Pipeline inner wall spraying and detecting device

Abstract

The invention discloses a pipeline inner wall spraying and detecting device, belongs to the technical field of pipeline inner wall coating, and designs a deformable spraying device to solve the problem that in the prior art, when spraying is conducted on the inner walls of pipelines with different inner diameters and complex shapes such as bent pipes and Y-shaped pipes, it cannot be guaranteed that coatings are uniform. A nozzle and a detection mechanism in the device are used for detecting the non-coating position of the inner wall of a pipeline and spraying paint; the rotating power mechanism is used for providing rotating power for the nozzle and the detection mechanism and can adjust the rotating speed of the nozzle and the detection mechanism. The movable power mechanism is used for providing forward and backward power for the deformable spraying device; the coating conveying pipe fixing mechanism is used for fixing the coating conveying pipe and preventing the coating conveying pipe from being broken or snapped. Through the arrangement of the deformable spraying device, it is guaranteed that uniform spraying can be achieved when the spraying device is used for spraying the inner wall of a complex pipeline, and meanwhile the spraying effect can be detected through the arrangement of a camera.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline inner wall coating. Background Art

[0002] Pipeline facilities are increasingly used in many fields, such as ship seawater pipelines, petrochemical pipelines, etc. The corrosive flow medium flows in the pipeline for a long time, making the inner wall of the pipeline prone to corrosion, causing pipeline corrosion, leakage, and pipeline failure, resulting in huge economic losses and even serious safety accidents. The inner wall of traditional pipelines is not overly protected, but with the high requirements for pipeline life and performance, covering the inner wall of the pipeline with a coating has become an important task of pipeline maintenance, thereby effectively extending the service life of the pipeline and improving the safety and reliability of the pipeline.

[0003] Due to the different inner diameters of pipes and the existence of bends, Y-shaped pipes and other shapes, traditional construction methods have many shortcomings: (1) Manual pipe painting and pipe painting using traditional spraying equipment are inefficient; (2) Manual pipe painting and pipe painting using traditional spraying equipment cannot ensure uniform coating; (3) There are many types of pipes, and traditional spraying equipment can only be used for a single type of pipe; (4) Traditional spraying equipment only has a spraying function and cannot perform pipe wall health detection and abnormal position location. Summary of the invention

[0004] In view of the problem that the existing technology cannot ensure uniform coating when spraying the inner wall of pipes with different inner diameters and complex shapes such as bends and Y-shaped pipes, the present invention designs a pipe inner wall spraying and detection device, and the technical solution adopted is as follows: A pipe inner wall spraying and detection device, comprising: a paint bucket 1, a pump 2, a paint delivery pipe 3, a control console 4 and a deformable spraying device 5; The paint bucket 1, the pump 2 and the deformable spraying device 5 are connected via a paint delivery pipe 3; The deformable spraying device comprises: a nozzle and a detection mechanism 5-1, a rotating power mechanism 5-2, a moving power mechanism 5-3 and a paint delivery pipe fixing mechanism 5-4; the nozzle and the detection mechanism 5-1, the rotating power mechanism 5-2, the moving power mechanism 5-3 and the paint delivery pipe fixing mechanism 5-4 are connected by a universal joint; Among them, the nozzle and detection mechanism 5-1 is used to detect the uncoated position on the inner wall of the pipeline and spray the paint; the rotating power mechanism 5-2 is used to provide rotational power for the nozzle and detection mechanism 5-1, and its rotation speed can be adjusted; the moving power mechanism 5-3 is used to provide forward and backward power for the deformable spraying device 5; the paint delivery pipe fixing mechanism 5-4 is used to fix the paint delivery pipe 3 to prevent it from breaking or pulling off.

[0005] The nozzle and detection mechanism 5-1 comprises: a double-headed nozzle 5-1-1, a nozzle and detection mechanism telescopic rod 5-1-2, a nozzle and detection mechanism steering wheel frame 5-1-3, a nozzle and detection mechanism wheel 5-1-4, a nozzle and detection mechanism telescopic support frame 5-1-5, a camera 5-1-6, a lamp 5-1-7, a radial cover 5-1-8, an axial cover 5-1-9 and a cover rotating base 5-1-10; wherein the nozzle and detection mechanism 5-1 body is cylindrical, and its interior is hollow, the double-headed nozzle 5-1-1 is fixedly mounted on the front end of the nozzle and detection mechanism 5-1 body, and the paint delivery pipe 3 is inserted from the nozzle and detection mechanism 5-1 body. The nozzle and detection mechanism passes through and is connected to the double-headed nozzle 5-1-1; the nozzle and detection mechanism telescopic rod 5-1-2 and the nozzle and detection mechanism telescopic support frame 5-1-5 are installed on the side of the nozzle and detection mechanism 5-1 main body, and the nozzle and detection mechanism telescopic rod 5-1-2 is provided with a nozzle and detection mechanism steering wheel frame 5-1-3 at the end, and the nozzle and detection mechanism steering wheel frame 5-1-3 can rotate around the axis of the nozzle and detection mechanism telescopic rod 5-1-2; the nozzle and detection mechanism wheel 5-1-4 is installed on the nozzle and detection mechanism steering wheel frame 5-1-3, and the nozzle and detection mechanism wheel 5-1-4 is also installed at the end of the nozzle and detection mechanism telescopic support frame 5-1-5; The camera 5-1-6 and the lamp 5-1-7 are arranged on the front end face of the nozzle and the detection mechanism 5-1 body and the side of the front end of the body; the camera 5-1-6 is used to detect the health of the inner wall of the pipeline and observe the required direction of advance, and the lamp 5-1-7 is used to provide lighting to facilitate the detection of the camera 5-1-6; the radial cover 5-1-8 and the axial cover 5-1-9 are arranged on the outside of the camera 5-1-6 and the lamp 5-1-7, and are installed on the cover rotating base 5-1-10, and the cover rotating base 5-1-10 is used to drive the radial cover 5-1-8 and the axial cover 5-1-9 to rotate, so as to cover the camera 5-1-6 and the lamp 5-1-7 during the spraying process to prevent the paint from covering the camera 5-1-6 and the lamp 5-1-7; like Fig. 9 As shown, the cover rotating base 5-1-10 is connected to the micro stepping motor through a lever. When the micro stepping motor rotates, the motion is transmitted to the cover rotating base 5-1-10 through the lever, thereby further driving the radial cover 5-1-8 and the axial cover 5-1-9 to rotate.

[0006] Furthermore, the double-ended nozzle 5-1-1 has a telescopic function, and the double-ended nozzle 5-1-1 and the nozzle and detection mechanism telescopic rod 5-1-2 can be adjusted in length according to the diameter of the pipe to adapt to the spraying of paint on the inner wall of pipes with different diameters.

[0007] Furthermore, the nozzle and detection mechanism steering wheel frame 5-1-3 is composed of a nozzle and detection mechanism wheel 5-1-4, a steering front wheel frame, a steering rear wheel frame, a steering lever and a micro stepping motor. The steering front wheel frame and the steering rear wheel frame are respectively installed with a nozzle and detection mechanism wheel 5-1-4. The steering front wheel frame is connected to the steering rear wheel frame through a rotating shaft. The micro stepping motor is connected to the steering lever, which drives the steering lever to move the steering front wheel frame, thereby driving the front part of the deformable spray device 5 to steer in the pipeline.

[0008] Furthermore, the rotary power mechanism 5-2 comprises: a rotary connector 5-2-1, a rotary power mechanism telescopic support frame 5-2-2 and a rotary power mechanism wheel 5-2-3; wherein the main body of the rotary power mechanism 5-2 is cylindrical and hollow inside, and the paint delivery pipe 3 passes through the inside of the main body of the rotary power mechanism 5-2; the rotary connector 5-2-1 is arranged at the front end of the main body of the rotary power mechanism 5-2 and is powered by a motor, and the rotary motion is transmitted to the nozzle and the detection mechanism 5-1 through the universal joint between the rotary power mechanism 5-2 and the nozzle and the detection mechanism 5-1; the rotary power mechanism telescopic support frame 5-2-2 is arranged on the side of the main body of the rotary power mechanism 5-2, and a rotary power mechanism wheel 5-2-3 is provided at its end, which provides stable support for the movement of the rotary power mechanism 5-2 in the pipeline through telescoping.

[0009] Furthermore, the mobile power mechanism 5-3 comprises: a mobile power mechanism motor 5-3-1, a mobile power mechanism telescopic rod 5-3-2, a mobile power mechanism telescopic support frame 5-3-3 and a mobile power mechanism wheel 5-3-4; the mobile power mechanism 5-3 main body is cylindrical and hollow inside, the paint delivery pipe 3 passes through the inside of the mobile power mechanism 5-3 main body, the mobile power mechanism telescopic rod 5-3-2 and the mobile power mechanism telescopic support frame 5-3-3 are installed on the side of the mobile power mechanism 5-3 main body, the mobile power mechanism telescopic rod 5-3-2 is provided at the end of the mobile power mechanism motor 5-3-1 and the mobile power mechanism wheel 5-3-4, the mobile power mechanism motor 5-3-1 is used to drive the mobile power mechanism wheel 5-3-4 to make the mobile power mechanism 5-3 move along the pipeline, and the mobile power mechanism wheel 5-3-4 arranged at the end of the mobile power mechanism telescopic support frame 5-3-3 provides stable support for the mobile power mechanism 5-3 in the pipeline.

[0010] Furthermore, the paint delivery tube fixing mechanism 5-4 comprises: a fixing clamp 5-4-1, a telescopic rod 5-4-2 of the paint delivery tube fixing mechanism, a steering wheel frame 5-4-3 of the paint delivery tube fixing mechanism, a telescopic support frame 5-4-4 of the paint delivery tube fixing mechanism and a wheel 5-4-5 of the paint delivery tube fixing mechanism; the paint delivery tube fixing mechanism 5-4 is cylindrical in shape, and its interior is hollow, the fixing clamp 5-4-1 is arranged in the hollow of the paint delivery tube fixing mechanism 5-4 main body, the paint delivery tube 3 passes through the hollow and is clamped by the fixing clamp 5-4-1; the telescopic rod 5-4-2 of the paint delivery tube fixing mechanism and the telescopic support frame 5-4-4 of the paint delivery tube fixing mechanism are installed on the main body of the paint delivery tube fixing mechanism 5-4 On the side of the body, a paint delivery tube fixing mechanism steering wheel frame 5-4-3 is provided at the end of the telescopic rod 5-4-2 of the paint delivery tube fixing mechanism, and the paint delivery tube fixing mechanism steering wheel frame 5-4-3 is used to drive the rear part of the deformable spray device 5 to turn in the pipeline; the paint delivery tube fixing mechanism telescopic support frame 5-4-4 provides a stable support for the paint delivery tube fixing mechanism 5-4 in the pipeline; the end of the telescopic support frame 5-4-4 of the paint delivery tube fixing mechanism is provided with a paint delivery tube fixing mechanism wheel 5-4-5 to ensure that the paint delivery tube fixing mechanism 5-4 moves smoothly in the pipeline; the telescopic support frame 5-4-2 of the paint delivery tube fixing mechanism provides a stable support for the movement of the nozzle and the detection mechanism 5-1 in the pipeline by telescoping.

[0011] Furthermore, the paint delivery tube fixing mechanism steering wheel frame 5-4-3 is composed of a paint delivery tube fixing mechanism wheel 5-4-5, a steering front wheel frame, a steering rear wheel frame, a steering lever and a micro stepping motor. The steering front wheel frame and the steering rear wheel frame are respectively equipped with a paint delivery tube fixing mechanism wheel 5-4-5. The steering front wheel frame is connected to the steering rear wheel frame through a rotating shaft. The micro stepping motor is connected to the steering lever, which drives the steering lever to move the steering front wheel frame, thereby driving the rear part of the deformable spray device 5 to turn in the pipeline.

[0012] Furthermore, the control console 4 is provided with a control button 4-1 and a monitoring screen 4-2; the control button 4-1 is used to control the telescopic rod 5-1-2 of the nozzle and detection mechanism, the telescopic support frame 5-1-5 of the nozzle and detection mechanism, the telescopic support frame 5-2-2 of the rotating power mechanism, the telescopic rod 5-3-2 of the mobile power mechanism, the telescopic support frame 5-3-3 of the mobile power mechanism, the telescopic rod 5-4-2 of the paint delivery pipe fixing mechanism, the telescopic support frame 5-4-4 of the paint delivery pipe fixing mechanism and the double-headed nozzle 5-1-1, and adjust the telescopic length to adapt to the curved pipe required for spraying; control the micro-stepping motor that drives the cover rotating base 5-1-10 to rotate; and adjust the micro-stepping motors on the steering wheel frame 5-1-3 of the nozzle and detection mechanism and the steering wheel frame 5-4-3 of the paint delivery pipe fixing mechanism to achieve steering; the monitoring screen 4-2 is used to display the image taken by the camera 5-1-6.

[0013] Beneficial effects of the present invention: By controlling the movement, turning, and nozzle rotation of the device in the pipeline, uniform spraying of the pipeline inner wall coating can be achieved. At the same time, compared with manual pipeline brushing and spraying using traditional spraying equipment, work efficiency can be improved. The present invention also achieves: (1) It is suitable for spraying the inner wall of straight pipes, curved pipes, Y-shaped pipes and other types of pipes; (2) It is suitable for spraying the inner wall of pipes of different diameters and pipe joints (typical value of pipe diameter is 100-200 mm); (3) It can detect the health of the inner wall area of ​​the pipeline, providing convenience for regular monitoring and inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is the overall structure diagram of the device of the present invention; Figure 2 This is a schematic diagram of the structure of the control console in the present invention; Figure 3 It is a structural diagram of a deformable spraying device; Figure 4 This is the structural diagram of the nozzle and the detection mechanism; Figure 5 It is the structural diagram of the rotary power mechanism; Figure 6 It is the structural diagram of the mobile power mechanism; Figure 7 This is the structural diagram of the paint delivery pipe fixing mechanism; Figure 8 This is a partial enlarged view of the nozzle and the steering wheel frame of the detection mechanism; Fig. 9 A partial enlargement of the base portion for the lid rotation.

[0015] Markings in the above figures: 1-paint bucket; 2-pump; 3-paint delivery pipe; 4-control console; 5-deformable spray device; 4-1-control button; 4-2-monitoring screen; 5-1-nozzle and detection mechanism; 5-2-rotation power mechanism; 5-3-movement power mechanism; 5-4-paint delivery pipe fixing mechanism; 5-1-1-double-headed nozzle; 5-1-2-nozzle and detection mechanism telescopic rod; 5-1-3-nozzle and detection mechanism steering wheel frame; 5-1-4-nozzle and detection mechanism wheel; 5-1-5-nozzle and detection mechanism telescopic support frame; 5-1-6-camera; 5-1-7-light; 5-1-8-radial cover; 5 -1-9-axial cover; 5-1-10-cover rotating base; 5-2-1-rotating connector; 5-2-2-telescopic support frame of rotating power mechanism; 5-2-3-rotating power mechanism wheels; 5-3-1-mobile power mechanism motor; 5-3-2-telescopic rod of mobile power mechanism; 5-3-3-telescopic support frame of mobile power mechanism; 5-3-4-mobile power mechanism wheels; 5-4-1-fixing clamp; 5-4-2-telescopic rod of paint delivery tube fixing mechanism; 5-4-3-steering wheel frame of paint delivery tube fixing mechanism; 5-4-4-telescopic support frame of paint delivery tube fixing mechanism; 5-4-5-wheel of paint delivery tube fixing mechanism. DETAILED DESCRIPTION

[0016] The technical solution of the present invention is further explained and illustrated in the form of specific embodiments below.

[0017] like Figure 1 As shown, a pipeline inner wall spraying and detection device in the present invention comprises: a paint bucket 1, a pump 2, a paint delivery pipe 3, a control console 4 and a deformable spraying device 5; The paint bucket 1, the pump 2 and the deformable spraying device 5 are connected through a paint delivery pipe 3; the control console 4, such as Figure 2 As shown, there are control buttons 4-1 and a monitoring screen 4-2.

[0018] Deformable spraying device, such as Figure 3 As shown, it includes: a nozzle and detection mechanism 5-1, a rotating power mechanism 5-2, a moving power mechanism 5-3 and a paint delivery pipe fixing mechanism 5-4; the nozzle and detection mechanism 5-1, the rotating power mechanism 5-2, the moving power mechanism 5-3 and the paint delivery pipe fixing mechanism 5-4 are connected by a universal joint; Among them, the nozzle and detection mechanism 5-1 is used to detect the uncoated position on the inner wall of the pipeline and spray the paint; the rotating power mechanism 5-2 is used to provide rotational power for the nozzle and detection mechanism 5-1, and its rotation speed can be adjusted; the moving power mechanism 5-3 is used to provide forward and backward power for the deformable spraying device 5; the paint delivery pipe fixing mechanism 5-4 is used to fix the paint delivery pipe 3 to prevent it from breaking or pulling off.

[0019] The nozzle and detection mechanism 5-1, such as Figure 4 As shown, it includes: a double-headed nozzle 5-1-1, a nozzle and detection mechanism telescopic rod 5-1-2, a nozzle and detection mechanism steering wheel frame 5-1-3, a nozzle and detection mechanism wheel 5-1-4, a nozzle and detection mechanism telescopic support frame 5-1-5, a camera 5-1-6, a lamp 5-1-7, a radial cover 5-1-8, an axial cover 5-1-9 and a cover rotating base 5-1-10; The main body of the nozzle and detection mechanism 5-1 is cylindrical and hollow inside. The double-headed nozzle 5-1-1 is fixedly installed at the front end of the main body of the nozzle and detection mechanism 5-1. The paint delivery pipe 3 passes through the inside of the main body of the nozzle and detection mechanism 5-1 and is connected to the double-headed nozzle 5-1-1. The nozzle and detection mechanism telescopic rod 5-1-2 and the nozzle and detection mechanism telescopic support frame 5-1-5 are installed on the side of the main body of the nozzle and detection mechanism 5-1. The end of the nozzle and detection mechanism telescopic rod 5-1-2 is provided with a nozzle and detection mechanism steering wheel frame 5-1-3, and the nozzle and detection mechanism steering wheel frame 5-1-3 can rotate around the axis of the nozzle and detection mechanism telescopic rod 5-1-2; the nozzle and detection mechanism wheel 5-1-4 is installed on the nozzle and detection mechanism steering wheel frame 5-1-3, and the nozzle and detection mechanism wheel 5-1-4 is also installed at the end of the nozzle and detection mechanism telescopic support frame 5-1-5; The double-ended nozzle 5-1-1 has a telescopic function, and the double-ended nozzle 5-1-1 and the nozzle and detection mechanism telescopic rod 5-1-2 can be adjusted in length according to the diameter of the pipe to adapt to the spraying of paint on the inner wall of pipes with different diameters. Figure 8 As shown, the nozzle and detection mechanism steering wheel frame 5-1-3 is composed of a nozzle and detection mechanism wheel 5-1-4, a steering front wheel frame, a steering rear wheel frame, a steering lever and a micro stepping motor, wherein one nozzle and detection mechanism wheel 5-1-4 is installed on the steering front wheel frame, and the other is installed on the steering rear wheel frame, the steering front wheel frame is connected to the steering rear wheel frame through a rotating shaft, the micro stepping motor is connected to the steering lever, and the steering lever drives the steering front wheel frame to drive the front part of the deformable spray device 5 to turn in the pipeline; the nozzle and detection mechanism telescopic support frame 5-1-5 provides stable support for the movement of the nozzle and detection mechanism 5-1 in the pipeline by telescoping.

[0020] The camera 5-1-6 and the lamp 5-1-7 are arranged on the front end face of the nozzle and detection mechanism 5-1 main body and the side of the front end of the main body; the camera 5-1-6 is used to detect the health of the inner wall of the pipeline and observe the required direction of advance, and the lamp 5-1-7 is used to provide lighting to facilitate the detection of the camera 5-1-6; the radial cover 5-1-8 and the axial cover 5-1-9 are arranged on the outside of the camera 5-1-6 and the lamp 5-1-7, and are installed on the cover rotating base 5-1-10. The cover rotating base 5-1-10 is used to drive the radial cover 5-1-8 and the axial cover 5-1-9 to rotate, thereby covering the camera 5-1-6 and the lamp 5-1-7 during the spraying process to prevent the paint from covering the camera 5-1-6 and the lamp 5-1-7.

[0021] like Fig. 9 As shown, the cover rotating base 5-1-10 is connected to the micro stepping motor through a lever. When the micro stepping motor rotates, the motion is transmitted to the cover rotating base 5-1-10 through the lever, thereby further driving the radial cover 5-1-8 and the axial cover 5-1-9 to rotate.

[0022] The rotating power mechanism 5-2, such as Figure 5 As shown, it includes: a rotating connector 5-2-1, a rotating power mechanism telescopic support frame 5-2-2 and a rotating power mechanism wheel 5-2-3; Among them, the main body of the rotating power mechanism 5-2 is cylindrical and hollow inside. The paint delivery pipe 3 passes through the inside of the main body of the rotating power mechanism 5-2. The rotating connector 5-2-1 is arranged at the front end of the main body of the rotating power mechanism 5-2 and is powered by a motor. The rotating motion is transmitted to the nozzle and the detection mechanism 5-1 through the universal joint between the rotating power mechanism 5-2 and the nozzle and the detection mechanism 5-1. The rotating power mechanism telescopic support frame 5-2-2 is arranged on the side of the main body of the rotating power mechanism 5-2, and a rotating power mechanism wheel 5-2-3 is provided at its end, which provides stable support for the movement of the rotating power mechanism 5-2 in the pipeline through telescoping.

[0023] The mobile power mechanism 5-3, such as Figure 6 As shown, it includes: a mobile power mechanism motor 5-3-1, a mobile power mechanism telescopic rod 5-3-2, a mobile power mechanism telescopic support frame 5-3-3 and a mobile power mechanism wheel 5-3-4.

[0024] The main body of the mobile power mechanism 5-3 is cylindrical and hollow inside. The paint delivery pipe 3 passes through the inside of the main body of the mobile power mechanism 5-3. The mobile power mechanism telescopic rod 5-3-2 and the mobile power mechanism telescopic support frame 5-3-3 are installed on the side of the main body of the mobile power mechanism 5-3. The end of the mobile power mechanism telescopic rod 5-3-2 is provided with a mobile power mechanism motor 5-3-1 and a mobile power mechanism wheel 5-3-4. The mobile power mechanism motor 5-3-1 is used to drive the mobile power mechanism wheel 5-3-4 to make the mobile power mechanism 5-3 move along the pipeline. The mobile power mechanism wheel 5-3-4 arranged at the end of the mobile power mechanism telescopic support frame 5-3-3 provides a stable support for the mobile power mechanism 5-3 in the pipeline.

[0025] The paint delivery pipe fixing mechanism 5-4 is as follows Figure 7 As shown, it includes: a fixing clamp 5-4-1, a telescopic rod 5-4-2 of a paint delivery tube fixing mechanism, a steering wheel frame 5-4-3 of a paint delivery tube fixing mechanism, a telescopic support frame 5-4-4 of a paint delivery tube fixing mechanism and a wheel 5-4-5 of a paint delivery tube fixing mechanism.

[0026] The main body of the paint delivery tube fixing mechanism 5-4 is cylindrical and hollow inside. The fixing clamp 5-4-1 is arranged in the hollow of the main body of the paint delivery tube fixing mechanism 5-4, and the paint delivery tube 3 passes through the hollow and is clamped by the fixing clamp 5-4-1; the telescopic rod 5-4-2 of the paint delivery tube fixing mechanism and the telescopic support frame 5-4-4 of the paint delivery tube fixing mechanism are installed on the side of the main body of the paint delivery tube fixing mechanism 5-4, and the end of the telescopic rod 5-4-2 of the paint delivery tube fixing mechanism is provided with a paint delivery tube fixing mechanism steering wheel frame 5-4-3, and the paint delivery tube fixing mechanism steering wheel frame 5-4-3 is used to drive the rear part of the deformable spraying device 5 to turn in the pipeline; the telescopic support frame 5-4-4 of the paint delivery tube fixing mechanism provides a stable support for the paint delivery tube fixing mechanism 5-4 in the pipeline; the end of the telescopic support frame 5-4-4 of the paint delivery tube fixing mechanism is provided with a paint delivery tube fixing mechanism wheel 5-4-5 to ensure that the paint delivery tube fixing mechanism 5-4 moves smoothly in the pipeline.

[0027] The telescopic and rotating mechanism in the present invention is powered by a micro stepping motor, such as Nanotec STA1418.

[0028] The working process of the device is as follows: 1. Spraying of inner wall coating of straight pipe The working process is controlled by the control button 4-1 of the control console 4, and the lengths of the various telescopic mechanisms (i.e., the telescopic rod 5-1-2 of the nozzle and detection mechanism, the telescopic support frame 5-1-5 of the nozzle and detection mechanism, the telescopic support frame 5-2-2 of the rotating power mechanism, the telescopic rod 5-3-2 of the moving power mechanism, the telescopic support frame 5-3-3 of the moving power mechanism, the telescopic rod 5-4-2 of the paint delivery pipe fixing mechanism, the telescopic support frame 5-4-4 of the paint delivery pipe fixing mechanism and the double-headed nozzle 5-1-1) are adjusted to suit the working process. Equip the straight pipe to be sprayed, and adjust the nozzle and detection mechanism steering wheel frame 5-1-3 and the paint delivery pipe fixing mechanism steering wheel frame 5-4-3 to keep the deformable spraying device 5 in a straight state; after reaching the end of the pipe or the starting spraying position, rotate the nozzle and detection mechanism steering wheel frame 5-1-3 as a whole by 90° to adapt to the rotation in the pipe, and adjust the radial cover 5-1-8 and the axial cover 5-1-9 to cover the camera 5-1-6 and the light 5-1-7 to prevent them from being covered by the paint. Then set the moving speed and rotation speed of the device, and finally start spraying to complete the spraying work of the straight pipe.

[0029] 2. Spraying of inner wall coating of curved pipe The working process is controlled by the control button 4-1 of the control console 4, and the lengths of the telescopic mechanisms (i.e., the telescopic rod 5-1-2 of the nozzle and detection mechanism, the telescopic support frame 5-1-5 of the nozzle and detection mechanism, the telescopic support frame 5-2-2 of the rotating power mechanism, the telescopic rod 5-3-2 of the mobile power mechanism, the telescopic support frame 5-3-3 of the mobile power mechanism, the telescopic rod 5-4-2 of the paint delivery pipe fixing mechanism, the telescopic support frame 5-4-4 of the paint delivery pipe fixing mechanism, and the double-headed nozzle 5-1-1) are adjusted to fit the curved pipe to be sprayed, and the steering wheel frame 5-1-3 of the nozzle and detection mechanism and the steering wheel frame 5-4-3 of the paint delivery pipe fixing mechanism are adjusted to keep the deformable spraying device 5 in a straight state. The moving speed of the device is set, and the turning position provided by the camera 5-1-6 can be observed through the monitoring screen 4-2, and the system calculates the time required to travel to the turning point, thereby obtaining the spraying time of this section from the turning point. Adjust the nozzle and detection mechanism steering wheel frame 5-1-3 to turn, and calculate the time to reach the next turn or end point, so as to determine the rotation direction of the paint delivery pipe fixing mechanism steering wheel frame 5-4-3 during the spraying process. After reaching the end of the pipeline or the starting spraying position, rotate the nozzle and detection mechanism steering wheel frame 5-1-3 as a whole 90° to adapt to the rotation in the pipeline, and adjust the radial cover 5-1-8 and the axial cover 5-1-9 to cover the camera 5-1-6 and the light 5-1-7 to prevent them from being covered by the paint. Then set the rotation speed of the device, and keep the device moving speed recorded by the system, start spraying, and after the spraying reaches the turning position, the system automatically adjusts the rotation direction of the paint delivery pipe fixing mechanism steering wheel frame 5-4-3, thereby completing the spraying work of the entire curved pipeline.

[0030] 3. Spraying of inner wall coating of Y-type pipe The working process is controlled by the control button 4-1 of the console 4, and the lengths of the telescopic mechanisms (i.e., the telescopic rod 5-1-2 of the nozzle and detection mechanism, the telescopic support frame 5-1-5 of the nozzle and detection mechanism, the telescopic support frame 5-2-2 of the rotating power mechanism, the telescopic rod 5-3-2 of the mobile power mechanism, the telescopic support frame 5-3-3 of the mobile power mechanism, the telescopic rod 5-4-2 of the paint delivery pipe fixing mechanism, the telescopic support frame 5-4-4 of the paint delivery pipe fixing mechanism, and the double-headed nozzle 5-1-1) are adjusted to fit the Y-shaped pipe to be sprayed, and the steering wheel frame 5-1-3 of the nozzle and detection mechanism and the steering wheel frame 5-4-3 of the paint delivery pipe fixing mechanism are adjusted to keep the deformable spraying device 5 in a straight state. The moving speed of the device is set, and the bifurcation position of the Y-shaped pipe provided by the camera 5-1-6 can be observed through the monitoring screen 4-2, and the system calculates the time required to travel to the bifurcation, thereby obtaining the spraying time of this section from the bifurcation. Adjust the nozzle and detection mechanism steering wheel frame 5-1-3 to turn, and calculate the time to reach the end point, thereby obtaining the spraying time of the section to the end point. The above process can determine the rotation direction of the 5-4-3 paint delivery pipe fixing mechanism steering wheel frame 5-4-3 in the subsequent spraying process. After reaching the end of the pipeline or the starting spraying position, rotate the nozzle and detection mechanism steering wheel frame 5-1-3 as a whole 90° to adapt to the rotation in the pipeline, and adjust the radial cover 5-1-8 and the axial cover 5-1-9 to cover the camera 5-1-6 and the light 5-1-7 to prevent them from being covered by the paint. Then set the rotation speed of the device, and keep the device movement speed recorded by the system for spraying. After the spraying reaches the bifurcation position, the nozzle and the detection mechanism steering wheel frame 5-1-3 are rotated 90° as a whole to return to the original state, and the radial cover 5-1-8 and the axial cover 5-1-9 are adjusted to make the camera 5-1-6 and the light 5-1-7 work, and the nozzle and the detection mechanism steering wheel frame 5-1-3 are adjusted to turn to the direction of another bifurcation position, and the time to reach the end point is calculated, thereby obtaining the spraying time of this section to the end point. The above process can determine the rotation direction of the paint delivery pipe fixing mechanism steering wheel frame 5-4-3 in the subsequent spraying process. After reaching the end of the pipeline or the starting spraying position, the nozzle and the detection mechanism steering wheel frame 5-1-3 are rotated 90° as a whole to adapt to the rotation in the pipeline, and the radial cover 5-1-8 and the axial cover 5-1-9 are adjusted to cover the camera 5-1-6 and the light 5-1-7 to prevent them from being covered by the paint. Then set the rotation speed of the device, and keep the device moving speed recorded by the system for spraying. After the spraying reaches the bifurcation position, the system automatically adjusts the rotation direction of the paint delivery pipe fixing mechanism steering wheel frame 5-4-3, thereby completing the spraying work of the entire Y-shaped pipeline.

[0031] 4. Health status inspection of pipeline inner wall The working process is controlled by the control button 4-1 of the console 4, and the lengths of the various telescopic mechanisms (i.e., the telescopic rod 5-1-2 of the nozzle and detection mechanism, the telescopic support frame 5-1-5 of the nozzle and detection mechanism, the telescopic support frame 5-2-2 of the rotating power mechanism, the telescopic rod 5-3-2 of the mobile power mechanism, the telescopic support frame 5-3-3 of the mobile power mechanism, the telescopic rod 5-4-2 of the paint delivery pipe fixing mechanism, the telescopic support frame 5-4-4 of the paint delivery pipe fixing mechanism, and the double-headed nozzle 5-1-1) are adjusted to fit the pipeline for health status inspection, and the steering wheel frame 5-1-3 of the nozzle and detection mechanism and the steering wheel frame 5-4-3 of the paint delivery pipe fixing mechanism are adjusted so that the deformable spraying device 5 can move smoothly in the pipeline. The target position provided by the camera 5-1-6 can be observed through the monitoring screen 4-2, and the system calculates the distance of the target position according to the travel speed and time, and takes images for subsequent analysis and processing of the pipeline.

Claims

1. A pipeline inner wall spraying and detection device, characterized in that: The device comprises: a paint bucket (1), a pump (2), a paint delivery pipe (3) and a deformable spraying device (5); the paint bucket (1), the pump (2) and the deformable spraying device (5) are connected via the paint delivery pipe (3); A deformable spraying device comprises: a nozzle and detection mechanism (5-1), a rotating power mechanism (5-2), a moving power mechanism (5-3) and a paint delivery pipe fixing mechanism (5-4); the nozzle and detection mechanism (5-1), the rotating power mechanism (5-2), the moving power mechanism (5-3) and the paint delivery pipe fixing mechanism (5-4) are connected via a universal joint; wherein the nozzle and detection mechanism (5-1) is used to detect the uncoated position on the inner wall of the pipeline and to spray the paint; the rotating power mechanism (5-2) is used to provide the nozzle and detection mechanism (5-1) with rotational power, and the rotational speed thereof can be adjusted; the moving power mechanism (5-3) is used to provide the deformable spraying device (5) with forward and backward power; and the paint delivery pipe fixing mechanism (5-4) is used to fix the paint delivery pipe (3) to prevent it from breaking or pulling off; The nozzle and detection mechanism (5-1) comprises: a double-headed nozzle (5-1-1), a nozzle and detection mechanism telescopic rod (5-1-2), a nozzle and detection mechanism steering wheel frame (5-1-3), a nozzle and detection mechanism wheel (5-1-4), a nozzle and detection mechanism telescopic support frame (5-1-5), a camera (5-1-6) and a lamp (5-1-7); wherein the nozzle and detection mechanism (5-1) body is cylindrical and hollow inside; the double-headed nozzle (5-1-1) is fixedly mounted on the front end of the nozzle and detection mechanism (5-1) body; the paint delivery pipe (3) passes through the inside of the nozzle and detection mechanism (5-1) body and is connected to the double-headed nozzle (5-1-1); the nozzle and detection mechanism telescopic rod (5-1-2) and the nozzle The telescopic support frame (5-1-5) of the nozzle and detection mechanism is installed on the side of the main body of the nozzle and detection mechanism (5-1); the end of the telescopic rod (5-1-2) of the nozzle and detection mechanism is provided with a nozzle and detection mechanism steering wheel frame (5-1-3); the nozzle and detection mechanism steering wheel frame (5-1-3) can rotate around the axis of the telescopic rod (5-1-2) of the nozzle and detection mechanism; the nozzle and detection mechanism wheels (5-1-4) are installed on the nozzle and detection mechanism steering wheel frame (5-1-3), and the nozzle and detection mechanism wheels (5-1-4) are also installed at the end of the telescopic support frame (5-1-5) of the nozzle and detection mechanism; the telescopic support frame (5-1-5) of the nozzle and detection mechanism provides stable support for the movement of the nozzle and detection mechanism (5-1) in the pipeline by telescoping; The camera (5-1-6) and the light (5-1-7) are arranged on the front end surface of the nozzle and the detection mechanism (5-1) and the side of the front end of the main body; the camera (5-1-6) is used to detect the health of the inner wall of the pipeline and observe the required direction of travel, and the light (5-1-7) is used to provide lighting to facilitate the detection of the camera (5-1-6).

2. The pipeline inner wall spraying and detection device according to claim 1 is characterized in that: The nozzle and detection mechanism (5-1) further comprises: a radial cover (5-1-8), an axial cover (5-1-9) and a cover rotating base (5-1-10); the radial cover (5-1-8) and the axial cover (5-1-9) are arranged outside the camera (5-1-6) and the lamp (5-1-7) and are installed on the cover rotating base (5-1-10); the cover rotating base (5-1-10) is used to drive the radial cover (5-1-8) and the axial cover (5-1-9) to rotate, thereby covering the camera (5-1-6) and the lamp (5-1-7) during the spraying process to prevent the paint from covering the camera (5-1-6) and the lamp (5-1-7); the cover rotating base (5-1-10) is connected to the micro-stepping motor through a lever; when the micro-stepping motor rotates, the lever transmits the motion to the cover rotating base (5-1-10), thereby further driving the radial cover (5-1-8) and the axial cover (5-1-9) to rotate.

3. The pipeline inner wall spraying and detection device according to claim 2 is characterized in that: The double-headed nozzle (5-1-1) has a telescopic function.

4. The pipeline inner wall spraying and detection device according to claim 3 is characterized in that: The nozzle and detection mechanism steering wheel frame (5-1-3) is composed of a nozzle and detection mechanism wheel (5-1-4), a steering front wheel frame, a steering rear wheel frame, a steering lever and a micro stepping motor. The steering front wheel frame and the steering rear wheel frame are respectively equipped with a nozzle and detection mechanism wheel (5-1-4). The steering front wheel frame is connected to the steering rear wheel frame via a rotating shaft. The micro stepping motor is connected to the steering lever, which drives the steering lever to move the steering front wheel frame, thereby driving the front part of the deformable spray device (5) to steer in the pipeline.

5. The pipeline inner wall spraying and detection device according to claim 4, characterized in that: The rotary power mechanism (5-2) comprises: a rotary connector (5-2-1), a rotary power mechanism telescopic support frame (5-2-2) and a rotary power mechanism wheel (5-2-3); wherein the rotary power mechanism (5-2) body is cylindrical and hollow inside, and the paint delivery pipe (3) passes through the inside of the rotary power mechanism (5-2) body; the rotary connector (5-2-1) is arranged at the front end of the rotary power mechanism (5-2) body, is powered by a motor, and transmits rotary motion to the nozzle and the detection mechanism (5-1) through a universal joint between the rotary power mechanism (5-2) and the nozzle and the detection mechanism (5-1); the rotary power mechanism telescopic support frame (5-2-2) is arranged on the side of the rotary power mechanism (5-2) body, and is provided with a rotary power mechanism wheel (5-2-3) at its end, which provides stable support for the movement of the rotary power mechanism (5-2) in the pipeline by telescoping.

6. The pipeline inner wall spraying and detection device according to claim 5, characterized in that: The mobile power mechanism (5-3) comprises: a mobile power mechanism motor (5-3-1), a mobile power mechanism telescopic rod (5-3-2), a mobile power mechanism telescopic support frame (5-3-3) and a mobile power mechanism wheel (5-3-4); the mobile power mechanism (5-3) has a cylindrical body and a hollow interior; the paint delivery pipe (3) passes through the interior of the mobile power mechanism (5-3) body; the mobile power mechanism telescopic rod (5-3-2) and the mobile power mechanism telescopic support frame (5-3-3) are installed on the mobile power mechanism; On the side of the main body of the mobile power mechanism (5-3), the end of the mobile power mechanism telescopic rod (5-3-2) is provided with a mobile power mechanism motor (5-3-1) and a mobile power mechanism wheel (5-3-4); the mobile power mechanism motor (5-3-1) is used to drive the mobile power mechanism wheel (5-3-4) to enable the mobile power mechanism (5-3) to move along the pipeline; the mobile power mechanism wheel (5-3-4) provided at the end of the mobile power mechanism telescopic support frame (5-3-3) provides stable support for the mobile power mechanism (5-3) in the pipeline.

7. The pipeline inner wall spraying and detection device according to claim 6, characterized in that: The paint delivery tube fixing mechanism (5-4) comprises: a fixing clamp (5-4-1), a paint delivery tube fixing mechanism telescopic rod (5-4-2), a paint delivery tube fixing mechanism steering wheel frame (5-4-3), a paint delivery tube fixing mechanism telescopic support frame (5-4-4) and a paint delivery tube fixing mechanism wheel (5-4-5); the paint delivery tube fixing mechanism (5-4) has a cylindrical body, which is hollow inside; the fixing clamp (5-4-1) is arranged in the hollow of the paint delivery tube fixing mechanism (5-4), the paint delivery tube (3) passes through the hollow and is clamped by the fixing clamp (5-4-1); the paint delivery tube fixing mechanism telescopic rod (5-4-2) and the paint delivery tube fixing mechanism telescopic support frame (5-4-4) are installed in the paint delivery tube fixing mechanism (5-4) On the side of the main body, the end of the paint delivery tube fixing mechanism telescopic rod (5-4-2) is provided with a paint delivery tube fixing mechanism steering wheel frame (5-4-3), and the paint delivery tube fixing mechanism steering wheel frame (5-4-3) is used to drive the rear of the deformable spray device (5) to steer in the pipeline; the paint delivery tube fixing mechanism telescopic support frame (5-4-4) provides stable support for the paint delivery tube fixing mechanism (5-4) in the pipeline; the end of the paint delivery tube fixing mechanism telescopic support frame (5-4-4) is provided with a paint delivery tube fixing mechanism wheel (5-4-5) to ensure that the paint delivery tube fixing mechanism (5-4) moves smoothly in the pipeline; the paint delivery tube fixing mechanism telescopic support frame (5-4-2) provides stable support for the movement of the nozzle and the detection mechanism (5-1) in the pipeline by telescoping.

8. The pipeline inner wall spraying and detection device according to claim 7, characterized in that: The paint delivery pipe fixing mechanism steering wheel frame (5-4-3) is composed of a paint delivery pipe fixing mechanism wheel (5-4-5), a steering front wheel frame, a steering rear wheel frame, a steering lever and a micro stepping motor. The steering front wheel frame and the steering rear wheel frame are respectively equipped with a paint delivery pipe fixing mechanism wheel (5-4-5). The steering front wheel frame is connected to the steering rear wheel frame via a rotating shaft. The micro stepping motor is connected to the steering lever, which drives the steering lever to move the steering front wheel frame, thereby driving the rear part of the deformable spray device (5) to steer in the pipeline.

9. The pipeline inner wall spraying and detection device according to claim 8, characterized in that: The device also includes a control console (4), wherein the control console (4) is provided with a control button (4-1) and a monitoring screen (4-2); the control button (4-1) is used to control the nozzle and detection mechanism telescopic rod (5-1-2), the nozzle and detection mechanism telescopic support frame (5-1-5), the rotary power mechanism telescopic support frame (5-2-2), the mobile power mechanism telescopic rod (5-3-2), the mobile power mechanism telescopic support frame (5-3-3), the paint delivery pipe fixing mechanism telescopic rod (5-4-2), and the double-headed nozzle (5-1-1) and the paint delivery pipe fixing mechanism telescopic support frame (5-4-4), respectively, to adjust the telescopic length to adapt to the curved pipe required for spraying; to control the micro-stepping motor that drives the cover rotating base (5-1-10) to rotate; and to adjust the micro-stepping motor on the nozzle and detection mechanism steering wheel frame (5-1-3) and the paint delivery pipe fixing mechanism steering wheel frame (5-4-3) to achieve steering; the monitoring screen (4-2) is used to display the image captured by the camera (5-1-6).

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