rack 733 drives the adjusting plate 732 to slide in the bearing frame 731, the adjusting plate 732 drives the arc plate 736 to move, the arc plate 736 drives a plurality of brush heads 737 to move to touch the inner wall of the pipeline, a plurality of brush heads 737 brush the inner wall of the pipeline with different diameters uniformly, finally the rotating motor 3 works to drive the movable sleeve 4 to rotate, the movable sleeve 4 drives the arc plate 736 of the three brush assemblies 73 to rotate, so that a plurality of brush heads 737 can conveniently brush the inner wall of the pipeline, and the two traveling mechanisms 9 drive the installation beam 1 to travel in the pipeline, the plurality of brush heads 737 can continuously brush the inner wall of the pipeline, the anti-solidification mechanism 5 can work to prevent the paint from solidifying in the paint box 12, and through the steps, the inner walls of the pipelines with different pipe diameters can be sprayed, the paint can not solidify in the paint box 12 along with time, and further the long-time work of the whole robot can not be influenced.

Referring to fig. 1 to 12, an embodiment of the present invention provides a pipeline inner wall spraying robot with a rotating motor, which includes a mounting beam 1, a mounting plate 11, a paint tank 12, a rotating shaft 2, a rotating motor 3, a moving sleeve 4, an anti-solidification mechanism 5, a material spraying mechanism 6, a material brushing mechanism 7, a moving mechanism 8, and two traveling mechanisms 9, wherein the mounting plate 11 is disposed on the top of the mounting beam 1, the paint tank 12 is disposed on the top of the mounting plate 11, a material adding pipe 13 communicated with the inside of the paint tank 12 is disposed on the top of the paint tank 12, the material adding pipe 13 is used for adding paint into the paint tank 12, a sealing cover 14 is screwed into the material adding pipe 13, the sealing cover 14 facilitates sealing of the material adding pipe 13, the rotating shaft 2 is rotatably mounted at the rear end of the mounting beam 1, the rotating motor 3 is disposed inside the mounting beam 1, and the output end of the rotating motor 3 is fixedly connected to the rotating shaft 2, be equipped with four spacing 21 on the outer wall of rotation axis 2, it establishes in the outside of rotation axis 2 to remove the cover 4 to remove cover 4 and four spacing 21 sliding fit, the tip that installation roof beam 1 was kept away from to rotation axis 2 is equipped with anticreep head 22, and anticreep head 22 avoids removing cover 4 and removes rotation axis 2, prevent that solidification mechanism 5 installs in scribbling workbin 12, prevent that solidification mechanism 5 avoids coating to take place to solidify in scribbling workbin 12, spout the rear end of material mechanism 6 setting at installation roof beam 1 to spout material mechanism 6 and scribble workbin 12 and be linked together, brush material mechanism 7 and install on the outer wall of removing cover 4, moving mechanism 8 sets up in the bottom of installation roof beam 1 to moving mechanism 8's one end is connected with brush material mechanism 7, two running gear 9 symmetry sets up the front end at installation roof beam 1.

In this embodiment, the material brushing mechanism 7 includes a fixing ring 71, three connecting rods 72 and three material brushing assemblies 73, the three connecting rods 72 are disposed on the outer wall of the moving sleeve 4 at equal intervals around the center of the moving sleeve 4, the connecting rod 72 is provided with a circular hole 721, the connecting rod 72 is further provided with a contact slot 722 communicated with the circular hole 721, the fixing ring 71 is fixedly connected with the end portions of the three connecting rods 72, the three material brushing assemblies 73 are disposed on the outer wall of the moving sleeve 4 at equal intervals around the center of the moving sleeve 4, one end of each of the three material brushing assemblies 73 extends to the outside of the fixing ring 71, each of the material brushing assemblies 73 includes a bearing frame 731, an adjusting plate 732, an adjusting rack 733, an adjusting motor 734, an adjusting gear 735, an arc plate 736 and a plurality of brush heads 737, the adjusting motor 734 drives the adjusting gear 735 to rotate, the adjusting gear drives the adjusting rack 733 to move, the adjusting rack 733 drives the adjusting plate 732 to slide in the bearing frame 731, the adjusting plate 732 drives the arc plate 736 to move, the arc plate 736 drives the plurality of bristles 737 to move to abut against the inner wall of the pipeline, the plurality of bristles 737 brush the inner wall of the pipeline with different pipe diameters uniformly, the bearing frame 731 is installed on the outer wall of the moving sleeve 4, one end of the bearing frame 731 extends to the outside of the fixing ring 71, the adjusting plate 732 is installed in the bearing frame 731 in a sliding manner, one end of the adjusting plate 732 extends to the outside of the bearing frame 731, the adjusting rack 733 is installed on the outer wall of the adjusting plate 732, the adjusting motor 734 is arranged on the outer wall of the bearing frame 731, the adjusting gear 735 is fixedly connected with the output shaft of the adjusting motor 734, the adjusting gear 735 is meshed with the adjusting rack 733, the arc plate 736 is fixedly connected with one end of the adjusting plate 732 extending to the outside of the bearing frame 731, a plurality of said bristles 737 are arranged at equal intervals on the arc 736.

In this embodiment, the material spraying mechanism 6 includes a fixing frame 61, a hollow box 62, a pressurizing pump 63, a first connecting pipe 64, a second connecting pipe 65, two connecting frames 66 and a plurality of material spraying heads 67, the pressurizing pump 63 pumps the paint in the paint box 12 through the first connecting pipe 64 and the second connecting pipe 65 into the hollow box 62, the plurality of material spraying heads 67 spray the paint to the brush head 737, so as to provide the paint for the brush head 737, the two connecting frames 66 are symmetrically arranged on the outer wall of the rear end of the mounting beam 1, the fixing frame 61 is arranged on the two connecting frames 66, the hollow box 62 is arranged on the top end of the fixing frame 61, the pressurizing pump 63 is horizontally arranged on the side of the mounting plate 11, the two ends of the first connecting pipe 64 are respectively communicated with the input end of the pressurizing pump 63 and the paint box 12, the two ends of the second connecting pipe 65 are respectively communicated with the output end of the pressurizing pump 63 and the hollow box 62, a plurality of the material spraying heads 67 are arranged at the bottom of the hollow box 62 at equal intervals.

In this embodiment, the moving mechanism 8 includes a first hydraulic push rod 81, a connecting sleeve 82, a collision plate 83, a moving rack 84, a micro motor 85 and a rotating gear 86, the first hydraulic push rod 81 is horizontally disposed at the bottom of the mounting beam 1, the connecting sleeve 82 is fixedly connected to an output end of the first hydraulic push rod 81, the connecting sleeve 82 is located in the circular hole 721, the collision plate 83 is slidably mounted on an outer side of the connecting sleeve 82, a bottom end of the collision plate 83 extends into the connecting sleeve 82, a top end of the collision plate 83 is in collision fit with the collision groove 722, the first hydraulic push rod 81 operates to drive the connecting sleeve 82 to move into the circular hole 721, then the micro motor 85 drives the rotating gear 86 to rotate, the rotating gear 86 drives the moving rack 84 to move, the moving rack 84 drives a top end of the collision plate 722 to collide with the collision groove 722, and then the first hydraulic push rod 81 continues to operate to drive the moving sleeve 4 to move on the four limit bars 21 by using the connecting rod 72, the moving sleeve 4 drives the arc plate 736 to move to the position right below the hollow box 62, so that the plurality of material spraying heads 67 can conveniently spray the coating on the brush head 737, when the paint spraying on the brush head 737 is finished, the first hydraulic push rod 81 works to drive the moving sleeve 4 to reset, the micro motor 85 continues to work to drive the top end of the touch plate 83 to separate from the touch groove 722, the following first hydraulic push rod 81 works to drive the connecting sleeve 82 to separate from the round hole 721, at this time, the connecting sleeve 82 separates from the connecting rod 72, so that the rotating motor 3 can drive the three brush material assemblies 73 to rotate conveniently, the movable rack 84 is installed on the sidewall of the bottom end of the abutting plate 83, the micro motor 85 is horizontally arranged on the outer wall of the connecting sleeve 82, and the output shaft of the micro motor 85 extends to the inside of the connection sleeve 82, the rotating gear 86 is fixedly connected with the output shaft of the micro motor 85, and the rotating gear 86 is engaged with the moving rack 84.

In this embodiment, the anti-solidification mechanism 5 includes a bearing plate 51, a stirring motor 52, a chain 53 and a plurality of stirring assemblies 54, the plurality of stirring assemblies 54 are disposed inside the paint tank 12 at equal intervals, each stirring assembly 54 includes a stirring shaft 541, a sprocket 542 and a plurality of stirring blades 543, the stirring shaft 541 is rotatably mounted inside the paint tank 12, one end of the stirring shaft 541 extends to the outside of the paint tank 12, the plurality of stirring blades 543 are disposed on the stirring shaft 541 at equal intervals, each stirring blade 543 is provided with a plurality of through grooves 544, the through grooves 544 facilitate the flow of the liquid paint, and avoid the excessive resistance of the stirring blades during rotation, the sprocket 542 is fixedly connected to the end of the stirring shaft 541 extending to the outside of the paint tank 12, the bearing plate 51 is disposed on the outer sidewall of the paint tank 12, the stirring motor 52 is horizontally disposed on the top of the bearing plate 51, and the output shaft of agitator motor 52 and the (mixing) shaft 541 fixed connection among one of them stirring subassembly 54, the outside at all sprockets 542 is established to chain 53 cover, and agitator motor 52 work utilizes chain 53 to drive the sprocket 542 among a plurality of stirring subassembly 54 and rotates, and sprocket 542 drives (mixing) shaft 541 and a plurality of stirring vane 543 and rotates, and a plurality of stirring vane 543 rotates and stirs the liquid coating in scribbling the workbin 12, avoids the coating to take place to solidify in scribbling the workbin 12.

In this embodiment, each of the traveling mechanisms 9 includes four traveling assemblies 91, the four traveling assemblies 91 are equidistantly disposed on the outer wall of the mounting beam 1, each of the traveling assemblies 91 includes a second hydraulic push rod 92, a U-shaped frame 93, a traveling belt 94, a traveling motor 95, two rotating rollers 96 and two supporting members 97, the second hydraulic push rod 92 is vertically disposed on the outer wall of the mounting beam 1, the U-shaped frame 93 is mounted on the output end of the second hydraulic push rod 92, the two rotating rollers 96 are rotatably mounted in the U-shaped frame 93, the traveling belt 94 is sleeved outside the two rotating rollers 96, the traveling motor 95 is horizontally disposed on the outer wall of the U-shaped frame 93, the output shaft of the traveling motor 95 is fixedly connected with one of the rotating rollers 96, the two supporting members 97 are symmetrically disposed on the mounting beam 1, and the top ends of the two supporting members 97 extend to the bottom of the U-shaped frame 93, the second hydraulic push rod 92 drives the walking belt 94 to abut against the inner wall of the pipeline, the walking motor 95 works to drive one of the rotating rollers 96 to rotate, the rotating roller 96 drives the walking belt 94 and the other rotating roller 96 to rotate, the walking belt 94 rotates to drive the mounting beam 1 to walk in the pipeline, the material brushing mechanism 7 is convenient to spray on the inner wall of the pipeline, each support 97 comprises a first hinged seat 971, a guide rail 972, a sliding block 973, a second hinged seat 974, a sleeve 975 and a pull rod 976, when the second hydraulic push rod 92 drives the U-shaped frame 93 to move upwards, the U-shaped frame 93 drives the sliding block 973 to slide on the guide rail 972, the sliding block 973 drives the second hinged seat 974 to move, the second hinged seat 974 drives the pull rod 976 to slide and extend in the sleeve 975, the sleeve 975 and the pull rod 976 are matched to play a role of stably supporting the U-shaped frame 93, the U-shaped frame 93 is stably stressed, and the walking belt 94 drives the whole robot to walk in the pipeline, first articulated seat 971 sets up on the outer wall of installation roof beam 1, the guide rail 972 level sets up the bottom at U type frame 93, slider 973 slidable mounting is on guide rail 972, the articulated seat 974 of second sets up the bottom at slider 973, the bottom of sleeve 975 articulates in first articulated seat 971, pull rod 976 slidable mounting is in sleeve 975 to the top of pull rod 976 is articulated with the articulated seat 974 of second, be equipped with a plurality of anti-skidding arris strip 941 on the walking area 94, the frictional force between a plurality of anti-skidding arris strip 941 increase walking area 94 and the pipeline inner wall.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.