Pipeline inner wall anti-corrosion robot capable of rotating and spraying in multiple directions

Abstract

The invention relates to the technical field of industrial robots, and particularly discloses a pipeline inner wall anti-corrosion robot capable of achieving multi-direction rotary spraying. A spraying mechanism is installed in the middle of one end of the storage box, a stirring mechanism is installed in the storage box, a fixing box is installed in the middle of the other end of the storage box, and an adjusting mechanism is jointly installed between the inner walls of the two sides of the fixing box. The spraying mechanism comprises a rotary mechanical arm, a rotary gear, a material pumping pipe, a material conveying channel, a spraying pipe, a laser distance measuring sensor and a telescopic mechanism. The rotating mechanical arm can be driven to rotate through gear meshing, the spraying pipe conducts multi-direction rotating spraying on the inner wall of the pipeline, then the telescopic mechanism is combined with the laser distance measuring sensor, the spraying position of the spraying pipe can be automatically adjusted, the spraying pipe and the inner wall of the pipeline are kept at a fixed distance all the time, the spraying distances of pipelines of different sizes are consistent, and the spraying efficiency is improved. And therefore, the spraying uniformity and the coating thickness consistency are ensured, and the final anti-corrosion effect is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of industrial robots, and particularly relates to an anti-corrosion robot for multi-directional rotary spraying of the inner wall of a pipeline. Background Art

[0002] Due to the characteristics of the marine environment such as high salinity, high humidity, and possible microbial corrosion, these pose severe challenges to pipeline materials. Therefore, for pipelines used in seawater pipeline transportation, the anti-corrosion treatment of their inner walls must meet higher standards. Anti-corrosion treatment can effectively prevent problems such as leakage and rupture caused by corrosion of the inner wall of the pipeline, and reduce economic losses and environmental pollution caused by pipeline repair and replacement. Therefore, anti-corrosion coatings are sprayed on the inner wall of the pipeline. With the continuous development of robot technology, robots have been widely used in fields such as spraying, welding, and assembly. Robot spraying has the advantages of high efficiency, high precision, and strong adaptability, which can significantly improve the spraying quality and production efficiency.

[0003] In the Chinese patent with the publication number CN220177300U, a pipeline inner wall spraying device is mentioned. A robot that can walk in the pipeline pulls an infusion tube and a nozzle to spray in the pipeline. A nozzle is mounted at the tail of the robot. When the robot walks, it is in the central position of the pipeline. The nozzle can evenly spray the preservative on the inner wall of the pipeline. A hose is used as the infusion tube, and the spraying amount can be kept the same in a long pipeline, making the spraying of the preservative in the pipeline relatively uniform and capable of meeting the spraying operation of small-diameter long pipelines over 5m. However, the spraying position of the inner wall of the pipeline by this spraying device is fixed. Due to the change in the spraying distance caused by different pipeline sizes, the spraying uniformity and the consistency of the coating thickness are affected, and it is difficult to achieve an ideal multi-directional rotary spraying effect, ultimately affecting the anti-corrosion effect. Summary of the Invention

[0004] The purpose of the invention is to provide an anti-corrosion robot for multi-directional rotary spraying of the inner wall of a pipeline, which has the function of multi-directional rotary spraying to solve the problem of uneven spraying caused by a fixed spraying position.

[0005] To achieve the above purpose, the invention provides the following technical solutions:

[0006] An anti-corrosion robot for multi-directional rotary spraying of the inner wall of a pipeline, comprising:

[0007] A storage tank;

[0008] A spraying mechanism is installed in the middle of one end of the storage tank, a stirring mechanism is installed inside the storage tank, a fixed box is installed in the middle of the other end of the storage tank, and an adjusting mechanism is jointly installed between the inner walls on both sides of the fixed box;

[0009] The spraying mechanism includes a rotating robotic arm, a rotating gear, a material suction pipe, a material delivery channel, a spraying pipe, a laser distance sensor, and a telescoping mechanism. The rotating gear is installed on one side of the outer surface of the rotating robotic arm. The material suction pipe is installed at one end of the rotating robotic arm. The material delivery channel is opened inside the rotating robotic arm. There are two spraying pipes and two laser distance sensors. The two spraying pipes are respectively installed at the top and bottom of the rotating robotic arm. The two laser distance sensors are respectively installed at one end of the two spraying pipes. The telescoping mechanism is installed at the other end of the rotating robotic arm.

[0010] Preferably, a feed pipe is installed at the upper part of one end of the storage tank. A controller is installed in the middle of the outer wall of the storage tank. Limiting grooves are opened on the four sides of the outer wall of the fixed box. A rotating motor is installed at the lower part of one end of the storage tank. A driving gear is installed at the output end of the rotating motor.

[0011] Preferably, the telescoping mechanism includes a fixed frame, a positive and negative lead screw, a telescoping frame, and a driver. The fixed frame is installed at one end of the rotating robotic arm. The positive and negative lead screw is installed between the inner walls on both sides of the fixed frame through bearings. There are two telescoping frames. The two telescoping frames are respectively installed on both sides of the outer surface of the positive and negative lead screw. The other ends of the two telescoping frames are respectively installed on the outer walls of the two spraying pipes. The driver is installed at the top of the fixed frame.

[0012] Preferably, the telescoping frame is set to a Z-shaped structure. The driver, the material suction pipe, the laser distance sensor, and the rotating motor are all electrically connected to the controller.

[0013] Preferably, the rotating robotic arm, the material delivery channel, and the spraying pipe are all set to a T-shaped structure. The rotating robotic arm and the material suction pipe are connected through a rotatable joint. The rotating gear meshes with the driving gear. A folded pipeline is arranged on the spraying pipe.

[0014] Preferably, the stirring mechanism includes a stirring shaft, stirring blades, stirring holes, and a stirring motor. The stirring shaft is installed between the inner walls on both sides of the storage tank through bearings. There are multiple stirring blades and stirring holes. The multiple stirring blades are respectively installed on both sides of the outer wall of the stirring shaft. The multiple stirring holes are respectively opened on the outer walls of the multiple stirring blades. The stirring motor is installed at the top of the stirring shaft.

[0015] Preferably, the stirring blades are set to an arc-shaped structure, and the stirring blades do not contact the material suction pipe. The stirring motor is electrically connected to the controller.

[0016] Preferably, the adjusting mechanism includes a positive and negative screw rod, a driving motor, an adjusting block and an adjusting frame. The positive and negative screw rod is installed between the inner walls on both sides of the fixed box through bearings. The driving motor is installed at one end of the positive and negative screw rod. There are two adjusting blocks, and the two adjusting blocks are respectively installed on both sides of the outer surface of the positive and negative screw rod. There are four adjusting frames, and the four adjusting frames are all installed across between the outer walls of the two adjusting blocks.

[0017] Preferably, the adjusting frame includes a fixed frame, a driving wheel, a auxiliary wheel and an adjusting rod. The driving wheel is installed between the middle parts of the inner walls on both sides of the fixed frame. There are two auxiliary wheels and two adjusting rods. The two auxiliary wheels are respectively installed between the left parts of the inner walls on both sides of the fixed frame and between the right parts of the inner walls on both sides. The two adjusting rods are both installed at the bottom end of the fixed frame through connecting seats, and the bottom ends of the two adjusting rods are respectively installed at the top ends of the two adjusting blocks through connecting seats.

[0018] Preferably, the fixed frame is arranged in a trapezoidal structure. The driving wheel and the driving motor are both electrically connected to the controller, and the top surfaces of the driving wheel and the auxiliary wheel are both higher than the top surface of the fixed frame.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] (1) The present invention is provided with a spraying mechanism on the outer wall of the storage box. The rotating robotic arm can be driven to rotate through gear meshing, so that the spraying pipe can perform multi-directional rotary spraying on the inner wall of the pipeline. Then, through the telescopic mechanism combined with the laser distance sensor, the spraying position of the spraying pipe can be automatically adjusted to always maintain a fixed distance from the inner wall of the pipeline, so that the spraying distances of pipelines of different sizes are all the same, thereby ensuring the uniformity of spraying and the consistency of the coating thickness, and improving the final anti-corrosion effect.

[0021] (2) The present invention is provided with a stirring mechanism inside the storage box. The stirring shaft is driven to rotate by the stirring motor, and multiple stirring blades rotate together, effectively eliminating the precipitation in the anti-corrosion coating inside the storage box, improving the adhesion and corrosion resistance of the coating. The design of the stirring holes reduces the resistance of the stirring blades during rotation, so that the anti-corrosion coating can be fully stirred evenly, thereby ensuring an excellent spraying effect.

[0022] (3) The present invention is provided with an adjusting mechanism inside the fixed box. The positive and negative screw rod is driven to rotate by the driving motor, and the two adjusting blocks are driven to move towards the middle to straighten the adjusting rods, so that the driving wheel and the auxiliary wheel are both in contact with the inner wall of the pipeline. In this way, the robot can adapt to pipelines of different specifications. By adjusting the positions of the driving wheel and the auxiliary wheel, the robot can smoothly enter and adapt to the inner walls of various pipelines for spraying, thereby improving the versatility and application range of the robot. Description of the Drawings

[0023] Figure 1Stereogram of the present invention;

[0024] Figure 2 Cross-sectional view of the spraying mechanism of the present invention;

[0025] Figure 3 Stereogram of the telescoping mechanism of the present invention;

[0026] Figure 4 For the present invention Figure 1 Enlarged view of A in;

[0027] Figure 5 Cross-sectional view of the storage tank of the present invention;

[0028] Figure 6 Stereogram of the stirring mechanism of the present invention;

[0029] Figure 7 Stereogram of the adjusting mechanism of the present invention;

[0030] Figure 8 Stereogram of the adjusting frame of the present invention;

[0031] In the figure: 1, storage tank; 2, spraying mechanism; 3, stirring mechanism; 4, adjusting mechanism; 5, feed pipe; 6, controller; 7, fixed box; 8, limiting groove; 9, rotating motor; 10, driving gear;

[0032] 21, rotating robotic arm; 22, rotating gear; 23, pumping pipe; 24, feeding channel; 25, spraying pipe; 26, laser distance sensor; 27, telescoping mechanism;

[0033] 271, fixed frame; 272, positive and negative screw rod; 273, telescoping frame; 274, driver;

[0034] 31, stirring shaft; 32, stirring blade; 33, stirring hole; 34, stirring motor;

[0035] 41, positive and negative screw; 42, driving motor; 43, adjusting block; 44, adjusting frame;

[0036] 441, fixed frame; 442, driving wheel; 443, auxiliary wheel; 444, adjusting rod. Detailed implementation mode

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0038] Embodiment 1:

[0039] Please refer to Figures 1 to 8 as shown, a pipeline inner wall anti-corrosion robot with multi-directional rotary spraying, comprising:

[0040] Storage tank 1;

[0041] At the middle of one end of the storage tank 1, a spraying mechanism 2 is installed. Inside the storage tank 1, a stirring mechanism 3 is installed. At the middle of the other end of the storage tank 1, a fixed box 7 is installed. Between the inner walls on both sides of the fixed box 7, an adjusting mechanism 4 is installed together;

[0042] The spraying mechanism 2 includes a rotary robotic arm 21, a rotary gear 22, a material extraction pipe 23, a material delivery channel 24, a spraying pipe 25, a laser distance sensor 26 and a telescopic mechanism 27. The rotary gear 22 is installed on one side of the outer surface of the rotary robotic arm 21. The material extraction pipe 23 is installed at one end of the rotary robotic arm 21. The material delivery channel 24 is opened inside the rotary robotic arm 21. There are two spraying pipes 25 and two laser distance sensors 26. The two spraying pipes 25 are respectively installed at the top and bottom of the rotary robotic arm 21. The two laser distance sensors 26 are respectively installed at one end of the two spraying pipes 25. The telescopic mechanism 27 is installed at the other end of the rotary robotic arm 21.

[0043] As can be seen from Figures 1 to 4 it, at the upper part of one end of the storage tank 1, a feed pipe 5 is installed. In the middle of the outer wall of the storage tank 1, a controller 6 is installed. On the four sides of the outer wall of the fixed box 7, limiting grooves 8 are opened. At the lower part of one end of the storage tank 1, a rotary motor 9 is installed. At the output end of the rotary motor 9, a driving gear 10 is installed;

[0044] The telescopic mechanism 27 includes a fixed frame 271, a positive and negative lead screw 272, a telescopic frame 273 and a driver 274. The fixed frame 271 is installed at one end of the rotary robotic arm 21. The positive and negative lead screw 272 is installed between the inner walls on both sides of the fixed frame 271 through bearings. There are two telescopic frames 273. The two telescopic frames 273 are respectively installed on both sides of the outer surface of the positive and negative lead screw 272. And the other ends of the two telescopic frames 273 are respectively installed on the outer walls of the two spraying pipes 25. The driver 274 is installed at the top of the fixed frame 271.

[0045] As described above, when the anti-corrosion robot walks on the inner wall of the pipeline and performs spraying operations, first, the laser distance sensor 26 detects the distance between it and the inner wall of the pipeline and transmits this information to the controller 6. The controller 6 then controls the driver 274 to start, driving the positive and negative lead screw 272 to move the two fixing brackets 271 outward, thereby driving the two spraying pipes 25 to approach the inner wall of the pipeline, and unfolding the folding pipes on the spraying pipes 25. Through the cooperation of the telescopic mechanism 27 and the laser distance sensor 26, the spraying position of the spraying pipe 25 can be automatically adjusted to ensure that the spraying pipe 25 always maintains a fixed distance from the inner wall of the pipeline. Regardless of how the pipeline size changes, the uniformity of spraying and the consistency of the coating thickness can be guaranteed. Next, the controller 6 controls the rotation motor 9 and the material suction pipe 23 to start. The rotation motor 9 drives the driving gear 10 to rotate. Through the meshing transmission of the driving gear 10 and the rotating gear 22, the rotating robotic arm 21 starts to drive the two spraying pipes 25 to rotate. At the same time, the material suction pipe 23 extracts the anti-corrosion coating from the storage tank 1 and, through the material delivery channel 24 inside the rotating robotic arm 21, distributes and inputs the coating into the two spraying pipes 25. The spraying pipes 25 then perform spraying operations on the inner wall of the pipeline and, in cooperation with the adjustment mechanism 4, drive the robot to move on the inner wall of the pipeline, achieving an ideal multi-directional rotating spraying effect. In this way, the robot can quickly and accurately complete the spraying work on the inner wall of the pipeline, greatly improving the efficiency of anti-corrosion treatment.

[0046] Specifically, referring to Figures 1 to 4 As shown, the telescopic frame 273 is set as a Z-shaped structure. The driver 274, the material suction pipe 23, the laser distance sensor 26, and the rotation motor 9 are all electrically connected to the controller 6; the rotating robotic arm 21, the material delivery channel 24, and the spraying pipe 25 are all set as T-shaped structures, and the rotating robotic arm 21 is connected to the material suction pipe 23 through a rotatable joint. The rotating gear 22 meshes with the driving gear 10, and a section of folding pipe is provided on the spraying pipe 25.

[0047] As described above, the Z-shaped telescopic frame 273 facilitates its driving the spraying pipe 25 to move stably, and these components can all be operated and controlled through the controller 6; the T-shape can increase the stability of the rotating robotic arm 21 and the spraying pipe 25, and can also play a role in distributing the anti-corrosion coating. The rotatable joint provides the basis for the rotation of the rotating robotic arm 21 during operation, enabling the driving gear 10 to drive the rotating gear 22 to rotate quickly. The folding pipe helps to adjust the length of the spraying pipe 25.

[0048] Embodiment 2:

[0049] Referring to Figure 5 and Figure 6As shown in the figure, the stirring mechanism 3 includes a stirring shaft 31, stirring blades 32, stirring holes 33 and a stirring motor 34. The stirring shaft 31 is installed between the inner walls on both sides of the storage tank 1 through bearings. There are multiple stirring blades 32 and stirring holes 33. Multiple stirring blades 32 are respectively installed on both sides of the outer wall of the stirring shaft 31, and multiple stirring holes 33 are respectively opened on the outer walls of the multiple stirring blades 32. The stirring motor 34 is installed at the top of the stirring shaft 31.

[0050] As can be seen from the above, during the process of the anti-corrosion robot spraying the inner wall of the pipeline, the controller 6 controls the stirring motor 34 to start, driving the stirring shaft 31 to drive the multiple arc-shaped stirring blades 32 thereon to rotate together. These arc-shaped stirring blades 32 can generate greater fluid power during rotation, prompting the paint to form stronger turbulence and eddy currents in the storage tank 1, thereby accelerating the mixing speed of the paint and reducing the dead corners during the stirring process, making the paint distribution more uniform. This design effectively eliminates the precipitation in the anti-corrosion paint inside the storage tank 1, improves the adhesion and corrosion resistance of the coating. At the same time, the multiple stirring holes 33 on the stirring blades 32 reduce the resistance during the rotation process, enabling the anti-corrosion paint to be fully stirred evenly. In this way, the paint has good brushing performance and leveling property during use, and the spraying effect is also improved.

[0051] Preferably, referring to Figure 5 and Figure 6 As shown in the figure, the stirring blade 32 is set as an arc-shaped structure, and the stirring blade 32 does not contact the material extraction pipe 23. The stirring motor 34 is electrically connected to the controller 6.

[0052] As can be seen from the above, the arc-shaped structure helps the stirring blade 32 to stir the anti-corrosion paint more effectively, making the stirring blade 32 and the material extraction pipe 23 independent of each other and not interfering with each other. The operation of the stirring motor 34 is controlled by the controller 6.

[0053] Embodiment 3:

[0054] Referring to Figure 7 and Figure 8 As shown in the figure, the adjusting mechanism 4 includes a positive and negative screw rod 41, a driving motor 42, adjusting blocks 43 and an adjusting frame 44. The positive and negative screw rod 41 is installed between the inner walls on both sides of the fixed box 7 through bearings. The driving motor 42 is installed at one end of the positive and negative screw rod 41. There are two adjusting blocks 43, and the two adjusting blocks 43 are respectively installed on both sides of the outer surface of the positive and negative screw rod 41. There are four adjusting frames 44, and the four adjusting frames 44 are all installed across between the outer walls of the two adjusting blocks 43;

[0055] The adjusting frame 44 includes a fixed frame 441, a driving wheel 442, a supporting wheel 443 and an adjusting rod 444. The driving wheel 442 is installed between the middle parts of the inner walls on both sides of the fixed frame 441. There are two supporting wheels 443 and two adjusting rods 444. The two supporting wheels 443 are respectively installed between the left parts of the inner walls on both sides of the fixed frame 441 and between the right parts of the inner walls on both sides. The two adjusting rods 444 are both installed at the bottom end of the fixed frame 441 through connecting seats, and the bottom ends of the two adjusting rods 444 are respectively installed at the top ends of the two adjusting blocks 43 through connecting seats.

[0056] As can be seen from the above, when the anti-corrosion robot enters the pipeline for spraying operation, the controller 6 starts the driving motor 42, drives the screw 41 to move the two adjusting blocks 43 towards the middle. Under the guiding and limiting of the limiting groove 8, the adjusting rod 444 straightens and stably pushes the fixed frame 441 to move, so that both the driving wheel 442 and the supporting wheel 443 are in contact with the inner wall of the pipeline. In this way, the robot can adapt to pipelines of different specifications. After starting the driving wheel 442, the anti-corrosion robot can walk inside the pipeline and perform spraying operations. By flexibly adjusting the positions of the driving wheel 442 and the supporting wheel 443, the robot can smoothly enter and adapt to the inner walls of various pipelines, improving its versatility and scope of application.

[0057] Preferably, as shown in Figure 7 and Figure 8 , the fixed frame 441 is set as a trapezoidal structure. The driving wheel 442 and the driving motor 42 are both electrically connected to the controller 6, and the top surfaces of both the driving wheel 442 and the supporting wheel 443 are higher than the top surface of the fixed frame 441.

[0058] As can be seen from the above, it helps the fixed frame 441 to provide better stability and support. The operations of the driving wheel 442 and the driving motor 42 can both be controlled by the controller 6, so that when both the driving wheel 442 and the supporting wheel 443 are in contact with the inner wall of the pipeline, the fixed frame 441 is not in contact with the inner wall of the pipeline, which does not affect the movement of the robot in the pipeline.

[0059] Application example:

[0060] This design is specifically applied to pipeline systems in marine environments that require inner wall anti-corrosion treatment, especially those pipelines that are exposed to seawater or environments containing corrosive marine components for a long time and are prone to corrosion on the inner wall. During marine transportation or long-term storage of seawater, the inner wall of the pipeline will be continuously eroded by salts, microorganisms and other possible corrosive substances in the seawater. The marine environment has its particularity. The high salinity, high chloride ion content of seawater and the attachment of marine organisms all pose a great corrosion threat to pipeline materials. Therefore, for pipelines used for transporting or storing seawater for a long time, the anti-corrosion treatment of their inner walls is particularly important;

[0061] With the spraying mechanism 2 that can rotate in multiple directions set in this design, the robot can perform all-round and uniform spraying on the inner wall of the pipeline. Combined with the laser distance sensor 26, the robot can automatically adjust the spraying position according to different pipeline sizes to ensure uniform coating and consistent thickness. At the same time, by setting the stirring mechanism 3, the anticorrosive coating is fully stirred evenly to improve the performance of the coating and ensure the spraying effect. In addition, by setting the adjusting mechanism 4, the robot can adapt to pipelines of different specifications. By adjusting the size or shape of the robot, it can enter and adapt to the inner walls of various pipelines for spraying.

[0062] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-directional rotary spraying pipeline inner wall anti-corrosion robot, characterized in that: include: Storage box (1); A spraying mechanism (2) is installed in the middle of one end of the storage box (1), a stirring mechanism (3) is installed inside the storage box (1), a fixed box (7) is installed in the middle of the other end of the storage box (1), and an adjustment mechanism (4) is installed between the inner walls of both sides of the fixed box (7); The spraying mechanism (2) comprises a rotating mechanical arm (21), a rotating gear (22), a material extraction pipe (23), a material delivery channel (24), a spraying pipe (25), a laser distance sensor (26) and a telescopic mechanism (27), wherein the rotating gear (22) is mounted on one side of the outer surface of the rotating mechanical arm (21), the material extraction pipe (23) is mounted on one end of the rotating mechanical arm (21), the material delivery channel (24) is opened inside the rotating mechanical arm (21), two spraying pipes (25) and two laser distance sensors (26) are provided, the two spraying pipes (25) are respectively mounted on the top and bottom ends of the rotating mechanical arm (21), the two laser distance sensors (26) are respectively mounted on one end of the two spraying pipes (25), and the telescopic mechanism (27) is mounted on the other end of the rotating mechanical arm (21).

2. The multi-directional rotary spraying pipeline inner wall anti-corrosion robot according to claim 1, characterized in that: A feed pipe (5) is installed at the upper part of one end of the storage box (1), a controller (6) is installed at the middle of the outer wall of the storage box (1), and limiting grooves (8) are provided on all four sides of the outer wall of the fixed box (7). A rotating motor (9) is installed at the lower part of one end of the storage box (1), and a driving gear (10) is installed at the output end of the rotating motor (9).

3. The multi-directional rotary spraying pipeline inner wall anti-corrosion robot according to claim 2, characterized in that: The telescopic mechanism (27) comprises a fixed frame (271), a forward and reverse screw rod (272), a telescopic frame (273) and a driver (274); the fixed frame (271) is mounted on one end of the rotating mechanical arm (21); the forward and reverse screw rod (272) is mounted between the inner walls on both sides of the fixed frame (271) through bearings; two telescopic frames (273) are provided, and the two telescopic frames (273) are respectively mounted on both sides of the outer surface of the forward and reverse screw rod (272); and the other ends of the two telescopic frames (273) are respectively mounted on the outer walls of the two spray pipes (25); and the driver (274) is mounted on the top of the fixed frame (271).

4. The multi-directional rotary spraying pipeline inner wall anti-corrosion robot according to claim 3, characterized in that: The telescopic frame (273) is configured as a Z-shaped structure, and the driver (274), the material extraction pipe (23), the laser distance sensor (26) and the rotating motor (9) are all electrically connected to the controller (6).

5. The multi-directional rotary spraying pipeline inner wall anti-corrosion robot according to claim 4, characterized in that: The rotating mechanical arm (21), the material delivery channel (24) and the spray pipe (25) are all arranged in a T-shaped structure, and the rotating mechanical arm (21) and the material extraction pipe (23) are connected via a rotatable joint, the rotating gear (22) is meshed with the driving gear (10), and a section of folded pipe is arranged on the spray pipe (25).

6. The multi-directional rotary spraying pipeline inner wall anti-corrosion robot according to claim 1, characterized in that: The stirring mechanism (3) comprises a stirring shaft (31), a stirring blade (32), a stirring hole (33) and a stirring motor (34); the stirring shaft (31) is mounted between the inner walls of both sides of the storage box (1) via a bearing; a plurality of stirring blades (32) and a plurality of stirring holes (33) are provided; the plurality of stirring blades (32) are respectively mounted on both sides of the outer wall of the stirring shaft (31); the plurality of stirring holes (33) are respectively opened on the outer walls of the plurality of stirring blades (32); and the stirring motor (34) is mounted on the top end of the stirring shaft (31).

7. The multi-directional rotary spraying pipeline inner wall anti-corrosion robot according to claim 6, characterized in that: The stirring blade (32) is configured as an arc-shaped structure, and the stirring blade (32) and the material extraction pipe (23) are not in contact with each other. The stirring motor (34) is electrically connected to the controller (6).

8. The multi-directional rotary spraying pipeline inner wall anti-corrosion robot according to claim 1, characterized in that: The adjusting mechanism (4) comprises a forward and reverse screw (41), a driving motor (42), an adjusting block (43) and an adjusting frame (44); the forward and reverse screw (41) is installed between the inner walls of both sides of the fixed box (7) through a bearing; the driving motor (42) is installed at one end of the forward and reverse screw (41); two adjusting blocks (43) are provided, and the two adjusting blocks (43) are respectively installed on both sides of the outer surface of the forward and reverse screw (41); four adjusting frames (44) are provided, and the four adjusting frames (44) are all installed across the outer walls of the two adjusting blocks (43).

9. The multi-directional rotary spraying pipeline inner wall anti-corrosion robot according to claim 8, characterized in that: The adjustment frame (44) comprises a fixed frame (441), a driving wheel (442), an auxiliary wheel (443) and an adjustment rod (444); the driving wheel (442) is installed between the middle parts of the inner walls on both sides of the fixed frame (441); two auxiliary wheels (443) and two adjustment rods (444) are provided, and the two auxiliary wheels (443) are respectively installed between the left parts of the inner walls on both sides of the fixed frame (441) and between the right parts of the inner walls on both sides; the two adjustment rods (444) are installed at the bottom end of the fixed frame (441) through a connecting seat, and the bottom ends of the two adjustment rods (444) are respectively installed at the top ends of the two adjustment blocks (43) through the connecting seat.

10. The multi-directional rotary spraying pipeline inner wall anti-corrosion robot according to claim 9, characterized in that: The fixed frame (441) is configured as a trapezoidal structure, the driving wheel (442) and the driving motor (42) are both electrically connected to the controller (6), and the top surfaces of the driving wheel (442) and the auxiliary wheel (443) are both higher than the top surface of the fixed frame (441).

Images