Anti-corrosion surface treatment tool for inner wall of pipeline

Abstract

The invention discloses a pipeline inner wall anti-corrosion surface treatment tool which comprises a grinding mechanism, a rotating mechanism, a pipe climbing mechanism and a control mechanism, and the grinding mechanism is used for grinding the inner wall of a pipeline; the rotating mechanism is connected to the grinding mechanism and used for driving the grinding mechanism to rotate. The pipe climbing mechanism is connected to the rotating mechanism and used for driving the rotating mechanism and the grinding mechanism to walk in the inner wall of the pipeline. The control mechanism is in communication connection with the grinding mechanism, the rotating mechanism and the pipe climbing mechanism. The pipeline inner wall anti-corrosion surface treatment tool is simple and compact in structure, the pipeline climbing mechanism can enable the pipeline inner wall anti-corrosion surface treatment tool to be kept in the center relative to a pipeline and can be controlled to move front and back along the pipeline, and the rotating mechanism can achieve the rotating function of the grinding mechanism; and the polishing mechanism can achieve the polishing function of the pipeline inner wall anti-corrosion surface treatment tool, and the pipeline inner wall anti-corrosion surface treatment tool can have different structure modes according to different space requirements.

Description

Technical Field

[0001] The invention relates to the field of anti-corrosion construction, and in particular to a pipeline inner wall anti-corrosion surface treatment tool. Background Art

[0002] The cooling water delivery process pipeline takes water from the pool, concrete culvert, etc., and generally adopts a pre-buried section of steel pipe with flange as the interface with the process pipeline. This section of the pipeline often uses coatings, rubber linings, etc. as anti-corrosion measures. As the service life increases, the internal anti-corrosion measures will gradually age and degrade and lose their anti-corrosion function, and need to be re-treated. The replacement of pre-buried pipelines is technically difficult and costly. At present, there is a lack of tooling that can perform anti-corrosion surface treatment on the inner wall of the pipeline. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a pipeline inner wall anti-corrosion surface treatment tool.

[0004] The technical solution adopted by the present invention to solve the technical problem is: constructing a pipeline inner wall anti-corrosion surface treatment tool, which includes:

[0005] A grinding mechanism, used for grinding the inner wall of the pipe;

[0006] A rotating mechanism, which is connected to the grinding mechanism and is used to drive the grinding mechanism to rotate;

[0007] A pipe climbing mechanism, which is connected to the rotating mechanism and is used to drive the rotating mechanism and the grinding mechanism to move on the inner wall of the pipe;

[0008] The control mechanism is communicatively connected with the grinding mechanism, the rotating mechanism and the tube climbing mechanism, and is used to control the movement of the grinding mechanism, the rotating mechanism and the tube climbing mechanism.

[0009] In some embodiments, the grinding mechanism includes a grinding base, a grinding driver, a guide assembly, a first elastic member, a grinding connection assembly, and a grinding assembly;

[0010] The polishing driver and the guide assembly are both mounted on the polishing base, the polishing connection assembly is movably connected to the guide assembly, and the polishing driver is connected to the polishing connection assembly and is used to drive the polishing connection assembly to move on the guide assembly;

[0011] The grinding assembly is mounted on the grinding connection assembly and is used to grind the inner wall of the pipeline;

[0012] The first elastic member is mounted on the polishing connection assembly and is used to provide elastic force for the polishing assembly;

[0013] The guide assembly comprises a slide rail mounted on the polishing base and a sliding block movably connected to the slide rail.

[0014] In some embodiments, the grinding connection assembly includes a grinding fixed seat mounted on the slider, a transition seat mounted on the grinding fixed seat, and a grinding mounting seat, wherein the grinding mounting seat is hinged to the transition seat via a rotating shaft;

[0015] The first end of the first elastic member is connected to the polishing fixing seat, and the second end of the first elastic member is connected to the polishing mounting seat;

[0016] The grinding assembly includes a first grinding body mounted on the grinding mounting seat and a grinding head connected to the first grinding body.

[0017] In some embodiments, the grinding connection assembly includes a positioning seat, a retaining block, a connecting plate, a fastening block, a limiting block and a grinding connection rod;

[0018] The fixing block and the limiting block are separately installed at two ends of the positioning seat, and the fixing block is located between the fixing block and the limiting block;

[0019] The two ends of the polishing connecting rod are respectively connected to the fixing block and the limiting block, the polishing connecting rod is passed through the retaining block, and the retaining block can move back and forth along the axial direction of the polishing connecting rod;

[0020] The connecting plate is connected to the retaining block;

[0021] The first elastic member is sleeved on the outer periphery of the polishing connecting rod, the first end of the first elastic member abuts against the fastening block, and the second end of the first elastic member abuts against the retaining block;

[0022] The grinding assembly includes a second grinding body mounted on the connecting plate and a grinding sheet connected to the second grinding body.

[0023] In some embodiments, the rotating mechanism includes a rotating base, a rotating drive assembly, a limiting assembly, a rotating ring gear, and an electric slip ring;

[0024] The rotating ring gear is located on the rotating base;

[0025] The rotary drive assembly is connected to the rotary base and is used to drive the rotary ring gear to rotate;

[0026] The limiting assembly is connected to the rotating base and is used to limit the movement direction of the rotating ring gear;

[0027] The grinding base is connected to the rotating ring gear and can perform rotational motion under the drive of the rotating drive assembly;

[0028] The electric slip ring is connected to the rotating base.

[0029] In some embodiments, the rotary drive assembly includes a plurality of rotary drive devices, each of which includes a rotary drive connected to the rotary base and a rotary drive gear connected to the rotary drive, wherein the rotary drive gear is meshingly connected to the rotary ring gear.

[0030] In some embodiments, the rotating ring gear is provided with a limit slot, and the limit assembly includes a first limit bearing, a retaining spring and a pressure plate;

[0031] The first limit bearing is installed in the limit groove, the retaining spring is used to limit the first limit bearing in the limit groove, and the first limit bearing is connected to the rotating base through the pressing plate;

[0032] A boss is provided on the rotating base, the boss matches with the inner ring of the first limit bearing, and the boss is matched and connected with the electric slip ring.

[0033] In some embodiments, the limiting assembly includes a plurality of separately arranged limiting devices, each of which includes a second limiting bearing, a first bearing support, a bearing fixing part, and a second fixing part;

[0034] The rotating ring gear is provided with a receiving groove, and the outer ring of the second limiting bearing is installed in the receiving groove and limits the rotating ring gear to only perform rotating motion;

[0035] The first bearing support member and the bearing fixing member are used together to position the second limit bearing, and the second fixing member is used to lock the positions of the second limit bearing, the bearing fixing member and the first bearing support member.

[0036] In some embodiments, the limiting assembly includes a plurality of separately arranged limiting mechanisms, each of which includes a second bearing support, a third limiting bearing and a third fixing member;

[0037] The rotating ring gear is provided with a receiving groove, and the outer ring of the third limiting bearing is installed in the receiving groove and limits the rotating ring gear to only perform rotating motion;

[0038] The second bearing support member is used to support the third limit bearing, and the third fixing member is used to lock the positions of the second bearing support member and the third limit bearing.

[0039] In some embodiments, the rotating mechanism further includes a central bearing, which is installed at a central position of the rotating base, one end of the grinding base is connected to the central bearing, and the other end of the grinding base is connected to the rotating ring gear.

[0040] In some embodiments, the tube climbing mechanism includes a positioning shaft, a tube climbing connection assembly, and a plurality of walking assemblies distributed along the circumferential direction of the positioning shaft;

[0041] The climbing pipe connecting assembly includes a climbing pipe base, a climbing pipe connecting seat and a climbing pipe top seat. The climbing pipe base and the climbing pipe top seat are separately and fixedly connected to the two ends of the positioning shaft. The climbing pipe connecting seat is sleeved on the outside of the positioning shaft and movably connected to the positioning shaft.

[0042] In some embodiments, each of the walking assemblies includes a first pull rod, a second pull rod, a support rod, a tube climbing positioning member, a support driving device, a tube climbing driving device, a driving wheel, and a driven wheel;

[0043] The two ends of the first pull rod are respectively hinged to the top end of the climbing pipe top seat and the climbing pipe positioning member, and the two ends of the second pull rod are respectively hinged to the bottom end of the climbing pipe base and the climbing pipe positioning member;

[0044] The two ends of the support rod are respectively hinged to the climbing pipe connecting seat and the first pull rod;

[0045] The support driving device is installed on the climbing pipe base, and the output end of the support driving device is connected to the climbing pipe connecting seat;

[0046] The driving wheel and the driven wheel are separately disposed at two ends of the tube climbing positioning member;

[0047] The tube climbing driving device is installed on the tube climbing positioning member and is used to drive the driving wheel to move.

[0048] In some embodiments, the tube climbing positioning member includes two tube climbing connecting rods arranged in parallel;

[0049] The tube climbing driving device comprises a stepping motor and a reducer, and the output end of the stepping motor is connected to the driving wheel.

[0050] The driving wheel is located at one end of the tube climbing positioning member close to the support rod, and the driven wheel is located at one end of the tube climbing positioning member away from the support rod;

[0051] The climbing pipe connecting seat includes two butted dynamic ring parts.

[0052] In some embodiments, the tube climbing mechanism includes a central axis and a plurality of crawling support assemblies distributed along the circumference of the central axis;

[0053] Each of the crawling support assemblies comprises a first connecting rod, a second connecting rod, a crawling positioning member, a driving wheel, a traveling wheel, a telescopic driving device, a traveling driving device and a resetting device;

[0054] The first connecting rod and the second connecting rod are arranged in parallel, and the first connecting rod and the second connecting rod are both hinged to the central axis, the end of the first connecting rod away from the central axis is hinged to the crawling positioning member, and the end of the second connecting rod away from the central axis is hinged to the crawling positioning member.

[0055] In some embodiments, the driving wheel and the walking wheel are separately disposed at two ends of the crawling positioning member, and the walking driving device is installed on the crawling positioning member and is used to drive the driving wheel to move;

[0056] The telescopic driving device is installed on the central shaft and is used to drive the crawling positioning member to move so that the walking wheel and the driving wheel are in contact with the inner wall of the pipeline;

[0057] The two ends of the resetting device are respectively connected to the central axis and the first connecting rod to provide an elastic force for the crawling positioning member to automatically contract.

[0058] In some embodiments, the crawling positioning member includes two crawling connecting rods arranged in parallel and a crawling connecting member connected to the two crawling connecting rods, and a guide groove is provided on the crawling connecting member;

[0059] The telescopic driving device comprises a supporting driver installed on the central axis, a driving support connected to the output end of the supporting driver, and a pulley connected to one end of the driving support, wherein the pulley is arranged corresponding to the guide groove.

[0060] In some embodiments, the resetting device includes a resetting mounting seat mounted on the central axis and a second elastic member;

[0061] Two ends of the second elastic member are respectively connected to the reset mounting seat and the first connecting rod.

[0062] In some embodiments, the control mechanism includes a programmable logic controller, a plurality of drive boards, a relay, and an electric valve, and the programmable logic controller is communicatively connected with the plurality of drive boards, the relay, and the electric valve.

[0063] The implementation of the present invention has the following beneficial effects: the pipeline inner wall anti-corrosion surface treatment tooling can achieve anti-corrosion surface treatment of pipeline inner walls with diameters of 150 mm to 900 mm by arranging a grinding mechanism, a rotating mechanism, a climbing mechanism and a control mechanism. The pipeline inner wall anti-corrosion surface treatment tooling has a simple and compact structure. The climbing mechanism can keep the pipeline inner wall anti-corrosion surface treatment tooling centered relative to the pipeline and can move back and forth along the pipeline in a controlled manner. The rotating mechanism can realize the rotation function of the grinding mechanism, and the grinding mechanism can realize the grinding function of the pipeline inner wall anti-corrosion surface treatment tooling. The pipeline inner wall anti-corrosion surface treatment tooling can have different structural methods according to different space requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work. In the drawings:

[0065] Figure 1 It is a structural schematic diagram of a first embodiment of a pipeline inner wall anti-corrosion surface treatment tool in some embodiments of the present invention;

[0066] Figure 2 It is a structural schematic diagram of a second embodiment of a pipeline inner wall anti-corrosion surface treatment tool in some embodiments of the present invention;

[0067] Figure 3 It is a structural schematic diagram of a third embodiment of a pipeline inner wall anti-corrosion surface treatment tool in some embodiments of the present invention;

[0068] Figure 4 It is a structural schematic diagram of a grinding mechanism of a first embodiment of a pipeline inner wall anti-corrosion surface treatment tool in some embodiments of the present invention;

[0069] Figure 5 yes Figure 4 Exploded view of parts;

[0070] Figure 6 It is a schematic structural diagram of a grinding mechanism of a second embodiment and a third embodiment of a pipeline inner wall anti-corrosion surface treatment tool in some embodiments of the present invention;

[0071] Figure 7 yes Figure 6 Exploded view of parts;

[0072] Figure 8 It is a structural schematic diagram of a rotating mechanism of a first embodiment of a pipeline inner wall anti-corrosion surface treatment tool in some embodiments of the present invention;

[0073] Fig. 9 yes Figure 8 Exploded view of parts;

[0074] Fig.10 yes Figure 8 sectional view of parts;

[0075] Fig.11 is a structural schematic diagram of a rotating mechanism of a second embodiment of a pipeline inner wall anti-corrosion surface treatment tool in some embodiments of the present invention;

[0076] Fig.12 yes Fig.11 Exploded view of parts;

[0077] Fig.13 It is a structural schematic diagram of a rotating mechanism of a third embodiment of a pipeline inner wall anti-corrosion surface treatment tool in some embodiments of the present invention;

[0078] Fig.14 yes Fig.13 Exploded view of parts;

[0079] Fig.15 It is a structural schematic diagram of a pipe climbing mechanism of a second embodiment and a third embodiment of a pipe inner wall anti-corrosion surface treatment tool in some embodiments of the present invention;

[0080] Fig.16 It is a schematic diagram of the structure and application of a second embodiment of a pipeline inner wall anti-corrosion surface treatment tool in some embodiments of the present invention;

[0081] Fig.17 It is a structural schematic diagram of a pipe climbing mechanism of a first embodiment of a pipe inner wall anti-corrosion surface treatment tool in some embodiments of the present invention;

[0082] Fig.18 It is a partial structural schematic diagram of a pipe climbing mechanism of a first embodiment of a pipe inner wall anti-corrosion surface treatment tool in some embodiments of the present invention;

[0083] Fig.19 It is a partial structural schematic diagram of the pipe climbing mechanism of the first embodiment of the pipeline inner wall anti-corrosion surface treatment tool in some embodiments of the present invention. DETAILED DESCRIPTION

[0084] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0085] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0086] See also Figures 1 to 19 , is a pipe inner wall anticorrosion surface treatment tool in some embodiments of the present invention, which includes a grinding mechanism 1, a rotating mechanism 2, a pipe climbing mechanism 3 and a control mechanism. The grinding mechanism 1 is used to grind the inner wall of the pipe, the rotating mechanism 2 is connected to the grinding mechanism 1, and is used to drive the grinding mechanism 1 to rotate, the pipe climbing mechanism 3 is connected to the rotating mechanism 2, and is used to drive the rotating mechanism 2 and the grinding mechanism 1 to move in the inner wall of the pipe, and the control mechanism is connected to the grinding mechanism 1, the rotating mechanism 2 and the pipe climbing mechanism 3 for communication, and is used to control the movement of the grinding mechanism 1, the rotating mechanism 2 and the pipe climbing mechanism 3.

[0087] It can be understood that the pipeline inner wall anti-corrosion surface treatment tooling can achieve anti-corrosion surface treatment of pipeline inner walls with diameters of 150mm to 900mm by setting up a grinding mechanism 1, a rotating mechanism 2, a climbing mechanism 3 and a control mechanism. The pipeline inner wall anti-corrosion surface treatment tooling has a simple and compact structure. The climbing mechanism 3 can keep the pipeline inner wall anti-corrosion surface treatment tooling centered relative to the pipeline and can move back and forth along the pipeline in a controlled manner. The rotating mechanism 2 can realize the rotation function of the grinding mechanism 1, and the grinding mechanism 1 can realize the grinding function of the pipeline inner wall anti-corrosion surface treatment tooling. The pipeline inner wall anti-corrosion surface treatment tooling can have different structural methods according to different space requirements.

[0088] like Figure 4 and Figure 6 As shown, the grinding mechanism 1 includes a grinding base 11, a grinding driver 12, a guide assembly 13, a first elastic member 14, a grinding connection assembly 15 and a grinding assembly 16. The grinding driver 12 and the guide assembly 13 are both mounted on the grinding base 11, the grinding connection assembly 15 is movably connected to the guide assembly 13, the grinding driver 12 is connected to the grinding connection assembly 15 and is used to drive the grinding connection assembly 15 to move on the guide assembly 13, the grinding assembly 16 is mounted on the grinding connection assembly 15 and is used to grind the inner wall of the pipeline, the first elastic member 14 is mounted on the grinding connection assembly 15 and is used to provide elastic force for the grinding assembly 16, and the guide assembly 13 includes a slide rail 131 mounted on the grinding base 11 and a slider 132 movably connected to the slide rail 131.

[0089] It can be understood that the polishing mechanism 1 uses the polishing driver 12 to drive the polishing connection assembly 15 to move on the guide assembly 13, so that the polishing assembly 16 can move in the pipeline, so that the polishing assembly 16 can polish the inner wall of the pipeline, and the first elastic member 14 is provided, and the first elastic member 14 is used to realize elastic deformation within a certain range. The first elastic member 14 is always in a compressed state during operation. The first elastic member 14 is used to offset the distance change between the wall surface of the inner wall and the polishing connection assembly 15 at different positions during the polishing process. When the distance between the wall surface and the polishing connection assembly 15 increases, the compression amount of the first elastic member 14 decreases, so that the polishing assembly 16 touches the wall surface. When the distance between the wall surface and the polishing connection assembly 15 decreases, the compression amount of the first elastic member 14 increases. By providing the first elastic member 14, it is possible to automatically adapt to the distance change between the wall surface and the polishing connection assembly 15 within a certain range. The first elastic member 14 can be a spring.

[0090] The grinding driver 12 is an electric driver, a hydraulic driver or a pneumatic driver, which can be adjusted according to actual conditions. In this embodiment, the grinding driver 12 is preferably an electric driver, and more specifically, the grinding driver 12 is a stepping motor.

[0091] like Figure 8 , Fig.11 as well as Fig.13 As shown, the rotating mechanism 2 includes a rotating base 21, a rotating drive component 22, a limiting component 23, a rotating ring gear 24 and an electric slip ring 25. The rotating ring gear 24 is located on the rotating base 21, and the rotating drive component 22 is connected to the rotating base 21 and is used to drive the rotating ring gear 24 to rotate. The limiting component 23 is connected to the rotating base 21 and is used to limit the movement direction of the rotating ring gear 24. The grinding base 11 is connected to the rotating ring gear 24 and can rotate under the drive of the rotating drive component 22. The electric slip ring 25 is connected to the rotating base 21.

[0092] Specifically, the rotating base 21 of the rotating mechanism 2 is specifically used to connect with the pipe climbing mechanism 3 of the pipe inner wall anti-corrosion surface treatment tooling, and the rotating base 21 and the pipe climbing mechanism 3 of the pipe inner wall anti-corrosion surface treatment tooling are relatively stationary. In addition, in order to reduce weight, the rotating base 21 and the rotating ring gear 24 can be made of light metal or engineering plastic, and the rotating base 21 can be set as a hollow structure when the structural strength is met. The rotating mechanism 2 is used to realize the rotation function of the grinding mechanism 1 of the pipe inner wall anti-corrosion surface treatment tooling, and the electric slip ring 25 is used to realize the sliding rotation connection of the power supply and control signal of the grinding mechanism 1.

[0093] It can be understood that the rotating mechanism 2 of the pipeline inner wall anti-corrosion surface treatment tooling drives the rotating ring gear 24 to rotate through the rotating drive component 22, which can realize the rotation function of the grinding mechanism 1 of the pipeline inner wall anti-corrosion surface treatment tooling, and the movement of the rotating ring gear 24 is limited by cooperating with the limiting component 23 and the rotating ring gear 24. At the same time, the electric slip ring 25 transmits power supply and signal power supply when the rotating ring gear 24 rotates continuously, which can ensure the stability of the rotating mechanism 2 during the working process. The rotating mechanism 2 has a simple structure and high connection reliability.

[0094] The rotation drive assembly 22 includes a plurality of rotation drive devices, each of which includes a rotation driver 221 connected to the rotation base 21 and a rotation drive gear 222 connected to the rotation driver 221, and the rotation drive gear 222 is meshed and connected with the rotation ring gear 24. In this embodiment, the number of the rotation drive devices is three, and the three rotation drive devices are arranged along the central axis 34 of the rotation base 21. In other embodiments, the number and arrangement of the rotation drive devices can be adjusted according to actual conditions, and are not specifically limited here.

[0095] In addition, the control mechanism includes a programmable logic controller, multiple drive boards, relays and electric valves, and the programmable logic controller is in communication with the multiple drive boards, relays and electric valves. The programmable logic controller can be a PLC, which can control multiple drive boards, control the pipe climbing mechanism 3 to realize the front and back movement of the pipeline inner wall anti-corrosion surface treatment tooling in the pipeline, control the rotating mechanism 2 to realize the grinding mechanism 1 to rotate in the pipeline, and control the grinding mechanism 1 to move in the pipeline and grind the inner wall of the pipeline. Relays and electric valves are used for the control mechanism to control other mechanisms.

[0096] In the present invention, in order to adapt to space problems, the connection and arrangement methods of the pipeline inner wall anti-corrosion surface treatment tooling are divided into multiple types to adapt to the inner walls of pipelines with different diameters.

[0097] In the first embodiment, if Figure 1 As shown, the pipeline inner wall anti-corrosion surface treatment tool is a pipeline with a smaller diameter, which is specifically 150mm to 300mm. Specifically, as Figure 4 and Figure 5 As shown, the grinding connection assembly 15 includes a grinding fixed seat 151 installed on the slider 132, a transition seat 152 installed on the grinding fixed seat 151, and a grinding mounting seat 153. The grinding mounting seat 153 is hinged with the transition seat 152 through a rotating shaft 154. The first end of the first elastic member 14 is connected to the grinding fixed seat 151, and the second end of the first elastic member 14 is connected to the grinding mounting seat 153. The grinding assembly 16 includes a first grinding body 161 installed on the grinding mounting seat 153 and a grinding head 162 connected to the first grinding body 161. It can be understood that when the grinding assembly 16 is insufficient in space, the grinding assembly 16 can convert the deformation along the pipe diameter direction into other directions through the rotating shaft 154. The grinding mounting seat 153 is specifically L-shaped, which cooperates with the rotating shaft 154 to change the setting direction of the first elastic member 14, reduce the space requirement, and adapt to the pipe with a smaller space.

[0098] In the first embodiment, if Fig. 9 and Fig.10As shown, the rotating ring gear 24 is provided with a limiting groove 241, and the limiting assembly 23 includes a first limiting bearing 231, a retaining spring 232 and a pressing plate 233. The first limiting bearing 231 is installed in the limiting groove 241, and the retaining spring 232 is used to limit the first limiting bearing 231 in the limiting groove 241, and the first limiting bearing 231 is connected to the rotating base 21 through the pressing plate 233. It can be understood that the limiting groove 241 is provided inside the rotating ring gear 24, and for the inside of the pipe with a smaller diameter, the upper edge diameter of the limiting groove 241 is larger than the lower edge diameter, and the first limiting bearing 231 is installed in the limiting groove 241 to match the rotating ring gear 24, and the first limiting bearing 231 is embedded in the rotating ring gear 24, and the retaining spring 232 is installed to limit the first limiting bearing 231 in the limiting groove 241, and the inner ring of the first limiting bearing 231 is connected to the rotating base 21 through the pressing plate 233. In addition, the rotating base 21 is provided with a boss 211, which matches the inner ring of the first limit bearing 231 and is matched and connected with the electric slip ring 25. The boss 211 is specifically located at the center of the rotating base 21, and the electric slip ring 25 is located at the center of the rotating base 21.

[0099] In the first embodiment, if Fig.17 and Fig.18 As shown, the climbing mechanism 3 includes a central axis 34 and a plurality of crawling support assemblies 35 distributed along the circumferential direction of the central axis 34, each crawling support assembly 35 includes a first connecting rod 351, a second connecting rod 352, a crawling positioning member 353, a driving wheel 354, a walking wheel 355, a telescopic driving device 356, a walking driving device 357 and a reset device 358. The first connecting rod 351 and the second connecting rod 352 are arranged in parallel, and the first connecting rod 351 and the second connecting rod 352 are both hinged to the central axis 34, the end of the first connecting rod 351 away from the central axis 34 is hinged to the crawling positioning member 353, and the end of the second connecting rod 352 away from the central axis 34 is hinged to the crawling positioning member 353, the driving wheel 354 and the walking wheel 355 are separately arranged at both ends of the crawling positioning member 353, the walking drive device 357 is installed on the crawling positioning member 353 and is used to drive the driving wheel 354 to move, the telescopic drive device 356 is installed on the central axis 34 and is used to drive the crawling positioning member 353 to move, so that the walking wheel 355 and the driving wheel 354 are in contact with the inner wall of the pipe, and the two ends of the reset device 358 are respectively connected to the central axis 34 and the first connecting rod 351 to provide an elastic force that can automatically contract for the crawling positioning member 353.

[0100] Specifically, the pipe climbing mechanism 3 uses the telescopic drive device 356 to drive the crawling positioning member 353 to move, so that the walking wheel 355 and the driving wheel 354 are in contact with the inner wall of the pipe, so that a fixed pressure is formed between the walking wheel 355 and the driving wheel 354 and the inner wall of the pipe, and the friction between the pipe climbing mechanism 3 and the pipe wall is generated. Sufficient pressure and friction can be ensured by controlling the output pressure of the telescopic drive device 356. When the pipe diameter of the pipe changes slightly, the telescopic drive device 356 will be compressed, and the distance between the central axis 34 and the inner wall of the pipe will change, so as to realize the function of the adaptive pipe climbing mechanism 3 to adapt to the change of pipe diameter. At the same time, it is ensured that in the case of power loss under extreme working conditions, the output pressure of the telescopic drive device 356 can be turned off, and it can automatically shrink under the action of the reset device 358, so as to realize manual dragging out of the pipe for maintenance. In addition, the control system of the adaptive pipe climbing mechanism 3 can control the walking drive device 357 to drive the driving wheel 354 to move, so that the adaptive pipe climbing mechanism 3 can move along the axial direction of the pipe as a whole. The adaptive pipe climbing mechanism 3 has a simple structure and is light in weight. It can keep the anti-corrosion surface treatment tooling on the inner wall of the pipeline centered relative to the pipeline. When the travel range of the telescopic drive device 356 is coordinated with the size of the replacement drive support 3562, it can crawl in a pipeline of 150mm to 300mm. After setting the feed speed and distance, it can automatically move back and forth on the inner wall of the pipeline at the set speed.

[0101] More specifically, the first connecting rod 351 and the second connecting rod 352 have the same length, and the first connecting rod 351 and the second connecting rod 352 always maintain a parallel state, so that the crawling positioning member 353 always maintains parallelism with the central axis 34. In the first embodiment, the number of the crawling support components 35 is three, and the three crawling support components 35 are evenly distributed along the circumferential direction of the central axis 34. The three crawling support components 35 are distributed at an angle of 120°, and the adaptive centering function is realized by designing the three crawling support components 35.

[0102] like Figures 17 to 19As shown, the crawling positioning member 353 includes two parallel crawling connecting rods 3531 and a crawling connecting member 3532 connected to the two crawling connecting rods 3531, and a guide groove 35321 is provided on the crawling connecting member 3532. The telescopic driving device 356 includes a support driver 3561 installed on the central shaft 34, a driving support member 3562 connected to the output end of the support driver 3561, and a pulley 3563 connected to one end of the driving support member 3562, and the pulley 3563 is arranged corresponding to the guide groove 35321. The diameters of the driving wheel 354 and the walking wheel 355 are consistent, and the diameters of the driving wheel 354 and the walking wheel 355 are both 25mm to 80mm. The pulley 3563 is arranged corresponding to the guide groove 35321. When the support driver 3561 moves, the pulley 3563 abuts against the guide groove 35321, and there will be a relative displacement between the end of the driving support member 3562 and the crawling connecting rod 3531. The friction force is reduced by setting the pulley 3563.

[0103] In addition, the reset device 358 includes a reset mounting seat 3581 and a second elastic member 3582 mounted on the central shaft 34, and two ends of the second elastic member 3582 are respectively connected to the reset mounting seat 3581 and the first connecting rod 351. When the support driver 3561 loses output pressure, the elastic force provided by the second elastic member 3582 can realize the automatic contraction of the positioning member.

[0104] In the second embodiment, if Figure 2 As shown, the pipeline inner wall anti-corrosion surface treatment tool is a pipeline with a slightly larger diameter, which is specifically 300mm to 500mm. Specifically, as Figure 6 and Figure 7 As shown, the polishing connection assembly 15 of the pipeline inner wall anti-corrosion surface treatment tooling includes a positioning seat 155, a retaining block 156, a connecting plate 157, a fastening block 158, a limiting block 159 and a polishing connecting rod 160. The fastening block 158 and the limiting block 159 are separately installed at the two ends of the positioning seat 155, the retaining block 156 is located between the fastening block 158 and the limiting block 159, the two ends of the polishing connecting rod 160 are respectively connected to the fastening block 158 and the limiting block 159, the polishing connecting rod 160 is penetrated by the retaining block 156, the retaining block 156 can move back and forth along the axial direction of the polishing connecting rod 160, and the connecting plate 157 is connected to the retaining block 156. In addition, the first elastic member 14 is sleeved on the outer periphery of the grinding connecting rod 160, the first end of the first elastic member 14 abuts against the fastening block 158, the second end of the first elastic member 14 abuts against the retaining block 156, and the grinding assembly 16 includes a second grinding body 163 mounted on the connecting plate 157 and a grinding sheet 164 connected to the second grinding body 163. It can be understood that the grinding assembly 16 can slide along a straight line, and the first elastic member 14 is along the diameter direction of the pipeline. This situation can be applied to the situation where there is sufficient space on the inner wall of the pipeline.

[0105] In the second embodiment, if Fig.11 and Fig.12 As shown, the limiting assembly 23 includes a plurality of limiting devices that are separately arranged, each of which includes a second limiting bearing 234, a first bearing support 235, a bearing fixed pressure piece 240 and a second fixing piece 239. The rotating ring gear 24 is provided with a receiving groove 242. The outer ring of the second limiting bearing 234 is installed in the receiving groove 242 and limits the rotating ring gear 24 to only perform rotational movement. The first bearing support 235 and the bearing fixed pressure piece 240 are used together to position the second limiting bearing 234. The second fixing piece 239 is used to lock the positions of the second limiting bearing 234, the bearing fixed pressure piece 240 and the first bearing support 235. It can be understood that the outer ring of the second limiting bearing 234 is sunk into the receiving groove 242 to limit the rotating ring gear 24 to only perform rotational movement, and the second fixing piece 239 can be a fixing bolt, which can lock the positions of the second limiting bearing 234 and the bearing fixed pressure piece 240.

[0106] In the second embodiment, if Fig.15 and Fig.16 As shown, the tube climbing mechanism 3 includes a positioning shaft 31, a tube climbing connection assembly 32, and a plurality of walking assemblies 33 distributed along the circumferential direction of the positioning shaft 31. The tube climbing connection assembly 32 includes a tube climbing base 321, a tube climbing connection seat 322, and a tube climbing top seat 323. The tube climbing base 321 and the tube climbing top seat 323 are separately and fixedly connected to the two ends of the positioning shaft 31, and the tube climbing connection seat 322 is sleeved on the outer side of the positioning shaft 31 and movably connected to the positioning shaft 31. Each walking assembly 33 includes a first pull rod 331, a second pull rod 332, a support rod 333, a tube climbing positioning member 334, a support drive device 335, a tube climbing drive device 336, a driving wheel 337, and a driven wheel 338. The two ends of the first pull rod 331 are respectively hinged to the top end of the climbing pipe top seat 323 and the climbing pipe positioning member 334, the two ends of the second pull rod 332 are respectively hinged to the bottom end of the climbing pipe base 321 and the climbing pipe positioning member 334, the two ends of the support rod 333 are respectively hinged to the climbing pipe connecting seat 322 and the first pull rod 331, the support driving device 335 is installed on the climbing pipe base 321, and the output end of the support driving device 335 is connected to the climbing pipe connecting seat 322, the driving wheel 337 and the driven wheel 338 are separately arranged at the two ends of the climbing pipe positioning member 334, and the climbing pipe driving device 336 is installed on the climbing pipe positioning member 334 and is used to drive the driving wheel 337 to move.

[0107] It can be understood that in the second embodiment, the pipe climbing mechanism 3 uses the support driving device 335 to drive the pipe climbing connection seat 322 to move, thereby driving the support rod 333, the first pull rod 331, the second pull rod 332, and the pipe climbing positioning member 334 to move accordingly, so that the driven wheel 338 and the driving wheel 337 fit the inner wall of the pipeline, so that a fixed pressure is formed between the driven wheel 338 and the driving wheel 337 and the inner wall of the pipeline, and friction between the pipe climbing walking mechanism and the pipe wall is generated. Sufficient pressure and friction can be ensured by controlling the output pressure of the support driving device 335. When the pipe diameter of the pipeline changes slightly, the support driving device 335 will be compressed, and the distance between the positioning shaft 31 and the inner wall of the pipeline will change, realizing the function of the pipe climbing walking mechanism to adapt to the change of pipe diameter. In addition, the control system of the pipe climbing walking mechanism can control the pipe climbing driving device 336 to drive the driving wheel 337 to move, so that the pipe climbing walking mechanism as a whole can move along the axial direction of the pipeline. The pipe-climbing walking mechanism has a simple structure and is light in weight. It can keep the tooling used for anti-corrosion surface treatment of the inner wall of the pipeline centered relative to the pipeline, and can crawl in the pipeline. After the feed speed and distance are set, it can automatically move back and forth on the inner wall of the pipeline at the set speed.

[0108] Furthermore, the tube climbing positioning member 334 includes two tube climbing connecting rods 3341 arranged in parallel, and the tube climbing driving device 336 includes a stepping motor and a reducer, and the output end of the stepping motor is connected to the driving wheel 337, and the driving wheel 337 and the driven wheel 338 have the same diameter, and the diameters of the driving wheel 337 and the driven wheel 338 are both 30 mm to 120 mm. The driving wheel 337 is located at one end of the tube climbing positioning member 334 close to the support rod 333, and the driven wheel 338 is located at one end of the tube climbing positioning member 334 away from the support rod 333.

[0109] In addition, the climbing tube connection seat 322 includes two butted dynamic rings. When installation is required, the two dynamic rings can be connected by fasteners and sleeved on the outside of the positioning shaft 31 after connection.

[0110] In the third embodiment, if Figure 3 As shown, the pipeline inner wall anticorrosion surface treatment tool is a pipeline with a larger diameter, which is specifically 500mm to 900mm. The grinding mechanism 1 and the pipe climbing mechanism 3 in the third embodiment are consistent with the grinding mechanism 1 and the pipe climbing mechanism 3 in the second embodiment, and will not be repeated here.

[0111] like Fig.13 and Fig.14As shown, the limiting assembly 23 includes a plurality of limiting mechanisms that are separately arranged, each of which includes a second bearing support 236, a third limiting bearing 237 and a third fixing member 238. The rotating ring gear 24 is provided with a receiving groove 243, and the outer ring of the third limiting bearing 237 is installed in the receiving groove 243 and limits the rotating ring gear 24 to only perform rotational movement; the second bearing support 236 is used to support the third limiting bearing 237, and the third fixing member 238 is used to lock the positions of the second bearing support 236 and the third limiting bearing 237. It can be understood that the outer ring of the third limiting bearing 237 is sunk into the receiving groove 243 to limit the rotating ring gear 24 to only perform rotational movement, and the third fixing member 238 can be a fixing bolt, which can lock the positions of the second bearing support 236 and the third limiting bearing 237.

[0112] In the third embodiment, the rotating mechanism 2 further includes a central bearing 27, which is installed at the center of the rotating base 21. One end of the grinding base 11 is connected to the central bearing 27, and the other end of the grinding base 11 is connected to the rotating ring gear 24. Since the inner wall of the pipeline is relatively large, the area of ​​the grinding base 11 is also relatively large, and the central bearing 27 is added to ensure that the grinding base 11 with a larger area can rotate normally.

[0113] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the scope covered by the claims of the present invention.

Claims

1. A pipeline inner wall anti-corrosion surface treatment tool, characterized in that: include: A grinding mechanism (1), used for grinding the inner wall of the pipeline; A rotating mechanism (2), which is connected to the grinding mechanism (1) and is used to drive the grinding mechanism (1) to rotate; A pipe climbing mechanism (3) connected to the rotating mechanism (2) and used to drive the rotating mechanism (2) and the grinding mechanism (1) to move on the inner wall of the pipe; A control mechanism is communicatively connected with the grinding mechanism (1), the rotating mechanism (2) and the tube climbing mechanism (3), and is used to control the movement of the grinding mechanism (1), the rotating mechanism (2) and the tube climbing mechanism (3).

2. The pipeline inner wall anticorrosion surface treatment tool according to claim 1 is characterized in that: The polishing mechanism (1) comprises a polishing base (11), a polishing driver (12), a guide assembly (13), a first elastic member (14), a polishing connection assembly (15) and a polishing assembly (16); The polishing driver (12) and the guide assembly (13) are both mounted on the polishing base (11); the polishing connection assembly (15) is movably connected to the guide assembly (13); the polishing driver (12) is connected to the polishing connection assembly (15) and is used to drive the polishing connection assembly (15) to move on the guide assembly (13); The grinding assembly (16) is installed on the grinding connection assembly (15) and is used to grind the inner wall of the pipeline; The first elastic member (14) is mounted on the grinding connection assembly (15) and is used to provide elastic force for the grinding assembly (16); The guide assembly (13) comprises a slide rail (131) mounted on the polishing base (11) and a sliding block (132) movably connected to the slide rail (131).

3. The pipeline inner wall anti-corrosion surface treatment tool according to claim 2 is characterized in that: The grinding connection assembly (15) comprises a grinding fixed seat (151) mounted on the sliding block (132), a transition seat (152) mounted on the grinding fixed seat (151), and a grinding mounting seat (153); the grinding mounting seat (153) is hingedly connected to the transition seat (152) via a rotating shaft (154); The first end of the first elastic member (14) is connected to the polishing fixing seat (151), and the second end of the first elastic member (14) is connected to the polishing mounting seat (153); The grinding assembly (16) comprises a first grinding body (161) mounted on the grinding mounting seat (153) and a grinding head (162) connected to the first grinding body (161).

4. The pipeline inner wall anticorrosion surface treatment tool according to claim 2 is characterized in that: The polishing connection assembly (15) comprises a positioning seat (155), a retaining block (156), a connecting plate (157), a fastening block (158), a limiting block (159) and a polishing connecting rod (160); The fastening block (158) and the limiting block (159) are separately installed at two ends of the positioning seat (155), and the retaining block (156) is located between the fastening block (158) and the limiting block (159); The two ends of the polishing connecting rod (160) are respectively connected to the fixing block (158) and the limiting block (159); the polishing connecting rod (160) is passed through the retaining block (156); and the retaining block (156) can move back and forth along the axial direction of the polishing connecting rod (160); The connecting plate (157) is connected to the retaining block (156); The first elastic member (14) is sleeved on the outer periphery of the grinding connecting rod (160), the first end of the first elastic member (14) abuts against the fixing block (158), and the second end of the first elastic member (14) abuts against the retaining block (156); The grinding assembly (16) comprises a second grinding body (163) mounted on the connecting plate (157) and a grinding sheet (164) connected to the second grinding body (163).

5. The pipeline inner wall anti-corrosion surface treatment tool according to claim 2, characterized in that: The rotating mechanism (2) comprises a rotating base (21), a rotating drive assembly (22), a limiting assembly (23), a rotating ring gear (24) and an electric slip ring (25); The rotating ring gear (24) is located on the rotating base (21); The rotary drive assembly (22) is connected to the rotary base (21) and is used to drive the rotary ring gear (24) to rotate; The limiting assembly (23) is connected to the rotating base (21) and is used to limit the movement direction of the rotating ring gear (24); The grinding base (11) is connected to the rotating ring gear (24) and is capable of rotating under the drive of the rotating drive assembly (22); The electric slip ring (25) is connected to the rotating base (21).

6. The pipeline inner wall anticorrosion surface treatment tool according to claim 5, characterized in that: The rotary drive assembly (22) comprises a plurality of rotary drive devices, each of which comprises a rotary drive (221) connected to the rotary base (21) and a rotary drive gear (222) connected to the rotary drive (221), wherein the rotary drive gear (222) is meshedly connected to the rotary ring gear (24).

7. The pipeline inner wall anticorrosion surface treatment tool according to claim 5, characterized in that: The rotating ring gear (24) is provided with a limiting groove (241), and the limiting assembly (23) comprises a first limiting bearing (231), a retaining spring (232) and a pressure plate (233); The first limiting bearing (231) is installed in the limiting groove (241), the retaining spring (232) is used to limit the first limiting bearing (231) in the limiting groove (241), and the first limiting bearing (231) is connected to the rotating base (21) through the pressing plate (233); A boss (211) is provided on the rotating base (21), the boss (211) matches the inner ring of the first limit bearing (231), and the boss (211) is matched and connected with the electric slip ring (25).

8. The pipeline inner wall anticorrosion surface treatment tool according to claim 5, characterized in that: The limiting assembly (23) comprises a plurality of separately arranged limiting devices, each of which comprises a second limiting bearing (234), a first bearing support member (235), a bearing fixing member (240) and a second fixing member (239); The rotating ring gear (24) is provided with a receiving groove (242), and the outer ring of the second limiting bearing (234) is installed in the receiving groove (242) and limits the rotating ring gear (24) to only perform rotational movement; The first bearing support member (235) and the bearing fixing member (240) are used together to position the second limit bearing (234), and the second fixing member (239) is used to lock the positions of the second limit bearing (234), the bearing fixing member (240) and the first bearing support member (235).

9. The pipeline inner wall anticorrosion surface treatment tool according to claim 5, characterized in that: The limiting assembly (23) comprises a plurality of separately arranged limiting mechanisms, each of which comprises a second bearing support member (236), a third limiting bearing (237) and a third fixing member (238); The rotating ring gear (24) is provided with a receiving groove (243), and the outer ring of the third limiting bearing (237) is installed in the receiving groove (243) and limits the rotating ring gear (24) to only perform rotational movement; The second bearing support member (236) is used to support the third limit bearing (237), and the third fixing member (238) is used to lock the positions of the second bearing support member (236) and the third limit bearing (237).

10. The pipeline inner wall anti-corrosion surface treatment tool according to claim 9, characterized in that: The rotating mechanism (2) further comprises a central bearing (27), wherein the central bearing (27) is mounted at the central position of the rotating base (21), one end of the grinding base (11) is connected to the central bearing (27), and the other end of the grinding base (11) is connected to the rotating ring gear (24).

11. The pipeline inner wall anticorrosion surface treatment tool according to claim 1, characterized in that: The tube climbing mechanism (3) comprises a positioning shaft (31), a tube climbing connection assembly (32), and a plurality of walking assemblies (33) distributed along the circumferential direction of the positioning shaft (31); The climbing pipe connection assembly (32) comprises a climbing pipe base (321), a climbing pipe connection seat (322) and a climbing pipe top seat (323); the climbing pipe base (321) and the climbing pipe top seat (323) are separately and fixedly connected to the two ends of the positioning shaft (31); the climbing pipe connection seat (322) is sleeved on the outside of the positioning shaft (31) and is movably connected to the positioning shaft (31).

12. The pipeline inner wall anticorrosion surface treatment tool according to claim 11, characterized in that: Each of the walking assemblies (33) comprises a first pull rod (331), a second pull rod (332), a support rod (333), a tube climbing positioning member (334), a support driving device (335), a tube climbing driving device (336), a driving wheel (337) and a driven wheel (338); The two ends of the first pull rod (331) are respectively hinged to the top of the climbing pipe top seat (323) and the top of the climbing pipe positioning member (334), and the two ends of the second pull rod (332) are respectively hinged to the bottom of the climbing pipe base (321) and the bottom of the climbing pipe positioning member (334); The two ends of the support rod (333) are respectively hinged to the climbing pipe connection seat (322) and the first pull rod (331); The support driving device (335) is installed on the climbing pipe base (321), and the output end of the support driving device (335) is connected to the climbing pipe connecting seat (322); The driving wheel (337) and the driven wheel (338) are separately disposed at two ends of the tube climbing positioning member (334); The tube climbing driving device (336) is mounted on the tube climbing positioning member (334) and is used to drive the driving wheel (337) to move.

13. The pipeline inner wall anticorrosion surface treatment tool according to claim 12, characterized in that: The tube climbing positioning member (334) comprises two tube climbing connecting rods (3341) arranged in parallel; The tube climbing driving device (336) comprises a stepping motor and a reducer, and the output end of the stepping motor is connected to the driving wheel (337); The driving wheel (337) is located at one end of the tube climbing positioning member (334) close to the support rod (333), and the driven wheel (338) is located at one end of the tube climbing positioning member (334) away from the support rod (333); The climbing pipe connecting seat (322) comprises two butted moving ring parts.

14. The pipeline inner wall anticorrosion surface treatment tool according to claim 1, characterized in that: The tube climbing mechanism (3) comprises a central axis (34) and a plurality of climbing support assemblies (35) distributed along the circumferential direction of the central axis (34); Each of the crawling support assemblies (35) comprises a first connecting rod (351), a second connecting rod (352), a crawling positioning member (353), a driving wheel (354), a walking wheel (355), a telescopic driving device (356), a walking driving device (357) and a reset device (358); The first connecting rod (351) and the second connecting rod (352) are arranged in parallel, and the first connecting rod (351) and the second connecting rod (352) are both hinged to the central axis (34), one end of the first connecting rod (351) away from the central axis (34) is hinged to the crawling positioning member (353), and one end of the second connecting rod (352) away from the central axis (34) is hinged to the crawling positioning member (353).

15. The pipeline inner wall anticorrosion surface treatment tool according to claim 14, characterized in that: The driving wheel (354) and the walking wheel (355) are separately disposed at two ends of the crawling positioning member (353); the walking driving device (357) is installed on the crawling positioning member (353) and is used to drive the driving wheel (354) to move; The telescopic driving device (356) is installed on the central shaft (34) and is used to drive the crawling positioning member (353) to move so that the walking wheel (355) and the driving wheel (354) are in contact with the inner wall of the pipeline; The two ends of the resetting device (358) are respectively connected to the central axis (34) and the first connecting rod (351) to provide an elastic force for the crawling positioning member (353) to automatically contract.

16. The pipeline inner wall anticorrosion surface treatment tool according to claim 15, characterized in that: The crawling positioning member (353) comprises two crawling connecting rods (3531) arranged in parallel and a crawling connecting member (3532) connected to the two crawling connecting rods (3531), and a guide groove (35321) is provided on the crawling connecting member (3532); The telescopic driving device (356) includes a supporting driver (3561) installed on the central shaft (34), a driving support member (3562) connected to the output end of the supporting driver (3561), and a pulley (3563) connected to one end of the driving support member (3562), and the pulley (3563) is arranged corresponding to the guide groove (35321).

17. The pipeline inner wall anticorrosion surface treatment tool according to claim 16, characterized in that: The resetting device (358) comprises a resetting mounting seat (3581) mounted on the central shaft (34) and a second elastic member (3582); Two ends of the second elastic member (3582) are respectively connected to the reset mounting seat (3581) and the first connecting rod (351).

18. The pipeline inner wall anticorrosion surface treatment tool according to claim 1, characterized in that: The control mechanism includes a programmable logic controller, a plurality of drive boards, a relay and an electric valve; The programmable logic controller is communicatively connected with the plurality of drive boards, the relays and the electric valves.

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