An intelligent steam pipe oxide scale removal robot

Abstract

The present invention relates to an intelligent steam pipe oxide scale removal robot, comprising: a driving frame, a clamping wheel device, a guide rail, a working frame, a wire brush device and an electric engraving pen array; comprising the steps of: opening the driving frame by rotating a pin shaft, sleeved on the pipeline and locking it; synchronously adjusting several clamping wheel devices so that the driving frame is symmetrically clamped on the pipeline; installing the guide rail on the driving frame; the pulleys on the fixed pulley and the spring clip respectively fit on both sides of the guide rail; and installing the wire brush device and the electric engraving pen array on the working frame; starting the power table, the wire brush device and the electric engraving pen array. The beneficial effects of the present invention are: a fixed spring and a supporting spring are provided in the clamping wheel device, which always provide an extrusion force to the pipeline, and can adapt to pipelines within a certain diameter range; the wire brush device and the electric engraving pen array can grind and hammer the pipeline surface twice to peel it one after another; the robot can be used for pipeline painting or detection, and is suitable for a variety of application scenarios.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an intelligent steam pipe oxide scale removal robot. Background Art

[0002] Most energy companies have hot steam pipelines of different sizes and specifications due to production needs. The pipelines are made of low-alloy steel and are at a large height from the ground. In order to ensure that the pipelines can safely and reliably transmit hot steam for a long time, regular flaw detection is required on the welds on the pipeline surface. However, the heat brought by the high-temperature steam in the pipeline causes oxide scale to form on the pipeline surface, which will affect the accuracy of flaw detection. Therefore, the oxide scale on the pipeline surface needs to be removed before flaw detection, which is undoubtedly a huge challenge for enterprises.

[0003] The commonly used method at present is to hire operators to carry grinding equipment to climb to the grinding area, and manually operate the equipment to grind and remove the oxide scale near the weld. The entire oxide scale removal process will consume a lot of manpower, material and financial resources, and the slightest carelessness during the operation may damage the pipeline matrix, reducing the safety and reliability of the pipeline in the process of transmitting hot steam. In addition, with the improvement of living standards and the increase in labor costs, the working environment and labor intensity of front-line operators are also increasingly valued. People pay more attention to safety and health issues in the production process. Therefore, it is particularly necessary to realize the machine to replace people to remove the oxide scale of steam pipes.

[0004] The patent application number 202010474849.8 is titled Pipe Grinding Robot Mechanical Mechanism and Working Method, which discloses a pipe grinding robot mechanical structure for grinding pipes. However, the above disclosed technical solution still has the following technical problems: 1) The mechanical mechanism solution can only grind part of the circumferential surface of the pipe, that is, it is impossible to achieve grinding in the entire circumferential direction. If the pipe needs to be polished on the entire circumferential surface during actual application, the mechanical structure of the grinding robot cannot be used; 2) The mechanical mechanism solution needs to grind back and forth twice along the same path during the grinding operation, and it is difficult to achieve the situation where different areas of the pipe need different grinding times; 3) The mechanical structure can only realize the grinding operation of the pipe, and cannot realize the operation of hammering to remove the oxide scale, and the method of removing the oxide scale is single; 4) The mechanical structure is fixed on the pipe and cannot be moved, so it is impossible to achieve the grinding of the entire pipe. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an intelligent steam pipe oxide scale removal robot.

[0006] The intelligent steam pipe oxide scale removal robot comprises: a driving frame, a clamping wheel device, a guide rail, a working frame, a wire brush device and an electric engraving pen array;

[0007] The driving frame includes a semicircular L-shaped frame, one end of the two semicircular L-shaped frames is rotatably connected by a pin shaft, and the other end is connected by an extended insert and a quick-release bolt to form a ring, and the two rings are connected as a whole by a connecting plate; the driving frame is arranged around the pipeline;

[0008] The driving frame is connected with several clamping wheel devices, which include a transverse plate, a slide slot and a fixed stud. Outward-turning platforms are arranged on both sides of the slide slot, and the outward-turning platforms are connected to the driving frame through a supporting spring. A fixed stud is arranged at the bottom of the slide slot, and a fixed spring, a transverse plate and an adjusting nut are sequentially sleeved on the fixed stud. A driving wheel and a driven wheel are arranged at the front and rear ends of the transverse plate respectively.

[0009] The driving frame is provided with a guide rail, and the working frame includes a power platform and a driven platform. The power platform and the driven platform are provided with a fixed pulley and a spring clamp facing the pipeline. The spring clamp is provided with a pulley. The fixed pulley and the pulley on the spring clamp are respectively embedded in both sides of the guide rail;

[0010] A wire brush device and an electric engraving pen array are installed on the working frame. Both the wire brush device and the electric engraving pen array are provided with a lead screw motor. The lead screw motor is connected to the working frame through a top plate and a buffer spring.

[0011] Preferably: the working frame includes two semicircular grid frames, the ends of the semicircular grid frames are provided with clamps, and the two semicircular grid frames are connected by the clamps; the two semicircular grid frames are provided with a power platform, a driven platform, a wire brush device and an electric engraving pen array, and the power platform, the driven platform, the wire brush device and the electric engraving pen array on the two semicircular grid frames are symmetrical to each other.

[0012] Preferably: the cross plate and the driven wheel are respectively provided with a connecting rod for connection, the cross plate and the driven wheel are connected to each other through the two connecting rods, the connecting rod of the cross plate is provided with a round hole and a long hole, and the connecting rod of the driven wheel is provided with a smooth hole and a threaded hole; when the cross plate and the driven wheel are connected to each other, the round hole and the smooth hole are connected by rivets, and the long hole and the threaded hole are connected by big-head bolts; when the big-head bolts slide in the long holes, the cross plate and the driven wheel rotate relatively around the rivets; when the big-head bolts are fixed in the long holes, the angle between the cross plate and the driven wheel is fixed.

[0013] Preferably, the guide rail comprises four sections of semicircular tracks, each section of the semicircular track is provided with a groove and a protrusion at both ends, the four sections of the semicircular track form two circular tracks through the grooves and the protrusions, and the two circular tracks are respectively provided on the two circular rings of the driving frame through bolts; when the working frame is connected to the guide rail, the fixed pulley and the pulley on the spring clip are respectively embedded in the outer sides of the two circular tracks; after the spring clip is pulled open, the fixed pulley and the pulley on the spring clip are separated from the guide rail.

[0014] As a preference, the work frame is equipped with a spraying device or a detection sensor instead of the wire brush device and the electric engraving pen array.

[0015] The method for using the intelligent steam pipe oxide scale removal robot includes the following steps:

[0016] Step 1: Install the drive frame: Open the drive frame by rotating the pin, put it on the pipe, and close and lock it with the extended insert and quick-release bolts;

[0017] Step 2: Adjust the clamping wheel device: rotate the adjusting nut on the fixed stud to move the horizontal plate of the clamping wheel device to the bottom of the slideway, and adjust several clamping wheel devices simultaneously to make the driving frame symmetrically clamped on the pipe;

[0018] Step 3: Install the guide rails: Install the four semicircular rails on the two rings of the drive frame in pairs through the grooves and protrusions, and fix them with bolts;

[0019] Step 4: Install the work frame: Pull open the spring clamp to make the fixed pulley in the work frame and the pulley on the spring clamp on both sides of the guide rail, then loosen the spring clamp to shorten the distance between the fixed pulley and the pulley on the spring clamp, and fit the two sides of the guide rail respectively; and install the wire brush device and the electric engraving pen array on the work frame;

[0020] Step 5: Removal of oxide scale: Start the power table, wire brush device and electric engraving pen array to make the work frame rotate along the circumference of the pipeline, with the wire brush device in front and the electric engraving pen array in the back to remove the oxide scale on the pipeline; after completing the circumferential oxide scale removal, start the active wheel to drive the drive frame to move axially along the pipeline to remove the oxide scale on the circumference of the next area until the oxide scale removal operation in the area surrounding the pipeline weld is completed.

[0021] Preferably, in step 2: when the pipeline is a tapered pipeline, that is, the pipeline has large and small heads, first loosen the big head bolt to allow the driven wheel to rotate relatively around the rivet, adjust the lifting or lowering angle of the driven wheel to match the angle of change in the pipeline diameter, and then tighten the big head bolt to fix the driven wheel to the cross plate.

[0022] Preferably, in step four: two semicircular grid frames are synchronously installed on the guide rail and are simultaneously connected to each other through clamps.

[0023] Preferably, the working frame includes two semicircular grid frames, both of which are provided with a power platform, a driven platform, a wire brush device and an electric engraving pen array. When the circumferential oxide scale is removed in step five, the power platform drives the working frame to rotate 270° along the circumference of the pipeline. Specifically: during the rotation of 0 to 90°, the wire brush device works, while the electric engraving pen array does not work; during the rotation of 90 to 180°, both the wire brush device and the electric engraving pen array work; during the rotation of 180 to 270°, the electric engraving pen array works, while the wire brush device does not work.

[0024] The beneficial effects of the present invention are:

[0025] 1) The intelligent steam pipe oxide scale removal robot provided by the present invention is provided with a fixing spring and a supporting spring in the clamping wheel device, which always provides an extrusion force to the pipe, can adapt to pipes within a certain diameter range, and can also cope with the situation where the pipe diameter changes within a small range.

[0026] 2) The present invention enables the driven wheel to rotate relative to the cross plate through the cooperation of the round hole and the long hole, and sets the angle change of the robot in the moving direction to match the taper of the pipeline, thereby further improving the grinding effect on the pipeline with a certain taper.

[0027] 3) The present invention installs a wire brush device and an electric engraving pen array on the work frame, which can perform grinding and hammering on the pipeline surface twice to remove the scale. According to the actual working conditions, grinding, hammering or grinding and hammering can be selected to perform oxide scale removal operations. The robot can autonomously operate and grind the pipeline under normal working conditions, which not only reduces the grinding cost, but also improves the grinding efficiency and increases the automation rate.

[0028] 4) The present invention can also install spraying equipment or detection sensors to replace the wire brush device and the electric engraving pen array, so that the robot can be used for pipeline painting or detection, which is suitable for various application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is the overall three-dimensional schematic diagram of the intelligent steam pipe oxide scale removal robot;

[0030] Figure 2 It is a schematic diagram of the drive frame of the intelligent steam pipe oxide scale removal robot;

[0031] Figure 3 It is a schematic diagram of the clamping wheel device of the intelligent steam pipe oxide scale removal robot;

[0032] Figure 4 It is a schematic diagram of the driven wheel assembly of the intelligent steam pipe oxide scale removal robot;

[0033] Figure 5 It is a schematic diagram of the slideway and spring structure of the intelligent steam pipe oxide scale removal robot;

[0034] Figure 6 It is a schematic diagram of the guide rails of the intelligent steam pipe oxide scale removal robot;

[0035] Figure 7 This is a schematic diagram of the working frame of the intelligent steam pipe oxide scale removal robot.

[0036] In the figure: driving frame 1, clamping wheel device 2, guide rail 3, working frame 4, wire brush device 5, electric engraving pen array 6, semicircular L-shaped frame 101, connecting plate 102, pin shaft 103, protruding insert 104, quick-release bolt 105, driving wheel 201, driven wheel 202, slide groove 203, protrusion 204, fixing stud 205, adjusting nut 206, fixing spring 207, supporting spring 208, rivet 209, big head bolt 210, light hole 211, threaded hole 212, round hole 213, long hole 214, cross plate 215, outward-turning platform 216, groove 301, protrusion 302, power platform 401, driven platform 402, clamping claw 403, screw motor 404, top plate 405, buffer spring 406, spring clamp 407. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with embodiments. The description of the following embodiments is only used to help understand the present invention. It should be noted that for ordinary persons in the art, without departing from the principle of the present invention, the present invention can also be modified in some ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0038] Embodiment 1

[0039] As an embodiment, an intelligent steam pipe oxide scale removal robot is proposed. Figures 1 to 7 As shown, it includes: a driving frame 1, a clamping wheel device 2, a guide rail 3, a working frame 4, a wire brush device 5 and an electric engraving pen array 6, and is equipped with an intelligent control system to meet different requirements during the grinding operation.

[0040] like Figure 2 As shown, the driving frame 1 includes a semicircular L-shaped frame 101, one end of two semicircular L-shaped frames 101 are rotatably connected by a pin 103, and the other end is connected by an extended insert 104 and a quick-release bolt 105 to form a ring, and the two rings are connected as a whole by a connecting plate 102; the driving frame 1 is arranged around the pipeline, and is clamped or moved along the axial direction of the pipeline by a clamping wheel device 2. The driving frame 1 is also provided with weight-reducing holes of different sizes and shapes, which can reduce the weight of the entire driving frame 1.

[0041] like Figure 3 and Figure 5As shown, the driving frame 1 is connected to three clamping wheel devices 2, and the angle interval between the clamping wheel devices 2 is 120°. The clamping wheel device 2 includes a cross plate 215, a slide groove 203 and a fixing stud 205. Outward-turning platforms 216 are provided on both sides of the slide groove 203. The outward-turning platforms 216 are connected to the driving frame 1 through a supporting spring 208. A fixing stud 205 is provided at the bottom of the slide groove 203, and a fixing spring 207, a cross plate 215 and an adjusting nut 206 are sequentially sleeved on the fixing stud 205; the cross plate 215 of the clamping wheel device 2 is located between the fixing spring 207 and the adjusting nut 206, and the clamping wheel device 2 can slide up and down in the slide groove 203 by rotating the adjusting nut 206, that is, it can slide along the diameter direction of the pipe. The fixing spring 207 and the adjusting nut 206 are always in a tightened state. During the entire process of the driving frame 1 moving along the axial direction of the pipeline, the elastic force of the spring can be relied on to ensure the positive pressure between the clamping wheel device 2 and the pipeline, so that the robot can adapt to the changes in pipeline diameter within a certain range, such as: pipeline processing errors, the diameter in the axial direction is not completely consistent; the diameter of the pipeline surface is not completely consistent in the axial direction after grinding due to oxidation and expansion; small-taper pipelines or pipelines with a small range of diameter changes along the axial direction.

[0042] A driving wheel 201 and a driven wheel 202 are respectively disposed at the front and rear ends of the transverse plate 215; the driving wheel 201 provides power for the entire robot to move along the axial direction of the pipeline.

[0043] like Figure 4 As shown, the cross plate 215 and the driven wheel 202 are respectively provided with a connecting rod for connection, and the cross plate 215 and the driven wheel 202 are connected to each other through the two connecting rods. The connecting rod of the cross plate 215 is provided with a round hole 213 and a long hole 214, and the connecting rod of the driven wheel 202 is provided with a light hole 211 and a threaded hole 212; when the cross plate 215 and the driven wheel 202 are connected to each other, the round hole 213 and the light hole 211 are connected by a rivet 209, and the long hole 214 and the threaded hole 212 are connected by a big head bolt 210; when the big head bolt 210 slides in the long hole 214, the cross plate 215 and the driven wheel 202 rotate relatively around the rivet 209; when the big head bolt 210 is fixed in the long hole 214, the angle between the cross plate 215 and the driven wheel 202 is fixed. When encountering a tapered pipe during actual work, it is only necessary to loosen the big head bolt 210 to make the driven wheel 202 partially swing to a corresponding angle, and then tighten the big head bolt 210, so that the driven wheel 202 and the main body of the clamping wheel device 2 can maintain a corresponding angle and be fixed, and the angle change of the robot in the moving direction is set to match the taper of the pipe, thereby further improving the grinding effect on the pipe with a certain taper.

[0044] like Figure 6As shown, a guide rail 3 is provided on the driving frame 1, and the guide rail 3 includes four semicircular tracks. A groove 301 and a protrusion 302 are respectively provided at both ends of each semicircular track. The four semicircular tracks form two circular tracks with smooth surfaces through the grooves 301 and the protrusions 302. The two circular tracks are respectively provided on the two circular rings of the driving frame 1 by bolts.

[0045] like Figure 7 As shown, the working frame 4 includes a power table 401 and a driven table 402. The power table is equipped with a motor to provide power for the circular motion of the entire grid. The driven table has no power inside and only serves to connect the grid with the track. The power table 401 and the driven table 402 are both provided with a fixed pulley and a spring clip 407 on the side facing the pipeline, and the spring clip 407 is provided with a pulley. When the working frame 4 is connected to the guide rail 3, the fixed pulley and the pulleys on the spring clip 407 are respectively embedded in the outer sides of the two circular tracks. After the spring clip 407 is pulled open, the fixed pulley and the pulleys on the spring clip 407 are separated from the guide rail 3. The fixed pulley on the power table 401 is an active pulley, and the interactive pulley is connected to the motor to provide power for the circular motion of the entire working frame 4 along the guide rail 3.

[0046] A wire brush device 5 and an electric engraving pen array 6 are installed on the work frame 4. The wire brush device 5 and the electric engraving pen array 6 are both provided with a screw motor 404. The position of the wire brush device 5 and the electric engraving pen array 6 in the radial direction of the pipeline can be adjusted by rotating the screw motor 404. The screw motor 404 is connected to the work frame 4 through a top plate 405 and a buffer spring 406. The buffer spring 406 can provide a positive pressure between the wire brush device 5 and the electric engraving pen array 6 and the pipeline, so that the wire brush device 5 and the electric engraving pen array 6 are always perpendicular to the pipeline surface, and can also reduce the vibration caused by hammering or grinding.

[0047] The working frame 4 includes two semicircular grid frames, each end of which is provided with a clamping claw 403. The two semicircular grid frames are connected by the clamping claw 403, thereby ensuring the stability and reliability of the connection. The two semicircular grid frames are provided with a power platform 401, a driven platform 402, a wire brush device 5 and an electric engraving pen array 6. The wire brush device 5 and the electric engraving pen array 6 are alternately arranged at 90° intervals, and the power platform 401, the driven platform 402, the wire brush device 5 and the electric engraving pen array 6 on the two semicircular grid frames are symmetrical to each other.

[0048] The work frame 4 has two semicircular grid frames, the grid refers to a plurality of openings on the surface of the work frame 4 for passing the lead screw motor 404 of the wire brush device 5 and the electric engraving pen array 6. The work frame 4 can also be installed with a spraying device or a detection sensor to replace the wire brush device 5 and the electric engraving pen array 6 for pipeline painting or detection.

[0049] Embodiment 2

[0050] As another embodiment, the method for using the intelligent steam pipe oxide scale removal robot described in Embodiment 1 includes the following steps:

[0051] Step 1: Install the drive frame: Open the drive frame 1 by rotating the pin 103, put it on the pipe, and close and lock it by the extended insert 104 and the quick-release bolt 105;

[0052] Step 2, adjusting the clamping wheel device: rotating the adjusting nut 206 on the fixing stud 205 to move the horizontal plate 215 of the clamping wheel device 2 toward the bottom of the slide groove 203, and synchronously adjusting several clamping wheel devices 2 to symmetrically clamp the driving frame 1 on the pipeline; when the pipeline is a tapered pipeline, that is, the pipeline has a large and small head, the big head bolt 210 can be loosened first to make the driven wheel 202 relatively rotate around the rivet 209, and the lifting or lowering angle of the driven wheel 202 is adjusted to match the angle of the change in the pipeline diameter, and then the big head bolt 210 is tightened to fix the driven wheel 202 and the horizontal plate 215;

[0053] Step 3: Install the guide rails: Install the four semicircular rails on the two rings of the drive frame 1 in pairs through the grooves 301 and the protrusions 302, and fix them with bolts;

[0054] Step 4, install the working frame: pull open the spring clamp 407, so that the fixed pulley in the working frame 4 and the pulley on the spring clamp 407 are respectively on both sides of the guide rail 3, and then release the spring clamp 407 to shorten the distance between the fixed pulley and the pulley on the spring clamp 407, and respectively fit the two sides of the guide rail 3; two semicircular grid frames are synchronously installed on the guide rail 3, and are connected to each other through the clamping claw 403 at the same time, and the wire brush device 5 and the electric engraving pen array 6 are installed on the working frame 4;

[0055] Step 5, oxide scale removal: Start the power platform 401, the wire brush device 5 and the electric engraving pen array 6, so that the work frame 4 rotates along the circumference of the pipeline. The power platform 401 drives the work frame 4 to rotate 270° along the circumference of the pipeline. Specifically, during the rotation of 0 to 90°, the wire brush device 5 works, while the electric engraving pen array 6 does not work; during the rotation of 90 to 180°, the wire brush device 5 and the electric engraving pen array 6 both work; during the rotation of 180 to 270°, the electric engraving pen array 6 works, while the wire brush device 5 does not work. After completing the circumferential oxide scale removal, the active wheel 201 starts to drive the drive frame 1 to move a certain distance along the axial direction of the pipeline, specifically the width of the wire brush device 5 and the electric engraving pen array 6, and then the oxide scale removal of the next area in the circumferential direction can be carried out until the oxide scale removal operation in the area surrounding the pipeline weld is completed.

[0056] The wire brush device 5 and the electric engraving pen array 6 on the grinding robot can also be disassembled and installed with corresponding detection sensors, and the robot can be used for pipeline crack detection; if equipped with spraying equipment, the robot can also be used for pipeline spraying operations, truly realizing the purpose of "one machine for multiple uses". Therefore, it can be vigorously promoted in the high-altitude pipeline grinding, maintenance and spraying industries, and has broad market potential. When this pipeline intelligent grinding robot is used to replace manual grinding operations, the grinding operation time and labor costs can be greatly reduced, contributing to the vigorous development of the enterprise.

Claims

1. An intelligent steam pipe oxide scale removal robot, characterized in that: include: A driving frame (1), a clamping wheel device (2), a guide rail (3), a working frame (4), a wire brush device (5) and an electric engraving pen array (6); The driving frame (1) comprises a semicircular L-shaped frame (101), one end of two semicircular L-shaped frames (101) are rotatably connected via a pin shaft (103), and the other end is connected via an extended insert (104) and a quick-release bolt (105) to form a circular ring, and the two circular rings are connected as a whole via a connecting plate (102); the driving frame (1) is disposed around the pipeline; The driving frame (1) is connected to a plurality of clamping wheel devices (2), the clamping wheel devices (2) comprising a transverse plate (215), a slide groove (203) and a fixing stud (205), both sides of the slide groove (203) are provided with an outward-turning platform (216), the outward-turning platform (216) is connected to the driving frame (1) through a supporting spring (208), the bottom of the slide groove (203) is provided with a fixing stud (205), and the fixing stud (205) is sequentially sleeved with a fixing spring (207), a transverse plate (215) and an adjusting nut (206); the front and rear ends of the transverse plate (215) are respectively provided with a driving wheel (201) and a driven wheel (202); the transverse plate (215) and the driven wheel (202) are respectively provided with a connecting rod for connection, and the transverse plate (215) and the driven wheel (202) are respectively provided with a connecting rod for connection. The two connecting rods are connected to each other, the connecting rod of the cross plate (215) is provided with a round hole (213) and a long hole (214), and the connecting rod of the driven wheel (202) is provided with a light hole (211) and a threaded hole (212); when the cross plate (215) and the driven wheel (202) are connected to each other, the round hole (213) and the light hole (211) are connected by a rivet (209), and the long hole (214) and the threaded hole (212) are connected by a big head bolt (210); when the big head bolt (210) slides in the long hole (214), the cross plate (215) and the driven wheel (202) rotate relatively around the rivet (209); when the big head bolt (210) is fixed in the long hole (214), the angle between the cross plate (215) and the driven wheel (202) is fixed; A guide rail (3) is provided on the driving frame (1), and the working frame (4) includes a power platform (401) and a driven platform (402). The power platform (401) and the driven platform (402) are both provided with a fixed pulley and a spring clamp (407) on the side facing the pipeline, and the spring clamp (407) is provided with a pulley. The fixed pulley and the pulleys on the spring clamp (407) are respectively engaged with the two sides of the guide rail (3); A wire brush device (5) and an electric engraving pen array (6) are installed on the working frame (4). The wire brush device (5) and the electric engraving pen array (6) are both provided with a lead screw motor (404). The lead screw motor (404) is connected to the working frame (4) via a top plate (405) and a buffer spring (406).

2. The intelligent steam pipe oxide scale removal robot according to claim 1 is characterized in that: The working frame (4) comprises two semicircular grid frames, the ends of which are provided with clamping claws (403), and the two semicircular grid frames are connected via the clamping claws (403); the two semicircular grid frames are both provided with a power platform (401), a driven platform (402), a wire brush device (5) and an electric engraving pen array (6), and the power platform (401), the driven platform (402), the wire brush device (5) and the electric engraving pen array (6) on the two semicircular grid frames are symmetrical to each other.

3. The intelligent steam pipe oxide scale removal robot according to claim 1 is characterized in that: The guide rail (3) comprises four sections of semicircular tracks, each section of the semicircular track is provided with a groove (301) and a protrusion (302) at both ends, and the four sections of the semicircular track form two circular tracks through the groove (301) and the protrusion (302), and the two circular tracks are respectively arranged on two circular rings of the driving frame (1) through bolts; when the working frame (4) is connected to the guide rail (3), the fixed pulley and the pulley on the spring clamp (407) are respectively embedded in the outer sides of the two circular tracks; after the spring clamp (407) is pulled open, the fixed pulley and the pulley on the spring clamp (407) are separated from the guide rail (3).

4. The intelligent steam pipe oxide scale removal robot according to claim 1 is characterized in that: The working frame (4) is equipped with a spraying device or a detection sensor to replace the wire brush device (5) and the electric engraving pen array (6).

5. The method for using the intelligent steam pipe oxide scale removal robot according to any one of claims 1 to 4, characterized in that: The following steps are involved: Step 1: Install the drive frame: Open the drive frame (1) by rotating the pin (103), put it on the pipe, and close and lock it by the extended insert (104) and the quick-release bolt (105); Step 2: Adjust the clamping wheel device: rotate the adjusting nut (206) on the fixing stud (205) to move the horizontal plate (215) of the clamping wheel device (2) toward the bottom of the slide groove (203), and adjust several clamping wheel devices (2) synchronously to make the driving frame (1) symmetrically clamped on the pipeline; Step 3: Install the guide rails: Install the four semicircular rails in pairs on the two rings of the driving frame (1) through the grooves (301) and the protrusions (302), and fix them with bolts; Step 4, installing the working frame: pull open the spring clamp (407) so that the fixed pulley in the working frame (4) and the pulley on the spring clamp (407) are respectively located on both sides of the guide rail (3), and then release the spring clamp (407) to shorten the distance between the fixed pulley and the pulley on the spring clamp (407) so that they are respectively engaged with both sides of the guide rail (3); and install the wire brush device (5) and the electric engraving pen array (6) on the working frame (4); Step 5, oxide scale removal: start the power platform (401), the wire brush device (5) and the electric engraving pen array (6), so that the working frame (4) rotates along the circumference of the pipeline, with the wire brush device (5) in front and the electric engraving pen array (6) in the back to remove the oxide scale from the pipeline; after the circumferential oxide scale removal is completed, the driving wheel (201) is started to drive the driving frame (1) to move along the axial direction of the pipeline to remove the oxide scale in the circumferential direction of the next area, until the oxide scale removal operation in the area surrounding the pipeline weld is completed.

6. The method for using the intelligent steam pipe oxide scale removal robot according to claim 5 is characterized in that: In step 2: when the pipeline is a tapered pipeline, that is, the pipeline has a large and small head, first loosen the big head bolt (210) to allow the driven wheel (202) to rotate relatively around the rivet (209), adjust the lifting or lowering angle of the driven wheel (202) to match the angle of change in the pipeline diameter, and then tighten the big head bolt (210) to fix the driven wheel (202) to the cross plate (215).

7. The method for using the intelligent steam pipe oxide scale removal robot according to claim 5 is characterized in that: In step 4: two semicircular grid frames are synchronously mounted on the guide rail (3) and are simultaneously connected to each other via the clamping claws (403).

8. The method for using the intelligent steam pipe oxide scale removal robot according to claim 5 is characterized in that: The working frame (4) comprises two semicircular grid frames, and the two semicircular grid frames are both provided with a power platform (401), a driven platform (402), a wire brush device (5) and an electric engraving pen array (6). When the circumferential oxide scale is removed in step five, the power platform (401) drives the working frame (4) to rotate 270° along the circumference of the pipeline. Specifically, during the rotation of 0 to 90°, the wire brush device (5) works, while the electric engraving pen array (6) does not work; during the rotation of 90 to 180°, both the wire brush device (5) and the electric engraving pen array (6) work; during the rotation of 180 to 270°, the electric engraving pen array (6) works, while the wire brush device (5) does not work.

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