Portable all-position inner hole cladding equipment

Abstract

The invention discloses a portable all-position inner hole cladding device, which specifically relates to the field of welding equipment, including a pipeline, a track support module, a drive module, a monitoring module, a handheld controller and a welding gun. The track support module comprises a clamping structure, a longitudinal track and an axial track which are arranged in the clamping structure and are perpendicular to each other. The drive module is used to drive the welding gun to slide on the surfaces of the longitudinal track and the axial track. The axial track and the longitudinal track are both arranged in a segmented structure, and the lengths of the axial track and the longitudinal track are changed by assembling so as to adapt to pipelines of different depths and different diameters, thereby expanding the use scope of the cladding device. At the same time, a detachable structure of the axial track, the longitudinal track and the clamping structure is arranged, so that the device is suitable for multiple types of pipelines while increasing portability.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, in particular to a portable all-position surfacing equipment for surfacing inner holes of different diameters and depths. Background Art

[0002] The inner hole refers to the inner section of a mechanical part. With the development of industry, there is an increasing demand for repairing or reinforcing parts with inner hole structures, such as pipes and bearing seats. Traditional cladding equipment is usually bulky, inconvenient to move, and difficult to operate in narrow or special locations. Therefore, it is necessary to develop a new type of portable all-position inner hole cladding equipment to solve this problem.

[0003] A Chinese patent with publication number CN116441689A discloses a portable all-position inner hole surfacing device, including a surfacing device, wherein a fixing frame is fixedly connected to the right side of the surfacing device, a support frame is slidably connected to the inner side of the fixing frame, a fixing plate is fixedly connected to the front end of the support frame, and the inner front and rear ends of the support frame are slidably connected to limit components. By providing the support frame, limit components, surfacing device and rack, when using the device, the device is small and easy to carry, but an integrated support frame is provided in the device, and the surfacing pipe is fixed by clamping the support frame of different pipe diameters, so that people can observe the position of the inner hole of the pipe required for electric welding when using it, thereby improving the practicality of the device when using it. In this structure, a support frame for clamping different pipe diameters is proposed to improve the practicality of the surfacing device, but it is not proposed how to achieve stability for the support frames of different pipe diameters. Secondly, the shortcoming of the current prior art is that it is difficult to achieve welding in narrow and special positions.

[0004] Therefore, we propose a portable all-position inner hole cladding equipment to solve the above problems. Summary of the invention

[0005] In order to overcome the above defects of the prior art, the present invention provides a portable all-position inner hole surfacing equipment, which can adapt to the repair of sand holes in pipelines of different diameters and depths, realize fast and efficient on-site surfacing operations to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a portable all-position inner hole cladding equipment, comprising a pipeline, a track support module, a drive module, a monitoring module, a handheld controller and a welding gun, wherein the track support module comprises a clamping structure, a longitudinal track and an axial track which are arranged in the clamping structure and are perpendicular to each other, the drive module is used to drive the welding gun to slide on the surface of the longitudinal track and the axial track, the monitoring module is used to monitor the sand holes inside the pipeline and record the sand hole shape and measure the sand hole distance, and at the same time verify and feedback the welding gun cladding position information, and the handheld controller changes the movement trajectory of the welding gun through manual operation;

[0007] The axial track is a multi-section splicing structure, and the length of the axial track can be changed by assembling, and the longitudinal track is a multi-section splicing structure, and the length of the longitudinal track can be changed by assembling;

[0008] The clamping structure is sleeved on the end face of the pipe and deforms according to the bending degree of the pipe so as to change the clamping force and contact area between the pipe and the clamping structure. The clamping structure includes an inner clamping plate and an outer clamping plate that fit the inner and outer circumferential surfaces of the pipe, a positioning plate is arranged between the inner clamping plate and the outer clamping plate, one end of the positioning plate is fixed to the surface of the inner clamping plate, a plurality of threaded holes are penetrated through the surfaces of the positioning plate and the outer clamping plate, and a plurality of positioning members are penetrated inside the plurality of threaded holes to fix the outer clamping plate and the positioning plate, a plurality of elastic air bags are fixedly connected to the relative arc surfaces of the inner clamping plate and the outer clamping plate, and a group of track sleeves are welded at the center of the lower arc surface of the inner clamping plate.

[0009] Preferably, the track sleeve is sleeved on the end of the longitudinal track and is clamped in place by two clamping structures. The longitudinal track is penetrated by a group of rectangular grooves along the axial direction of the axial track for the up and down movement of the axial track. Square grooves with the same length as the rectangular grooves are provided on both side surfaces of the longitudinal track.

[0010] Preferably, the axial track includes a smooth rod, a limit rod and a special-shaped rod, the smooth rod is located at both ends of the special-shaped rod and is connected as a whole, the limit rod is extended from a group of smooth rods and fixed to the surface of another group of smooth rods, and a group of ring gears are welded at the ends of the smooth rods.

[0011] Preferably, the free end of the smooth rod is sleeved with an end head base, and the axial track and the end head base slide synchronously with the surface of the longitudinal track;

[0012] The end base includes a frame, a limiting column, a lifting plate, and a rod sleeve. The rod sleeve and the lifting plate are respectively located on the inner and outer surfaces of the frame and are located on the same straight line. The limiting columns are in two groups and are symmetrically fixed to the inner surface of the frame.

[0013] Preferably, the drive module comprises an angle adjustment drive installed through the inside of the end base, a longitudinal drive installed on the surface of the clamping structure, and an axial drive provided between the welding gun and the axial track;

[0014] The axial drive includes a walking module and a radial feed drive, and the radial feed drive is engaged with the axial track surface. The walking module includes a wheel structure, a motor and a motor controller that penetrate the radial feed drive. Friction is generated between the wheel structure and the axial track to move forward and backward. The motor is used to drive the wheel structure to rotate, and the motor controller is used to drive the motor's forward and reverse rotation, speed, and start and stop.

[0015] Preferably, the radial feed drive includes a telescopic structure and a drive control, the drive control is used to drive the telescopic structure to telescope, the telescopic structure includes a base plate and an extending movable plate that telescopes inside the base plate, the drive control includes a cylinder and a cylinder controller, and the cylinder controller is used to accurately control the cylinder to realize the movement of the cylinder.

[0016] Preferably, the angle adjustment drive passes through one end of the frame away from the rod sleeve, and the angle adjustment module includes a rotating plate and a rotating controller. The rotating plate is driven to engage with the ring gear through a rotating action, and the rotating controller is used to drive the rotating plate to rotate at a speed, a direction of rotation, and start and stop.

[0017] Preferably, the longitudinal drive comprises a motor drive structure, a wire drive structure and a follower structure, the motor drive structure is meshed with the wire drive structure, and the follower structure is driven to be wound around the rod surface of the wire drive structure;

[0018] The following structure includes a set of traction lines and two limiting beads fixed on the surface of the traction line body. The traction lines pass through the lifting plate and the two limiting beads are tightly fitted with the lifting plate to support the lifting plate.

[0019] Preferably, the monitoring module comprises a three-dimensional scanner and a sensor, wherein the three-dimensional scanner is used to capture the shape and position of trachoma on the inner wall of the pipeline and convert the data into electrical signals for wireless output;

[0020] The scanning range of the three-dimensional scanner is between 90 and 120 degrees, and the sensor verifies and feeds back the welding position information of the welding gun.

[0021] Preferably, the handheld controller has a built-in central processing unit, which is used to receive electrical signals and convert them into data storage, transmission, and calculation, and convert the data into instructions to be issued, and at the same time display them on the handheld controller interface and control them through the handle and buttons on the handheld controller.

[0022] Technical effects and advantages of the present invention:

[0023] The device is provided with a segmented structure of the axial track and the longitudinal track, and the length of the axial track and the longitudinal track is changed by assembly to adapt to pipes of different depths and diameters, thereby expanding the application range of the cladding equipment. At the same time, a detachable structure of the axial track, the longitudinal track and the clamping structure is provided, so that it is applicable to multiple types of pipes while increasing portability.

[0024] This device can realize automatic sand hole surfacing and manual sand hole surfacing by setting a handheld controller. It is suitable for internal hole surfacing under different environments and conditions on site, with strong controllability and high surfacing efficiency.

[0025] The device is equipped with a 3D scanner and a sensor. The 3D scanner records and outputs the shape and position information of the sand hole in the pipeline. The sensor is used to verify and feedback the position of the welding gun to achieve high efficiency, high quality and high precision cladding effect, reduce material consumption and subsequent processing costs, and achieve precise size adaptability through self-adjustment. It can quickly adjust to adapt to internal holes of different shapes and sizes.

[0026] The device is provided with a clamping structure that is deformed according to the bending degree of the pipe. The clamping structure changes the clamping force and contact area between the pipe and the pipe to adapt to pipes with different pipe openings. It is suitable for internal hole surfacing under different environments and conditions on site. The clamping structure and the pipe are in a relatively static state, and the sand hole position can be accurately located without the need to install fixing equipment.

[0027] The device can expand and reduce the cladding range of the welding gun by changing the telescopic state of the radial feed drive, and can be applied to pipes with multiple cavities, while reducing the overall volume of the welding gun and improving the portability of the welding gun. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is the plan structure diagram of the portable all-position inner hole cladding equipment.

[0029] Figure 2 for Figure 1 Schematic diagram of the enlarged structure at point A.

[0030] Figure 3 It is a partial structural plan view of the portable all-position inner hole cladding equipment.

[0031] Figure 4 It is a partial structural stereogram of the portable all-position inner hole cladding equipment.

[0032] Figure 5 This is a partial structural axonometric drawing of the portable all-position inner hole cladding equipment.

[0033] Figure 6 for Figure 5 Schematic diagram of the enlarged structure at point B.

[0034] Figure 7 This is a structural linkage diagram of the end base and the angle adjustment drive of the present invention.

[0035] Figure 8 It is an exploded view of the axial track structure of the present invention.

[0036] Fig. 9 It is a schematic diagram of the overall structure of the clamping structure of the present invention.

[0037] Fig.10 This is the system architecture diagram of the portable all-position inner hole cladding equipment.

[0038] The accompanying drawings are marked as follows: 1. pipeline; 2. clamping structure; 21. inner clamping plate; 22. outer clamping plate; 23. positioning plate; 24. elastic airbag; 25. track sleeve; 3. longitudinal track; 31. square sink; 32. rectangular groove; 4. longitudinal drive; 41. motor drive structure; 42. wire drive structure; 43. traction line; 44. limit bead; 5. end base; 51. frame; 52. limit column; 53. lifting plate; 54. rod sleeve; 6. axial track; 61. smooth rod; 62. limit rod; 63. special-shaped rod; 7. walking module; 8. radial feed drive; 81. base plate; 82. extension moving plate; 83. drive control; 9. monitoring module; 10. welding gun; 11. ring gear; 12. angle adjustment drive. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Embodiment 1

[0041] Refer to the instruction manual Figure 1 , Figure 8 as well as Fig. 9As shown: a portable all-position inner hole surfacing device includes a pipeline 1, a track support module, a drive module, a monitoring module 9, a handheld controller and a welding gun 10. The pipeline 1 has a surfacing cavity, and the cavity of the surfacing cavity can be a regular circular cavity or an irregular cavity. The welding gun 10 is used for surfacing welding and repairing sand holes on the inner wall of the pipeline 1. The track support module includes a clamping structure 2, a longitudinal track 3 and an axial track 6 which are arranged in the clamping structure 2 and are perpendicular to each other. The axial track 6 goes deep into the inner cavity of the pipeline 1, and the longitudinal track 3 is along the end face direction of the pipe mouth of the pipeline 1. The direction of the axial track 6 is the axial direction, the position of the longitudinal track 3 is the longitudinal direction, the axial direction and the longitudinal direction are perpendicular to each other, the driving module is used to drive the welding gun 10 to slide on the surface of the longitudinal track 3 and the axial track 6, the monitoring module 9 is used to monitor the sand holes inside the pipeline 1 and record the sand hole shape and measure the sand hole distance, and at the same time verify and feedback the welding position information of the welding gun 10, at the same time, the monitoring module 9 avoids the welding cavity according to the three-dimensional scanner and the sensor to prevent the welding head of the welding gun 10 from colliding with the pipeline 1 inward, and the handheld controller changes the movement trajectory of the welding gun 10 through manual operation;

[0042] Among them, the axial track 6 is a multi-section splicing structure, and the length of the axial track 6 is changed by assembling, and the longitudinal track 3 is a multi-section splicing structure, and the length of the longitudinal track 3 is changed by assembling. Figure 8 , the segmented structure of the axial track 6 is realized by assembling the length of the axial track 6 to adapt to pipes 1 of different depths, the longitudinal track 3 is also a segmented structure, and the length of the longitudinal track 3 is realized by assembling to adapt to pipes 1 of different diameters. Since the multi-segment structures of the longitudinal track 3 and the axial track 6 are the same, the segmented structure of the longitudinal track 3 is not drawn. The device sets the axial track 6 and the longitudinal track 3 to be segmented structures, and changes the length of the axial track 6 and the longitudinal track 3 by assembling to adapt to pipes 1 of different depths and different diameters, thereby expanding the use range of the cladding equipment. At the same time, the detachable structure of the axial track 6, the longitudinal track 3 and the clamping structure 2 is set, which is applicable to multiple types of pipes 1 while increasing portability;

[0043] The clamping structure 2 is sleeved on the end surface of the pipe 1, and deforms according to the bending degree of the pipe 1 so as to change the clamping force and contact area between the pipe 1 and the clamping structure 2. There are two groups of clamping structures 2, which are respectively positioned at the two ends of the pipe 1. There are two clamping structures 2 in each group, and they are symmetrically arranged about the horizontal center plane of the pipe 1. The clamping structure 2 includes an inner clamping plate 21 and an outer clamping plate 22 that are fitted to the inner and outer circumferential surfaces of the pipe 1. A positioning plate 23 is arranged between the inner clamping plate 21 and the outer clamping plate 22. One end of the positioning plate 23 is fixed to the surface of the inner clamping plate 21. The surfaces of the positioning plate 23 and the outer clamping plate 22 are penetrated by a plurality of threaded holes. The interiors of the plurality of threaded holes are penetrated by positioning members to fix the outer clamping plate 22 and the positioning plate 23. The fixing members are matching studs and nuts. By changing the positioning position of the positioning members, it is suitable for pipes 1 of different thicknesses. The relative arc surfaces of the inner clamping plate 21 and the outer clamping plate 22 are fixedly connected with a plurality of elastic airbags 24. The elastic airbag 24 itself is elastic and deforms into different shapes after being squeezed to a certain extent. At the same time, the elastic airbag 24 generates a reaction force after being subjected to pressure. The reaction force generated by the elastic airbag 24 causes the clamping structure 2 to be tightly clamped on the inner and outer surfaces of the pipe 1. A group of track sleeves 25 are welded at the center of the lower arc surface of the inner clamping plate 21. The track sleeve 25 is sleeved on the end of the longitudinal track 3. The elasticity of the elastic airbag 24 can slightly change the distance between the two clamping structures 2, thereby causing the position of the multi-section longitudinal track 3 clamped inside the clamping structure 2 to be fixed, and the units of the multi-section longitudinal track 3 are tightly connected. The setting of the clamping structure 2, the multi-section longitudinal track 3 and the multi-section axial track 6 meets the requirements of pipes 1 with different diameters and depths. Traditional surfacing equipment is usually large in size, inconvenient to move, and difficult to operate in a narrow or special position. It not only improves the convenience of carrying, but also expands the scope of application of all-position surfacing equipment.

[0044] Embodiment 2

[0045] Refer to the instruction manual Figure 1-Figure 8 As shown: the track sleeve 25 is sleeved on the end of the longitudinal track 3 and is clamped and positioned by two clamping structures 2. The longitudinal track 3 is penetrated along the axial direction of the axial track 6 by a group of rectangular grooves 32 for the axial track 6 to move up and down. The two side surfaces of the longitudinal track 3 are provided with square grooves 31 of the same length as the rectangular grooves 32.

[0046] The axial track 6 includes a smooth rod 61, a limiting rod 62 and a special-shaped rod 63. The smooth rod 61 passes through the rectangular groove 32. When the axial track 6 slides inside the longitudinal track 3, it is limited by the limiting rod 62 and the rectangular groove 32, which ensures the stability of the axial track 6 in the sliding process inside the longitudinal track 3. The smooth rod 61 is located at both ends of the special-shaped rod 63 and is connected as a whole. The limiting rod 62 is extended from a group of smooth rods 61 and fixed to the surface of another group of smooth rods 61. A group of ring gears 11 are welded at the ends of the smooth rods 61. Under the joint action of the smooth rods 61 and the special-shaped rods 63, the stability of the driving module sliding on the surface of the axial track 6 is ensured. The free end of the smooth rod 61 is sleeved with the end base 5. The axial track 6 and the end base 5 slide synchronously with the surface of the longitudinal track 3.

[0047] The end base 5 includes a group of frames 51, limiting columns 52, lifting plates 53, and rod sleeves 54. The rod sleeves 54 and lifting plates 53 are respectively located on the inner and outer surfaces of the frame 51 and on the same straight line. There are two groups of limiting columns 52, which are symmetrically fixed to the inner surface of the frame 51. The limiting columns 52 are perpendicular to the rod sleeves 54, wherein the limiting columns 52 are adapted to the square sink grooves 31 to ensure that under the restriction of the end base 5, the movement direction of the axial track 6 is parallel to the longitudinal track 3. Under the clamping of the two groups of end bases 5, the axial track 6 is clamped and positioned.

[0048] The clamping structure 2 is fixed to the two end ports of the pipeline 1, that is, the positions of the clamping structure 2 and the longitudinal track 3 positioned in the clamping structure 2 are fixed, and the distance between the two groups of end bases 5 sliding on the surface of the longitudinal track 3 is fixed, that is, the two groups of end bases 5 clamp the axial track 6, and the axial tracks 6 of different lengths are spliced ​​according to the length of the pipeline 1 to expand the surfacing range of the all-position surfacing equipment. At the same time, the detachable structure of the all-position surfacing equipment reduces the volume occupied by the all-position surfacing equipment and improves portability.

[0049] Embodiment 3

[0050] Refer to the instruction manual Figure 1-Figure 10 As shown: the monitoring module 9 includes a three-dimensional scanner and a sensor. The three-dimensional scanner is used to capture the shape and position of the trachoma on the inner wall of the pipeline 1 and convert the data into an electrical signal for wireless output; wherein, the scanning range of the three-dimensional scanner is between 90-120 degrees. The three-dimensional scanner simultaneously scans the trachoma and the information of the pipeline 1 around the trachoma and numbers the trachoma. By comparing the shape, size and position information of the trachoma, repeated naming of the same trachoma is avoided. The sensor verifies and feeds back the surfacing position information of the welding gun 10. By continuously correcting the position of the welding gun 10, the surfacing of the trachoma is ensured to be accurate and complete, thereby improving the efficiency of surfacing.

[0051] The handheld controller has a built-in central processing unit, which is used to receive electrical signals and convert them into data storage, transmission, and calculation, and convert the data into instructions for issuance. At the same time, it is displayed on the handheld controller interface and controlled by the handle and buttons on the handheld controller. The central processing unit has a built-in self-propelled program that can automatically perform surfacing welding on trachoma, and can also be operated manually, with strong controllability.

[0052] The drive module includes an angle adjustment drive 12 installed through the end base 5, a longitudinal drive 4 installed on the surface of the clamping structure 2, and an axial drive provided between the welding gun 10 and the axial track 6;

[0053] The axial drive includes a walking module 7 and a radial feed drive 8. The radial feed drive 8 is engaged with the surface of the axial track 6. The walking module 7 includes a wheel structure, a motor and a motor controller that penetrate the radial feed drive 8. Friction is generated between the wheel structure and the axial track 6 to move forward and backward. The motor is used to drive the wheel structure to rotate. The motor controller is used to drive the forward and reverse rotation, speed and start and stop of the motor. By receiving the instructions sent by the central processing unit, the motor controller receives the instructions and executes them. Each power device has an external small power supply. The small power supply can determine the appropriate position according to the model of the actual surfacing equipment.

[0054] The radial feed drive 8 includes a telescopic structure and a drive control 83. The drive control 83 is used to drive the telescopic structure to telescope. The telescopic structure includes a substrate 81 and an extension plate 82 that telescopes inside the substrate 81. The welding gun 10 is plugged into the surface of the extension plate 82. The three-dimensional scanner and the sensor are synchronously externally arranged on the end of the extension plate 82 facing the welding gun 10. At the same time, a detachable small power supply is externally arranged on the surface of the extension plate 82. The small power supply is used to provide power source for power equipment such as the welding gun 10, the three-dimensional scanner, and the sensor. The drive control 83 includes a cylinder and a cylinder controller. The cylinder controller It is used to accurately control the cylinder to realize the movement of the cylinder. The cylinder controller is fixed on the surface of the cylinder. The cylinder is welded to the surface of the base plate 81. The output end of the cylinder is connected to the extension movable plate 82. When the cylinder controller receives an instruction from the central processing unit, the cylinder controller controls the extension and retraction of the cylinder output end, and the telescopic structure is extended and retracted. The purpose of setting this structure is to ensure that the welding gun 10 has a certain avoidance space. The surfacing range of the welding gun 10 is expanded and reduced by the extension and retraction of the radial feed drive 8. It can be applied to a pipe 1 with a multi-cavity type, while reducing the overall volume of the welding gun 10 and improving the convenience of carrying the welding gun 10.

[0055] The angle adjustment drive 12 passes through one end of the frame 51 away from the rod sleeve 54. The angle adjustment drive 12 includes a rotating plate and a rotating controller. The rotating plate is driven to engage with the ring gear 11 through a rotating action. The rotating controller is used to drive the rotating plate to rotate at a speed, a direction, and start and stop. In the built-in program of the manual controller, the rotating controller controls the driving rotating plate to rotate 90 degrees each time. In manual operation, it is not limited by this program.

[0056] The longitudinal drive 4 includes a motor drive structure 41, a wire drive structure 42 and a follower structure. The motor drive structure 41 is meshed with the wire drive structure 42, and the follower structure is driven to be wound around the rod surface of the wire drive structure 42. The motor drive structure 41 includes a cylindrical gear and a gear controller for controlling the rotation, speed and start and stop of the cylindrical gear. The gear controller receives instructions from the central processing unit to drive the cylindrical gear to rotate, thereby driving the follower structure.

[0057] The following structure includes a group of traction wires 43 and two limiting beads 44 fixed on the surface of the traction wires 43. The traction wires 43 pass through the lifting plate 53 and the two limiting beads 44 are tightly fitted with the lifting plate 53 to support the lifting plate 53. There are two groups of motor drive structures 41. The two groups of motor drive structures 41 simultaneously drive the traction drive structures 42 to rotate in the same direction, at the same speed and at the same time. The traction wires 43 pulled on the surfaces of the two groups of traction drive structures 42 are always in a straight state. During the movement of the traction wires 43, the end base 5 and the axial track 6 are driven to move on the surface of the longitudinal track 3, thereby causing the axial track 6 to undergo radial displacement. Among them, the traction drive structure 42 includes a group of winding columns for winding and circular gears meshing with the cylindrical gears.

[0058] The handheld controller is equipped with an automatic walking program, and the program process is as follows:

[0059] S1: The manual controller turns on the switch to start the self-propelled program. The walking module 7 receives the instruction from the central processing unit, and the walking module 7 moves forward in the center line direction of the axial track 6. The forward axial distance is set, and the radial feed drive 8 and the welding gun 10 plugged into the surface of the radial feed drive 8 are synchronously displaced. The three-dimensional scanner is used to capture the shape and position of the trachoma on the inner wall of the pipeline 1 and convert the data into an electrical signal output. The output electrical signal is fed back to the central processing unit and the number is recorded and stored. The shape, position and number of the trachoma are displayed on the handheld controller display screen.

[0060] S2: The travel module 7 runs and sets the axial distance displacement. The angle adjustment drive 12 receives the electrical signal from the central processing unit and is driven. The rotating plate in the angle adjustment drive 12 rotates 90 degrees and meshes with the ring gear 11 during the rotation, driving the axial track 6 fixedly connected to the ring gear 11 to rotate 90 degrees. S1 is repeated. At the same time, the central processing unit receives information and performs duplicate information screening to avoid repeated numbering of the same trachoma. Until the axial track 6 rotates three times, all the trachoma in the pipeline 1 are numbered.

[0061] S3: According to the trachoma stored in the electrical signal of the central processing unit, the trachoma is repaired by surfacing welding one by one.

[0062] Surfacing repair process: Tracking number trachoma 1, the walking module 7 receives the electrical signal from the central processing unit and moves forward to the axial position of the trachoma in the center line direction of the axial track 6. The 3D scanner scans the trachoma and transmits it to the central processing unit. The central processing unit issues a command to drive the angle adjustment drive 12 to push the axial track 6 to rotate to the center of the trachoma. During this process, the sensor verifies and feeds back the welding point position information of the welding gun 10 to the central processing unit. The central processing unit synchronously issues a command to drive the walking module 7 to walk and the angle adjustment drive 12 to rotate. The walking module 7 and the rotating angle adjustment drive 12

[0063] Driving the welding gun 10 to change position so that the welding gun 10 is corrected;

[0064] The position of the welding gun 10 is determined, and the central processing unit sends a command to the longitudinal drive 4, and the longitudinal drive 4 feeds to the position of the sand hole. During this process, the sensor verifies and feeds back the position information of the welding point of the welding gun 10 to the central processing unit. The central processing unit synchronously sends a command to drive the walking module 7 and the angle adjustment drive 12 to push the position of the welding gun 10 to correct the position of the welding gun 10, and repeats the above S1-S3, and repairs the next sand hole in turn by surfacing welding until all the sand holes are repaired by surfacing welding;

[0065] If during this process, the sand holes can also be repaired by manual surfacing welding, and the manual operation will not be interfered with by the automatic program.

[0066] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0067] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0068] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Portable all-position inner hole cladding equipment, characterized in that: The invention comprises a pipeline (1), a track support module, a drive module, a monitoring module (9), a handheld controller and a welding gun (10), wherein the track support module comprises a clamping structure (2), a longitudinal track (3) and an axial track (6) which are arranged in the clamping structure (2) and are perpendicular to each other, the drive module is used to drive the welding gun (10) to slide on the surfaces of the longitudinal track (3) and the axial track (6), the monitoring module (9) is used to monitor the sand holes inside the pipeline (1) and record the sand hole shapes and measure the sand hole distances, and at the same time verify and feedback the surfacing position information of the welding gun (10), and the handheld controller changes the movement trajectory of the welding gun (10) through manual operation; The axial track (6) is a multi-section splicing structure, and the length of the axial track (6) can be changed by assembling; the longitudinal track (3) is a multi-section splicing structure, and the length of the longitudinal track (3) can be changed by assembling; the longitudinal track (3) is penetrated by a group of rectangular grooves (32) for the axial track (6) to move up and down along the axis direction of the axial track (6); the two side surfaces of the longitudinal track (3) are provided with square grooves (31) of the same length as the rectangular grooves (32); the axial track (6) comprises a smooth rod (61), a limiting rod (62) and a special-shaped rod (63); the smooth rod (61) is located at both ends of the special-shaped rod (63) and is connected in an integral manner; the limiting rod (62) is provided at the two ends of the special-shaped rod (63) and is connected in an integral manner; the limiting rod (61) is provided at the two ends of the special-shaped rod (63) and is connected ... The positioning rod (62) is extended from a group of smooth rods (61) and fixed to the surface of another group of smooth rods (61). A group of ring gears (11) are welded at the ends of the smooth rods (61). The free ends of the smooth rods (61) are sleeved with a terminal base (5). The axial track (6) and the terminal base (5) slide synchronously with the surface of the longitudinal track (3). The terminal base (5) includes a group of frames (51), limiting columns (52), a lifting plate (53), and a rod sleeve (54). The rod sleeve (54) and the lifting plate (53) are respectively located on the inner and outer surfaces of the frame (51) and on the same straight line. The limiting columns (52) are in two groups and are symmetrically fixed to the inner surface of the frame (51). The clamping structure (2) is sleeved on the end surface of the pipe (1), and deforms according to the bending degree of the pipe (1) so as to change the clamping force and contact area between the pipe (1). The clamping structure (2) comprises an inner clamping plate (21) and an outer clamping plate (22) which are attached to the inner and outer peripheral surfaces of the pipe (1). A positioning plate (23) is arranged between the inner clamping plate (21) and the outer clamping plate (22). One end of the positioning plate (23) is fixed to the surface of the inner clamping plate (21). The positioning plate The surfaces of the inner clamping plate (23) and the outer clamping plate (22) are penetrated by a plurality of threaded holes, and positioning members are penetrated inside the plurality of threaded holes to fix the outer clamping plate (22) and the positioning plate (23). The arc surfaces opposite to each other of the inner clamping plate (21) and the outer clamping plate (22) are fixedly connected with a plurality of elastic air bags (24). A group of track sleeves (25) are welded at the center of the lower arc surface of the inner clamping plate (21). The track sleeves (25) are sleeved on the ends of the longitudinal tracks (3) and are clamped and positioned by the two clamping structures (2); The drive module comprises an angle adjustment drive (12) installed in a through-type manner inside the end base (5), a longitudinal drive (4) installed on the surface of the clamping structure (2), and an axial drive provided between the welding gun (10) and the axial track (6); The axial drive comprises a walking module (7) and a radial feed drive (8), the radial feed drive (8) being engaged with the surface of the axial track (6), the walking module (7) comprising a wheel structure penetrating the radial feed drive (8), a motor and a motor controller, friction is generated between the wheel structure and the axial track (6) so as to move forward and backward, the motor is used to drive the wheel structure to rotate, and the motor controller is used to drive the forward and reverse rotation, speed and start and stop of the motor; The radial feed drive (8) includes a telescopic structure and a drive control (83), wherein the drive control (83) is used to drive the telescopic structure to telescope, wherein the telescopic structure includes a base plate (81) and an extending movable plate (82) that telescopes inside the base plate (81), and wherein the drive control (83) includes a cylinder and a cylinder controller, wherein the cylinder controller is used to accurately control the cylinder to realize the movement of the cylinder.

2. The portable all-position inner hole surfacing equipment according to claim 1 is characterized in that: The angle adjustment drive (12) passes through one end of the frame (51) away from the rod sleeve (54), and the angle adjustment drive (12) comprises a rotating plate and a rotating controller. The rotating plate is driven to mesh with the ring gear (11) through a rotating action, and the rotating controller is used to drive the rotating plate to rotate at a speed, rotate in a direction, and start and stop.

3. The portable all-position inner hole surfacing equipment according to claim 2 is characterized in that: The longitudinal drive (4) comprises a motor drive structure (41), a wire drive structure (42) and a follower structure, wherein the motor drive structure (41) is meshed with the wire drive structure (42), and the drive follower structure is wound around the rod surface of the wire drive structure (42); The following structure comprises a set of traction lines (43) and two limiting beads (44) fixed to the surface of the traction lines (43); the traction lines (43) pass through the lifting plate (53) and the two limiting beads (44) are tightly fitted to the lifting plate (53) to support the lifting plate (53).

4. The portable all-position inner hole surfacing equipment according to claim 3 is characterized in that: The monitoring module (9) comprises a three-dimensional scanner and a sensor, wherein the three-dimensional scanner is used to capture the shape and position of trachoma on the inner wall of the pipeline (1) and convert the data into an electrical signal for wireless output; The scanning range of the three-dimensional scanner is between 90 and 120 degrees, and the sensor verifies and feeds back the surfacing position information of the welding gun (10).

5. The portable all-position inner hole surfacing equipment according to claim 4 is characterized in that: The handheld controller has a built-in central processing unit, which is used to receive electrical signals and convert them into data storage, transmission, and calculation, and convert the data into instructions and send them out, which are displayed on the handheld controller interface and controlled by the handle and buttons on the handheld controller.

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