A pipeline inner wall spraying and detecting device

Abstract

The application discloses a pipeline inner wall spraying and detecting device, belongs to the technical field of pipeline inner wall coating, and aims at the problem that the existing technology cannot guarantee uniform coating when spraying the inner wall of different pipelines, and the inner wall of pipelines with complex shapes such as elbow pipes and Y-shaped pipes. A deformable spraying device is designed in the application, a nozzle and a detecting mechanism in the device are used for detecting the position without coating on the inner wall of the pipeline and spraying paint, a rotating power mechanism is used for providing rotating power for the nozzle and the detecting mechanism and can adjust the rotating speed, a moving power mechanism is used for providing advancing and retreating power for the deformable spraying device, and a paint conveying pipe fixing mechanism is used for fixing the paint conveying pipe to prevent the paint conveying pipe from being broken or pulled off. Through the arrangement of the deformable spraying device, uniform spraying can be guaranteed when the inner wall of the complex pipeline is sprayed, and a camera is further arranged to detect the spraying effect.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of pipeline inner wall coating. BACKGROUND

[0002] Pipeline facilities are increasingly widely used in many fields, such as ship seawater pipelines, petroleum and chemical pipelines, etc. Corrosive flowing medium flows in the pipeline for a long time, which makes the inner wall of the pipeline prone to corrosion, causing pipeline corrosion, leakage, pipeline failure, and bringing huge economic losses, and even causing serious safety accidents. The traditional pipeline inner wall is not well protected, but with the high requirements for the service life and performance of the pipeline, covering the coating on the inner wall of the pipeline becomes an important work for pipeline maintenance, thereby effectively prolonging the service life of the pipeline and improving the safety and reliability of the pipeline.

[0003] Due to different pipeline inner diameters and the existence of elbow pipes, Y-shaped pipes and other shapes, the traditional construction method has many deficiencies: (1) manual pipeline brushing and using traditional spraying equipment for pipeline brushing are inefficient; (2) manual pipeline brushing and using traditional spraying equipment for pipeline brushing cannot guarantee uniform coating; (3) there are many types of pipelines, and traditional spraying equipment can only be used for a single pipeline; (4) traditional spraying equipment only has a spraying function and cannot perform pipe wall health detection and abnormal position positioning. SUMMARY

[0004] In view of the problem that the prior art cannot guarantee uniform coating when spraying the inner wall of a pipeline with different inner diameters and complex shapes such as elbow pipes and Y-shaped pipes, the application designs a pipeline inner wall spraying and detection device, and the technical scheme adopted is as follows:

[0005] A pipeline 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;

[0006] The paint bucket 1, the pump 2 and the deformable spraying device 5 are connected through the paint delivery pipe 3;

[0007] The 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 through a universal joint;

[0008] 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.

[0009] The nozzle and detection mechanism 5-1 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 light 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 main body is cylindrical and hollow inside, the double-headed nozzle 5-1-1 is fixedly installed at the front end of the nozzle and detection mechanism 5-1 main body, and the paint delivery pipe 3 is inserted from the nozzle and detection mechanism 5-1 main body. The nozzle and detection mechanism passes through and is connected to the double-ended 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 at the end of the nozzle and detection mechanism steering wheel frame 5-1-3, which 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;

[0010] The camera 5-1-6 and the light 5-1-7 are arranged on the front face and the side face of the nozzle and detection mechanism 5-1 main body; the camera 5-1-6 is used to detect the health of the inner wall of the pipe 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; 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 light 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 light 5-1-7 during the spraying process to prevent the paint from covering the camera 5-1-6 and the light 5-1-7;

[0011] like Figure 9 As shown, the cover rotating base 5-1-10 is connected to the micro stepping motor through a shifting rod. When the micro stepping motor rotates, the motion is transmitted to the cover rotating base 5-1-10 through the shifting rod, thereby further driving the radial cover 5-1-8 and the axial cover 5-1-9 to rotate.

[0012] Further, the double-head nozzle 5-1-1 has a telescopic function, and the double-head nozzle 5-1-1 and the nozzle and detection mechanism telescopic rod 5-1-2 can be length-adjusted according to the pipe diameter to adapt to the spraying of the inner wall coating of pipes with different diameters.

[0013] Further, 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 with the steering rear wheel frame through a rotating shaft. The micro stepping motor is connected with the steering lever to drive the steering lever to drive the steering front wheel frame, thereby realizing the steering of the front part of the deformable spraying device 5 in the pipe.

[0014] Further, the rotating power mechanism 5-2 comprises a rotating connecting head 5-2-1, a rotating power mechanism telescopic support frame 5-2-2 and a rotating power mechanism wheel 5-2-3. The main body of the rotating power mechanism 5-2 is cylindrical with a hollow inside, and the coating conveying pipe 3 passes through the inside of the main body of the rotating power mechanism 5-2. The rotating connecting head 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 detection mechanism 5-1 through the universal joint between the rotating power mechanism 5-2 and the nozzle and 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 the end thereof is provided with the rotating power mechanism wheel 5-2-3. The telescopic support provides stable support for the movement of the rotating power mechanism 5-2 in the pipe.

[0015] Further, the moving power mechanism 5-3 comprises a moving power mechanism motor 5-3-1, a moving power mechanism telescopic rod 5-3-2, a moving power mechanism telescopic support frame 5-3-3 and a moving power mechanism wheel 5-3-4. The main body of the moving power mechanism 5-3 is cylindrical with a hollow inside, and the coating conveying pipe 3 passes through the inside of the main body of the moving power mechanism 5-3. The moving power mechanism telescopic rod 5-3-2 and the moving power mechanism telescopic support frame 5-3-3 are installed on the side of the main body of the moving power mechanism 5-3. The end of the moving power mechanism telescopic rod 5-3-2 is provided with the moving power mechanism motor 5-3-1 and the moving power mechanism wheel 5-3-4. The moving power mechanism motor 5-3-1 is used to drive the moving power mechanism wheel 5-3-4 to make the moving power mechanism 5-3 travel along the pipe. The moving power mechanism wheel 5-3-4 arranged at the end of the moving power mechanism telescopic support frame 5-3-3 provides stable support for the movement of the moving power mechanism 5-3 in the pipe.

[0016] Further, the paint conveying pipe fixing mechanism 5-4 comprises a fixing clamp 5-4-1, a paint conveying pipe fixing mechanism telescopic rod 5-4-2, a paint conveying pipe fixing mechanism steering wheel frame 5-4-3, a paint conveying pipe fixing mechanism telescopic support frame 5-4-4, and a paint conveying pipe fixing mechanism wheel 5-4-5. The paint conveying pipe fixing mechanism 5-4 is in a cylindrical shape, hollow inside, and the fixing clamp 5-4-1 is arranged in the hollow inside of the paint conveying pipe fixing mechanism 5-4, through which the paint conveying pipe 3 passes and is clamped by the fixing clamp 5-4-1. The paint conveying pipe fixing mechanism telescopic rod 5-4-2 and the paint conveying pipe fixing mechanism telescopic support frame 5-4-4 are installed on the side of the paint conveying pipe fixing mechanism 5-4, and the paint conveying pipe fixing mechanism telescopic rod 5-4-2 is provided with the paint conveying pipe fixing mechanism steering wheel frame 5-4-3 at the end, which is used to drive the rear part of the deformable spraying device 5 to steer in the pipeline. The paint conveying pipe fixing mechanism telescopic support frame 5-4-4 provides stable support for the paint conveying pipe fixing mechanism 5-4 in the pipeline. The paint conveying pipe fixing mechanism telescopic support frame 5-4-4 is provided with the paint conveying pipe fixing mechanism wheel 5-4-5 at the end to ensure the smooth movement of the paint conveying pipe fixing mechanism 5-4 in the pipeline. The paint conveying pipe fixing mechanism telescopic support frame 5-4-2 provides stable support for the movement of the nozzle and detection mechanism 5-1 in the pipeline through telescoping.

[0017] Further, the paint conveying pipe fixing mechanism steering wheel frame 5-4-3 is composed of the paint conveying 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 provided with one paint conveying pipe fixing mechanism wheel 5-4-5, and the steering front wheel frame is connected with the steering rear wheel frame through a rotating shaft. The micro stepping motor is connected with the steering lever to drive the steering lever to drive the steering front wheel frame to steer the rear part of the deformable spraying device 5 in the pipeline.

[0018] Further, 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 for controlling the nozzle and detection mechanism telescopic rod 5-1-2, the nozzle and detection mechanism telescopic support frame 5-1-5, the rotating power mechanism telescopic support frame 5-2-2, the moving power mechanism telescopic rod 5-3-2, the moving power mechanism telescopic support frame 5-3-3, the paint conveying pipe fixing mechanism telescopic rod 5-4-2, the paint conveying pipe fixing mechanism telescopic support frame 5-4-4 and the double-head nozzle 5-1-1, and adjusting the telescopic length to adapt to the required spraying of the elbow pipe; the control of the micro stepping motor driving the cover rotating base 5-1-10 to rotate; and adjusting the micro stepping motor on the nozzle and detection mechanism steering wheel frame 5-1-3 and the paint conveying pipe fixing mechanism steering wheel frame 5-4-3 to realize steering; the monitoring screen 4-2 is used for displaying the image shot by the camera 5-1-6.

[0019] The beneficial effects of the present application are:

[0020] By controlling the movement, turning, nozzle rotation and other behaviors of the device in the pipeline, uniform spraying of the coating on the inner wall of the pipeline can be realized, and compared with manual pipeline brushing and using traditional spraying equipment, the work efficiency can be improved. The present application also realizes: (1) suitable for spraying the inner wall of straight pipes, elbow pipes, Y-shaped pipes and the like; (2) suitable for spraying the inner wall of pipes and pipe joints (typical value of pipe diameter is 100-200 mm) of different diameters; (3) can detect the health of the inner wall area of the pipeline, and provide convenience for regular monitoring and detection. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is the overall structure diagram of the device of the present application;

[0022] Figure 2 It is the control console structure schematic diagram in the present application;

[0023] Figure 3 It is the structure diagram of the deformable spraying device;

[0024] Figure 4 It is the structure diagram of the nozzle and detection mechanism;

[0025] Figure 5 It is the structure diagram of the rotating power mechanism;

[0026] Figure 6 It is the structure diagram of the moving power mechanism;

[0027] Figure 7 It is the structure diagram of the paint conveying pipe fixing mechanism;

[0028] Figure 8 It is the local enlarged view of the nozzle and detection mechanism steering wheel frame;

[0029] Figure 9 A partial enlarged view of the base part of the lid.

[0030] The markings in the above drawings are: 1-paint bucket; 2-pump; 3-paint delivery pipe; 4-control console; 5-deformable spraying 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-Moving power mechanism wheels; 5-4-1-Fixed 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-Wheels of paint delivery tube fixing mechanism. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is further explained and illustrated in the following in the form of specific embodiments.

[0032] like Figure 1 As shown, a pipe inner wall spraying and detection device in the present invention includes: a paint bucket 1, a pump 2, a paint delivery pipe 3, a control console 4 and a deformable spraying device 5;

[0033] The paint bucket 1, the pump 2 and the deformable spraying device 5 are connected by 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.

[0034] 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;

[0035] The nozzle and detection mechanism 5-1 is used to detect the uncoated position of the inner wall of the pipeline and to spray paint; the rotating power mechanism 5-2 is used to provide power for the rotation of the nozzle and detection mechanism 5-1, and the speed of rotation can be adjusted; the moving power mechanism 5-3 is used to provide power for the forward and backward movement of 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 being broken or pulled off.

[0036] The nozzle and detection mechanism 5-1, as shown in Figure 4 The nozzle and detection mechanism 5-1, as shown in

[0037] The nozzle and detection mechanism 5-1, as shown in

[0038] The nozzle and detection mechanism 5-1, as shown in Figure 8 The nozzle and detection mechanism 5-1, as shown in

[0039] Camera 5-1-6 and lamp 5-1-7 are arranged on the front end surface of the nozzle and 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 illumination to facilitate detection by the camera 5-1-6; 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, which 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 coating from covering the camera 5-1-6 and the lamp 5-1-7.

[0040] As shown in Figure 9 , the cover rotating base 5-1-10 is connected to the micro stepping motor through a lever, and 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.

[0041] The rotating power mechanism 5-2, as shown in Figure 5 , includes a rotating connector 5-2-1, a rotating power mechanism telescopic support 5-2-2, and a rotating power mechanism wheel 5-2-3.

[0042] The rotating power mechanism 5-2 is cylindrical in shape and hollow inside, and the coating delivery pipe 3 passes through the inside of the rotating power mechanism 5-2 body, the rotating connector 5-2-1 is arranged at the front end of the rotating power mechanism 5-2 body and is powered by a motor, and the rotating motion is transmitted to the nozzle and detection mechanism 5-1 through the universal joint between the rotating power mechanism 5-2 and the nozzle and detection mechanism 5-1; the rotating power mechanism telescopic support 5-2-2 is arranged on the side of the rotating power mechanism 5-2 body, and the end thereof is provided with the rotating power mechanism wheel 5-2-3, which provides stable support for the movement of the rotating power mechanism 5-2 in the pipeline through telescoping.

[0043] The moving power mechanism 5-3, as shown in Figure 6 , includes a moving power mechanism motor 5-3-1, a moving power mechanism telescopic rod 5-3-2, a moving power mechanism telescopic support 5-3-3, and a moving power mechanism wheel 5-3-4.

[0044] 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 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.

[0045] The paint delivery pipe fixing mechanism 5-4, as 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.

[0046] The main body of the paint delivery pipe 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 pipe fixing mechanism 5-4. The paint delivery pipe 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 pipe fixing mechanism and the telescopic support frame 5-4-4 of the paint delivery pipe fixing mechanism are installed on the side of the main body of the paint delivery pipe fixing mechanism 5-4. The end of the telescopic rod 5-4-2 of the paint delivery pipe fixing mechanism is provided with a steering wheel frame 5-4-3 of the paint delivery pipe fixing mechanism. The steering wheel frame 5-4-3 of the paint delivery pipe fixing mechanism 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 pipe fixing mechanism provides stable support for the paint delivery pipe fixing mechanism 5-4 in the pipeline; the end of the telescopic support frame 5-4-4 of the paint delivery pipe fixing mechanism is provided with a paint delivery pipe fixing mechanism wheel 5-4-5 to ensure that the paint delivery pipe fixing mechanism 5-4 moves smoothly in the pipeline.

[0047] The telescopic and rotating mechanisms in the present invention are powered by micro-stepping motors, such as Nanotec STA1418.

[0048] The working process of the device is as follows:

[0049] 1. Spraying operation of inner wall coating of straight pipe

[0050] The working process is controlled by the control button 4-1 of the console 4. The length of each telescopic mechanism (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 rotary 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 conveying pipe fixing mechanism, the telescopic support frame 5-4-4 of the paint conveying pipe fixing mechanism and the double-head nozzle 5-1-1) is adjusted to adapt to the straight 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 conveying pipe fixing mechanism are adjusted to keep the deformable spraying device 5 in a straight line state. After reaching the end of the pipe or the starting spraying position, the steering wheel frame 5-1-3 of the nozzle and detection mechanism is rotated by 90° as a whole to adapt to the rotation in the pipe, 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 lamp 5-1-7 to avoid them being covered by the paint. Then the moving speed and the rotating speed of the device are set, and finally the spraying is started to complete the spraying work of the straight pipe.

[0051] II. Spraying of the coating on the inner wall of the curved pipe

[0052] The working process is controlled by the control button 4-1 of the console 4. The length of each telescopic mechanism (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 rotary 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 conveying pipe fixing mechanism, the telescopic support frame 5-4-4 of the paint conveying pipe fixing mechanism and the double-head nozzle 5-1-1) is adjusted to adapt to the curved pipe to be sprayed, and the nozzle and detection mechanism steering wheel frame 5-1-3 and the paint conveying pipe fixing mechanism steering wheel frame 5-4-3 are adjusted to keep the deformable spraying device 5 in a straight state. The moving speed of the device is set, the turning position provided by the camera 5-1-6 can be observed through the monitoring screen 4-2, and the time required to travel to the turning position is calculated by the system, so that the spraying time of the section from the turning position is obtained. The nozzle and detection mechanism steering wheel frame 5-1-3 is adjusted to turn, and the time to travel to the next turning position or the end point is calculated to determine the rotation direction of the paint conveying pipe fixing mechanism steering wheel frame 5-4-3 during the spraying process. After traveling to the end of the pipe or the starting spraying position, the nozzle and detection mechanism steering wheel frame 5-1-3 is rotated by 90° as a whole to adapt to the rotation in the pipe, 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 lamp 5-1-7 to avoid being covered by the paint. Then the rotation speed of the device is set, and the moving speed of the device recorded by the system is kept, and the spraying is started. After the spraying travels to the turning position, the system automatically adjusts the rotation direction of the paint conveying pipe fixing mechanism steering wheel frame 5-4-3, and then completes the spraying work of the entire curved pipe.

[0053] III. Spraying of Y-shaped pipe inner wall coating

[0054] The working process is controlled by the control button 4-1 of the control console 4. The length of each telescopic mechanism (i.e. the telescopic rod 5-1-2 and telescopic support frame 5-1-5 of the nozzle and detection mechanism, the telescopic support frame 5-2-2 of the rotary power mechanism, the telescopic rod 5-3-2 and telescopic support frame 5-3-3 of the moving power mechanism, the telescopic rod 5-4-2 and telescopic support frame 5-4-4 of the paint delivery pipe fixing mechanism, and the double-head nozzle 5-1-1) is adjusted to adapt to the Y-shaped pipe to be sprayed, and the turning wheel frame 5-1-3 of the nozzle and detection mechanism and the turning wheel frame 5-4-3 of the paint delivery pipe fixing mechanism are adjusted to keep the deformable spraying device 5 in a straight line. The moving speed of the device is set, 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 time required to travel to the bifurcation is calculated by the system, thereby obtaining the spraying time of the section from the bifurcation. The turning wheel frame 5-1-3 of the nozzle and detection mechanism is adjusted to turn, and the time to travel to the end point is calculated, thereby obtaining the spraying time of the section from the end point. The above process can determine the rotation direction of the turning wheel frame 5-4-3 of the paint delivery pipe fixing mechanism in the subsequent spraying process. After traveling to the end of the pipe or the starting spraying position, the turning wheel frame 5-1-3 of the nozzle and detection mechanism is rotated by 90° as a whole to adapt to the rotation in the pipe, 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 lamp 5-1-7 to avoid them being covered by the paint. Then the rotation speed of the device is set, and the spraying is performed at the moving speed recorded by the system. After spraying to the bifurcation position, the turning wheel frame 5-1-3 of the nozzle and detection mechanism is rotated by 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 lamp 5-1-7 work, the turning wheel frame 5-1-3 of the nozzle and detection mechanism is adjusted to turn to the direction of another bifurcation position, and the time to travel to the end point is calculated, thereby obtaining the spraying time of the section from the end point. The above process can determine the rotation direction of the turning wheel frame 5-4-3 of the paint delivery pipe fixing mechanism in the subsequent spraying process. After traveling to the end of the pipe or the starting spraying position, the turning wheel frame 5-1-3 of the nozzle and detection mechanism is rotated by 90° as a whole to adapt to the rotation in the pipe, 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 lamp 5-1-7 to avoid them being covered by the paint. Then the rotation speed of the device is set, and the spraying is performed at the moving speed recorded by the system. After spraying to the bifurcation position, the system automatically adjusts the rotation direction of the turning wheel frame 5-4-3 of the paint delivery pipe fixing mechanism, thereby completing the spraying work of the entire Y-shaped pipe.

[0055] Four, detection of the health condition of the inner wall of the pipe

[0056] The working process is controlled by the control button 4-1 of the control console 4, and the length of each telescopic mechanism (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 rotary 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 conveying pipe fixing mechanism, the telescopic support frame 5-4-4 of the paint conveying pipe fixing mechanism and the double-head nozzle 5-1-1) is adjusted to adapt to the required pipeline for health condition detection, 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 conveying pipe fixing mechanism are adjusted, so that the deformable spraying device 5 can smoothly travel in the pipeline. The target position provided by the camera 5-1-6 can be observed through the monitoring screen 4-2, the system calculates the distance of the target position according to the travel speed and time, and takes pictures to facilitate subsequent analysis and processing of the pipeline.

Claims

1. A device for in-ditch wall spraying and inspection, 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 rotational power for the nozzle and detection mechanism (5-1) and can adjust the rotational speed; the moving power mechanism (5-3) is used to provide forward and backward power for the deformable spraying device (5); 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 on 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 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 provided with a nozzle and detection mechanism wheel (5-1-4). The steering front wheel frame is connected with the steering rear wheel frame through a rotating shaft. The micro stepping motor is connected with the steering lever to drive the steering lever to drive the steering front wheel frame, thereby realizing the steering of the front part of the deformable spraying device (5) in the pipeline. The camera (5-1-6) and the lamp (5-1-7) are arranged on the front end surface and the side surface of the front end of the nozzle and detection mechanism (5-1). The camera (5-1-6) is used for detecting the health condition of the inner wall of the pipeline and observing the required direction of advancement. The lamp (5-1-7) is used for providing illumination to facilitate the detection of the camera (5-1-6).

2. The in-pipe wall spraying and inspection apparatus of claim 1, wherein, 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, so as to cover the camera (5-1-6) and the lamp (5-1-7) during the spraying process, thereby preventing the coating from covering the camera (5-1-6) and the lamp (5-1-7). The cover rotating base (5-1-10) is connected with 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.

3. The in-ditch wall painting and inspection apparatus of claim 2, wherein, The double-head nozzle (5-1-1) has a telescopic function.

4. The in-ditch wall painting and inspection apparatus of claim 3, wherein, The rotating power mechanism (5-2) comprises a rotating connecting head (5-2-1), a rotating power mechanism telescopic support frame (5-2-2) and a rotating power mechanism wheel (5-2-3). The main body of the rotating power mechanism (5-2) is cylindrical and hollow. The coating conveying pipe (3) passes through the inside of the main body of the rotating power mechanism (5-2). The rotating connecting head (5-2-1) is arranged at the front end of the main body of the rotating power mechanism (5-2) and is driven by a motor. The rotating motion is transmitted to the nozzle and detection mechanism (5-1) through the universal joint between the rotating power mechanism (5-2) and the nozzle and detection mechanism (5-1). The rotating power mechanism telescopic support frame (5-2-2) is arranged on the side surface of the main body of the rotating power mechanism (5-2) and is provided with the rotating power mechanism wheel (5-2-3) at the end thereof. The telescopic support frame provides stable support for the movement of the rotating power mechanism (5-2) in the pipeline.

5. The in-ditch wall painting and inspection apparatus of claim 4, wherein, The moving power mechanism (5-3) comprises a moving power mechanism motor (5-3-1), a moving power mechanism telescopic rod (5-3-2), a moving power mechanism telescopic support frame (5-3-3) and a moving power mechanism wheel (5-3-4); the moving power mechanism (5-3) is in a cylindrical shape, hollow inside, the paint conveying pipe (3) passes through the inside of the moving power mechanism (5-3), the moving power mechanism telescopic rod (5-3-2) and the moving power mechanism telescopic support frame (5-3-3) are installed on the side of the moving power mechanism (5-3), the moving power mechanism telescopic rod (5-3-2) is provided with the moving power mechanism motor (5-3-1) and the moving power mechanism wheel (5-3-4) at the end, the moving power mechanism motor (5-3-1) is used to drive the moving power mechanism wheel (5-3-4) to make the moving power mechanism (5-3) travel along the pipeline, the moving power mechanism wheel (5-3-4) provided at the end of the moving power mechanism telescopic support frame (5-3-3) provides stable support for the moving power mechanism (5-3) in the pipeline.

6. The in-pipe wall spraying and inspection apparatus of claim 5, wherein, The paint conveying pipe fixing mechanism (5-4) comprises a fixing clamp (5-4-1), a paint conveying pipe fixing mechanism telescopic rod (5-4-2), a paint conveying pipe fixing mechanism steering wheel frame (5-4-3), a paint conveying pipe fixing mechanism telescopic support frame (5-4-4) and a paint conveying pipe fixing mechanism wheel (5-4-5); the paint conveying pipe fixing mechanism (5-4) is in a cylindrical shape, hollow inside, the fixing clamp (5-4-1) is arranged in the hollow of the paint conveying pipe fixing mechanism (5-4), the paint conveying pipe (3) passes through the hollow and is clamped by the fixing clamp (5-4-1); the paint conveying pipe fixing mechanism telescopic rod (5-4-2) and the paint conveying pipe fixing mechanism telescopic support frame (5-4-4) are installed on the side of the paint conveying pipe fixing mechanism (5-4), the paint conveying pipe fixing mechanism telescopic rod (5-4-2) is provided with the paint conveying pipe fixing mechanism steering wheel frame (5-4-3) at the end, the paint conveying pipe 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 paint conveying pipe fixing mechanism telescopic support frame (5-4-4) provides stable support for the paint conveying pipe fixing mechanism (5-4) in the pipeline; the paint conveying pipe fixing mechanism telescopic support frame (5-4-4) is provided with the paint conveying pipe fixing mechanism wheel (5-4-5) at the end to ensure the smooth travel of the paint conveying pipe fixing mechanism (5-4) in the pipeline; the paint conveying pipe fixing mechanism telescopic rod (5-4-2) provides stable support for the movement of the nozzle and the detection mechanism (5-1) in the pipeline through telescoping.

7. The in-pipe wall spraying and inspection apparatus of claim 6, wherein, The coating conveying pipe fixing mechanism steering wheel frame (5-4-3) is composed of a coating conveying 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 provided with a coating conveying pipe fixing mechanism wheel (5-4-5), the steering front wheel frame is connected with the steering rear wheel frame through a rotating shaft, the micro stepping motor is connected with the steering lever, drives the steering lever to drive the steering front wheel frame, and realizes the steering of the rear part of the deformable spraying device (5) in the pipeline.

8. The in-pipe wall spraying and inspection apparatus of claim 7, wherein, The device also comprises a control console (4) provided with control buttons (4-1) and a monitoring screen (4-2); the control buttons (4-1) are respectively used for controlling the spraying nozzle and detection mechanism telescopic rod (5-1-2), the spraying nozzle and detection mechanism telescopic support frame (5-1-5), the rotating power mechanism telescopic support frame (5-2-2), the moving power mechanism telescopic rod (5-3-2), the moving power mechanism telescopic support frame (5-3-3), the coating conveying pipe fixing mechanism telescopic rod (5-4-2) and the double-head spraying nozzle (5-1-1) coating conveying pipe fixing mechanism telescopic support frame (5-4-4) to adjust the telescopic length to adapt to the required spraying of the curved pipeline; the control of the micro stepping motor driving the cover rotating base (5-1-10) to rotate; and the adjustment of the micro stepping motor on the spraying nozzle and detection mechanism steering wheel frame (5-1-3) and the coating conveying pipe fixing mechanism steering wheel frame (5-4-3) to realize steering; the monitoring screen (4-2) is used for displaying the image shot by the camera (5-1-6).

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