An integrated robot for polishing the inner walls of pipes of different diameters

Abstract

The application provides a polishing integrated robot for inner wall of pipeline with different diameters, which comprises a walking mechanism, a rotating mechanism, a polishing and grinding mechanism, a cleaning and debris removing mechanism and a cleaning and recycling system; the walking mechanism is installed on a vehicle frame and used to drive the vehicle frame to move; the rotating mechanism is installed on the vehicle frame and used to drive a main shaft to rotate; the polishing and grinding mechanism and the cleaning and debris removing mechanism are installed on the main shaft according to the moving direction of the vehicle frame; the polishing and grinding mechanism is used to polish and grind the inner wall of the pipeline; the cleaning and debris removing mechanism is used to remove the residues on the inner wall of the pipeline; and the cleaning and recycling system is used to cool the polishing and grinding mechanism and the cleaning and debris removing mechanism respectively and recycle the residues. The application is an integrated device with the functions of polishing and grinding, cleaning and dust removing, automatic feeding, self-adapting inner diameter of the pipeline and surface quality monitoring.

Description

Technical Field

[0001] This invention relates to the field of pipe polishing, and in particular to an integrated robot for polishing the inner walls of pipes of different diameters. Background Technology

[0002] Among the five major modes of energy transportation—road, rail, waterway, air, and pipeline—pipeline transportation is widely used due to its unique advantages, including continuous delivery, independence from road conditions, immediate delivery, and low cost for long-distance and long-term transport. Therefore, gas and liquid transportation required for industrial production and daily life generally utilizes pipelines. Pipeline technology is now highly mature, bringing great convenience to national production, daily life, and economic development.

[0003] If rust, oxide layers, grease, impurities, particles, and foreign objects adhere to the inner wall of a pipeline, scale buildup may occur over time. This not only significantly reduces the pipeline's transport capacity but also alters the negative pressure in different sections, potentially causing pipe diameter changes and, in severe cases, blockage. Furthermore, the resulting transport shocks and fluid vortices add an extra burden to ensuring the stability of the transmission system, posing a significant threat to the safe operation of the pipeline. The shedding of foreign objects from the inner wall also increases the risk of scratching the pipeline and damaging other functional components such as compressor pistons. Furthermore, mixed impurities may accumulate in storage equipment, eventually leading to the paralysis or even damage of storage facilities. Therefore, it is crucial to prevent rust formation on the inner wall of pipelines. In addition to strengthening protective measures for the inner wall, regular inspection and maintenance are essential.

[0004] As engineers continuously explore and experiment with processes, several technical solutions and polishing / rust prevention measures that can ensure the cleanliness of the pipe's inner wall have been put on the agenda and, due to their excellent performance, have been accepted and applied, gradually forming a series of methods. The self-designed adaptive support structure effectively improves the robot's adaptability to different pipe diameters and, through collaborative feedback, greatly enhances the robot's mechanical flexibility and working efficiency.

[0005] Existing pipe inner wall polishing robots only have polishing functions. They lack a coolant delivery mechanism during the polishing process, and the coolant mixed with abrasive particles is not promptly removed after polishing, leading to contact with the processed inner wall surface and reduced surface quality. For example, an adaptive pipe inner wall polishing robot is disclosed in the prior art, which can adapt to polishing the inner walls of pipes of different diameters, but the feeding relies on handheld operation, and compared to this patent, it lacks coolant delivery, chip removal, and real-time surface quality monitoring functions. Another prior art device, while possessing polishing and driving functions, cannot adapt to pipes of different diameters and lacks surface quality monitoring and coolant delivery functions. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an integrated robot for polishing the inner walls of pipes that can adapt to different pipe diameters. This integrated device combines functions such as grinding and polishing, cleaning and dust removal, automatic feeding, adaptive pipe inner diameter, and surface quality monitoring.

[0007] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0008] An integrated robot for polishing the inner wall of pipes that can be adapted to different pipe diameters includes a walking mechanism, a rotating mechanism, a polishing and grinding mechanism, a cleaning and chip removal mechanism, and a cleaning and recycling system.

[0009] The traveling mechanism is mounted on the frame and is used to drive the frame to move; the slewing mechanism is mounted on the frame and is used to drive the main shaft to rotate; the main shaft is equipped with a polishing and grinding mechanism and a cleaning and chip removal mechanism in sequence according to the direction of frame movement; the polishing and grinding mechanism is used to polish and grind the inner wall of the pipe; the cleaning and chip removal mechanism is used to remove residues from the inner wall of the pipe; the cleaning and recycling system is used to cool the polishing and grinding mechanism and the cleaning and chip removal mechanism respectively, and to recycle the residues.

[0010] Furthermore, a first spindle frame is driven and mounted on the main spindle. Several polishing and grinding mechanisms are evenly distributed on the first spindle frame. Each polishing and grinding mechanism is connected to the first spindle frame via a first actuator, which drives the polishing and grinding mechanism to move radially along the inner wall of the pipe. Each polishing and grinding mechanism includes a polishing wheel, a support frame, a first nozzle, and a first motor. The first motor is mounted on the support frame, and the polishing wheel is connected to the output shaft of the first motor. The support frame is connected to the pull rod of the first actuator. The first nozzle is connected to the pressure end of the cleaning and recovery system and is aligned with the polishing wheel to spray cooling medium to cool the polishing wheel.

[0011] Furthermore, a second spindle frame is driven and mounted on the main spindle. Several cleaning and chip removal mechanisms are evenly distributed on the second spindle frame. Each cleaning and chip removal mechanism is connected to the second spindle frame via a second actuator, which drives the cleaning and chip removal mechanism to move radially along the inner wall of the pipe. Each cleaning and chip removal mechanism includes a roller brush, a connecting frame, a roller brush support frame, a second motor, rollers, and a scraper. The connecting frame is connected to the pull rod of the second actuator. The roller brush support frame is mounted on the connecting frame, the rollers are supported at both ends of the connecting frame, the roller brush is sleeved on the rollers, and one end of the rollers is connected to the second motor. One end of the scraper is mounted on the roller brush support frame, and the other end of the scraper contacts the surface of the roller brush to remove residue adhering to the roller brush surface.

[0012] Furthermore, the roller brush support frame is provided with a recycling trough, which is located below the contact point between the scraper and the roller brush, and is used to receive the removed residue; the connecting frame is provided with a recycling channel communicating with the recycling trough, and the recycling channel is connected to the negative pressure mechanism in the cleaning and recycling system, and is used to suck out the residue.

[0013] Furthermore, a second nozzle is installed on the roller brush support frame, and the second nozzle is aligned with the roller brush to spray a cooling medium to cool the roller brush; the connecting frame is provided with a cooling channel for the second nozzle, and the cooling channel is connected to the pressure end of the cleaning and recycling system.

[0014] Furthermore, a plurality of traveling mechanisms are evenly distributed on the base at one end of the vehicle frame. Each traveling mechanism includes a telescopic frame, a connecting rod, a slider, and a linear movement mechanism. One end of the telescopic frame is hinged to the base, one end of the connecting rod is hinged to the telescopic frame, and the other end of the connecting rod is hinged to the slider. The slider is located in a groove in the vehicle frame, and the linear movement mechanism drives the slider to move linearly within the groove.

[0015] Furthermore, the cleaning and recycling system includes a rotary joint, a distributor, a water supply pipe, and a sewage discharge pipe. The rotary joint includes a housing and an inner ring. The inner ring is connected to the main shaft drive, and the housing is supported on the inner ring. The housing has a first channel and a second channel that are not interconnected. The housing is mounted on a frame, and the frame is equipped with a water supply pipe and a sewage discharge pipe. One end of the water supply pipe is connected to the first channel, and the other end is connected to a pressure end. One end of the sewage discharge pipe is connected to the second channel, and the other end is connected to a negative pressure mechanism. The distributor is mounted on the main shaft and has two main pipes. Each main pipe outlet has several branches. The inlet of one main pipe is connected to the first channel, and the outlet of its corresponding branch is connected to the cooling channel of the cleaning and chip removal mechanism. The inlet of the other main pipe is connected to the second channel, and the outlet of its corresponding branch is connected to the recycling channel of the cleaning and chip removal mechanism.

[0016] Furthermore, both the first and second actuators are cylinders, and an air pump is installed on the second spindle frame. The air pump is connected to the first and second actuators respectively.

[0017] Furthermore, it also includes a control system and a camera; the camera is mounted on the frame and is used to monitor the polished inner wall surface; the control system uses image recognition technology to determine the roughness and surface quality of the inner wall surface based on the image of the polished inner wall surface acquired by the camera, and controls the rotation speed of the first motor, the second motor and the walking mechanism respectively based on the roughness and surface quality.

[0018] The beneficial effects of this invention are as follows:

[0019] 1. The pipe inner wall polishing integrated robot adapted to different pipe diameters described in this invention is an integrated device that integrates functions such as grinding and polishing, cleaning and dust removal, automatic feeding, adaptive pipe inner diameter, and surface quality monitoring.

[0020] 2. The pipe inner wall polishing integrated robot adapted to different pipe diameters described in this invention, compared with existing pipe inner wall polishing devices, can adapt to pipes with different curvature radii by replacing polishing wheels of different radii and adjusting the air pressure system, thus having greater versatility.

[0021] 3. The pipe inner wall polishing integrated robot adapted to different pipe diameters described in this invention, compared with the existing pipe inner wall polishing device, has a coolant delivery nozzle installed at the polishing wheel, which can spray coolant, lubricant, etc., to reduce the temperature generated during polishing and improve processing quality and efficiency.

[0022] 4. The pipe inner wall polishing integrated robot adapted to different pipe diameters described in this invention has a cleaning and dust removal device compared with existing pipe inner wall polishing devices, which reduces the impact of polished chips on the processed surface and improves the processing accuracy.

[0023] 5. The pipe inner wall polishing integrated robot adapted to different pipe diameters described in this invention, compared with existing pipe inner wall polishing devices, changes the drive system from manual propulsion to automatic feeding, reducing errors caused by manual labor, improving work efficiency, and reducing the difficulty of operation for workers.

[0024] 6. The pipe inner wall polishing integrated robot adapted to different pipe diameters described in this invention uses a rotary joint to comb the pipe, avoiding the impact of pipe entanglement on the feeding system, and uses a flow divider to simplify the installation of various pipes, making installation easier, less prone to damage, and easy to disassemble.

[0025] 7. The pipe inner wall polishing integrated robot adapted to different pipe diameters described in this invention uses a camera to monitor the roughness and surface quality of the processed surface in real time. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are some embodiments of the present invention. For those skilled in the art, it is obvious that other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is an axial view of the integrated robot for polishing the inner wall of pipes that can adapt to different pipe diameters, as described in this invention.

[0028] Figure 2 This is an axial view of the walking mechanism described in this invention.

[0029] Figure 3 This is a three-dimensional diagram of the polishing and grinding mechanism described in this invention.

[0030] Figure 4 This is a three-dimensional diagram of the cleaning and chip removal mechanism described in this invention.

[0031] Figure 5 This is a plan view of the shunt device described in this invention.

[0032] Figure 6 This is a three-dimensional view of the vehicle frame described in this invention.

[0033] In the picture:

[0034] 1-Roller brush; 2-Connecting frame; 3-First motor; 4-Polishing wheel; 5-First nozzle; 6-Main shaft; 7-Support frame; 8-Second main shaft frame; 9-Rotary joint; 10-Diverter; 11-Air pump; 12-Hose; 13-Sleeve; 14-Frame; 15-Camera; 16-Wheel; 17-Drive motor; 18-Second coupling; 19-Spring; 20-Telescopic frame; 21-Base; 22-Vertical bearing with seat; 23-Nut; 24-First coupling; 25-Roller; 26-Scraper; 27-Roller brush support frame; 28-Outer shell; 29-Recycling tank; 30-Second nozzle; 31-Water supply pipe; 32-Drainage pipe; 33-Second motor; 34-Servo motor. Detailed Implementation

[0035] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0037] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] like Figure 1 As shown, the pipe inner wall polishing integrated robot adapted to different pipe diameters according to the present invention includes a walking mechanism, a rotating mechanism, a polishing and grinding mechanism, a cleaning and chip removal mechanism, and a cleaning and recycling system.

[0039] The traveling mechanism is mounted on the frame 14 and is used to drive the frame 14 to move; the rotating mechanism is mounted on the frame 14 and is used to drive the main shaft 6 to rotate; the rotating mechanism is a servo motor 34, which is connected to the main shaft 6 through a second coupling 18. The main shaft 6 is sequentially equipped with a polishing and grinding mechanism and a cleaning and chip removal mechanism according to the moving direction of the frame 14. The polishing and grinding mechanism is used to polish and grind the inner wall of the pipe; the cleaning and chip removal mechanism is used to remove residue from the inner wall of the pipe; the cleaning and recovery system is used to cool the polishing and grinding mechanism and the cleaning and chip removal mechanism respectively, and to recover the residue.

[0040] like Figure 3 As shown, a first spindle frame is mounted on the spindle 6. The spindle 6 drives the first spindle frame to rotate via a spline. Several polishing and grinding mechanisms are evenly distributed on the first spindle frame. Each polishing and grinding mechanism is connected to the first spindle frame via a first actuator. The first actuator drives the polishing and grinding mechanism to move radially along the inner wall of the pipe. In this embodiment, the first actuator is a cylinder, which is connected to an air pump 11. The extension and retraction of the piston rod in the cylinder are controlled by a pneumatic system. The air pressure sensor in the cylinder can provide feedback to the air pump. The air pump controls the extension and retraction of the piston rod by the amount of air supplied, so that the cylinder can work on the inner wall of pipes with different diameters. The polishing and grinding mechanism includes a polishing wheel 4, a support frame 7, a first nozzle 5, and a first motor 3. The first motor 3 is mounted on the support frame 7, and the rotating shaft is supported on the support frame 7 via a seated vertical bearing 22. The rotating shaft is connected to the output shaft of the first motor 3 via a first coupling 24. The polishing wheel 4 is mounted on the rotating shaft and fixed by a nut 23. The support frame 7 is connected to the pull rod of the first actuator; the support frame 7 is provided with a cooling channel for polishing and grinding, and the first nozzle 5 is connected to the pressure end of the cleaning and recycling system through the cooling channel for polishing and grinding. The first nozzle 5 is aligned with the polishing wheel 4 and is used to spray cooling medium to cool the polishing wheel 4.

[0041] like Figure 4 As shown, a second spindle support 8 is driven and mounted on the main spindle 6. The main spindle 6 drives the second spindle support 8 to rotate via a spline. Several cleaning and chip removal mechanisms are evenly distributed on the second spindle support 8. Each cleaning and chip removal mechanism is connected to the second spindle support 8 via a second actuator. The second actuator drives the cleaning and chip removal mechanism to move radially along the inner wall of the pipe. In this embodiment, the second actuator is a cylinder, which is connected to the air pump 11. The extension and retraction of the piston rod in the cylinder are controlled by the air pressure system. The air pressure sensor in the cylinder can provide feedback to the air pump. The air pump controls the extension and retraction of the piston rod by the amount of air supplied, so that the cylinder can work on the inner wall of pipes with different diameters. The cleaning and chip removal mechanism includes a roller brush 1, a connecting frame 2, a roller brush support frame 27, a second motor 33, a roller 25, and a scraper 26. The connecting frame 2 is connected to the pull rod of the second actuator. The roller brush support frame 27 is mounted on the connecting frame 2, the roller 25 is supported at both ends of the connecting frame 2, the roller brush 1 is sleeved on the roller 25, and one end of the roller 25 is connected to the second motor 33 via belt drive. One end of the scraper 26 is mounted on the roller brush support frame 27, and the other end of the scraper 26 contacts the surface of the roller brush 1 to remove residues adhering to the surface of the roller brush 1.

[0042] The roller brush support frame 27 is provided with a recovery groove 29, which is located below the contact point between the scraper 26 and the roller brush 1, and is used to collect the removed residue. The connecting frame 2 is provided with a recovery channel communicating with the recovery groove 29. The recovery channel is connected to the negative pressure mechanism in the cleaning and recovery system, and is used to suck out the residue. A second nozzle 30 is installed on the roller brush support frame 27. The second nozzle 30 is aligned with the roller brush 1 and is used to spray a cooling medium to cool the roller brush 1. The connecting frame 2 is provided with a cooling channel connected to the second nozzle 30. The cooling channel is connected to the pressure end of the cleaning and recovery system.

[0043] like Figure 2 As shown, several traveling mechanisms are evenly distributed on the base 21 at one end of the frame 14. Each traveling mechanism includes a telescopic frame 20, a connecting rod, a slider, and a linear movement mechanism. One end of the telescopic frame 20 is hinged to the base 21, one end of the connecting rod is hinged to the telescopic frame 20, and the other end of the connecting rod is hinged to the slider. The slider is located in a groove in the frame 14, and the linear movement mechanism drives the slider to move linearly within the groove. The other end of the telescopic frame 20 is provided with a wheel 16, and the drive motor drives the wheel 16 to rotate. In this embodiment, the linear movement mechanism is a lead screw linear mechanism. The extension rod of the lead screw ensures that the wheel 16 contacts the inner wall of the pipe, while the extension rod provides preload to the slider. Thus, when the diameter of the inner wall of the pipe changes, it can be determined that the wheel 16 contacts the inner wall of the pipe. In another embodiment, a high-load spring is used instead of the linear movement mechanism. The high-load spring can adaptively extend and retract according to the magnitude of the contact force between the wheel 16 and the inner wall of the pipe.

[0044] like Figure 6 As shown, the cleaning and recycling system includes a rotary joint 9, a diverter 10, a water supply pipe 31, and a sewage discharge pipe 32. The rotary joint 9 includes a housing 28 and an inner ring. The inner ring is connected to the main shaft 6 for transmission. The housing 28 is supported on the inner ring. The structure of the rotary joint 9 is existing technology, and its internal structure will not be described further. The housing 28 has a first channel and a second channel that are not interconnected. The housing 28 is mounted on a frame 14, and the frame 14 is respectively provided with a water supply pipe 31 and a sewage discharge pipe 32. One end of the water supply pipe 31 is connected to the first channel, and the other end of the water supply pipe 31 is connected to a pressure end, which is generally the pump inlet. One end of the sewage discharge pipe 32 is connected to the second channel, and the other end of the sewage discharge pipe 32 is connected to a negative pressure mechanism. Figure 5 As shown, the distributor 10 is mounted on the main shaft 6. The distributor 10 has two main pipes, each with several branch outlets. The inlet of the first main pipe 10-1 is connected to the first channel, and the outlet of the corresponding branch of the first main pipe 10-1 is connected to the cooling channel of the cleaning and chip removal mechanism or the cooling channel for polishing. In this embodiment, the outlet of the corresponding branch of the first main pipe 10-1 is connected to the cooling channel of the cleaning and chip removal mechanism, and the cooling channel of the cleaning and chip removal mechanism is connected to the cooling channel for polishing via a flexible hose 12. The inlet of the second main pipe 10-2 is connected to the second channel, and the outlet of the corresponding branch of the second main pipe 10-2 is connected to the recovery channel of the cleaning and chip removal mechanism.

[0045] It also includes a control system and a camera 15; the camera 15 is mounted on the frame 14 and is used to monitor the polished inner wall surface; the control system obtains the image of the polished inner wall surface from the camera 15, and uses image recognition technology to determine the roughness and surface quality of the inner wall surface; the control system controls the rotation speed of the first motor 3, the second motor 33 and the walking mechanism respectively according to the roughness and surface quality.

[0046] The working process and principle of the integrated robot for polishing the inner wall of pipes adapted to different diameters described in this invention are as follows:

[0047] Servo motor 34 drives spindle 6 to rotate via second coupling 18. Spindle 6 drives first spindle support and second spindle support 8 to rotate via splines. First spindle support and second spindle support 8 respectively mount polishing and grinding mechanism and cleaning and chip removal mechanism. The extension and retraction of polishing and grinding mechanism and cleaning and chip removal mechanism are controlled by pneumatic system. The air pressure sensor in the cylinder can provide feedback to air pump. Air pump controls the extension and retraction of piston rod by the amount of air delivered, so that the device can work on the inner wall of pipe with different diameters. Among them, polishing and grinding mechanism has detachable polishing wheel, so that polishing wheel with different grinding radius can be replaced to adapt to the inner wall of pipe with different curvature radius, and has coolant delivery nozzle for cooling and cleaning. In cleaning and chip removal mechanism, second motor 33 drives roller brush 1 via belt. Through the revolution of spindle 6 and the rotation of roller brush 1, the debris is stuck and scraped into the recycling tank by scraper and discharged through recycling channel. Cameras are installed around the frame to monitor the roughness and surface quality of the inner wall surface after grinding and polishing in real time. The sewage pipe and water supply pipe are connected to the water pump and water supply pump through the connection port on the base.

[0048] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0049] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. An integrated robot for polishing the inner wall of a pipe of different diameters, characterized in that, The walking mechanism, the rotating mechanism, the polishing and grinding mechanism, the cleaning and debris removing mechanism and the cleaning and recycling system are included. The walking mechanism is installed on the frame (14) and used to drive the frame (14) to move; the rotating mechanism is installed on the frame (14) and used to drive the main shaft (6) to rotate; the main shaft (6) is sequentially installed with the polishing and grinding mechanism and the cleaning and debris removing mechanism according to the moving direction of the frame (14), the polishing and grinding mechanism is used to polish and grind the inner wall of the pipeline, the cleaning and debris removing mechanism is used to remove the residues on the inner wall of the pipeline, and the cleaning and recycling system is used to cool the polishing and grinding mechanism and the cleaning and debris removing mechanism respectively and recycle the residues. The polishing and grinding mechanism includes the polishing grinding wheel (4), the support frame (7), the first spray head (5) and the first motor (3); the first motor (3) is installed on the support frame (7), the polishing grinding wheel (4) is connected with the output shaft of the first motor (3); the support frame (7) is connected with the pull rod of the first executing mechanism; the first executing mechanism is in transmission connection with the main shaft (6); the first spray head (5) is in communication with the pressure end in the cleaning and recycling system, the first spray head (5) is aligned with the polishing grinding wheel (4) and is used to spray the cooling medium to cool the polishing grinding wheel (4); the polishing and grinding mechanism is driven by the first executing mechanism to move along the radial direction of the inner wall of the pipeline. The cleaning and debris removing mechanism includes the roller brush (1), the connecting frame (2), the roller brush support frame (27), the second motor (33), the roller (25) and the scraper (26); the connecting frame (2) is connected with the pull rod of the second executing mechanism; the second executing mechanism is in transmission connection with the main shaft (6); the roller brush support frame (27) is installed on the connecting frame (2), the roller (25) is supported on both ends of the connecting frame (2), the roller brush (1) is sleeved on the roller (25), and one end of the roller (25) is connected with the second motor (33); one end of the scraper (26) is installed on the roller brush support frame (27), and the other end of the scraper (26) is in contact with the surface of the roller brush (1) and is used to remove the residues adhered to the surface of the roller brush (1); the cleaning and debris removing mechanism is driven by the second executing mechanism to move along the radial direction of the inner wall of the pipeline. The roller brush support frame (27) is provided with the recycling groove (29), the recycling groove (29) is located below the contact point of the scraper (26) and the roller brush (1) and is used to receive the removed residues; the recycling channel in communication with the recycling groove (29) is arranged in the connecting frame (2), and the recycling channel is in communication with the negative pressure mechanism in the cleaning and recycling system and is used to suck out the residues.

2. The integrated robot for pipe inner wall polishing suitable for different pipe diameters according to claim 1, characterized in that, The first main shaft frame is drivingly installed on the main shaft (6), and the polishing and grinding mechanisms are uniformly distributed on the first main shaft frame and connected with the first main shaft frame through the first executing mechanism.

3. The integrated robot for pipe inner wall polishing suitable for different pipe diameters according to claim 2, characterized in that, The second main shaft frame (8) is drivingly installed on the main shaft (6), and the cleaning and debris removing mechanisms are uniformly distributed on the second main shaft frame (8) and connected with the second main shaft frame (8) through the second executing mechanism.

4. The integrated robot for pipe inner wall polishing suitable for different pipe diameters according to claim 1, characterized in that, The second spray head (30) is installed on the rolling brush support frame (27) and is aligned with the roller (25) for spraying cooling medium to cool the roller (25); the connecting frame (2) is provided with a cooling channel communicated with the second spray head (30), and the cooling channel is communicated with the pressure end in the cleaning and recycling system.

5. The integrated robot for pipe inner wall polishing suitable for different pipe diameters according to claim 1, characterized in that, The base (21) at one end of the frame (14) is provided with a plurality of walking mechanisms uniformly distributed, each of the walking mechanisms comprises a telescopic frame (20), a connecting rod, a sliding block, a linear motion mechanism, a wheel (16) and a driving motor (17); one end of the telescopic frame (20) is hinged to the base (21), one end of the connecting rod is hinged to the middle of the telescopic frame (20), the other end of the connecting rod is hinged to the sliding block, the sliding block is located in the sliding groove of the frame (14), and the linear motion mechanism drives the sliding block to move linearly in the sliding groove; the other end of the telescopic frame (20) is provided with the wheel (16), and the driving motor drives the wheel (16) to rotate.

6. The integrated robot for pipe internal wall polishing suitable for different pipe diameters according to claim 1, characterized in that, The cleaning and recycling system comprises a rotary joint (9), a flow divider (10), a water delivery pipe (31) and a sewage pipe (32); the rotary joint (9) comprises an outer shell (28) and an inner ring, the inner ring is in transmission connection with the main shaft (6), the outer shell (28) is supported on the inner ring, and the outer shell (28) is provided with a first channel and a second channel which are not communicated with each other; the outer shell (28) is installed on the frame (14), and the frame (14) is respectively provided with the water delivery pipe (31) and the sewage pipe (32), one end of the water delivery pipe (31) is communicated with the first channel, and the other end of the water delivery pipe (31) is communicated with the pressure end; one end of the sewage pipe (32) is communicated with the second channel, and the other end of the sewage pipe (32) is communicated with the negative pressure mechanism; the flow divider (10) is installed on the main shaft (6), the flow divider (10) is provided with two main pipes, and a plurality of branch pipes are arranged on the outlet of each main pipe; the inlet of one of the main pipes is communicated with the first channel, and the outlet of the branch pipe corresponding to the main pipe is communicated with the cooling channel; the inlet of the other main pipe is communicated with the second channel, and the outlet of the branch pipe corresponding to the main pipe is communicated with the recycling channel of the cleaning and debris removal mechanism.

7. The integrated robot for pipe inner wall polishing suitable for different pipe diameters according to claim 3, characterized in that, The first and second executing mechanisms are both air cylinders, and an air pump (11) is installed on the second main shaft frame (8) and communicated with the first and second executing mechanisms.

8. The integrated robot for pipe internal wall polishing suitable for different pipe diameters according to claim 1, characterized in that, A control system and a camera (15) are further included; the camera (15) is installed on the frame (14) and used for monitoring the inner wall surface after polishing; the control system acquires the image of the inner wall surface after polishing through the camera (15), judges the roughness and surface quality of the inner wall surface by using image recognition technology, and controls the rotating speeds of the first motor (3), the second motor (33) and the walking mechanism according to the roughness and surface quality respectively.

Images