Pipeline spraying device capable of adapting to inner diameter of pipeline

Abstract

The invention relates to the technical field of pipeline maintenance, in particular to a pipeline spraying device capable of adapting to the inner diameter of a pipeline, which comprises a hard transmission middle shaft rod piece spray gun, two disc frame spray guns and a middle rotating body spray gun, and the two disc frame spray guns are symmetrically arranged at the two ends of the middle rotating body spray gun; the disc frame spray gun and the middle rotating body spray gun are connected in series with the hard transmission middle shaft rod piece spray gun as a shaft. According to the supporting and walking mechanism, symmetrical telescopic supporting frames and walking wheels are adopted, folding and stretching are achieved through pin hinge linkage, it is guaranteed that the device is located on a pipeline center shaft all the time, and spraying eccentricity is avoided; through the sliding connection of the disc frame, the middle rotating body and the hard transmission middle shaft rod piece and the cooperation of directional movement of the climbing wheels along the guide grooves, accurate positioning of the device in a pipeline is achieved. The rotation driving mechanism drives the middle rotating body to rotate by 360 degrees around the middle shaft rod piece, the multiple sets of spraying guns are driven to synchronously move in the circumferential direction, and full-coverage spraying of the inner wall of the pipeline is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline maintenance, and in particular to a pipeline spraying device which can adapt to the inner diameter of a pipeline. Background Art

[0002] In recent years, with the rapid development of water conservancy, the construction of inter-basin water diversion projects has also been increasing. Water pipelines are an important part of water diversion projects. In freshwater transportation projects, the inner wall of the pipeline is corroded by corrosive substances in the water due to long-term contact with the water environment, resulting in pipeline damage, reduced pipeline structural strength, and reduced durability, which will lead to safety accidents. Pipeline erosion leads to water pollution, affecting economic benefits and even personal safety.

[0003] In order to solve the problem of inner wall erosion, the inner wall of the pipeline is treated with anti-corrosion coatings for preventive anti-corrosion. Traditional anti-corrosion is to apply the coating manually. Manual operation is limited by the length of the pipeline and the working environment. Frequent entry and exit of the pipeline is required. The construction period is long and the labor cost is high. There are problems such as low working efficiency and uneven anti-corrosion layer. Manual spraying is easily affected by the operator's technical level, uneven coating thickness, and local areas are prone to missing or accumulation, which affects the anti-corrosion effect. In addition, existing spraying devices are mostly designed for fixed pipe diameters and cannot adapt to pipes with different inner diameters, resulting in low equipment reuse rate. It is especially not suitable for engineering scenarios where pipes of multiple specifications and different diameters coexist. Summary of the invention

[0004] In response to the above-mentioned defects and problems, the present invention provides a pipe spraying device that can adapt to the inner diameter of the pipe. The radial position of the spray gun is adjusted through the linkage of a central axis rod, a rotating body and an adaptive mechanical arm. Combined with the rotary drive and symmetrical walking mechanism, efficient and uniform spraying and precise positioning of the inner walls of pipes with different diameters can be achieved.

[0005] The solution adopted by the present invention to solve its technical problems is: a pipeline spraying device that can adapt to the inner diameter of the pipeline, including a hard transmission middle axis rod spray gun, a disc frame spray gun and an intermediate rotating body spray gun, the disc frame spray gun has two and is symmetrically arranged at the two ends of the intermediate rotating body spray gun, the disc frame spray gun and the intermediate rotating body spray gun are connected in series with the hard transmission middle axis rod spray gun as the axis, and the intermediate rotating body spray gun is rotatably connected with the disc frame spray gun, and a rotating driving mechanism spray gun for driving the intermediate rotating body spray gun to rotate relatively is arranged on the disc frame spray gun, three groups of climbing wheel spray guns are installed on the outer side of the disc frame spray gun through the tilting rod spray gun, the disc frame spray gun and the intermediate rotating body spray gun are slidably installed on the hard transmission middle axis rod spray gun through the climbing wheel spray gun and move left and right thereon, and a clamping part spray gun is installed on the inner side of the disc frame spray gun, and the clamping part spray gun is used to clamp the hard transmission middle axis rod spray gun; There are multiple groups of rotating and translating support rod spray guns distributed around the intermediate rotating body spray gun, and the rotating and translating support rod spray gun is slidably connected to the hard transmission central axis rod spray gun by the pulley spray gun at the end. An adaptive mechanical arm rod spray gun is installed on the rotating and translating support rod spray gun, and an air-drying atomizing spray gun is installed at the end of the adaptive mechanical arm rod spray gun. The adaptive mechanical arm rod spray gun is used to adjust the air-drying atomizing spray gun to a position adapted to the pipe diameter. There is a group of supporting walking mechanism spray guns at both ends of the hard transmission central axis rod spray gun, and the entire spraying device is supported in the center of the pipeline by the supporting walking mechanism spray gun and moves in the pipeline.

[0006] Furthermore, the supporting walking mechanism spray gun includes a seat spray gun, a telescopic support frame spray gun and a walking wheel spray gun. The supporting walking mechanism spray gun is installed on the hard transmission central axis rod spray gun through the seat spray gun. The telescopic support frame spray gun is formed by perforated rods hinged to each other through pin spray guns. With the pin spray gun as the axis, it can be folded, telescoped and fixed to a predetermined height by tightening the nail cap. A group of walking wheel spray guns are installed at the lower end of the seat spray gun, and the walking wheel spray gun is used to control the left and right movement of the device.

[0007] Furthermore, the rotary drive mechanism spray gun includes a rotating motor spray gun, a power gear spray gun and a rotating shaft spray gun. A gear ring spray gun is fixed around the inner wall of the middle rotating body spray gun, and a rotating shaft spray gun is rotatably mounted between the two disc frame spray guns. A rotating motor spray gun is installed on the disc frame spray gun on one side, and the rotating motor spray gun is connected to the rotating shaft spray gun. A power gear spray gun meshing with the gear ring spray gun is fixedly mounted on the rotating shaft spray gun.

[0008] Furthermore, a boss spray gun is fixed on the side wall of the intermediate rotating body spray gun, and a rotating and translating support rod spray gun passes through the boss spray gun and is fixed in the intermediate rotating body spray gun. A pulley spray gun is movably installed at the inner end of the rotating and translating support rod spray gun through a pin. The pulley spray gun is slidably connected to the surface of the hard transmission central axis rod spray gun, and can move left and right and rotate 360 ​​degrees around the hard transmission central axis rod spray gun.

[0009] Furthermore, the supporting walking mechanism spray gun is composed of two groups of telescopic support frame spray guns which are symmetrically arranged on the upper and lower sides of the hard transmission central axis rod spray gun. The hinge points of the two groups of telescopic support frame spray guns are connected to the telescopic rod spray guns through pin spray guns. When the telescopic support frame spray gun on one side is folded and extended, the telescopic rod spray gun can drive the telescopic support frame spray gun on the other side to extend and retract synchronously.

[0010] Furthermore, the adaptive robotic arm rod spray gun is composed of two connecting rods, which are connected by a rotating joint spray gun. One of the connecting rods is an automatic telescopic connecting rod and is connected to the rotating and translational support rod spray gun through a pin, and an air-drying atomizing spray gun is installed on the other connecting rod.

[0011] Furthermore, the air-dry atomizing spray gun is connected to the adaptive mechanical arm rod spray gun by embedding. The air-dry atomizing spray gun includes a spray gun and a fan. The fan is used to pre-dry the inner wall of the pipeline, and the spray gun is used to spray the repair material onto the pipeline wall.

[0012] Furthermore, the clamping member spray gun includes a clamping seat spray gun fixed on the inner wall of the disc frame spray gun, the hard transmission central axis rod spray gun is movably inserted through the disc frame spray gun through the hole in the center of the clamping seat spray gun, electric push rod spray guns are installed at both ends of the clamping seat spray gun, and a symmetrically arranged clamp block spray gun is installed at the output end of the electric push rod spray gun, and the clamp block spray gun is used to clamp the disc frame spray gun and the intermediate rotating body spray gun on the hard transmission central axis rod spray gun.

[0013] Furthermore, the intermediate rotating body spray gun adopts a hollow design as a whole, and the rotating and translational support rod spray gun and the adaptive mechanical arm rod spray gun extend out through the hollow part of the intermediate rotating body spray gun.

[0014] Beneficial effects of the present invention: Adaptive pipe diameter adjustment and stable walking: The supporting walking mechanism adopts a symmetrical telescopic support frame and walking wheels, which are folded and retracted through pin hinge linkage to ensure that the device is always positioned on the central axis of the pipeline to avoid eccentric spraying; through the sliding connection of the disc frame, the intermediate rotating body and the hard transmission central axis rod, the directional movement of the climbing wheel along the guide groove is coordinated to achieve precise positioning of the device in the pipeline; the clamping piece controls the clamping block to clamp the central axis rod through the electric push rod, locks the position of the disc frame and the intermediate rotating body, and prevents displacement during operation; the adaptive mechanical arm rod combined with the telescopic and rotation functions of the rotating and translational support rod can dynamically adjust the radial distance of the air-dry atomizing spray gun, adapt to pipes with different inner diameters, and ensure a constant distance between the spray gun and the pipe wall; Efficient and uniform spraying: The rotary drive mechanism drives the intermediate rotating body to rotate 360° around the central axis rod, driving multiple groups of spray guns to move synchronously in a circumferential direction to achieve full coverage spraying of the inner wall of the pipeline; the air-drying atomizing spray gun integrates drying and spraying functions, first pre-drying the pipe wall through the fan, and then evenly spraying the repair material to improve the adhesion and uniformity of the coating; Lightweight and maintainable: The middle rotating body adopts a hollow design to reduce the overall weight and extend the battery life; the modular structure facilitates quick disassembly and maintenance, reducing the cost of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the explosion structure of the present invention; Figure 3 It is a schematic diagram of the rotating body structure of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the disc frame of the present invention; Figure 5 It is a schematic diagram of the structure of the supporting walking mechanism of the present invention; Figure 6 It is a schematic diagram of the cross-sectional structure of the clamping member of the present invention.

[0016] In the figure: 1. hard transmission center axis rod; 2. supporting walking mechanism; 21. sleeve; 22. telescopic support frame; 23. walking wheel; 24. telescopic rod; 25. pin; 3. disc frame; 4. intermediate rotating body; 5. clamping member; 51. clamping seat; 52. electric push rod; 53. clamping block; 6. rotating drive mechanism; 61. rotating motor; 62. power gear; 63. rotating shaft; 64. gear ring; 7. boss; 8. adaptive mechanical arm rod; 9. air-dry atomizing spray gun; 10. rotating and translation support rod; 11. pulley; 12. tilt rod; 13. climbing wheel; 14. rotating joint; 15. guide groove. DETAILED DESCRIPTION

[0017] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0018] See also Figure 1-6 The present invention provides a technical solution for a pipeline spraying device that can adapt to the inner diameter of the pipeline: Example

[0019] according to Figure 1 and Figure 2 As shown, a pipe spraying device that can adapt to the inner diameter of the pipe is used to solve the problem of repairing the inner wall of the water pipe that is damaged during transportation. The spraying device is provided with a hard transmission central axis rod 1, a disc frame 3 and an intermediate rotating body 4. The overall appearance of the spraying device is a columnar design. The middle end of the spraying device is disc-shaped and is connected in series with the hard transmission central axis rod 1 as the axis. Specifically, the disc frame 3 and the intermediate rotating body 4 are movably mounted on the hard transmission central axis rod 1 to form the main structure of the spraying device. A plurality of groups of rotating and translating support rods 10 are evenly distributed on the intermediate rotating body 4 to form a multi-axis rotating and translating support rod group. The support rod group and the hard transmission central axis rod 1 are slidingly connected by pulleys 11 respectively, and an adaptive mechanical arm rod 8 is installed on the rotating and translating support rod 10, and an air-drying atomizing spray gun 9 is installed at the end of the adaptive mechanical arm rod 8; when working, the air-drying atomizing spray gun 9 is connected to the paint box through a material pipe, and the adaptive mechanical arm rod 8 is adjusted to a position adapted to the pipe diameter. Multiple air-drying atomizing spray guns 9 can spray the required materials on the inner wall of the pipeline and dry the pipe wall. There is a group of supporting walking mechanisms 2 at both ends of the hard transmission central axis rod 1 of the spraying device, and the entire spraying device is supported in the pipeline by the supporting walking mechanism 2 and moves in the pipeline.

[0020] A group of supporting walking mechanisms 2 are respectively arranged at both ends of the hard transmission center axis rod 1, and the supporting walking mechanism 2 includes a sleeve seat 21, a telescopic support frame 22 and a walking wheel 23. The supporting walking mechanism 2 is installed on the hard transmission center axis rod 1 through the sleeve seat 21. The telescopic support frame 22 is formed by the rods with holes interlaced and hinged with each other through the pins 25. With the pins 25 as the axis, it can be folded, telescoped and fixedly adjusted to a predetermined height by tightening the nail cap. A group of walking wheels 23 are installed at the lower end of the sleeve seat 21. The walking wheels 23 are used for the left and right lateral movement of the entire device, and can control the left and right movement of the entire device. Move right. During actual use, after the spraying device is sent into the inner wall of the pipe, the overall height of the spraying device can be adjusted by adjusting the folding degree of the telescopic support frame 22, so that the hard transmission central axis rod 1 is exactly in the central position in the pipe, so that the spraying device can correspond to the axis of the pipe body, avoiding the problem of uneven spraying of repair materials when the spraying device is working, and the running wheel 23 is used to move the spraying device as a whole back and forth in the pipe. Driven by the motor, the running wheel 23 can drive the entire spraying device to move along the inner wall of the pipe to achieve forward repair inside the pipe.

[0021] There are two disc frames 3 in the main body of the spraying device, which are symmetrically arranged at both ends of the intermediate rotating body 4. The centers of the disc frame 3 and the intermediate rotating body 4 are penetrated with holes for the hard transmission center shaft rod 1 to pass through, and the outer diameter of the disc frame 3 is the same as the outer diameter of the intermediate rotating body 4. The intermediate rotating body 4 is rotatably connected to the disc frame 3, and a rotating drive mechanism 6 for controlling the relative rotation of the intermediate rotating body 4 and the disc frame 3 is provided. Three groups of climbing wheels 13 are arranged on the outside of the disc frame 3. The climbing wheels 13 are installed on the outside of the disc frame 3 through the tilting rod 12 and have a certain inclination angle. The hole formed by the three groups of climbing wheels 13 The diameter of the hole is the same as the diameter of the hard transmission central axis rod 1, which can completely surround the hard transmission central axis rod 1, so that the main device can move left and right on the hard transmission central axis rod 1 through the climbing wheel 13; three guide grooves 15 are opened on the surface of the hard transmission central axis rod 1, and three groups of climbing wheels 13 are respectively located at the positions of the three guide grooves 15, and flanges matching the guide grooves 15 are arranged thereon. The climbing wheels 13 are slidably mounted in the guide grooves 15 through the flanges, and the movement of the climbing wheels 13 can be guided by the guide grooves 15, so that the climbing wheels 13 drive the main device to stably and directional move on the hard transmission central axis rod 1 to adjust the position of the main device. In addition, in the space between the disc frame 3 and the intermediate rotating body 4, a clamping member 5 is installed on the inner side of the disc frame 3. The clamping member 5 has a hole with a diameter equivalent to that of the hard transmission center axis rod 1, and short telescopic rods are attached on both sides to form a tightening device. During operation, the tightening device can be controlled to clamp the hard transmission center axis rod 1, thereby fixing the disc frame 3 at a specified position on the hard transmission center axis rod 1.

[0022] The rotating drive mechanism 6 includes a rotating motor 61, a power gear 62 and a rotating shaft 63. A ring gear 64 is fixed around the inner wall of the intermediate rotating body 4. A rotating shaft 63 is rotatably mounted between the two disc frames 3. The intermediate rotating body 4 is clamped between the two disc frames 3 and can rotate. A power gear 62 is fixedly mounted on the rotating shaft 63, and the power gear 62 is meshed with the ring gear 64. The power gear 62 is powered by the rotating motor 61. A rotating motor 61 is installed on the disc frame 3 on one side, and the rotating motor 61 is connected to the rotating shaft 63. The intermediate rotating body 4 is connected to the disc frame 3 through the ring gear 64 and the power gear 62, so that the meshing force of the power gear 62 and the ring gear 64 drives the intermediate rotating body 4 to rotate around the hard transmission center axis rod 1 in a circle.

[0023] like Figure 3 As shown, three groups of rotating and translating support rods 10 are evenly distributed inside the intermediate rotating body 4 to form a three-axis rotating and translating support rod group, a boss 7 is fixed to the side wall of the intermediate rotating body 4, the rotating and translating support rod 10 passes through the boss 7 and is fixed in the intermediate rotating body 4, a pulley 11 is movably installed at the inner end of the rotating and translating support rod 10 through a pin, the three-axis rotating and translating support rod group is connected to the hard transmission central axis rod 1 through the pulley 11 at its inner end, wherein the pulley 11 is configured to be embeddable, and the inner concave surface of the pulley 11 fits with the rod surface of the hard transmission central axis rod 1, so that the pulley 11 can move left and right and rotate 360 ​​degrees around the hard transmission central axis rod 1, thereby improving the stability of the intermediate rotating body 4 when it rotates around the hard transmission central axis rod 1.

[0024] An adaptive mechanical arm rod 8 is arranged around the outside of the intermediate rotating body 4. Specifically, the adaptive mechanical arm rod 8 is connected to the outer end of the rotating and translating support rod 10 through a pin. The adaptive mechanical arm rod 8 is composed of two connecting rods, which are connected by a rotating joint 14. The connecting rod directly connected to the rotating and translating support rod 10 is an automatic telescopic connecting rod, such as an electric push rod, a hydraulic push rod, etc. The rod can be controlled to be telescopic so that the adaptive mechanical arm rod 8 can fit the inner wall of the pipeline, which is convenient for the spraying device to spray the repair material evenly and accurately; the air-drying atomizing spray gun 9 is installed on the adaptive mechanical arm rod 8. Specifically, the other outer connecting rod of each adaptive mechanical arm rod 8 There are multiple groups of air-dry atomizing spray guns 9 embedded on the top, which are connected to the adaptive mechanical arm rod 8 by embedding. The air-dry atomizing spray gun 9 includes a spray gun and a fan. The spray gun is connected to the material box outside the pipeline through a material pipe, and paint is delivered to the air-dry atomizing spray gun 9 to spray polyvinyl chloride and other repair sprays on the inner wall of the pipeline, and then start the repair work of the damaged part in the pipeline. The fan on the air-dry atomizing spray gun 9 is used to pre-dry the inner wall of the pipeline. When the spraying device is working, the fan on the air-dry atomizing spray gun 9 will first dry the pipe wall to ensure that the inner wall of the pipe is dry, and then the lining materials such as polyurethane and epoxy resin are sprayed on the pipe wall through the spray gun to repair the pipeline.

[0025] During specific use, the present invention is a pipeline spraying device that can adapt to the inner diameter of the pipeline. The spraying device is sent into the interior of the pipeline, and then the telescopic support frame 22 is adjusted to make it telescopic and folded, thereby changing the height of the device in the pipeline. When the device is in the center of the pipeline, the telescopic support frame 22 is locked by tightening the pin nut, and then, driven by the motor, the walking wheel 23 drives the entire spraying device to move forward along the inner wall of the pipeline. During the movement of the spraying device, multiple air-drying atomizing spray guns 9 can dry the pipe wall and spray the required materials. At the same time, the rotating drive mechanism 6 is started synchronously, and the rotating motor 61 drives the power gear 62 to rotate. Under the meshing of the power gear 62 and the ring gear 64, the intermediate rotating body 4 and the air-drying atomizing spray gun 9 are driven to rotate around the hard transmission central axis rod 1 and the disc frame 3, so that the paint is evenly sprayed on the inner wall of the pipeline, thereby realizing the spraying and repair work of the inner wall of the pipeline. Example

[0026] On the basis of the first embodiment, Figure 6As shown, the clamping member 5 includes a clamping seat 51 installed and fixed on the inner walls of the two disc frames 3. The center of the clamping seat 51 is also provided with a hole matching the outer diameter of the hard transmission middle axis rod 1. The hard transmission middle axis rod 1 can be movably inserted through the intermediate rotating body 4 and the disc frame 3 through the hole. Two clamping blocks 53 are symmetrically arranged around the hard transmission middle axis rod 1 at both ends of the clamping seat 51, and the clamping blocks 53 are installed in the clamping seat 51 through an electric push rod 52. The rear end of the electric push rod 52 is fixed in the clamping seat 51, and the telescopic end of the front is connected to the clamping block 53. The electric push rod 52 can control the clamping blocks 53 to approach each other to clamp the hard transmission middle axis rod 1, thereby clamping the disc frame 3 and the intermediate rotating body 4 on the hard transmission middle axis rod 1. Example

[0027] Based on the first embodiment, the same points as the first embodiment will not be repeated here, and the differences are as follows: Figure 5 As shown, in order to further ensure that the spraying device can be completely located in the center of the pipeline and improve the convenience and accuracy of adjusting the position of the device, the supporting walking mechanism 2 is composed of two groups of telescopic support frames 22 symmetrically arranged in the upper and lower parts. The two groups of telescopic support frames 22 are symmetrically arranged with respect to the hard transmission center axis rod 1, and the hinge points of the two groups of telescopic support frames 22 are connected to the telescopic rod 24 through pins 25.

[0028] During specific use, the present invention provides a pipe spraying device that can adapt to the inner diameter of the pipe. When the telescopic support frame 22 on one side is adjusted in telescopic height, the telescopic support frame 22 on the other side can be synchronously driven to telescope under the action of the telescopic rod 24, so that the hard transmission central axis rod 1 is always located at the center position of the upper and lower supporting walking mechanisms 2. In this way, when the walking wheels 23 on the upper and lower sides are both in contact with the inner wall of the pipe, the spraying device as a whole is naturally located in the center position of the pipe, which improves the convenience and accuracy of the position adjustment of the spraying device. Example

[0029] On the basis of Example 1, the middle rotating body 4 adopts a hollow design as a whole, and the rotating and translational support rod 10 and the adaptive mechanical arm rod 8 extend out through the hollow part of the middle rotating body 4. The benefit is that it can reduce the overall weight of the spraying device, extend its working time when powered by batteries, and have enough space to place and fix the rotating and translational support rod 10.

[0030] The above description is only a preferred embodiment of the present invention and does not limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipe spraying device that can adapt to the inner diameter of a pipe, comprising a hard transmission central shaft rod (1), a disc frame (3) and an intermediate rotating body (4), characterized in that: The disc frame (3) has two and is symmetrically arranged at both ends of the intermediate rotating body (4). The disc frame (3) and the intermediate rotating body (4) are connected in series with the hard transmission middle shaft rod (1) as the axis, and the intermediate rotating body (4) is rotationally connected with the disc frame (3). A rotation drive mechanism (6) for driving the intermediate rotating body (4) to rotate relatively is arranged on the disc frame (3). Three sets of climbing wheels (13) are installed on the outer side of the disc frame (3) through a tilting rod (12). The disc frame (3) and the intermediate rotating body (4) are slidably installed on the hard transmission middle shaft rod (1) through the climbing wheels (13) and move left and right thereon. A clamping member (5) is installed on the inner side of the disc frame (3). The clamping member (5) is used to clamp the hard transmission middle shaft rod (1); A plurality of groups of rotating and translating support rods (10) are distributed around the intermediate rotating body (4), and the rotating and translating support rods (10) are slidably connected to the hard transmission central axis rod (1) via pulleys (11) at the ends thereof; an adaptive mechanical arm rod (8) is installed on the rotating and translating support rod (10), and an air-drying atomizing spray gun (9) is installed at the end of the adaptive mechanical arm rod (8); the adaptive mechanical arm rod (8) is used to adjust the air-drying atomizing spray gun (9) to a position adapted to the pipe diameter; and a group of supporting walking mechanisms (2) are respectively provided at both ends of the hard transmission central axis rod (1); and the entire spraying device is supported at the center of the pipeline by the supporting walking mechanism (2) and moves in the pipeline.

2. A pipe spraying device that can adapt to the inner diameter of a pipe according to claim 1, characterized in that: The supporting walking mechanism (2) comprises a sleeve (21), a telescopic supporting frame (22) and walking wheels (23). The supporting walking mechanism (2) is mounted on a hard transmission middle shaft rod (1) via the sleeve (21). The telescopic supporting frame (22) is formed by rods with holes hinged to each other via pins (25). With the pins (25) as axes, the supporting mechanism (2) can be folded, telescoped and fixedly adjusted to a predetermined height by tightening the pin caps. A group of walking wheels (23) are mounted at the lower end of the sleeve (21). The walking wheels (23) are used to control the left and right movement of the device.

3. A pipe spraying device that can adapt to the inner diameter of a pipe according to claim 1, characterized in that: The rotary drive mechanism (6) comprises a rotary motor (61), a power gear (62) and a rotating shaft (63); a gear ring (64) is fixedly mounted around the inner wall of the intermediate rotating body (4); a rotating shaft (63) is rotatably mounted between the two disc frames (3); a rotary motor (61) is mounted on one side of the disc frame (3); the rotary motor (61) is connected to the rotating shaft (63); and a power gear (62) meshing with the gear ring (64) is fixedly mounted on the rotating shaft (63).

4. A pipe spraying device that can adapt to the inner diameter of a pipe according to claim 1, characterized in that: A boss (7) is fixed to the side wall of the intermediate rotating body (4); a rotational translation support rod (10) passes through the boss (7) and is fixedly arranged in the intermediate rotating body (4); a pulley (11) is movably installed at the inner end of the rotational translation support rod (10) via a pin; the pulley (11) is slidably connected to the surface of the hard transmission central axis rod (1) and can move left and right and rotate 360 ​​degrees around the hard transmission central axis rod (1).

5. A pipe spraying device that can adapt to the inner diameter of a pipe according to claim 2, characterized in that: The supporting walking mechanism (2) is composed of two sets of telescopic support frames (22) which are arranged symmetrically on the rigid transmission center axis rod (1) in the upper and lower directions. The hinge points of the two sets of telescopic support frames (22) are connected to telescopic rods (24) via pins (25). When the telescopic support frame (22) on one side is folded and extended, the telescopic rod (24) can drive the telescopic support frame (22) on the other side to extend and retract synchronously.

6. A pipe spraying device that can adapt to the inner diameter of a pipe according to claim 1, characterized in that: The adaptive mechanical arm rod (8) is composed of two connecting rods, which are connected by a rotating joint (14), one of which is an automatic telescopic connecting rod and is connected to the rotating and translating support rod (10) by a pin, and the other connecting rod is equipped with an air-drying atomizing spray gun (9).

7. A pipe spraying device that can adapt to the inner diameter of a pipe according to claim 6, characterized in that: The air-drying atomizing spray gun (9) is connected to the adaptive mechanical arm rod (8) in an embedded manner. The air-drying atomizing spray gun (9) comprises a spray gun and a fan. The fan is used to pre-dry the inner wall of the pipeline, and the spray gun is used to spray the repair material onto the pipeline wall.

8. A pipe spraying device that can adapt to the inner diameter of a pipe according to claim 1, characterized in that: The clamping member (5) comprises a clamping seat (51) fixed to the inner wall of the disc frame (3); the hard transmission middle shaft rod (1) movably penetrates the disc frame (3) through a hole in the center of the clamping seat (51); electric push rods (52) are installed at both ends of the clamping seat (51); symmetrically arranged clamping blocks (53) are installed at the output ends of the electric push rods (52); the clamping blocks (53) are used to clamp the disc frame (3) and the intermediate rotating body (4) on the hard transmission middle shaft rod (1).

9. A pipe spraying device that can adapt to the inner diameter of a pipe according to claim 1, characterized in that: The intermediate rotating body (4) is designed as a hollow body as a whole, and the rotational translation support rod (10) and the adaptive mechanical arm rod (8) extend through the hollow part of the intermediate rotating body (4).

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