Portable pipeline outer wall moving device and rust removal and paint spraying equipment and method

Abstract

The invention discloses a portable pipeline outer wall moving device and rust removal and paint spraying equipment and method.The portable pipeline outer wall moving device is fixed to a pipeline in a detachable mode, and compared with an annular full-set design, light weight, convenience and flexibility of the equipment are achieved; when one set of power fails, the other set of power device provides power for special pipeline accessories such as a pipeline connecting flange, and two universal joints are arranged among the rust removal module, the power module and the paint spraying module respectively, so that connection between the modules in the process that equipment runs along a pipeline can be guaranteed, and the equipment can be protected from being damaged. Meanwhile, the equipment can smoothly pass through the bent pipe; and main bodies of the plurality of rust removal modules, the power module and the paint spraying module are of fan-shaped frame structures, so that the fixation of the equipment on the pipeline is ensured, the possibility of passing through a supporting part of the pipeline is increased, the adaptability of the equipment in operation is finally ensured, the disassembly and assembly times during secondary surface treatment of the pipeline are reduced, and the workload of disassembly and assembly of the equipment is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of pipeline rust removal and painting, and particularly relates to a portable pipeline outer wall moving device, a rust removal and painting device and method. Background Art

[0002] With the accumulation of pipeline operation time, metal pipelines are bound to corrode. In addition to adopting a series of anti-corrosion measures, pipelines should also be regularly maintained, and the most direct way is surface painting.

[0003] Currently, there are mainly two ways in the market: manual painting and equipment painting. However, the effect of manual painting is difficult to guarantee, and the manual risk and cost are relatively high. Most equipment painting can only be carried out once (i.e., painting the pipe section when building a new pipeline), and most equipment is fixed, making it difficult to perform secondary surface treatment on in-service pipelines.

[0004] In China, mechanized rust removal has been realized in pipeline joint coating operations, especially represented by the environmental protection type closed rust removal equipment of the Research Institute of China National Petroleum Pipeline Bureau. This rust removal equipment has a high degree of mechanization, can completely replace manual rust removal, improve the working environment, and reduce labor intensity. However, at present, it is only limited to rust removal of welded pipe joints during mechanized joint coating operations. For the rust removal and repair of some pipe sections on the pipeline, manual sandblasting rust removal or manual grinding wheel rust removal methods are still used in China, and there is currently no construction equipment with a high degree of mechanization and automation.

[0005] Existing Problems ① Inconvenient movement For fixed equipment, at present, it can rust-remove new pipelines. For pipelines during operation, it is necessary to stop production, demolish them for rust removal, or not perform rust removal and directly replace them with new pipelines, which is not only costly but also affects normal production. For mobile equipment, at present, it needs to be connected by wire, that is, when running along the pipeline, power or other assistance needs to be provided throughout the pipeline.

[0006] ② Air spraying Through air spraying, a coating with uniform thickness, smooth and flat surface can be obtained. However, the utilization rate of the paint in this method is low, and the paint mist splashes into the surrounding environment, causing relatively serious pollution to the air. Therefore, in actual processes, certain auxiliary methods should be adopted to reduce the pollution of this method to the surrounding environment.

[0007] ④ Integrated design Currently, all existing equipment and devices on the market adopt an integrated design. This not only reduces the adaptability to surface treatment of different pipe diameters, but also once a certain component of the equipment fails, it is easy to cause "total loss" of the equipment.

[0008] ⑤ Poor passability In the currently publicly available patent documents, there is an integrated anti-corrosion device for rust removal and painting on the outer wall of natural gas pipelines (publication number: CN115338195A). Due to its structural design, the device cannot pass through special parts of the pipeline. Since it is inevitable to set accessories such as flanges, elbows, reducers, and supporting parts during the construction and installation of the pipeline, if the passing situation of these special parts is not considered, it will be necessary to repeatedly remove and install the surface treatment equipment during the actual pipeline surface treatment process, which not only increases the workload of manual disassembly and assembly of the equipment, but also requires manual surface treatment operations on these components, greatly reducing the automation level. In addition, since its structure is a ring-shaped frame, when disassembling and installing the equipment, it is necessary to disassemble and assemble the pipeline, which inevitably requires the pipeline to be emptied and the production operation to be stopped. Summary of the Invention

[0009] The purpose of the present invention is to provide a rust removal and painting device that integrates rust removal and painting and has an automatic control function, which solves the problems of rust removal and painting of metal pipelines with different corrosion grades and various pipeline accessories (such as flanges, elbows, etc.) along the way in the prior art.

[0010] The technical solution adopted by the present invention is as follows: A portable pipeline outer wall moving device includes a power module and an additional module, and both the power module and the additional module are connected by two universal joints. The power module includes a power frame and a propulsion component. The power frame is a fan-shaped frame, and opening and closing fixing components are respectively arranged on the left and right of the power frame. The propulsion component is located inside the power frame, and at least three groups of propulsion components are provided, and at least one group of propulsion components is a propulsion active component, and the rest are propulsion driven components. The propulsion active component includes a bracket one, and a propulsion wheel connector one is arranged at the end of the bracket one. A forward wheel connecting frame one is arranged at the end of the propulsion wheel connector one. At least four forward wheels one are symmetrically arranged at the center of the forward wheel connecting frame one. The forward wheel one is rotationally connected to the forward wheel connecting frame one through a wheel shaft one. A drive shaft is arranged at the center of the forward wheel connecting frame one. One end of the drive shaft is connected to a motor, and the other end of the drive shaft is connected to a main power gear. A driven power gear is arranged on each wheel shaft one corresponding to the forward wheel one. The driven power gear meshes with the main power gear for transmission. The propulsion driven component includes a bracket two, and a propulsion wheel connector two is arranged at the end of the bracket two. A forward wheel connecting frame two is arranged at the end of the propulsion wheel connector two. At least four forward wheels two are symmetrically arranged at the center of the forward wheel connecting frame two. The forward wheel two is rotationally connected to the forward wheel connecting frame two through a wheel shaft two. Both the bracket one and the bracket two are connected to the power frame through floating components. The additional module includes an additional frame, and a limiting component is arranged inside the additional frame. Opening and closing fixing components are arranged at both ends of the additional frame.

[0011] A further technical solution is that the limiting component includes a main frame. The main frame is connected to the additional frame by means of a telescopic movable component. A docking head is arranged on the side of the main frame. The docking head is connected to a wheel frame. Four limiting wheels are symmetrically arranged at the center of the wheel frame. A docking hole is arranged at one end of the wheel frame connected to the docking head. A limiting disk is arranged on the docking head. Four angular teeth are arranged on the side of the limiting disk. An angular slot matching the angular teeth is arranged on the wheel frame. The docking head passes through the docking hole. A retaining ring is arranged at the end of the docking head. A compression spring is sleeved on the docking head. The compression spring is located between the retaining ring and the wheel frame.

[0012] A further technical solution is that the opening and closing fixing components connected to the power frame include opening and closing components arranged at both ends of the power frame. The opening and closing components are rotatably connected to the power frame through a rotating shaft. Fixing components are arranged on the opening and closing components. The fixing components are movably connected to the opening and closing components through a connecting shaft. A pin shaft is arranged on the fixing component. Pin holes are arranged on both the power frame and the opening and closing components. The pin shaft is located inside the pin holes. The opening and closing fixing components corresponding to the additional frame have the same structure as the opening and closing components corresponding to the power frame.

[0013] A portable device for rust removal and painting on the outer wall of a pipeline includes the above-mentioned portable moving device for the outer wall of a pipeline. The additional modules are a rust removal module and a painting module. Both between the rust removal module and the power module and between the power module and the painting module are connected by two universal joints. The rust removal module includes a rust removal frame and a laser rust removal component. The rust removal frame is a fan-shaped frame. Opening and closing fixing components are arranged at both ends of the rust removal frame. The laser rust removal component is arranged inside the rust removal frame. And in the direction of advancing along the pipeline, the laser rust removal component is located behind the limiting component. The painting module consists of a painting frame, a paint storage tank, a liquid pump and a high-pressure nozzle. The painting frame is a fan-shaped frame. Opening and closing fixing components are arranged at both ends of the painting frame. The paint storage tank and the high-pressure nozzles are evenly arranged inside the painting frame. The high-pressure nozzles are sequentially connected to the liquid pump and the paint storage tank. The opening and closing fixing components corresponding to the painting frame and the rust removal frame have the same structure as the opening and closing components corresponding to the power frame.

[0014] A further technical solution is that a dust collection component is arranged on the rust removal frame. The dust collection component includes an integrated hole located on the rust removal frame. The dust collection hole is sequentially connected to a fan and a dust collector through a dust collection pipeline.

[0015] A further technical solution is that the rust removal frame, the power frame and the painting frame are all fan-shaped structures. And opening and closing fixing components are arranged on the rust removal frame, the power frame and the painting frame.

[0016] A further technical solution is that a steering motor is arranged on the floating component of the first bracket.

[0017] A further technical solution lies in that two first forward wheel connecting brackets are symmetrically arranged on the first propulsion wheel connector.

[0018] A further technical solution lies in that the floating assembly is connected with a limiter for adjusting the force of the floating assembly.

[0019] A method for rust removal and painting of the outer wall of a portable pipeline. The method for painting the outer wall of the pipeline with the described portable pipeline outer wall rust removal and painting equipment includes: Step 1: According to the pipeline diameter, select the power frame, rust removal frame and painting frame. In the direction of pipeline operation, respectively for the rust removal module, power module and painting module, install the corresponding components, load the corresponding paint in the paint storage tank, open the opening and fixing parts of the rust removal frame, power frame and painting frame, install them at the starting point of the pipeline, and then lock the opening and fixing parts. Step 2: Start the steering motor to adjust the forward angle of the first forward wheel corresponding to the propulsion active component. After starting the motor, the laser rust removal component and the liquid pump, the portable pipeline outer wall rust removal and painting equipment advances along the pipeline in a spiral direction until the rust removal and painting operation in the set interval is completed.

[0020] A further technical solution lies in that let the rust removal width and painting width of the pipeline be l, the outer diameter of the pipeline be d, and the number of high-pressure nozzles (41) of the laser rust removal component (38) be n. Then there is tanθ = nl / πd, that is, when the propulsion active component is inclined at θ, after running πd / n along the circumferential direction of the pipeline, it advances axially by l. The actual axial operation of the equipment is l, and the path length is l / sinθ. That is, for every movement of l / sinθ of the forward wheel, the equipment advances axially by l along the pipeline. Use this formula to locate the collected abnormal points according to the actual operation data of the first forward wheel.

[0021] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are: 1. The semi-circular set mode is convenient to use The present invention is fixed on the pipeline in a detachable form. Compared with the annular full-set design, it realizes the lightweight of the equipment. While ensuring the pipeline fixing ability, the equipment can be radially disassembled and installed without axial sleeving, increasing the convenience and flexibility of the secondary surface treatment of the pipeline (i.e., surface treatment without disassembling the in-service pipeline), and at the same time not affecting the operation and production.

[0022] 2. Improve the possibility of the equipment passing through pipeline accessories In the present invention, two sets of power motors and a first forward wheel are provided in the propulsion active component. At special pipeline accessories such as pipeline connection flanges, when one set of power fails, the other set of power devices provides power. Two universal joints are respectively arranged between the rust removal module, the power module and the painting module. Besides ensuring the connection between modules during the operation of the equipment along the pipeline, it also ensures that the equipment can smoothly pass through the elbow. Moreover, the main bodies of multiple rust removal modules, power modules and painting modules are fan-shaped frame structures, which not only ensure the fixation of the equipment on the pipeline, but also increase the possibility of passing through the supported parts of the pipeline, ultimately ensuring the adaptability of the equipment operation, reducing the disassembly and assembly times during the secondary surface treatment of the pipeline, and reducing the workload of equipment disassembly and assembly.

[0023] 3. Improve the laser part. An integrated anti-corrosion device for rust removal and painting on the outer wall of natural gas pipelines mentions a method of using a ring laser to move axially for rust removal. This method requires a large laser power and a relatively heavy equipment. In the rust removal module of the present invention, by setting several laser segments and the equipment moving forward in a spiral along the axis, not only the weight of the laser module is reduced, but also the power during laser rust removal is lowered. And during the rust removal process, dust and other debris will be generated. If not cleaned in time, it will pollute the environment and endanger human health. The present invention prevents pollution from the source by setting a dust removal device to regularly process the collected dust.

[0024] 4. Add surface dust removal function Due to dust adhesion and the passing of power equipment, debris may adhere to the surface of the pipeline after rust removal. The present invention further ensures the cleanliness of the pipeline surface and improves the quality of subsequent painting by setting wiping blocks behind the power equipment.

[0025] 5. Reduce the pollution of painting The present invention adopts the method of airless spraying to improve the utilization rate of painting. At the same time, a semi-closed painting environment is formed by the main painting frame of the painting module. On the one hand, it reduces the influence of the external environment on the painting quality, and on the other hand, it reduces the pollution of painting to the surrounding environment.

[0026] 6. Modular design and supporting treatment Most surface treatment equipment adopts an integrated construction, and there is a problem of poor adaptability when dealing with different pipe diameters. The present invention increases the adaptability of the surface treatment equipment to different pipe diameters by setting fan-shaped frames with different diameters and adopting a variable, portable and detachable method. At the same time, it is convenient to replace modules. During the use process, if some modules have problems, the faulty parts can also be replaced modularly, reducing the maintenance cost and increasing the service life. Description of the Drawings

[0027] Figure 1 is the overall structural schematic diagram of the present invention; Figure 2 is a schematic side view structure of the present invention; Figure 3 is a schematic structure diagram of the power module of the present invention; Figure 4 is a schematic structure diagram of the active propulsion component of the present invention; Figure 5 is a schematic structure diagram of the driven propulsion component of the present invention; Figure 6 is a schematic structure diagram of the rust removal module of the present invention; Figure 7 is a schematic structure diagram of the painting module of the present invention; Figure 8 is a schematic diagram of the explosion state of the limiting component of the present invention; Figure 9 is a schematic structure diagram of the opening and closing fixing component of the present invention; Figure 10 is a schematic structure diagram of the limiting component of the present invention; Figure 11 is a schematic structure diagram of the opening and closing fixing component from another perspective of the present invention; Figure 12 is a relationship diagram of the actual moving distance and the moving distance in the pipeline direction of the present invention; Figure 13 is a schematic diagram of the rust removal and painting effects of the present invention on the pipeline. Detailed implementation manners

[0028] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0029] As Figures 1 - 13 shown.

[0030] Embodiment: Embodiment 1: A portable device for moving on the outer wall of a pipeline, comprising a power module 1 and an additional module. The power module 1 and the additional module are connected by two universal joints 2. The power module 1 includes a power frame 3 and a propulsion component. The power frame 3 is a sector-shaped frame. Opening and closing fixing components are respectively arranged on the left and right of the power frame 3. The propulsion component is located inside the power frame 3, and at least three groups of propulsion components are provided, and at least one group of propulsion components is a propulsion active component 4, and the rest are propulsion driven components. The three groups of propulsion components are as centrosymmetric as possible, and there should be no situation where there is no propulsion component in a continuous 180°. The propulsion active component 4 includes a bracket one 5. A propulsion wheel connector one 6 is arranged at the end of the bracket one 5. A forward wheel connecting frame one 7 is arranged at the end of the propulsion wheel connector one 6. At least four forward wheels one 8 are centrosymmetrically arranged on the forward wheel connecting frame one 7. The forward wheels one 8 are rotationally connected to the forward wheel connecting frame one 7 through a wheel shaft one. A drive shaft 9 is arranged at the center of the forward wheel connecting frame one 7. One end of the drive shaft 9 is connected to a motor 10, and the other end of the drive shaft 9 is connected to a driving power gear 11. A driven power gear 12 is arranged on each wheel shaft one corresponding to the forward wheels one 8. The driven power gear 12 is in meshing transmission with the driving power gear 11. The propulsion driven component 47 includes a bracket two 13. A propulsion wheel connector two 14 is arranged at the end of the bracket two 13. A forward wheel connecting frame two 13 is arranged at the end of the propulsion wheel connector two 14. At least four forward wheels two 16 are centrosymmetrically arranged on the forward wheel connecting frame two 13. The forward wheels two 16 are rotationally connected to the forward wheel connecting frame two 13 through a wheel shaft two. Both the bracket one 5 and the bracket two 13 are connected to the power frame 3 through a floating assembly 17. The additional module includes an additional frame. A limiting component is arranged inside the additional frame. Opening and closing fixing components are arranged at both ends of the additional frame.

[0031] The limiting component includes a main frame 18. The main frame 18 is connected to the additional frame by means of a telescopic movable component. A docking head 19 is arranged on the side of the main frame 18. The docking head 19 is connected to a wheel frame 20. Four limiting wheels 21 are symmetrically arranged at the center of the wheel frame 20. A docking hole 22 is arranged at one end of the wheel frame 20 connected to the docking head 19. A limiting disk 23 is arranged on the docking head 19. Four angular teeth 24 are arranged on the side of the limiting disk 23. An angular slot 25 matching the angular teeth 24 is arranged on the wheel frame 20. The docking head 19 passes through the docking hole 22. A retaining ring 26 is arranged at the end of the docking head 19. A compression spring 28 is sleeved on the docking head 19. The compression spring 28 is located between the retaining ring 26 and the wheel frame 20. The purpose of the compression spring 28 is that when passing through the flange, the limiting wheels 21 are firmly connected to the tooth groove angular teeth 24 and the angular slots 25 during normal operation. When passing through the flange, the forward force can pull the limiting wheel 21 group and the limiting disk 23 apart by a certain distance, which is equivalent to the angular teeth 24 exiting the original angular slot 25 and entering the next angular slot 25. During this process, the compression spring 28 will be compressed as much as possible and then reset. The telescopic movable component 54 adopts the same structure as the floating component described below. The telescopic movable component 54 also includes a telescopic sleeve 51 and a spring 52. The upper end of the main frame 18 is key-slidably connected inside the telescopic sleeve 51. The main frame 18 can only move axially in the telescopic sleeve 51. The spring 52 is sleeved on the main frame 18. The upper end of the telescopic sleeve 51 is fixed to the additional frame. In the following text, the upper end of the telescopic sleeve 51 can be fixed to the corresponding rust-removing frame 36 and painting frame 39. At least three limiting components are arranged in the rust-removing frame 36 and the painting frame 39 respectively. And the three limiting components are as symmetric as possible at the center and there should be no situation where there is no limiting component in the continuous 180°. Thus, the telescopic movement of the main frame 18 can be realized. Through the above structure, it can be realized that the power module 1 and the additional module can not only move on the pipeline, but also pass through the pipeline bend and the pipeline connection flange. The floating component 17 is used for the change of the distance between the pipeline and the inner walls of the power frame 3 and the additional frame when passing through the bend and the connection flange position. At the same time, when the four forward wheels 1-8 rotate around the common center when passing through the connection flange position, it can adapt to this change.

[0032] The opening and closing fixing components connected to the power frame 3 include opening and closing components 29 arranged at both ends of the power frame 3. The opening and closing components 29 are rotatably connected to the power frame 3 through a rotating shaft 30. Fixing components 31 are arranged on the opening and closing components 29. The fixing components 31 are movably connected to the opening and closing components 29 through a connecting shaft 53. A pin shaft 32 is arranged on the fixing component 31. Pin holes 33 are arranged on both the power frame 3 and the opening and closing components. The pin shaft 32 is located inside the pin hole 33. The corresponding opening and closing fixing components of the additional frame have the same structure as the opening and closing components corresponding to the power frame 3.

[0033] When opening the opening and closing fixing component, pull the fixing component 31 to make the pin shaft 32 withdraw from the pin hole 33, and then the opening and closing component 29 can be rotated and opened around the rotating shaft 30. When closing the opening and closing fixing component, just insert the pin shaft 32 back into the inside of the pin hole 33.

[0034] Embodiment 2: A device for rust removal and painting on the outer wall of a portable pipeline, including the portable pipeline outer wall moving device described above. The additional modules are a rust removal module 34 and a painting module 35, and both between the rust removal module 34 and the power module 1 and between the power module 1 and the painting module 35 are connected by two universal joints 2. The rust removal module 34 includes a rust removal frame 36 and a laser rust removal component 38. The rust removal frame 36 is a sector-shaped frame. Opening and closing fixing components are arranged at both ends of the rust removal frame 36. The laser rust removal component 38 is arranged inside the rust removal frame 36, and in the direction of advancing along the pipeline, the laser rust removal component 38 is located behind the limiting component. A pulsed laser source is generated inside the laser rust removal component 38, and the energy is transmitted to the laser through an optical fiber to remove rust from the pipeline. The shape of the laser emitted on the outer wall of the pipeline is a line segment along the axial direction of the pipeline.

[0035] The painting module 35 consists of a painting frame 39, a paint storage tank 40, a liquid pump 42, and a high-pressure nozzle 41. The painting frame 39 is a sector-shaped frame. Opening and closing fixing components are arranged at both ends of the painting frame 39. The paint storage tank 40 and the high-pressure nozzles 41 are evenly arranged inside the painting frame 39. The high-pressure nozzles 41 are sequentially connected to the liquid pump 42 and the paint storage tank 40. The opening and closing components of the painting frame 39 and the rust removal frame 36 corresponding to the opening and closing fixing components of the power frame 3 have the same structure. The paint storage tank 40 is used for storing paint. The paint storage tank 40 has an inner and an outer layer. The outer layer ensures strength, and the inner layer is a flexible diaphragm, so that the paint liquid can be smoothly supplied without a pressure balance hole. The paint in the paint storage tank 40 flows into the liquid pump 42 through a suction pipe. The other side of the liquid pump 42 is provided with a return joint and a high-pressure discharge pipe. The return joint is used to discharge the gas in the liquid pump 42. After the gas in the liquid pump 42 is discharged, the paint can flow through the high-pressure discharge pipe to the high-pressure nozzle 41, so as to carry out the spraying operation.

[0036] During use, the motor 10, the liquid pump 42, and the laser rust removal component 38 can all be connected to the controller to achieve automatic control. A battery can be carried on the power frame 3 to supply power to the electrical components. The control module inputs pipeline-related information into the control module, including the pipeline corrosion grade and pipe diameter. According to the different corrosion grades of the pipeline, the power of pipeline laser rust removal and the rust removal duration per unit area are determined; according to the input pipe diameter, combined with the surface treatment width of the laser and painting, the rust removal path and rotation angle of the equipment along the pipeline are determined in an adaptive manner, thereby changing the angle of the first forward wheel 8. In addition, by checking the operating status of the control module, abnormal data, that is, the part where the surface treatment is not completed, can be parsed out. The operator can determine the untreated part based on the data and perform manual surface treatment subsequently. Starting the motor 10 in the power module 1 can drive the drive shaft 9, and through the transmission of the driving power gear 11 and the driven power gear 12, the first forward wheel 8 can be driven to rotate. The forward angle of the first forward wheel 8 is between the radial direction and the axial direction of the pipeline. The method of using a set of four wheels effectively avoids the phenomenon of wheel slip during the diagonal crossing of the flange. Using the four-wheel method, when the first wheel touches the flange and cannot cross it, the wheel directly above this wheel will directly cross the flange to ensure its passability. Two forward wheel connecting frames 7 are symmetrically arranged on the propulsion wheel connector 1 6, and there are a total of 8 corresponding first forward wheels 8, which are divided into two groups, with 4 in each group, and the two groups are symmetrically arranged at both ends of the propulsion wheel connector 1 6. In this way, when passing through the flange, the other group of wheels can ensure the stability of the equipment and avoid phenomena such as tilting. The adjacent two modules are connected by using two universal joints 2. The universal joint 2 adopts a constant velocity joint 2, which can determine the distance between the three components but can bend, solving the problem that the equipment cannot pass through the elbow. It adopts a forward movement along the pipeline axis, and at the same time, rust removal or painting operations are carried out, which can ensure comprehensive rust removal and painting while reducing the weight of the equipment.

[0037] Through the method of spiral forward movement, laser rust removal components 38 and high-pressure nozzles 41 can be set at several points in the circumferential direction. Without affecting the operation, the rust removal and painting operations can be completed in a spiral manner.

[0038] The frame can be replaced according to the pipeline diameter, which improves the adaptability of the equipment to different pipe diameters and is also conducive to replacing parts. That is, when a certain part fails, modular replacement can be carried out, reducing the equipment maintenance cost. Compared with the annular mode, it reduces the weight and increases the possibility of passing through some special-shaped spaces (such as support components and narrow spaces). A dust collection component is arranged on the rust removal frame 36. The dust collection component includes an integrated hole located on the rust removal frame 36. The dust collection hole 45 is sequentially connected to the fan 44 and the dust collector 43 through a dust collection pipeline. The dust collection component is used to collect the dust generated during the rust removal process.

[0039] The rust removal frame 36, the power frame 3, and the painting frame 39 are all fan-shaped structures, and opening and closing fixing components are provided on the rust removal frame 36, the power frame 3, and the painting frame 39. The opening and closing fixing components are used to lock the rust removal frame 36, the power frame 3, and the painting frame 39 onto the pipeline while facilitating their removal.

[0040] A steering motor 46 is provided on the floating assembly 17 of the first bracket 5. The steering motor 46 is used to adjust the angle of the propulsion wheel connector 1, thereby changing the forward angle of the first forward wheel 8. The floating assembly 17 adopts a telescopic sleeve 51 and a spring 52. The upper end of the first bracket 5 is arranged inside the telescopic sleeve 51 and is key-slidably connected thereto. The spring 52 is sleeved on the first bracket 5. The first bracket 5 can move circumferentially in the telescopic sleeve 51. The upper end of the telescopic sleeve 51 is rotatably connected to the power frame 3. The housing of the steering motor 46 is fixed to the power frame 3. A gear 49 is fixed on the output shaft of the steering motor 46. A gear sleeve 50 is arranged on the telescopic sleeve 51. The gear sleeve 50 is in gear transmission connection, realizing the angle adjustment of the first bracket 5, and further realizing the adjustment of the forward direction of the first forward wheel 8.

[0041] The floating assembly 17 corresponding to the second bracket 13 in the propulsion driven component 47 also adopts a telescopic sleeve 51 and a spring 52. The upper end of the second bracket 13 is arranged inside the telescopic sleeve 51 and is key-slidably connected thereto. The spring 52 is sleeved on the first bracket 5. The telescopic sleeve 51 can be directly fixed to the power frame 3.

[0042] A pipeline outer wall dust remover 48 is arranged inside the power frame 3 for further cleaning the surface of the pipeline.

[0043] The floating assembly 17 is connected with a limiter 55 for adjusting the magnitude of the force of the floating assembly. The limiter 55 corresponding to the floating assembly 17 on the first bracket 5 is threadedly connected to the first bracket 5, and the lower end of the spring 52 contacts the limiter 55. The limiter 55 corresponding to the floating assembly 17 on the second bracket 13 is threadedly connected to the second bracket 13, and the lower end of the corresponding spring 52 contacts the limiter 55.

[0044] Embodiment 3: A method for rust removal and painting of the outer wall of a portable pipeline. The method for painting the outer wall of a pipeline with the described portable pipeline outer wall rust removal and painting equipment includes Step 1: According to the pipeline diameter, select the power frame 3, the rust removal frame 36, and the painting frame 39. In the pipeline running direction, they are respectively the rust removal module 34, the power module 1, and the painting module 35. Install the corresponding components, load the corresponding paint in the paint storage tank 40, open the opening and closing fixing components of the rust removal frame 36, the power frame 3, and the painting frame 39, install them at the starting point of the pipeline, and then lock the opening and closing fixing components. Step 2: Start the steering motor 46 to adjust the forward angle of the forward wheel 1 of the propulsion active component 4. After starting the motor 10, the laser rust removal component 38, and the liquid pump 42, a portable device for rust removal and painting on the outer wall of the pipeline advances along the pipeline in a spiral direction until the rust removal and painting operations in the set interval are completed.

[0045] Suppose the width of the laser for rust removal and painting on the pipeline is l, the outer diameter of the pipeline is d, and the number of the laser rust removal component 38 and the high-pressure nozzles 41 is n. Then, tanθ = nl / πd. That is, when the propulsion active component 4 is inclined at θ, after running πd / n along the circumferential direction of the pipeline, it advances axially by l. The actual axial running distance of the device is l, and the path length is l / sinθ. That is, for every movement of l / sinθ of the forward wheel 1, the device runs axially by l along the pipeline. Use this formula to locate the collected abnormal points according to the actual running data of the forward wheel 1.

[0046] During use, Step 1: Determine the pipeline environment Provide surface treatment conditions for the pipe section that needs surface treatment. For pipelines with insulation layers, the insulation layers should be removed. For pipeline support parts (such as brackets and pipe hangers), on the premise of ensuring the stability of the pipeline, appropriately remove the clamps. According to the environment, confirm the starting point and the ending point of the device. Within the set starting and ending running intervals, there should be no phenomenon of being unable to pass. Measure the basic pipeline data, including the outer diameter of the pipeline and the pipeline corrosion grade. Note: If there are parts with a relatively large degree of local corrosion on the pipeline, local manual rust removal can be carried out in advance until the local surface reaches the same grade as other parts, and then unified mechanical surface treatment is carried out.

[0047] Step 2: Install the surface treatment device According to the pipeline diameter, select the power frame 3, the rust removal frame 36, and the painting frame 39 within the interval range. According to the pipeline running direction, they are respectively the rust removal module 34, the power module 1, and the painting module 35. Install the corresponding components, place the corresponding paint in the paint storage tank 40, open the liquid pump 42 and the reflux valve at the reflux joint, complete the air exhaust of the liquid pump 42, open the opening and closing fixing components of the frame, install them at the starting point of the pipeline, and then lock the opening and closing fixing components. Debug the distance between the laser rust removal component 38, the high-pressure nozzles 41 and the outer wall of the pipeline.

[0048] Step 3: Start the device Input the pipeline diameter in the control template, adjust the spiral degree of the device operation, input the pipeline corrosion grade in the control template, automatically adjust the laser power and the forward speed according to the pipeline corrosion grade, start the device, and make the device advance along the pipeline in a spiral from the set starting point of the pipeline, successively carry out rust removal and painting on the pipeline, and provide power.

[0049] During operation, the rust removal module 34 removes rust and collects the dust generated during the rust removal process; the power module 1 provides power to make the entire device run forward in a spiral. At the same time, since there are two sets of propulsion wheels arranged axially and due to the unique geometric structure of the forward wheels, the forward wheels can smoothly pass through the flange at an oblique angle. During the process of passing through the flange, it does not affect the normal rust removal and painting operations. After the forward wheels pass by, the dust remover on the outer wall of the pipeline removes dust from the pipeline surface to prepare for subsequent painting; the painting module 35 sprays the paint in the paint storage tank 40 through the liquid pump 42, and the paint flows from the suction pipe and the discharge pipe to the high-pressure nozzle 41 and sprays the paint on the outer wall of the pipeline. And the limiting component is arranged on one side close to the power module 1, so that the distance between the nozzle and the pipeline is fixed, and the limiter does not pass through the pipeline surface after painting.

[0050] Step 4: Recycling and maintenance Recover the surface treatment equipment at the end of the pipeline setting, open the three module frames, carry out disassembly, disassemble and recover each component, disassemble the battery and charge it. At the same time, deal with the residues for the next use. For the sewage treatment part: ② Remove the dirt from the dust collector 43 in the rust removal module 34 ② Replace and clean the paint storage tank 40, the suction pipe, the liquid pump 42, the discharge pipe, and the high-pressure nozzle 41 in the painting module 35 with clean water to prevent paint from remaining in the pipeline and the tank ③ Clean the equipment, especially the limiting components and the propulsion components, to ensure that there is no debris attached. For the maintenance part: Check whether the limiting components of the rust removal module 34 need to be replaced due to wear, check whether the propulsion wheels and the dust remover on the outer wall of the pipeline need to be replaced due to wear, and check whether the limiting components in the painting module 35 need to be replaced due to wear.

[0051] Step 5: Manual surface treatment Export the operation data in the control template, check the abnormal movement part, and perform manual rust removal and painting operations on the local position. For example, Figure 12 As shown, assume that the width of the laser for rust removal and painting on the pipeline is l (in the actual process, if the surface treatment widths are not equal, l is the smaller of the rust removal width and the painting width), the outer diameter (diameter) of the pipeline is d, and the number of nozzles for rust removal and painting operations is n. As shown in the figure, then tanθ = nl / πd, that is, when the active propulsion wheel and the driven propulsion wheel are inclined at θ, when running circumferentially along the pipeline by πd / n, it advances axially by l, and the actual axial operation of the equipment is l. The path length is l / sinθ. That is, for every movement of l / sinθ by the forward wheel, the equipment runs axially along the pipeline by l. When collecting subsequent data, if an abnormal movement occurs when monitoring the running distance x of the propulsion wheel, the actual occurrence position is an abnormal movement at xsinθ axially along the pipeline, that is, determine the abnormal points of the rust removal and painting of the equipment. For the abnormal points, subsequent manual rust removal and painting are carried out.

[0052] When the device has abnormal movement, the control module determines the running distance, records the location where the abnormal movement occurs, and then rotates the first forward wheel to θ = 90°, that is, sets the forward direction of the first forward wheel to the axial direction of the pipeline, runs a unit length, and then the θ of the first forward wheel resumes the previously set value, and analyzes whether it can continue to move forward spirally. If not, continue to rotate the first forward wheel to θ = 90° and run a unit length until the device can continue to move forward spirally after the θ of the first forward wheel resumes the previously set value.

[0053] The above is only a preferred embodiment of the present invention.

Claims

1. A portable device for moving on the outer wall of a pipeline, characterized in that, It includes a power module (1) and an additional module. The power module (1) and the additional module are connected by two universal joints (2). The power module (1) includes a power frame (3) and a propulsion component. The power frame (3) is a fan-shaped frame. Open-and-close fixing components are respectively arranged on the left and right of the power frame (3). The propulsion component is located inside the power frame (3), and at least three groups of propulsion components are provided, and at least one group of propulsion components is a propulsion active component (4), and the rest are propulsion driven components. The propulsion active component (4) includes a bracket one (5). A propulsion wheel connector one (6) is arranged at the end of the bracket one (5). A forward wheel connecting frame one (7) is arranged at the end of the propulsion wheel connector one (6). At least four forward wheels one (8) are symmetrically arranged at the center of the forward wheel connecting frame one (7). The forward wheels one (8) are rotationally connected to the forward wheel connecting frame one (7) through a wheel shaft one. A drive shaft (9) is arranged at the center of the forward wheel connecting frame one (7). One end of the drive shaft (9) is connected to a motor (10), and the other end of the drive shaft (9) is connected to a main power gear (11). A driven power gear (12) is arranged on each wheel shaft one corresponding to each forward wheel one (8). The driven power gear (12) meshes with the main power gear (11) for transmission. The propulsion driven component includes a bracket two (13). A propulsion wheel connector two (14) is arranged at the end of the bracket two (13). A forward wheel connecting frame two (13) is arranged at the end of the propulsion wheel connector two (14). At least four forward wheels two (16) are symmetrically arranged at the center of the forward wheel connecting frame two (13). The forward wheels two (16) are rotationally connected to the forward wheel connecting frame two (13) through a wheel shaft two. Both the bracket one (5) and the bracket two (13) are connected to the power frame (3) through a floating component (17). The additional module includes an additional frame. A limiting component is arranged inside the additional frame. Open-and-close fixing components are arranged at both ends of the additional frame.

2. The portable device for moving on the outer wall of a pipeline according to claim 1, wherein The limiting component includes a main frame (18). The main frame (18) is connected to the additional frame by means of a telescopic activity component. A docking head (19) is arranged on the side of the main frame (18). The docking head (19) is connected to a wheel frame (20). Four limiting wheels (21) are symmetrically arranged at the center of the wheel frame (20). A docking hole (22) is arranged at one end of the wheel frame (20) connected to the docking head (19). A limiting disk (23) is arranged on the docking head (19). Four angular teeth (24) are arranged on the side of the limiting disk (23). An angular slot (25) matching the angular teeth (24) is arranged on the wheel frame (20). The docking head (19) passes through the docking hole (22). A retaining ring (26) is arranged at the end of the docking head (19). A compression spring (28) is sleeved on the docking head (19). The compression spring (28) is located between the retaining ring (26) and the wheel frame (20).

3. The portable device for moving on the outer wall of a pipeline according to claim 2, wherein, The opening and closing fixing components connected to the power frame (3) include opening and closing components (29) provided at both ends of the power frame (3). The opening and closing components (29) are rotatably connected to the power frame (3) through a rotating shaft (30). A fixing component (31) is provided on the opening and closing component (29). The fixing component (31) is movably connected to the opening and closing component (29) through a connecting shaft (53). A pin shaft (32) is provided on the fixing component (31). Pin holes (33) are provided on both the power frame (3) and the opening and closing component (29). The pin shaft (32) is located inside the pin hole (33). The opening and closing fixing components corresponding to the additional frame have the same structure as the opening and closing components corresponding to the power frame (3).

4. A portable device for rust removal and painting on the outer wall of a pipeline, characterized in that, It includes a portable pipe outer wall moving device described in claim (3). The additional modules are a rust removal module (34) and a painting module (35). Both between the rust removal module (34) and the power module (1) and between the power module (1) and the painting module (35) are connected through two universal joints (2). The rust removal module (34) includes a rust removal frame (36) and a laser rust removal component (38). The rust removal frame (36) is a fan-shaped frame. Opening and closing fixing components are provided at both ends of the rust removal frame (36). The laser rust removal component (38) is provided inside the rust removal frame (36). And in the direction of advancing along the pipe, the laser rust removal component (38) is located behind the limiting component. The painting module (35) consists of a painting frame (39), a paint storage tank (40), a liquid pump (42) and a high-pressure nozzle (41). The painting frame (39) is a fan-shaped frame. Opening and closing fixing components are provided at both ends of the painting frame (39). The high-pressure nozzles (41) are evenly distributed inside the painting frame (39). The high-pressure nozzles (41) are connected to the liquid pump (42) and the paint storage tank (40) in sequence. The opening and closing fixing components corresponding to the painting frame (39) and the rust removal frame (36) have the same structure as the opening and closing components corresponding to the power frame (3).

5. The device for rust removal and painting of the outer wall of a portable pipeline according to claim 4, characterized in that, A dust collection component is provided on the rust removal frame (36). The dust collection component includes a dust collection hole (45) located on the rust removal frame (36). The dust collection hole (45) is connected to a dust collector (43) through a dust collection pipeline and a blower (44) in sequence.

6. A device for rust removal and painting of the outer wall of a portable pipeline according to claim 1, characterized in that, A steering motor (46) is provided on the floating component (17) of the first bracket (5).

7. A device for rust removal and painting of the outer wall of a portable pipeline according to claim 1, characterized in that, Two first forward wheel connecting frames (7) are symmetrically provided on the first propulsion wheel connector (6).

8. A device for rust removal and painting of the outer wall of a pipeline according to claim 1, characterized in that, The floating component is connected with a limiter (55) for adjusting the magnitude of the force of the floating component.

9. A method for rust removal and painting on the outer wall of a portable pipeline, characterized in that, The method for painting the outer wall of a pipe using a device for rust removal and painting of the outer wall of a portable pipe described in claim 7 or 8 includes Step 1: According to the pipe diameter, select the power frame (3), the rust removal frame (36) and the painting frame (39). In the direction of pipe operation, respectively for the rust removal module (34), the power module (1) and the painting module (35), install the corresponding components, and load the corresponding paint in the paint storage tank (40). Open the opening and closing fixing components of the rust removal frame (36), the power frame (3) and the painting frame (39), install them at the set starting point of the pipe, and then lock the opening and closing fixing components. Step 2: Start the steering motor (46) to adjust the forward angle of the forward wheel one (8) corresponding to the propulsion active component (4). After starting the motor (10), the laser rust removal component (38), and the liquid pump (42), a portable device for rust removal and painting on the outer wall of the pipeline advances in a spiral direction along the pipeline until the rust removal and painting operations in the set interval are completed. Step 3: When the rust removal and painting are completed and the set end point is reached, open the opening and fixing components of the rust removal frame (36), the power frame (3), and the painting frame (39), remove the device from the outer wall of the pipeline, and perform cleaning and maintenance.

10. A method for rust removal and painting of the outer wall of a portable pipeline according to claim 9, characterized in that, Assume that the width of the laser for rust removal and the width of painting on the pipeline are l, and the outer diameter of the pipeline is d. Then, tanθ = l / πd. That is, when the propulsion active component (4) is inclined at θ, after running one week along the circumferential direction of the pipeline, it advances axially by l. The actual axial movement of the device is l, and the path length is l / sinθ. That is, for every movement of l / sinθ by the forward wheel, the device advances axially by l along the pipeline. In addition, when the number of laser rust removal components (38) and high-pressure nozzles (41) is n, and the treatment width is l, and the outer diameter of the pipeline is d, then tanθ = nl / πd. Use this formula to locate the collected abnormal points based on the actual running data of the forward wheel one (8).

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