An automatic spraying device and method for anti-corrosion coating on the inner wall of a large pipeline

Abstract

The invention relates to the field of spraying technology, and discloses an automatic spraying device and method for anti-corrosion coating on the inner wall of a large pipeline, wherein the automatic spraying device for anti-corrosion coating on the inner wall of a large pipeline comprises a mobile body, a longitudinal moving mechanism connected to the mobile body, a first angle adjustment mechanism connected to the longitudinal moving mechanism, a rotating mechanism fixedly connected to the first angle adjustment mechanism, a plurality of telescopic spraying mechanisms symmetrically connected to the rotating mechanism, and a second angle adjustment mechanism connected between the rotating mechanism and the telescopic spraying mechanism; the invention can be applied to large pipelines of different specifications and with different additional components on the inner wall, can ensure that the thickness of the spray layer on the inner wall of the entire pipeline and the additional components remains the same, and can extend into the interior of the hollow component for spraying during the rotary spraying process, which can effectively reduce the production cost of spraying the inner wall of large pipelines, especially pipelines with a diameter of more than DN1000mm in a factory.

Description

Technical Field

[0001] The invention relates to the field of spraying technology, and more specifically, to an automatic spraying device and method for anti-corrosion coating on the inner wall of a large pipeline. Background Art

[0002] Pipelines are used as transportation equipment for gases, liquids and other substances. The corrosion resistance of their interior is the most important factor in measuring the quality of pipelines. A common way to improve the corrosion resistance of the inner wall of pipelines is to spray anti-corrosion materials on the inner wall of the pipeline to form an anti-corrosion layer on the inner wall of the pipeline, thereby effectively improving the corrosion resistance of the inner wall of the pipeline.

[0003] Due to the different shapes and specifications of pipelines, the pipeline inner wall spraying equipment used during spraying is also very different. For some small pipelines, the spraying equipment is small in size and can be assisted by positioning equipment to move the spraying equipment along the central axis of the pipeline. For some large pipelines, especially large pipelines with a diameter of DN1000mm or more, the corresponding spraying equipment is located inside the pipeline as a whole, entering from one end of the pipeline and moving out from the other end of the pipeline. However, when the mobile vehicle moves out of the pipeline, there is a height difference between the inner wall of the large pipeline and the ground, which causes a small angle change between the vehicle body and the horizontal plane during the movement, resulting in a corresponding deviation in the position of the nozzle, which leads to a reduction in the spraying thickness at the corresponding position of the pipeline inner wall or a spraying blank area. Moreover, most of this type of equipment is customized and cannot be easily adjusted according to the diameter of the pipeline and the additional components on the inner wall. As a result, some non-standard design factories need to design a set of corresponding spraying equipment when spraying the inner walls of different pipelines, which is costly. Summary of the invention

[0004] The purpose of the present invention is to provide a device and method for automatically spraying anti-corrosion coatings on the inner wall of a large pipeline in order to solve the above-mentioned problems.

[0005] The present invention provides an automatic spraying device for anticorrosive coatings on the inner wall of a large pipeline, comprising a mobile body, a longitudinal moving mechanism connected to the mobile body, a first angle adjustment mechanism connected to the longitudinal moving mechanism, a rotating mechanism fixedly connected to the first angle adjustment mechanism, a plurality of telescopic spraying mechanisms symmetrically connected to the rotating mechanism, and a second angle adjustment mechanism connected between the rotating mechanism and the telescopic spraying mechanism; the first angle adjustment mechanism comprises an articulated assembly connected between the longitudinal moving mechanism and the rotating mechanism and an angle adjustment assembly arranged on the articulated assembly, the angle adjustment assembly is used to adjust the degree of folding of the articulated assembly, and the rotating mechanism is used to drive the plurality of telescopic spraying mechanisms and the second angle adjustment mechanism to rotate around the Y axis to a set angle;

[0006] The telescopic spraying mechanism comprises a telescopic spraying assembly and a telescopic adjustment assembly fixedly connected to the rotating mechanism, a spray sample supply assembly and a hydraulic adjustment assembly arranged on the rotating mechanism, the hydraulic adjustment assembly is used to adjust the telescopic length of the telescopic adjustment assembly, the telescopic spraying assembly is used to spray the spraying material onto the inner wall of the large pipe, the telescopic adjustment assembly is used to adjust the distance between the other end of the telescopic spraying assembly and the inner wall of the large pipe, and the other end of the telescopic spraying assembly is movably connected to the other end of the telescopic adjustment assembly;

[0007] The second angle adjustment mechanism is used to drive the other end of the telescopic spray assembly to rotate around the Y axis to a set angle.

[0008] As a further optimization scheme of the present invention, the longitudinal moving mechanism includes a longitudinal slide rail and a fixed connecting plate fixedly connected to the mobile body, a screw movably connected to the fixed connecting plate, a first motor fixedly connected to the fixed connecting plate, a sliding support frame slidably connected to the longitudinal slide rail, and a connecting slider fixedly connected to the sliding support frame, the connecting slider is threadedly connected to the screw, and the output shaft end of the first motor is detachably connected to the screw.

[0009] As a further optimization scheme of the present invention, the hinge assembly includes a plurality of first transverse hinge plates fixedly connected to the sliding support frame, a second transverse hinge plate hinged at the other end of the first transverse hinge plate, and the second transverse hinge plate is fixedly connected to the rotating mechanism; the angle adjustment assembly includes a first longitudinal hinge plate fixedly connected to the first transverse hinge plate, a second longitudinal hinge plate fixedly connected to the second transverse hinge plate, and an electric telescopic rod connected between the first transverse hinge plate and the first longitudinal hinge plate, the two ends of the electric telescopic rod are respectively hinged to the first longitudinal hinge plate and the second longitudinal hinge plate, the length of the first longitudinal hinge plate is greater than the length of the second longitudinal hinge plate, and the electric telescopic rod is used to adjust the angle between the first transverse hinge plate and the second transverse hinge plate.

[0010] As a further optimization scheme of the present invention, the rotating mechanism includes a first shell fixedly connected to the second transverse hinge plate, a motor gear drive module and a limit member fixedly connected to the inner wall of the first shell, a bearing arranged in the limit member, and a spliced ​​rotating rod connected to the bearing, one end of the spliced ​​rotating rod is keyed to the output end of the motor gear drive module, and the other end of the spliced ​​rotating rod extends to the outside of the first shell.

[0011] As a further optimization scheme of the present invention, the telescopic spraying assembly includes a telescopic bellows fixedly connected to the spliced ​​rotating rod and a spray head connected to the other end of the telescopic bellows, and the spray head is connected to the spray liquid supply assembly.

[0012] As a further optimization scheme of the present invention, the spray liquid supply assembly includes a first connecting tube connected to the limiter, a first annular liquid supply groove and a first connecting cavity arranged inside the limiter, and a second connecting cavity arranged inside the spliced ​​rotating rod. The first connecting tube is connected to the first annular liquid supply groove through the first connecting cavity, and the two ends of the second connecting cavity are respectively connected to the first annular liquid supply groove and the telescopic bellows.

[0013] As a further optimization scheme of the present invention, the telescopic adjustment assembly includes a second shell fixedly connected to the spliced ​​rotating rod, a multi-stage hydraulic telescopic rod connected to the second shell, a third shell connected to the other end of the multi-stage hydraulic telescopic rod, and a movable shaft movably connected to the third shell, and the nozzle is fixedly connected to one end of the movable shaft.

[0014] As a further optimization scheme of the present invention, the hydraulic adjustment assembly includes two second connecting pipes fixedly connected to the limiter, two second annular liquid supply grooves and two third connecting cavities arranged inside the limiter, and two fourth connecting cavities arranged inside the spliced ​​rotating rod. The second connecting pipe is connected to the corresponding second annular liquid supply groove through the third connecting cavity, one end of the fourth connecting cavity is connected to the corresponding second annular liquid supply groove, and the other end of the fourth connecting cavity is connected to the corresponding oil inlet connector on the multi-stage hydraulic telescopic rod.

[0015] As a further optimization scheme of the present invention, the second angle adjustment mechanism includes an angle adjustment component fixedly connected to the other end of the telescopic adjustment component and a rotary power supply component provided on the rotating mechanism, the rotary power supply component is used to supply power to the angle adjustment component, the angle adjustment component is detachably connected to the other end of the telescopic spraying component, and the angle adjustment component is used to drive the other end of the telescopic spraying component to rotate around the Y axis to a set angle;

[0016] The rotation angle adjustment assembly comprises a fourth housing fixedly connected to the third housing and a second motor fixedly connected to the inner wall of the fourth housing, wherein the output shaft end of the second motor is key-connected to the other end of the movable shaft;

[0017] The rotating power supply assembly includes a plurality of power supply rings arranged inside the limiter, a plurality of conductive rings and a connecting rod slidably connected to the limiter, a fixed ring fixedly connected to the spliced ​​rotating rod, a plurality of fifth shells fixedly connected to the fixed ring, and a spiral telescopic wire connected to the fifth shell, a plurality of buried conductive wires are arranged inside the connecting rod, two ends of the plurality of buried conductive wires are respectively electrically connected to the corresponding conductive rings and the spiral telescopic wire, and the other end of the spiral telescopic wire is electrically connected to the corresponding connecting rod.

[0018] A method for automatically spraying anti-corrosion coatings on the inner wall of a large pipeline, using the above-mentioned automatic spraying device for anti-corrosion coatings on the inner wall of a large pipeline, comprises the following steps:

[0019] Step S1, inputting the diameter of the large pipeline and the three-dimensional coordinate data of the inner wall additional component into the control terminal of the mobile vehicle, and the control terminal adjusts the telescopic adjustment component and the telescopic length of the telescopic spraying component through the hydraulic adjustment component, so that the distance between the other end of the telescopic spraying component and the inner wall of the large pipeline reaches the set value;

[0020] Step S2, controlling the mobile vehicle to enter from one end of the large pipeline until all the telescopic spraying components are located at the opening at one end of the large pipeline and stop moving;

[0021] Step S3, start the external pumping device for spraying materials, transport the spraying materials to the telescopic spraying assembly through the spraying liquid supply assembly, and simultaneously start the rotating mechanism and the moving vehicle body, drive the telescopic spraying assembly to rotate in a directional circle around the central axis of the large pipeline through the rotating mechanism, and cooperate with the moving vehicle body to move along the central axis of the large pipeline;

[0022] Step S4, when the mobile vehicle body moves and passes through the additional component, the distance between the telescopic spraying component and the inner wall of the large pipe is adjusted by the hydraulic adjustment component, and the angle adjustment component is powered by the rotary power supply component, so that the angle adjustment component works and drives the other end of the telescopic spraying component to rotate along the Y axis to a set angle to adapt to the spraying of the outer surface or inner surface of the additional component;

[0023] Step S5, continue spraying until part of the mobile body moves to the outside of the other end of the large pipeline, and adjust the angle between the rotating mechanism and the horizontal plane through the first angle adjustment mechanism until the entire mobile body is completely moved out, completing the spraying work.

[0024] The beneficial effects of the present invention are that the present invention can be applied to large-scale pipes of different specifications and with different additional components on the inner wall, can ensure that the thickness of the spray layer on the entire inner wall of the pipe and the additional components remains the same, and can extend into the interior of the hollow component for spraying during the rotary spraying process. The present invention has a wide range of applications and can effectively reduce the production cost of factories for spraying the inner walls of large pipes. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 The present invention Figure 1 A partial cross-sectional view of

[0027] Figure 3 The present invention Figure 1Magnified view at A in the middle;

[0028] Figure 4 The present invention Figure 1 Magnified view at B in the middle;

[0029] Figure 5 The present invention Figure 2 Enlarged view at center C;

[0030] Figure 6 The present invention Figure 2 Magnified view at D in the middle;

[0031] Figure 7 The present invention Figure 2 Enlarged view at E in the middle;

[0032] Figure 8 The present invention Figure 2 Magnified view at F in the middle.

[0033] In the figure: 1. moving body; 201. longitudinal slide rail; 202. fixed connecting plate; 203. screw; 204. sliding support frame; 205. connecting slider; 206. first motor; 3. first angle adjustment mechanism; 301. first transverse hinge plate; 302. second transverse hinge plate; 303. first longitudinal hinge plate; 304. second longitudinal hinge plate; 305. electric telescopic rod; 4. rotating mechanism; 401. first shell; 402. motor gear drive module; 403. limiter; 404. spliced ​​rotating rod; 405. bearing; 5. telescopic spraying mechanism; 51. telescopic spraying assembly; 5101. telescopic bellows; 5102. nozzle; 52. telescopic adjustment assembly; 5201. second shell; 5202. Multi-stage hydraulic telescopic rod; 5203, third shell; 5204, movable shaft; 53, spray liquid supply assembly; 5301, first connecting pipe; 5302, first annular liquid supply groove; 5303, first connecting cavity; 5304, second connecting cavity; 54, hydraulic adjustment assembly; 5401, second connecting pipe; 5402, second annular liquid supply groove; 5403, third connecting cavity; 5404, fourth connecting cavity; 6, second angle adjustment mechanism; 61, rotation angle adjustment assembly; 6101, fourth shell; 6102, second motor; 62, rotating power supply assembly; 6201, power supply ring; 6202, conductive ring; 6203, connecting rod; 6204, fixing ring; 6205, fifth shell; 6206, spiral telescopic wire. DETAILED DESCRIPTION

[0034] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only intended to enable those skilled in the art to better understand and implement the subject matter described herein. In addition, the features described relative to some examples may also be combined in other examples.

[0035] like Figure 1 and Figure 2 As shown, an automatic spraying device for anticorrosive coating on the inner wall of a large pipeline comprises a moving body 1, a longitudinal moving mechanism connected to the moving body 1, a first angle adjustment mechanism 3 connected to the longitudinal moving mechanism, a rotating mechanism 4 fixedly connected to the first angle adjustment mechanism 3, a plurality of telescopic spraying mechanisms 5 symmetrically connected to the rotating mechanism 4, and a second angle adjustment mechanism 6 connected between the rotating mechanism 4 and the telescopic spraying mechanism 5. The moving body 1 is used to move along the length direction of the large pipeline, and the longitudinal moving mechanism is used to drive the first angle adjustment mechanism 3 to move up or down along the Z axis by a set distance; the first angle adjustment mechanism 3 comprises an articulated assembly connected between the longitudinal moving mechanism and the rotating mechanism 4 and an angle adjustment assembly provided on the articulated assembly, the angle adjustment assembly is used to adjust the degree of bending of the articulated assembly, and the rotating mechanism 4 is used to drive the plurality of telescopic spraying mechanisms 5 and the second angle adjustment mechanism 6 to rotate around the Y axis to a set angle;

[0036] The telescopic spraying mechanism 5 includes a telescopic spraying assembly 51 and a telescopic adjustment assembly 52 fixedly connected to the rotating mechanism 4, a spraying liquid supply assembly 53 and a hydraulic adjustment assembly 54 arranged on the rotating mechanism 4, the spraying liquid supply assembly 53 is used to transport the spraying material to the telescopic spraying assembly 51, the hydraulic adjustment assembly 54 is used to adjust the telescopic length of the telescopic adjustment assembly 52, the telescopic spraying assembly 51 is used to spray the spraying material to the inner wall of the large pipe, the telescopic adjustment assembly 52 is used to adjust the distance between the other end of the telescopic spraying assembly 51 and the inner wall of the large pipe, and the other end of the telescopic spraying assembly 51 is movably connected to the other end of the telescopic adjustment assembly 52;

[0037] The second angle adjustment mechanism 6 includes an angle adjustment component 61 fixedly connected to the other end of the telescopic adjustment component 52 and a rotating power supply component 62 arranged on the rotating mechanism 4, the rotating power supply component 62 is used to supply power to the angle adjustment component 61, the angle adjustment component 61 is detachably connected to the other end of the telescopic spraying component 51, and the angle adjustment component 61 is used to drive the other end of the telescopic spraying component 51 to rotate around the Y-axis to a set angle.

[0038] It should be noted that when the large pipeline inner wall anticorrosive coating automatic spraying device as described above is used to spray the inner wall of the large pipeline, the following steps are included:

[0039] The diameter of the large pipeline and the three-dimensional coordinate data of the inner wall additional components are input into the control terminal of the mobile vehicle 1. The control terminal adjusts the telescopic adjustment component 52 and the telescopic length of the telescopic spraying component 51 through the hydraulic adjustment component 54, so that the distance between the other end of the telescopic spraying component 51 and the inner wall of the large pipeline reaches the set value. A limit fixing structure is set outside the large pipeline to prevent the large pipeline from moving or turning over when the mobile vehicle moves along the large pipeline.

[0040] Control the mobile vehicle 1 to enter from one end of the large pipe until all the telescopic spraying assemblies 51 are located at the opening of one end of the large pipe and then stop moving;

[0041] Start the external pumping device for spraying materials, and deliver the spraying materials to the telescopic spraying assembly 51 through the spraying liquid supply assembly 53, and start the rotating mechanism 4 and the mobile body 1 at the same time, and drive the telescopic spraying assembly 51 to rotate in a directional circle around the central axis of the large pipeline through the rotating mechanism 4, and cooperate with the mobile body 1 to move along the central axis of the large pipeline;

[0042] During the movement of the mobile body 1, when passing through the additional component, the distance between the telescopic spraying component 51 and the inner wall of the large pipe is adjusted by the hydraulic adjustment component 54, and the rotation angle adjustment component 61 is powered by the rotary power supply component 62, so that the rotation angle adjustment component 61 works and drives the other end of the telescopic spraying component 51 to rotate along the Y axis to a set angle to adapt to the spraying of the outer surface or inner surface of the additional component. The additional component includes solid structural parts and cavity structural parts. Solid structural parts such as bolts, nuts, etc., and cavity structural parts such as sensor mounting housings, etc. can all be sprayed on their inner and / or outer walls using the above-mentioned spraying adjustment method. In this adjustment process, the control program is a prior art and will not be repeated here.

[0043] The spraying is continued until part of the mobile body 1 moves to the outside of the other end of the large pipe, and the angle between the rotating mechanism 4 and the horizontal plane is adjusted by the first angle adjustment mechanism 3 until the entire mobile body 1 is completely moved out, and the spraying work is completed.

[0044] Among them, Figure 1 and Figure 2 As shown, the longitudinal moving mechanism includes a longitudinal slide rail 201 and a fixed connecting plate 202 fixedly connected to the mobile body 1, a screw 203 movably connected to the fixed connecting plate 202, a first motor 206 fixedly connected to the fixed connecting plate 202, a sliding support frame 204 slidably connected to the longitudinal slide rail 201, and a connecting slider 205 fixedly connected to the sliding support frame 204, the connecting slider 205 is threadedly connected to the screw 203, and the output shaft end of the first motor 206 is detachably connected to the screw 203.

[0045] It should be noted that, as mentioned above, in order to adapt to large pipelines of different sizes and structures, and to keep the central axis of the rotating mechanism 4 coaxial with the central axis of the large pipeline, the height of the rotating mechanism 4 can be adjusted by a longitudinal moving mechanism. Specifically, the screw 203 is driven to rotate by the first motor 206. When the screw 203 rotates, the connecting slider 205 threadedly connected to it is driven to move up and down along the screw 203. When the connecting slider 205 moves up and down, it drives the sliding support frame 204 fixedly connected to it to move in the same direction and distance, thereby driving the rotating mechanism 4 to move in the same direction and distance through the sliding support frame 204, so as to achieve the effect of adjusting the central axis of the rotating mechanism 4 to be coaxial with the central axis of the large pipeline.

[0046] Among them, Figure 1 and Figure 2 As shown, the hinge assembly includes a plurality of first transverse hinge plates 301 fixedly connected to the sliding support frame 204, a second transverse hinge plate 302 hinged at the other end of the first transverse hinge plate 301, and the second transverse hinge plate 302 is fixedly connected to the rotating mechanism 4; the angle adjustment assembly includes a first longitudinal hinge plate 303 fixedly connected to the first transverse hinge plate 301, a second longitudinal hinge plate 304 fixedly connected to the second transverse hinge plate 302, and an electric telescopic rod 305 connected between the first transverse hinge plate 301 and the first longitudinal hinge plate 303, the two ends of the electric telescopic rod 305 are respectively hinged to the first longitudinal hinge plate 303 and the second longitudinal hinge plate 304, the length of the first longitudinal hinge plate 303 is greater than the length of the second longitudinal hinge plate 304, and the electric telescopic rod 305 is used to adjust the angle between the first transverse hinge plate 301 and the second transverse hinge plate 302.

[0047] It should be noted that, as mentioned above, when the mobile vehicle body 1 moves out of the large pipeline, the mobile vehicle body 1 will deflect from the horizontal plane at an angle, so that the central axis of the rotating mechanism 4 will undergo the same deflection change with the horizontal plane. In this process, a spirit level can be set on the vehicle body or the corresponding deflection angle can be calculated according to the data, and the electric telescopic rod 305 can be controlled to extend or shorten the corresponding length. When the electric telescopic rod 305 is extended or shortened, it will drive the second longitudinal hinge plate 304 to move, and drive the second transverse hinge plate 302 to rotate around the hinge with the first transverse hinge plate 301, that is, rotate around the X-axis, thereby driving the entire rotating mechanism 4 to rotate around the X-axis, so as to re-correct the deflection angle of the central axis of the rotating mechanism 4, so that the central axis of the rotating mechanism 4 is coaxial with the central axis of the large pipeline again, thereby preventing the occurrence of spraying blank areas or spraying uneven thickness areas within a certain arc range during the spraying process of the inner wall of the large pipeline, which can effectively improve the success rate of one-time spraying and reduce subsequent manual repair procedures.

[0048] Among them, Figure 2 , Figure 3 , Figure 5 As shown, the rotating mechanism 4 includes a first shell 401 fixedly connected to the second transverse hinge plate 302, a motor gear driving module 402 and a limit member 403 fixedly connected to the inner wall of the first shell 401, a bearing 405 arranged in the limit member 403, and a spliced ​​rotating rod 404 connected to the bearing 405, one end of the spliced ​​rotating rod 404 is key-connected to the output end of the motor gear driving module 402, and the other end of the spliced ​​rotating rod 404 extends to the outside of the first shell 401.

[0049] It should be noted that, as mentioned above, when the telescopic spraying mechanism 5 is driven to rotate at a set rotation speed by the rotating mechanism 4, the spliced ​​rotating rod 404 is driven to rotate by the motor gear driving module 402. When the spliced ​​rotating rod 404 rotates, it drives the telescopic spraying mechanism 5 connected thereto to rotate according to a set direction and a set angular velocity. It can be adaptively adjusted according to the spraying procedure to adapt to large pipelines of different structures and specifications.

[0050] Among them, Figure 1-4 as well as Figure 6-8 As shown, the telescopic spraying assembly 51 includes a telescopic bellows 5101 fixedly connected to the spliced ​​rotating rod 404 and a spray head 5102 connected to the other end of the telescopic bellows 5101 , and the spray head 5102 is connected to the spray liquid supply assembly 53 .

[0051] The spray liquid supply assembly 53 includes a first connecting tube 5301 connected to the limiter 403, a first annular liquid supply groove 5302 and a first connecting cavity 5303 arranged inside the limiter 403, and a second connecting cavity 5304 arranged inside the spliced ​​rotating rod 404. The first connecting tube 5301 is connected to the first annular liquid supply groove 5302 through the first connecting cavity 5303, and the two ends of the second connecting cavity 5304 are respectively connected to the first annular liquid supply groove 5302 and the telescopic bellows 5101.

[0052] It should be noted that, as mentioned above, during the spraying process, the spraying material is pumped into the corresponding first connecting pipe 5301 by an external spraying material pumping device, and the spraying material flows through the first connecting cavity 5303, the first annular liquid supply groove 5302 and the second connecting cavity 5304 in sequence under hydraulic drive, and then enters the corresponding telescopic bellows 5101, and is finally sprayed out from the nozzle 5102 at a set spraying speed and spraying amount, and adheres to the inner wall of the large pipe and / or the additional components of the inner wall. During this process, the rotation of the spliced ​​rotating rod 404 does not affect the delivery of the spraying material and the air tightness of the delivery channel.

[0053] Among them, Figure 1-4 as well as Figure 6-8As shown, the telescopic adjustment assembly 52 includes a second shell 5201 fixedly connected to the spliced ​​rotating rod 404, a multi-stage hydraulic telescopic rod 5202 connected to the second shell 5201, a third shell 5203 connected to the other end of the multi-stage hydraulic telescopic rod 5202, and a movable shaft 5204 movably connected to the third shell 5203, and the nozzle 5102 is fixedly connected to one end of the movable shaft 5204.

[0054] The hydraulic adjustment assembly 54 includes two second connecting pipes 5401 fixedly connected to the limit member 403, two second annular liquid supply grooves 5402 and two third connecting cavities 5403 arranged inside the limit member 403, and two fourth connecting cavities 5404 arranged inside the spliced ​​rotating rod 404. The second connecting pipe 5401 is connected to the corresponding second annular liquid supply groove 5402 through the third connecting cavity 5403, one end of the fourth connecting cavity 5404 is connected to the corresponding second annular liquid supply groove 5402, and the other end of the fourth connecting cavity 5404 is connected to the corresponding oil inlet connector on the multi-stage hydraulic telescopic rod 5202.

[0055] It should be noted that the multi-stage hydraulic telescopic rod 5202 is a prior art. In another embodiment of the present invention, an electric multi-stage telescopic rod can also be used as a substitute. In this embodiment, when the distance between the nozzle and the inner wall of the large pipeline is adjusted by the multi-stage hydraulic telescopic rod 5202, the oil is transported to the corresponding second connecting pipe 5401 through the external pump body, and the oil flows through the third connecting cavity 5403, the second annular liquid supply groove 5402 and the fourth connecting cavity 5404 in turn, and finally enters the corresponding oil inlet connector on the multi-stage hydraulic telescopic rod 5202 to achieve the extension or shortening of the multi-stage hydraulic telescopic rod 5202. During the rotation of the spliced ​​rotating rod 404, the flow of oil and the air tightness of the corresponding oil delivery channel will not be affected.

[0056] Among them, Figure 2 , Figure 4 as well as Figure 6-8 As shown, the rotation angle adjustment assembly 61 includes a fourth housing 6101 fixedly connected to the third housing 5203 and a second motor 6102 fixedly connected to the inner wall of the fourth housing 6101, and the output shaft end of the second motor 6102 is key-connected to the other end of the movable shaft 5204;

[0057] The rotating power supply assembly 62 includes a plurality of power supply rings 6201 arranged inside the limit member 403, a plurality of conductive rings 6202 and a connecting rod 6203 slidably connected to the limit member 403, a fixed ring 6204 fixedly connected to the spliced ​​rotating rod 404, a plurality of fifth shells 6205 fixedly connected to the fixed ring 6204, and a spiral telescopic wire 6206 connected to the fifth shell 6205. A plurality of buried conductive wires are arranged inside the connecting rod 6203, and both ends of the plurality of buried conductive wires are respectively electrically connected to the corresponding conductive ring 6202 and the spiral telescopic wire 6206, and the other end of the spiral telescopic wire 6206 is electrically connected to the corresponding connecting rod 6203.

[0058] It should be noted that, as mentioned above, in order to adapt to the spraying of different additional components on the inner wall of a large pipeline, such as a right-angle area, it is necessary to adjust the spray angle of the nozzle 5102 to adapt to the uniform spraying of some special areas. During the rotation of the spliced ​​rotating rod 404, the second motor 6102 can be electrically connected to the corresponding power supply ring 6201 through the spiral telescopic wire 6206, the embedded conductive wire, and the conductive ring 6202, so as to realize signal transmission and power supply. The second motor 6102 can drive the movable shaft 5204 to rotate a set angle along a set direction, thereby achieving the effect of adjusting the spray angle of the nozzle during the rotation around the central axis of the large pipeline.

[0059] The present embodiment is described above, but the present embodiment is not limited to the above-mentioned specific implementation manner. The above-mentioned specific implementation manner is merely illustrative and not restrictive. Under the guidance of the present embodiment, ordinary technicians in this field can also make many forms, which are all within the protection of the present embodiment.

Claims

1. An automatic spraying device for anti-corrosion coating on the inner wall of a large pipeline, characterized in that: The invention comprises a mobile body, a longitudinal moving mechanism connected to the mobile body, a first angle adjustment mechanism connected to the longitudinal moving mechanism, a rotating mechanism fixedly connected to the first angle adjustment mechanism, a plurality of telescopic spraying mechanisms symmetrically connected to the rotating mechanism, and a second angle adjustment mechanism connected between the rotating mechanism and the telescopic spraying mechanism; the first angle adjustment mechanism comprises an articulated assembly connected between the longitudinal moving mechanism and the rotating mechanism and an angle adjustment assembly arranged on the articulated assembly, the angle adjustment assembly is used to adjust the degree of folding of the articulated assembly, and the rotating mechanism is used to drive the plurality of telescopic spraying mechanisms and the second angle adjustment mechanism to rotate around the Y axis Rotate to set the angle; the telescopic spraying mechanism includes a telescopic spraying component and a telescopic adjustment component fixedly connected to the rotating mechanism, a spray sample supply component and a hydraulic adjustment component arranged on the rotating mechanism, the hydraulic adjustment component is used to adjust the telescopic length of the telescopic adjustment component, the telescopic spraying component is used to spray the spray material to the inner wall of the large pipe, the telescopic adjustment component is used to adjust the distance between the other end of the telescopic spraying component and the inner wall of the large pipe, and the other end of the telescopic spraying component is movably connected to the other end of the telescopic adjustment component; the second angle adjustment mechanism is used to drive the other end of the telescopic spraying component to rotate around the Y axis to set the angle; The longitudinal moving mechanism comprises a longitudinal slide rail and a fixed connecting plate fixedly connected to the moving vehicle body, a screw rod movably connected to the fixed connecting plate, a first motor fixedly connected to the fixed connecting plate, a sliding support frame slidably connected to the longitudinal slide rail, and a connecting slider fixedly connected to the sliding support frame, wherein the connecting slider is threadedly connected to the screw rod, and the output shaft end of the first motor is detachably connected to the screw rod; The hinge assembly includes a plurality of first transverse hinge plates fixedly connected to the sliding support frame, a second transverse hinge plate hinged at the other end of the first transverse hinge plate, and the second transverse hinge plate is fixedly connected to the rotating mechanism; the angle adjustment assembly includes a first longitudinal hinge plate fixedly connected to the first transverse hinge plate, a second longitudinal hinge plate fixedly connected to the second transverse hinge plate, and an electric telescopic rod connected between the first transverse hinge plate and the first longitudinal hinge plate, the two ends of the electric telescopic rod are respectively hinged to the first longitudinal hinge plate and the second longitudinal hinge plate, the length of the first longitudinal hinge plate is greater than the length of the second longitudinal hinge plate, and the electric telescopic rod is used to adjust the angle between the first transverse hinge plate and the second transverse hinge plate; The rotating mechanism includes a first shell fixedly connected to the second transverse hinge plate, a motor gear drive module and a limiter fixedly connected to the inner wall of the first shell, a bearing arranged in the limiter, and a spliced ​​rotating rod connected to the bearing, one end of the spliced ​​rotating rod is keyed to the output end of the motor gear drive module, and the other end of the spliced ​​rotating rod extends to the outside of the first shell.

2. According to claim 1, the automatic spraying device for anti-corrosion coating on the inner wall of a large pipeline is characterized in that: The telescopic spraying assembly comprises a telescopic bellows fixedly connected to a spliced ​​rotating rod and a spray head connected to the other end of the telescopic bellows, and the spray head is communicated with the spray liquid supply assembly.

3. The automatic spraying device for anticorrosive coating on the inner wall of a large pipeline according to claim 2 is characterized in that: The spray liquid supply assembly includes a first connecting tube connected to the limiter, a first annular liquid supply groove and a first connecting cavity arranged inside the limiter, and a second connecting cavity arranged inside the spliced ​​rotating rod. The first connecting tube is connected to the first annular liquid supply groove through the first connecting cavity, and the two ends of the second connecting cavity are respectively connected to the first annular liquid supply groove and the telescopic bellows.

4. The automatic spraying device for anticorrosive coating on the inner wall of a large pipeline according to claim 3 is characterized in that: The telescopic adjustment assembly includes a second shell fixedly connected to the spliced ​​rotating rod, a multi-stage hydraulic telescopic rod connected to the second shell, a third shell connected to the other end of the multi-stage hydraulic telescopic rod, and a movable shaft movably connected to the third shell, and the nozzle is fixedly connected to one end of the movable shaft.

5. The automatic spraying device for anticorrosive coating on the inner wall of a large pipeline according to claim 4 is characterized in that: The hydraulic adjustment assembly includes two second connecting pipes fixedly connected to the limiter, two second annular liquid supply grooves and two third connecting cavities arranged inside the limiter, and two fourth connecting cavities arranged inside the spliced ​​rotating rod. The second connecting pipe is connected to the corresponding second annular liquid supply groove through the third connecting cavity, one end of the fourth connecting cavity is connected to the corresponding second annular liquid supply groove, and the other end of the fourth connecting cavity is connected to the corresponding oil inlet connector on the multi-stage hydraulic telescopic rod.

6. The automatic spraying device for anticorrosive coating on the inner wall of a large pipeline according to claim 5 is characterized in that: The second angle adjustment mechanism includes an angle adjustment component fixedly connected to the other end of the telescopic adjustment component and a rotating power supply component provided on the rotating mechanism, wherein the rotating power supply component is used to supply power to the angle adjustment component, the angle adjustment component is detachably connected to the other end of the telescopic spraying component, and the angle adjustment component is used to drive the other end of the telescopic spraying component to rotate around the Y axis to a set angle; The rotation angle adjustment assembly comprises a fourth housing fixedly connected to the third housing and a second motor fixedly connected to the inner wall of the fourth housing, wherein the output shaft end of the second motor is key-connected to the other end of the movable shaft; The rotating power supply assembly includes a plurality of power supply rings arranged inside the limiter, a plurality of conductive rings and a connecting rod slidably connected to the limiter, a fixed ring fixedly connected to the spliced ​​rotating rod, a plurality of fifth shells fixedly connected to the fixed ring, and a spiral telescopic wire connected to the fifth shell, a plurality of buried conductive wires are arranged inside the connecting rod, two ends of the plurality of buried conductive wires are respectively electrically connected to the corresponding conductive rings and the spiral telescopic wire, and the other end of the spiral telescopic wire is electrically connected to the corresponding connecting rod.

7. A method for automatically spraying anticorrosive coating on the inner wall of a large pipeline, characterized in that: The automatic spraying device for anticorrosive coating on the inner wall of a large pipeline as claimed in claim 6 comprises the following steps: Step S1, inputting the diameter of the large pipeline and the three-dimensional coordinate data of the inner wall additional component into the control terminal of the mobile vehicle, and the control terminal adjusts the telescopic adjustment component and the telescopic length of the telescopic spraying component through the hydraulic adjustment component, so that the distance between the other end of the telescopic spraying component and the inner wall of the large pipeline reaches the set value; Step S2, controlling the mobile vehicle to enter from one end of the large pipeline until all the telescopic spraying components are located at the opening at one end of the large pipeline and stop moving; Step S3, start the external pumping device for spraying materials, transport the spraying materials to the telescopic spraying assembly through the spraying liquid supply assembly, and simultaneously start the rotating mechanism and the moving vehicle body, drive the telescopic spraying assembly to rotate in a directional circle around the central axis of the large pipeline through the rotating mechanism, and cooperate with the moving vehicle body to move along the central axis of the large pipeline; Step S4, when the mobile vehicle body moves and passes through the additional component, the distance between the telescopic spraying component and the inner wall of the large pipe is adjusted by the hydraulic adjustment component, and the angle adjustment component is powered by the rotary power supply component, so that the angle adjustment component works and drives the other end of the telescopic spraying component to rotate along the Y axis to a set angle to adapt to the spraying of the outer surface or inner surface of the additional component; Step S5, continue spraying until part of the mobile body moves to the outside of the other end of the large pipeline, and adjust the angle between the rotating mechanism and the horizontal plane through the first angle adjustment mechanism until the entire mobile body is completely moved out, completing the spraying work.

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