Visual spraying mechanism for inner wall of high-pressure seamless gas cylinder and using method of visual spraying mechanism

Abstract

The invention discloses a visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder and a using method thereof.The mechanism comprises a long-strip-shaped shell, a supporting structure, a visual structure and a spraying structure, and the supporting structure, the visual structure and the spraying structure are sequentially connected into the long-strip-shaped shell from back to front; the supporting structure and the visual structure are connected through a quick connector, and the spraying structure and the visual structure are connected through a quick connector. The method comprises the following steps: 1, fixing a high-pressure seamless gas cylinder; 2, determining a to-be-sprayed area; thirdly, a visual spraying mechanism is supported; 4, spraying an area to be sprayed; 5, retracting the supporting structure; and sixthly, the remaining to-be-sprayed area is sprayed. Through the supporting structure, the visual structure and the spraying structure which are sequentially connected in the long-strip-shaped shell, paint spraying protection is conducted on the inner wall of the high-pressure seamless gas cylinder, and daily rapid inspection and repair of the small-caliber pressure container are achieved; and the whole mechanism is in a long strip shape, the local paint spraying function can be completed in the gas cylinder, and all modules of the mechanism are connected and replaced through quick connectors.

Description

Technical Field

[0001] The invention belongs to the technical field of seamless gas cylinder inner processing, and in particular relates to a high-pressure seamless gas cylinder inner wall visual spraying mechanism and a use method thereof. Background Art

[0002] High-pressure seamless gas cylinders are refillable mobile pressure vessels used to hold permanent gases or high-pressure liquefied gases. They are widely used in the fields of petroleum, chemical industry, and military. Due to the influence of factors such as the quality of the gas source and the use environment, a considerable number of gas cylinders were found to have rust on their inner surfaces during the regular inspection of gas cylinders. The corrosive substances in the gas cylinders seriously affect the quality of the stored gas, posing certain hidden dangers to the safe use of the gas cylinders. Due to the small diameter and large belly size of the gas cylinders, it is difficult to remove rust and spray the inside, so they are usually directly scrapped or returned to the factory for repair. However, the return to the factory has a long processing cycle, is difficult to transport, and has high costs, which also affects the normal testing and use of the equipment system.

[0003] At present, most of the existing patents involve the inner surface treatment technology of gas cylinders, which involves spraying anti-corrosion on the inner surface of the gas cylinder after the gas cylinder is formed and manufactured, so as to improve the service life and quality of the gas cylinder. For rusted gas cylinders found during regular inspections, ultrasonic rust removal and mechanical rust removal are usually used. The mechanical rust removal device uses sandblasting, high-speed rotation of steel wire rope or grinding and shot blasting to achieve the rust removal effect. After rust removal, it is cleaned and dried, and then the inner wall is coated with a protective film. The above gas cylinder inner surface treatment technology is for the entire inner wall of the gas cylinder, and cannot accurately treat and protect the specific location where rust occurs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder in view of the deficiencies in the above-mentioned prior art. By sequentially connecting a supporting structure, a visual structure, and a spraying structure in the elongated shell, the area on the inner wall of the high-pressure seamless gas cylinder that needs to be derusted can be sprayed with paint for protection, thereby realizing daily rapid inspection and repair of small-caliber pressure vessels. The entire mechanism is in the shape of an elongated strip and can complete the local painting function inside the gas cylinder. The modules of the mechanism are connected and replaced by quick connectors, and the weight of each module meets the portability requirements.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder, characterized in that: It includes a long strip shell and a support structure, a visual structure, and a spraying structure connected in the long strip shell from back to front in sequence, wherein the support structure and the visual structure, and the spraying structure and the visual structure are connected by quick connectors; The long strip shell includes a support structure shell, a visual structure shell, and a spray structure shell which are connected in sequence from back to front, and the support structure shell and the visual structure shell, as well as the spray structure shell and the visual structure shell are connected by quick connectors; The support structure comprises an electric push rod and a crank-connecting rod assembly both arranged in a support structure housing, and the electric push rod and the crank-connecting rod assembly are connected via a crank stopper; The crank-connecting rod assembly includes three crank-connecting rod units, the three crank-connecting rod units are evenly arranged along the circumference of the support structure shell, and the structures of the three crank-connecting rod units are the same; The visual structure comprises a visual servo motor and an endoscope probe both disposed in a housing of the visual structure, wherein the visual servo motor and the endoscope probe are connected via a swing connection assembly; The spraying structure comprises a spraying servo motor and a spraying component which are arranged in a shell of the spraying structure. The spraying servo motor and the spraying component are connected via a spraying connection component.

[0006] The above-mentioned visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder is characterized in that the end of the electric push rod away from the crank-connecting rod assembly is connected to the supporting structure shell through an electric push rod stopper, and the electric push rod stopper is fixed to the supporting structure shell by screws.

[0007] The above-mentioned visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder is characterized in that: the crank-connecting rod assembly is arranged at the end of the rod core of the electric push rod away from the electric push rod stopper, one end of the crank-connecting rod assembly is hinged to the crank stopper, and the other end of the crank-connecting rod assembly is hinged to the connecting rod stopper, and the connecting rod stopper is fixed in the supporting structure shell by screws; each of the crank-connecting rod units includes a crank hinged on the crank stopper and a connecting rod rotatably connected to the crank, and the end of the connecting rod away from the crank is hinged to the connecting rod stopper.

[0008] The above-mentioned visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder is characterized in that three supporting holes for the crank-connecting rod unit to open are opened on the outer side surface of the supporting structure shell.

[0009] The above-mentioned visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder is characterized in that: the visual servo motor is installed on the first motor fixing block by screws, and the first motor fixing block is installed in the visual structure housing by screws.

[0010] The above-mentioned visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder is characterized in that: the swing connection assembly includes a visual transmission shaft passing through the visual structure housing, a first bevel gear transmission unit arranged on the output shaft of the visual servo motor and connected to the visual transmission shaft, and a visual execution platform connected to the visual transmission shaft; the end of the visual transmission shaft passes through the visual structure housing; the first bevel gear transmission unit includes a first active bevel gear arranged on the output shaft of the visual servo motor and a first driven bevel gear arranged on the visual transmission shaft and meshing with the first active bevel gear; the visual execution platform is installed on the visual transmission shaft, and the endoscope probe is installed at the end of the visual execution platform away from the visual transmission shaft; the visual execution platform includes an L-shaped connector connected to the visual transmission shaft and a mounting platform connected to the L-shaped connector and used to mount the endoscope probe, and the L-shaped connector and the mounting platform are integrally formed; a peephole is opened on the outer side surface of the visual structure housing.

[0011] The above-mentioned visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder is characterized in that: the spraying servo motor is installed on the second motor fixing block by screws, and the second motor fixing block is installed in the spraying structure housing by screws.

[0012] The above-mentioned visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder is characterized in that: the spraying connection assembly includes a spraying transmission shaft passing through the spraying structure shell, a second bevel gear transmission unit arranged on the output shaft of the spraying servo motor and connected to the spraying transmission shaft, and a spraying execution platform connected to the spraying transmission shaft; the end of the spraying transmission shaft passes through the spraying structure shell; the second bevel gear transmission unit includes a second active bevel gear arranged on the output shaft of the spraying servo motor and a second driven bevel gear arranged on the spraying transmission shaft and meshing with the second active bevel gear; the spraying execution platform is installed on the spraying transmission shaft, and the spraying execution platform is an L-shaped structure; the spraying assembly is installed on the end of the spraying execution platform away from the spraying transmission shaft; a spraying hole is opened on the outer surface of the spraying structure shell.

[0013] The above-mentioned visualized spraying mechanism for the inner wall of a high-pressure seamless gas cylinder is characterized in that: the spraying assembly includes a nozzle connected to a spraying execution platform and a nozzle arranged at the end of the nozzle, the nozzle and the spraying execution platform are connected by a PU straight-through joint, and the nozzle and the nozzle are connected by a quick-plug joint.

[0014] The present invention also provides a method for spraying the inner wall of a high-pressure seamless gas cylinder by a visualized spraying mechanism for the inner wall of a high-pressure seamless gas cylinder, characterized in that the method comprises the following steps: Step 1: Fix the high-pressure seamless gas cylinder: Place the high-pressure seamless gas cylinder horizontally on the V-shaped bracket and fix the high-pressure seamless gas cylinder. After fixing it, remove the rust from the inner wall of the high-pressure seamless gas cylinder. Step 2, determine the area to be sprayed: extend the visual spray mechanism into the high-pressure seamless gas cylinder, start the visual servo motor, the visual servo motor drives the first bevel gear transmission unit to rotate, so that the visual transmission shaft also rotates, the visual execution platform installed on the visual transmission shaft swings under the drive of the transmission shaft, and the endoscope probe installed on the visual execution platform also swings under the drive of the visual execution platform, observes the inner wall of the high-pressure seamless gas cylinder, and determines the area to be sprayed; Step 3, support the visual spraying mechanism: start the electric push rod, the electric push rod pushes the crank block to move linearly, thereby driving the crank-connecting rod unit connected to the crank block to move, so that the connection between the crank and the connecting rod opens and extends out of the supporting hole until the connection between the crank and the connecting rod abuts against the inside of the high-pressure seamless gas cylinder, and the thrust of the electric push rod is maintained; Step 4: Spray the area to be sprayed. The process is as follows: Step 401, start the spray servo motor, the spray servo motor drives the second bevel gear transmission unit to rotate, so that the spray transmission shaft also rotates, and the spray execution platform installed on the spray transmission shaft swings under the drive of the spray transmission shaft, driving the spray assembly to swing, so that the spray head is aimed at the area to be sprayed; Step 402, start the nozzle to evenly spray the area to be sprayed, and close the nozzle after spraying is completed; Step 5, retract the support structure: start the electric push rod in the opposite direction, the electric push rod pulls the crank block to move linearly, thereby driving the crank-connecting rod unit connected to the crank block to move, so that the connection between the crank and the connecting rod is retracted from the support hole until the central axis of the crank and the central axis of the connecting rod are on the same horizontal line, and then close the electric push rod; Step 6: Spray the remaining area to be sprayed: Repeat steps 2 to 5, and spray the remaining area to be sprayed in sequence until all the areas to be sprayed are sprayed.

[0015] Compared with the prior art, the present invention has the following advantages: 1. The present invention can spray paint protection on the area of ​​the inner wall of the high-pressure seamless gas cylinder that needs to be rusted by sequentially connecting the supporting structure, the visual structure, and the spraying structure in the elongated shell, thereby realizing daily rapid inspection and repair of small-caliber pressure vessels; and the entire mechanism is in the shape of an elongated strip, which can complete the local painting function inside the gas cylinder, and the modules of the mechanism are connected and replaced by quick connectors, and the weight of each module meets the portability requirement.

[0016] 2. The supporting structure in the present invention supports the entire spraying mechanism through a crank-connecting rod assembly; when the entire mechanism passes through a narrow aperture, the crank-connecting rod unit is folded in the shell, and after entering the gas cylinder, the crank-connecting rod unit opens from the shell to fix the mechanism in the gas cylinder, that is, the crank-connecting rod unit can be embedded in the shell in a folded state, and can also improve the supporting strength of the spraying mechanism when it is working.

[0017] 3. The present invention utilizes a visual structure to perform visual inspection on the inner wall of the gas cylinder, quickly and accurately determine the rust removal area, and after the rust removal process is completed, the spraying structure implements the painting process to achieve inner surface inspection and processing of small-caliber gas cylinders.

[0018] 4. The present invention first determines the area to be sprayed on the inner wall of the high-pressure seamless gas cylinder through a visual structure, and then uses a supporting structure to fix the position of the visual spraying mechanism on the inner wall of the high-pressure seamless gas cylinder. Finally, the spraying structure is used to spray the area to be sprayed, thereby realizing the linkage and coordination between the three modules and completing the daily rapid inspection and repair of the inner wall of the high-pressure seamless gas cylinder.

[0019] In summary, the present invention can spray paint for protection on the area on the inner wall of the high-pressure seamless gas cylinder that needs to be rusted by sequentially connecting the supporting structure, visual structure, and spraying structure in the elongated shell, thereby realizing daily rapid inspection and repair of small-caliber pressure vessels; and the entire mechanism is in the shape of an elongated strip, which can complete the local painting function inside the gas cylinder, and the modules of the mechanism are connected and replaced by quick connectors, and the weight of each module meets the portability requirement; first, the area to be sprayed on the inner wall of the high-pressure seamless gas cylinder is determined by the visual structure, and then the position of the visual spraying mechanism is fixed on the inner wall of the high-pressure seamless gas cylinder by using the supporting structure, and finally, the area to be sprayed is sprayed by the spraying structure, so as to realize the linkage and coordination between the three modules and complete the daily rapid inspection and repair of the inner wall of the high-pressure seamless gas cylinder.

[0020] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention.

[0022] Figure 2 It is a schematic diagram of the connection relationship between the support structure and the support structure shell of the present invention.

[0023] Figure 3 This is a schematic diagram of the support structure of the present invention in an open state of use.

[0024] Figure 4 It is a schematic diagram of the connection relationship between the visual structure shell and the visual structure of the present invention.

[0025] Figure 5It is a schematic diagram of the connection relationship between the spray structure shell and the spray structure of the present invention.

[0026] Figure 6 It is a structural schematic diagram of the spraying structure of the present invention.

[0027] Figure 7 The figure is a flowchart of the method of the present invention.

[0028] Description of reference numerals: 1—support structure; 2—visual structure; 3—spraying structure; 4—support structure housing; 5—electric push rod stopper; 6—electric push rod; 7—crank stopper; 8—first crank; 9—second crank; 10—third crank; 11—first connecting rod; 12—second connecting rod; 13—third connecting rod; 14—connecting rod stopper; 15—visual structure housing; 16—visual servo motor; 17—first motor fixing block; 18—first active bevel gear; 19—first driven bevel gear; 20—visual transmission shaft; 21—visual execution platform; 22—endoscopic probe; 23—spraying structure housing; 24—spraying servo motor; 25—second motor fixing block; 26—second driving bevel gear; 27—second driven bevel gear; 28—spraying transmission shaft; 29—spraying execution platform; 30—PU straight-through connector; 31—nozzle; 32—quick-connector; 33—nozzle. DETAILED DESCRIPTION

[0029] like Figures 1 to 6 A visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder is shown, comprising a long strip shell and a support structure 1, a visual structure 2, and a spraying structure 3 connected in sequence from back to front in the long strip shell, wherein the support structure 1 and the visual structure 2, and the spraying structure 3 and the visual structure 2 are connected by quick connectors; The long strip shell includes a support structure shell 4, a visual structure shell 15, and a spray structure shell 23 which are sequentially connected from back to front. The support structure shell 4 and the visual structure shell 15, as well as the spray structure shell 23 and the visual structure shell 15 are connected by quick connectors. The support structure 1 comprises an electric push rod 6 and a crank-connecting rod assembly both disposed in a support structure housing 4, wherein the electric push rod 6 and the crank-connecting rod assembly are connected via a crank stopper 7; The crank-connecting rod assembly includes three crank-connecting rod units, which are evenly arranged along the circumference of the support structure shell 4, and the structures of the three crank-connecting rod units are the same; The visual structure 2 includes a visual servo motor 16 and an endoscopic probe 22, both of which are arranged in a visual structure housing 15, and the visual servo motor 16 and the endoscopic probe 22 are connected by a swing connection assembly; The spraying structure 3 includes a spraying servo motor 24 and a spraying component which are arranged in a spraying structure housing 23 . The spraying servo motor 24 and the spraying component are connected via a spraying connection component.

[0030] The present invention can spray paint protection on the area of ​​the inner wall of the high-pressure seamless gas cylinder that needs to be rusted by sequentially connecting the support structure 1, the visual structure 2, and the spraying structure 3 in the elongated shell, thereby realizing daily rapid inspection and repair of small-caliber pressure vessels; and the entire mechanism is in the shape of an elongated strip, which can complete the local painting function inside the gas cylinder, and the modules of the mechanism are connected and replaced by quick connectors, and the weight of each module meets the portability requirement.

[0031] In the present invention, the support structure 1 supports the entire spray mechanism through a crank-connecting rod assembly; when the entire mechanism passes through a narrow aperture, the crank-connecting rod unit is folded in the shell, and after entering the gas cylinder, the crank-connecting rod unit opens from the shell to fix the mechanism in the gas cylinder, that is, the crank-connecting rod unit can be embedded in the shell in a folded state, and can also improve the supporting strength of the spray mechanism when it is working.

[0032] The present invention utilizes the visual structure 2 to perform visual inspection on the inner wall of the gas cylinder, quickly and accurately determine the rust removal area, and after the rust removal process is completed, the spraying structure 3 implements the painting process to achieve inner surface inspection and processing of small-caliber gas cylinders.

[0033] It should be noted that the support structure 1 and the visual structure 2, as well as the spray structure 3 and the visual structure 2 are connected by quick connectors, and the modules can be quickly installed and disassembled. After the area to be rusted is determined by the visual structure 2, a rust removal device can be installed in the front section of the visual structure 2 for rust removal. After the rust removal is completed, the spray structure 3 is used to carry out the spraying work.

[0034] In particular, the electric push rod 6, the visual servo motor 16, and the spray servo motor 24 can all be controlled by PLC to achieve automatic control.

[0035] In this embodiment, the end of the electric push rod 6 away from the crank-connecting rod assembly is connected to the supporting structure housing 4 through an electric push rod stopper 5, and the electric push rod stopper 5 is fixed to the supporting structure housing 4 by screws.

[0036] like Figure 2 As shown, the electric push rod 6 and the electric push rod stopper 5 are also connected by screws.

[0037] In this embodiment, the crank-connecting rod assembly is arranged at the end of the rod core of the electric push rod 6 away from the electric push rod stopper 5, one end of the crank-connecting rod assembly is hinged to the crank stopper 7, and the other end of the crank-connecting rod assembly is hinged to the connecting rod stopper 14, and the connecting rod stopper 14 is fixed in the supporting structure shell 4 by screws; each of the crank-connecting rod units includes a crank hinged on the crank stopper 7 and a connecting rod rotatably connected to the crank, and the end of the connecting rod away from the crank is hinged to the connecting rod stopper 14.

[0038] like Figure 2 and Figure 3 As shown, the crank includes a first crank 8, a second crank 9, and a third crank 10; the connecting rod includes a first connecting rod 11 connected to the first crank 8, a second connecting rod 12 connected to the second crank 9, and a third connecting rod 13 connected to the third crank 10; the supporting structure 1 adopts a connecting rod and a hinge structure to design the legs so that they are evenly distributed around the mechanism, and the folding and opening of the legs are realized by the electric push rod. The rod core of the electric push rod 6 moves linearly relative to the extension direction of the supporting structure shell 4. When the electric push rod 6 moves in the supporting structure shell 4, the crank stopper 7 moves with the electric push rod 6, and the crank opens around until the end of the crank contacts the inner wall of the gas cylinder, thereby achieving the purpose of fixed support.

[0039] In this embodiment, three supporting holes for the crank-connecting rod unit to open are provided on the outer side surface of the supporting structure shell 4 .

[0040] In this embodiment, the visual servo motor 16 is mounted on the first motor fixing block 17 by screws, and the first motor fixing block 17 is mounted in the visual structure housing 15 by screws.

[0041] In this embodiment, the swing connection assembly includes a visual transmission shaft 20 passing through the visual structure shell 15, a first bevel gear transmission unit arranged on the output shaft of the visual servo motor 16 and connected to the visual transmission shaft 20, and a visual execution platform 21 connected to the visual transmission shaft 20; the end of the visual transmission shaft 20 passes through the visual structure shell 15; the first bevel gear transmission unit includes a first active bevel gear 18 arranged on the output shaft of the visual servo motor 16 and a first driven bevel gear 19 arranged on the visual transmission shaft 20 and meshing with the first active bevel gear 18; the visual execution platform 21 is installed on the visual transmission shaft 20, and the endoscopic probe 22 is installed at the end of the visual execution platform 21 away from the visual transmission shaft 20; the visual execution platform 21 includes an L-shaped connector connected to the visual transmission shaft 20 and a mounting platform connected to the L-shaped connector and used to mount the endoscopic probe 22, and the L-shaped connector and the mounting platform are integrally formed; a peephole is opened on the outer surface of the visual structure shell 15.

[0042] like Figure 4 As shown, when the visual servo motor 16 rotates, the first active bevel gear 18 rotates accordingly; then the first driven bevel gear 19 rotates along with the first active bevel gear 18; driven by the first driven bevel gear 19, the visual transmission shaft 20 rotates accordingly, and the visual execution platform 21 connected to the visual transmission shaft 20 also rotates accordingly, driving the endoscope probe 22 to swing, so as to achieve the purpose of observing the overall condition of the inner wall.

[0043] In this embodiment, the spraying servo motor 24 is mounted on the second motor fixing block 25 by screws, and the second motor fixing block 25 is mounted in the spraying structure housing 23 by screws.

[0044] In this embodiment, the spray connection assembly includes a spray transmission shaft 28 passing through the spray structure housing 23, a second bevel gear transmission unit arranged on the output shaft of the spray servo motor 24 and connected to the spray transmission shaft 28, and a spray execution platform 29 connected to the spray transmission shaft 28; the end of the spray transmission shaft 28 passes through the spray structure housing 23; the second bevel gear transmission unit includes a second active bevel gear 26 arranged on the output shaft of the spray servo motor 24 and a second driven bevel gear 27 arranged on the spray transmission shaft 28 and meshing with the second active bevel gear 26; the spray execution platform 29 is installed on the spray transmission shaft 28, and the spray execution platform 29 is an L-shaped structure; the spray assembly is installed on the end of the spray execution platform 29 away from the spray transmission shaft 28; a spray hole is opened on the outer surface of the spray structure housing 23.

[0045] like Figure 5As shown, when the spray servo motor 24 rotates, the second active bevel gear 26 rotates along with the motor output shaft, and the second driven bevel gear 27 rotates through meshing; the spray transmission shaft 28 where the second driven bevel gear 27 is located rotates accordingly, and the spray execution platform 29 rotates along with the spray transmission shaft 28, driving the nozzle 31 and the nozzle 33 to reach the rust removal area for spraying.

[0046] In this embodiment, the spraying assembly includes a nozzle 31 connected to the spraying execution platform 29 and a nozzle 33 arranged at the end of the nozzle 31. The nozzle 31 and the spraying execution platform 29 are connected by a PU straight-through connector 30, and the nozzle 31 and the nozzle 33 are connected by a quick-plug connector 32.

[0047] In actual use, the spray assembly is connected to the spray gun device outside the gas cylinder through a high-pressure hose. When spraying the area to be sprayed, it is necessary to turn on the spray gun switch outside the gas cylinder for spraying. The first motor fixing block 17, the second motor fixing block 25, and the electric push rod stopper 5 are all provided with holes for pipelines to pass through. The quick-connect connector 32 can select a trachea PCF quick-connect connector.

[0048] like Figures 1 to 7 The method for spraying the inner wall of a high-pressure seamless gas cylinder by a visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder is characterized in that the method comprises the following steps: Step 1: Fix the high-pressure seamless gas cylinder: Place the high-pressure seamless gas cylinder horizontally on the V-shaped bracket and fix the high-pressure seamless gas cylinder. After fixing it, remove the rust from the inner wall of the high-pressure seamless gas cylinder. Step 2, determine the area to be sprayed: extend the visual spraying mechanism into the high-pressure seamless gas cylinder, start the visual servo motor 16, the visual servo motor 16 drives the first bevel gear transmission unit to rotate, so that the visual transmission shaft 20 also rotates, and the visual execution platform 21 installed on the visual transmission shaft 20 swings under the drive of the transmission shaft 20, and the endoscope probe 22 installed on the visual execution platform 21 also swings under the drive of the visual execution platform 21, observes the inner wall of the high-pressure seamless gas cylinder, and determines the area to be sprayed; Step 3, support the visual spraying mechanism: start the electric push rod 6, the electric push rod 6 pushes the crank block 7 to move linearly, thereby driving the crank connecting rod unit connected to the crank block 7 to move, so that the connection between the crank and the connecting rod opens and extends out of the support hole until the connection between the crank and the connecting rod abuts against the inside of the high-pressure seamless gas cylinder, and the thrust of the electric push rod 6 is maintained; Step 4: Spray the area to be sprayed. The process is as follows: Step 401, start the spraying servo motor 24, the spraying servo motor 24 drives the second bevel gear transmission unit to rotate, so that the spraying transmission shaft 28 also rotates, and the spraying execution platform 29 installed on the spraying transmission shaft 28 swings under the drive of the spraying transmission shaft 28, driving the spraying assembly to swing, so that the spray head 33 is aligned with the area to be sprayed; Step 402, start the nozzle 33 to evenly spray the area to be sprayed, and close the nozzle 33 after spraying is completed; Step 5, retract the support structure: start the electric push rod 6 in the opposite direction, the electric push rod 6 pulls the crank block 7 to move linearly, thereby driving the crank connecting rod unit connected to the crank block 7 to move, so that the connection between the crank and the connecting rod is retracted from the support hole until the central axis of the crank and the central axis of the connecting rod are on the same horizontal line, and then close the electric push rod 6; Step 6: Spray the remaining area to be sprayed: Repeat steps 2 to 5, and spray the remaining area to be sprayed in sequence until all the areas to be sprayed are sprayed.

[0049] The present invention first determines the area to be sprayed on the inner wall of the high-pressure seamless gas cylinder through the visual structure 2, and then uses the support structure 1 to fix the position of the visual spraying mechanism on the inner wall of the high-pressure seamless gas cylinder. Finally, the spraying area is sprayed through the spraying structure 3, realizing the linkage and coordination between the three modules, and completing the daily rapid inspection and repair of the inner wall of the high-pressure seamless gas cylinder.

[0050] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder, characterized in that: It comprises a long strip housing and a support structure (1), a visual structure (2), and a spraying structure (3) which are connected in sequence from back to front inside the long strip housing, wherein the support structure (1) and the visual structure (2), as well as the spraying structure (3) and the visual structure (2), are connected via quick connectors; The long strip-shaped shell comprises a supporting structure shell (4), a visual structure shell (15), and a spraying structure shell (23) which are connected in sequence from back to front, and the supporting structure shell (4) and the visual structure shell (15), as well as the spraying structure shell (23) and the visual structure shell (15) are all connected via quick connectors; The support structure (1) comprises an electric push rod (6) and a crank-connecting rod assembly, both of which are arranged in a support structure housing (4); the electric push rod (6) and the crank-connecting rod assembly are connected via a crank stopper (7); The crank-connecting rod assembly comprises three crank-connecting rod units, the three crank-connecting rod units are evenly arranged along the circumference of the support structure shell (4), and the structures of the three crank-connecting rod units are the same; The visual structure (2) comprises a visual servo motor (16) and an endoscope probe (22) both of which are arranged in a visual structure housing (15), and the visual servo motor (16) and the endoscope probe (22) are connected via a swing connection assembly; The spraying structure (3) comprises a spraying servo motor (24) and a spraying component which are arranged in a spraying structure housing (23); the spraying servo motor (24) and the spraying component are connected via a spraying connection component.

2. A visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder according to claim 1, characterized in that: The end of the electric push rod (6) away from the crank-connecting rod assembly is connected to the supporting structure housing (4) via an electric push rod stopper (5), and the electric push rod stopper (5) is fixed to the supporting structure housing (4) via screws.

3. A visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder according to claim 2, characterized in that: The crank-connecting rod assembly is arranged at the end of the rod core of the electric push rod (6) away from the electric push rod stopper (5); one end of the crank-connecting rod assembly is hinged on the crank stopper (7); the other end of the crank-connecting rod assembly is hinged on the connecting rod stopper (14); the connecting rod stopper (14) is fixed in the supporting structure shell (4) by screws; each crank-connecting rod unit comprises a crank hinged on the crank stopper (7) and a connecting rod rotatably connected to the crank; the end of the connecting rod away from the crank is hinged on the connecting rod stopper (14).

4. A visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder according to claim 2, characterized in that: Three support holes for the crank-connecting rod unit to open are provided on the outer side surface of the support structure shell (4).

5. A visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder according to claim 4, characterized in that: The visual servo motor (16) is mounted on a first motor fixing block (17) by means of screws, and the first motor fixing block (17) is mounted in a visual structure housing (15) by means of screws.

6. A visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder according to claim 5, characterized in that: The swing connection assembly comprises a visual transmission shaft (20) passing through the visual structure housing (15), a first bevel gear transmission unit arranged on the output shaft of the visual servo motor (16) and connected to the visual transmission shaft (20), and a visual execution platform (21) connected to the visual transmission shaft (20); the end of the visual transmission shaft (20) passes through the visual structure housing (15); the first bevel gear transmission unit comprises a first active bevel gear (18) arranged on the output shaft of the visual servo motor (16) and a first bevel gear transmission unit arranged on the visual transmission shaft (20) and connected to the visual execution platform (21) The first driven bevel gear (19) is meshed with the first active bevel gear (18); the visual execution platform (21) is mounted on the visual transmission shaft (20), and the endoscopic probe (22) is mounted on the end of the visual execution platform (21) away from the visual transmission shaft (20); the visual execution platform (21) includes an L-shaped connector connected to the visual transmission shaft (20) and a mounting platform connected to the L-shaped connector and used to mount the endoscopic probe (22), and the L-shaped connector and the mounting platform are integrally formed; and a peephole is provided on the outer surface of the visual structure shell (15).

7. A visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder according to claim 6, characterized in that: The spraying servo motor (24) is mounted on the second motor fixing block (25) by means of screws, and the second motor fixing block (25) is mounted in the spraying structure housing (23) by means of screws.

8. A visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder according to claim 7, characterized in that: The spray connection assembly comprises a spray transmission shaft (28) passing through the spray structure housing (23), a second bevel gear transmission unit arranged on the output shaft of the spray servo motor (24) and connected to the spray transmission shaft (28), and a spray execution platform (29) connected to the spray transmission shaft (28); the end of the spray transmission shaft (28) passes through the spray structure housing (23); the second bevel gear transmission unit comprises a second active bevel gear (26) arranged on the output shaft of the spray servo motor (24) and a second driven bevel gear (27) arranged on the spray transmission shaft (28) and meshing with the second active bevel gear (26); the spray execution platform (29) is mounted on the spray transmission shaft (28), and the spray execution platform (29) is an L-shaped structure; the spray assembly is mounted on the end of the spray execution platform (29) away from the spray transmission shaft (28); and a spray hole is opened on the outer surface of the spray structure housing (23).

9. A visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder according to claim 7, characterized in that: The spraying assembly comprises a spray pipe (31) connected to a spraying execution platform (29) and a spray head (33) arranged at the end of the spray pipe (31); the spray pipe (31) and the spraying execution platform (29) are connected via a PU straight-through connector (30); and the spray pipe (31) and the spray head (33) are connected via a quick-connect connector (32).

10. The method for spraying the inner wall of a high-pressure seamless gas cylinder by a visual spraying mechanism for the inner wall of a high-pressure seamless gas cylinder according to claim 9 is characterized in that: The method comprises the following steps: Step 1: Fix the high-pressure seamless gas cylinder: Place the high-pressure seamless gas cylinder horizontally on the V-shaped bracket and fix the high-pressure seamless gas cylinder. After fixing it, remove the rust from the inner wall of the high-pressure seamless gas cylinder. Step 2, determining the area to be sprayed: inserting the visual spray mechanism into the high-pressure seamless gas cylinder, starting the visual servo motor (16), the visual servo motor (16) drives the first bevel gear transmission unit to rotate, so that the visual transmission shaft (20) also rotates, and the visual execution platform (21) installed on the visual transmission shaft (20) swings under the drive of the transmission shaft (20), and the endoscope probe (22) installed on the visual execution platform (21) also swings under the drive of the visual execution platform (21), observes the inner wall of the high-pressure seamless gas cylinder, and determines the area to be sprayed; Step 3, supporting the visual spraying mechanism: starting the electric push rod (6), the electric push rod (6) pushes the crank block (7) to move linearly, thereby driving the crank connecting rod unit connected to the crank block (7) to move, so that the connection between the crank and the connecting rod opens and extends out of the supporting hole until the connection between the crank and the connecting rod abuts against the inside of the high-pressure seamless gas cylinder, and the thrust of the electric push rod (6) is maintained; Step 4: Spray the area to be sprayed. The process is as follows: Step 401, starting the spraying servo motor (24), the spraying servo motor (24) drives the second bevel gear transmission unit to rotate, so that the spraying transmission shaft (28) also rotates, and the spraying execution platform (29) installed on the spraying transmission shaft (28) swings under the drive of the spraying transmission shaft (28), driving the spraying assembly to swing, so that the spray head (33) is aligned with the area to be sprayed; Step 402, start the spray head (33) to evenly spray the area to be sprayed, and close the spray head (33) after spraying is completed; Step 5, retracting the support structure: starting the electric push rod (6) in the reverse direction, the electric push rod (6) pulls the crank stopper (7) to move linearly, thereby driving the crank connecting rod unit connected to the crank stopper (7) to move, so that the connection between the crank and the connecting rod is retracted from the support hole until the center axis of the crank and the center axis of the connecting rod are on the same horizontal line, and closing the electric push rod (6); Step 6: Spray the remaining area to be sprayed: Repeat steps 2 to 5, and spray the remaining area to be sprayed in sequence until all the areas to be sprayed are sprayed.

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