Paint spraying device for inner wall of pipeline

Abstract

The invention relates to a pipeline inner wall paint spraying device which comprises a walking trolley and a 360-degree paint spraying device, the walking trolley comprises a trolley body, an advancing steering mechanism, a first distance detection mechanism and a controller, and the advancing steering mechanism and the first distance detection mechanism are in communication connection with the controller; the first distance detection mechanism is used for measuring the distance between the vehicle body and the preset position of the inner wall of the pipeline, and the controller controls the working state of the advancing steering mechanism according to the detection value of the first distance detection mechanism so that the central axis of the vehicle body and the central axis of the pipeline can be located on the same vertical plane. The central axis of the 360-degree paint spraying device and the central axis of the vehicle body are located in the same vertical plane, the 360-degree paint spraying device is used for conducting 360-degree paint spraying in the circumferential direction around the central axis of the 360-degree paint spraying device, and the paint spraying device for the inner wall of the pipeline can conduct automatic paint spraying, enables the thickness of a paint film to be more uniform, can effectively improve the paint spraying effect of the inner wall of the pipeline, and can avoid harm to the health of workers.

Description

Technical Field

[0001] The present invention relates to the technical field of painting equipment, and particularly to a painting device for the inner wall of a pipeline. Background Art

[0002] In the technical field of transformer manufacturing, the connecting pipe plays a key role in aspects such as oil circuit circulation, heat dissipation, mechanical support, and system stability, and is an important component to ensure the efficient and safe operation of the transformer. As the last manufacturing process of the connecting pipe, painting can not only protect the connecting pipe from corrosion and pollution, but also improve the operation efficiency and reliability of the transformer, and is an indispensable process in transformer manufacturing and maintenance.

[0003] The paint on the inner wall of the connecting pipe is a protective coating that directly contacts the transformer oil. Its painting quality is directly related to the oil cleanliness, heat dissipation efficiency, operation reliability, and service life of the transformer, and is a key link that needs to be strictly controlled in the manufacturing of the transformer connecting pipe. High-quality painting technology is crucial for ensuring the long-term stable operation of the transformer.

[0004] Currently, the painting of the inner wall of the connecting pipe is carried out by manually spraying or pouring paint into the pipe from the pipe orifice. Due to the limitations of the spraying space and operation level, this painting method not only has low efficiency and is difficult to meet the requirements of mass production, but also is difficult to ensure uniform film thickness, and it is easy to have defects such as missed spraying and sagging. Moreover, a large amount of paint mist will be generated during the painting process, which is harmful to the health of workers. Summary of the Invention

[0005] The purpose of the present invention is to provide a painting device for the inner wall of a pipeline, so as to improve the painting efficiency, meet the requirements of mass production, improve the uniformity of the film thickness, and avoid harming the health of workers.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A painting device for the inner wall of a pipeline, comprising:

[0008] A traveling trolley, comprising a vehicle body, a traveling and steering mechanism, a first distance detection mechanism, and a controller. The traveling and steering mechanism and the first distance detection mechanism are respectively communicatively connected to the controller. The traveling and steering mechanism is used to drive the vehicle body to travel and turn in the pipeline. The first distance detection mechanism is used to measure the distance between the vehicle body and a preset position on the inner wall of the pipeline. The controller is used to control the working state of the traveling and steering mechanism according to the detection value of the first distance detection mechanism, so that the central axis of the vehicle body and the central axis of the pipeline are in the same vertical plane;

[0009] The 360° spraying device is arranged on the vehicle body. The central axis of the 360° spraying device and the central axis of the vehicle body are in the same vertical plane. The axis of the nozzle of the spray gun of the 360° spraying device intersects with the central axis of the 360° spraying device.

[0010] In an embodiment of the present application, the first distance detection mechanism includes at least two first distance detection sensors, and each of the first distance detection sensors is symmetrically arranged on both side surfaces in the width direction of the vehicle body.

[0011] In an embodiment of the present application, the 360° spraying device is arranged on the vehicle body through a displacement mechanism, so that the 360° spraying device can reciprocate relative to the vehicle body in the vertical direction. A second distance detection mechanism is arranged on the 360° spraying device. The displacement mechanism and the second distance detection mechanism are respectively communicatively connected to the controller. The second distance detection mechanism is used to measure the distance between the 360° spraying device and a preset position on the inner wall of the pipeline. The controller is used to control the working state of the displacement mechanism according to the detection value of the second distance measurement mechanism, so that the central axis of the 360° spraying device is collinear with the central axis of the pipeline.

[0012] In an embodiment of the present application, the second distance detection mechanism includes at least two second distance detection sensors. Each of the second distance detection sensors is evenly distributed around the circumference of the 360° spraying device, and the connection line of at least two of the second distance detection sensors intersects with the central axis of the 360° spraying device and is arranged at an angle with the horizontal plane.

[0013] In an embodiment of the present application, the 360° spraying device further includes a rotation driving device. The rotation driving device is arranged on the vehicle body. The rotation axis of the driving shaft of the rotation driving device and the central axis of the vehicle body are in the same vertical plane. The spray gun includes a gun body and the nozzle arranged on the gun body. The gun body is coaxially arranged on the driving shaft of the rotation driving device with the driving shaft of the rotation driving device, and the axis of the nozzle intersects with the axis of the gun body.

[0014] In an embodiment of the present application, the 360° spraying device further includes a fixed disk. The fixed disk is arranged on the vehicle body. The central axis of the fixed disk and the central axis of the vehicle body are in the same vertical plane. The spray gun includes a gun body and the nozzle arranged on the gun body. The gun bodies of a plurality of the spray guns are circumferentially and evenly spaced and arranged on the outer peripheral surface of the fixed disk, and the axis of the nozzle intersects with the central axis of the fixed disk.

[0015] In an embodiment of the present application, it further includes a real-time non-destructive detection device for the paint film thickness. The real-time non-destructive detection device for the paint film thickness is disposed on the vehicle body and / or the 360° paint spraying device. The real-time non-destructive detection device for the paint film thickness and the 360° paint spraying device are respectively communicatively connected to the controller. The controller is configured to control the working states of the traveling steering mechanism and / or the 360° paint spraying device according to the detection value of the real-time non-destructive detection device for the paint film thickness.

[0016] In an embodiment of the present application, the traveling steering mechanism includes a steering wheel, a traveling wheel, and a front-wheel steering device. The steering wheel is disposed at the front end of the vehicle body along the traveling direction through the front-wheel steering device. At least one pair of the traveling wheels is disposed at the rear end of the vehicle body along the traveling direction. The front-wheel steering device is communicatively connected to the controller.

[0017] In an embodiment of the present application, the traveling wheel is a universal wheel.

[0018] In an embodiment of the present application, the traveling steering mechanism includes two pairs of Mecanum wheels. The two pairs of Mecanum wheels are respectively disposed at the front end and the rear end of the vehicle body along the traveling direction. The Mecanum wheels are disposed on the vehicle body through drive motors. The drive motors are communicatively connected to the controller.

[0019] It can be seen from the above technical solutions that the present invention discloses a paint spraying device for the inner wall of a pipeline. The paint spraying device for the inner wall of the pipeline includes a traveling trolley and a 360° paint spraying device. Among them, the traveling trolley includes a vehicle body, a traveling steering mechanism, a first distance detection mechanism, and a controller. The traveling steering mechanism and the first distance detection mechanism are respectively communicatively connected to the controller. The traveling steering mechanism is configured to drive the vehicle body to travel and turn in the pipeline. The first distance detection mechanism is configured to measure the distance between the vehicle body and a preset position on the inner wall of the pipeline. The controller is configured to control the working state of the traveling steering mechanism according to the detection value of the first distance detection mechanism, so that the central axis of the vehicle body and the central axis of the pipeline are in the same vertical plane. The 360° paint spraying device is disposed on the vehicle body. The central axis of the 360° paint spraying device and the central axis of the vehicle body are in the same vertical plane. The 360° paint spraying device is configured to perform 360° paint spraying in the circumferential direction around its own central axis. The axis of the nozzle of the spray gun of the 360° paint spraying device intersects with the central axis of the 360° paint spraying device. According to the different structures of the 360° paint spraying device, when the 360° paint spraying device realizes 360° spraying by rotating the nozzle, the central axis of the 360° paint spraying device is the rotation axis of the nozzle. When the 360° paint spraying device realizes 360° spraying by arranging a plurality of nozzles in the circumferential direction, the central axis of the 360° paint spraying device is the axis that is equidistant from each nozzle.

[0020] When painting the inner wall of a pipeline, first input a predetermined paint film thickness into the controller. The controller adjusts the traveling speed of the traveling steering mechanism and / or the painting pressure of the 360° painting device according to the input predetermined paint film thickness according to a preset instruction. Subsequently, place the above-mentioned traveling trolley into the pipeline to be painted, start the first distance detection mechanism and the traveling steering mechanism. During the traveling process of the traveling trolley, the 360° painting device sprays paint. The first distance detection mechanism continuously detects the distance between the vehicle body and a preset position on the inner wall of the pipeline. When the central axis of the vehicle body deviates from the central axis of the pipeline, adjust the traveling direction of the traveling trolley through the traveling steering mechanism, so that the central axis of the vehicle body of the traveling trolley is always in the same vertical plane as the central axis of the pipeline, thereby ensuring that the distances between the central axis of the vehicle body of the traveling trolley and both sides of the pipeline are the same, and thus ensuring the uniformity of the paint film.

[0021] It can be seen that the above-mentioned pipeline inner wall painting device can be adaptively designed according to the pipeline diameter and can replace manual labor for automated painting operations on the inner wall of the pipeline. Therefore, compared with manual painting, there are no restrictions on the spraying space and operation level, and the efficiency is higher, which can meet the needs of mass production. Moreover, the traveling trolley carrying the 360° painting device performs 360° painting operations during a relatively uniform traveling process. By setting the traveling speed of the traveling trolley and / or the painting pressure of the 360° painting device, the paint film thickness can be made more uniform, and there will be no situation of local thick or thin paint film, let alone defects such as missed spraying and sagging. It can effectively improve the painting effect of the pipeline inner wall and can prevent workers from being in the paint mist-filled painting site, thus avoiding harm to the health of workers. Brief Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0023] Figure 1 It is a schematic structural diagram of the pipeline inner wall painting device provided by an embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of the working state of the pipeline inner wall painting device provided by an embodiment of the present invention when it deviates to the right side in the traveling direction in the pipeline;

[0025] Figure 3 It is a schematic diagram of the working state of the pipeline inner wall painting device provided by an embodiment of the present invention when it deviates to the left side in the traveling direction in the pipeline;

[0026] Figure 4Schematic diagram of the 360° painting device of the pipeline inner wall painting device provided by the embodiment of the present invention;

[0027] Figure 5 Schematic diagram of the paint film thickness control of the pipeline inner wall painting device provided by the embodiment of the present invention.

[0028] In the figure:

[0029] 100 is a walking trolley; 110 is a vehicle body; 120 is a traveling steering mechanism; 121 is a steering wheel; 122 is a walking wheel; 123 is a front-wheel steering device; 130 is a first distance detection sensor; 140 is a controller;

[0030] 200 is a 360° painting device; 210 is a rotation driving device; 220 is a spray gun; 230 is a nozzle;

[0031] 300 is a paint film thickness real-time non-destructive detection device;

[0032] 400 is a counterweight;

[0033] 500 is a pipeline;

[0034] 600 is a paint film. Specific implementation manners

[0035] The core of the present invention is to provide a pipeline inner wall painting device. The structural design of the pipeline inner wall painting device enables it to improve the painting efficiency, meet the mass production requirements, improve the uniformity of the paint film thickness, and avoid harming the health of workers.

[0036] 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 shall fall within the protection scope of the present invention.

[0037] Please refer to Figure 1 , Figure 1 Schematic diagram of the pipeline inner wall painting device provided by the embodiment of the present invention.

[0038] An embodiment of the present invention discloses a pipeline inner wall painting device, which includes a walking trolley 100 and a 360° painting device 200.

[0039] Among them, the walking trolley 100 includes a vehicle body 110, a traveling and steering mechanism 120, a first distance detection mechanism, and a controller 140. The traveling and steering mechanism 120 and the first distance detection mechanism are respectively communicatively connected to the controller 140. The traveling and steering mechanism 120 is used to drive the vehicle body 110 to travel and steer in the pipeline 500. The first distance detection mechanism is used to measure the distance between the vehicle body 110 and a preset position on the inner wall of the pipeline 500, and it can be arranged at least at one of the top, side, and bottom of the vehicle body 110. When the vehicle body 110 deviates from the predetermined route, the distance between the vehicle body 110 and the preset position on the inner wall of the pipeline 500 will fluctuate. The controller 140 determines that the vehicle body 110 deviates from the predetermined route based on this. The controller 140 is used to control the working state of the traveling and steering mechanism 120 according to the detection value of the first distance detection mechanism, so that the central axis of the vehicle body 110 and the central axis of the pipeline 500 are in the same vertical plane, which can ensure that the distances between the vehicle body 110 and the two inner walls of the pipeline 500 are equal.

[0040] The 360° painting device 200 is arranged on the vehicle body 110. The central axis of the 360° painting device 200 and the central axis of the vehicle body 110 are in the same vertical plane. The 360° painting device 200 is used to perform 360° painting on the circumferential direction around its own central axis. The axis of the nozzle 230 of the spray gun 220 of the 360° painting device 200 intersects with the central axis of the 360° painting device 200. According to the different structures of the 360° painting device 200, when the 360° painting device 200 realizes 360° spraying by rotating the nozzle 230, the central axis of the 360° painting device 200 is the rotation axis of the nozzle 230. When the 360° painting device 200 realizes 360° spraying by arranging a plurality of nozzles 230 in the circumferential direction, the central axis of the 360° painting device 200 is the axis that is equidistant from each nozzle 230.

[0041] When painting the inner wall of the pipeline 500, first input the predetermined thickness of the paint film 600 into the controller 140. The controller 140 adjusts the traveling speed of the traveling steering mechanism 120 and / or the painting pressure of the 360° painting device 200 according to the input predetermined thickness of the paint film 600 according to the preset instructions. Subsequently, place the above-mentioned walking trolley 100 into the pipeline 500 to be painted, start the first distance detection mechanism and the traveling steering mechanism 120. During the traveling process of the walking trolley 100, the 360° painting device 200 performs painting. The first distance detection mechanism continuously detects the distance between the vehicle body 110 and the preset position on the inner wall of the pipeline 500. When the central axis of the vehicle body 110 deviates from the central axis of the pipeline 500, the traveling direction of the walking trolley 100 is adjusted through the traveling steering mechanism 120, so that the central axis of the vehicle body 110 of the walking trolley 100 is always in the same vertical plane as the central axis of the pipeline 500, thereby ensuring that the distances between the central axis of the vehicle body 110 of the traveling trolley and both sides of the pipeline 500 are the same, and thus ensuring the uniformity of the paint film 600.

[0042] Specifically, as Figure 2 shown, during the process, when the first distance detection mechanism detects that along the traveling direction of the vehicle body 110, the distance between the vehicle body 110 and the left inner wall of the pipeline 500 is greater than the distance between the vehicle body 110 and the right inner wall of the pipeline 500, the controller 140 controls the traveling steering mechanism 120 to turn towards the left inner wall of the pipeline 500, thereby reducing the distance between the vehicle body 110 and the left inner wall of the pipeline 500 and increasing the distance between the vehicle body 110 and the right inner wall of the pipeline 500, making the central axis of the vehicle body 110 approach the central axis of the pipeline 500.

[0043] When the first distance detection mechanism detects that along the traveling direction of the vehicle body 110, the distance between the vehicle body 110 and the left inner wall of the pipeline 500 is less than the distance between the vehicle body 110 and the right inner wall of the pipeline 500, as Figure 3 shown, the controller 140 controls the traveling steering mechanism 120 to turn towards the right inner wall of the pipeline 500, thereby reducing the distance between the vehicle body 110 and the right inner wall of the pipeline 500 and increasing the distance between the vehicle body 110 and the left inner wall of the pipeline 500, making the central axis of the vehicle body 110 approach the central axis of the pipeline 500.

[0044] Compared with the prior art, the pipeline inner wall painting device provided by the embodiment of the present invention can be adaptively designed according to the caliber of the pipeline 500, and can replace manual labor for automatic painting operation on the inner wall of the pipeline 500. Therefore, compared with manual painting, there are no restrictions on the spraying space and operation level, and the efficiency is higher, which can meet the requirements of mass production. Moreover, the traveling trolley 100 carries the 360° painting device 200 to perform 360° painting operation during a relatively uniform traveling process. By setting the traveling speed of the traveling trolley 100 and / or the painting pressure of the 360° painting device 200, the thickness of the paint film 600 can be made more uniform, and there will be no situation where the paint film 600 is thick or thin locally, let alone defects such as missed spraying and sagging. It can effectively improve the painting effect of the inner wall of the pipeline 500, and can prevent workers from being in the painting site full of paint mist, thus avoiding harm to the health of workers.

[0045] As Figures 1 to 3 shown, in an embodiment of the present application, the first distance detection mechanism includes at least two first distance detection sensors 130, and each first distance detection sensor 130 is symmetrically arranged on both side surfaces in the width direction of the vehicle body 110. Since it is necessary to detect the distances between the vehicle body 110 and the inner walls of the pipelines 500 on both sides, the number of the first distance detection sensors 130 is preferably an even number, that is, the first distance detection mechanism may include 2, 4, 6, 8... first distance detection sensors 130. The first distance detection sensors 130 include but are not limited to laser ranging sensors, infrared ranging sensors, ultrasonic ranging sensors, and microwave ranging sensors.

[0046] It can be foreseen that in order to increase the uniformity of the thickness of the paint film 600, it is necessary to try to ensure that the distance between the nozzle 230 of the spray gun 220 and the inner walls of each part of the pipeline 500 is the same during the spraying process. In the above technical solution, the first distance detection mechanism ensures the uniformity of the distances between the vehicle body 110 and the 360° painting device 200 and the inner walls on the left and right sides of the pipeline 500 along the traveling direction, but cannot ensure the uniformity of the distances between the 360° painting device 200 and the inner walls on the upper and lower sides of the pipeline 500 along the traveling direction. For this reason, in an embodiment of the present application, the 360° painting device 200 is arranged on the vehicle body 110 through a displacement mechanism. The displacement mechanism can drive the 360° painting device 200 to reciprocate vertically relative to the vehicle body 110. A second distance detection mechanism is arranged on the 360° painting device 200. The displacement mechanism and the second distance detection mechanism are respectively communicatively connected to the controller 140. The second distance detection mechanism is used to measure the distance between the 360° painting device 200 and a preset position on the inner wall of the pipeline 500. The controller 140 is used to control the working state of the displacement mechanism according to the detection value of the second distance measurement mechanism, so that the central axis of the 360° painting device 200 is collinear with the central axis of the pipeline 500.

[0047] In this way, by moving the vehicle body 110 left and right in the traveling direction and moving the 360° painting device 200 up and down in the traveling direction, it can be ensured that when the central axis of the 360° painting device 200 sprays the inner wall of the pipe 500 with a certain range of pipe diameters, the central axis of the 360° painting device 200 can be collinear with the central axis of the pipe 500, so as to ensure that the distance from the nozzle 230 of the spray gun 220 of the 360° painting device 200 to any point on the inner wall of the pipe 500 is equal, further improving the uniformity of the thickness of the paint film 600.

[0048] Of course, the up and down position adjustment of the 360° painting device 200 can also be achieved by other means. For example, the vehicle body 110 can be an upper part and a lower part that can move relative to each other up and down. A traveling steering mechanism 120 is provided on the lower part, and a 360° painting device 200 is provided on the upper part. The above displacement mechanism is arranged between the upper part and the lower part of the vehicle body 110.

[0049] Specifically, in an embodiment of the present application, the second distance detection mechanism includes at least two second distance detection sensors. Each second distance detection sensor is evenly distributed around the circumference of the 360° painting device 200, and the connection line of at least two of the second distance detection sensors intersects the central axis of the 360° painting device 200 and is arranged at an angle with the horizontal plane, so as to avoid the function duplication between the second distance detection mechanism and the first distance detection mechanism, thereby ensuring the up and down adjustment of the 360° painting device 200 can be realized.

[0050] Please refer to Figure 4 , in a specific embodiment of the present application, the 360° painting device 200 further includes a rotation driving device 210. The rotation driving device 210 is arranged on the vehicle body 110. The rotation axis of the driving shaft of the rotation driving device 210 is in the same vertical plane as the central axis of the vehicle body 110. The spray gun 220 includes a gun body and a nozzle 230 arranged on the gun body. The gun body is coaxially arranged on the driving shaft of the rotation driving device 210 with the driving shaft of the rotation driving device 210. The axis of the nozzle 230 intersects the axis of the gun body. The driving shaft of the rotation driving device 210 drives the gun body to rotate around the axis of the gun body. In this embodiment, one or more nozzles 230 can be arranged on the spray gun 220.

[0051] Of course, it should be noted that the 360° spraying device 200 is not limited to the above-mentioned rotatable structure. In another embodiment, a fixed and non-rotatable structure can also be adopted, that is, the 360° spraying device 200 further includes a fixed disk, the fixed disk is arranged on the vehicle body 110, and the central axis of the fixed disk and the central axis of the vehicle body 110 are in the same vertical plane. The spray gun 220 includes a gun body and a nozzle 230 arranged on the gun body. The gun bodies of multiple spray guns 220 are circumferentially and evenly arranged on the outer peripheral surface of the fixed disk, and the axis of the nozzle 230 intersects with the central axis of the fixed disk.

[0052] Of course, the above-mentioned 360° spraying device 200 should also include a paint supply device, which includes a paint bucket, an air pump and pipelines. The paint bucket is used for storing paint, and the air pump and the paint bucket are respectively connected to the spray gun 220 through pipelines. The above-mentioned paint bucket and air pump can be arranged on the vehicle body 110 or can be arranged independently of the vehicle body 110, that is, the vehicle body 110 does not carry the paint bucket and the air pump, but is placed outside the pipeline 500 to be sprayed and is connected to the spray gun 220 through an extended pipeline to increase the weight of the walking trolley 100.

[0053] To further improve the uniformity of the thickness of the paint film 600, in an embodiment of the present application, as Figure 1 shown, the pipeline inner wall spraying device further includes a real-time non-destructive paint film thickness detection device 300. The real-time non-destructive paint film thickness detection device 300 is arranged on the vehicle body 110 and / or the 360° spraying device 200. The real-time non-destructive paint film thickness detection device 300 and the 360° spraying device 200 are respectively communicatively connected to the controller 140. The controller 140 is used to control the working state of the traveling steering mechanism 120 and / or the 360° spraying device 200 according to the detection value of the real-time non-destructive paint film thickness detection device 300. In a specific embodiment of the present application, the real-time non-destructive paint film thickness detection device 300 is a laser paint film 600 thickness sensor.

[0054] As Figure 5 shown, during the traveling of the walking trolley 100 and the spraying process of the 360° spraying device 200, the real-time non-destructive paint film thickness detection device 300 detects the thickness of the paint film 600 on the inner wall of the pipeline 500 in real time. After the controller 140 obtains the measured paint film 600 thickness, it compares it with the predetermined paint film 600 thickness. When the measured paint film 600 thickness is greater than the predetermined paint film 600 thickness, the controller 140 increases the traveling speed of the walking trolley 100 and / or reduces the spraying pressure of the 360° spraying device 200. When the measured paint film 600 thickness is less than the predetermined paint film 600 thickness, the controller 140 reduces the traveling speed of the walking trolley 100 and / or increases the spraying pressure of the 360° spraying device 200.

[0055] As Figures 1 to 3As shown, in an embodiment of the present application, the traveling and steering mechanism 120 includes a steering wheel 121, traveling wheels 122, and a front-wheel steering device 123. One or two steering wheels 121 can be provided, and at least two traveling wheels 122 are provided. The traveling wheels 122 can be coaxially arranged or arranged in multiple pairs with multiple axes, that is, the traveling wheels 122 are paired in twos, and a pair of traveling wheels 122 are coaxially arranged. Each pair of traveling wheels 122 is arranged in sequence from near to far from the steering wheel 121. The steering wheel 121 is arranged at the front end of the vehicle body 110 along the traveling direction through the front-wheel steering device 123, and at least one pair of traveling wheels 122 is arranged at the rear end of the vehicle body 110 along the traveling direction. The front-wheel steering device 123 is communicatively connected to the controller 140. The front-wheel steering device 123 is used to drive the steering wheel 121 to rotate around its own axis to drive the traveling trolley 100 to travel. At the same time, the front-wheel steering device 123 can also drive the steering wheel 121 to swing left and right relative to the traveling direction to realize the direction change of the traveling trolley 100.

[0056] To further optimize the above technical solution, in the present application, the above-mentioned traveling wheels 122 are universal wheels.

[0057] Of course, the traveling and steering mechanism 120 can also adopt other structures. In another embodiment, the traveling and steering mechanism 120 includes two pairs of Mecanum wheels. The two pairs of Mecanum wheels are respectively arranged at the front end and the rear end of the vehicle body 110 along the traveling direction. The Mecanum wheels are arranged on the vehicle body 110 through drive motors. The drive motors are communicatively connected to the controller 140. The controller 140 can realize the forward movement, backward movement, and lateral translation of the traveling trolley 100 by controlling the drive motors of each Mecanum wheel.

[0058] It can be foreseen that to avoid the traveling trolley 100 from affecting the unfired paint, the 360° spraying device 200 is usually arranged at the rear of the traveling trolley 100, which will cause the center of gravity of the traveling trolley 100 to be rearward. To improve the stability of the traveling trolley 100, a counterweight 400 can be arranged at the front end of the traveling trolley 100 to ensure that the center of gravity of the traveling trolley 100 is close to the middle of the vehicle body 110 and ensure the balance of the traveling trolley 100 during the traveling process.

[0059] As shown in the present application and the claims, unless the context clearly indicates an exceptional situation, words such as "a", "one", "a kind of", and / or "the" are not specifically singular and can also include plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements. An element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, commodity, or device including the element.

[0060] In the description of this application, unless otherwise clearly defined, terms such as "setting", "installing", "connecting", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in this application in combination with the specific content of the technical solution.

[0061] It should be noted that the various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts among the various embodiments can be referred to each other.

[0062] Specific examples are used in this article to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the core idea of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A pipe inner wall painting device, characterized in that: include: A walking trolley (100), comprising a vehicle body (110), a travel and steering mechanism (120), a first distance detection mechanism and a controller (140); the travel and steering mechanism (120) and the first distance detection mechanism are respectively connected to the controller (140) for communication; the travel and steering mechanism (120) is used to drive the vehicle body (110) to travel and turn in a pipeline (500); the first distance detection mechanism is used to measure the distance between the vehicle body (110) and a preset position on the inner wall of the pipeline (500); and the controller (140) is used to control the working state of the travel and steering mechanism (120) according to the detection value of the first distance detection mechanism, so that the central axis of the vehicle body (110) and the central axis of the pipeline (500) are located in the same vertical plane; A 360° paint spraying device (200) is arranged on the vehicle body (110), wherein the central axis of the 360° paint spraying device (200) and the central axis of the vehicle body (110) are located in the same vertical plane, and the axis of the nozzle (230) of the spray gun (220) of the 360° paint spraying device (200) intersects with the central axis of the 360° paint spraying device (200).

2. The pipeline inner wall painting device according to claim 1, characterized in that: The first distance detection mechanism comprises at least two first distance detection sensors (130), and each of the first distance detection sensors (130) is symmetrically arranged on two side surfaces in the width direction of the vehicle body (110).

3. The pipeline inner wall painting device according to claim 1, characterized in that: The 360° paint spraying device (200) is arranged on the vehicle body (110) via a displacement mechanism, so that the 360° paint spraying device (200) can reciprocate in a vertical direction relative to the vehicle body (110); a second distance detection mechanism is arranged on the 360° paint spraying device (200); the displacement mechanism and the second distance detection mechanism are respectively connected to the controller (140) for communication; the second distance detection mechanism is used to measure the distance between the 360° paint spraying device (200) and a preset position on the inner wall of the pipeline (500); and the controller (140) is used to control the working state of the displacement mechanism according to the detection value of the second distance measurement mechanism, so that the central axis of the 360° paint spraying device (200) is collinear with the central axis of the pipeline (500).

4. The pipeline inner wall painting device according to claim 3, characterized in that: The second distance detection mechanism comprises at least two second distance detection sensors, each of which is evenly distributed around the circumference of the 360° paint spraying device (200), and a connecting line of at least two of the second distance detection sensors intersects with the central axis of the 360° paint spraying device (200) and is arranged at an angle to a horizontal plane.

5. The pipeline inner wall painting device according to any one of claims 1 to 4, characterized in that: The 360° paint spraying device (200) further comprises a rotary drive device (210), wherein the rotary drive device (210) is arranged on the vehicle body (110), wherein the rotation axis of the drive shaft of the rotary drive device (210) and the central axis of the vehicle body (110) are located in the same vertical plane, and the spray gun (220) comprises a gun body and a nozzle (230) arranged on the gun body, wherein the gun body is coaxially arranged on the drive shaft of the rotary drive device (210), and the axis of the nozzle (230) intersects with the axis of the gun body.

6. The pipeline inner wall painting device according to any one of claims 1 to 4, characterized in that: The 360° paint spraying device (200) further comprises a fixed disc, the fixed disc being arranged on the vehicle body (110), the central axis of the fixed disc and the central axis of the vehicle body (110) being located in the same vertical plane, the spray gun (220) comprising a gun body and a nozzle (230) arranged on the gun body, the gun bodies of a plurality of the spray guns (220) being arranged on the outer peripheral surface of the fixed disc at circumferential intervals, and the axis of the nozzle (230) intersecting with the central axis of the fixed disc.

7. The pipeline inner wall painting device according to any one of claims 1 to 4, characterized in that: The invention also comprises a real-time non-destructive detection device (300) for paint film thickness, wherein the real-time non-destructive detection device (300) for paint film thickness is arranged on the vehicle body (110) and / or the 360° painting device (200), and the real-time non-destructive detection device (300) for paint film thickness and the 360° painting device (200) are respectively connected to the controller (140) for communication, and the controller (140) is used to control the working state of the travel steering mechanism (120) and / or the 360° painting device (200) according to the detection value of the real-time non-destructive detection device (300) for paint film thickness.

8. The pipeline inner wall painting device according to any one of claims 1 to 4, characterized in that: The travel steering mechanism (120) comprises a steering wheel (121), a running wheel (122) and a front-drive steering device (123); the steering wheel (121) is arranged at the front end of the vehicle body (110) along the travel direction via the front-drive steering device (123); at least one pair of the running wheels (122) is arranged at the rear end of the vehicle body (110) along the travel direction; and the front-drive steering device (123) is communicatively connected to the controller (140).

9. The pipeline inner wall painting device according to claim 8, characterized in that: The running wheel (122) is a universal wheel.

10. The pipeline inner wall painting device according to any one of claims 1 to 4, characterized in that: The travel steering mechanism (120) comprises two pairs of Mecanum wheels, the two pairs of Mecanum wheels being respectively arranged at the front end and the rear end of the vehicle body (110) along the travel direction, the Mecanum wheels being arranged on the vehicle body (110) via a drive motor, and the drive motor being communicatively connected to the controller (140).

Images