Pipeline interior paint spraying robot and construction method thereof

Abstract

The invention discloses a pipeline interior paint spraying robot and a construction method thereof. The pipeline interior paint spraying robot comprises a case; each walking mechanism comprises two supporting legs, one ends of the two supporting legs are hinged to the front end and the rear end of the machine box respectively, electric crawler wheels are installed at the other ends of the supporting legs, the supporting legs are movably sleeved with sliding sleeves, the two sliding sleeves are connected in a pivoted mode, and an electric jacking piece is installed on the machine box; the shaft barrel is rotatably installed at the front end, a plurality of branch pipes are installed at the end, away from the machine box, of the shaft barrel, nozzles are installed on the branch pipes, and the shaft barrel is connected to the high-pressure airless spraying machine through a pipeline; the shaft head is rotatably mounted at the front end, a plurality of supporting rods are mounted at one end of the shaft head, and cleaning brushes are mounted on the supporting rods; the motor is mounted in the case; the camera is mounted at the front end; and the controller is connected to the electric jacking piece, the electric crawler wheels, the high-pressure airless sprayer, the nozzle, the motor and the camera. The pipeline cleaning and paint spraying device solves the problems of high construction difficulty and high potential safety hazards caused by manual construction for pipeline cleaning and paint spraying.

Description

Technical Field

[0001] The invention relates to the technical field of building construction, and in particular to a pipeline internal painting robot and a construction method thereof. Background Art

[0002] As the scale of construction projects grows, the amount and types of pipelines used increase, so there are more and more painting and cleaning work in confined spaces, limited spaces and inside pipelines. With the development of the construction industry, higher requirements are placed on the quality of pipeline construction, and pipeline painting is required to be more uniform and more in line with regulatory requirements.

[0003] In the same construction project, large-diameter pipes and small-diameter pipes coexist, and the diameters of the thick and thin pipes are quite different, so the cleaning and painting of the inside of the pipes increase the difficulty of construction. For small-diameter pipes, construction workers cannot enter the inside to clean and spray. For large-diameter pipes, if construction workers enter the inside of the pipes to clean and spray, it will form a confined space and limited space construction, which will pose a safety hazard to construction workers. Summary of the invention

[0004] In order to overcome the defects of the prior art, a pipeline internal painting robot and a construction method thereof are provided to solve the problems of pipeline cleaning and painting in construction projects, which are difficult to construct and have high safety hazards due to manual construction.

[0005] In order to achieve the above object, a pipeline internal painting robot is provided, comprising:

[0006] A chassis, the chassis having a front end and a rear end, and a high-pressure airless sprayer installed in the chassis;

[0007] Three walking mechanisms are arranged at intervals along the circumferential direction of the chassis, the walking mechanisms include two legs, one end of the two legs is respectively hinged to the front end and the rear end of the chassis, the other end of the legs is equipped with an electric crawler wheel, the middle movable sleeve of the legs is provided with a sliding sleeve, the two sliding sleeves are pivotally connected together, and the chassis is equipped with an electric jacking member for lifting the sliding sleeve;

[0008] A shaft cylinder coaxially arranged with the chassis is rotatably mounted on the front end, a plurality of branch pipes are mounted on the end of the shaft cylinder away from the chassis, the plurality of branch pipes are spaced apart along the circumferential direction of the shaft cylinder, a nozzle is mounted on the branch pipe, and the shaft cylinder pipeline is connected to the high-pressure airless sprayer;

[0009] A shaft head is rotatably mounted on the front end, and a plurality of length-adjustable support rods are mounted on one end of the shaft head away from the chassis, the plurality of support rods are spaced apart along the circumferential direction of the shaft head, and a cleaning brush is mounted on the support rods;

[0010] A motor for driving the shaft barrel or the shaft head, mounted on the chassis;

[0011] A camera, mounted on the front end;

[0012] A controller is signal-connected to the electric top support, the electric track wheel, the high-pressure airless sprayer, the nozzle, the motor and the camera.

[0013] Furthermore, the electric supporting member is an electric hydraulic push rod.

[0014] Furthermore, a guide sleeve is detachably mounted on the front end, and the guide sleeve is rotatably sleeved on the shaft cylinder.

[0015] Furthermore, the branch pipe is arranged at an angle with respect to the central axis of the chassis, and the lengths of the multiple branch pipes are different.

[0016] Furthermore, the plurality of support rods are arranged in two circles along the axial direction of the shaft head.

[0017] Furthermore, the chassis is in the shape of a hexagonal prism, and the three walking mechanisms are respectively installed on three sides of the chassis.

[0018] Furthermore, the support rod includes a threaded tube and a screw rod, one end of the threaded tube is connected to the shaft head, one end of the screw rod is screwed into the threaded tube, and the other end of the screw rod is connected to the cleaning brush.

[0019] The present invention provides a construction method of a pipeline internal painting robot, comprising the following steps:

[0020] The pipeline internal painting robot is arranged in the pipeline to be sprayed;

[0021] The controller controls the extension and retraction of the electric top support member so that the electric track wheels of the three walking mechanisms are pressed against the inner wall of the pipeline to be sprayed respectively;

[0022] Adjusting the lengths of the plurality of support rods so that the cleaning brush is pressed against the inner wall of the pipe to be sprayed;

[0023] The controller controls the electric track wheel to move the pipeline internal painting robot along the axial direction of the pipeline to be sprayed, and at the same time, the controller controls the motor to rotate the shaft head so that the cleaning brush sweeps the inner wall of the pipeline to be sprayed;

[0024] After the inner wall of the pipeline to be sprayed is cleaned, the controller controls the electric track wheel to move the pipeline internal painting robot to one end of the pipeline to be sprayed;

[0025] The controller controls the electric track wheel to direct the internal pipe painting robot toward the other end of the pipe to be sprayed, and simultaneously turns on the high-pressure airless sprayer, the nozzle, the motor and the camera, so that the paint is sprayed onto the inner wall of the pipe to be sprayed through the nozzle.

[0026] The beneficial effect of the present invention is that the pipeline internal painting robot of the present invention can extend and retract its legs according to the diameter of the pipeline to complete the painting and cleaning work inside pipelines of different diameters. The pipeline internal painting robot of the present invention can be remotely controlled by a computer and can independently complete the painting and cleaning work inside the pipeline, thereby improving the progress of pipeline painting, cleaning, installation and construction and the quality of structural molding. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0028] Figure 1 Schematic diagram of the structure of the pipeline internal painting robot according to an embodiment of the present invention.

[0029] Figure 2 The figure is a schematic diagram of the internal structure of a chassis according to an embodiment of the present invention.

[0030] Figure 3 Schematic diagram of the structure of the walking mechanism of an embodiment of the present invention.

[0031] Figure 4 It is a schematic structural diagram of a shaft cylinder according to an embodiment of the present invention.

[0032] Figure 5 It is a front view of the shaft cylinder of an embodiment of the present invention.

[0033] Figure 6 Schematic diagram of the structure of the shaft head according to an embodiment of the present invention.

[0034] Figure 7 It is a structural schematic diagram of the front end of the chassis according to an embodiment of the present invention.

[0035] Figure 8 This is a schematic diagram of the spraying state of the pipeline internal painting robot according to an embodiment of the present invention.

[0036] Fig. 9 This is a schematic diagram of the cleaning state of the pipeline internal painting robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0038] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0039] Reference Figures 1 to 9 As shown, the present invention provides a pipeline internal painting robot, including: a chassis 1, a walking mechanism 2, a shaft cylinder 3, a shaft head 4, a motor 5, a camera 6 and a controller 7.

[0040] The chassis 1 is in the shape of a hexagonal prism, has a front end and a rear end, and has a high-pressure airless sprayer 11 installed in the chassis 1.

[0041] There are three running mechanisms 2. The three running mechanisms are arranged at intervals along the circumferential direction of the chassis 1. In this embodiment, the three running mechanisms 2 are installed on three sides of the chassis 1 respectively.

[0042] Specifically, the walking mechanism 2 includes a support leg 21, an electric track wheel 22, a sleeve 23 and an electric top support member 24. There are two support legs. One end of the two support legs 21 is hinged to the front end and the rear end of the chassis 1 respectively. The other end of the support leg 21 is equipped with an electric track wheel 22. The electric track wheel is hingedly connected to the other end of the support leg. The middle movable sleeve of the support leg 21 is provided with a sleeve 23. The two sleeves 23 are pivotally connected together. The chassis 1 is equipped with an electric top support member 24. The electric top support member 24 is used to lift the sleeve 23.

[0043] As a preferred embodiment, the electric support member 24 is an electric hydraulic push rod. The electric support member 24 is extended and retracted to make the sliding sleeve slide along the axial direction of the support leg, so that the length of the walking mechanism is adjusted and changed.

[0044] The shaft cylinder 3 is coaxially arranged with the chassis 1. The shaft cylinder 3 is rotatably mounted at the front end. A plurality of branch pipes 31 are mounted at one end of the shaft cylinder 3 away from the chassis 1. The plurality of branch pipes 31 are spaced apart along the circumferential direction of the shaft cylinder 3. A nozzle 32 is mounted on the branch pipe 31. The shaft cylinder 3 is connected to the high-pressure airless sprayer 11 through a pipeline. The high-pressure airless sprayer is connected to a paint source (such as a paint containing cylinder) through a pipeline 13. The high-pressure airless sprayer transports the paint into the shaft cylinder, and the paint in the shaft cylinder is transported to the nozzle via a support rod, and finally the nozzle sprays the paint onto the inner wall of the pipe to be painted.

[0045] The shaft head 4 is coaxially arranged with the chassis 1. The shaft head 4 is rotatably mounted at the front end. A plurality of support rods 41 with adjustable lengths are mounted at one end of the shaft head 4 away from the chassis 1. The plurality of support rods 41 are spaced apart along the circumferential direction of the shaft head 4. A cleaning brush 42 is mounted on the support rod 41.

[0046] In this embodiment, the shaft barrel and the shaft head are configured in a selective manner. In some embodiments, the shaft barrel and the shaft head are configured at the same time. When it is necessary to spray paint, the cleaning brush is removed; when it is necessary to clean the inner wall of the pipeline, the nozzle is closed.

[0047] The motor 5 is mounted on the chassis 1. The motor 5 is used to drive the shaft cylinder 3 and / or the shaft head 4. In this embodiment, a guide sleeve 12 is detachably mounted on the front end of the chassis. The guide sleeve 12 is rotatably sleeved on the shaft cylinder 3.

[0048] In this embodiment, see Figure 7 As shown, the camera 6 is installed at the front end of the chassis. The camera is used to collect images of the cleaning or spraying completion of the pipe wall at the front end of the chassis.

[0049] The controller 7 is signal-connected to the electric top support 24 , the electric track wheel 22 , the high-pressure airless sprayer 11 , the nozzle 32 , the motor 5 and the camera 6 .

[0050] The controller controls the electric top support to achieve the extension and retraction of the walking mechanism. The controller controls the electric track wheels to achieve the walking of the robot. The controller controls the high-pressure airless sprayer to deliver paint to the nozzle. The controller controls the motor to achieve the rotation of the shaft barrel or shaft head, and the nozzle and cleaning brush rotate around the circumference of the pipe to be painted. The controller observes the actual construction of cleaning or spraying through the camera.

[0051] In this embodiment, see Figure 4 and Figure 5 As shown, the branch pipe 31 is arranged at an angle with the central axis of the chassis 1. The lengths of the plurality of branch pipes 31 are different, so that the nozzles are arranged in two rows along the axial direction of the chassis.

[0052] See also Figure 6 As shown, multiple support rods 41 are arranged in two circles along the axis direction of the shaft head 4. In some embodiments, the shaft head includes two coaxially arranged shaft sections. Each shaft section is respectively provided with a circle of support rods. The motor drives one shaft head to rotate in the forward direction, and the other shaft head drives the other shaft head to rotate in the reverse direction through the transmission structure, so that the two circles of cleaning brushes rotate in different directions.

[0053] As a preferred embodiment, the support rod 41 includes a threaded tube and a screw. One end of the threaded tube is connected to the shaft head 4. One end of the screw is screwed into the threaded tube. The other end of the screw is connected to the cleaning brush 42.

[0054] The present invention provides a construction method of a pipeline internal painting robot, comprising the following steps:

[0055] S1. Place the pipeline internal painting robot in the pipeline 8 to be sprayed.

[0056] S2. The controller 7 controls the extension and retraction of the electric supporting member 24 so that the electric track wheels 22 of the three walking mechanisms 2 are pressed against the inner wall of the pipeline 8 to be sprayed.

[0057] S3. Adjust the lengths of the plurality of support rods 41 so that the cleaning brush 42 is pressed against the inner wall of the pipe 8 to be sprayed.

[0058] S4, the controller 7 controls the electric track wheel 22 to move the pipe internal painting robot along the axial direction of the pipe 8 to be sprayed, and at the same time the controller 7 controls the motor 5 to rotate the shaft head 4 so that the cleaning brush 42 brushes the inner wall of the pipe 8 to be sprayed.

[0059] S5. After the inner wall of the pipeline 8 to be sprayed is cleaned, the controller 7 controls the electric track wheel 22 to move the pipeline internal painting robot to one end of the pipeline 8 to be sprayed.

[0060] S6, the controller 7 drives the electric track wheel 22 to direct the paint spraying robot inside the pipe toward the other end of the pipe 8 to be sprayed, and at the same time turns on the high-pressure airless sprayer 11, the nozzle 32, the motor 5 and the camera 6, so that the paint is sprayed onto the inner wall of the pipe 8 to be sprayed through the nozzle 32.

[0061] See also Fig. 9 As shown, after the pipeline internal painting robot of the present invention is installed, the construction personnel carry it to the construction area, place the pipeline internal painting robot of the present invention at the pipeline mouth, turn on the power switch, debug the equipment and prepare for construction.

[0062] The pipeline internal painting robot of the present invention has two construction modes:

[0063] 1. Spraying construction:

[0064] The paint robot inside the pipeline installs the shaft cylinder for spraying. After connecting the spray paint transport pipe under the high-pressure airless sprayer, the controller controls the height of the walking mechanism to fit the inner wall of the pipeline and firmly support the inner wall of the pipeline. After the controller controls the electric track wheel to drive it to the position deep in the pipeline where spraying is required, the controller controls the nozzle to open for spraying, and at the same time controls the spraying amount and the rotation spraying speed. The paint robot inside the pipeline works backwards, driving from the deepest part of the pipeline to the pipeline outlet, and spraying. Finally, the painting situation is checked through the front-end camera of the paint robot inside the pipeline.

[0065] 2. Cleaning construction:

[0066] The shaft head and cleaning brush are installed at the front end of the chassis of the pipeline internal painting robot. There is no need to connect the spray paint transport pipe under the high-pressure airless sprayer. The pipeline internal painting robot is placed at the pipeline mouth. The controller controls the height of the walking mechanism to fit the inner wall of the pipeline and firmly support the pipeline internal painting robot. After that, the controller controls the start motor to rotate with the cleaning brush to start the cleaning construction. During the cleaning construction, the pipeline internal painting robot can travel and clean in both directions in the pipeline. Finally, the cleaning situation is checked through the front camera of the pipeline internal painting robot.

[0067] The pipeline internal painting robot of the present invention can extend and retract its legs according to the diameter of the pipeline to complete the painting and cleaning work inside pipelines of different diameters. The pipeline internal painting robot of the present invention can be remotely controlled by a computer and can independently complete the painting and cleaning work inside the pipeline, thereby improving the progress of pipeline painting, cleaning, installation and construction and the quality of structural molding.

[0068] The pipeline internal painting robot of the present invention is fully automatic intelligent digital control, and the computer operation is simple. After using the device, the construction site is standardized and standardized, and the construction efficiency and quality can be improved. It has promotion value and high achievement conversion value.

[0069] The pipeline internal painting robot of the present invention can achieve finalization and standardization, and the construction quality and construction safety are improved, and the overall quality of the pipeline installation project is improved.

[0070] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A pipeline internal painting robot, characterized in that: include: A chassis, the chassis having a front end and a rear end, and a high-pressure airless sprayer installed in the chassis; Three walking mechanisms are arranged at intervals along the circumferential direction of the chassis, the walking mechanisms include two legs, one end of the two legs is respectively hinged to the front end and the rear end of the chassis, the other end of the legs is equipped with an electric crawler wheel, the middle movable sleeve of the legs is provided with a sliding sleeve, the two sliding sleeves are pivotally connected together, and the chassis is equipped with an electric jacking member for lifting the sliding sleeve; A shaft cylinder coaxially arranged with the chassis is rotatably mounted on the front end, a plurality of branch pipes are mounted on the end of the shaft cylinder away from the chassis, the plurality of branch pipes are spaced apart along the circumferential direction of the shaft cylinder, a nozzle is mounted on the branch pipe, and the shaft cylinder pipeline is connected to the high-pressure airless sprayer; A shaft head is rotatably mounted on the front end, and a plurality of length-adjustable support rods are mounted on one end of the shaft head away from the chassis, the plurality of support rods are spaced apart along the circumferential direction of the shaft head, and a cleaning brush is mounted on the support rods; A motor for driving the shaft barrel or the shaft head, mounted on the chassis; A camera, mounted on the front end; A controller is signal-connected to the electric top support, the electric track wheel, the high-pressure airless sprayer, the nozzle, the motor and the camera.

2. The pipeline interior painting robot according to claim 1, characterized in that: The electric supporting member is an electric hydraulic push rod.

3. The pipeline interior painting robot according to claim 1, characterized in that: The front end is detachably mounted with a guide sleeve, and the guide sleeve is rotatably sleeved on the shaft cylinder.

4. The pipeline interior painting robot according to claim 1, characterized in that: The branch pipe is arranged at an angle with the central axis of the chassis, and the lengths of the multiple branch pipes are different.

5. The pipeline interior painting robot according to claim 1, characterized in that: The plurality of support rods are arranged in two circles along the axis direction of the shaft head.

6. The pipeline interior painting robot according to claim 1, characterized in that: The chassis is in the shape of a hexagonal prism, and the three walking mechanisms are respectively installed on three side surfaces of the chassis.

7. The pipeline interior painting robot according to claim 1, characterized in that: The support rod comprises a threaded tube and a screw rod, one end of the threaded tube is connected to the shaft head, one end of the screw rod is screwed into the threaded tube, and the other end of the screw rod is connected to the cleaning brush.

8. A construction method of a pipeline interior painting robot as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: The pipeline internal painting robot is arranged in the pipeline to be sprayed; The controller controls the extension and retraction of the electric top support member so that the electric track wheels of the three walking mechanisms are pressed against the inner wall of the pipeline to be sprayed respectively; Adjusting the lengths of the plurality of support rods so that the cleaning brush is pressed against the inner wall of the pipe to be sprayed; The controller controls the electric track wheel to move the pipeline internal painting robot along the axial direction of the pipeline to be sprayed, and at the same time, the controller controls the motor to rotate the shaft head so that the cleaning brush sweeps the inner wall of the pipeline to be sprayed; After the inner wall of the pipeline to be sprayed is cleaned, the controller controls the electric track wheel to move the pipeline internal painting robot to one end of the pipeline to be sprayed; The controller controls the electric track wheel to direct the internal pipe painting robot toward the other end of the pipe to be sprayed, and simultaneously turns on the high-pressure airless sprayer, the nozzle, the motor and the camera, so that the paint is sprayed onto the inner wall of the pipe to be sprayed through the nozzle.

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